Multi-axis robotic arm and adjusting method thereof

Patent metadata

Field	Value
Publication number	US-10173322-B2
Application number	US-201715588715-A
Country	US
Kind code	B2
Filing date	May 8, 2017
Priority date	Dec 6, 2016
Publication date	Jan 8, 2019
Grant date	Jan 8, 2019

Abstract

An adjusting method is implemented by a control system and is used to adjust a multi-axis robotic arm including a plurality of motors. The adjusting method includes following operations. A decay rate of each motor is analyzed by the control system. When the decay rate of one of the motors exceeds a corresponding first threshold, a residual value of the one of the motors is further analyzed by the control system. When the residual value exceeds a first default value, an output capacity of at least one of the motors is adjusted by the control system.

First claim

What is claimed is:

1. An adjusting method operated by a control system, used to adjust a multi-axis robotic arm, the multi-axis robotic arm comprises a plurality of motors, the adjusting method comprises:
(A) analyzing a decay rate of each of the motors by the control system;
(B) when the decay rate of one of the motors exceeds a corresponding first threshold, further analyzing a residual value of the one of the motors by the control system; and
(C) when the residual value exceeds a first default value, adjusting an output capacity of at least one of the motors by the control system;
wherein step (B) further comprises:
when the decay rate of one of the motors is less than the corresponding first threshold, detecting that whether there are plural motors each having the decay rate exceeding a corresponding second threshold by the control system, wherein the corresponding second threshold of each motor is less than the corresponding first threshold of each motor;
when there are plural motors each having the decay rate exceeding the corresponding second threshold, analyzing an average residual value of the plural motors each having the decay rate exceeding the corresponding second threshold by the control system; and
when the average residual value exceeds a second default value, adjusting the output capacity of at least one of the motors by the control system;
wherein step (A) further comprises:
determining by the control system whether a performance of the motors decays according to one of a torque, a vibration and an operating temperature of the motors, analyzing the decay rate of each of the motors only when determining that the performance of the motors decays.

2. The adjusting method according to claim 1 , wherein the step (B) further comprises: analyzing the residual value by the control system according to an estimated residual life of the one of the motors.

3. The adjusting method according to claim 1 , further comprises: (D) when the residual value is less than the first default value, outputting a notification signal by the control system for replacing at least one of the motors.

4. The adjusting method according to claim 1 , further comprises: (D 1 ) when the average residual value is less than the second default value, outputting a notification signal by the control system for replacing at least one of the motors.

5. The adjusting method according to claim 1 , wherein step (C) further comprises: (CI) decreasing an outputting torque of the one of the motors; and (C2) increasing the outputting torque of at least another one of the motors.

6. A multi-axis robotic arm comprising:
a plurality of motors respectively disposed at a plurality of joints of the multi-axis robotic arm; and
a control system configured to analyze a decay rate of each of the motors;
wherein when the control system determines that the decay rate of one of the motors exceeds a corresponding first threshold, the control system further analyzes a residual value of the one of the motors, when the residual value exceeds a first default value, the control system adjusts an output capacity of at least one of the motors;
wherein when the control system determines that the decay rate of one of the motors is less than the corresponding first threshold, the control system detects that whether there are plural motors each having the decay rate exceeding a corresponding second threshold, wherein the corresponding second threshold of each motor is less than the corresponding first threshold of each motor, when the control system determines that there are plural motors each having the decay rate exceeding the corresponding second threshold, the control system analyzes an average residual value of the plural motors each having the decay rate exceeding the corresponding second threshold, and when the average residual value exceeds a second default value, the control system adjusts the output capacity of at least one of the motors;
wherein before the control system analyzes the decay rate of each of the motors, the control system determines whether a performance of the motors decays according to one of a torque, a vibration and an operating temperature of the motors, and analyzes the decay rate of each of the motors only when determining that the performance of the motors decays.

7. The multi-axis robotic arm according to claim 6 , wherein the control system analyzes the residual value according to an estimated residual life of the one of the motors.

8. The multi-axis robotic arm according to claim 6 , wherein adjusting the output capacity of at least one of the motors comprises decreasing an outputting torque of the one of the motors, and increasing an outputting torque of at least another one of the motors.

Assignees

• Inst Information Ind

Inventors

• Chiu Hung-Sheng
• Wang Hsiao-Yu
• Kao Hung-An
• Yang Hsing-Hsuan
• Chang Hsiao-Chen

Classifications

• B25J9/1674 Primary

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• H02P8/22

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• Y10S901/23

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• G05B19/40

  Open loop systems, e.g. using stepping motor · CPC title

• G05B2219/37209

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