US 11,745,339 B2
Horizontal articulated robot
Yoshinobu Goto, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Jan. 28, 2020, as Appl. No. 16/774,183.
Claims priority of application No. 2019-012828 (JP), filed on Jan. 29, 2019.
Prior Publication US 2020/0238515 A1, Jul. 30, 2020
Int. Cl. B25J 9/16 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 17/025 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A horizontal articulated robot comprising:
a base;
a force sensor provided in the base;
a first arm coupled to the base and pivoting about a first pivot axis;
a second arm coupled to the first arm and pivoting about a second pivot axis;
a third arm coupled to the second arm, pivoting about a third pivot axis, and moving in an axial direction of the third pivot axis;
a processor that controls an action of the first arm, the second arm, or the third arm based on a detection value of the force sensor; and
switches having a third arm operation part for operation of the third arm and a teaching point registration operation part for operation of registration of a position of a control point as a teaching point using the processor, and provided in the second arm,
the switches further comprise a teaching mode switching operation part for switching operation of the teaching mode in the robot between jog teach mode and direct teach mode, wherein the jog teach mode is a mode in which the operation of the third arm operation part is enabled so that a teacher operates the third arm using the third arm operation part and direct teaching is disabled, wherein the direct teach mode is a mode in which a teacher grips the first arm, the second arm, or the third arm with a hand, applies a force in a direction to move the gripped arm, and moves the gripped arm to the desired position and the operation of the third arm operation part is disabled.