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1. 发明授权

US10953537B2 Robot 有权
公开(公告)号：US10953537B2
公开(公告)日：2021-03-23
申请号：US16143674
申请日：2018-09-27
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： B25J9/06 , B25J19/00 , B25J9/00 , B25J9/10 , B25J9/12
摘要： A robot includes a base, a robot arm including a first arm provided on the base and rotating around a first rotation axis, a first motor provided in the first arm and configured to rotate the first arm, a control board provided on an inside of the base and configured to control driving of the robot arm, and a power supply board provided on the inside of the base and configured to supply electric power to the control board. The robot includes a first driving board configured to drive the first motor on the basis of a command of the control board. The first driving board is provided in the first arm.

2. 发明申请

US20140365008A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US20140365008A1
公开(公告)日：2014-12-11
申请号：US14197692
申请日：2014-03-05
申请人： Seiko Epson Corporation
发明人： Atsushi Asada , Akio Niu , Hiroaki Hosomi
IPC分类号： B25J13/08
CPC分类号： B25J9/1628 , B25J9/04 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm which is rotatable around a first rotating axis with respect to the base, a second arm which is rotatable around a second rotating axis orthogonal to the first rotating axis, a third arm which is rotatable around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm, and a second angular velocity sensor provided in the third arm. The angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle. The angle between a detection axis of the second angular velocity sensor and the second rotating axis is a predetermined second angle.
摘要翻译：一种机器人包括一个基座，一个第一臂可围绕第一旋转轴线相对于基座旋转，第二臂可围绕与第一旋转轴线正交的第二旋转轴线旋转，第三臂可围绕第三旋转轴线旋转平行于第二旋转轴的旋转轴，设置在第一臂中的第一角速度传感器和设置在第三臂中的第二角速度传感器。第一角速度传感器的检测轴与第一旋转轴之间的角度为预定的第一角度。第二角速度传感器的检测轴与第二旋转轴之间的角度为预定的第二角度。

3. 发明授权

US09999974B2 Robot 有权
公开(公告)号：US09999974B2
公开(公告)日：2018-06-19
申请号：US15671652
申请日：2017-08-08
申请人： Seiko Epson Corporation
发明人： Akihiro Gomi , Masaki Motoyoshi , Shunsuke Toshimitsu , Akio Niu , Atsushi Asada
IPC分类号： G05B19/00 , 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.

4. 发明授权

US09757860B2 Robot 有权
公开(公告)号：US09757860B2
公开(公告)日：2017-09-12
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： G05B19/00 , B25J9/16
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.

5. 发明授权

US09452529B2 Robot, robot control device, and robot system 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US09452529B2
公开(公告)日：2016-09-27
申请号：US14014964
申请日：2013-08-30
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： B25J9/06 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/06 , B25J9/1638 , B25J9/1694 , B25J13/088 , G05B2219/37347 , G05B2219/39195
摘要： A robot includes: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.
摘要翻译：机器人包括：基座; 第一臂，围绕第一旋转轴线可旋转地联接到所述基座; 第二臂围绕第二旋转轴线可旋转地联接到第一臂，第二旋转轴线是垂直于第一旋转轴线的轴线或者是平行于垂直于第一旋转轴线的轴线的轴线; 第三臂围绕第三旋转轴线可旋转地联接到第二臂，第三旋转轴线是平行于第二旋转轴线的轴线; 第一角速度传感器，其安装到所述第一臂并且具有平行于所述第一旋转轴线的角速度检测轴; 以及第二角速度传感器，其安装到所述第三臂并且具有平行于所述第三旋转轴线的角速度检测轴。

6. 发明授权

US09242377B2 Robot 有权
标题翻译：机器人
公开(公告)号：US09242377B2
公开(公告)日：2016-01-26
申请号：US14015158
申请日：2013-08-30
申请人： Seiko Epson Corporation
发明人： Akihiro Gomi , Masaki Motoyoshi , Akio Niu
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1694 , B25J18/00 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597 , Y10S901/02 , Y10S901/09 , Y10S901/27 , Y10S901/46 , Y10T74/20329
摘要： A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.
摘要翻译：机器人包括基座，围绕第一旋转轴线旋转的第一臂，围绕沿第一旋转轴线方向延伸的第二旋转轴线旋转的第二臂，围绕第三旋转轴线旋转的第三臂，与第二旋转轴平行的方向，第一臂处的第一惯性传感器，第三臂处的第二（a）惯性传感器，第一驱动源处的第一角度传感器，第三驱动源处的第三角度传感器，并且驱动源旋转相应的臂。来自第一惯性传感器和第一角度传感器的角速度被反馈到第一驱动源控制单元。来自第二（a）惯性传感器和第三角度传感器的角速度被反馈到第二驱动源控制单元。

7. 发明授权

US10688659B2 Robot 有权
公开(公告)号：US10688659B2
公开(公告)日：2020-06-23
申请号：US15810711
申请日：2017-11-13
申请人： Seiko Epson Corporation
发明人： Akihiro Gomi , Masaki Motoyoshi , Akio Niu
IPC分类号： B25J9/16 , B25J18/00
摘要： A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

8. 发明授权

US09757864B2 Robot 有权
公开(公告)号：US09757864B2
公开(公告)日：2017-09-12
申请号：US14867467
申请日：2015-09-28
申请人： Seiko Epson Corporation
发明人： Akio Niu , Sho Nakano
IPC分类号： B25J17/02 , B25J19/00 , F16L3/015
CPC分类号： B25J19/0029 , F16L3/015 , Y10S901/27
摘要： A robot includes an nth arm (n is a natural number), an (n+1)th arm rotatably supported with respect to the nth arm, and a connection destination selection part that can select a connection destination of a cable routing present inside of the nth arm from a cable routing present outside of the nth arm and a cable routing present inside of the (n+1)th arm.

9. 发明授权

US09327402B2 Robot, robot control device, and robot system 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US09327402B2
公开(公告)日：2016-05-03
申请号：US14195937
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： G05B19/00 , G05B15/00 , B25J9/16 , B25J9/04 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括：基座，围绕第一旋转轴线可旋转地连接到基座的第一臂;围绕与第一旋转轴线正交的第二旋转轴线可旋转地连接到第一臂的第二臂，与第二臂可旋转地连接的第三臂围绕平行于所述第二旋转轴线的第三旋转轴线，设置在所述第一臂中并且具有平行于所述第一旋转轴线的角速度检测轴线的第一角速度传感器，以及设置在所述第二臂中的第二角速度传感器，角速度检测轴平行于第三旋转轴。

10. 发明申请

US20140309777A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US20140309777A1
公开(公告)日：2014-10-16
申请号：US14195925
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/1651 , B25J9/06 , B25J13/088 , G05B2219/37347 , G05B2219/39195 , Y10T74/20311 , Y10T74/20329
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis, a third arm rotatably connected to the second arm around a third rotating axis, a first angular velocity sensor provided in the first arm and having a first angular velocity detection axis parallel to the first rotating axis, a second angular velocity sensor provided in the second arm and having a second angular velocity detection axis parallel to the second rotating axis, and a third angular velocity sensor provided in the third arm and having a third angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括基座，第一臂，围绕第一旋转轴线可旋转地连接到基座;第二臂，围绕第二旋转轴线可旋转地连接到第一臂;第三臂，围绕第三旋转轴线可旋转地连接到第二臂; 第一角速度传感器，其设置在所述第一臂中并具有与所述第一旋转轴平行的第一角速度检测轴;第二角速度传感器，设置在所述第二臂中，并具有与所述第二旋转轴平行的第二角速度检测轴; 以及第三角速度传感器，其设置在所述第三臂中并且具有与所述第三旋转轴平行的第三角速度检测轴。

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