Sensor module and robot system

Patent metadata

Field	Value
Publication number	US-2020376674-A1
Application number	US-201816970695-A
Country	US
Kind code	A1
Filing date	Dec 26, 2018
Priority date	Apr 2, 2018
Publication date	Dec 3, 2020
Grant date	—

Abstract

A sensor module of the present invention includes a flexible body and a sensor fixed to the outer surface of the body. The body is attachable to a robot hand having multiple fingers and is removable from the robot hand. The sensor is a proximity sensor or a tactile sensor. A position on the body where the sensor is fixed corresponds to a fingertip of a finger of the robot hand in a state where the sensor module is attached to the robot hand. The body has the shape of a glove, a finger cot, or a sheet.

First claim

1 . A sensor module comprising:
a flexible body; and a sensor fixed to an outer surface of the flexible body, wherein the flexible body is attachable to a robot hand having multiple fingers and is removable from the robot hand, the sensor is a proximity sensor or a tactile sensor, and a position on the flexible body where the sensor is fixed corresponds to a fingertip of a finger of the robot hand in a state where the sensor module is attached to the robot hand.

2 . The sensor module according to claim 1 , wherein the flexible body has a shape of a glove.

3 . The sensor module according to claim 1 , wherein the flexible body has a shape of a finger cot.

4 . The sensor module according to claim 1 , wherein the flexible body has a shape of a sheet.

5 . The sensor module according to claim 2 , wherein a proximity sensor is fixed to a position on the outer surface corresponding to a palm of the robot hand in a state where the sensor module is attached to the robot hand.

6 . The sensor module according to claim 1 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

7 . The sensor module according to claim 1 , wherein sensor wiring is formed on the outer surface.

8 . The sensor module according to claim 1 , wherein a wireless communication device is provided on the outer surface.

9 . A robot system comprising:
a robot hand; and the sensor module according to claim 7 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

10 . A robot system comprising:
a robot hand; and the sensor module according to claim 8 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is wirelessly connected to the wireless communication device.

11 . The sensor module according to claim 4 , wherein a proximity sensor is fixed to a position on the outer surface corresponding to a palm of the robot hand in a state where the sensor module is attached to the robot hand.

12 . The sensor module according to claim 2 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

13 . The sensor module according to claim 3 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

14 . The sensor module according to claim 4 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

15 . The sensor module according to claim 5 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

16 . The sensor module according to claim 11 , wherein when the sensor is the proximity sensor, the sensor is a light-reflecting proximity sensor.

17 . The sensor module according to claim 2 , wherein sensor wiring is formed on the outer surface.

18 . The sensor module according to claim 3 , wherein sensor wiring is formed on the outer surface.

19 . The sensor module according to claim 4 , wherein sensor wiring is formed on the outer surface.

20 . The sensor module according to claim 5 , wherein sensor wiring is formed on the outer surface.

21 . The sensor module according to claim 11 , wherein sensor wiring is formed on the outer surface.

22 . The sensor module according to claim 6 , wherein sensor wiring is formed on the outer surface.

23 . The sensor module according to claim 12 , wherein sensor wiring is formed on the outer surface.

24 . The sensor module according to claim 13 , wherein sensor wiring is formed on the outer surface.

25 . The sensor module according to claim 14 , wherein sensor wiring is formed on the outer surface.

26 . The sensor module according to claim 15 , wherein sensor wiring is formed on the outer surface.

27 . The sensor module according to claim 16 , wherein sensor wiring is formed on the outer surface.

28 . The sensor module according to claim 2 , wherein a wireless communication device is provided on the outer surface.

29 . The sensor module according to claim 3 , wherein a wireless communication device is provided on the outer surface.

30 . The sensor module according to claim 4 , wherein a wireless communication device is provided on the outer surface.

31 . The sensor module according to claim 5 , wherein a wireless communication device is provided on the outer surface.

32 . The sensor module according to claim 11 , wherein a wireless communication device is provided on the outer surface.

33 . The sensor module according to claim 6 , wherein a wireless communication device is provided on the outer surface.

34 . The sensor module according to claim 12 , wherein a wireless communication device is provided on the outer surface.

35 . The sensor module according to claim 13 , wherein a wireless communication device is provided on the outer surface.

36 . The sensor module according to claim 14 , wherein a wireless communication device is provided on the outer surface.

37 . The sensor module according to claim 15 , wherein a wireless communication device is provided on the outer surface.

38 . The sensor module according to claim 16 , wherein a wireless communication device is provided on the outer surface.

39 . A robot system comprising:
a robot hand; and the sensor module according to claim 17 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

40 . A robot system comprising:
a robot hand; and the sensor module according to claim 18 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

41 . A robot system comprising:
a robot hand; and the sensor module according to claim 19 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

42 . A robot system comprising:
a robot hand; and the sensor module according to claim 20 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

43 . A robot system comprising:
a robot hand; and the sensor module according to claim 21 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

44 . A robot system comprising:
a robot hand; and the sensor module according to claim 22 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

45 . A robot system comprising:
a robot hand; and the sensor module according to claim 23 , wherein the sensor module is attached to the robot hand, and a control device for the robot hand is connected by wiring to the sensor wiring.

46

Assignees

• Japan Aviation Electronics Ind Ltd

Inventors

• Tomioka Akihiro
• Noguchi Hideyuki
• Kawata Naohiro
• Ito Kenichi
• Yoneda Masayoshi

Classifications

• B25J13/084

  Tactile sensors (in general G01L5/16, G01L5/22) · CPC title

• B25J13/086 Primary

  Proximity sensors · CPC title

• G01L5/00

  Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes · CPC title

• B25J9/1694 Primary

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J15/12

  with flexible finger members · CPC title