Title:
GAS PRESSURE DETECTION DEVICE, ROBOT COMPRISING GAS PRESSURE DETECTION DEVICE, AND GAS PRESSURE DETECTION METHOD FOR SAME
Document Type and Number:
WIPO Patent Application WO/2020/111179
Kind Code:
A1
Abstract:
This gas pressure detection device 10 detects a reduction in the gas pressure of a gas balancer 8 of a robot 2. The gas pressure detection device 10 comprises: a calculation unit for calculating a variable Rt(θ) expressing the magnitude relationship between a standard pressure Pa(θ) at a rotation angle θ of a rotating arm 14 and a measured pressure Pt(θ) obtained at the rotation angle θ, calculating a plurality of variables Rt(θ) from a plurality of measured pressures Pt(θ) at different measurement times, and calculating a moving average Rtj(θ) of the variables Rt(θ) at a jth (where j is a natural number greater than or equal to 2) measured pressure Pt(θ) measurement time tj; and a determination unit for detecting a reduction in the pressure of the gas by comparing the moving average Rtj(θ) and a standard value R.
More Like This:
Inventors:
YOSHINO KOJI
KANOU HIDEAKI
TAKEUCHI YUKI
KAWAGUCHI KEISUKE
ABE SOSUKE
KANOU HIDEAKI
TAKEUCHI YUKI
KAWAGUCHI KEISUKE
ABE SOSUKE
Application Number:
PCT/JP2019/046561
Publication Date:
June 04, 2020
Filing Date:
November 28, 2019
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
G01L7/00; B25J19/00
Foreign References:
| US6408225B1 | 2002-06-18 | |||
| JPH05228884A | 1993-09-07 | |||
| JP2012519083A | 2012-08-23 | |||
| JPS5895307U | 1983-06-28 | |||
| JP5512706B2 | 2014-06-04 |
Other References:
See also references of EP 3889564A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
Download PDF: