Robot, robot control device, and robot system

Patent metadata

Field	Value
Publication number	US-9568075-B2
Application number	US-201414521828-A
Country	US
Kind code	B2
Filing date	Oct 23, 2014
Priority date	Oct 28, 2013
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

Abstract

A robot includes a base; a trunk linked to the base; a multi-joint robot arm rotatably linked to the trunk; and an elevating mechanism capable of bringing the trunk to a low position and a high position higher than the low position, and a time taken when a tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the high position is longer than a time taken when the tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the low position.

First claim

What is claimed is:

1. A robot comprising:
a base;
a trunk provided at the base;
a first robot arm provided at the trunk; and
a moving mechanism capable of bringing the trunk to a first position and a second position further separated from the base than the first position,
wherein a second time taken when a tip of the first robot arm is moved by a predetermined distance when the trunk is at the second position is longer than a first time taken when the tip of the first robot arm is moved by the predetermined distance when the trunk is at the first position.

2. The robot according to claim 1 , further comprising:
a setting receiving unit that receives a set value that determines a drive condition of the first robot arm,
wherein the set value received by the setting receiving unit is the same at the first position and the second position.

3. The robot according to claim 2 , further comprising:
an input unit that outputs the set value.

4. A robot system comprising:
the robot according to claim 2 ; and
a robot control device that controls the operation of the robot.

5. A robot system comprising:
the robot according to claim 3 ; and
a robot control device that controls the operation of the robot.

6. The robot according to claim 1 ,
wherein a direction in which the tip is moved by the predetermined distance is a direction having directional component orthogonal to a movement direction of the trunk.

7. A robot system comprising:
the robot according to claim 6 ; and
a robot control device that controls the operation of the robot.

8. The robot according to claim 1 , further comprising:
a motor that drives the first robot arm,
wherein a position proportional gain of the motor, by which a position deviation that is a difference between the position of the motor and a command position is multiplied, in the case of the second position is smaller than that in the case of the first position.

9. A robot system comprising:
the robot according to claim 8 ; and
a robot control device that controls the operation of the robot.

10. The robot according to claim 1 , further comprising:
a motor that drives the first robot arm,
wherein at least one of the acceleration and the deceleration of the motor in the case of the second position is smaller than that in the case of the first position.

11. A robot system comprising:
the robot according to claim 10 ; and
a robot control device that controls the operation of the robot.

12. The robot according to claim 1 , further comprising:
a detector that detects the separation distance of the trunk from the base.

13. A robot system comprising:
the robot according to claim 12 ; and
a robot control device that controls the operation of the robot.

14. The robot according to claim 1 , further comprising:
a second robot arm provided at the trunk,
wherein a time taken when a tip of the second robot arm is moved by a predetermined distance when the trunk is at the second position is longer than a time taken when the tip of the second robot arm is moved by a predetermined distance when the trunk is at the first position.

15. A robot system comprising:
the robot according to claim 14 ; and
a robot control device that controls the operation of the robot.

16. The robot according to claim 1 , further comprising:
a rotation mechanism that rotates the trunk with respect to the base,
wherein a time taken when the trunk is rotated by a predetermined angle with respect to the base when the trunk is at the second position is longer than a time taken when the trunk is rotated by the predetermined angle when the trunk is at the first position.

17. The robot according to claim 1 ,
wherein the first time and the second time are respectively times taken when the tip of the first robot arm is moved by a predetermined distance in a direction parallel to an installation surface of the robot.

18. The robot according to claim 1 ,
wherein the first time and the second time are respectively times taken when the tip of the first robot arm is moved by a predetermined distance from a stationary state.

19. A robot system comprising:
the robot according to claim 1 ; and
a robot control device that controls the operation of the robot.

20. A robot control device that controls a robot including:
a base;
a trunk provided at the base;
a first robot arm provided at the trunk; and
a moving mechanism capable of bringing the trunk to a first position and a second position further separated from the base than the first position
so that a time taken when a tip of the first robot arm is moved by a predetermined distance when the trunk is at the second position is longer than a time taken when the tip of the first robot arm is moved by the predetermined distance when the trunk is at the first position.

Assignees

• Seiko Epson Corp

Inventors

• Gomi Akihiro
• Motoyoshi Masaki

Classifications

• B25J9/1635 Primary

  flexible-arm control · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• Y10S901/19

  Drive system for arm · CPC title

• F16H25/08 Primary

  for interconverting rotary motion and reciprocating motion (F16H23/00 takes precedence) · CPC title