[go: up one dir, main page]

WO2018173366A1 - Dispositif de détection - Google Patents

Dispositif de détection Download PDF

Info

Publication number
WO2018173366A1
WO2018173366A1 PCT/JP2017/042242 JP2017042242W WO2018173366A1 WO 2018173366 A1 WO2018173366 A1 WO 2018173366A1 JP 2017042242 W JP2017042242 W JP 2017042242W WO 2018173366 A1 WO2018173366 A1 WO 2018173366A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
elastic cushion
cushion layer
pressure
arm
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/042242
Other languages
English (en)
Japanese (ja)
Inventor
侑 佐藤
絢也 川口
将大 山本
智宏 藤川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Riko Co Ltd
Original Assignee
Sumitomo Riko Co Ltd
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 Sumitomo Riko Co Ltd filed Critical Sumitomo Riko Co Ltd
Publication of WO2018173366A1 publication Critical patent/WO2018173366A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Definitions

  • the present invention relates to a sensor device that detects contact between a moving part of an automatic device such as an industrial robot and a detection target.
  • Such an automatic device is a moving unit that is movable in order to perform a predetermined operation, such as an arm of an industrial robot.
  • Patent Document 1 a spacer is attached to the surface of the link of the robot arm, a tactile sensor is attached to the surface of the spacer, and the robot arm is attached based on the detection result of the tactile sensor.
  • the structure which can avoid a collision by controlling is disclosed.
  • Patent Document 1 also proposes that the spacers have a buffering action by constituting the spacers with flexible members.
  • the spacer is composed of flexible members, depending on the degree of flexibility of the spacer, the deformation of the spacer affects the detection accuracy of the tactile sensor and can effectively detect a collision of a human body or an object with the robot arm. There is a possibility that the impact at the time of collision of a human body or an object cannot be sufficiently reduced.
  • the present invention has been made in the background of the above-mentioned circumstances, and its solution is to accurately detect a worker or the like by a pressure sensor, and to perform a strong collision between the automatic device and the worker or the like. Therefore, it is intended to provide a sensor device having a novel structure in which an action force when an operator or the like contacts an automatic device is sufficiently reduced.
  • a first aspect of the present invention is a sensor device that detects contact between a movable unit provided in an automatic device and a detection target, and is a flexible device that detects contact of the detection target with respect to the movement unit.
  • the elastic cushion layer is disposed closer to the moving part than the pressure sensitive sensor, and the hardness of the elastic cushion layer is the hardness of the dielectric layer constituting the pressure sensitive sensor. It is characterized by 75% to 500% .
  • the pressure-sensitive sensor disposed outside the elastic cushion layer has a flexible structure, the influence of the pressure-sensitive sensor on the buffering property is reduced or avoided.
  • the cushioning property of the elastic cushion layer is sufficiently ensured by setting the hardness of the elastic cushion layer within the range of 75% to 500% with respect to the hardness of the dielectric layer constituting the pressure sensor.
  • the contact of the detection target with respect to the pressure sensor can be effectively detected with sufficient sensitivity.
  • a surface of the elastic cushion layer on the side of the moving part is a surface shape corresponding to an outer surface of the moving part,
  • the elastic cushion layer is attached so as to be directly superimposed on the outer surface of the moving part.
  • the outer surface of the moving unit is uneven, the outer surface of the moving unit is covered with the elastic cushion layer, so that the outer surface of the elastic cushion layer is a flat surface or the like.
  • the pressure-sensitive sensor can be easily attached.
  • the overlapping surface of the elastic cushion layer on the moving part is a surface shape corresponding to the outer surface of the moving part, so that the outer surface of the moving part is covered without providing a special support cover, and the pressure sensor is attached. The surface suitable for can be obtained.
  • a support cover that covers an outer surface of the moving unit is provided, and the elastic cushion layer is attached to the outer surface of the support cover. It is what.
  • the outer surface of the moving part when the outer surface of the moving part has irregularities, the outer surface of the moving part is covered with the support cover, so that the elastic cushion layer such as a flat surface can be easily attached to the outer surface of the support cover. By doing, attachment of an elastic cushion layer becomes easy.
  • a sensor detection circuit or the like can be disposed in the accommodation space provided between the moving unit and the support cover. Furthermore, since the outside of the detection circuit and the like disposed in the accommodation space is covered with the support cover, it is possible to prevent irregularities due to the arrangement of the detection circuit and the like from becoming a problem, and the elastic cushion layer and the pressure-sensitive sensor can be simplified. It can be arranged.
  • a fifth aspect of the present invention is the sensor device described in any one of the first to fourth aspects, wherein a shield layer is provided between the moving part and the pressure-sensitive sensor.
  • the electromagnetic wave emitted from the moving part of the automatic device is shielded by the shield layer, so that the influence of the electromagnetic wave on the pressure sensor is reduced or avoided, and effective detection is realized. Can do.
  • the hardness of the elastic cushion layer is the hardness of the dielectric layer constituting the pressure sensor. Is 100% or more.
  • the elastic cushion layer is the same as or harder than the dielectric layer of the pressure-sensitive sensor, the deformation of the dielectric layer of the pressure-sensitive sensor dominates the contact of the detection target. Therefore, the contact of the detection target is detected with higher accuracy by the pressure sensor.
  • the force acting on the detection target when the detection target comes into contact with the moving part is alleviated by the cushioning property of the elastic cushion layer, and the pressure-sensitive sensor disposed outside the elastic cushion layer is provided. Due to the flexible structure, the influence of the pressure sensor on the buffering property is reduced or avoided. Furthermore, the cushioning property of the elastic cushion layer is sufficiently ensured by setting the hardness of the elastic cushion layer within the range of 75% to 500% with respect to the hardness of the dielectric layer constituting the pressure sensor. However, the contact of the detection target with respect to the pressure sensor can be effectively detected with sufficient sensitivity.
  • FIG. 2 is a sectional view schematically showing a part of the arm of the robot shown in FIG. 1.
  • FIG. 3 is a perspective view schematically showing the second sensor shown in FIG. 2 in an exploded state.
  • the block diagram of the main functions implement
  • Sectional drawing which shows a part of arm as another one Embodiment of this invention roughly.
  • FIG. 1 shows a robot 12 as an automatic device provided with a sensor device 10 as a first embodiment of the present invention.
  • the robot 12 has a structure in which an arm 18 as a moving unit is movably attached to a support base 16 fixed to the floor 14, and the sensor device 10 provided in the robot 12 includes an arm 18. And contact with the worker A as a detection target.
  • the arm 18 supported by the support base 16 includes links 20 a, 20 b, 20 c, and 20 d that are connected to each other at joint portions and are capable of relative tilting.
  • the link 20 a is attached to the support base 16.
  • the link 20d is provided with a grip portion 22 as an end effector.
  • the joint portion connecting the links 20a to 20d and the connection portion between the link 20a and the support base 16 are all tiltable about the rotation shaft 24 extending in the direction orthogonal to the paper surface of FIG.
  • the robot 12 may be capable of tilting around a rotation axis extending in the vertical direction or the horizontal direction in FIG. 1 or twisting around the link center axis.
  • the grip portion 22 is illustrated as the end effector of the arm 18, various known end effectors such as a suction hand can be employed depending on the work performed by the robot 12.
  • the support base 16 is provided with a first sensor 26.
  • the first sensor 26 is a sensor that can detect the worker A at a position relatively far from the support base 16.
  • the first sensor 26 is a laser sensor or an ultrasonic sensor. By irradiating the laser beam and the ultrasonic wave, the worker A approaching the support base 16 from the front can be detected at a position away from the support base 16 and the arm 18.
  • the first detection region 28 in which the first sensor 26 can detect the worker A extends forward from the support base 16 as shown by a two-dot chain line in FIG. Compared with the area 38 and the third detection area 56, the position reaches a position farther from the robot 12. Further, the first detection region 28 extends in a band shape or a fan shape with a predetermined width in a direction orthogonal to the paper surface in FIG.
  • the first sensor 26 is provided on the support base 16 that does not move, and the first detection area 28 of the first sensor 26 includes a danger area 29 in which the arm 18 can move. Thus, it extends to the periphery of the dangerous area 29. As a result, the first sensor 26 can detect the worker A outside the danger area 29 indicated by the alternate long and short dash line in FIG. 1, and the worker can enter the worker before the worker A enters the danger area 29. A can be detected.
  • the first detection region 28 can be set so as to change as the arm 18 moves, for example.
  • the dangerous area 29 of the present embodiment is set to extend in the horizontal direction at a predetermined height, and is set in front of the support base 16 as indicated by a one-dot chain line in FIG.
  • the danger area 29 does not necessarily have to be the entire area where the arm 18 can move and the collision between the worker A and the arm 18 can occur, and is a part of the area where the collision between the worker A and the arm 18 can occur. Also good. Specifically, for example, the danger area 29 may be set only in front of the arm 18 to which the worker A can approach, or may be set only in a part in the height direction. There is a case where it is not set above the arm 18 where the approach of A does not matter.
  • the first sensor 26 is set so that the first detection area 28 of the first sensor 26 extends to the outside of the danger area 29, so that the first sensor 26 works before the contact between the worker A and the arm 18. Person A can be detected.
  • shield layers 30 are provided on the outer sides of the links 20.
  • the shield layer 30 is provided to block electromagnetic waves or the like radiated outward from the arm 18 disposed inside the shield layer 30, and is disposed between the arm 18 and a second sensor 36 described later.
  • the shield layer 30 is made of, for example, a conductive metal such as iron, copper, or an aluminum alloy.
  • a polyethylene powder is coated with a paint obtained by dispersing metal powder on a base material such as rubber or synthetic resin.
  • the surface of the support 32 which is a flexible and insulating resin film formed of terephthalate (PET) or the like, is formed by a method such as silk screen printing.
  • PET terephthalate
  • an elastic cushion layer 34 is provided outside the shield layer 30.
  • the elastic cushion layer 34 is formed of rubber, resin elastomer, or the like, and is preferably an open cell or closed cell foam, or a foam in which these open cells and closed cells are mixed.
  • the material for forming the elastic cushion layer 34 is not particularly limited, for example, semi-rigid urethane foam or the like can be suitably employed.
  • the elastic cushion layer 34 may be formed of non-foamed rubber or resin elastomer.
  • the inner surface 35 on the link 20 side has a shape corresponding to the outer surface of the link 20 with unevenness, and the outer surface on the opposite side to the link 20 is flat. .
  • the elastic cushion layer 34 is attached to the link 20 by means such as adhesion, mechanical engagement, and tightening with a band while being directly superimposed on the outer surface of the link 20.
  • the shield layer 30 and the support body 32 are arranged between the elastic cushion layer 34 and the link 20, but both the shield layer 30 and the support body 32 are flexible and sufficiently thin and are linked. Since the elastic cushion layer 34 is disposed along the outer surface of the link 20, the elastic cushion layer 34 is substantially directly superimposed on the outer surface of the link 20.
  • the irregularities on the outer surface of the link 20 include, for example, the control circuit and wiring arrangement of the arm 18, the design of the link housing, and the screw. It can be formed by a stop structure or the like.
  • a second sensor 36 is superimposed on the outside of the elastic cushion layer 34.
  • the second sensor 36 is a flexible pressure-sensitive sensor that detects the contact of the worker A with the arm 18.
  • a capacitance type planar pressure-sensitive sensor is employed.
  • the 2nd detection area 38 which can detect the operator A with the 2nd sensor 36 is more than the 1st detection area 28 of the 1st sensor 26, as shown with a dashed-two dotted line in FIG. The position is set close to the arm 18.
  • the second sensor 36 of the present embodiment includes a first electrode sheet 44 including a plurality of first electrodes 42 in parallel on both surfaces of the dielectric layer 40, and a plurality of first electrodes 42. It has a structure in which each one of the second electrode sheet 48 provided with the second electrode 46 in parallel is superposed and fixed.
  • the dielectric layer 40 is an elastically deformable sheet-like electrical insulator formed of rubber or resin elastomer, and is preferably formed of non-foamed rubber that hardly changes in volume.
  • the dielectric layer 40 can be integrally formed with a first electrode sheet 44 and a second electrode sheet 48 described later.
  • the dielectric layer 40 has a predetermined hardness with respect to the elastic cushion layer 34. That is, the hardness of the elastic cushion layer 34 is 75% to 500% with respect to the hardness of the dielectric layer 40. More preferably, the elastic cushion layer 34 has a hardness of 100% or more with respect to the hardness of the dielectric layer 40, and the elastic cushion layer 34 has the same hardness or dielectric layer as the dielectric layer 40. It is harder than 40.
  • the hardness of the elastic cushion layer 34 and the dielectric layer 40 can be specified based on, for example, “vulcanized rubber and thermoplastic rubber—how to obtain hardness” defined in JIS K6253-2.
  • the thickness of the dielectric layer 40 is made thinner than the thickness of the elastic cushion layer 34.
  • the thickness of the dielectric layer 40 is approximately 5 mm and the thickness of the elastic cushion layer 34 is approximately 20 mm.
  • each specific thickness dimension is not limited.
  • the elastic cushion layer 34 is thicker than the dielectric layer 40.
  • the 1st electrode sheet 44 and the 2nd electrode sheet 48 are piled up from each one side of the thickness direction with respect to the dielectric material layer 40, and are mutually fixed by means, such as adhesion and welding.
  • a second sensor 36 is formed.
  • the longitudinal direction of the first electrode 42 and the longitudinal direction of the second electrode 46 are different from each other.
  • the first electrode 42 and the second electrode 46 cross each other through the dielectric layer 40.
  • pressure detecting portions 52 for detecting the pressure acting in the facing direction based on the change in capacitance are respectively formed at the crossing facing portions of the first electrode 42 and the second electrode 46 (FIG. 2).
  • the second sensor 36 having a structure in which a plurality of pressure detection units 52 are arranged in a distributed manner is a capacitance type surface pressure sensor that detects a pressure acting on a surface based on a change in capacitance.
  • the rectangular sheet-shaped second sensor 36 is shown, but the specific shape of the second sensor 36 is appropriately set according to the shape of the link 20 and the like.
  • the first electrode 42 and the second electrode 46 are not limited to a belt shape, and may be, for example, a plurality of independent spot shapes, and may be arranged to face each other.
  • a third sensor 54 is superimposed on the outside of the second sensor 36.
  • the third sensor 54 is a pressure-sensitive sensor similar to the second sensor 36, and has substantially the same structure as the second sensor 36. Detailed description will be omitted by attaching the same reference numerals as in FIG.
  • the third detection region 56 in which the worker A can be detected by the third sensor 54 is set at a position closer to the arm 18 than the first detection region 28 of the first sensor 26.
  • the third detection area 56 of the third sensor 54 is the same as the second detection area 38 of the second sensor 36 and is set at a position where they overlap each other. Since the sensor 36 and the third sensor 54 are contact sensors, the second detection region 38 and the third detection region 56 are the surface of the third sensor 54 as shown by two-dot chain lines in FIGS. Is set to
  • detection circuits 58 a and 58 b are connected to the second sensor 36 and the third sensor 54, respectively.
  • the second sensor 36 and the third sensor 54 of the present embodiment are both capacitive sensors, and detect the worker A based on the same detection principle of change in capacitance.
  • the detection circuit 58a connected to the second sensor 36 and the detection circuit 58b connected to the third sensor 54 have the same structure.
  • the detection circuit 58a will be described, and the specific configuration of the detection circuit 58b will be omitted by attaching the same reference numerals as those of the detection circuit 58a in the drawing.
  • the detection circuit 58 a has a structure in which various integrated circuits, connectors, and the like are mounted on the printed circuit board 59, and the first and second of the second sensor 36 in the analog input unit 60 mounted on the printed circuit board 59.
  • the electrodes 42 and 46 are connected.
  • the detection circuit 58 a includes a CV conversion circuit 62 that converts the capacitance detection signal of the second sensor 36 into a corresponding voltage, and a microcomputer connected to the CV conversion circuit 62. 64.
  • the microcomputer 64 scans the plurality of pressure detection units 52 of the second sensor 36 in a scanning manner to detect the pressure acting on each pressure detection unit 52. The function of controlling the detection of pressure by 36 is provided.
  • the microcomputer 64 has a function of filtering the voltage signal converted from the capacitance detection signal of the second sensor 36 to reduce noise and then converting the voltage signal into a digital signal.
  • an external power supply device (not shown) is connected to the power supply input portion 66 provided in the detection circuit 58 a, and the voltage is adjusted while the DC current of the power supply device is adjusted by the DC-DC converter 68. The data is supplied to the microcomputer 64 via the monitoring unit 70.
  • microcomputer 64 of the detection circuit 58a connected to the second sensor 36 and the microcomputer 64 of the detection circuit 58b connected to the third sensor 54 have the detection result of the second sensor 36 and the third result. It may be configured to monitor whether the second sensor 36 and the third sensor 54 are operating normally by comparing the detection results of the sensors 54 with each other.
  • the digital signals generated by the microcomputers 64 of the detection circuits 58a and 58b are output to the outside from the digital output units 72 and 72 of the detection circuits 58a and 58b.
  • the digital signals output from the detection circuits 58a and 58b are transmitted to, for example, the safety device 74 and the notification device 76.
  • the safety device 74 Based on the digital signals generated from the detection signals of the second and third sensors 36 and 54, the safety device 74 performs deceleration or stop of the arm 18, or the alarm device 76 such as a monitor or a speaker
  • the warning for approaching 18 or the operation procedure necessary for restarting the stopped arm 18 can be displayed.
  • a suppression signal for the movement speed of the arm 18 corresponding to the contact location is output in consideration of the location of the contact and the magnitude of the detected pressure.
  • the safety device 74 controls the operation of the arm 18 (for example, decelerates or stops the arm 18), and the notification device 76 issues a danger notification alarm or the like as necessary.
  • the circuit structure of the specific hardware electrical elements for realizing the hardware block configuration shown in FIG. 4 and the functional block configuration shown in FIG. 5 is designed to be the same.
  • the microcomputer 64 can also be a DIP, SIP, PGA, or SOJ.
  • the same package can be adopted in various formats.
  • an external storage element may be used, but a package product including a logic circuit that realizes a target function such as a CPU, a RAM, and a ROM may be used. For example, only the threshold value set in the microcomputer 64 can be changed as necessary.
  • the sensor device 10 of the present embodiment includes second and third sensors 36 and 54 as pressure-sensitive sensors, detection circuits 58a and 58b of the second and third sensors 36 and 54, a shield layer 30, and a support body. 32 and an elastic cushion layer 34, and are attached to the support 16 and the arm 18 of the robot 12.
  • another sensor may be provided in addition to the sensor device 10, so that the detection accuracy of the worker A can be improved and detection can be performed in multiple stages.
  • the worker A when a worker A as a detection target approaches the robot 12 including the sensor device 10 having such a structure, the worker A first uses the first sensor 26 to move the arm 18. Is detected at a relatively far position.
  • the detection signal of the first sensor 26 is converted into a digital signal by a detection circuit (not shown) and transmitted to the safety device 74, the notification device 76, and the like.
  • the moving speed of the arm 18 is reduced by the safety device 74, and the operator A is warned to leave the arm 18 by the notification device 76.
  • the safety device 74 and the notification device 76 can be accommodated in the support base 16 and the link 20.
  • the detection circuit (not shown) of the first sensor 26 and the detection circuits 58 a and 58 b of the second and third sensors 36 and 54 can also be accommodated in the support 16 and the link 20.
  • the worker A uses both the second sensor 36 and the third sensor 54 to make the first sensor Detection is performed at a position closer to the arm 18 than the distal end (front end) of the first detection region 28 of the sensor 26. Then, the second sensor 36 and the third sensor 54 detect contact of the operator A with the arm 18, and the second and third sensors 36 and 54 converted into digital signals by the detection circuits 58a and 58b. Is transmitted to the safety device 74, the notification device 76, etc., for example, the safety device 74 stops the operation of the arm 18, while the notification device 76 moves away from the arm 18 with respect to the worker A. The alarm device 76 displays a procedure necessary for restarting the arm 18 and the like.
  • the first sensor 26 that detects the worker A at a long distance and the second sensor 36 that detects the worker A at a short distance.
  • a third sensor 54 and three sensors Therefore, the approach and contact of the worker A can be detected with higher reliability based on the detection results of the three sensors 26, 36, and 54.
  • the arm 18 is decelerated, so that the arm 18 of the worker A is moved to.
  • the arm 18 can be quickly stopped. Therefore, the force acting on the worker A due to the contact of the arm 18 becomes sufficiently small, and it is possible to avoid problems such as the worker A feeling pain or damaging the arm 18 due to the contact.
  • the worker A is detected by both the second sensor 36 and the third sensor 54 at a position closer to the arm 18 than the first sensor 26. Thereby, at the time of contact between the worker A and the arm 18, the arm 18 can be stopped with higher reliability, and the force acting between the worker A and the arm 18 is reduced. Safety is improved.
  • the hardness of the elastic cushion layer 34 is 75% to 500% with respect to the hardness of each dielectric layer 40 of the second sensor 36 and the third sensor 54.
  • the elastic cushion layer 34 is an elastic foam, and when the elastic cushion layer 34 is elastically deformed, a volume change is caused by the compression and flow of air in the bubbles. It is efficiently reduced and a large cushioning property due to the deformation of the elastic cushion layer 34 can be obtained.
  • the inner surface 35 on the arm 18 side of the elastic cushion layer 34 has a surface shape corresponding to the outer surface of the arm 18, and the elastic cushion layer 34 is directly on the outer surface of the arm 18.
  • the second and third sensors 36 and 54 are disposed outside the elastic cushion layer 34. Thereby, the unevenness of the outer surface of the arm 18 is leveled by the elastic cushion layer 34, and the second and third sensors 36 and 54 can be fixed regardless of the outer surface shape of the arm 18.
  • the shield layer 30 is provided between the arm 18 and the second and third sensors 36 and 54, electromagnetic waves radiated from the arm 18 to the outside can be transmitted to the second and third sensors 36 and 54. Can be prevented from affecting the detection of the contact of the worker A. Thereby, the detection of the contact by the second and third sensors 36 and 54 can be realized with higher accuracy.
  • an intermediate cushion layer 80 having an uneven surface on the second sensor 36 can be provided between the second sensor 36 and the third sensor 54. is there.
  • the intermediate cushion layer 80 includes a plurality of protrusions 82 protruding toward the second sensor 36, and the plurality of protrusions 82 respectively correspond to the plurality of pressure detection parts 52 of the second sensor 36. It is provided in the part and is in contact with the pressure detection part 52 of the second sensor 36.
  • each pressure detection unit 52 that is a detection portion of the second sensor 36 includes: It is possible to detect the contact of the worker A on the arm 18 with excellent sensitivity by causing the pressure due to the contact to be concentrated by the convex portion 82.
  • the aspect of the convex part 82 corresponding to the pressure detection part 52 should just be a thing which can transmit contact pressure to the pressure detection part 52 efficiently, for example, a pressure detection part only in the substantially the same position as the convex part 82.
  • a mode in which a convex portion 82 at least a part of which is positioned on the pressure detection unit 52 as shown in the figure may be provided.
  • FIG. 9 shows a part of a robot 92 as an automatic device including the sensor device 90 according to the second embodiment of the present invention.
  • the robot 92 according to the present embodiment has a structure in which a sensor device 90 is mounted on the outside of the link 20 constituting the arm 18.
  • members and portions that are substantially the same as those of the first embodiment are denoted by the same reference numerals in the drawings, and the description thereof is omitted.
  • the entire robot 92 is the same as the robot 12 of the first embodiment, and a support base (not shown) that supports the arm 18 is provided with a first sensor (not shown) similar to the first embodiment. ing.
  • the electrodes and dielectric layers of the second sensor 36 and the third sensor 54 are omitted for the sake of clarity.
  • the specific structure of the third sensor 54 is the same as that of the first embodiment.
  • the elastic cushion layer 34 is fixed to the outer surface of the link 20.
  • the inner surface 35 located on the link 20 side has a surface shape corresponding to the unevenness on the surface of the link 20, and the outer surface located on the opposite side to the link 20 is configured by a plurality of planes. .
  • Shield layer 30 and second sensor 36 are arranged outside elastic cushion layer 34.
  • the shield layer 30 of the present embodiment is printed on the surface of the second electrode sheet 48 of the second sensor 36, and the shield layer 30 is disposed between the second sensor 36 and the elastic cushion layer 34. .
  • a first sensor (not shown) that detects a detection target at a position far from the arm 18 as in the first embodiment
  • the second sensor 36 and the third sensor 54 that detect the contact of the detection target with respect to the arm 18 can prevent the arm 18 from colliding with the detection target such as an operator.
  • the shield layer 30 may be disposed on the inner side closer to the link 20 than the second sensor 36 and the third sensor 54, and may be disposed on the outer side of the elastic cushion layer 34. You can also In addition, in the present embodiment, since the shield layer 30 is fixed to the second electrode sheet 48 of the second sensor 36, a support for supporting the shield layer 30 is unnecessary, and the structure is simplified. And the number of parts can be reduced.
  • FIG. 9 shows an example in which the outer surface of the elastic cushion layer 34 is a substantially rectangular box shape formed of a plurality of planes, but this is simplified for ease of understanding.
  • the shape of the outer surface of the layer 34 an arbitrary surface shape in which the second and third sensors 36 and 54 and the shield layer 30 can be easily provided as compared with the surface of the link 20 is preferably employed.
  • the outer surface shape of the elastic cushion layer 34 can be set so as to form at least a part of a specific design.
  • the surface shape of the link 20 covered with the elastic cushion layer 34 is not particularly limited.
  • a support cover 96 is disposed so as to cover the link 20 of the arm 18, and the shield layer 30, the elastic cushion layer 34, the second and third sensors 36 and 54, and the skin 94.
  • a structure attached to the surface of the support cover 96 may be employed.
  • the support cover 96 of the present embodiment has a hollow box shape, and is arranged so as to surround the outside of the link 20 by accommodating the link 20 in the internal space.
  • the hardness of the elastic cushion layer 34 may be 75% to 500% with respect to the hardness of the dielectric layer 40.
  • a structure in which the dielectric layer 40 is harder than the elastic cushion layer 34 is also employed. obtain.
  • both the elastic cushion layer 34 and the dielectric layer 40 may be a foam, or both may be a non-foam. Further, the elastic cushion layer 34 and the dielectric layer 40 can be formed of different materials, and the hardness and Poisson's ratio of the elastic cushion layer 34 and the dielectric layer 40 can be adjusted by the difference in the materials. .
  • the structure provided with two of the 2nd sensor 36 and the 3rd sensor 54 was demonstrated as a pressure sensor, only one pressure sensor may be sufficient, Three or more may be sufficient.
  • the hardness, size, shape, etc. of the dielectric layers of each pressure sensor need not necessarily be the same.
  • the hardness of the elastic cushion layer 34 is 75, regardless of the hardness of the dielectric layer of any pressure-sensitive sensor. % To 500% is set.
  • the hardness of the dielectric layer is the hardness of the elastic cushion layer.
  • the detection principle is not limited to the capacitance type.
  • the first sensor 26 is provided on the support base 16 that has been moved away from the moving part such as the arm 18 as in the above-described embodiment, and detects the entry of the operator A into the fixedly set area. Also, a device that is provided in the moving unit and detects the intrusion of the worker A into the area set so as to change with the movement of the moving unit may be employed.
  • the second sensor 36 and the third sensor 54 are both contact sensors, and the first sensor 26 detects the approach of the worker A at a position close to the arm 18.
  • a structure that is a proximity sensor such as a sensor can also be adopted.
  • the first sensor 26 is not essential in the present invention.
  • the worker A is exemplified as the detection target detected by the first to third sensors 26, 36, 54.
  • the detection target is not limited to a person, and may be a thing.
  • the automatic device to which the sensor device according to the present invention is attached is not limited to the industrial robot shown in the above-described embodiment.
  • the automatic device may be a medical or nursing robot or an automatic guided vehicle (AGV). Can be applied.
  • AGV automatic guided vehicle
  • the structure in which a part of the automatic device is the moving unit is illustrated.
  • the automatic device is an AGV, the entire automatic device is the moving unit.

Landscapes

  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

La présente invention concerne un dispositif de détection qui possède une nouvelle structure, qui permet à un capteur de pression de détecter avec précision un travailleur, etc., et qui réduit sensiblement la force qui agit quand le travailleur, etc., entre en contact avec un dispositif automatique. Le dispositif de détection 10 détecte un contact entre un objet détecté A et une partie mobile 18 d'un dispositif automatique 12. Le contact entre l'objet détecté A et la partie mobile 18 est détecté par des capteurs de pression flexibles 36, 54. Les capteurs de pression 36, 54 sont des capteurs capacitifs électrostatiques qui sont formés en faisant adhérer une première électrode étirable 42 et une seconde électrode étirable 46 à des surfaces respectives d'une couche diélectrique à déformation élastique 40 et, sur la base des changements de la capacité électrostatique, détectent une pression qui agit sur des parties en vis-à-vis des première et seconde électrodes 42, 46. Une couche d'amortissement élastique 34 se trouve plus près de la partie mobile 18 que des capteurs de pression 36, 54. La dureté de la couche d'amortissement élastique 34 représente 75% à 500% de la dureté de la couche diélectrique 40.
PCT/JP2017/042242 2017-03-21 2017-11-24 Dispositif de détection Ceased WO2018173366A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017055023A JP2018155711A (ja) 2017-03-21 2017-03-21 センサ装置
JP2017-055023 2017-03-21

Publications (1)

Publication Number Publication Date
WO2018173366A1 true WO2018173366A1 (fr) 2018-09-27

Family

ID=63584461

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/042242 Ceased WO2018173366A1 (fr) 2017-03-21 2017-11-24 Dispositif de détection

Country Status (2)

Country Link
JP (1) JP2018155711A (fr)
WO (1) WO2018173366A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020129567A1 (fr) * 2018-12-21 2020-06-25 ソニー株式会社 Capteur sensible à la pression et instrument électronique
WO2021209480A1 (fr) * 2020-04-16 2021-10-21 Fogale Nanotech Dispositif de detection capacitive a electrode deployable, et equipement muni d'un tel dispositif
CN116635701A (zh) * 2020-11-23 2023-08-22 原见精机股份有限公司 接触感应器与运用其的自动化系统

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2021193932A1 (fr) * 2020-03-27 2021-09-30
EP3916371A1 (fr) 2020-05-29 2021-12-01 IMEC vzw Électrode compressible
CN116723919A (zh) * 2021-03-04 2023-09-08 索尼集团公司 机器人、末端执行器和机器人系统
JP7254433B2 (ja) * 2021-05-31 2023-04-10 Ｎｉｓｓｈａ株式会社 ロボットハンドの触覚センサ付き指およびこれを用いた触覚センサ付きロボットハンド

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001239479A (ja) * 1999-12-24 2001-09-04 Sony Corp 脚式移動ロボット及びロボットのための外装モジュール
JP2009036557A (ja) * 2007-07-31 2009-02-19 Sony Corp 検出装置および方法、並びにプログラム
JP2011093549A (ja) * 2009-10-28 2011-05-12 Gifu Plast Ind Co Ltd パレット用帯ゴム
JP2011237288A (ja) * 2010-05-11 2011-11-24 Tokai Rubber Ind Ltd 静電容量型センサおよびセンサ取付構造
US20130271159A1 (en) * 2012-01-28 2013-10-17 Arizona State University Systems for providing electro-mechanical sensors

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001239479A (ja) * 1999-12-24 2001-09-04 Sony Corp 脚式移動ロボット及びロボットのための外装モジュール
JP2009036557A (ja) * 2007-07-31 2009-02-19 Sony Corp 検出装置および方法、並びにプログラム
JP2011093549A (ja) * 2009-10-28 2011-05-12 Gifu Plast Ind Co Ltd パレット用帯ゴム
JP2011237288A (ja) * 2010-05-11 2011-11-24 Tokai Rubber Ind Ltd 静電容量型センサおよびセンサ取付構造
US20130271159A1 (en) * 2012-01-28 2013-10-17 Arizona State University Systems for providing electro-mechanical sensors

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020129567A1 (fr) * 2018-12-21 2020-06-25 ソニー株式会社 Capteur sensible à la pression et instrument électronique
US11397499B2 (en) 2018-12-21 2022-07-26 Sony Group Corporation Pressure-sensitive sensor and electronic apparatus
WO2021209480A1 (fr) * 2020-04-16 2021-10-21 Fogale Nanotech Dispositif de detection capacitive a electrode deployable, et equipement muni d'un tel dispositif
CN116635701A (zh) * 2020-11-23 2023-08-22 原见精机股份有限公司 接触感应器与运用其的自动化系统

Also Published As

Publication number Publication date
JP2018155711A (ja) 2018-10-04

Similar Documents

Publication Publication Date Title
WO2018173366A1 (fr) Dispositif de détection
JP2018155712A (ja) センサ装置
US20190368950A1 (en) Sensor device
WO2018230036A1 (fr) Dispositif de sécurité
EP1552613B1 (fr) Capteur a capacitance compressible pour la determination de la presence d'un objet
JP5540797B2 (ja) センサ装置および表示装置
WO2018012329A1 (fr) Détecteur tactile et de proximité
US9032811B2 (en) Robot apparatus
US11904455B2 (en) Proximity detection system
US10666252B2 (en) Capacitive sensor
US9802316B2 (en) Compliant touch sensor
CN104350441A (zh) 包括传感器阵列的用于机器人的缓冲器
WO2023127415A1 (fr) Dispositif de détection de préhension et dispositif de direction
WO2020090342A1 (fr) Dispositif capteur
JP7265411B2 (ja) 感圧センサシートおよび感圧センサ
JP7251262B2 (ja) 可動体、ロボットおよび移動体
JP2007035334A (ja) 静電容量式タッチスイッチ
US20230202045A1 (en) Robot System
WO2024101154A1 (fr) Dispositif d'entrée
WO2023122278A1 (fr) Système robot
KR20250115997A (ko) 맞춤화가능한 최소 활성화 임계치를 갖는 비-이산 촉각 및 비촉각 스위치를 위한 용량성 스위치 구조체
JP2001113477A (ja) 衝突検出装置
WO2021193932A1 (fr) Capteur de capacité électrostatique, unité de capteur et robot
HK40006214A (en) Proximity and tactile sensor

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17902555

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17902555

Country of ref document: EP

Kind code of ref document: A1