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1. 发明授权

US09302389B2 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：US09302389B2
公开(公告)日：2016-04-05
申请号：US14195929
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Atsushi Asada
IPC分类号： B25J13/08 , B25J9/06 , B25J9/16
CPC分类号： B25J9/1651 , B25J9/06 , B25J13/088 , G05B2219/37388 , 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 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, an angular velocity sensor provided in the first arm, and an acceleration sensor provided in the third arm.
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第二旋转轴线的第三旋转轴线，设置在第一臂中的角速度传感器和设置在第三臂中的加速度传感器。

2. 发明授权

US09868209B2 Robot 有权
公开(公告)号：US09868209B2
公开(公告)日：2018-01-16
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
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.

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

US09298179B2 Robot and robot controller 有权
标题翻译：机器人和机器人控制器
公开(公告)号：US09298179B2
公开(公告)日：2016-03-29
申请号：US14164718
申请日：2014-01-27
申请人： Seiko Epson Corporation
发明人： Shunsuke Toshimitsu , Hiroaki Fujimori , Katsuji Igarashi , Masatoshi Ono , Atsushi Asada
IPC分类号： G05B19/18 , 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。

6. 发明申请

US20140309776A1 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：US20140309776A1
公开(公告)日：2014-10-16
申请号：US14195913
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Atsushi Asada , Shunsuke Toshimitsu
IPC分类号： B25J13/08 , B25J17/00 , B25J9/06 , B25J19/02
CPC分类号： B25J13/08 , B25J9/06 , B25J9/1651 , B25J13/088 , B25J17/00 , B25J19/02 , 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 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, and a three-axis inertial sensor provided in the third arm and including a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, the first detection axis and the third rotating axis being parallel to each other.
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与第二旋转轴平行的第三旋转轴，以及设置在第三臂中的三轴惯性传感器，包括彼此正交的第一检测轴，第二检测轴和第三检测轴，第一检测轴并且第三旋转轴线彼此平行。

7. 发明授权

US09785138B2 Robot and robot controller 有权
公开(公告)号：US09785138B2
公开(公告)日：2017-10-10
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： G05B19/18 , G05B19/04 , 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.

8. 发明授权

US09586319B2 Robot-position detecting device and robot system 有权
标题翻译：机器人位置检测装置和机器人系统
公开(公告)号：US09586319B2
公开(公告)日：2017-03-07
申请号：US14286526
申请日：2014-05-23
申请人： Seiko Epson Corporation
发明人： Atsushi Asada
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1605 , G05B2219/34153 , G05B2219/39206
摘要： A robot-position detecting device includes: a position-data acquiring unit that acquires position data indicating actual positions of a robot; a position-data input unit that receives the position data output from the position-data acquiring unit; and a position calculating unit that calculates a computational position of the robot through linear interpolation using first and second position data input to the position-data input unit at different times.
摘要翻译：机器人位置检测装置包括：位置数据获取单元，其获取表示机器人的实际位置的位置数据; 位置数据输入单元，其接收从位置数据获取单元输出的位置数据; 以及位置计算单元，其通过使用在不同时间输入到位置数据输入单元的第一和第二位置数据的线性插值来计算机器人的计算位置。

9. 发明授权

US09339933B2 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：US09339933B2
公开(公告)日：2016-05-17
申请号：US14195913
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Atsushi Asada , Shunsuke Toshimitsu
IPC分类号： G05B15/00 , G05B19/00 , B25J13/08 , B25J9/06 , B25J17/00 , B25J19/02 , B25J9/16
CPC分类号： B25J13/08 , B25J9/06 , B25J9/1651 , B25J13/088 , B25J17/00 , B25J19/02 , 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 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, and a three-axis inertial sensor provided in the third arm and including a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, the first detection axis and the third rotating axis being parallel to each other.
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与第二旋转轴平行的第三旋转轴，以及设置在第三臂中的三轴惯性传感器，包括彼此正交的第一检测轴，第二检测轴和第三检测轴，第一检测轴并且第三旋转轴线彼此平行。

10. 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。

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