Articulated robot and method of estimating reduced state of gas in gas spring of the articulated robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorYusuke FUJII
Life of this patent
Estimating the term…
Abstract
A robot includes an arm supporting part, a rotary arm rotatably supported by the arm supporting part, a drive motor configured to rotate the rotary arm, a gas spring configured to reduce a load of the drive motor by supporting a load acting on the rotary arm and a controller. The controller determines that the rotary arm rotates, and estimates a reduced state of gas in the gas spring based on a comparison between an actual current value and a theoretical current value of the drive motor when the rotary arm rotates.
Claims9
An articulated robot, comprising:
- an arm supporting part;
- a rotary arm rotatably supported by the arm supporting part;
- a drive motor configured to rotate the rotary arm;
- a gas spring configured to reduce a load of the drive motor by supporting a load acting on the rotary arm;
- and
- a controller, the controller determining that the rotary arm rotates, and estimating a reduced state of gas in the gas spring based on a comparison between an actual current value and a theoretical current value of the drive motor when the rotary arm rotates.
An articulated robot, comprising:
- an arm supporting part;
- a rotary arm rotatably supported by the arm supporting part;
- a drive motor configured to rotate the rotary arm;
- a gas spring configured to reduce a load of the drive motor by supporting a load acting on the rotary arm;
- and
- a controller, the controller estimating a reduced state of gas in the gas spring based on a comparison between an actual current value and a theoretical current value of the drive motor when the rotary arm does not stop but rotates.
A method of estimating a reduced state of gas in a gas spring of an articulated robot including:
- a rotary arm;
- a drive motor configured to drive the rotary arm;
- and
- the gas spring configured to reduce a load of the drive motor by supporting a load acting on the rotary arm,
- the method comprising the steps of:
- acquiring an actual current value of the drive motor;
- and
- estimating the reduced state of gas in the gas spring based on the actual current value,
- wherein the acquiring the actual current value includes acquiring the actual current value when the rotary arm rotates, and
- wherein the estimating the reduced state of gas includes estimating the reduced state of gas in the gas spring based on a comparison between the actual current value acquired in the acquiring the actual current value, and a theoretical current value.
Dependencies are inferred from the claim text.