JP6837644B2 - robot - Google Patents

Description

The present invention relates to a robot such as a robot arm.

In recent years, robot arms that operate near workers have become widespread.

However, it is dangerous if the operator comes into contact with the robot arm. Therefore, it is conceivable to move the robot arm with low thrust, but that alone poses a problem in safety. And this applies not only to the robot arm but also to other robots.

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 enhancing safety.

To achieve the above object, the robot according to the present invention, the inside and outside of the resistive film facing each other became installed in the base member of the cylindrical tubular, is constituted by an insulator, the tubular inner and outer It has a circular portion that circulates along both ends of the resistance film and a non-circular portion that extends in the axial direction of the tubular inner and outer resistance films, and is external without placing a spacer in the range for detecting the contact of the sensor. in a state not receiving contact from having a sensor body comprised of a spacer that can keep one another by separating the cylindrical inside and outside of the resistance film, receives a contact from the outside, with this contact The tubular outer resistance film that has been pushed in comes into contact with the tubular inner resistance film to energize, and by detecting the electrical signal, it is configured to detect that the contact has been received. A film sensor is provided (claim 1).

Further, in the robot, the inner and outer tubular sheets that sandwich the tubular inner and outer resistance films are provided (claim 2).

In the present invention, a robot capable of enhancing safety can be obtained.

That is, the robot of the invention according to claim 1 of the present application can be configured to immediately stop the robot when an operator comes into contact with the sensor body, and its safety can be enhanced.

According to the robot of the invention according to claim 2, outside the improvement of strength by thickening the cylindrical seat provided in the outer resistance layer, further interpersonal, One One aims to improve the objective suitability malfunction prevention of the certainty of it is drawing Rukoto.

It is explanatory drawing which shows schematic structure of the robot (robot arm) which concerns on a reference example. It is a partially enlarged sectional view which shows schematic structure of the film sensor of the robot (robot arm). (A) and (B) are a plan view and a perspective view schematically showing the structure of the film Sensor in the robot (robot arm) according to an embodiment of the present invention. (A) is a cross-sectional view of the film sensor shown in FIG. 3, (B) is a BB line cut view of (A), and (C) is a CC line cut view of (A). (A) and (B) are vertical cross-sectional views schematically showing the states before and after the deformation of the film sensor shown in FIG.

Embodiments of the present invention will be described below with reference to reference examples and drawings.

The robot arm (an example of a robot) 1 of the reference example shown in FIG. 1 is a vertical articulated robot (for example, a 6-axis vertical articulated robot), and each joint can be rotated or twisted. Further, each joint is provided with a motor, a speed 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) capable of performing appropriate work is attached to the tip of the robot arm 1, and the base of the robot arm 1 is fixed to a gantry, a moving trolley, or the like.

Further, the robot arm 1 includes a film sensor (membrane sheet) 2. As shown in FIG. 2, the film sensor 2 includes flexible inner and outer resistance films (conductive film made of a mixed film of Ag / C in this example) 3 and 4 facing each other, and inner and outer resistance films 3 and 4. A plurality of insulators interspersed (positioned), for example, vertically and horizontally at intervals of 0.5 mm between 4 and for keeping the inner and outer resistance films 3 and 4 separated from each other in a state where they are not contacted from the outside. It has a sensor body 8 composed of spacers (dot spacers) 5 and inner and outer sheets (for example, sheets made of polyethylene terephthalate) 6 and 7 sandwiching inner and outer resistance films 3 and 4, and when contact is received, the contact is received. The outer resistance film 4 pushed in along with the above is configured to come into contact with the inner resistance film 3 to energize, and detect the contact by detecting the electric signal thereof. The inner and outer resistance films 3 and 4 and the inner and outer sheets 6 and 7 are all flexible.

The inner surface (inner sheet 6 side) of the sensor body 8 is joined to the outer surface of the base member 10 having a substantially C-shaped cross section and flexibility by the adhesive 9, and the sensor body 8 is joined to the base member 10. It is attached to the robot arm 1 in a state of being bent into a tubular shape (see FIG. 1). In FIG. 2, reference numeral 11 denotes an insulating tape.

Here, as the base member 10, for example, a resin pipe obtained by cutting from one end to the other end to have a substantially C-shaped cross section can be used, and a cushion material for impact buffering (shown in the figure) is used on the inner surface thereof. It is preferable to provide (not).

As a method of attaching the sensor body 8 and the base member 10 to the robot arm 1, an appropriate portion of the sensor body 8 or the base member 10 wound around the robot arm 1 is fastened with an adhesive tape, a hook-and-loop fastener, or the like, or a band or the like. It is conceivable to tie it up with a string or the like.

Further, in the example shown in FIG. 1, two sensor main bodies 8 are attached to one robot arm 1, and when a plurality of sensor main bodies 8 are attached to one robot arm 1 in this way, By electrically connecting the sensor main bodies 8 to each other with a cable 12 or the like, it is possible to detect the contact regardless of which sensor main body 8 receives contact and energizes, and each sensor main body 8 can be connected. It is also possible to simplify the wiring of the cable 12 and the like as compared with the case where they are individually electrically connected to the control device and the like.

In the robot arm 1 of the above reference example , contact with the sensor body 8 is detected, and 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 the operator comes into contact with the sensor body 8, and the safety of the robot arm 1 can be enhanced.

Moreover, in the robot arm 1 of the above reference example , even if there is contact with the sensor body 8, the impact is not transmitted to the robot arm 1 as it is, and the cushioning material on the inner surface of the base member 10 to which the sensor body 8 is joined Since it is buffered, the safety of the robot arm 1 is enhanced in this respect as well.

In the above reference example , the sensor body 8 of the film sensor 2 is attached only to the arm portion of the robot arm 1, but the present invention is not limited to this, and the sensor body 8 is attached to the entire robot arm 1 such as the joint and the hand. The robot arm 1 may be configured to stop when it touches any part of the robot arm 1, and in this case, safety can be further enhanced. Here, for example, when the sensor main body 8 is attached to the joint portion of the robot arm 1, it is necessary to attach the sensor main body 8 in a state that does not hinder the movement of the joint portion, and the sensor main body 8 is configured to have such a shape or the like. Just leave it.

Further, in the above reference example , the robot arm 1 is illustrated as a robot, but 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 reference example uses, for example, an outer sheet 7 having a thickness of about 75 μm, and a plurality of spacers 5 are interspersed between the inner and outer sheets 6 and 7 at equal intervals to sandwich the film sensor 2 as a whole. It is thin and can be made conductive even with a light contact. However, if the outer sheet 7 is made thicker in order to improve the strength in consideration of using it as a sensor for interpersonal / objective use, the thick outer sheet 7 is directed toward the inner sheet 6 in the narrow space around each spacer 5. There is a concern that the load (ON load) for turning on the film sensor 2 will suddenly rise due to pushing.

Therefore, in the film sensor 2 of the above reference example , 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 instead, the present invention is used. in one embodiment, it employs a spacer 5A as shown in FIGS. The spacer 5A can be formed of, for example, a double-sided tape that is an insulator, and is formed along the outer surface of the inner resistance film 3 formed in a tubular shape (or along the inner surface of the outer resistance film 4 formed in a tubular shape). It has a plurality of orbiting portions 13 and a non-circling portion 14 located between the plurality of orbiting portions 13. The non-circulating portion 14 extends in the axial direction of the tubular inner and outer resistance films 3 and 4.

When the spacer 5A configured in this way is used, as shown in FIGS. 3 to 5, the outer tubular sheet 7 is made thicker (for example, 188 μm or more) to improve the strength, and further, the interpersonal and objective suitability. By making the gap between the two tubular sheets 6 and 7 wider while improving the load, it is possible to ensure the prevention of malfunction while suppressing the increase in the ON load. The film sensor 2 shown in FIG. 2 is assumed to have a thickness t1 of about 0.2 mm, whereas 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.

Further, the film sensor 2 shown in FIGS. 3 to 5 when attached to the robot arm 1 (robot) is configured to arrange the spacers 5A in contact with not susceptible position from the outside. Then, in the spacer 5A, for example, at least one of the portions constituting the peripheral portion 13 or the non-circulating portion 14 may extend intermittently without being continuous. Further, the non-circulating portion 14 extends in the axial direction of the inner and outer resistance films 3 and 4 .

1 Robot arm 2 Film sensor 3 Inner resistance film 4 Outer resistance film 5 Spacer 5A Spacer 6 Inner sheet 7 Outer sheet 8 Sensor body 9 Adhesive 10 Base member 11 Insulation tape 12 Cable 13 Circulation part 14 Non-circulation part t1 Thickness t2 thickness

Claims (2)

The inner and outer resistance films that are installed on the tubular base member and are opposed to each other in a tubular shape,
Is constituted by an insulator, it has a non-orbiting portion extending in the axial direction of the tubular inner and outer resistive film rounding part and the tubular inner and outer resistive circulating along the both end portions of the contact sensor and spacers even in the range to detect without placing a spacer in a state not receiving contact from the outside that can be kept mutually moved away to the tubular inner and outer resistive film
In having a configured sensor body,
When a contact from the outside is received, the tubular outer resistance film pushed in by the contact contacts the tubular inner resistance film to energize, and the contact is detected by detecting the electric signal. A robot characterized in that it is equipped with a film sensor configured to detect the reception. The robot according to claim 1, wherein the inner and outer tubular sheets are provided to sandwich the tubular inner and outer resistance films.