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公开(公告)号：US20190143522A1
公开(公告)日：2019-05-16
申请号：US16190621
申请日：2018-11-14
摘要： A robot includes a robot body including a base, a first movable section provided turnably with respect to the base, and a second movable section provided turnably with respect to the first movable section, a first proximity sensor for detecting contact with or approach of an object to the first movable section, and a second proximity sensor for detecting contact with or approach of the object to the second movable section. The first proximity sensor includes a first electrode section having a capacitance that changes according to the contact or approach of the object, and a first circuit section for detecting the capacitance of the first electrode section. The second proximity sensor includes a second electrode section having a capacitance that changes according to the contact or approach of the object, and a second circuit section for detecting the capacitance of the second electrode section.
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公开(公告)号：US20180313704A1
公开(公告)日：2018-11-01
申请号：US15964621
申请日：2018-04-27
CPC分类号： G01L1/16 , B25J13/085 , B25J18/04 , B25J19/028 , G01L1/144 , G01L5/009
摘要： A force detection device includes: a force sensor that has a piezoelectric element receiving a force and outputting a charge; a pre-compression unit that pre-compresses the force sensor; and a conversion output circuit that receives the charge from the force sensor and outputs a voltage. The pre-compression unit is short-circuited with a first ground of the conversion output circuit. The pre-compression unit has the same potential as the first ground. The force detection device includes a casing that accommodates the force sensor and the conversion output circuit. The casing is short-circuited with a second ground.
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公开(公告)号：US20130292569A1
公开(公告)日：2013-11-07
申请号：US13848334
申请日：2013-03-21
发明人： Mitsuhiro YAMAMURA
IPC分类号： G01J5/34
CPC分类号： G01J5/34 , G01J1/44 , G01J5/0025 , G01J5/0806 , G01J5/0896 , G01J2005/345 , G08B13/191 , H04N5/2256 , H04N5/33 , H04N5/378
摘要： A sensor device includes a plurality of row lines WL, a plurality of column lines DL, a plurality of reset lines RL, a plurality of pixel circuits that connect to each one of the plurality of row lines, the plurality of column lines and the plurality of reset lines, and an amplifier circuit. The plurality of pixel circuits respectively includes a pyroelectric element, a reset switch that is driven by the plurality of reset lines and discharges an electric charge of the pyroelectric element, and a pixel selection switch that is driven by the plurality of row lines and outputs a signal, which is based on a change of the electric charge of the pyroelectric element by a discharge, to one of the column lines. The signal based on the change of the electric charge of the pyroelectric element by the discharge is amplified in the amplifier circuit.
摘要翻译： 传感器装置包括多条行线WL，多条列线DL，多条复位线RL，多条像素电路，连接到多条行线中的每一行，多条列线和多条线 的复位线和放大器电路。 所述多个像素电路分别包括热电元件，由所述多个复位线驱动并放电所述热电元件的电荷的复位开关，以及由所述多条行线驱动的像素选择开关，并输出 信号，其基于通过放电将热释电元件的电荷改变为一列列线。 基于放电电路中基于热电元件的电荷变化的信号被放大。
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公开(公告)号：US20210331874A1
公开(公告)日：2021-10-28
申请号：US17238237
申请日：2021-04-23
摘要： A workpiece processing method includes a carry-in step of carrying a workpiece into the field of view of a magnifier, a work step of performing predetermined work on the workpiece based on an image provided via the magnifier, and a carry-out step of carrying the workpiece out of the field of view of the magnifier, and a robot performs at least one of the carry-in step and the carry-out step as well as the work step.
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公开(公告)号：US20210034070A1
公开(公告)日：2021-02-04
申请号：US16941833
申请日：2020-07-29
发明人： Mitsuhiro YAMAMURA
摘要： A robot includes a first arm, a second arm to be displaced relative to the first arm, a capacitance-type first proximity sensor provided on the second arm, and a capacitance-type second proximity sensor provided on the second arm, wherein a distance from the first arm to the first proximity sensor is different from a distance from the first arm to the second proximity sensor.
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公开(公告)号：US20180149530A1
公开(公告)日：2018-05-31
申请号：US15822502
申请日：2017-11-27
发明人： Mitsuhiro YAMAMURA
CPC分类号： G01L1/16 , B25J13/085 , G01L5/0028 , G01L5/167 , Y10S901/46
摘要： A force sensor includes a plurality of piezoelectric elements that output charge when subjected to an external force, each of the plurality of piezoelectric elements has two electrodes and a piezoelectric material provided between the two electrodes, and the piezoelectric elements are arranged without overlap with each other in a plan view as seen from a direction in which the two electrodes are arranged, and the piezoelectric elements are electrically series-connected. The piezoelectric materials of the plurality of piezoelectric elements are integrally formed.
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公开(公告)号：US20150260583A1
公开(公告)日：2015-09-17
申请号：US14725144
申请日：2015-05-29
发明人： Mitsuhiro YAMAMURA
IPC分类号： G01J5/34
CPC分类号： G01J5/34 , G01J5/22 , G01J2005/345
摘要： A detection circuit includes a pyroelectric element, an amplifier circuit, a first switching element and a second switching element. The amplifier circuit includes a transistor in which a detection signal from the pyroelectric element is inputted to a gate. The first switching element interrupts an electric current that flows into the transistor. The second switching element interrupts a connection between the pyroelectric element and the gate of the transistor.
摘要翻译： 检测电路包括热电元件，放大器电路，第一开关元件和第二开关元件。 放大器电路包括其中来自热电元件的检测信号被输入到栅极的晶体管。 第一开关元件中断流入晶体管的电流。 第二开关元件中断热电元件和晶体管的栅极之间的连接。
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公开(公告)号：US20220134549A1
公开(公告)日：2022-05-05
申请号：US17512710
申请日：2021-10-28
摘要： A method for driving a hand includes: detecting a relative position of a first finger part and a second finger part as of when the first finger part and the second finger part pinch a target object therebetween, as a reference relative position, by a position detection unit; moving the relative position of the first finger part and the second finger part to a target relative position where the first finger part and the second finger part are spaced further apart from each other than at the reference relative position by an amplitude of vibration or more, by a drive unit, on accepting an instruction to release the target object pinched by the first finger part and the second finger part; and causing at least one of the first finger part and the second finger part to vibrate by the drive unit, when the target relative position is achieved.
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公开(公告)号：US20210031366A1
公开(公告)日：2021-02-04
申请号：US16941756
申请日：2020-07-29
发明人： Mitsuhiro YAMAMURA
IPC分类号： B25J9/16 , B25J9/04 , B25J13/08 , G05B19/401
摘要： A detection method by a robot having a robot arm and a capacitance proximity sensor placed on the robot arm of detecting an object located around the robot, includes applying a drive voltage to a drive electrode of the proximity sensor, generating a corrected detection signal by correcting a detection signal output from a detection electrode of the proximity sensor based on a posture of the robot arm, and detecting the object located around the robot based on the corrected detection signal.
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公开(公告)号：US20190145798A1
公开(公告)日：2019-05-16
申请号：US16190492
申请日：2018-11-14
摘要： A robot includes a sensor including an electrode portion of a sensor for detecting approach of or contact with another object is formed on an outer surface or an inner surface of an exterior member, and in which a drive unit of the robot main body is controlled so as to avoid approach between the robot body and the other object based on an output signal of the sensor.
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