Invention Grant
- Patent Title: Articulated robot and method of estimating reduced state of gas in gas spring of the articulated robot
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Application No.: US17054401Application Date: 2019-05-09
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Publication No.: US11376731B2Publication Date: 2022-07-05
- Inventor: Yusuke Fujii
- Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
- Applicant Address: JP Kobe
- Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
- Current Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
- Current Assignee Address: JP Kobe
- Agency: Oliff PLC
- Priority: JPJP2018-091629 20180510
- International Application: PCT/JP2019/018591 WO 20190509
- International Announcement: WO2019/216382 WO 20191114
- Main IPC: B25J9/12
- IPC: B25J9/12 ; B25J9/04 ; B25J9/16 ; B25J13/08 ; B25J19/00

Abstract:
A robot includes an arm supporting part, a rotary arm rotatably supported by the arm supporting part, a drive motor configured to rotate the rotary arm, a gas spring configured to reduce a load of the drive motor by supporting a load acting on the rotary arm and a controller. The controller determines that the rotary arm rotates, and estimates a reduced state of gas in the gas spring based on a comparison between an actual current value and a theoretical current value of the drive motor when the rotary arm rotates.
Public/Granted literature
- US20210069919A1 ARTICULATED ROBOT AND METHOD OF ESTIMATING REDUCED STATE OF GAS IN GAS SPRING OF THE ARTICULATED ROBOT Public/Granted day:2021-03-11
Information query
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