Robot apparatus and speed reducer state diagnosing method
US9348331B2 · kind B2 · utility
3Cited by
2References
10Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jun 12, 2014 |
| Grant date | May 24, 2016 |
| Priority date | — |
| Expiry date | Jun 12, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/09
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.