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公开(公告)号：US20180215038A1
公开(公告)日：2018-08-02
申请号：US15880685
申请日：2018-01-26
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA
CPC classification number: B25J9/1633 , B25J9/1687 , B25J11/005 , B25J13/085 , G05B2219/45091
Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control driving of a robot capable of performing work including a screw-tightening process for tightening a screw, wherein the processor is configured to: receive an input of at least one of characteristics of an object including the screw used in the screw-tightening process; calculate, on the basis of the characteristics received, a value concerning screw-tightening torque at a time of the tightening of the screw by the robot; and cause a display to display the value concerning the screw-tightening torque.
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公开(公告)号：US20220305660A1
公开(公告)日：2022-09-29
申请号：US17704071
申请日：2022-03-25
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA
Abstract: A control method for a robot system includes a detection step of detecting a position of a female connector, a reference position setting step of setting a reference position as a reference for determination as to whether or not an insertion of a male connector into the female connector is successful based on the position of the female connector, and an insertion operation step of moving the male connector in an insertion start position along an insertion direction of the female connector, with a position where a force sensor of a robot detects a predetermined force generated by contact between the male connector and the female connector during the movement as a comparison position, and determining whether or not the insertion is successful by comparing the reference position and the comparison position.
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公开(公告)号：US20180129184A1
公开(公告)日：2018-05-10
申请号：US15806719
申请日：2017-11-08
Applicant: Seiko Epson Corporation
Inventor： Yasuhiro SHIMODAIRA , Junya UEDA
IPC: G05B19/401 , B25J13/08 , B25J9/16
CPC classification number: G05B19/401 , B25J9/1692 , B25J9/1694 , B25J13/085 , G05B2219/39323 , G05B2219/39529 , G05B2219/45064 , G05B2219/45091
Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot that includes a robot arm including a force detector, wherein the processor is configured to reset the force detector after moving the robot arm at a first speed, and subsequently moves the robot arm at a second speed faster than the first speed and performs force control based on an output from the force detection unit.
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公开(公告)号：US20170203434A1
公开(公告)日：2017-07-20
申请号：US15404612
申请日：2017-01-12
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA
CPC classification number: B25J9/0081 , B25J9/1697 , B25J13/085 , B25J19/023 , G05B2219/39054 , G05B2219/40425
Abstract: A robot includes an arm. The robot moves the arm on the basis of a detected position, which is a position of a target object detected by a detecting section, and a stored position, which is a position of the target object stored by a storing section.
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Patent Agency Ranking
公开(公告)号：US20200180157A1
公开(公告)日：2020-06-11
申请号：US16705315
申请日：2019-12-06
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA
Abstract: A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.
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公开(公告)号：US20180348729A1
公开(公告)日：2018-12-06
申请号：US15992587
申请日：2018-05-30
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA , Yuji SHIMADA
IPC: G05B19/401 , G05B19/18 , G05B19/402
CPC classification number: B25J9/1687 , B25J9/1633 , G05B2219/37606 , G05B2219/39332 , G05B2219/39346 , G05B2219/39529 , G05B2219/40032 , G05B2219/45061 , G05B2219/45091
Abstract: A control device adapted to control a robot including a robot arm provided with a force detector includes a processor that is configured to execute computer-executable instructions so as to control the robot, wherein the processor is configured to: operate the robot arm to move a screw gauge which is disposed on a tip side of the force detector of the robot arm, used for an inspection of a screw hole, and provided with an external thread, to make the external thread have contact with the screw hole; then detect force applied to the screw gauge using the force detector to perform force control in a direction perpendicular to a direction of an axis of the screw hole based on detection information of the force detector; and operate the robot arm to move the screw gauge based on the force control.
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公开(公告)号：US20200156249A1
公开(公告)日：2020-05-21
申请号：US16684728
申请日：2019-11-15
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA , Hideki HATA , Masaki MIYASAKA
Abstract: A robot system that performs work of coupling a cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.
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公开(公告)号：US20190329403A1
公开(公告)日：2019-10-31
申请号：US16392673
申请日：2019-04-24
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA , Masayuki IIYAMA , Tsuguya KOJIMA , Yuki YAHIRO
Abstract: A robot control apparatus includes a processor that is configured to control a robot having a robot arm to which an end effector is attached. The processor is configured to: insert one end of a cable into a first connector while holding a side of one end of the cable using the end effector; store a position and a posture of a specific point on the cable or the end effector when the insertion of the one end of the cable into the first connector is completed; move the end effector along the cable toward a side of the other end of the cable based on an amount of movement toward the other end of the cable stored in advance and the position and the posture while guiding the cable using the end effector; hold the side of the other end of the cable using the end effector.
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公开(公告)号：US20180029234A1
公开(公告)日：2018-02-01
申请号：US15656332
申请日：2017-07-21
Applicant: Seiko Epson Corporation
Inventor： Junya UEDA , Masakazu KOBAYASHI , Yasuhiro SHIMODAIRA
CPC classification number: B25J9/1687 , B25J9/1633 , B25J13/085 , B25J15/0019 , G05B2219/39529 , G05B2219/40072 , G05B2219/45091
Abstract: A control device which controls a robot having a moving part includes: a processor which is configured to cause an end effector provided on the moving part to move an insertion object, bring the insertion object into contact with an insertion hole provided in an insertion target object in the state where the insertion object is tilted from a center axis of the insertion hole, and subsequently insert the insertion object into the insertion hole.
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