Robotic apparatus, interchangeable tool, and method for controlling robotic apparatus
AssigneeCanon Kabushiki Kaisha
InventorsNaonori Kayama, Yoshiyuki Miyazaki
Life of this patent
Estimating the term…
Abstract
An interchangeable tool including a finger of a shape suitable for various components is mechanically detachably mounted to a robot arm. This eliminates the need for seeking the origin of the actuator for each interchange. By interchanging fingers themselves, the entire end effector can be reduced in size and weight.
Claims32
A robotic apparatus comprising a robot arm and configured to grip an object using an interchangeable tool that is attachable to and detachable from the robot arm,
- the robot arm including
- a driving mechanism that has a movable portion;
- a transmission member disposed on or in the movable portion;
- the interchangeable tool including
- a finger portion;
- a linked mechanism that is connected to the finger portion, the linked mechanism being connected to the movable portion and moving in link with the movable portion in a state in which the interchangeable tool is mounted to the robot arm;
- and
- an engagement member disposed on or in the linked mechanism and configured to engage with the transmission member,
- wherein the movable portion and the linked mechanism are connected by engagement of the transmission member with the engagement member.
An interchangeable tool that is attachable to and detachable from a robot arm, the interchangeable tool comprising:
- a finger portion;
- a linked mechanism that is connected to the finger portion, the linked mechanism being connected to a movable portion of the robot arm and moving in link with the movable portion in a state in which the interchangeable tool is mounted to the robot arm;
- and
- an engagement member disposed on or in the linked mechanism and configured to engage with a transmission member disposed on or in the movable portion,
- wherein the movable portion and the linked mechanism are connected by engagement of the transmission member with the engagement member.
A method for controlling a robotic apparatus comprising a robot arm and configured to grip an object using an interchangeable tool that is attachable to and detachable from the robot arm,
- the robot arm including
- a driving mechanism that has a movable portion,
- a transmission member disposed on or in the movable portion,
- the interchangeable tool including
- a finger portion, and
- a linked mechanism that is connected to the finger portion, the linked mechanism being connected to the movable portion and moving in link with the movable portion in a state in which the interchangeable tool is mounted to the robot arm, and
- an engagement member disposed on or in the linked mechanism and configured to engage with the transmission member,
- wherein the movable portion and the linked mechanism are connected by engagement of the transmission member with the engagement member,
- the method comprising:
- controlling the driving mechanism by a control device configured to control the robot arm, thereby controlling the linked mechanism and controlling the finger portion.
A driving module with an interchangeable tool for gripping an object,
- the interchangeable tool including
- a finger portion;
- and
- a linked mechanism connected to the finger portion;
- an engagement member disposed on or in the linked mechanism;
- the driving module comprising:
- a movable portion configured to be, in a state in which the interchangeable tool is mounted to the driving module, connected to the linked mechanism so as to cause a linked operation of the linked mechanism;
- and
- a transmission member disposed on or in the movable portion;
- wherein the movable portion and the linked mechanism are connected by engagement of the transmission member with the engagement member.
A robotic apparatus comprising a robot arm and configured to grip an object using an interchangeable tool that is attachable to and detachable from the robot arm,
- the robot arm including
- a driving mechanism that has a movable portion;
- and
- a driving transmission member disposed on the movable portion;
- the interchangeable tool including
- a finger portion;
- and
- a linked mechanism that is connected to the finger portion, the linked mechanism being connected to the movable portion and moving in link with the movable portion in a state in which the interchangeable tool is mounted to the robot arm;
- and
- a driving transmission hole disposed at an upper portion of the linked mechanism,
- wherein the movable portion and the linked mechanism are connected by insertion of the driving transmission member into the driving transmission hole.
A robotic apparatus comprising a robot arm and configured to grip an object using an interchangeable tool that is attachable to and detachable from the robot arm,
- the robot arm including
- a driving mechanism that has a movable portion;
- and
- a driving transmission hole disposed at an upper portion of the movable portion;
- the interchangeable tool including
- a finger portion;
- and
- a linked mechanism that is connected to the finger portion, the linked mechanism being connected to the movable portion and moving in link with the movable portion in a state in which the interchangeable tool is mounted to the robot arm;
- a driving transmission member disposed on the linked mechanism,
- wherein the movable portion and the linked mechanism are connected by insertion of the driving transmission member into the driving transmission hole.
Dependencies are inferred from the claim text.