Title:
ARTICULATED ROBOT AND METHOD FOR ESTIMATING REDUCED STATE OF GAS IN GAS SPRINGS
Document Type and Number:
WIPO Patent Application WO/2017/155071
Kind Code:
A1
Abstract:
This articulated robot (1) comprises an arm (2, 3), a drive motor (9) for driving the arm (2, 3), a gas spring (5) for reducing the load on the drive motor (9) by supporting the load applied to the arm (2, 3), and a control means (8) for controlling the drive motor (9). The control means (8) has a function to estimate the reduced state of the gas sealed in the gas spring (5) on the basis of the actual current of the drive motor (9) acquired in the stop position in which the drive motor (9) is operated and then stopped in an energized state. Thus, the reduced state of the gas sealed in the gas spring can be estimated on the basis of the current value of a servo motor without decreasing the operating rate of the robot.
Inventors:
KITAMURA SHINJI (JP)
HIMENO MOTOKI (JP)
FUJII YUSUKE (JP)
WAKIMITSU SHUNSUKE (JP)
HIMENO MOTOKI (JP)
FUJII YUSUKE (JP)
WAKIMITSU SHUNSUKE (JP)
Application Number:
PCT/JP2017/009618
Publication Date:
September 14, 2017
Filing Date:
March 09, 2017
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J19/00
Foreign References:
| JP2014195849A | 2014-10-16 | |||
| JP2014193516A | 2014-10-09 | |||
| JPH10138189A | 1998-05-26 | |||
| JPH1148185A | 1999-02-23 | |||
| US20140297037A1 | 2014-10-02 | |||
| US20140297032A1 | 2014-10-02 | |||
| JP2005001013A | 2005-01-06 | |||
| JPH09229009A | 1997-09-02 |
Other References:
See also references of EP 3427908A4
Attorney, Agent or Firm:
NAZUKA Satoshi et al. (JP)
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