公开(公告)号：US20150100160A1

公开(公告)日：2015-04-09

申请号：US14505282

申请日：2014-10-02

Applicant: CANON KABUSHIKI KAISHA

Inventor： Masayuki Arai

IPC: G01L1/04 ,  B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  G01L5/0071 ,  G01L5/226 ,  G05B2219/39496 ,  G05B2219/39528

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.

Abstract translation: 末端执行器基座和指状单元形成为分离的构件，并且在它们之间设置有空间。 力传感器固定在手指单元的手指基部，并且在其与末端执行器底座之间设置有空间。 三个支撑构件由末端执行器基座支撑，并且构造成能够通过驱动单元的驱动而移动到其支撑力传感器的位置以及与力传感器分离的位置，并支撑 手指单位。

公开(公告)号：US09364952B2

公开(公告)日：2016-06-14

申请号：US14505282

申请日：2014-10-02

Applicant: CANON KABUSHIKI KAISHA

Inventor： Masayuki Arai

IPC: G05B15/00 ,  B25J9/16 ,  G01L5/22 ,  G01L5/00

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  G01L5/0071 ,  G01L5/226 ,  G05B2219/39496 ,  G05B2219/39528

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.

Abstract translation: 端部执行器基座和指状单元形成为分离的构件，并且在它们之间设置有空间。 力传感器固定在手指单元的手指基部，并且在其与末端执行器底座之间设置有空间。 三个支撑构件由末端执行器基座支撑，并且构造成能够通过驱动单元的驱动而移动到其支撑力传感器的位置以及与力传感器分离的位置，并支撑 手指单位。