Robotic End Effector Tip Sensors for Extension-Direction Collision Detection
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Solution Overview
Problem
Existing robot systems lack sensors to detect objects approaching from the extending direction of the fingers, leading to potential damage when the grasping unit moves in that direction.
Innovation Solution
An end effector with fingers equipped with proximity sensors at the tip portion in the extending direction, allowing detection of object approach and separation, and a control device to manage finger movements based on sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If proximity sensors are provided only on the surfaces of the fingers facing each other, then it is possible to detect approach and separation of an object positioned between the fingers, but objects approaching from the extending direction of the fingers cannot be detected
Solution Approach 1:
The patent applies dimensionality change by adding proximity sensors not only on the grasping surfaces but also at the tip portions of the fingers in the extending direction. This multi-dimensional sensor arrangement enables detection of objects approaching from any direction (both from between the fingers and from the extending direction), thereby resolving the contradiction between detection precision and detection coverage.
2Device complexity
If the grasping unit moves in the extending direction of the finger without sensors in that direction, then the structure remains simple, but the finger may come into contact with an object and get damaged
Solution Approach 1:
The patent implements preliminary action by placing proximity sensors at the tip portions of the fingers that detect objects before the finger actually contacts them. This allows the control unit to stop the finger's movement in advance, preventing collision damage while maintaining relatively simple device structure.
3Adaptability or versatility
If proximity sensors are added at the tip portion of the finger in the extending direction, then detection of object approach from that direction becomes possible, but the device complexity increases
Solution Approach 1:
The proximity sensors at the finger tips serve multiple functions: they detect objects approaching from the extending direction, enable safe movement of the grasping unit, and work in conjunction with the other sensors to provide comprehensive object detection. This multi-functionality justifies the added device complexity by delivering enhanced versatility and safety.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate detection of object approach and separation relative to the finger tips, preventing collisions and ensuring safe grasping operations.
Implementation Method 1
each of which includes a proximal end portion in an extending direction thereof connected to the palm, wherein at least one of the plurality of fingers includes a proximity sensor unit provided at a tip portion in the extending direction
Data Source
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AI summary
An end effector includes a palm and a plurality of fingers capable of moving in a direction intersecting an extending direction of each of fingers as well as approaching each other and grasping an object being grasped. At least one of the plurality of fingers includes a proximity sensor unit provided at a tip portion in the extending direction, the proximity sensor unit being placed capable of detecting approach and separation of the proximity sensor unit with respect to an object in the extending direction and capable of detecting approach and separation of the object with respect to the proximity sensor unit in the extending direction. The proximity sensor unit includes a frame-shaped detection region that covers an edge of the tip portion when viewed from the extending direction.