| 发明名称 |
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. |
| 申请公布号 |
US2014379128(A1) |
申请公布日期 |
2014.12.25 |
| 申请号 |
US201414303138 |
申请日期 |
2014.06.12 |
| 申请人 |
CANON KABUSHIKI KAISHA |
发明人 |
Ishikawa Takahiro;Osaka Tsutomu;Ogami Kazunori;Kawamura Shunsuke |
| 分类号 |
B25J9/16;B25J18/00 |
主分类号 |
B25J9/16 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A robot apparatus comprising:
a multi-joint robot comprising, in at least one portion, a joint including a motor, a speed reducer connected to the motor, input angle detecting means configured to detect a rotational angle of a rotating shaft of the motor, and output angle detecting means 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 means and the output rotational angle detected by the output angle detecting means. |
| 地址 |
Tokyo JP |
