Balancer abnormality detection system and balancer abnormality detection method
AssigneeFanuc Corporation
InventorYuusei Onodera
Life of this patent
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Abstract
A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.
Claims8
A balancer abnormality detection system comprising:
- a robot;
- a motor configured to operate the robot;
- a balancer provided in the robot, provided with elastic bodies, and configured to generate assist torque which assists power of the motor with force generated by the elastic bodies;
- and
- a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.
An abnormality detection method for a balancer provided in a robot operated by a motor and configured to generate assist torque which assists power of the motor by force generated by elastic bodies,
- the balancer abnormality detection method comprising:
- detecting abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.
Dependencies are inferred from the claim text.