JPS6411783A - Method of inspecting brake gear in industrial robot - Google Patents

Method of inspecting brake gear in industrial robot

Info

Publication number
JPS6411783A
JPS6411783A JP16845487A JP16845487A JPS6411783A JP S6411783 A JPS6411783 A JP S6411783A JP 16845487 A JP16845487 A JP 16845487A JP 16845487 A JP16845487 A JP 16845487A JP S6411783 A JPS6411783 A JP S6411783A
Authority
JP
Japan
Prior art keywords
arm
output shaft
mechanical brake
braking device
force
Prior art date
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
JP16845487A
Other languages
Japanese (ja)
Inventor
Takaaki Yamada
Yasuhide Takao
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP16845487A priority Critical patent/JPS6411783A/en
Publication of JPS6411783A publication Critical patent/JPS6411783A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE: To prevent a robot arm from naturally dropping abnormally when an unexpected stop situation occurs during operation by detecting the displacement quantity of a moving section, and judging the quality of a braking device while the braking device is operated and the drive of the moving section such as a wrist section is interrupted. CONSTITUTION: When the arm of a robot is kept at the prescribed attitude, the dividing force of the output shaft 5 of the arm by a servo motor 3 is released, a mechanical brake 6 serving as a braking device is operated to apply braking force to the arm. As the external force to displace the arm is only gravitational in this state the output shaft 5 is displaced, and the servo motor 3 is rotated by the output shaft 5 if the braking force of the mechanical brake 6 is weakened. The number of revolutions is counted for a prescribed period by a counter 18 via a measuring gate 17, and the counted value is compared with a reference value by a comparator 20. When the counted value exceeds the reference value, an alarm signal is outputted via an I/O interface 11 to report that the mechanical brake 6 is abnormal to a worker.
JP16845487A 1987-07-06 1987-07-06 Method of inspecting brake gear in industrial robot Pending JPS6411783A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16845487A JPS6411783A (en) 1987-07-06 1987-07-06 Method of inspecting brake gear in industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16845487A JPS6411783A (en) 1987-07-06 1987-07-06 Method of inspecting brake gear in industrial robot

Publications (1)

Publication Number Publication Date
JPS6411783A true JPS6411783A (en) 1989-01-17

Family

ID=15868407

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16845487A Pending JPS6411783A (en) 1987-07-06 1987-07-06 Method of inspecting brake gear in industrial robot

Country Status (1)

Country Link
JP (1) JPS6411783A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002187090A (en) * 2000-12-21 2002-07-02 Matsushita Electric Works Ltd Manipulator
JP2009196031A (en) * 2008-02-21 2009-09-03 Denso Wave Inc Electromagnetic brake controller of robot and method of determining abnormality of electromagnetic brake of robot
JP2012213844A (en) * 2011-04-01 2012-11-08 Yaskawa Electric Corp Device for controlling automated machine
JP2017196716A (en) * 2016-04-28 2017-11-02 シャープ株式会社 Actuator control device, automatic machine, actuator control method, actuator control program and computer readable recording medium
JP2020157370A (en) * 2019-03-28 2020-10-01 川▲崎▼工業株式会社 Tilting gravity casting device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002187090A (en) * 2000-12-21 2002-07-02 Matsushita Electric Works Ltd Manipulator
JP2009196031A (en) * 2008-02-21 2009-09-03 Denso Wave Inc Electromagnetic brake controller of robot and method of determining abnormality of electromagnetic brake of robot
JP2012213844A (en) * 2011-04-01 2012-11-08 Yaskawa Electric Corp Device for controlling automated machine
JP2017196716A (en) * 2016-04-28 2017-11-02 シャープ株式会社 Actuator control device, automatic machine, actuator control method, actuator control program and computer readable recording medium
JP2020157370A (en) * 2019-03-28 2020-10-01 川▲崎▼工業株式会社 Tilting gravity casting device

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