Office Action 1: Notice of Allowance (2025-04-10)

CLAIMS:
What is claimed is:

1\. A brake abnormality detection system in a twin-motor- driven robot including a master shaft of a servomotor equipped with an excitation brake, and a slave shaft of a servomotor equipped with an excitation brake, which are connected with a manipulator output shaft via respective decelerators, the brake abnormality detection system comprising:
an operation controller configured to give a fine operation command to the master shaft in a state in which the servomotors are excited and the respective excitation brakes of the master shaft and the slave shaft are released; and
an abnormality detector configured to perform detection of an abnormality of the excitation brake of the slave shaft by detecting an operation amount of the slave shaft that is obtained when the slave shaft is finely operated in accordance with the fine operation command to the master shaft in a controlled manner, and comparing the operation amount with a reference value.

2\. The brake abnormality detection system in a twin-motor- driven robot according to claim 1, wherein the fine operation command is at a level of being absorbed into the decelerators and the manipulator output shaft, and not causing the slave shaft to perform physical following.
3\. A brake abnormality detection method in a twin-motor- driven robot including a master shaft of a servomotor equipped with an excitation brake, and a slave shaft of a servomotor equipped with an excitation brake, which are connected with a manipulator output shaft via respective decelerators, the brake abnormality detection method comprising:
giving a fine operation command to the master shaft in a state in which the servomotors are excited and the respective excitation brakes of the master shaft and the slave shaft are released; and
performing detection of an abnormality of the excitation brake of the slave shaft by detecting an operation amount of the slave shaft that is obtained when the slave shaft is finely operated in accordance with the fine operation command to the master shaft in a controlled manner, and comparing the operation amount with a reference value. 12 13

OFFICE ACTION:
DETAILED ACTION
Notice of Pre-AIA  or AIA  Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Information Disclosure Statement
The information disclosure statement (IDS) submitted on 12/05/2022 is in compliance with the provisions of 37 CFR 1.97.  Accordingly, the information disclosure statement is being considered by the examiner.
Allowable Subject Matter
Claims 1-3 are allowed.
The following is an examiner’s statement of reasons for allowance: The most relevant prior art of record includes US 20190344437 A1, US 20160156288 A1 and US 20140000355 A1.
US 20190344437 A1 a discloses drive device capable of allowing a brake operation of a braking mechanism of the drive device to suppress a mechanical load applied to a mechanism unit (i.e., a robot mechanical section) provided with the drive device. The drive device includes a first braking mechanism provided in a first motor to execute a first brake operation on an operation shaft, a second braking mechanism provided in a second motor to execute a second brake operation on the operation shaft, and a brake controller configured to control the first braking mechanism and the second braking mechanism to allow the first brake operation and the second brake operation to be continuously executed after starting the first brake operation before starting the second brake operation.
US 20160156288 A1 discloses a brake diagnosis device configured to diagnose a brake of a motor with a brake. The brake diagnosis device includes a brake control part, a diagnosis part, and a signal output part. The brake control part is configured to actuate or release the brake. The diagnosis part is configured to diagnose a presence or absence of an abnormality of the brake while the brake is actuated by the brake control part. The signal output part is configured to output a signal related to a brake abnormality after the brake is released by the brake control part in a case that the diagnosis part diagnoses the brake as having an abnormality.
US 20140000355 A1 discloses brake abnormality diagnosis device which diagnoses an abnormality in a brake of a brake-equipped motor provided in a robot or a machine tool, includes: an abnormality diagnosis unit which performs a diagnosis as to whether or not there is an abnormality in the brake, while the motor is excited and the brake is activated; and an output unit which, if it is diagnosed that there is an abnormality in the brake, notifies the abnormality in the brake without interrupting the excitation of the motor and without releasing the brake.
With respect to claims 1 and 3, the references separately or in combination do not appear to teach an abnormality detector configured to perform detection of an abnormality of the excitation brake of the slave shaft by detecting an operation amount of the slave shaft that is obtained when the slave shaft is finely operated in accordance with the fine operation command to the master shaft in a controlled manner, and comparing the operation amount with a reference value in combination with the specific details of claim 1 and 3.
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee.  Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion



CITED REFERENCE SUMMARIES: Ref US20190344437A1: Claims:
A drive device in which a plurality of motors cooperate to drive one operation shaft, the drive device comprising: a first motor and a second motor; a first braking mechanism provided at the first motor, and configured to carry out a first brake operation on the operation shaft; a second braking mechanism provided at the second motor, and configured to carry out a second brake operation on the operation shaft; and a brake controller configured to control the first braking mechanism and the second braking mechanism so as to continue the first brake operation and the second brake operation after starting the first brake operation prior to the second brake operation.
a first motor and a second motor;
a first braking mechanism provided at the first motor, and configured to carry out a first brake operation on the operation shaft;
a second braking mechanism provided at the second motor, and configured to carry out a second brake operation on the operation shaft; and
a brake controller configured to control the first braking mechanism and the second braking mechanism so as to continue the first brake operation and the second brake operation after starting the first brake operation prior to the second brake operation.
The drive device of claim 1 , further comprising an abnormality detector configured to detect whether or not an abnormality to emergently stop the operation shaft has occurred, wherein the brake controller is configured to start the first brake operation when the abnormality detector detects the abnormality.
wherein the brake controller is configured to start the first brake operation when the abnormality detector detects the abnormality.
The drive device of claim 1 , wherein each of the first braking mechanism and the second braking mechanism includes: a brake disc; a magnetic armature configured to selectively contact and separate from the brake disc; and an exciting coil configured to cause the armature to contact or separate from the brake disc, wherein the brake controller is configured to control an excitation timing of the exciting coil.
a magnetic armature configured to selectively contact and separate from the brake disc; and
an exciting coil configured to cause the armature to contact or separate from the brake disc,
wherein the brake controller is configured to control an excitation timing of the exciting coil.
A robot comprising: a robot mechanical section including an articulated shaft as the operation shaft; and a drive device according to claim 1 .
a robot mechanical section including an articulated shaft as the operation shaft; and
a drive device according to claim 1 .
Ref US20160156288A1: Claims:
A brake diagnosis device comprising: a brake control part configured to actuate or release a brake of a motor with the brake; a diagnosis part configured to diagnose a presence or absence of an abnormality of the brake while the brake is actuated by the brake control part; and a signal output part configured to output a signal related to a brake abnormality after the brake is released by the brake control part in a case that the diagnosis part diagnoses the brake as having an abnormality.
a brake control part configured to actuate or release a brake of a motor with the brake;
a diagnosis part configured to diagnose a presence or absence of an abnormality of the brake while the brake is actuated by the brake control part; and
a signal output part configured to output a signal related to a brake abnormality after the brake is released by the brake control part in a case that the diagnosis part diagnoses the brake as having an abnormality.
The brake diagnosis device according to claim 1 , wherein: the brake control part releases the brake when the diagnosis part diagnoses that the brake has an abnormality.
the brake control part releases the brake when the diagnosis part diagnoses that the brake has an abnormality.
The brake diagnosis device according to claim 2 , wherein: the diagnosis part includes: a calculating part configured to calculate, based on a detection position input from a position detector configured to detect a motor position of the motor, a movement amount of the motor position from a diagnosis start position; and a determination part configured to compare the movement amount calculated by the calculation part with a threshold value and to determine the presence or absence of an abnormality of the brake.
the diagnosis part includes:
a calculating part configured to calculate, based on a detection position input from a position detector configured to detect a motor position of the motor, a movement amount of the motor position from a diagnosis start position; and
a determination part configured to compare the movement amount calculated by the calculation part with a threshold value and to determine the presence or absence of an abnormality of the brake.
The brake diagnosis device according to claim 3 , further comprising: a position control part configured to generate a velocity command based on a position command and the detection position; and a position command output part configured to output to the position control part a first position command for moving the motor position by a predetermined amount from the diagnosis start position while the brake is actuated by the brake control part.
a position control part configured to generate a velocity command based on a position command and the detection position; and
a position command output part configured to output to the position control part a first position command for moving the motor position by a predetermined amount from the diagnosis start position while the brake is actuated by the brake control part.
The brake diagnosis device according to claim 4 , further comprising: a speed control part configured to generate a torque command based on the velocity command and a detection speed based on the detection position; and a torque limitation part configured to start torque limitation for limiting a command torque of the torque command to a torque limitation value or less in a case that the position command output part starts outputting the first position command, and to cancel the torque limitation in a case that the position command output part stops outputting the first position command.
a speed control part configured to generate a torque command based on the velocity command and a detection speed based on the detection position; and
a torque limitation part configured to start torque limitation for limiting a command torque of the torque command to a torque limitation value or less in a case that the position command output part starts outputting the first position command, and to cancel the torque limitation in a case that the position command output part stops outputting the first position command.
The brake diagnosis device according to claim 5 , wherein: the position command output part stops the output of the first position command in a case that the diagnosis part diagnoses the brake as having an abnormality during output of the first position command.
the position command output part stops the output of the first position command in a case that the diagnosis part diagnoses the brake as having an abnormality during output of the first position command.
The brake diagnosis device according to claim 6 , wherein: after the output of the first position command is stopped and the brake control part releases the brake, the position command output part outputs to the position control part a second position command for returning the motor position to the diagnosis start position.
after the output of the first position command is stopped and the brake control part releases the brake, the position command output part outputs to the position control part a second position command for returning the motor position to the diagnosis start position.
The brake diagnosis device according to claim 7 , wherein: the signal output part outputs the signal related to a brake abnormality when the detection position reaches the diagnosis start position.
the signal output part outputs the signal related to a brake abnormality when the detection position reaches the diagnosis start position.
The brake diagnosis device according to claim 8 , further comprising: a timer part configured to count a time elapsed from a time point of actuation of the brake by the brake control part, and the position command output part starts outputting the first position command when the timer part has counted the elapse of the first waiting time.
a timer part configured to count a time elapsed from a time point of actuation of the brake by the brake control part, and
the position command output part starts outputting the first position command when the timer part has counted the elapse of the first waiting time.
The brake diagnosis device according to claim 9 , wherein: the timer part counts a time elapsed from a time point of release of the brake B by the brake control part, and the position command output part starts outputting the second position command when the timer part has counted the elapse of a second waiting time.
the timer part counts a time elapsed from a time point of release of the brake B by the brake control part, and
the position command output part starts outputting the second position command when the timer part has counted the elapse of a second waiting time.
A brake diagnosis method comprising: actuating a brake of a motor with the brake, diagnosing a presence or absence of an abnormality of the brake in an actuated state of the brake, releasing the brake in a case that the brake is diagnosed as having an abnormality, and outputting a signal related to a brake abnormality after release of the brake.
actuating a brake of a motor with the brake,
diagnosing a presence or absence of an abnormality of the brake in an actuated state of the brake,
releasing the brake in a case that the brake is diagnosed as having an abnormality, and
outputting a signal related to a brake abnormality after release of the brake.
A brake diagnosis device comprising: means for actuating a brake of a motor with the brake, means for diagnosing a presence or absence of an abnormality of the brake in an actuated state of the brake, means for releasing the brake in a case that the brake is diagnosed as having an abnormality, and means for shifting the motor with the brake to normal operation after release of the brake.
means for actuating a brake of a motor with the brake,
means for diagnosing a presence or absence of an abnormality of the brake in an actuated state of the brake,
means for releasing the brake in a case that the brake is diagnosed as having an abnormality, and
means for shifting the motor with the brake to normal operation after release of the brake.
Ref US20140003585A1: Claims:
A gravity balance device for a cross arm of X-ray equipment, the gravity balance device is mounted within the cross arm for maintaining gravity balance of the cross arm, the gravity balance device comprising: a counter weight module configured to move along in a direction opposite to a moving direction of a tube of the X-ray equipment.
a counter weight module configured to move along in a direction opposite to a moving direction of a tube of the X-ray equipment.
The gravity balance device according to claim 1 , further comprising: a chain configured to impel the tube and the counter weight module to move; a first sprocket engaged with the chain and configured to impel the chain to move; a guide for the counter weight module, wherein the counter weight module moves along the guide; a braking shaft mounted on the cross arm; and a second sprocket engaged with the chain and configured to rotate about the braking shaft.
a chain configured to impel the tube and the counter weight module to move;
a first sprocket engaged with the chain and configured to impel the chain to move;
a guide for the counter weight module, wherein the counter weight module moves along the guide;
a braking shaft mounted on the cross arm; and
a second sprocket engaged with the chain and configured to rotate about the braking shaft.
The gravity balance device according to claim 2 , wherein a part of the chain which is located at a side of the first sprocket and at a side of the second sprocket is configured to impel the counter weight module to move, and another part of the chain which is located at another side of the first sprocket and at another side of the second sprocket is configured to impel the tube to move.
The gravity balance device according to claim 2 , further comprising: a brake fixedly mounted on the cross arm and configured to apply a braking to the braking shaft when the tube needs to stop moving.
a brake fixedly mounted on the cross arm and configured to apply a braking to the braking shaft when the tube needs to stop moving.
The gravity balance device according to claim 1 , wherein the counter weight module has a same weight as the tube.
The gravity balance device according to claim 1 , wherein the cross arm is a U-arm.
An X-ray equipment, comprising: a cross arm; a tube; a gravity balance device mounted within the cross and configured to maintain a gravity balance of the cross arm; and a counter weight module configured to move along in a direction opposite to a moving direction of the tube.
a gravity balance device mounted within the cross and configured to maintain a gravity balance of the cross arm; and
a counter weight module configured to move along in a direction opposite to a moving direction of the tube.
The X-ray equipment according to claim 7 , further comprising: a chain configured to impel the tube and the counter weight module to move; a first sprocket engaged with the chain, configured to impel the chain to move; a guide for the counter weight module, wherein the counter weight module moves along the guide; a braking shaft mounted on the cross arm; and a second sprocket engaged with the chain and configured to rotate about the braking shaft.
a first sprocket engaged with the chain, configured to impel the chain to move;
The X-ray equipment according to claim 8 , wherein a part of the chain which is located at one side of the first sprocket and one side of the second sprocket is configured to impel the counter weight module to move, and another part of the chain which is located at another side of the first sprocket and at another the side of the second sprocket is configured to impel the tube to move.
The X-ray equipment of claim according to claim 8 , further comprising: a brake fixedly mounted on the cross arm and configured to apply a braking to the braking shaft when the tube needs to stop moving.
The X-ray equipment according to claim 7 , wherein the counter weight module has a same weight as the tube.
The X-ray equipment according to claim 8 , wherein the cross arm is a U-arm.
Ref US20140000355A1: Claims:
1. A brake abnormality diagnosis method for diagnosing an abnormality in a brake of a brake-equipped motor provided in a robot or a machine tool, comprising steps of:
diagnosing whether or not there is the abnormality in the brake is performed while the motor is excited and the brake is activated; and notifying the abnormality in the brake if it is diagnosed that there is the abnormality in the brake without interrupting the excitation of the motor and without releasing the brake.
2. The brake abnormality diagnosis method according to claim 1, wherein if it is diagnosed that there is the abnormality in the brake, further the robot or the machine tool is moved to a safe predetermined retreat position and posture.
3. The brake abnormality diagnosis method according to claim 1, wherein if it is diagnosed that there is the abnormality in the brake, further the operation of the robot or the machine tool is continued while the operating speed of the robot or the machine tool is decreased by a predetermined amount.
4. The brake abnormality diagnosis method according to claim 1, wherein diagnosis as to whether or not there is the abnormality in the brake is performed at least before a movement instruction for the robot or the machine tool is output or after the movement instruction for the robot or the machine tool has stopped.
5. The brake abnormality diagnosis method according to claim 4, wherein if it is diagnosed that there is the abnormality in the brake before the operation of the robot or the machine tool is started, an operation start sequence for the robot or the machine tool is continued.
6. The brake abnormality diagnosis method according to claim 1, wherein diagnosis as to whether or not there is the abnormality in the brake is performed on the basis of a predetermined movement instruction which is supplied to the motor, and an actual position of the motor which has operated in accordance with the movement instruction.
7. A brake abnormality diagnosis device which diagnoses an abnormality in a brake of a brake-equipped motor provided in a robot or a machine tool, comprising:
an abnormality diagnosis unit which diagnoses whether or not there is the abnormality in the brake while the motor is excited and the brake is activated; and an output unit which notifies the abnormality in the brake if it is diagnosed that there is the abnormality in the brake without interrupting the excitation of the motor and without releasing the brake.
8. The brake abnormality diagnosis device according to claim 7, wherein the abnormality diagnosis unit diagnoses whether or not there is the abnormality in the brake at least before a movement instruction for the robot or the machine tool is output or after the movement instruction for the robot or the machine tool has stopped.
9. The brake abnormality diagnosis device according to claim 8, wherein if it is diagnosed that there is the abnormality in the brake before the operation of the robot or the machine tool is started, an operation start sequence for the robot or the machine tool is continued.
10. The brake abnormality diagnosis device according to claim 7, wherein diagnosis as to whether or not there is the abnormality in the brake is performed on the basis of a predetermined movement instruction which is supplied to the motor, and an actual position of the motor which has operated in accordance with the movement instruction.