Robot apparatus and speed reducer state diagnosing method

摘要

A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.

主权项

1. A robot apparatus comprising:
a multi joint robot comprising: a joint including a motor; a speed reducer connected to the motor; input angle detecting means configured to detect an input rotational angle of a rotating shaft of the motor; output angle detecting means configured to detect an output rotational angle of the speed reducer; and a controller configured to compare a joint error calculated from an angle difference between the input rotational angle detected by the input angle detecting means and the output rotational angle detected by the output angle detecting means with a preset permissible joint error of the speed reducer, and determine that the speed reducer is damaged when the joint error is greater than the permissible joint error, and determine that the speed reducer is normal when the joint error is not greater than the permissible joint error.