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Robot Apparatus And Motor Control Device

A technology of robots and motors, which is applied in the direction of program control, general control system, program control manipulator, etc. It can solve the problems of unrealistic installation, limited installation position of contact sensors, and inability to fully deal with contact, etc.

Inactive Publication Date: 2018-02-16
LIFE ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the installation position of the contact sensor is limited, and it is unrealistic to install all the possible contact parts, and it is impossible to fully deal with contact sensors.

Method used

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  • Robot Apparatus And Motor Control Device
  • Robot Apparatus And Motor Control Device
  • Robot Apparatus And Motor Control Device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0015] Hereinafter, a robot device according to the present embodiment will be described with reference to the drawings. The robot apparatus includes a robot arm mechanism having a joint part having a stepping motor as an actuator. This robot device will be described by taking a vertical multi-joint arm mechanism, especially a vertical multi-joint arm mechanism in which one of a plurality of joints has a linear motion telescopic joint, as an example. In the following description, constituent elements having substantially the same functions and configurations are given the same symbols, and descriptions are repeated only when necessary.

[0016] figure 1 It is an external perspective view of the robot device according to this embodiment. The arm mechanism constituting the robot device has a substantially cylindrical base 1 , an arm 2 connected to the base 1 , and an arm 4 attached to the tip of the arm 2 . An adapter (not shown) is provided on the wrist 4 . For example, the...

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PUM

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Abstract

The present invention comprehensively detects movement malfunctions due to disturbance factors such as robot arm contact, etc. The robot apparatus according to an embodiment is provided with a multi-joint arm mechanism and is equipped with: multiple links; multiple joints (J1-J6) connecting the multiple links; multiple motors (310-360) for generating the motive force for driving the multiple joints; a transmission mechanism for transmitting the drive shaft rotation of the motor of at least one of the multiple joints to a rotating shaft of at least one joint; a first encoder (235) for detectingthe drive shaft rotation of the motor of at least one joint; a second encoder (236) for detecting the rotating shaft rotation of at least one joint; and an assessment section (105) for assessing movement malfunctions on the basis of an encoder pulse output from the first encoder and an encoder pulse output from the second encoder.

Description

technical field [0001] Embodiments of the present invention relate to a robot device and a motor control device. Background technique [0002] In recent years, there have been an increasing number of environments where robots and workers are located in the same space. It can be expected that in the future, nursing robots and industrial robots will work together with workers. In such a situation, safety is important, and it is due to a quick stop or a retraction operation at the time of abnormal operation due to disturbing factors such as contact of the robot arm with the operator, especially collision. [0003] Therefore, in many robotic devices, it is necessary to arrange contact sensors at multiple locations such as the front end and the side of the arm. [0004] However, the installation position of the contact sensor is limited, and it is not practical to install all the possible contact parts, and it is impossible to fully cope with the contact. Contents of the inve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06
CPCB25J13/088B25J19/061B25J9/1676G05B2219/40201G05B2219/40202B25J19/06B25J13/084B25J19/063
Inventor 尹祐根
Owner LIFE ROBOTICS CO LTD