Kawasaki Jukogyo Kabushiki Kaisha

Shinji Kitamura

Takahiro Inada

Masato Yamamoto

Tetsuo Kaneda

Koji Muneto

Atsushi Kameyama

Toshiyuki Tsujimori

Ryo Taniuchi

Nobuhiro Demura

Yusuke Fujii

Koji Yoshino

Shunsuke Wakimitsu

Motoki Himeno

Tetsuya Taguchi

Makoto Kawai

Ryou Taniuchi

A failure diagnosis device for a reduction gear is a failure diagnosis device for a reduction gear provided to a mechanical apparatus driven by a motor so that the reduction gear slows down rotation power of the motor and transmits the power to an operating part of the mechanical apparatus. The device identifies an acceleration/deceleration period during which operation of the mechanical apparatus accelerates and/or decelerates, and determines whether the reduction gear indicates a sign of failure based on a change in frequency spectrum of motor current with respect to a change in a rotation speed of the motor during the acceleration/deceleration period.

Failure diagnosis device for reduction gear, method of diagnosing failure, and mechanical apparatus provided with the failure diagnosis device

A failure diagnosing device diagnoses failure of a plurality of reduction gears of a mechanical apparatus which includes a plurality of operation parts, a plurality of motors, and the plurality of reduction gears. The failure diagnosing device includes an acceleration/deceleration period identifying module configured to identify an acceleration/deceleration period of operation of one of the plurality of operation parts, a motor current processing module configured to acquire a peak value of an amplitude of a frequency component of motor current in a specific frequency band of one motor that drives the one operation part, in the acceleration/deceleration period, and a determining module configured to determine whether a sign of failure exists in one of the reduction gears.

Device and method for diagnosing failure of speed reducer

An articulated robot has an arm, a drive motor for driving and positioning the arm, a gas spring for supporting a load acting on the arm to reduce a load of the drive motor and a control unit for controlling the drive motor. The control unit has a function of estimating a decrease state of a gas sealed inside the gas spring based on an actual current value of the drive motor obtained at a stop position at which the drive motor is operated and stopped in an energized state. The decrease state of the gas sealed inside the gas spring is estimated based on the current value of a servo motor without causing decline in operation rate of the robot.

Articulated robot and method of estimating decrease state of gas in gas spring

An articulated robot includes: different types of joint units, each including a stationary body, a stationary body-side mechanical connector for connection to another unit, a displaceable body coupled to the stationary body by a coupler, a displaceable body-side mechanical connector for connection to another unit, and an actuator to displace the displaceable body relative to the stationary body; and a control unit including a controller to control the actuator and a control unit mechanical connector for connection to another unit, wherein displacement undergone by the displaceable body-side mechanical connector relative to the stationary body-side mechanical connector differs depending on the type of the joint unit, the stationary body-side mechanical connector includes a first connection structure, the displaceable body-side mechanical connector and the control unit mechanical connector each include a second connection structure, and the first and the second connection structure are connectable to each other.

Articulated robot

An arm unit of a robot has a lower arm mechanism including a parallel link structure and an upper arm mechanism. The lower arm mechanism has a front link and a rear link including respective lower ends rotatably connected to the base portion. A lower arm drive mechanism has a lower ball screw and a lower bearing portion supporting a shaft so as to be rotatable about its axis. An extending portion extending from the lower end of the rear link is connected to a nut so as to be rotatable about a nut side rotational axis. The lower bearing portion is connected to a base portion so as to be rotatable about a bearing portion side rotational axis. Thus, high mechanical rigidity can be ensured over a wide operation range under a high load condition.

Industrial robot

This system has an articulated robot having an arm and a base portion which rotatably supports the arm; and a rotation positioner to which the base portion of the articulated robot is mounted. A turn axis of the base portion of the articulated robot is orthogonal to a rotation axis of the rotation positioner. Thus, interference of a workpiece with the arm can be avoided and flexibility of works performed by the robot can be expanded.

Automatic production system

A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.

Multiple-joint industrial robot

A robot includes a body structure on which a robot arm having an end effector is rotatably supported. The body structure has a stationary base unit fixedly installed and a movable unit rotatably supported on the stationary base unit to turn about an axis of rotation. The stationary base unit includes a stationary-side guide part having a stationary-side internal space in which a flexible, elongate member connected to the robot arm or the end effector is extended loosely along the axis of rotation. The stationary-side guide part opens upstream in an elongate member inserting direction. The movable unit includes a movable-side guide part having a movable-side internal space in which the elongate member is extended loosely along the axis of rotation. The movable-side guide part opens downstream in an elongate member inserting direction. The stationary-side and the movable-side internal spaces communicate with each other.

Growing community of inventors

Kakogawa, Japan

Shinji Kitamura