-
公开(公告)号：US20190299416A1
公开(公告)日：2019-10-03
申请号：US16360249
申请日：2019-03-21
Applicant: Nidec Corporation
Inventor： Hirokazu WATANABE , Haruhiro TSUNETA
Abstract: In a method of obtaining an angle of each joint of a 6-axis vertical articulated robot when a position and a posture of an end effector attached on a sixth axis are given, a predetermined amount of offset exists between a sixth axis and a fourth axis, and the method includes sequentially determining a point of interest, which is a point on a circumference of a circle having the predetermined amount as a radius, around a first intersection point, on a plane which includes the first intersection point which is an intersection point of the sixth axis and the fifth axis and the plane which is orthogonal to the sixth axis, calculating a second intersection point, which is an intersection point of the fourth axis and the third axis, when it is assumed that the point of interest is an intersection point of the fifth axis and the fourth axis, calculating an inner product value of a first vector directed from the calculated second intersection point to the point of interest and a second vector directed from the point of interest to the first intersection point, and estimating that the point of interest, when an absolute value of the inner product value is less than or equal to a predetermined threshold, is an intersection point of the fifth axis and the fourth axis.
-
公开(公告)号：US20190291274A1
公开(公告)日：2019-09-26
申请号：US16352988
申请日：2019-03-14
Applicant: Nidec Corporation
Inventor： Thanh Nhat DOAN , Masahiro YOSHIDA , Haruhiro TSUNETA
Abstract: A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and an angular velocity setter to set, when the reference point is moved in each of the segments according to point to point control, an angular velocity of each of the segments based on a variance in angle that becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.
-
Patent Agency Ranking
公开(公告)号：US20190109549A1
公开(公告)日：2019-04-11
申请号：US16089390
申请日：2017-03-09
Applicant: NIDEC CORPORATION
Inventor： Hideyuki ODAGIRI , Haruhiro TSUNETA , Yuu AYUZAWA , Shunya YAZAWA
Abstract: A motor system includes a motor, and a multi-turn absolute encoder that detects a rotation number and an absolute angular position of a rotation shaft of the motor. The multi-turn absolute encoder includes: an absolute angular position detection device that detects the absolute angular position within one rotation period of the rotation shaft; and a storage element that stores the rotation number of the motor. Even if the driving of the multi-turn absolute encoder is stopped while the motor is stopped, the multi-turn absolute encoder detects the multi-turn position of the rotation shaft after startup. Further, the motor has a brake mechanism including: a gear-type brake wheel that rotates integrally with the rotation shaft; an engagement member capable of engaging with the teeth of the gear-type brake wheel; and an actuator which causes the teeth and the engagement member to engage with each other during braking.
-
公开(公告)号：US20200298422A1
公开(公告)日：2020-09-24
申请号：US16089372
申请日：2017-03-09
Applicant: NIDEC CORPORATION
Inventor： Yuu AYUZAWA , Haruhiro TSUNETA , Hideyuki ODAGIRI , Hirokazu WATANABE
Abstract: Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part of a robot, a motor and a reduction gear are housed in a case, and an output-side member having a flange is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot is provided with a plurality of biaxial joint units comprising two joint parts. In the robot, the attachment face of the case of one joint part constituting a biaxial joint unit is fixed to the flange of the other joint part either directly or via a coupling member.
-
公开(公告)号：US20200055189A1
公开(公告)日：2020-02-20
申请号：US16606889
申请日：2018-04-23
Applicant: Nidec Corporation
Inventor： Haruhiro TSUNETA , Kazuyoshi YASUKAWA
Abstract: An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.
-
公开(公告)号：US20190299418A1
公开(公告)日：2019-10-03
申请号：US16369009
申请日：2019-03-29
Applicant: Nidec Corporation
Inventor： Thanh Nhat DOAN , Haruhiro TSUNETA
IPC: B25J9/16
Abstract: A method of evaluating calibration precision includes a setting step of setting a three-dimensional lattice structure including lattice points and a movement instructing step of moving an arm tip of a calibrated robot from a first lattice point to a second lattice point spaced from the first lattice point. The method includes a calculating step of calculating a difference between a movement instruction value given to the robot and an actual distance by which the arm tip of the robot is moved. The method includes a repeat controlling step of repeating the movement instructing step and the calculating step multiple times using a pair of lattice points other than the first and second lattice points and a presenting step of presenting differences obtained by the repeat controlling step.
-
公开(公告)号：US20190291272A1
公开(公告)日：2019-09-26
申请号：US16352984
申请日：2019-03-14
Applicant: Nidec Corporation
Inventor： Thanh Nhat DOAN , Masahiro YOSHIDA , Haruhiro TSUNETA
Abstract: A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.
-
-
-
-
-
-
Search Results
7
records
(took 0.012 seconds)
