Robot System, Robot, Robot Control Device, Robot Control Method, And Encoder
First Claim
1. A robot system comprising:
- a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear; and
a main shaft phase output unit outputting a phase of the main shaft gear as a first main shaft phase, whereina phase of the main shaft gear is derived as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear, andprocessing to stop the drive unit is performed when the first main shaft phase and the second main shaft phase do not coincide with each other.
1 Assignment
0 Petitions
Accused Products
Abstract
A robot system includes: a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear; and a main shaft phase output unit outputting a phase of the main shaft gear as a first main shaft phase. A phase of the main shaft gear is derived as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear. Processing to stop the drive unit is performed when the first main shaft phase and the second main shaft phase do not coincide with each other.
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Citations
12 Claims
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1. A robot system comprising:
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a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear; and a main shaft phase output unit outputting a phase of the main shaft gear as a first main shaft phase, wherein a phase of the main shaft gear is derived as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear, and processing to stop the drive unit is performed when the first main shaft phase and the second main shaft phase do not coincide with each other. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot control method for controlling a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear, the method comprising:
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outputting a phase of the main shaft gear as a first main shaft phase; deriving a phase of the main shaft gear as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear; and performing processing to stop the drive unit when the first main shaft phase and the second main shaft phase do not coincide with each other.
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12. A robot system comprising:
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an encoder having a main shaft gear, a first countershaft gear, a second countershaft gear, and a third countershaft gear; a robot having the encoder; a control unit; and a main shaft phase output unit outputting a phase of the main shaft gear as a first main shaft phase, wherein the control unit is configured to execute a command to perform third processing, and the third processing includes processing to derive a phase of the main shaft gear as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear, and processing to stop the robot when the first main shaft phase and the second main shaft phase do not coincide with each other.
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Specification