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Standalone force/torque sensor assembly for force-controlled robots

A torque sensor, robot technology, applied in robots, surgical robots, general control systems, etc., can solve problems such as damage to force/torque sensors

Active Publication Date: 2020-08-18
STRYKER CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] One disadvantage of the force-controlled robot described above is that the force / torque sensor is subjected to all other forces applied to the tool in addition to the force given by the user, which can be outside the operating range of the force / torque sensor or even high enough to damage Force / torque sensors in the range of

Method used

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  • Standalone force/torque sensor assembly for force-controlled robots
  • Standalone force/torque sensor assembly for force-controlled robots
  • Standalone force/torque sensor assembly for force-controlled robots

Examples

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Embodiment Construction

[0017] Referring to the accompanying drawings, especially figure 1 , is shown in operative relationship to a robot (generally designated 12 ) one embodiment of a self-contained torque / force sensor assembly 10 according to the present invention. In one embodiment, the robot 12 is of the force-controlled type and includes a robot arm 14 extending from a body of the robot 12 (not shown). The robot 12 also includes a wrist joint (generally designated 16 ) attached to the end of the robot's arm 14 . In this embodiment, the wrist joint 16 includes a bracket 18 attached to the arm 14 of the robot. The bracket 18 is generally "U" shaped. The wrist joint 16 also includes a flange 20 pivotally connected to the bracket 18 . Flange 20 is generally rectangular, but may be of any suitable shape. Flange 20 is disposed in an opening of bracket 18 and is pivotally connected to bracket 18 by a suitable mechanism, such as a pin (not shown). It should be understood that the flange 20 pivots ...

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Abstract

The present invention proposes a self-contained force / torque sensor assembly (10, 110, 210) for a force-controlled robot (12) comprising an arm (14) for operative attachment to the force-controlled robot (12) An end effector (22, 122, 222) having a grip portion (36, 136, 236) adapted to be gripped by a user's hand and adapted to be disposed in the grip The force / torque sensor (42, 142, 242) between the holding part (36, 136, 236) and the arm (14) of the robot (12), the force / torque sensor (42, 142, 242) has a A high force end effector joint (44, 144, 244) to the arm (14) of the robot (12), a low force end effector joint operatively attached to the gripping portion (36, 136, 236) (48, 148, 248) and transducers (45, 145, 245), the transducer is adapted to respond to a load applied to a low force end effector interface (48, 148, 248) to facilitate user-controlled surgical tool positioning and generate a corresponding output signal, wherein the transducer switches (45, 145, 245) to bypass high loads.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of pending U.S. Provisional Patent Application No. 62 / 101647, filed January 9, 2015, and U.S. Nonprovisional Patent Application No. 14 / 990513, filed January 7, 2016, both patents in their entirety The disclosure is incorporated herein by reference. technical field [0003] The present invention generally relates to force / torque sensor assemblies for force controlled robots. Background technique [0004] Physicians have found robotic systems to assist in performing surgical procedures useful. Such robotic systems may include force-controlled robots having movable arms and end effectors at the ends of the arms. Surgical tools are generally attached to the end effector. The tool is designed to be applied to the surgical site. Overall, the controller regulates the movement of the arms to position the tools at the surgical site with high precision. Optimal control of the force-contro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30B25J13/08
CPCB25J13/085B25J1/02B25J9/1633A61B2090/064A61B34/30A61B90/03A61B2090/034G05B2219/39529Y10S901/09A61B34/37A61B34/76G01L5/226A61B2034/305B25J9/1694
Inventor D·W·马拉克沃斯基R·T·德鲁卡
Owner STRYKER CORP
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