US 12,248,294 B2
Backlash-amount measurement apparatus, backlash-amount measurement method and computer readable medium
Shigeru Hashimoto, Tokyo (JP)
Assigned to MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed by MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed on Nov. 1, 2022, as Appl. No. 17/978,352.
Application 17/978,352 is a continuation of application No. PCT/JP2020/025226, filed on Jun. 26, 2020.
Prior Publication US 2023/0050374 A1, Feb. 16, 2023
Int. Cl. G05B 19/404 (2006.01); H04Q 9/00 (2006.01)
CPC G05B 19/404 (2013.01) [H04Q 9/00 (2013.01); G05B 2219/34013 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A backlash-amount measurement apparatus comprising:
processing circuitry
to perform a rotation process of rotating by a certain amount, a servomotor which is connected to a device via a power transmission means;
to perform a waveform-data acquisition process of acquiring waveform data obtained when the servomotor is rotated by the certain amount by the rotation process;
to perform a determination process of determining whether or not rotation has been transmitted to the device when the servomotor is rotated by the certain amount by the rotation process, based on the waveform data;
to cause a repetition process of repeating a search process to be executed, the search process being constituted by the rotation process, the waveform-data acquisition process, and the determination process, when it is determined that the rotation of the servomotor has not been transmitted to the device in the determination process, to end the repetition process when it is determined that the rotation of the servomotor has been transmitted to the device in the determination process, and to calculate as a backlash amount of the power transmission means, a sum of a rotation amount in the repetition process, the rotation amount being an amount by which the servomotor has been rotated in the rotation process;
to measure duration of waveform indicated in the waveform data when it is determined that the rotation of the servomotor has not been transmitted to the device; and
to set the duration as waiting time after the search process is executed and until the next search process is executed, in the repetition process.