Loading patent…
AssigneeJanome Sewing Machine Co., Ltd.
InventorsKenichiro Hiruma, Shinji Suzuki, Rika Miyazawa, Yoshihito Sakashita, Haruhiko Tanaka, Kikue Hosono
Estimating the term…
Disclosed is a SCARA robot having a robot body, a mount movable vertically of the robot body, a first arm having one end operatively connected to the mount such that the first arm may turningly move in a horizontal plane, a second arm having one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on the free end of the second arm, wherein stepping motors 12, 22, 32 and 42 are provided to move the first and second arms, the R-shaft and the mount respectively, and encoders are provided to count the stepping pulses of the stepping motors. The counted pulses are feedbacked to CPU1 so that the CPU1 may correct errors when the errors are detected between the counted number of pulses and a required number of pulses. When the errors are detected, the stepping motors may be stopped and the errors may be indicated.
A selective compliance assembly robot arm robot having a robot body, a mount, a first arm having one end operatively connected to the robot body such that the first arm may turningly move in a horizontal plane , a second arm having a free end and one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on said free end of the second arm, said robot comprising a first stepping motor arranged in said mount for moving said first arm, a second stepping motor arranged in said mount for moving said second arm, sensor means for detecting the stepping amounts of the stepping motors, and detecting means operated in response to the signals from the sensor means, thereby to detect the positions of the first and second arms respectively.
A selective compliance assembly robot arm robot having a robot body, a first arm having one end operatively connected to the robot body such that the first arm may turningly move in a horizontal plane, a second arm having a free end and one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on said free end of the second arm, said robot comprising drive sources including a first stepping motor for moving said first arm, a second stepping motor for moving said second arm, sensor means for detecting the stepping amounts of the stepping motors, and detecting means operated in response to the signals from the sensor means to compare the actual stepping amounts and required stepping amounts of said stepping motors, thereby to detect if said stepping motors have been correctly driven.
A selective compliance assembly robot arm robot having a robot body, a first arm having one end operatively connected to the robot body such that the first arm may turningly move in a horizontal plane, a second arm having a free end and one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on said free end of the second arm, said robot comprising drive sources including a first stepping motor for moving said first arm, a second stepping motor for moving said second arm, sensor means for detecting the stepping amount of the stepping motors, reduction means operated to move said stepping motors at a speed lower than a normal speed of said stepping motors, and detecting means operated in response to the signals from the sensor means to compare the actual stepping amounts and required stepping amounts of said stepping motors, thereby to detect if said stepping motors have been correctly driven.
Dependencies are inferred from the claim text.