The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 02, 2022
Filed:
Mar. 09, 2017
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
Shinji Kitamura, Kakogawa, JP;
Motoki Himeno, Toyota, JP;
Yusuke Fujii, Kakogawa, JP;
Shunsuke Wakimitsu, Kakogawa, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
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.