JPWO2022102585A1 - - Google Patents

Info

Publication number
JPWO2022102585A1
JPWO2022102585A1 JP2022561917A JP2022561917A JPWO2022102585A1 JP WO2022102585 A1 JPWO2022102585 A1 JP WO2022102585A1 JP 2022561917 A JP2022561917 A JP 2022561917A JP 2022561917 A JP2022561917 A JP 2022561917A JP WO2022102585 A1 JPWO2022102585 A1 JP WO2022102585A1
Authority
JP
Japan
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2022561917A
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPWO2022102585A1 publication Critical patent/JPWO2022102585A1/ja
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/022—Power-transmitting couplings or clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2022561917A 2020-11-12 2021-11-08 Pending JPWO2022102585A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020188736 2020-11-12
PCT/JP2021/041030 WO2022102585A1 (ja) 2020-11-12 2021-11-08 電動機が出力する回転力を伝達する動力伝達機構の異常を検出する異常検出装置

Publications (1)

Publication Number Publication Date
JPWO2022102585A1 true JPWO2022102585A1 (ja) 2022-05-19

Family

ID=81601160

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022561917A Pending JPWO2022102585A1 (ja) 2020-11-12 2021-11-08

Country Status (6)

Country Link
US (1) US20230400384A1 (ja)
JP (1) JPWO2022102585A1 (ja)
CN (1) CN116419833A (ja)
DE (1) DE112021004831T5 (ja)
TW (1) TW202219674A (ja)
WO (1) WO2022102585A1 (ja)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07120187B2 (ja) 1986-12-09 1995-12-20 工業技術院長 機械のサ−ボ系の故障診断方式
JP4391381B2 (ja) 2004-10-06 2009-12-24 株式会社安川電機 多関節ロボットの減速機の異常判定装置及び多関節ロボットの減速機の異常判定方法
JP2008309592A (ja) * 2007-06-13 2008-12-25 Toyota Motor Corp 軸トルク検出装置および異常検出装置
JP5370392B2 (ja) 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
JP5956169B2 (ja) 2012-01-25 2016-07-27 ナブテスコ株式会社 潤滑油劣化センサーを備えた機械
WO2014098008A1 (ja) 2012-12-22 2014-06-26 株式会社Ｓｃｈａｆｔ 回転駆動装置
JP7028410B2 (ja) * 2017-03-21 2022-03-02 学校法人早稲田大学 機械装置の動力伝達システム
JP2020104177A (ja) 2018-12-25 2020-07-09 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、プログラム、記録媒体、物品の製造方法

Also Published As

Publication number Publication date
WO2022102585A1 (ja) 2022-05-19
DE112021004831T5 (de) 2023-09-28
US20230400384A1 (en) 2023-12-14
TW202219674A (zh) 2022-05-16
CN116419833A (zh) 2023-07-11

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