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1. 发明申请

US20230100763A1 DRIVE UNIT AND ROBOT 有权
公开(公告)号：US20230100763A1
公开(公告)日：2023-03-30
申请号：US17952364
申请日：2022-09-26
申请人： SEIKO EPSON CORPORATION
发明人： Hidenori HAMA
IPC分类号： B25J9/12 , B25J9/06 , B25J17/02
摘要： A first drive unit includes a motor having a rotation shaft in which a through hole is provided, a drive section rotating the rotation shaft, and a first case covering at least a part of the drive section. Further, the unit includes a reducer having an input portion engaging with one end portion of the rotation shaft, an attachment portion attached to the motor, and an output portion reducing and outputting rotation of the rotation shaft. Furthermore, the unit includes a first connector fixed to a third case of the motor and coupled to first wiring coupled to outside and a second connector fixed to the attachment portion of the reducer and coupled to second wiring coupled to the outside. In addition, the first drive unit includes internal wiring passing through the through hole and coupled to the first connector and the second connector.

2. 发明申请

US20180056506A1 ROBOT 审中-公开
公开(公告)号：US20180056506A1
公开(公告)日：2018-03-01
申请号：US15690882
申请日：2017-08-30
申请人： Seiko Epson Corporation
发明人： Yoshiteru NISHIMURA , Seiji HAHAKURA , Hidenori HAMA
IPC分类号： B25J9/04 , B25J9/12
CPC分类号： B25J9/042 , B25J9/0009 , B25J9/044 , B25J9/126
摘要： A robot includes an arm that rotates about a rotation axis, a motor that is provided in the arm, and an amplifier unit that includes an amplifier substrate which drives the motor and that is provided in the motor, in which, when a longitudinal direction of the arm as seen from an axial direction that is parallel to the rotation axis is a first direction and a direction orthogonal to the first direction is a second direction, the amplifier unit and the motor are arranged in a direction different from the second direction.

3. 发明申请

US20180056507A1 ROBOT 审中-公开
公开(公告)号：US20180056507A1
公开(公告)日：2018-03-01
申请号：US15690791
申请日：2017-08-30
申请人： Seiko Epson Corporation
发明人： Seiji HAHAKURA , Hidenori HAMA
IPC分类号： B25J9/04 , B25J9/12 , H02K11/33
摘要： A robot includes an arm that includes an arm main body and a motor and rotates about a rotation axis, and an amplifier unit that is provided in the arm and includes a drive circuit which drives the motor, in which at least a portion of the amplifier unit or the motor is positioned on the outside of the arm main body as seen from an axial direction that is parallel to the rotation axis.

4. 发明申请

US20180219461A1 ROBOT 审中-公开
公开(公告)号：US20180219461A1
公开(公告)日：2018-08-02
申请号：US15885986
申请日：2018-02-01
申请人： Seiko Epson Corporation
发明人： Hidenori HAMA , Seiji HAHAKURA , Yoshiteru NISHIMURA , Takema YAMAZAKI
IPC分类号： H02K11/33 , H02K29/08 , H02K11/215
CPC分类号： H02K11/33 , H02K11/215 , H02K29/08 , H02K2211/03
摘要： A robot includes a motor, an amplifier that includes a drive circuit for driving the motor, and a first object that includes at least one of a brake which brakes a driving shaft of the motor, a pulley which transmits a motive power from the driving shaft of the motor, and a computing unit which performs calculation related to rotation of the motor, in which the motor is provided with the amplifier such that the amplifier is positioned at a position other than a position axially above the driving shaft.

5. 发明申请

US20170341223A1 MOTOR UNIT AND ROBOT 审中-公开
公开(公告)号：US20170341223A1
公开(公告)日：2017-11-30
申请号：US15608018
申请日：2017-05-30
申请人： Seiko Epson Corporation
发明人： Seiji HAHAKURA , Hidenori HAMA , Yoshiteru NISHIMURA , Kotaro SEKINE , Mamoru ADACHI
IPC分类号： B25J9/04 , B25J9/00 , B25J19/00
CPC分类号： B25J9/044 , B25J9/0009 , B25J9/042 , B25J19/0029 , B25J19/0054 , B25J19/0075 , H02K11/33
摘要： A motor unit includes a motor and an amplifier section including a drive circuit that drives the motor. The amplifier section includes an amplifier cover. A power line for supplying power to the motor is bound to the amplifier cover.

6. 发明申请

US20230118334A1 Robot And Adjusting Method 有权
公开(公告)号：US20230118334A1
公开(公告)日：2023-04-20
申请号：US17965848
申请日：2022-10-14
申请人： SEIKO EPSON CORPORATION
发明人： Yuta ICHIMIYA , Hidenori HAMA
IPC分类号： B25J9/10 , B25J9/00 , F16H7/18
摘要： A robot includes a power source and a power transmission mechanism configured to transmit an output of the power source. The power transmission mechanism includes a fixed member, a first pulley configured to rotate around a first axis with respect to the fixed member, a second pulley disposed to be separated from the first pulley and configured to rotate, with respect to the fixed member, around a second axis parallel to the first axis, a belt wound around the first pulley and the second pulley and configured to transmit the rotation of one of the first pulley and the second pulley to another, a restricting member including a restricting section disposed to be opposed to the belt with a gap in a portion where the first pulley and the belt mesh with each other, and a screw having a center axis along the first axis and configured to fix the restricting member to the fixed member. The restricting member rotates around the center axis to thereby change a separation distance between the restricting section and the belt in a plan view from a direction extending along the first axis.

7. 发明申请

US20220331972A1 Robot Image Display Method, Recording Medium, And Robot Image Display System 有权
公开(公告)号：US20220331972A1
公开(公告)日：2022-10-20
申请号：US17720417
申请日：2022-04-14
申请人： Seiko Epson Corporation
发明人： Hidenori HAMA
IPC分类号： B25J9/16 , B25J9/00 , G06T19/00 , G06T7/70 , G05B19/42
摘要： A robot image display method includes (a) a step of recognizing the position and the posture of a base of a robot from a base section image of a base section for teaching, (b) a step of recognizing the position and the posture of a finger section of the robot from a finger section image of a finger section for teaching, (c) a step of calculating angles of one or more joints of the robot from the position and the posture of the base and the position and the posture of the finger section, and (d) a step of displaying, in a virtual space, a three-dimensional image of the robot in a state in which the joints are at the angles calculated in the step (c).

8. 发明申请

US20220241960A1 Driving Mechanism And Robot 有权
公开(公告)号：US20220241960A1
公开(公告)日：2022-08-04
申请号：US17587059
申请日：2022-01-28
申请人： Seiko Epson Corporation
发明人： Hidenori HAMA , Yuta ICHIMIYA , Shingo HOSHINO
IPC分类号： B25J9/10 , B25J9/12
摘要： A driving mechanism according to an aspect includes a first pulley configured to rotate around a first axis, a motor configured to rotate the first pulley around the first axis, a second pulley disposed to be separated from the first pulley and configured to rotate around a second axis parallel to the first axis, a first belt laid around the first and second pulleys and configured to transmit power of the motor from the first pulley to the second pully, a third pulley disposed side by side with the second pulley in a direction along the second axis and configured to rotate around the second axis integrally with the second pulley, a fourth pulley disposed to be separated from the third pulley and configured to rotate around a third axis parallel to the second axis, a second belt laid around the third and fourth pulleys and configured to transmit the power of the motor from the third pulley to the fourth pulley, and a first bearing located between the second and third pulleys and configured to support the second and third pulleys.

9. 发明申请

US20220234220A1 Robot, Attachment Method, And Detachment Method 有权
公开(公告)号：US20220234220A1
公开(公告)日：2022-07-28
申请号：US17582403
申请日：2022-01-24
申请人： Seiko Epson Corporation
发明人： Hidenori HAMA , Yuta ICHIMIYA , Shingo HOSHINO
IPC分类号： B25J17/00 , B25J9/00 , B25J19/00
摘要： A robot includes a first member having a first mounting surface facing upward and a second member having an opening at an upside of the first member and facing the first member and a second mounting surface at the upside, and a joint actuator coupling the first and second members. The joint actuator has a flange fixed to the second mounting surface, a motor placed at the upside with respect to the flange, and a reducer placed at a downside with respect to the flange, projecting downward from the opening, and fixed to the first mounting surface. The joint actuator is mounted on the second mounting surface from the upside and the reducer is projected downward from the opening, and the flange is fastened to the second member from the upside using first screws and the reducer is fastened to the first member from the downside using second screws.

10. 发明申请

US20220193931A1 Robot Arm And Robot 有权
公开(公告)号：US20220193931A1
公开(公告)日：2022-06-23
申请号：US17552381
申请日：2021-12-16
申请人： Seiko Epson Corporation
发明人： Yuta ICHIMIYA , Hidenori HAMA , Shingo HOSHINO
IPC分类号： B25J18/04 , B25J9/10 , B25J9/12 , B25J9/00
摘要： A robot arm includes a first arm having a housing with a first stopper provided therein, a second arm rotating relative to the first arm, and a joint unit including an outer ring portion fixed to the second arm, a second stopper provided in the outer ring portion and restricting rotation of the second arm relative to the first arm in cooperation with the first stopper, and an inner ring portion fixed to the first arm and rotating coaxially with the outer ring portion, wherein the housing has a first opening portion opening toward the outer ring portion in a position facing the outer ring portion, and the first stopper projects from the first opening portion.

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