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WO2018135012A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO2018135012A1
WO2018135012A1 PCT/JP2017/015253 JP2017015253W WO2018135012A1 WO 2018135012 A1 WO2018135012 A1 WO 2018135012A1 JP 2017015253 W JP2017015253 W JP 2017015253W WO 2018135012 A1 WO2018135012 A1 WO 2018135012A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
contact
film
sensor
robot arm
Prior art date
Application number
PCT/JP2017/015253
Other languages
English (en)
Japanese (ja)
Inventor
智司 秋田
至 久保
恵介 松尾
戸塚　善三
Original Assignee
新明工業株式会社
カンタムエレクトロニクス株式会社
伊藤忠マシンテクノス株式会社
金井電器産業株式会社
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 新明工業株式会社, カンタムエレクトロニクス株式会社, 伊藤忠マシンテクノス株式会社, 金井電器産業株式会社 filed Critical 新明工業株式会社
Priority to JP2018562858A priority Critical patent/JP6837644B2/ja
Priority to CN201780002645.0A priority patent/CN108235698B/zh
Publication of WO2018135012A1 publication Critical patent/WO2018135012A1/fr

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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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • 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
    • B25J19/06—Safety devices

Definitions

  • the present invention relates to a robot such as a robot arm.
  • the present invention has been made in consideration of the above-mentioned matters, and an object of the present invention is to provide a robot capable of improving safety.
  • a robot according to the present invention is located between an internal and external resistance film facing each other and the internal and external resistance film, and the internal and external resistance is in a state of not receiving external contact. It has a sensor body composed of a spacer which is an insulator for keeping the films apart from each other, and when receiving contact from the outside, the outer resistance film pushed in with this contact becomes the inner resistance.
  • a film sensor configured to detect contact by energizing the film and detecting the electrical signal is provided (claim 1).
  • both the inner and outer resistance films may be cylindrical.
  • the spacer may include a plurality of circulation parts that circulate along an outer surface of the inner resistance film, and a non-circulation part positioned between the plurality of circulation parts. Item 3).
  • a plurality of the spacers may be interspersed between the inner and outer resistive films (claim 4).
  • a robot capable of improving safety can be obtained.
  • the robot of the invention according to each claim of the present application can be configured to stop the robot immediately when an operator contacts the sensor body, and the safety can be improved.
  • the robot according to the second aspect of the invention is particularly suitable for use in a robot arm or the like suitable for mounting a cylindrical film sensor.
  • the gap between the inner and outer resistance films is improved while improving the strength and further improving the interpersonal and objective aptitude.
  • the film sensor can be made conductive even with a light and light contact.
  • FIG. 3 It is explanatory drawing which shows roughly the structure of the robot (robot arm) which concerns on one embodiment of this invention. It is a partial expanded sectional view which shows schematically the structure of the film sensor of the said robot (robot arm).
  • (A) And (B) is the top view and perspective view which show schematically the structure of the modification of the said film sensor.
  • (A) is a cross-sectional view of the film sensor shown in FIG. 3
  • (B) is a cross-sectional view taken along line BB of (A)
  • (C) is a cross-sectional view taken along line CC of (A).
  • A) And (B) is a longitudinal cross-sectional view which shows the state before and after a deformation
  • a robot arm (an example of a robot) 1 shown in FIG. 1 is a vertical articulated robot (for example, a 6-axis vertical articulated robot), and can rotate or twist at each joint.
  • Each joint is provided with a motor, a reducer, a rotation angle detector, etc., not shown, and the rotation angle of each joint is controlled by a control device not shown.
  • a hand (not shown) that can perform an appropriate operation is attached to the tip of the robot arm 1, and the base of the robot arm 1 is fixed to a gantry, a movable carriage, or the like.
  • the robot arm 1 includes a film sensor (membrane sheet) 2.
  • the film sensor 2 includes flexible inner and outer resistive films (conductive films made of a mixed film of Ag / C in this example) 3, 4 and inner and outer resistive films 3, A plurality of insulators that are interspersed (positioned) at intervals of 0.5 mm, for example, between the inner and outer resistive films 3 and 4 that are not subjected to external contact.
  • a sensor body 8 composed of inner and outer sheets (for example, polyethylene terephthalate sheets) 6 and 7 sandwiching the inner and outer resistive films 3 and 4, and when contacted, Accordingly, the outer resistive film 4 pushed in contact with the inner resistive film 3 is energized in contact with the inner resistive film 3, and the electrical signal is detected to detect that the contact has been received.
  • the inner and outer resistance films 3 and 4 and the inner and outer sheets 6 and 7 are both flexible.
  • the inner surface (the inner sheet 6 side) of the sensor main body 8 is joined to the outer surface of the flexible base member 10 having a substantially C-shaped cross section by an adhesive 9, and the sensor main body 8 is joined to the base member 10.
  • the robot arm 1 is mounted in a bent state (see FIG. 1).
  • 11 is an insulating tape.
  • the base member 10 for example, a resin pipe cut from one end to the other end to have a substantially C-shaped cross section can be used. It is preferable to provide
  • the sensor body 8 and the base member 10 can be attached to the robot arm 1 by fastening an appropriate portion of the sensor body 8 or the base member 10 wound around the robot arm 1 with an adhesive tape or a hook-and-loop fastener, It can be considered to be tied up with a string or the like.
  • two sensor bodies 8 are attached to one robot arm 1, and when a plurality of sensor bodies 8 are attached to one robot arm 1 in this way, By electrically connecting the sensor bodies 8 to each other with a cable 12 or the like, even if any sensor body 8 is contacted and energized, the contact can be detected, and each sensor body 8 can be detected.
  • the wiring of the cables 12 and the like can be simplified as compared with the case where they are individually electrically connected to the control device or the like.
  • the control device is configured to stop the operation of the robot arm 1 based on this detection. Therefore, it is possible to immediately stop the robot arm 1 when an operator contacts the sensor main body 8, and the safety of the robot arm 1 can be improved.
  • the robot arm 1 of the present embodiment even when there is a contact with the sensor main body 8, the impact is not transmitted as it is to the robot arm 1, but by the cushion material on the inner surface of the base member 10 to which the sensor main body 8 is joined. Since it is buffered, the safety of the robot arm 1 is also increased in this respect.
  • the sensor main body 8 of the film sensor 2 is attached only to the arm portion of the robot arm 1, but not limited to this, the sensor main body 8 is attached to the entire robot arm 1 such as a joint or a hand.
  • any part of the robot arm 1 may be configured to stop or the like, and in this case, safety can be further improved.
  • the sensor body 8 is mounted on the joint portion of the robot arm 1, it is necessary to mount the sensor body 8 without obstructing the movement of the joint portion, and the sensor body 8 is configured to have such a shape. Just keep it.
  • the robot arm 1 is exemplified as the robot.
  • the present invention is not limited to this, and it goes without saying that the present invention can be applied to other robots.
  • the film sensor 2 of the above embodiment uses, for example, an outer sheet 7 having a thickness of about 75 ⁇ m, and a plurality of spacers 5 are interspersed at equal intervals between the inner and outer sheets 6, 7. It is thin as a whole and can be made conductive even with light contact. However, if the outer sheet 7 is made thicker in order to improve the strength in consideration of use as a human / object sensor, the thick outer sheet 7 faces the inner sheet 6 in a narrow space around each spacer 5. There is a concern that the load (ON load) for turning on the film sensor 2 will rise rapidly.
  • a plurality of spacers (dot spacers) 5 are interspersed between the inner and outer resistance films 3 and 4, but such spacers 5 are omitted, and FIG.
  • a spacer 5A as shown in FIG. 4 may be employed.
  • the spacer 5A can be constituted by, for example, a double-sided tape that is an insulator, and extends along the outer surface of the inner resistance film 3 configured in a cylindrical shape (or along the inner surface of the outer resistance film 4 configured in a cylindrical shape.
  • the non-circular portion 14 extends in the axial direction of the cylindrical inner and outer resistance films 3 and 4.
  • the outer sheet 7 is made thicker (for example, 188 ⁇ m or more) to improve strength, and further improve interpersonal and object suitability.
  • the gap between the two sheets 6 and 7 is made wider, it is possible to ensure the prevention of malfunction while suppressing an increase in the ON load.
  • 2 is assumed to have a thickness t1 of about 0.2 mm
  • the film sensor 2 shown in FIGS. 3 to 5 has a thickness t2 (FIG. 4). (See (B)) is assumed to be about 2 mm.
  • the spacer 5A may extend, for example, at least one of the portions constituting the revolving part 13 or the non-revolving part 14 without being continuous. It does not need to extend in the axial direction.
  • the spacer 5 ⁇ / b> A is not limited to the one composed of the circular portion 13 and the non-circular portion 14, and may extend spirally along the outer surface of the inner resistive film 3 configured in a cylindrical shape, for example.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot qui est capable d'améliorer la sécurité. Le robot est pourvu d'un capteur à films (2) qui présente un corps de capteur (8) comprenant : des films résistifs interne et externe (3, 4) opposés l'un à l'autre ; et des éléments d'espacement (5, 12) positionnés entre les films résistifs interne et externe (3, 4) et servant d'isolants pour maintenir les films résistifs interne et externe (3, 4) séparés l'un de l'autre dans un état de non-contact avec l'extérieur. Lorsque le contact est réalisé depuis l'extérieur, le film résistif externe (4), qui a été poussé en association avec ledit contact, entre en contact avec le film résistif interne (3) et devient excité. En détectant le signal électrique à partir de celui-ci, le contact est détecté.
PCT/JP2017/015253 2017-01-19 2017-04-14 Robot WO2018135012A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018562858A JP6837644B2 (ja) 2017-01-19 2017-04-14 ロボット
CN201780002645.0A CN108235698B (zh) 2017-01-19 2017-04-14 机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017007442 2017-01-19
JP2017-007442 2017-01-19

Publications (1)

Publication Number Publication Date
WO2018135012A1 true WO2018135012A1 (fr) 2018-07-26

Family

ID=62908476

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/015253 WO2018135012A1 (fr) 2017-01-19 2017-04-14 Robot

Country Status (4)

Country Link
JP (1) JP6837644B2 (fr)
CN (1) CN108235698B (fr)
TW (1) TWI669199B (fr)
WO (1) WO2018135012A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2707361C1 (ru) * 2019-03-20 2019-11-26 Федеральное государственное бюджетное образовательное учреждение высшего образования "Омский государственный технический университет"(ОмГТУ) Способ изготовления изделий из композиционных материалов
DE102021200795A1 (de) 2021-01-28 2022-07-28 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024145471A (ja) * 2023-03-31 2024-10-15 株式会社デンソーウェーブ センサユニット、及び産業用ロボット

Citations (9)

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JPH0292U (fr) * 1988-06-02 1990-01-05
JPH0945184A (ja) * 1995-08-01 1997-02-14 Gunze Ltd マトリックス型タッチパネルの検出装置
JP2001287189A (ja) * 2000-04-10 2001-10-16 Natl Aerospace Lab 多関節介護ロボット制御用の圧力分布センサ
JP2003071778A (ja) * 2001-09-05 2003-03-12 National Institute Of Advanced Industrial & Technology ロボットアーム用触覚センサー
JP2003089091A (ja) * 2001-09-14 2003-03-25 National Institute Of Advanced Industrial & Technology 触覚センサを持つロボット用制御装置
JP2005078104A (ja) * 2003-08-29 2005-03-24 Casio Comput Co Ltd タッチスイッチパネル
JP2007102719A (ja) * 2005-10-07 2007-04-19 Toyota Motor Corp 接触点検出装置およびこれを用いたロボット
US20080266273A1 (en) * 2007-04-24 2008-10-30 White Electronic Designs Corp. Interactive display system
JP2010010116A (ja) * 2008-05-30 2010-01-14 Fujikura Ltd 接近制御装置および接近センサ

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CN100460168C (zh) * 2004-03-26 2009-02-11 张周新 物体的接触型传感器
US7397466B2 (en) * 2004-11-12 2008-07-08 Eastman Kodak Company Integral spacer dots for touch screen
CN1796954A (zh) * 2004-12-22 2006-07-05 中国科学院合肥智能机械研究所 柔性三维力触觉传感器
DE102010034717B4 (de) * 2010-08-18 2016-01-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Sensorelement zur Erfassung taktiler Reize
EP2605710B1 (fr) * 2010-08-18 2015-10-21 Deutsches Zentrum für Luft- und Raumfahrt e. V. Instrument minimalement invasif
JP5655871B2 (ja) * 2013-01-21 2015-01-21 株式会社安川電機 ロボット装置
CN106289588A (zh) * 2015-05-27 2017-01-04 鸿富锦精密工业（深圳）有限公司 压力传感装置、具有该压力传感装置的机械手及机器人

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0292U (fr) * 1988-06-02 1990-01-05
JPH0945184A (ja) * 1995-08-01 1997-02-14 Gunze Ltd マトリックス型タッチパネルの検出装置
JP2001287189A (ja) * 2000-04-10 2001-10-16 Natl Aerospace Lab 多関節介護ロボット制御用の圧力分布センサ
JP2003071778A (ja) * 2001-09-05 2003-03-12 National Institute Of Advanced Industrial & Technology ロボットアーム用触覚センサー
JP2003089091A (ja) * 2001-09-14 2003-03-25 National Institute Of Advanced Industrial & Technology 触覚センサを持つロボット用制御装置
JP2005078104A (ja) * 2003-08-29 2005-03-24 Casio Comput Co Ltd タッチスイッチパネル
JP2007102719A (ja) * 2005-10-07 2007-04-19 Toyota Motor Corp 接触点検出装置およびこれを用いたロボット
US20080266273A1 (en) * 2007-04-24 2008-10-30 White Electronic Designs Corp. Interactive display system
JP2010010116A (ja) * 2008-05-30 2010-01-14 Fujikura Ltd 接近制御装置および接近センサ

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2707361C1 (ru) * 2019-03-20 2019-11-26 Федеральное государственное бюджетное образовательное учреждение высшего образования "Омский государственный технический университет"(ОмГТУ) Способ изготовления изделий из композиционных материалов
DE102021200795A1 (de) 2021-01-28 2022-07-28 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter

Also Published As

Publication number Publication date
JP6837644B2 (ja) 2021-03-03
TWI669199B (zh) 2019-08-21
CN108235698A (zh) 2018-06-29
TW201827187A (zh) 2018-08-01
CN108235698B (zh) 2022-03-01
JPWO2018135012A1 (ja) 2019-11-07

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