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1. WO2020111179 - GAS PRESSURE DETECTION DEVICE, ROBOT COMPRISING GAS PRESSURE DETECTION DEVICE, AND GAS PRESSURE DETECTION METHOD FOR SAME

Publication Number WO/2020/111179
Publication Date 04.06.2020
International Application No. PCT/JP2019/046561
International Filing Date 28.11.2019
IPC
G01L 7/00 2006.01
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
7Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements
B25J 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
CPC
B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
G01L 7/00
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
7Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 芳野 紘治 YOSHINO, Koji
  • 加納 英朗 KANOU, Hideaki
  • 竹内 祐貴 TAKEUCHI, Yuki
  • 川口 慶輔 KAWAGUCHI, Keisuke
  • 安部 壮祐 ABE, Sosuke
Agents
  • 特許業務法人 有古特許事務所 PATENT CORPORATE BODY ARCO PATENT OFFICE
Priority Data
2018-22491730.11.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) GAS PRESSURE DETECTION DEVICE, ROBOT COMPRISING GAS PRESSURE DETECTION DEVICE, AND GAS PRESSURE DETECTION METHOD FOR SAME
(FR) DISPOSITIF DE DÉTECTION DE PRESSION DE GAZ, ROBOT COMPRENANT UN DISPOSITIF DE DÉTECTION DE PRESSION DE GAZ, ET SON PROCÉDÉ DE DÉTECTION DE PRESSION DE GAZ
(JA) ガス圧検知装置、ガス圧検知装置を備えるロボット及びそのガス圧検知方法
Abstract
(EN)
This gas pressure detection device 10 detects a reduction in the gas pressure of a gas balancer 8 of a robot 2. The gas pressure detection device 10 comprises: a calculation unit for calculating a variable Rt(θ) expressing the magnitude relationship between a standard pressure Pa(θ) at a rotation angle θ of a rotating arm 14 and a measured pressure Pt(θ) obtained at the rotation angle θ, calculating a plurality of variables Rt(θ) from a plurality of measured pressures Pt(θ) at different measurement times, and calculating a moving average Rtj(θ) of the variables Rt(θ) at a jth (where j is a natural number greater than or equal to 2) measured pressure Pt(θ) measurement time tj; and a determination unit for detecting a reduction in the pressure of the gas by comparing the moving average Rtj(θ) and a standard value R.
(FR)
La présente invention concerne un dispositif de détection 10 de pression de gaz qui détecte une réduction de la pression de gaz d'un dispositif d'équilibrage de gaz 8 d'un robot 2. Le dispositif de détection 10 de pression de gaz comprend : une unité de calcul servant à calculer une variable Rt(θ) exprimant la relation d'amplitude entre une pression normalisée Pa(θ) à un angle de rotation θ d'un bras rotatif 14 et une pression mesurée Pt(θ) obtenue à l'angle de rotation θ, à calculer une pluralité de variables Rt(θ) à partir d'une pluralité de pressions mesurées Pt(θ) à différents instants de mesure, et à calculer une moyenne mobile Rtj(θ) des variables Rt(θ) à un jième instant de mesure tj (j étant un nombre naturel supérieur ou égal à 2) de pression mesurée Pt(θ) ; et une unité de détermination permettant de détecter une réduction de la pression du gaz par comparaison de la moyenne mobile Rtj(θ) et d'une valeur normalisée R.
(JA)
ガス圧検知装置10は、ロボット2のガスバランサ8のガスの圧力の低下を検知する。このガス圧検知装置10は、回動アーム14の回動角度θにおける基準圧力Pa(θ)と回動角度θで得られる測定圧力Pt(θ)との大小関係を表す変数Rt(θ)を算出し、測定時刻の異なる複数の測定圧力Pt(θ)から複数の変数Rt(θ)を算出し、測定圧力Pt(θ)のj回目(jは2以上の自然数)の測定時刻tjにおける変数Rt(θ)の移動平均Rtj(θ)を算出する算出部と、移動平均Rtj(θ)と基準値Rとを比較して前記ガスの圧力低下を検知する判定部と、を備える。
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