US 12,390,924 B2
Current limiting device, robot system, and current limiting method
Masataka Tanabe, Kobe (JP); Shinji Kajihara, Kobe (JP); and Kenta Nakamura, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/022,566
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Aug. 20, 2021, PCT No. PCT/JP2021/030549
§ 371(c)(1), (2) Date Feb. 22, 2023,
PCT Pub. No. WO2022/044990, PCT Pub. Date Mar. 3, 2022.
Claims priority of application No. 2020-140784 (JP), filed on Aug. 24, 2020.
Prior Publication US 2023/0405814 A1, Dec. 21, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/12 (2006.01); B25J 19/06 (2006.01); H02P 29/40 (2016.01)
CPC B25J 9/1633 (2013.01) [B25J 9/126 (2013.01); B25J 9/1651 (2013.01); B25J 9/1674 (2013.01); B25J 19/06 (2013.01); H02P 29/40 (2016.02)] 11 Claims
OG exemplary drawing
 
1. A current limiting device to limit a current to be carried to a drive that generates a force or moment when the current is carried to the drive and transmits a drive force via a drive force transmitter, the current limiting device comprising:
a current limiter to limit the current to be carried to the drive within a range of a limit value; wherein
the limit value is set to change according to a speed of the drive;
the limit value includes a limit value for forward efficiency in which a driving direction of the drive and a direction of the force or moment output from the drive are the same as each other, and a limit value for reverse efficiency having a value different from the limit value for the forward efficiency, in which the driving direction of the drive and the direction of the force or moment output from the drive are opposite to each other; and
the limit value for the forward efficiency and the limit value for the reverse efficiency are set to linearly change according to a value of the speed of the drive.