WO2022010773A8 - Structural load cell cases for encasing sensors in robotic systems - Google Patents

Structural load cell cases for encasing sensors in robotic systems Download PDF

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Publication number
WO2022010773A8
WO2022010773A8 PCT/US2021/040278 US2021040278W WO2022010773A8 WO 2022010773 A8 WO2022010773 A8 WO 2022010773A8 US 2021040278 W US2021040278 W US 2021040278W WO 2022010773 A8 WO2022010773 A8 WO 2022010773A8
Authority
WO
WIPO (PCT)
Prior art keywords
load cell
structural load
sensors
roller sleeve
encasing
Prior art date
Application number
PCT/US2021/040278
Other languages
French (fr)
Other versions
WO2022010773A1 (en
Inventor
Michael Coreth REILLY
Kuan-Ting Yu
Original Assignee
Xyz Robotics Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xyz Robotics Inc. filed Critical Xyz Robotics Inc.
Priority to EP21838352.9A priority Critical patent/EP4175796A1/en
Priority to JP2022540921A priority patent/JP7318135B2/en
Priority to CN202180003837.XA priority patent/CN114302792B/en
Publication of WO2022010773A1 publication Critical patent/WO2022010773A1/en
Publication of WO2022010773A8 publication Critical patent/WO2022010773A8/en

Links

Classifications

    • 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
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G21/00—Details of weighing apparatus
    • G01G21/23—Support or suspension of weighing platforms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G01L5/009—Force sensors associated with material gripping devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping

Landscapes

  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)

Abstract

A structural load cell case for a pick and place robotic system that prevents torsion, bending, and overloading from damaging sensors is disclosed. The structural load cell case includes a base, an inner tube that houses the load cell, and a roller sleeve. The base includes a compression spring interfaced with a first part of the load cell. The roller sleeve includes a plurality of roller bearings in contact with the inner tube. The inner tube is free to slide along an axis of the roller sleeve up to pre- determined limits, but is constrained from rotating or translating in directions other than the axis of the roller sleeve.
PCT/US2021/040278 2020-07-06 2021-07-02 Structural load cell cases for encasing sensors in robotic systems WO2022010773A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21838352.9A EP4175796A1 (en) 2020-07-06 2021-07-02 Structural load cell cases for encasing sensors in robotic systems
JP2022540921A JP7318135B2 (en) 2020-07-06 2021-07-02 Structural load cell case for containing sensors in robotic systems
CN202180003837.XA CN114302792B (en) 2020-07-06 2021-07-02 Structural gravity sensor housing for embedded gravity sensor in robot system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202062705593P 2020-07-06 2020-07-06
US62/705,593 2020-07-06

Publications (2)

Publication Number Publication Date
WO2022010773A1 WO2022010773A1 (en) 2022-01-13
WO2022010773A8 true WO2022010773A8 (en) 2022-03-24

Family

ID=79552017

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2021/040278 WO2022010773A1 (en) 2020-07-06 2021-07-02 Structural load cell cases for encasing sensors in robotic systems

Country Status (4)

Country Link
EP (1) EP4175796A1 (en)
JP (1) JP7318135B2 (en)
CN (1) CN114302792B (en)
WO (1) WO2022010773A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114670251A (en) * 2022-04-25 2022-06-28 北京京东乾石科技有限公司 Weighing sensor assembly, end effector, manipulator and robot

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2239856A (en) * 1990-01-12 1991-07-17 Automation Tooling Syst Manipulator
JP2000205976A (en) * 1999-01-19 2000-07-28 Ishikawajima Harima Heavy Ind Co Ltd Load cell unit
JP4111300B2 (en) * 1999-12-03 2008-07-02 古河機械金属株式会社 Crane overturn warning device
US6655219B2 (en) * 2000-07-27 2003-12-02 Furukawa Co., Ltd. Load cell and roll-over alarming device for a crane
US7152447B2 (en) * 2004-03-30 2006-12-26 Tesco Engineering, Inc. Roller type hemming apparatus
JP5329308B2 (en) * 2009-06-05 2013-10-30 Ｊｕｋｉ株式会社 Electronic component mounting head
JP5776899B2 (en) * 2011-04-19 2015-09-09 ティアック株式会社 Load cell unit
JP5914994B2 (en) * 2011-06-06 2016-05-11 セイコーエプソン株式会社 Robot and robot control method
JP5383760B2 (en) * 2011-09-09 2014-01-08 ファナック株式会社 Robot with workpiece mass measurement function
RS55338B1 (en) * 2013-07-01 2017-03-31 Comau Spa Tool head for performing industrial operations having a wireless monitoring system
US9346165B1 (en) * 2014-06-02 2016-05-24 Google Inc. Robotic devices with multi-degree of freedom (DOF) load cell for shear beam sensing
CN105751218B (en) * 2016-05-05 2018-05-08 佛山市新鹏机器人技术有限公司 A kind of constant force device and its control method for robot end
US10786883B2 (en) * 2016-12-20 2020-09-29 United Technologies Corporation Deep rolling tool and method
CN106626503B (en) * 2016-12-27 2019-02-12 银川西部大森数控技术有限公司 A kind of built-in force snesor that direct measuring force may be implemented
KR101903105B1 (en) * 2017-02-28 2018-11-22 (주) 엔텍인더스트리 Primer feeder for window glass attachment of automobile
EP3592177B1 (en) * 2017-03-08 2022-11-16 Ekso Bionics, Inc. Actuator devices for human exoskeleton joints

Also Published As

Publication number Publication date
WO2022010773A1 (en) 2022-01-13
JP2023500744A (en) 2023-01-10
CN114302792A (en) 2022-04-08
CN114302792B (en) 2023-04-07
JP7318135B2 (en) 2023-07-31
EP4175796A1 (en) 2023-05-10

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