Title:
ARTICULATED ROBOT AND MOTOR DRIVING DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/176653
Kind Code:
A1
Abstract:
Provided are an articulated robot and a motor driving device that can start brake control more rapidly while suppressing recoil generated by the brake control when an abnormality related to driving of a motor occurs. The articulated robot comprises: a motor; a switching circuit that controls, by means of a switching element, power supplied to the motor; a control device that, when the brake control of detecting the abnormality related to the driving of the motor and decelerating the rotation of the motor is executed, controls the switching circuit to cause a switching element to be switched to a set duty ratio during a duration from a time when the brake control is started to a time when a set initial period elapses; and a plurality of arms connected in series from a base end side to a tip side. A plurality of motors and a plurality of switching circuits are provided to correspond to the plurality of arms, respectively, and the plurality of arms are individually operated. The initial period and the duty ratio are set individually for each of the plurality of arms.
Inventors:
NOMURA TAKESHI (JP)
KATO SHINICHI (JP)
KATO SHINICHI (JP)
Application Number:
PCT/JP2020/009448
Publication Date:
September 10, 2021
Filing Date:
March 05, 2020
Export Citation:
Assignee:
FUJI CORP (JP)
International Classes:
B25J9/10; B25J19/06; H02P3/22; H02P5/46
Domestic Patent References:
| WO2019187506A1 | 2019-10-03 | |||
| WO2016084553A1 | 2016-06-02 |
Foreign References:
| JP2017094445A | 2017-06-01 | |||
| JP2015159652A | 2015-09-03 | |||
| JP2008278698A | 2008-11-13 | |||
| JP2016152906A | 2016-08-25 | |||
| JP2004032913A | 2004-01-29 | |||
| JPH07328966A | 1995-12-19 |
Attorney, Agent or Firm:
NEXT INTERNATIONAL et al. (JP)
Download PDF:
Previous Patent: OPTICAL MEASUREMENT DEVICE AND OPTICAL MEASUREMENT METHOD
Next Patent: ENDOSCOPE TREATMENT TOOL
Next Patent: ENDOSCOPE TREATMENT TOOL