HORIZONTAL ARTICULATED ROBOT

• US 20140316574A1
• Filed: 06/27/2014
• Published: 10/23/2014
• Est. Priority Date: 02/22/2011
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: IGARASHI, Katsuji, ONO, Masatoshi
• Granted Patent: US 9,481,085 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 9/042 comprising an articulated arm
• CPC Class Codes: B25J 9/1628 characterised by the control loop
• CPC Class Codes: B25J 9/1641 compensation for backlash, friction, compliance, elasticity in the joints
• CPC Class Codes: B25J 9/1651 acceleration, rate control
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: Y10S 901/28 Joint

Abstract

A robot includes an angular velocity sensor installed to a second horizontal arm and for obtaining the angular velocity of the first horizontal arm with respect to a base, and suppresses the vibration of the first horizontal arm by driving a first electric motor based on the angular velocity of the first horizontal arm. In the robot, an electric wire to be connected to a second electric motor incorporated in the second horizontal arm and electric wire to be connected to the angular velocity sensor are laid around through a wiring duct having end portions coupled respectively to the base and the second horizontal arm, disposed outside the first horizontal arm and outside the second horizontal arm, and having a passage leading to the inside of the base and the inside of the second horizontal arm.

Claims

1. A robot comprising:

a first arm connected to a base;

a second arm coupled to the base via at least the first arm; and

an angular velocity sensor disposed inside the second arm.

2. The robot according to claim 1, wherein

the second arm comprises a cover, and

the angular velocity sensor is disposed inside the cover.

3. The robot according to claim 1, comprising:

a first drive source incorporated in the base and adapted to rotate the first arm; and

a second drive source incorporated in the second arm and adapted to rotate the second arm.

4. The robot according to claim 1, comprising:

a piping member having one end coupled to the base and the other end coupled to the second arm; and

wherein an electric wire connected to the angular velocity sensor is passed into the piping member.

5. The robot according to claim 4,

wherein a connection section between the piping member and the second arm is disposed on an upper side of the second arm.

6. The robot according to claim 3, comprising:

a belt disposed inside the second arm, and adapted to transmit a drive force of a third drive source to a displacement member displaced with respect to the second arm,

wherein the angular velocity sensor is disposed above the belt.