HORIZONTAL ARTICULATED ROBOT

• US 20170008170A1
• Filed: 09/23/2016
• Published: 01/12/2017
• Est. Priority Date: 02/22/2011
• Status: Abandoned Application

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: IGARASHI, Katsuji, ONO, Masatoshi
• Application Number:
  US15/273,947
• Publication Number:
  US 20170008170A1
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 connected to the base via at least the first arm;

an angular velocity sensor disposed inside the second arm; and

a first drive source rotating the first arm based on an output from the angular velocity sensor.

2. The robot according to claim 1, wherein:

the second arm is connected to the first arm.

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 2, 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.

5. The robot according to claim 1, comprising:

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

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

6. The robot according to claim 2, comprising:

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

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

7. The robot according to claim 3, comprising:

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

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

8. The robot according to claim 4, comprising:

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

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

9. The robot according to claim 5, wherein:

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

10. The robot according to claim 6, wherein:

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

11. The robot according to claim 7, wherein:

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

12. The robot according to claim 8, wherein:

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

13. The robot according to claim 1, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

14. The robot according to claim 2, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

15. The robot according to claim 3, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

16. The robot according to claim 4, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

17. The robot according to claim 5, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

18. The robot according to claim 6, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

19. The robot according to claim 9, wherein:

a vibration of the first arm is suppressed based on an output from the angular velocity sensor.

20. The robot according to claim 1, wherein:

the angular velocity sensor is a gyroscope.