Displacement measurement device, robot, and robot arm
AssigneeCanon Kabushiki Kaisha
InventorMasaru Ogata
Life of this patent
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Abstract
A displacement measurement device includes a first structure, a second structure, and a coupling portion configured to couple the first structure with the second structure. The first structure includes a first sensor configured to generate an electrical signal corresponding to displacement between a first attachment portion of the first structure and a second attachment portion of the second structure in the at least one first direction. The second structure includes a second sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in the at least one second direction.
Claims17
A displacement measurement device configured to obtain amounts of displacement between a first member and a second member in at least one first direction and in at least one second direction different from the at least one first direction, the displacement measurement device comprising:
- a first structure comprising a first attachment portion configured to be attached to the first member;
- a second structure comprising a second attachment portion configured to be attached to the second member;
- and
- a coupling portion configured to couple the first structure with the second structure,
- wherein the first structure comprises a first sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in the at least one first direction, and
- wherein the second structure comprises a second sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in the at least one second direction.
A displacement measurement device comprising:
- a first attachment portion configured to be attached to a first member;
- a second attachment portion configured to be attached to a second member;
- an intermediate member disposed between the first attachment portion and the second attachment portion;
- a first elastic member configured to couple the first attachment portion with the intermediate member and capable of being displaced in at least one first direction;
- a second elastic member configured to couple the second attachment portion with the intermediate member and capable of being displaced in at least one second direction different from the at least one first direction;
- a first sensor configured to detect displacement between the first attachment portion and the intermediate member in the at least one first direction;
- and
- a second sensor configured to detect displacement between the second attachment portion and the intermediate member in the at least one second direction.
A robot comprising:
- a robot arm;
- an end effecter;
- a first structure comprising a first attachment portion configured to be attached to the robot arm;
- a second structure comprising a second attachment portion configured to be attached to the end effecter;
- and
- a coupling portion configured to couple the first structure with the second structure,
- wherein the first structure comprises a first sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in at least one first direction, and
- wherein the second structure comprises a second sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in at least one second direction different from the at least one first direction.
A robot arm comprising:
- a first link;
- a second link coupled with the first link to be rotatable with respect to the first link;
- a first structure comprising a first attachment portion configured to be attached to the first link;
- a second structure comprising a second attachment portion configured to be attached to the second link;
- and
- a coupling portion configured to couple the first structure with the second structure,
- wherein the first structure comprises a first sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in at least one first direction, and
- wherein the second structure comprises a second sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in at least one second direction different from the at least one first direction.
Dependencies are inferred from the claim text.