| 摘要 |
PURPOSE: A monitoring system of transferring robot is provided to secure the stability of the management and the operation of a transferring robot. CONSTITUTION: A monitoring system(100) of transferring robot comprises a Z-axis motor(110), a second Z-axis encoder(112), a T axis motor(120), a second T axis encoder(122), an R shaft motor(130), a second R shaft encoder(132), and a monitoring unit(140). The second R shaft encoders are installed in a first R shaft encoder and the end portion of the driving shaft of the R shaft motor. The monitoring unit monitors the deviation of the real torque and the values in each encoder according to the Z-axis motor, the second Z-axis encoder, the T axis motor, the second T axis encoder, and the R shaft motor.
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