Title:
ROBOT CONTROL APPARATUS FOR MONITORING ROBOT LOAD
Document Type and Number:
WIPO Patent Application WO/1995/009479
Kind Code:
A1
Abstract:
This invention relates to a robot control apparatus which detects a load applied to a robot driving system to facilitate the preventive maintenance, overhaul and life estimation of the system. A driving torque Ta outputted to the driving system is determined by subtracting torques consumed inside a motor M such as acceleration/deceleration torques of a rotor, etc, from an output torque T of the motor M for driving shafts of the robot. Further, the average of the driving torque Ta and the average speed of an output shaft (21) of the motor M are determined and displayed. The average output torque of a reduction gear (24) and the average speed of the output shaft of the reduction gear are determined so as to estimate the life of the reduction gear and indicate the ratio of it to a rated life. Because an actual load acting on the driving system is monitored, it is possible to facilitate the maintenance, overhaul and life estimation of the driving system as well as the life estimation of the reduction gear.
More Like This:
| JP2022529951 | Methods for making or machining teeth |
| JPH11194809 | MAINTENANCE MANAGEMENT SYSTEM FOR NC MACHINE TOOL |
| JPS5856754 | TOOL ABNORMALITY DETECTING DEVICE |
Inventors:
WATANABE ATSUSHI (JP)
NIHEI RYO (JP)
TERADA AKIHIRO (JP)
NIHEI RYO (JP)
TERADA AKIHIRO (JP)
Application Number:
PCT/JP1994/001582
Publication Date:
April 06, 1995
Filing Date:
September 27, 1994
Export Citation:
Assignee:
WATANABE ATSUSHI (JP)
NIHEI RYO (JP)
TERADA AKIHIRO (JP)
NIHEI RYO (JP)
TERADA AKIHIRO (JP)
International Classes:
G05B19/4065; H02P29/00; H02P29/40; B25J19/06; (IPC1-7): H02P5/00; H02P7/00
Foreign References:
| JPH04312378A | 1992-11-04 | |||
| JPH0230487A | 1990-01-31 |
Download PDF:
Previous Patent: BRAKING CIRCUIT FOR A UNIVERSAL MOTOR
Next Patent: FM THRESHOLD EXPANSION DETECTOR CIRCUIT
Next Patent: FM THRESHOLD EXPANSION DETECTOR CIRCUIT