Title:
METHOD OF DETECTING ABNORMALITY IN BELT DRIVING MECHANISM, AND ROBOT
Document Type and Number:
Japanese Patent JP2020097993
Kind Code:
A
Abstract:
To detect abnormality such as the degradation of tension on a belt in a belt driving mechanism provided on a robot, without using an additional mechanisms.SOLUTION: A belt driving mechanism has a motor, a driving pulley attached to a driving shaft of the motor, a driven pulley, and a belt stretched between the driving pulley and the driven pulley to keep tension. A brake for fixing the driven pulley is actuated to fix the driven pulley, and while the driven pulley is fixed, the motor is moved to a predetermined moving position to drive the motor by a rotation commend for keeping the motor at the moving position. A rotating position of the driving shaft when the motor is driven is detected by an encoder related to the driving shaft, and determination is performed by the detected rotating position.SELECTED DRAWING: Figure 2
Inventors:
OKUMURA HIROKATSU
YAZAWA TAKAYUKI
OTSUJI JUN
YAZAWA TAKAYUKI
OTSUJI JUN
Application Number:
JP2018236318A
Publication Date:
June 25, 2020
Filing Date:
December 18, 2018
Export Citation:
Assignee:
NIDEC SANKYO CORP
International Classes:
F16H7/00; B25J17/00; B25J19/06; F16H19/02
Domestic Patent References:
| JP2013217692A | 2013-10-24 | |||
| JP2004010323A | 2004-01-15 | |||
| JP2015093360A | 2015-05-18 |
Attorney, Agent or Firm:
Akio Miyazaki
Masaaki Ogata
Masaaki Ogata