Kawasaki Jukogyo Kabushiki Kaisha

Sosuke Abe

Koji Yoshino

Yuki Takeuchi

Hideaki Kanou

Keisuke Kawaguchi

A gas pressure detection devicedetects a decrease in a pressure of gas of a gas balancerof a robot. The gas pressure detection deviceincludes a calculating part configured to calculate a parameter Rt(θ) indicating a magnitude relation between a reference pressure Pa(θ) at a rotational angle θ of a rotary armand a measured pressure Pt(θ) measured at the rotational angle θ, calculate a plurality of parameters Rt(θ) based on a plurality of measured pressures Pt(θ) at different measurement times, and calculate a moving average Rtj(θ) of the parameter Rt(θ) at a measurement time tj that is a j-th measurement time of the measured pressure Pt(θ) (j representing a natural number of 2 or above), and a determining part configured to compare the moving average Rtj(θ) with a reference value R to detect the decrease in the pressure of the gas.

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Kobe, Japan

Sosuke Abe