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公开(公告)号：US20180036877A1
公开(公告)日：2018-02-08
申请号：US15549264
申请日：2016-01-08
Applicant: SONY CORPORATION
Inventor： YASUHISA KAMIKAWA , TETSUHARU FUKUSHIMA , WATARU KOKUBO , TOSHIMITSU TSUBOI , YOHEI KURODA , JUN ARAI
CPC classification number: B25J9/102 , A61B34/00 , A61B34/70 , A61B90/00 , A61B90/25 , A61B90/35 , A61B90/50 , B25J19/023 , B25J19/06 , H02P29/00 , H02P29/40
Abstract: [Object] To enable greater compactness and also to be capable of preventing breakdown more reliably. [Solution] Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.
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公开(公告)号：US20200146762A1
公开(公告)日：2020-05-14
申请号：US16743104
申请日：2020-01-15
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.
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公开(公告)号：US20170066131A1
公开(公告)日：2017-03-09
申请号：US15119631
申请日：2015-02-12
Applicant: SONY CORPORATION
Inventor： YASUHISA KAMIKAWA , TAKARA KASAI , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: [Object] To calibrate an internal model more efficiently and more precisely. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.
Abstract translation: [对象]更高效，更准确地校准内部模型。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由由一个或多个接合单元连接的多个链节构成，所述臂单元可连接到成像单元。 使用在成像单元指向实际空间中的参考点的状态下获取的内部模型信息来更新包括关于臂单元的至少几何信息和关于成像单元的聚焦位置信息的内部模型。
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公开(公告)号：US20170007342A1
公开(公告)日：2017-01-12
申请号：US15119671
申请日：2015-02-12
Applicant: SONY CORPORATION
Inventor： TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , WATARU KOKUBO , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
Abstract: [Object] To enable further improvement in user convenience. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.
Abstract translation: [对象]进一步提高用户便利性。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由通过一个或多个接合单元彼此连接的多个链节构成，所述臂单元可连接到成像单元; 以及驱动控制单元，其通过协同地驱动每个接合单元来控制所述臂单元的驱动。 驱动控制单元使用相对于臂单元的参考位置的相对位置信息，相对位置信息基于臂单元的状态和关于成像单元与参考位置之间的距离的距离信息来控制 以参考位置位于成像单元的光轴上的方式驱动臂单元。
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Patent Agency Ranking
公开(公告)号：US20160365771A1
公开(公告)日：2016-12-15
申请号：US15121602
申请日：2015-02-19
Applicant: SONY CORPORATION
Inventor： WATARU KOKUBO , TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
IPC: H02K7/116 , H02P6/16 , B25J9/06 , G01D5/245 , B25J9/16 , B25J13/08 , G01D5/04 , G01D5/14 , H02K11/215 , B25J9/12
CPC classification number: H02K7/116 , B25J9/06 , B25J9/126 , B25J9/1641 , B25J13/088 , G01D5/04 , G01D5/145 , G01D5/2451 , G05B2219/39191 , H02K11/215 , H02P6/16
Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
Abstract translation: [对象]准确地检测旋转角度，并且更安全地驱动。 [解决方案]提供一种致动器（300），其包括：减速齿轮（320），其以一定的减小比率减小接合到电动机（360）的旋转轴的输入轴的旋转速度，并且将减速齿轮 到输出轴（350）的旋转速度; 第一绝对角度编码器（330），其检测输入轴的旋转角度; 以及检测输出轴的旋转角度的第二绝对角度编码器（340）。
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公开(公告)号：US20210213611A1
公开(公告)日：2021-07-15
申请号：US17056163
申请日：2019-03-29
Applicant: SONY CORPORATION
Inventor： TOSHIMITSU TSUBOI
Abstract: [Problem] To optimally switch tasks of a robot depending on the situation. [Solution] According to the present disclosure, there is provided a robot control apparatus including: a determination unit configured to determine whether or not an end condition of a task is satisfied when a robot performs the task; and a switching unit configured to perform switching to a next task corresponding to the end condition in a case where the end condition is satisfied. With this configuration, it is possible to optimally switch tasks of the robot depending on the situation.
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公开(公告)号：US20190009409A1
公开(公告)日：2019-01-10
申请号：US16129382
申请日：2018-09-12
Applicant: SONY CORPORATION
Inventor： YASUNORI KAWANAMI , TOSHIMITSU TSUBOI , TSUTOMU SAWADA , MASAKUNI NAGANO , AKINORI KAMODA
Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
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公开(公告)号：US20180241283A1
公开(公告)日：2018-08-23
申请号：US15954737
申请日：2018-04-17
Applicant: SONY CORPORATION
Inventor： WATARU KOKUBO , TAKARA KASAI , YASUHISA KAMIKAWA , YOHEI KURODA , TOSHIMITSU TSUBOI , TETSUHARU FUKUSHIMA , YASUHIRO MATSUDA , ATSUSHI MIYAMOTO
IPC: H02K7/116 , H02P6/16 , G01D5/04 , G01D5/245 , G01D5/14 , H02K11/215 , B25J13/08 , B25J9/16 , B25J9/12 , B25J9/06
CPC classification number: H02K7/116 , B25J9/06 , B25J9/126 , B25J9/1641 , B25J13/088 , G01D5/04 , G01D5/145 , G01D5/2451 , G05B2219/39191 , H02K11/215 , H02P6/16
Abstract: Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.
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公开(公告)号：US20170358967A1
公开(公告)日：2017-12-14
申请号：US15121466
申请日：2016-02-02
Applicant: SONY CORPORATION
Inventor： WATARU KOKUBO , YASUHISA KAMIKAWA , TOSHIMITSU TSUBOI , YOHEI KURODA , JUN ARAI
CPC classification number: H02K3/345 , A61B34/32 , A61B34/74 , A61B50/13 , A61B90/361 , A61B90/37 , A61B90/50 , H02K1/272 , H02K3/34
Abstract: [Object] To realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. [Solution] Provided is a motor. An electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.
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