Gas pressure detection device, robot having gas pressure detection device, and gas pressure detection method of the same
US12064871B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 28, 2019 |
| Grant date | Aug 20, 2024 |
| Priority date | — |
| Expiry date | Jul 6, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L19/083
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A gas pressure detection device 10 detects a decrease in a pressure of gas of a gas balancer 8 of a robot 2. The gas pressure detection device 10 includes a calculating part configured to calculate a parameter Rt(θ) indicating a magnitude relation between a reference pressure Pa(θ) at a rotational angle θ of a rotary arm 14 and a measured pressure Pt(θ) measured at the rotational angle θ, calculate a plurality of parameters Rt(θ) based on a plurality of measured pressures Pt(θ) at different measurement times, and calculate a moving average Rtj(θ) of the parameter Rt(θ) at a measurement time tj that is a j-th measurement time of the measured pressure Pt(θ) (j representing a natural number of 2 or above), and a determining part configured to compare the moving average Rtj(θ) with a reference value R to detect the decrease in the pressure of the gas.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.