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:
Jul. 07, 2015
Filed:
May. 20, 2009
Applicants:
Hiroyuki Nakata, Osaka, JP;
Yasuhiro Kinugasa, Osaka, JP;
Inventors:
Hiroyuki Nakata, Osaka, JP;
Yasuhiro Kinugasa, Osaka, JP;
Assignee:
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1674 (2013.01); G05B 2219/37344 (2013.01); G05B 2219/37525 (2013.01); G05B 2219/41372 (2013.01); G05B 2219/45104 (2013.01);
Abstract
A failure of a robot can be determined while a production line is operating by determining when a motor output torque moving average value, which is an average value of N (N is a positive integer) pieces of motor output torque values, exceeds a first failure determination reference value, and an external force torque estimated moving average value, which is an average value of N pieces of external force torque estimated values, exceeds a second failure determination reference value.