US2016375581A1PendingUtilityA1

Robot, robot control device, and robot system

58
Assignee: SEIKO EPSON CORPPriority: Aug 31, 2012Filed: Aug 15, 2016Published: Dec 29, 2016
Est. expiryAug 31, 2032(~6.1 yrs left)· nominal 20-yr term from priority
Inventors:Akio Niu
G05B 2219/39195G05B 2219/37347B25J 13/088B25J 9/1651B25J 9/1638B25J 9/1694B25J 9/06
58
PatentIndex Score
0
Cited by
0
References
0
Claims

Abstract

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.

Claims

exact text as granted — not AI-modified
What is claimed is: 
     
         1 . A robot comprising:
 a base;   an arm comprising 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 intersecting the axis direction of 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 parallel to the axis direction of 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 axis direction of 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 axis direction of the third axis of rotation,   wherein a vibration of the arm is suppressed based on a signal output from the first angular velocity sensor and a signal output from the second angular velocity sensor.   
     
     
         2 . The robot according to  claim 1 , further comprising:
 a first angular velocity sensor unit having a first housing, the first angular velocity sensor, and a circuit section, the first angular velocity sensor and the circuit section being disposed in the first housing, the circuit section AD-converting the signal output from the first angular velocity sensor and transmitting the signal; and   a second angular velocity sensor unit having a second housing, the second angular velocity sensor, and a circuit section, the second angular velocity sensor and the circuit section being disposed in the second housing, the circuit section AD-converting the signal output from the second angular velocity sensor and transmitting the signal, wherein the first angular velocity sensor unit is installed to the first arm, and the second angular velocity sensor unit is installed to the third arm.   
     
     
         3 . The robot according to  claim 2 , wherein
 the first housing and the second housing each have a rectangular parallelepiped outer shape,   the angular velocity detection axis of the first angular velocity sensor coincides with a first line normal to a largest surface of the rectangular parallelepiped of the first housing, and   the angular velocity detection axis of the second angular velocity sensor coincides with a second line normal to a largest surface of the rectangular parallelepiped of the second housing.   
     
     
         4 . The robot according to  claim 2 , wherein
 the first housing has a first mount portion mounted to the first arm at a corner of the first housing, and   the second housing has a second mount portion mounted to the third arm at a corner of the second housing.   
     
     
         5 . The robot according to  claim 4 , wherein
 a first fixing member having conductivity and fixing the mount portion of the first housing to the first arm is provided and the circuit section of the first angular velocity sensor unit is grounded to the first arm through the fixing member, and   a second fixing member having conductivity and fixing the mount portion of the second housing to the third arm is provided and the circuit section of the second angular velocity sensor unit is grounded to the third arm through the fixing member.   
     
     
         6 . The robot according to  claim 2 , wherein
 the first arm has a case and an arm-side mount portion formed integrally with the case, and   the first angular velocity sensor unit is directly mounted to the arm-side mount portion.   
     
     
         7 . The robot according to  claim 2 , wherein
 the third arm has a case and an arm-side mount portion formed integrally with the case, and   the second angular velocity sensor unit is directly mounted to the arm-side mount portion.   
     
     
         8 . The robot according to  claim 1 , further comprising
 a cable installed in the first arm and supplying electric power to the robot, and   wherein the first angular velocity sensor is arranged at an end portion of the first arm on a side opposite to the cable.   
     
     
         9 . The robot according to  claim 1 , further comprising
 a cable installed in the third arm and supplying electric power to the robot, and   wherein the second angular velocity sensor is arranged at an end portion of the third arm on a side opposite to the cable.   
     
     
         10 . The robot according to  claim 1 , wherein
 the arm comprising a fourth arm rotatably coupled to the third arm about a fourth axis of rotation, the fourth axis of rotation intersecting the axis direction of the third axis of rotation, a fifth arm rotatably coupled to the fourth arm about a fifth axis of rotation, the fifth axis of rotation intersecting the axis direction of the fourth axis of rotation, and a sixth arm rotatably coupled to the fifth arm about a sixth axis of rotation, the sixth axis of rotation intersecting the axis direction of the fifth axis of rotation.   
     
     
         11 . The robot according to  claim 1 , wherein
 the first angular velocity sensor is installed inside the first arm, and   the second angular velocity sensor is installed inside the second arm.   
     
     
         12 . A robot system comprising:
 the robot according to  claim 1 ; and   a robot control device controlling operation of the robot.   
     
     
         13 . A robot system comprising:
 the robot according to  claim 2 ; and   a robot control device controlling operation of the robot.   
     
     
         14 . A robot system comprising:
 the robot according to  claim 3 ; and   a robot control device controlling operation of the robot.   
     
     
         15 . A robot system comprising:
 the robot according to  claim 4 ; and   a robot control device controlling operation of the robot.   
     
     
         16 . A robot system comprising:
 the robot according to  claim 5 ; and   a robot control device controlling operation of the robot.   
     
     
         17 . A robot system comprising:
 the robot according to  claim 6 ; and   a robot control device controlling operation of the robot.   
     
     
         18 . A robot system comprising:
 the robot according to  claim 7 ; and   a robot control device controlling operation of the robot.   
     
     
         19 . A robot system comprising:
 the robot according to  claim 8 ; and   a robot control device controlling operation of the robot.   
     
     
         20 . A robot system comprising:
 the robot according to  claim 9 ; and   a robot control device controlling operation of the robot.   
     
     
         21 . A robot system comprising:
 the robot according to  claim 10 ; and   a robot control device controlling operation of the robot.   
     
     
         22 . A robot system comprising:
 the robot according to  claim 11 ; and   a robot control device controlling operation of the robot.

Join the waitlist — get patent alerts

Track US2016375581A1 — get alerts on status changes and closely related new filings.

We store only your email — no account needed. See our privacy policy.