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1. 发明申请

US20190084155A1 ROBOT, ROBOT SYSTEM, AND ROBOT CONTROL DEVICE 审中-公开
公开(公告)号：US20190084155A1
公开(公告)日：2019-03-21
申请号：US16133791
申请日：2018-09-18
申请人： Seiko Epson Corporation
发明人： Shunsuke TOSHIMITSU
IPC分类号： B25J9/16 , B25J9/04
摘要： A robot comprising a base and a manipulator that is provided on the base so as to be rotatable around a first rotation axis, wherein the manipulator includes an A arm that is rotatable around an A rotation axis parallel to an installation surface of the base, and a B arm provided to be rotatable around a B rotation axis with respect to the A arm, the A arm and the B arm is brought into a first state in which the A arm and the B arm overlap, and a tip end of the manipulator is movable from a first position positioned on a side opposite to the base with respect to the installation surface of the base to a second position positioned on the side opposite to the base with respect to the A rotation axis through the first state.

2. 发明申请

US20190091853A1 Robot Control Device, Robot, And Robot System 审中-公开
公开(公告)号：US20190091853A1
公开(公告)日：2019-03-28
申请号：US16137647
申请日：2018-09-21
申请人： Seiko Epson Corporation
发明人： Shunsuke TOSHIMITSU
IPC分类号： B25J9/06 , B25J9/00
摘要： A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.

3. 发明申请

US20160176047A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20160176047A1
公开(公告)日：2016-06-23
申请号：US15058706
申请日：2016-03-02
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Masaki MOTOYOSHI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , Y10S901/09
摘要： A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by the feedback gain, and controls the second drive source.
摘要翻译：一种机器人包括围绕第一轴线旋转的第一臂，围绕第二轴在第一轴线不同的方向旋转的第二臂，围绕平行于第二轴线的第三轴线旋转的第三臂，第一惯性传感器安装在第一臂上的第二（a）惯性传感器，安装在第三臂处的第一至第三角度传感器，姿势检测单元，其以第二臂为基准来检测第三臂的姿势，并导出反馈增益和第二驱动源控制单元，其反馈通过将从角速度ωA3减去角速度ωA2m和角速度ωA3m获得的值乘以反馈获得的第二校正分量获得并控制第二个驱动源。

4. 发明申请

US20160161937A1 ROBOT AND ROBOT CONTROLLER 审中-公开
标题翻译：机器人和机器人控制器
公开(公告)号：US20160161937A1
公开(公告)日：2016-06-09
申请号：US15044471
申请日：2016-02-16
申请人： Seiko Epson Corporation
发明人： Shunsuke TOSHIMITSU , Hiroaki FUJIMORI , Katsuji IGARASHI , Masatoshi ONO , Atsushi ASADA
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , B25J9/1638 , B25J9/1641 , B25J9/1646 , G05B19/404 , G05B2219/42114
摘要： A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.
摘要翻译：机器人具有设定机器人的动作模式的动作模式设定部。操作模式设定单元改变乘以臂的最大加速度和最大减速度和伺服电路的伺服增益的校正系数，从而有选择地将操作模式设置为第一操作模式，第二操作模式臂比第一操作模式更快地操作，并且第三操作模式，其中臂比第一操作模式中的振动小。

5. 发明申请

US20210162591A1 Control Method for Robot System 有权
公开(公告)号：US20210162591A1
公开(公告)日：2021-06-03
申请号：US17104211
申请日：2020-11-25
申请人： Seiko Epson Corporation
发明人： Hiroyuki KANAI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16 , B25J13/08 , B25J19/00
摘要： A robot system includes a robot arm driven by an electric motor and a vehicle that is movable and supports the robot arm. A control method includes (a) moving the vehicle to a work station of a first type and (b) driving the robot arm in the work station of the first type. The (a) executes a first operation mode for, in a part of the movement to the work station of the first type, moving the vehicle in a state in which electric power is not supplied to the electric motor, starting supply of the electric power to the electric motor during the movement of the vehicle in the state in which the electric power is not supplied to the electric motor, and arranging the vehicle in the work station of the first type in a state in which the electric power is supplied to the electric motor.

6. 发明申请

US20180281185A1 CONTROL DEVICE AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180281185A1
公开(公告)日：2018-10-04
申请号：US15941492
申请日：2018-03-30
申请人： Seiko Epson Corporation
发明人： Shunsuke TOSHIMITSU
IPC分类号： B25J9/16 , B25J15/02
摘要： A control device includes: a processor wherein the processor is configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal, output one control signal among the first control signal and the one or more second control signals, receive an instruction indicating execution of a reduction in the frequency component, generate a driving signal for driving a robot based on the control signal output from the processor and output the driving signal, output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, and output the second control signal when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied.

7. 发明申请

US20150151432A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20150151432A1
公开(公告)日：2015-06-04
申请号：US14556800
申请日：2014-12-01
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Masaki MOTOYOSHI , Shunsuke TOSHIMITSU , Akio NIU , Atsushi ASADA
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , B25J13/088 , G05B2219/37134 , G05B2219/39195 , Y10S901/09 , Y10S901/28
摘要： A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.
摘要翻译：机器人包括多个接头，包括第一接头和第二接头，第一接头和第二接头沿与第一接头的旋转方向不同的方向旋转;多个臂构件，包括第一臂构件，该第一臂构件设置成可相对于底座通过第一接头和设置在第一臂构件或第一接头中的第一角速度传感器。第一惯性传感器设置在第一臂构件（或与第一接头中的第一臂构件一起旋转的部分）中。基于第一惯性传感器的输出来控制多个接头。

8. 发明申请

US20190337153A1 Robot 审中-公开
公开(公告)号：US20190337153A1
公开(公告)日：2019-11-07
申请号：US16512725
申请日：2019-07-16
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Masaki MOTOYOSHI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16
摘要： A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by the feedback gain, and controls the second drive source.

9. 发明申请

US20180001486A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180001486A1
公开(公告)日：2018-01-04
申请号：US15635518
申请日：2017-06-28
申请人： Seiko Epson Corporation
发明人： Shunsuke TOSHIMITSU , Katsuji IGARASHI
IPC分类号： B25J18/04 , B25J15/08 , B25J9/00
CPC分类号： B25J18/04 , B25J9/0009 , B25J9/0018 , B25J9/046 , B25J9/1671 , B25J15/08 , B25J18/005
摘要： A robot includes a manipulator including an n (n is an integer equal to or larger than 1)-th member capable of turning around an n-th turning axis, an (n+1)-th member provided in the n-th member to be capable of turning around an (n+1)-th turning axis having an axial direction different from an axial direction of the n-th turning axis, and an (n+2)-th member turnably provided in the (n+1)-th member. The n-th member and the (n+1)-th member are capable of overlapping each other when viewed from an axial direction of the (n+1)-th turning axis. A specific portion of the (n+2) -th member does not intrude into an inside of a first region including a turning center on the (n+1)-th turning axis. The first region includes a singular point of the manipulator and an immovable region of the manipulator.

10. 发明申请

US20170066129A1 ROBOT, CONTROL APPARATUS, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人，控制装置和机器人系统
公开(公告)号：US20170066129A1
公开(公告)日：2017-03-09
申请号：US15257003
申请日：2016-09-06
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI , Ryosuke IMAI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1615 , G05B2219/40269
摘要： A robot includes an nth (n is an integer equal to or more than one) arm rotatable about an nth rotation axis, and an (n+1)th arm provided on the nth arm to be rotatable about an (n+1)th rotation axis in an axis direction different from an axis direction of the nth rotation axis, wherein a length of the nth arm is longer than a length of the (n+1)th arm, the nth arm and the (n+1)th arm can overlap as seen from the axis direction of the (n+1)th rotation axis, and a shortest time taken for a second action of rotating the (n+1)th arm from a first attitude to a first angle is shorter than a shortest time taken for a first action of rotating the nth arm from the first attitude to the first angle.
摘要翻译：机器人包括第n个旋转轴可旋转的第n个（n是等于或大于1的整数）臂，以及设置在第n臂上的第（n + 1）臂可绕第（n + 1）旋转轴在与第n旋转轴的轴方向不同的轴方向上，其中第n臂的长度比第（n + 1）臂，第n臂和第（n + 1）臂的长度长从第（n + 1）旋转轴的轴线方向看，臂可以重叠，并且将第（n + 1）臂从第一姿态旋转到第一角度的第二动作所花费的最短时间短于将第n臂从第一姿态旋转到第一角度的第一动作所需的最短时间。

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