JP4724109B2 - Robot jacket - Google Patents

Description

  The present invention relates to a robot jacket.

  Conventionally, as shown in Patent Document 1 below, a tactile sensor that is discretely arranged on a base at intervals, and a high-rigidity material that is arranged above the tactile sensor so as to cover the entire tactile sensor The inner skin (first member) and the outer skin (second member) made of a material having a low rigidity and a high coefficient of friction disposed above the inner skin so as to cover the inner skin, and a load generated by contact with the outside world There has been proposed a robot jacket in which a tactile sensor is used to detect a skin through an internal skin.

Further, as shown in Patent Document 2 below, the apparatus includes a matrix-like tactile sensor disposed on the outer surface (base) and a silicone pseudo-skin film (first member) disposed above the tactile sensor. There has been proposed a robot jacket that detects a load caused by contact with a robot from a change in capacitance. In the technique described in Patent Document 2, a through hole having a convex cross section is formed in a portion of the pseudo skin membrane that is above the detection point where the comb electrodes of the tactile sensor intersect, and a pressing pin having the same shape is formed there. The housing is housed and the tip of the pressing pin protrudes from the surface of the pseudo skin membrane and is brought into contact with the outside world, whereby a load from the outside is applied to the detection point by the pressing pin.
Japanese Patent Publication No. 7-8477 JP 2004-230532 A

  In a robot jacket, the outer skin made of external skin or pseudo skin membrane is required to be soft, while it is required that the load applied through the outer skin can be reliably detected. However, in the prior art described in Patent Document 1, since the inner skin is arranged so as to cover the entire tactile sensor arranged discretely on the base, the load generated by contact with the outside world is dispersed. As a result, there is a disadvantage that the acting point of the load or the load distribution cannot be reliably detected, and as a result, the estimation accuracy of the contact point with the outside world is not sufficient. Further, even in the prior art described in Patent Document 2, there is a dead zone between detection points, and the same inconvenience cannot be avoided.

  Therefore, the object of the present invention is to solve the above-mentioned problems, and to provide a soft skin and to reliably detect the action point or load distribution of the load applied through the skin, thereby ensuring the contact point with the outside world. The object is to provide a robot jacket that can be estimated.

In order to achieve the above object, a robot jacket according to claim 1 includes a plurality of tactile sensors discretely laid on a base and the tactile sensation on a surface facing the tactile sensor. A protrusion whose diameter is reduced in a sectional view toward each of the sensors is formed of a first member continuously formed so as to be able to press each of the tactile sensors, and a material having lower rigidity than the first member. A second member that surrounds and supports one member and a fixture that fixes the second member to the base are configured.

In the robot jacket according to a second aspect of the present invention, each of the protrusions is configured to have a pressing portion at the tip thereof having an area larger than the area of each electrode of the tactile sensor.

In the robot jacket according to a third aspect of the present invention, each of the protrusions has a conical shape or a hemispherical shape.

The robot jacket according to a fourth aspect of the present invention is configured such that a third member made of a material lower in rigidity than the first member is provided between the first member and the tactile sensor.

The robot jacket according to claim 5 is configured such that a coating material having a friction coefficient different from that of the second member is applied to the upper surface of the second member.

In the outer jacket of the robot according to a sixth aspect of the present invention, the pressing portion of the protrusion is made of a conductive rubber material.

The robot jacket according to claim 1 has a plurality of tactile sensors discretely laid with respect to the base and a reduced diameter in a cross-sectional view toward each of the tactile sensors on a surface facing the tactile sensor. A first member continuously formed so that the projected protrusions can press each of the tactile sensors, a second member that surrounds and supports the first member, and a second member that surrounds and supports the first member, Since the two members are fixed to the base, the projection is reduced in diameter in a cross-sectional view when the load is applied to the second member and the resulting internal stress is directed toward each of the tactile sensors. It is possible to concentrate on the detection point of the tactile sensor via the first member thus made, and thus it is possible to reliably estimate the contact point with the outside world.

  In addition, since the second member that surrounds and supports the first member and the fixing member that fixes the second member to the base are provided, the second member can be securely fixed to the base, and the first member Can give a certain degree of freedom to the base.

Further , since the second member is provided , the impact due to contact with the outside world can be reduced and the contact area can be enlarged. The robot is a humanoid robot imitating the shape of a person, and the jacket is It is possible to easily grip the work (external world) when it is the outer cover of the hand. More specifically, when the workpiece is large, the workpiece can be gripped reliably by wrapping the workpiece so as to follow the surface of the workpiece when it is small. Further, since the second member is made of a material having lower rigidity than the first member, the contact area can be increased and the second member can be gripped more reliably.

In the robot jacket according to claim 2 , the protrusions are configured so that each of the protrusions has a pressing portion having an area equal to or larger than the area of each electrode of the tactile sensor. Even if some occurs, the entire electrode of the tactile sensor can be pressed, and the load can be detected more reliably.

In the robot jacket according to claim 3 , since the projections are configured so as to be conical or hemispherical, respectively, in addition to the effects described above, a load is applied to the second member disposed on the first member. When, is applied, there is no ridge line where the stress is partially concentrated, so that the internal stress generated thereby can be more reliably concentrated on the tactile sensor.

Since the robot jacket according to claim 4 is configured to include a third member made of a material lower in rigidity than the first member between the first member and the tactile sensor, the stress through the protrusions (Load) concentration can be further ensured. Note that the second member may function as the third member.

In the outer shell of the robot according to claim 5 , since the coating material having a friction coefficient different from that of the second member is applied to the upper surface of the second member, in addition to the above effect, the outer surface of the outer shell It is also possible to easily change the friction coefficient.

In the robot jacket according to claim 6 , since the pressing portion of the projection is made of a conductive rubber material, in addition to the above-described effects, the height of the jacket can be reduced. Only the jacket structure can be made compact.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a best mode for carrying out a robot jacket according to the invention will be described with reference to the accompanying drawings.

  FIG. 1 is a front view of a robot to which a robot jacket according to a first embodiment of the present invention can be applied, and FIG. 2 is a right side view thereof.

  As shown in FIG. 1, the robot 10 includes two legs 12, and a base body (upper body) 14 is connected to the upper part. A head 16 is connected further above the base body 14, and two arms 18 are connected to both sides of the upper body 14. A hand 20 is connected to the tips of the left and right arm portions 18. As shown in FIG. 2, a storage portion 22 is provided on the back of the base 14, and an ECU (Electronic Control Unit) 24, a battery 26, and the like are accommodated therein.

  The robot 10 is given six degrees of freedom for each of the left and right legs 12, and operates the electric motor that drives these 6 × 2 = 12 joints based on the control value calculated by the ECU 24. Thus, a desired movement can be given to the entire foot, and the robot 10 can be arbitrarily moved in the three-dimensional space. Also, each of the left and right arm portions 18 is given five degrees of freedom, and by operating an electric motor that drives these 5 × 2 = 10 joints based on a control value calculated by the ECU 24, A desired movement can be given to the portion 18.

  Further, each of the left and right hands 20 is given 14 degrees of freedom as will be described later, and the electric motors that drive these 14 × 2 = 28 joints are operated based on the control values calculated by the ECU 24. Thus, it is possible to give the hand 20 a desired movement such as gripping a workpiece (external world). Thus, the robot 10 is configured as a humanoid robot capable of autonomous walking imitating a human shape.

  FIG. 3 is a plan view of the hand 20 viewed from the palm side.

  As shown in FIG. 3, the hand 20 includes a palm part 30, first to fifth finger parts 32 to 40 connected to the palm part 30, a palm forming part 42 constituting a palm side surface, and a back side of the hand. The back of the hand forming part 44 is formed. The proximal end portion of the hand 20 is connected to the arm portion 18 described above. The first to fifth finger portions 32 to 40 correspond to a thumb, an index finger, a middle finger, a ring finger, and a little finger of a human hand, respectively. The palm portion 30 includes a palm forming member 42 that forms a surface on the palm side and a back forming portion 44 that forms a surface on the back side of the hand.

  The first to fifth finger parts 32 to 40 are composed of a plurality of finger links and finger joints connecting them. Specifically, the first finger portion 32 (thumb) has a distal joint link 32a, a proximal link 32b, a first joint 32A connecting them, and a proximal link 32b fixed to the palm 30. The second joint 32B is connected to the hand link 32c. The second finger 34 (index finger) includes a terminal link 34a, a middle link 34b, a base link 34c, a first joint 34A connecting the terminal link 34a and the middle link 34b, and a middle link. The second joint 34 </ b> B connecting the proximal link 34 c and the proximal link 34 c, and the third joint 34 </ b> C connecting the proximal link 34 c to the middle hand link 34 d fixed to the palm 30. The third finger part 36, the fourth finger part 38 and the fifth finger part 40 are also configured in the same manner as the second finger part 34.

  FIG. 4 is an enlarged exploded perspective view of the second finger portion 34.

  As shown in FIG. 4, the middle link 34d includes a first electric motor 34d1, a first reduction mechanism 34d2 including a planetary gear reducer that reduces the output thereof, and a rotation angle (joint) of the third joint 34C. A first encoder 34d3 for detecting the angle). The output shaft of the first electric motor 34d1, the input shaft of the first reduction mechanism 34d2, and the rotation shaft of the first encoder 34d3 are connected via a first belt 34d4.

  The rotation output portion 34d5 of the first speed reduction mechanism 34d2 is provided with a coupling portion 34d6 and is fixed to the proximal link 34c by a bolt (not shown). In this manner, the middle hand link 34d and the proximal link 34c are coupled via the joint shaft 34CS of the third joint 34C so that the relative angle can be changed.

  Further, the rotation of the second joint 34B (joint angle) is detected in the base link 34c, the second electric motor 34c1, the second reduction mechanism 34c2 including a planetary gear reducer that reduces the output of the second electric motor 34c1, and the like. The second encoder 34c3 is arranged. The output shaft of the second electric motor 34c1, the input shaft of the second reduction mechanism 34c2, and the rotation shaft of the second encoder 34c3 are connected via the second belt 34c4.

  The rotation output portion 34c5 of the second reduction mechanism 34c2 is provided with a coupling portion 34c6 and is fixed to the middle link 34b by a bolt (not shown). In this way, the proximal link 34c and the middle link 34b are connected via the joint shaft 34BS of the second joint 34B so that the relative angle can be changed.

  The middle link 34b includes a third electric motor 34b1, a third speed reduction mechanism 34b2 including a planetary gear speed reducer for reducing the output, and a rotation angle (joint angle) of the first joint 34A. 3 encoders 34b3 are arranged. The output shaft of the third electric motor 34b1, the input shaft of the third reduction mechanism 34b2, and the rotation shaft of the third encoder 34b3 are connected via a third belt 34b4.

  A pin hole 34b6 is formed in the rotation output portion 34b5 of the third reduction mechanism 34b2. A pin hole 34a1 corresponding to the pin hole 34b6 is formed in the end node link 34a, and a pin (not shown) is inserted into the end node link 34a, thereby connecting the middle node link 34b and the end node link 34a.

  The middle link 34b and the end link 34a are connected via an arm 34a2. One end of the arm 34a2 is rotatably attached to an appropriate position of the end node link 34a, and the other end is rotatably attached to an appropriate position of the middle node link 34b. Arranged in an inclined posture. The middle link 34b and the end link 34a are connected via two joint shafts 34AS1 and 34AS2 constituting the first joint 34A so that the relative angle can be changed.

  A fingertip portion 34a3 is attached to the tip of the end node link 34a. The fingertip portion 34a3 itself is manufactured from various resin materials or metal materials such as aluminum. The skin of the fingertip portion 34a3 is made of urethane or silicon rubber.

  The rotation output of the first electric motor 34d1 is transmitted to the first speed reducer 34d2 via the first belt 34d4, and the third joint 34C is rotated about the joint axis 34CS to thereby cause the proximal link 34c and the middle hand link. The relative angle of 34d is changed. The rotation output of the second electric motor 34c1 is transmitted to the second speed reducer 34c2 via the second belt 34c4, and the second joint 34B is rotated about the joint axis 34BS to thereby rotate the middle link 34b and the proximal link. The relative angle of 34c is changed. The rotation output of the third electric motor 34b1 is transmitted to the third speed reducer 34b2 via the third belt 34b4, and the first joint 34A is rotated around one joint shaft 34AS1 so that the end joint link 34a and the middle joint link are rotated. The relative angle of 34b is changed.

  The third finger part 36, the fourth finger part 38, and the fifth finger part 40 are also configured in the same manner as the second finger part 34, and three electric motors (not shown) are arranged on each finger part. ) To rotate the first to third joints around their joint axes, thereby changing the relative angles of the links. The first finger portion 32 is configured in the same manner as the second finger portion 34 except that the first finger portion 32 does not include the third joint and the middle joint link, and the two fingers disposed on the middle hand link 32a and the proximal joint link 32b. By driving an electric motor (not shown), the first and second joints are rotated to change the relative angle of each link. As described above, in the hand 20, by driving three or two electric motors arranged on each finger part, each finger part is bent and extended to grip a workpiece or the like (external environment). And so on.

  Here, the outer cover according to this embodiment will be described. As shown in FIG. 3, the palm forming part 42 of the hand 20 and the palm forming surface side of the first to fifth finger parts 32 to 40 are the outer cover 50. The entire surface is covered.

  FIG. 5A is a cross-sectional view schematically showing the structure of the jacket 50.

  As shown in the figure, the jacket 50 includes a plurality (a group) of eight touch sensors 52 laid on the base 50 a, for example, eight touch sensors 52, and a first member 50 b disposed above the touch sensors 52. A second member 50c disposed above the first member 50b, and a third member 50d disposed between the first member 50b and the tactile sensor 52.

  In the example shown in FIG. 3, the base 50 a corresponds to the palm (finger pad) side of the fingertip portion, the middle link or the proximal link of the finger portion, or the plane of the hand (palm forming portion 42). A coating material 50e is applied to the upper surface of the second member 50c. The tactile sensor 52 includes a conductive rubber 52a and an electrode portion 52b.

  The structure shown in FIG. 5A will be described for each layer from the upper side. The jacket 50 includes a first layer (coating material 50e), a second layer (second member 50c), and a third layer (first member 50b). ), A fourth layer (third member 50d), a fifth layer (conductive rubber 52a of tactile sensor 52), and a sixth layer (electrode portion 52b of tactile sensor 52). According to the human body, the first layer corresponds to the stratum corneum, the second layer corresponds to the epidermis, the fourth layer corresponds to the dermis, and the fifth and sixth layers correspond to the receptors.

  As described above, the jacket 50 of the robot 10 according to this embodiment has a structure imitating a human skin tissue or a receptor. As shown in the figure, the second layer has a thickness of 2 mm, the third layer (and the fourth layer) also has a thickness of 2 mm, the fifth layer has a thickness of about 0.5 mm, and the sixth layer has a thickness of about 0.1 mm. It has a thickness of about 6 mm.

  Specifically, the sixth layer (the electrode part 52b of the tactile sensor 52) is composed of a comb-like electrode and wiring manufactured by a flexible printed circuit. FIG. 5B is a plan view thereof. In the figure, reference numeral 52b1 denotes an electrode, and 52b2 denotes an area where the electrode 52b1 is exposed, in other words, an area without an insulating layer.

  As will be described individually, the first member 50b forming the third layer is reduced in diameter in cross-section toward each of the tactile sensors 52 on the surface facing the tactile sensor 52, that is, the surface close to the base 50a. More specifically, a group of protrusions 50b1 that are gradually reduced in diameter are formed.

  The protrusions 50b1 are composed of eight pieces which are the same as the number of the tactile sensors 52, have a shape reduced in diameter in cross-section toward each of the tactile sensors 52, and are continuously formed so that each of the tactile sensors 52 can be pressed. Is done. Specifically, each of the protrusions 50b1 has a cone shape (more specifically, a cone shape), and as shown in FIGS. 5A and 5B, the area of the electrode 52b1 of the electrode portion 52b of the touch sensor 52. A pressing portion 50b11 having the above area S is provided at the tip.

  Next, the materials or materials will be described. For example, “surface coating agent for gel of human skin” (trade name) is used for the coating material 50e (first layer). For the second member 50c (second layer), for example, polyurethane, more specifically, a urethane stock solution made of “human skin gel hardness O” (trade name) and having a Shore A0 hardness (super soft urethane resin) is used. To do. The friction coefficient of the coating material 50e is different from that of the material forming the second member 50c.

  FIG. 6 is a perspective view showing the outer appearance of the jacket 50 in the vicinity of the fingertip portion 34 a of the finger portion 34. As shown in the drawing, the surface of the jacket 50 has a smooth appearance. In addition, although illustration is abbreviate | omitted, the jackets 50, such as the palm formation part 42 of the palm part 30, are similarly provided with the smooth surface.

  The first member 50b (third layer) is, for example, polyurethane, more specifically “High Cast 3400” (trade name), for example, a resin having a hardness of Shore A90, having low viscosity and excellent curability. Use resin.

  For the third member 50d (fourth layer), for example, polyurethane, more specifically, a resin having a hardness of Shore A0 is used as in the second member 50c (second layer). In other words, the third member 50d (fourth layer) disposed between the first member 50b (third layer) and the tactile sensor 52 (fifth and sixth layers) is the first member 50b (third layer). It is made of a resin (material) that is lower in rigidity than the resin (material) that forms the film.

  As the material of the fifth layer, that is, the conductive rubber 52a of the tactile sensor 52, a material obtained by mixing conductive powder such as carbon powder in insulating rubber is used. When the conductive rubber material is compressed according to the load, the density of the internal conductive powder changes and the resistance value decreases.

  As shown in FIG. 5, the outer cover 50 has been disclosed in which the tactile sensors 52 are arranged in a single line in the horizontal direction, but needless to say, the outer cover 50 does not stop there. That is, the configuration shown in FIG. 5 may be continued in the vertical direction, and the tactile sensor 52 may be configured to be continued in a matrix form in the left and right and up and down directions in FIG. This will be described later.

  Next, the detection operation of the touch sensor 52 will be described.

  FIG. 7 is an explanatory sectional view schematically showing the structure of the electrode 52b1 of the touch sensor 52. As shown in FIG. As shown in FIG. 7, the electrode 52b1 is composed of two electric wires 52b11 and 52b12 arranged at a minute distance. The electric wire 52b11 is grounded, and the electric wire 52b12 is connected to the power source Ve via a resistor R.

  FIG. 8 is a circuit diagram of a detection circuit of the tactile sensor 52 using the electrodes of FIG.

In the illustrated detection circuit, the conductive rubber 52a is pressed by the pressing portion 50b11 of the protrusion 50b1 in accordance with the applied load, and the resistance value decreases, so that the current flows between the two electric wires 52b11 and 52b12. The current value changes, and the voltage across that changes. Therefore, by extracting it as an output voltage, it is possible to reliably detect a load or load distribution caused by contact with the outside such as a workpiece, and thus it is possible to reliably estimate the contact point with the outside. The output voltage V is calculated according to the following formula.
V = Ve × {Rx / (R + Rx)} [V]

  In the above description, the detection sensitivity improves as the voltage dividing resistance R increases. In this embodiment, it is possible to detect a load of about 1 [N], and considering the noise resistance, the material of the first member 50b is selected as described above, and its resistance value is, for example, 33 [ kΩ]. The detection sensitivity differs depending on the hardness of the second member 50c (second layer) or the third member 50d (fourth layer) in addition to the first member 50b (third layer). Was selected as described above in consideration of detection sensitivity.

  Next, the detection accuracy of the tactile sensor 52 according to this embodiment will be described.

  As described above, in order to reliably detect the load applied to the soft second member 50c (second layer), it is necessary to act on the tactile sensor 52 without dispersing the load. In the example, since the first member 50b (the third layer) in which the projection 50b1 made of a cone (reduced in diameter in cross section) is formed above the tactile sensor 52 is provided, a load is applied. The internal stress generated thereby can be concentrated on the tactile sensor 52.

  In FIG. 9, when the area of the upper surface of the cone is A, the area of the lower surface is a, and the load is F, the surface pressure P received by the area A is P = F / A, and the area a receives. The surface pressure p is p = F / a. For example, if A = 5 × a, p = F / (A / 5) = (5 · F) / A. That is, in a, the surface pressure is five times that in A, and the internal stress caused by the load F can be reliably concentrated on the electrode 52b1 of the touch sensor 52.

  In reality, the tactile sensors 52 cannot be arranged innumerably, and a finite number of sensors must be arranged discretely, that is, at a certain distance from each other. Detection accuracy decreases. However, in this embodiment, since the projection 50b1 having a reduced diameter is formed so as to be able to press each of the tactile sensors 52, the tactile sensor 52 and the tactile sensor 52 are arranged as shown in FIG. The load F applied between them can be distributed to them as loads f1 and f2. For example, when the load F is 100%, f1 and f2 can be distributed 50% each.

  Moreover, it can be detected to which side between the two sensors the load is applied according to the degree of distribution. In particular, when a uniform load (pressure) is applied, the contact point can be reliably or accurately estimated from the output voltage of the touch sensor 52.

  Referring to FIG. 11, it is assumed that the roller 60 is moved from the left to the right on the paper surface while applying a constant load 2 [N] to the outer jacket 50 with the roller 60 having a diameter of 16 mm. FIG. 12 is a table showing the output voltage and the estimation of the contact point estimated therefrom.

  In FIG. 11, a situation is considered where the roller 60 moves from the seventh tactile sensor 52-7 from the left to the eighth tactile sensor 52-8. Assuming that the output voltage of the touch sensor 52-7 is V7 and that of the touch sensor 52-8 is V8, the width in the moving direction of the touch sensor 52 is 4 mm. Therefore, the position x [mm] of the roller 60 is as shown in FIG. It can be calculated from the formula shown below.

  Therefore, it can be estimated from the calculated value whether the roller 60 is on the tactile sensor 52-7, the tactile sensor 52-8, or the middle point (intermediate) thereof. Further, other contact points can be calculated by interpolation. FIG. 13 is a graph in which the values shown in FIG. 12 are plotted.

  As described above, the jacket 50 of the robot 10 according to this embodiment is disposed above the tactile sensor and a plurality of tactile sensors 52 laid discretely on the base 50a, and faces the tactile sensor. A protrusion 50b1 having a reduced diameter in a cross-sectional view toward each of the tactile sensors, and a first member 50b continuously formed so as to be able to press each of the tactile sensors, and above the first member And the second member 50c made of a material lower in rigidity than the first member. Therefore, the second member 50c is provided as a soft skin, and a load applied via the skin is reduced. It is possible to reliably detect the action point or load distribution and thus reliably estimate the contact point with the outside world.

  In addition, since the second member (skin) 50c is provided, the impact due to contact with the outside world can be reduced and the contact area can be enlarged. Can be easily grasped.

  Further, each of the protrusions 50b1 is configured to include a pressing portion 50b11 having an area S equal to or larger than the area of each electrode 52b1 of the tactile sensor 52 at the tip thereof. Even so, the entire electrode 52b1 of the touch sensor 52 can be pressed, and the load can be detected more reliably.

  Further, since each of the protrusions 50b1 is configured to have a conical shape in cross-sectional view, in addition to the above-described effects, when a load is applied to the second member 50c disposed on the first member 50b, stress is applied. Since there is no ridge line that partially concentrates, the resulting internal stress can be more reliably concentrated on the tactile sensor 52.

  Further, since the third member 50d made of a material lower in rigidity than the first member is provided between the first member 50b and the tactile sensor 52, in addition to the above-described effects, each of the protrusions corresponds. By not preventing the tactile sensor from being pressed, the concentration of stress (load) through the protrusion can be further ensured.

  Further, since the coating material 50e having a friction coefficient different from that of the second member is applied to the upper surface of the second member 50c, in addition to the above-described effects, the friction coefficient of the outer surface of the outer cover 50 can be simplified. It is also possible to change.

  FIG. 14 is a schematic cross-sectional view of a jacket similar to that of FIG. 5, showing a jacket of the robot according to the second embodiment of the present invention.

  In the first embodiment, the shape of the protrusion 50b1 of the first member 50b is a cone shape, more specifically a cone shape, but in the second embodiment, a hemispherical shape is used instead. Thereby, when a load is applied to the second member 50c disposed on the first member 50b, there is no ridge line where the stress is partially concentrated. You can concentrate more reliably.

  The remaining configuration and effects are not different from those of the first embodiment. Note that the shape of the protrusion 50b1 is not limited thereto, and may be any shape as long as the shape is reduced without having a ridge line in a sectional view. The remaining configuration and effects are not different from those of the first embodiment.

  FIG. 15 is a schematic cross-sectional view of the outer cover similar to FIG. 5, showing an enlarged outer cover of the robot according to the third embodiment of the present invention.

  A description will be given focusing on differences from the previous embodiment. In the robot jacket 50 according to the fourth embodiment, the pressing portion 50b11 of the projection 50b1 of the first member 50b, more precisely, the pressing portion. The portion including 50b11 is made of a conductive rubber material (conductive rubber 52). The other configurations are not different from the previous embodiments.

  In this way, the jacket 50 according to the third embodiment can reduce the height of the jacket 50 in addition to the effects described in the previous embodiments, and the structure of the jacket 50 can be made compact accordingly. be able to. Although only the portion including the pressing portion 50b11 is configured from the conductive rubber 52, the entire protrusion 50b1 may be configured from the conductive rubber 52, or the entire first member 50b is configured from the conductive rubber 52. May be.

  16 is a schematic perspective view of a jacket of a robot according to a fourth embodiment of the present invention, and FIG. 17 is a sectional view thereof.

  The jacket 50 is not limited to a flat portion, and can be disposed on a curved surface or a curved portion. As described above, when the outer cover 50 is arranged on the fingertip part, the middle link of the finger part, that is, the finger pad part, etc., the tactile sensor 52 is continuously arranged in a matrix form along the curved finger pad part. The cover 50 is arranged.

  The fourth embodiment relates to such a jacket, and specifically, it is arranged on the middle link 34b of the second finger portion 34 shown in FIG. In FIGS. 16 and 17, the direction of the epidermis is shown on the lower side as opposed to FIG.

  As shown in the figure, the jacket 50 is directed to each of the plurality of tactile sensors 52 laid discretely with respect to the base 50a and the tactile sensor 52 on the surface facing the tactile sensor 52, as in the first embodiment. The first member 50b (third layer) in which the protrusion 50b1 whose diameter is reduced in cross-sectional view is continuously formed so as to be able to press each of the tactile sensors 52, and a material lower in rigidity than the first member, A second member 50c (second layer) surrounding and supporting one member and a fixture 64 for fixing the second member 50c to the base 50a are provided. A conductive rubber 52a and an electrode part 52b are disposed above the first member 50b. Note that the coating material (first layer) is not shown in FIG.

  In the jacket 50 according to the fourth embodiment, the jacket 50 and the base 50a are curved in side view, and therefore the first member 50b and the like also have curved surfaces in side view. Further, the protrusion 50b1 having the pressing portion 50b11, that is, the tactile sensor 52, which is formed on the first member 50b, is discretely formed at a predetermined interval.

  Further, the second member 50c surrounds and supports the first member 50b, more specifically, surrounds and supports a portion of the protrusion 50b1 except the pressing portion 50b11, and the second member 50c is interposed via the fixture 64. Are fixed to the base 50a. That is, the fixture 64 includes a rib 64a and a hole 64b. The rib 64a is embedded in the second member 50c, and the fixture 64 is fixed to the base 50a by screwing the fixture 64 to the base 50a through the hole 64b. Is done.

  The materials of the first member 50b and the second member 50c are not different from those of the first member 50b and the second member 50c of the first embodiment. The fixture 64 is manufactured from polycarbonate, for example. In the fourth embodiment, as shown in FIG. 18, the projection 50b1 side of the first member 50b may be the third member 50d as in the first embodiment.

  As shown in FIG. 19, the tactile sensors 52 are continuously arranged in a matrix in the vertical and horizontal directions. The case where an actual pressurization point (contact point) is estimated from the external force applied to those tactile sensors 52 will be described.

  Each position of the tactile sensor 52 is indicated by coordinates (Pi, Pj), and its output is Fij. As is well known, the actual pressurization point (Xp, Yp) is calculated according to the equation shown at the bottom of FIG. can do. That is, the point (position) at which the actual pressure acts can be calculated from the quotient obtained by dividing the product of the position P and the force F by the force F.

  As described above, the jacket 50 according to the fourth embodiment has a plurality of tactile sensors 52 laid discretely with respect to the base 50 a, and a cross section facing each of the tactile sensors 52 on the surface facing the tactile sensor 52. The projection 50b1 whose diameter is reduced in view is formed of a first member 50b formed continuously so as to be able to press each of the tactile sensors 52 and a material lower in rigidity than the first member 50b, and surrounds the first member 50b. The second member 50c for supporting the second member 50c and the fixing member 64 for fixing the second member 50c to the base are provided. Therefore, similar to the first embodiment, the load is applied to the second member 50c. The internal stress can be concentrated on the detection point of the tactile sensor 52 via the first member 50b formed with the projections whose diameter is reduced in a cross-sectional view toward each of the tactile sensors 52. The point of contact with it is possible to reliably estimate.

  In addition, since the second member 50c is provided so as to surround and support the first member 50b and the fixing member 64 that fixes the second member 50c to the base 50a, the second member 50c is securely fixed to the base 50a. In addition, the first member 50b can be given a certain degree of freedom with respect to the base 50a.

  Further, since the second member 50b is provided as in the first embodiment, the impact caused by contact with the outside world can be mitigated and the contact area can be enlarged, and the humanoid in which the robot 10 imitates the shape of a person. When the outer cover is the outer cover of the hand 20, the workpiece (external world) can be easily gripped. More specifically, when the workpiece is large, the workpiece can be gripped reliably by wrapping the workpiece so as to follow the surface of the workpiece when it is small. Furthermore, since the second member 50c is configured to be made of a material having lower rigidity than the first member 50b, the contact area can be increased and the second member 50c can be gripped more reliably.

  FIG. 20 is a schematic perspective view of the outer casing of the robot according to the fifth embodiment of the present invention.

  The fifth embodiment relates to a flat outer jacket 50 as in the first embodiment. As shown in the figure, the outer jacket 50 is discretely laid on a base (not shown) as in the fourth embodiment. A plurality of tactile sensors 52 and protrusions 50b1 that are reduced in diameter in cross-section toward each of the tactile sensors 52 are continuously formed on the surface facing the tactile sensor 52 so as to be able to press each of the tactile sensors 52. The first member 50b (third layer), the second member 50c (second layer) that surrounds and supports the first member, and the second member 50c is formed on the base 50a. It comprised so that the fixing tool 64 to fix may be provided. A conductive rubber 52a and an electrode part 52b are disposed above the first member 50b.

  The fifth embodiment has the same configuration as the fourth embodiment except that the first member 50b and the like are flat plates, and the effect is the same as that of the fourth embodiment.

  In the fourth and fifth embodiments, the tactile sensors 52 are discretely arranged at a predetermined interval from each other.

  FIG. 21A is a graph showing the relationship of the hardness of the first member 50b and the like with respect to the mutual distance (separation distance) of the tactile sensor 52. In the fourth and fifth embodiments, as shown in the figure, As the distance between the tactile sensors 52 increases, it is desirable to increase the hardness in order to increase the strength of the first member 50b. The same object can be achieved by increasing the hardness of the second member 50c, but the second member 50c can be kept at the desired hardness by increasing the hardness of the first member 50b.

  As shown in FIG. 5B, instead of hardness, the thickness d of the portion connecting the projection 50b1 of the first member 50b may be increased as the mutual distance between the tactile sensors 52 increases.

  Furthermore, in the first to fifth embodiments, the surface of the jacket 50 is flattened, but as shown in FIG. 22, irregularities (dimples) may be formed. That is, the surface (upper surface) of the second member 50c may have an uneven shape, and the coating material 50e may be applied thereon, so that the outer shape of the outer cover 50 is provided with an uneven shape. As a result, the coefficient of friction is increased, making it easier to grip a workpiece or the like.

  Furthermore, in place of irregularities (dimples), a large number of straight groove portions may be formed at regular intervals as shown in FIG. 23 to form a stripe shape, or a large number of curved groove portions may be formed as shown in FIG. It may be a fingerprint shape. Furthermore, the surface of the outer jacket 50 may have another uneven shape such as a knurl shape.

  Moreover, in the above, although the raw material and hardness of the jacket 50 were demonstrated concretely, they are illustrations and it is also possible to use another raw material and hardness.

  In the above description, a bipedal legged mobile robot is taken as an example of the robot 10, but the robot is not limited thereto.

It is a front view of the robot which can apply the jacket of the robot concerning the 1st example of this invention. It is a right view of the robot shown in FIG. It is the top view which looked at the hand shown in FIG. 1 from the palm side. It is an expansion disassembled perspective view of the 2nd finger | toe part shown in FIG. It is sectional drawing and a top view which show typically the structure of the jacket shown in FIG. It is a perspective view which shows the external appearance of the jacket in the fingertip part vicinity of the finger part shown in FIG. It is explanatory drawing which shows typically the structure of the electrode of the tactile sensor shown in FIG. It is a circuit diagram of the detection circuit of the tactile sensor using the electrode shown in FIG. It is explanatory drawing which shows typically the structure of the processus | protrusion of the jacket shown in FIG. Similarly, it is explanatory drawing which shows typically structures, such as protrusion of an outer jacket shown in FIG. It is explanatory drawing which shows the state which moved the roller, applying a fixed load with a roller to the jacket shown in FIG. It is a table | surface which shows the estimation of the output voltage of a sensor in the state shown in FIG. 11, and the contact point estimated from it. It is the graph which plotted the value shown in FIG. FIG. 6 is a schematic cross-sectional view of a jacket similar to FIG. 5, showing a jacket of a robot according to a second embodiment of the present invention. FIG. 6 is a schematic cross-sectional view of a jacket similar to FIG. 5, showing a jacket of a robot according to a third embodiment of the present invention. It is a typical perspective view of the jacket of the robot concerning the 4th example of this invention. FIG. 17 is a cross-sectional view of the outer jacket of the robot according to the fourth embodiment shown in FIG. 16. FIG. 18 is a cross-sectional view of the robot jacket similar to FIG. 17. It is explanatory drawing for demonstrating estimation of an actual pressurization point (contact point) from the external force applied to the tactile sensor shown in FIG. It is a typical perspective view of the jacket of the robot which concerns on 5th Example of this invention. It is the graph etc. which show the relationship between the mutual distance of the tactile sensor in 4th, 5th Example, and hardness, such as a 1st member. FIG. 7 is a perspective view of a jacket similar to FIG. 6, and is an explanatory diagram illustrating a modification example thereof. It is explanatory drawing which shows the modification of a jacket similar to FIG. It is explanatory drawing which shows the modification of a jacket similar to FIG.

Explanation of symbols

  10 robot, 20 hand, 50 jacket, 50a base, 50b first member (third layer), 50b1 protrusion, 50b11 pressing part, 50c second member (second layer), 50d third member (fourth layer), 50d1 recess, 50e coating material (first layer), 52 tactile sensor, 52a conductive rubber, 52b electrode, 52b1 electrode, 64 fixture

Claims (6)

  A plurality of tactile sensors laid discretely with respect to the base, and projections whose diameters are reduced in cross-section toward each of the tactile sensors on the surface facing the tactile sensor can press each of the tactile sensors A first member formed continuously, a second member that is lower in rigidity than the first member, surrounds and supports the first member, and fixes the second member to the base. A robot jacket comprising a fixture. Each of said projections, the outside of the claim 1 Symbol mounting robot, characterized in that it comprises a pressing portion having an area larger than the area of the respective electrodes of the touch sensor on its tip. 3. The robot jacket according to claim 1, wherein each of the protrusions has a conical shape or a hemispherical shape. The robot jacket according to any one of claims 1 to 3 , further comprising a third member made of a material lower in rigidity than the first member between the first member and the tactile sensor. The upper surface of the second member, the outer robot according to any one of claims 1 to 4, different coating material in the second member and the friction coefficient, characterized in that it is applied. The robot jacket according to any one of claims 1 to 5 , wherein the pressing portion of the protrusion is made of a conductive rubber material.

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