Force sensor protection mechanism, end effector, and robot arm
AssigneeCanon Kabushiki Kaisha
InventorMasayuki Arai
Life of this patent
Estimating the term…
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.
Claims7
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.
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.
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.
Dependencies are inferred from the claim text.