Robot apparatus and speed reducer state diagnosing method
AssigneeCanon Kabushiki Kaisha
InventorsTakahiro Ishikawa, Tsutomu Osaka, Kazunori Ogami, Shunsuke Kawamura
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Abstract
A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.
Claims10
A robot apparatus comprising:
- a multi joint robot comprising:
- a joint including a motor;
- a speed reducer connected to the motor;
- input angle detecting means configured to detect an input rotational angle of a rotating shaft of the motor;
- output angle detecting means configured to detect an output rotational angle of the speed reducer;
- and
- a controller configured to compare a joint error calculated from an angle difference between the input rotational angle detected by the input angle detecting means and the output rotational angle detected by the output angle detecting means with a preset permissible joint error of the speed reducer, and determine that the speed reducer is damaged when the joint error is greater than the permissible joint error, and determine that the speed reducer is normal when the joint error is not greater than the permissible joint error.
A speed reducer state diagnosing method configured to diagnose a state of a speed reducer of a multi joint robot comprising a joint including a motor, the speed reducer connected to the motor, input angle detecting means configured to detect an input rotational angle of a rotating shaft of the motor, and output angle detecting means configured to detect an output rotational angle of the speed reducer, the method comprising:
- an input rotational angle acquiring step of acquiring the input rotational angle detected by the input angle detecting means;
- an output rotational angle acquiring step of acquiring the output rotational angle detected by the output angle detecting means;
- and
- a speed reducer state diagnosing step of comparing a joint error calculated from an angle difference between the input rotational angle acquired in the input rotational angle acquiring step and the output rotational angle acquired in the output rotational angle acquiring step with a preset permissible joint error of the speed reducer, and determining that the speed reducer is damaged when the joint error is greater than the permissible joint error, and determining that the speed reducer is normal when the joint error is not greater than the permissible joint error.
A non-transitory computer-readable recording medium recording a multi joint robot speed reducer state diagnosing program for a speed reducer of a multi joint robot comprising a joint including a motor, the speed reducer connected to the motor, input angle detecting means configured to detect an input rotational angle of a rotating shaft of the motor, and output angle detecting means configured to detect an output rotational angle of the speed reducer, the program causing a computer to execute the following steps:
- an input rotational angle acquiring step of acquiring the input rotational angle detected by the input angle detecting means;
- an output rotational angle acquiring step of acquiring the output rotational angle detected by the output angle detecting means;
- and
- a speed reducer state diagnosing step of comparing a joint error calculated from an angle difference between the input rotational angle acquired in the input rotational angle acquiring step and the output rotational angle acquired in the output rotational angle acquiring step with a preset permissible joint error of the speed reducer, and determining that the speed reducer is damaged when the joint error is greater than the permissible joint error, and determining that the speed reducer is normal when the joint error is not greater than the permissible joint error.
Dependencies are inferred from the claim text.