CN108139194B - 传感器装置以及具有所述传感器装置的机械手设备 - Google Patents

传感器装置以及具有所述传感器装置的机械手设备 Download PDF

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Publication number
CN108139194B
CN108139194B CN201680058548.9A CN201680058548A CN108139194B CN 108139194 B CN108139194 B CN 108139194B CN 201680058548 A CN201680058548 A CN 201680058548A CN 108139194 B CN108139194 B CN 108139194B
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China
Prior art keywords
sensor
sensor device
base body
designed
magnetic field
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CN201680058548.9A
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English (en)
Chinese (zh)
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CN108139194A (zh
Inventor
L.贝克尔
A.吕布
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • G01B7/012—Contact-making feeler heads therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
CN201680058548.9A 2015-10-07 2016-08-11 传感器装置以及具有所述传感器装置的机械手设备 Active CN108139194B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015219332.2A DE102015219332A1 (de) 2015-10-07 2015-10-07 Sensorvorrichtung sowie Roboteranordnung mit der Sensorvorrichtung
DE102015219332.2 2015-10-07
PCT/EP2016/069141 WO2017059992A1 (de) 2015-10-07 2016-08-11 Sensorvorrichtung sowie roboteranordnung mit der sensorvorrichtung

Publications (2)

Publication Number Publication Date
CN108139194A CN108139194A (zh) 2018-06-08
CN108139194B true CN108139194B (zh) 2020-09-08

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CN201680058548.9A Active CN108139194B (zh) 2015-10-07 2016-08-11 传感器装置以及具有所述传感器装置的机械手设备

Country Status (5)

Country Link
US (1) US10480923B2 (enExample)
JP (1) JP6906508B2 (enExample)
CN (1) CN108139194B (enExample)
DE (1) DE102015219332A1 (enExample)
WO (1) WO2017059992A1 (enExample)

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EP3524394B1 (en) * 2015-07-22 2024-02-21 CMR Surgical Limited Torque sensors
GB2540756B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Gear packaging for robot arms
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
US11076883B2 (en) 2017-08-21 2021-08-03 Verb Surgical Inc. Cannula attachment devices and methods for a surgical robotic system
AT521204B1 (de) 2018-04-20 2020-02-15 Blue Danube Robotics Gmbh Vorrichtung zum Steuern eines Handhabungsgeräts
CN111360810A (zh) * 2018-12-25 2020-07-03 深圳市优必选科技有限公司 机器人传感器的外参标定方法、装置、机器人及存储介质
US11931888B2 (en) * 2019-01-10 2024-03-19 Ati Industrial Automation, Inc. Robotic tool having selectable compliance modes
US11090122B2 (en) 2019-02-25 2021-08-17 Verb Surgical Inc. Systems and methods for magnetic sensing and docking with a trocar
US12493792B2 (en) * 2019-10-24 2025-12-09 Nvidia Corporation Reinforcement learning of tactile grasp policies
JP2021115687A (ja) * 2020-01-29 2021-08-10 日本電産サンキョー株式会社 組立装置
CN111283246B (zh) * 2020-03-30 2021-08-20 上海麦可洛自动化科技有限公司 自动盲孔定位仪
US11793500B2 (en) 2020-09-30 2023-10-24 Verb Surgical Inc. Adjustable force and ball bearing attachment mechanism for docking cannulas to surgical robotic arms
US11793597B2 (en) 2020-09-30 2023-10-24 Verb Surgical Inc. Attachment mechanism for docking cannulas to surgical robotic arms
DE102021204730A1 (de) 2021-05-11 2022-11-17 Robert Bosch Gesellschaft mit beschränkter Haftung Ausgleichselement mit Anzeige der Relativposition
DE102021205856B4 (de) 2021-06-10 2023-04-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betrieb eines Manipulators
DE102021207034A1 (de) 2021-07-05 2023-01-05 Robert Bosch Gesellschaft mit beschränkter Haftung Ausgleichsvorrichtung mit Drehfeder am Elektromotor
DE102021208632A1 (de) 2021-08-09 2023-02-09 Robert Bosch Gesellschaft mit beschränkter Haftung Ausgleichsvorrichtung für eine Handhabungseinrichtung sowie Handhabungseinrichtung mit der Ausgleichsvorrichtung
DE102022204759A1 (de) 2022-05-16 2023-11-16 Robert Bosch Gesellschaft mit beschränkter Haftung Handhabungs-Ausgleichsvorrichtung mit serieller Federanordnung und optionalen, unterschiedlichen Federsteifigkeiten
DE102022211322A1 (de) 2022-10-26 2024-05-02 Robert Bosch Gesellschaft mit beschränkter Haftung Kalibriersystem
GB2627487A (en) * 2023-02-24 2024-08-28 Airbus Operations Ltd Automated clamp

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CN102155902A (zh) * 2011-03-09 2011-08-17 西安工业大学 具有恒定测量力的一维扫描测头机构

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Publication number Priority date Publication date Assignee Title
CN86105617A (zh) * 1986-06-19 1988-03-16 雷尼肖公司 接触式传感测头
US4866854A (en) * 1986-12-05 1989-09-19 The Charles Stark Draper Laboratory, Inc. Multiple axis displacement sensor
CN1712882A (zh) * 2004-06-22 2005-12-28 特莎有限公司 触摸探针
CN201754179U (zh) * 2010-07-15 2011-03-02 华南理工大学 一种夹持式磁通量检测探头
CN102155902A (zh) * 2011-03-09 2011-08-17 西安工业大学 具有恒定测量力的一维扫描测头机构

Also Published As

Publication number Publication date
CN108139194A (zh) 2018-06-08
US10480923B2 (en) 2019-11-19
DE102015219332A1 (de) 2017-04-13
US20180283842A1 (en) 2018-10-04
JP2018533006A (ja) 2018-11-08
WO2017059992A1 (de) 2017-04-13
JP6906508B2 (ja) 2021-07-21

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