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US 11,633,859 B2Granted
Robot
AssigneeFanuc Corporation
InventorsKaname Kikuchi, Tomoyuki Motokado, Toshihiko Inoue
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AssigneeFanuc Corporation
InventorsKaname Kikuchi, Tomoyuki Motokado, Toshihiko Inoue
Estimating the term…
A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.
A robot comprising:
Dependencies are inferred from the claim text.
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From the US filing history. Foreign family members aren’t listed.
Program controls: characterised by safety, monitoring, diagnostic
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection…
By rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type: revolute coordinate type
Characterised by positioning means for manipulator elements: gears specially adapted therefor, e.g. reduction gears
About 14 years 4 months of term left · ends 12 Feb 2041 (estimated)
This application claims the benefit of Japanese Patent Application No. 2019-190855, the content of which is incorporated herein by reference.
The present invention relates to a robot.
Heretofore, gears have been used in drive units of various machines. Backlash of each of the gears might increase with use of the machine for a long period of time. To solve this problem, a method of measuring the backlash of the gear is suggested (e.g., see Japanese Unexamined Patent Application, Publication No. Sho 62-140786; Japanese Unexamined Patent Application, Publication No. 2013-249027; and Japanese Unexamined Patent Application, Publication No. 2018-073327).
FIG. 1 is an overall configuration view of a robot according to an embodiment, explaining an example of an inspection operation of a drive unit for a fourth joint.
FIG. 2 is a view explaining an example of an inspection operation of a drive unit for a fifth joint of the robot of FIG. 1.
FIG. 3 is a view explaining an example of an inspection operation of a drive unit for a sixth joint of the robot of FIG. 1.
Description will be made as to a robot 10 according to an embodiment of the present disclosure with reference to the drawings.
As shown in FIG. 1 to FIG. 3, the robot 10 includes a robot mechanism 1, and a control device 2 connected to the robot mechanism 1. In FIG. 2 and FIG. 3, the control device 2 is not shown.
The robot mechanism 1 is a 6-axis vertical articulated robot including six joints J1, J2, J3, J4, J5 and J6. Specifically, the robot mechanism 1 includes a base 3, a swivel body 4, a first arm 5, a second arm 6 and a wrist unit 7, and a tool 8 is attached to a flange part 7a of the wrist unit 7. Furthermore, the robot mechanism 1 includes six drive units 11, 12, 13, 14, 15 and 16 that rotate and drive the joints J1, J2, J3, J4, J5 and J6, respectively. The drive units 15 and 16 are provided inside the second arm 6 and the wrist unit 7.