JPS6411783A - Method of inspecting brake gear in industrial robot - Google Patents
Method of inspecting brake gear in industrial robotInfo
- 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
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.
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)
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 |
-
1987
- 1987-07-06 JP JP16845487A patent/JPS6411783A/en active Pending
Cited By (5)
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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