Force sensor protection mechanism, end effector, and robot arm

• US 9,364,952 B2
• Filed: 10/02/2014
• Issued: 06/14/2016
• Est. Priority Date: 10/04/2013
• Status: Active Grant

• Current Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Original Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Inventors: Arai, Masayuki
• Primary Examiner(s): Jen, Ian
• Application Number:
  US14/505,282
• Publication Number:
  US 20150100160A1
• Time in Patent Office: 621 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G01L 5/0071 Specific indicating arrangements, e.g. of overload
• CPC Class Codes: G01L 5/226 to manipulators, e.g. the force due to gripping
• CPC Class Codes: G05B 2219/39496 3-Fingered hand
• CPC Class Codes: G05B 2219/39528 Measuring, gripping force sensor build into hand

Abstract

An end effector base and a finger unit are formed as separate members, and are disposed with a space therebetween. A force sensor is fixed to a finger base of the finger unit, and is disposed with a space between it and the end effector base. Three supporting members are supported by the end effector base, and are configured to be able to be moved by the driving of a driving unit to a position where they support the force sensor and a position where they are separated from the force sensor and support the finger unit.

Claims

1. A force sensor protection mechanism comprising:

a first member;

a second member that is a separate member from the first member;

a force sensor fixed to the second member with a space between the force sensor and the first member, and detecting relative displacement force of the second member relative to the first member when the second member is displaced relative to the first member;

a supporting member supported by the first member and movable to a first position where the supporting member is separated from the second member and supports the force sensor and a second position where the supporting member is separated from the force sensor and supports the second member; and

a driving unit selectively driving the supporting member to either the first position or the second position.

2. The force sensor protection mechanism according to claim 1,

wherein the supporting member includes an engaging member having a first engaging portion and a second engaging portion formed on the side opposite to the first engaging portion, and a pin supporting the engaging member movably in a radial direction with respect to a central axis of the force sensor,

wherein the force sensor includes a sensor main body, and a first engaged member fixed to one end of the sensor main body and having a first engaged portion with which the first engaging portion can be engaged, and

wherein the second member includes a flat plate to which the other end of the sensor main body is fixed, and a second engaged member extending from the flat plate to a position where the second engaged member faces the second engaging member and having a second engaged portion with which the second engaging portion can be engaged.

3. The force sensor protection mechanism according to claim 2,

wherein the driving unit includes a cam member in which a cam groove is formed through which the pin is passed, and that is rotatable about the central axis, and a rotary drive source that rotationally drives the cam member to move the pin along the cam groove in the radial direction.

4. The force sensor protection mechanism according to claim 3,

wherein the rotary drive source is an ultrasonic motor.

5. The force sensor protection mechanism according to claim 2,

wherein, of the first engaging portion and the first engaged portion, one is a recessed portion formed in a recessed shape, and the other is a protruding portion formed in a protruding shape, and

wherein, of the second engaging portion and the second engaged portion, one is a recessed portion formed in a recessed shape, and the other is a protruding portion formed in a protruding shape.

6. An end effector attachable to a robot arm, comprising a force sensor protection mechanism,

the force sensor protection mechanism including a first member,

a second member that is a separate member from the first member,

a force sensor fixed to the second member with a space between the force sensor and the first member, and detecting relative displacement force of the second member relative to the first member when the second member is displaced relative to the first member,

a supporting member supported by the first member and movable to a first position where the supporting member is separated from the second member and supports the force sensor and a second position where the supporting member is separated from the force sensor and supports the second member, and

a driving unit selectively driving the supporting member to either the first position or the second position.

7. A robot arm to which an end effector is attachable, comprising a force sensor protection mechanism,

the force sensor protection mechanism including a first member,

a second member that is a separate member from the first member,

a force sensor fixed to the second member with a space between the force sensor and the first member, and detecting relative displacement force of the second member relative to the first member when the second member is displaced relative to the first member,

a supporting member supported by the first member and movable to a first position where the supporting member is separated from the second member and supports the force sensor and a second position where the supporting member is separated from the force sensor and supports the second member, and

a driving unit selectively driving the supporting member to either the first position or the second position.