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US 10,870,201 B2Granted
SCARA robot
AssigneeSeiko Epson Corporation
InventorsMasaki Motoyoshi, Ryosuke Imai, Tetsuya Kawase, Toshinori Hiraide
Life of this patent
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Abstract
A SCARA robot includes a first arm configured to be moved in a direction different from a gravity direction; a first motor configured to drive the first arm; a first speed reducer, an input shaft of which is connected to the first motor and an output shaft of which is connected to the first arm; and a first output-side angle sensor configured to detect an operating position on an output side of the first speed reducer, wherein the first motor is controlled on the basis of an output of the first output-side angle sensor.
Claims20
A SCARA robot comprising:
- a first arm configured to be moved in a direction different from a gravity direction;
- a first motor configured to drive the first arm;
- a first speed reducer, an input shaft of which is connected to the first motor and an output shaft of which is connected to the first arm;
- a first output-side angle sensor configured to detect an operating position on an output side of the first speed reducer;
- and
- a base not moved by operation of the SCARA robot, wherein
- the first motor is controlled on the basis of an output of the first output-side angle sensor,
- the first arm is connected to the base via one rotary joint,
- the first output-side angle sensor includes:
- a scale rotated together with the first arm by the driving of the first motor;
- and
- a detector provided in the base and configured to read the scale, and
- when the first arm takes a posture in which, when viewed from a direction of a rotation axis of the first arm, a longitudinal direction of the base and an extending direction of the first arm from the rotation axis coincide with each other and an overlapping region of the base and the first arm is smaller, the detector is provided, with respect to the rotation axis, on an opposite side of the extending direction of the first arm.
10 more elements
A SCARA robot comprising:
- a first arm configured to be moved in a direction different from a gravity direction;
- a first motor configured to drive the first arm;
- a first speed reducer, an input shaft of which is connected to the first motor and an output shaft of which is connected to the first arm;
- a first output-side angle sensor configured to detect an operating position on an output side of the first speed reducer;
- and
- a base not moved by operation of the SCARA robot, wherein
- the first motor is controlled on the basis of an output of the first output-side angle sensor,
- the first arm is connected to the base via one rotary joint,
- a rotation axis of the first arm is present, when viewed from a direction of the rotation axis of the first arm, in a position where a distance from one end in a longitudinal direction of the base is smaller than a distance from another end in the longitudinal direction,
- the first output-side angle sensor includes:
- a scale rotated together with the first arm by the driving of the first motor;
- and
- a detector provided in the base and configured to read the scale, and
- the detector is provided on a side of the other end with respect to the rotation axis of the first arm when viewed from the direction of the rotation axis of the first arm.
11 more elements
Dependencies are inferred from the claim text.