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Patent Searching and Data


Title:
ROBOT CONTROL DEVICE, AND ROBOT PROVIDED WITH CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2017/175845
Kind Code:
A1
Abstract:
The present invention pertains to a control device for a robot having a drive shaft that is driven by a servo motor provided with a non-excitation actuation type electromagnetic brake. The electromagnetic brake is configured to, when an exciting coil is de-energized, press an armature to a friction plate by means of urging force of a spring so as to perform a brake operation, and to, when the exciting coil is energized, draw in the armature to the exciting coil side against the urging force of the spring so as to separate the armature from the friction plate, thereby to undo the brake operation. A coil current flowing through the exciting coil is acquired, and a robot is controlled on the basis of the characteristic of a temporal change of the acquired coil current. With a relatively simple configuration, the present invention can provide a robot control device that enables, for example, shortening of a cycle time, estimation of the lifespan of the electromagnetic brake, and abnormality diagnosis.

Inventors:
OYAMA YASUNORI (JP)
Application Number:
PCT/JP2017/014428
Publication Date:
October 12, 2017
Filing Date:
April 06, 2017
Export Citation:
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Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J19/00; F16D66/00; F16D55/06
Foreign References:
JPS60143942U1985-09-24
JPH0522968A1993-01-29
JPH07187566A1995-07-25
JPH09210106A1997-08-12
JP2008128305A2008-06-05
JP2015100878A2015-06-04
Attorney, Agent or Firm:
NAZUKA Satoshi et al. (JP)
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