公开(公告)号：US20220080596A1

公开(公告)日：2022-03-17

申请号：US17472806

申请日：2021-09-13

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: B25J9/16

Abstract: A method of presenting a takt time includes a first step of acquiring first information on a type of a first object or a second object and second information on a movement direction of the first object during the work, a second step of acquiring third information on a takt time taken for the work by using a table prepared with respect to each combination of the first information and the second information and showing relationships between a force control parameter and a takt time corresponding to the force control parameter, and associating the first information and the second information acquired at the first step with the table, and a third step of presenting the third information acquired at the second step.

公开(公告)号：US20190077017A1

公开(公告)日：2019-03-14

申请号：US16126024

申请日：2018-09-10

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: B25J9/16

Abstract: A robot includes a robot arm, a force sensor that is provided on the robot arm, and a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor. The processor is configured to: set an offset calculation period after resetting the force sensor; and perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.

公开(公告)号：US20180093379A1

公开(公告)日：2018-04-05

申请号：US15714074

申请日：2017-09-25

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: B25J9/16 ,  B25J15/02

CPC classification number: B25J9/1679 ,  B25J9/1694 ,  B25J15/0206 ,  G05B2219/40032 ,  G05B2219/40072

Abstract: A robot control apparatus includes a processor that is configured to execute computer-executable instruction so as to control a robot including a force detection section, wherein the processor is configured to reset the force detection section before a first target object is inserted into a second target object and after the first target object has been inserted into the second target object.

公开(公告)号：US20200061816A1

公开(公告)日：2020-02-27

申请号：US16545109

申请日：2019-08-20

Applicant: Seiko Epson Corporation

Inventor： Nobuhiro KARITO ,  Kaoru TAKEUCHI ,  Yasuhiro SHIMODAIRA

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08

Abstract: A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.

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

IPC: B25J9/16 ,  B25J15/00 ,  B25J13/08

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.

公开(公告)号：US20160354925A1

公开(公告)日：2016-12-08

申请号：US15171326

申请日：2016-06-02

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA ,  Masaki MOTOYOSHI ,  Kaoru TAKEUCHI ,  Katsuji IGARASHI

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/39322 ,  G05B2219/39348 ,  G05B2219/39529

Abstract: A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.

Abstract translation: 一种机器人控制装置，其控制包括操纵器，设置在所述操纵器中的力检测器和基于目标位置驱动所述操纵器的致动器的机器人，所述机器人控制装置包括显示控制单元，所述显示控制单元显示基于 目标力和力检测器的输出和屏幕上的目标位置。

公开(公告)号：US20130112010A1

公开(公告)日：2013-05-09

申请号：US13671127

申请日：2012-11-07

Applicant: Seiko Epson Corporation

Inventor： Takanobu MATSUMOTO ,  Toshiyuki KAMIYA ,  Hideaki OKA ,  Hiroki KAWAI ,  Yasuhiro SHIMODAIRA

IPC: G01L5/16

CPC classification number: G01L5/167 ,  B25J13/085 ,  B25J19/028 ,  G01L5/226

Abstract: A sensor element is formed by, when an α axis, a β axis orthogonal to the α axis, and a γ axis orthogonal to the α axis and the β axis are set, laminating piezoelectric substrates and electrodes in the γ axis direction. The sensor element includes connecting sections arranged such that a part of external sections of the electrodes aligns with a part of external sections of the piezoelectric substrates. The connecting sections are arranged not to align with one another in a direction of the γ axis. Conductors that electrically connect the connecting sections and external connecting sections are formed along outer peripheral sections of the piezoelectric substrates.

Abstract translation: 当α轴与α轴正交的β轴和与α轴和β轴正交的γ轴被设置时，传感器元件通过以下方式形成：在γ轴方向上层叠压电基片和电极。 传感器元件包括连接部分，其布置成使得电极的外部部分的一部分与压电基板的外部部分的一部分对准。 连接部分在γ轴的方向上彼此不配合。 电连接连接部和外部连接部的导体沿压电基板的外周部形成。

公开(公告)号：US20180319013A1

公开(公告)日：2018-11-08

申请号：US15701913

申请日：2017-09-12

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/163 ,  B25J9/1633 ,  B25J9/1687 ,  B25J13/085

Abstract: When teaching a robot, at least one processor brings a first object and a second object into contact with each other with a first force by using the robot, and generates teaching data based on the contact. When causing the robot to perform an operation according to the teaching data, the at least one processor causes the first object and the second object to be fitted to each other with a second force greater than the first force, by using the robot.

公开(公告)号：US20180281186A1

公开(公告)日：2018-10-04

申请号：US15935595

申请日：2018-03-26

Applicant: Seiko Epson Corporation

Inventor： Toshinori HIRAIDE ,  Yasuhiro SHIMODAIRA

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: receive a first instruction from an operation device; display information regarding a target vibration frequency of a robot obtained based on vibration data indicating vibration of the robot in a certain time section on a display, when the processor receives the first instruction; set the target vibration frequency; generate a second control signal obtained by reducing the target vibration frequency from a first control signal based on the set target vibration frequency; and generate a driving signal to drive the robot based on the second control signal and output the driving signal.

公开(公告)号：US20180021950A1

公开(公告)日：2018-01-25

申请号：US15653953

申请日：2017-07-19

Applicant: Seiko Epson Corporation

Inventor： Yasuhiro SHIMODAIRA

IPC: B25J9/16 ,  G05B19/425 ,  G05B19/408 ,  B25J13/02 ,  G05B19/04

CPC classification number: B25J9/1633 ,  B25J13/02 ,  B25J13/085 ,  B25J15/10 ,  G05B19/00 ,  G05B19/04 ,  G05B19/4086 ,  G05B19/425 ,  G05B2219/39322 ,  G05B2219/40032 ,  G05B2219/40087

Abstract: A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.