CN106166759A - collision detecting device - Google Patents
collision detecting device Download PDFInfo
- Publication number
- CN106166759A CN106166759A CN201610326103.6A CN201610326103A CN106166759A CN 106166759 A CN106166759 A CN 106166759A CN 201610326103 A CN201610326103 A CN 201610326103A CN 106166759 A CN106166759 A CN 106166759A
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- China
- Prior art keywords
- stay cord
- collision
- component
- members
- detecting device
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of collision detecting device, monitoring that object collision detected the probability of this collision without with the setting operation that may produce human error before the equipment machine of periphery and sensor etc..The present invention includes: stay cord end keeps component (1) and stay cord to keep component (2)；Stay cord (3), it is maintained at stay cord end and keeps component (1) and stay cord to keep on component (2)；And collision detection portion (4), it detects the supervision object collision to stay cord (3) according to the change of stay cord (3), under overlooking, stay cord (3) at least formed at 1 be equipped this stay cord (3) intersect obtained by cross point, stay cord keep component (2) to be arranged in region obtained by end and the cross point linking stay cord (3) is outer or outside region obtained by link cross point.
Description
Technical field
The present invention relates to a kind of technology evading itself and the collision of peripheral equipment in the movable range of the movable bodys such as robot.
Background technology
In recent years, industry seeks to implement as follows Security Countermeasures: carry out at movable bodys such as the robots equipped with mechanical arm
During with the operation of movement, quickly the contacting or colliding of environment such as the equipment machine of detection and periphery or people and carry out movable body
Action stoppings etc. controlling, thus avoid damaging the equipment machine of periphery, or avoid injury.
As the method for detection movable body with the collision of the equipment machine of periphery, such as, disclose in patent documentation 1 and have one to enter
The rotary power operated control method of the control of row rotating power source, i.e. move according to the rotary power being passed power part
1st angular velocity of the 1st rotating shaft and the 2nd angular velocity of the 2nd rotating shaft of the rotating shaft becoming the rotary power taking out power part, incite somebody to action
Between 1st rotating shaft and the 2nd rotating shaft, produced torsion angle speed controlling is within the specified range, thus is not damaging motor, machine
The action of mechanical arm is stopped in the case of mechanical arm and connecting portion.
A kind of control device is had, i.e. according in the way of attitude determined by becoming additionally, disclose in patent documentation 2
Drive the integrated mode of the anglec of rotation under each imaginary axis of this mechanical arm in the case of mechanical arm and institute in interference pattern form
The comparison of the integrated mode of definition, in the case of driving mechanical arm in the way of attitude determined by becoming, it is determined that trick senses
Whether device can interfere with mechanical arm, in the case of being judged to interfere, redefines suitable attitude.
A kind of control device is had, i.e. when determining the attitude of the pickup being suitable to workpiece additionally, disclose in patent documentation 3,
End effector is made to be positioned at take-off location with this attitude, in this case, by being set to the platform of initial point with the specific bit of platform
Whether coordinate values relevant to the axes of coordinates that the normal direction along platform extends in the coordinate values interfering candidate point in coordinate system
For on the occasion of, judge trick sensor interfere candidate point whether can interfere with the platform of the pedestal being provided with mechanical arm,
If it is determined that for interfering, then redefine the attitude of the pickup being suitable to workpiece.
And then, producing apparatus field, using and have the pull switch alternative method as emergency stop switch.Pull switch example
As being made up of stay cord and switch etc., stay cord is exerted a force along draw direction by force bodies such as springs, with relative to being provided with life
The ground of product equipment and become substantially horizontal mode and position be set, switch the pulling operation by this stay cord etc. and lead
Logical, and disconnect by releasing pulling operation.By operating personnel, the stay cord of pull switch is carried out pull operation to turn on out
Close, thus perform the control of emergent stopping.
Conventional art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2013-6230 publication
Patent documentation 2: Japanese Patent Laid-Open 2011-93015 publication
Patent documentation 3: Japanese Patent Laid-Open 2011-93014 publication
Summary of the invention
The problem that invention is to be solved
But, in technology described in above-mentioned patent documentation 1, owing to being the equipment machine generation at movable body with periphery
This collision being detected after collision, therefore there are the following problems: is carrying out stopping the control of the rotating power source of the action of mechanical arm
During system, there are movable body or the anxiety of equipment machine damage.
Additionally, in technology described in patent documentation 2 and patent documentation 3, at setting or the seat of interference pattern form
Needing in the setting of mark conversion to be carried out processing operation by user, thus there is the problem producing human error, human error sets
Determine error condition or impose a condition with reference to error message.And then, when creating error, if according to
The inconsistent condition of practical situation carries out control treatment or conversion process, then there is the correct attitude that cannot determine movable body
Problem.
And then, in the case of pull switch is applied to collision detection, there is movable body collision leading to detection pull switch
Sensor that on/off is opened or keep the holding component of end of stay cord and cause pull switch to damage or movable body damages
Bad problem.
The present invention is to form to solve problem as above, its object is to monitoring the object collision equipment to periphery
The probability of this collision is detected without with the setting operation that may produce human error before machine and sensor etc..
The technological means of solution problem
The collision detecting device of the present invention is the collision detecting device of a kind of collision detecting and monitoring object, comprising: keep
Component；Wire-like members, it is maintained on holding component；And collision detection portion, it detects according to the change of wire-like members
Monitoring the object collision to wire-like members, when overlooking, wire-like members is at least formed at 1 and is equipped with the friendship of this wire-like members
Cross point obtained by fork, region obtained by end and the cross point linking wire-like members is outer or link to keep component to be arranged in
Outside region obtained by cross point.
The effect of invention
According to the present invention, the equipment in movable body collision to periphery without readily constituting of complicated setting operation can be used
The probability of this collision is detected before machine and sensor.Thus, the damage of equipment machine, sensor and movable body can be suppressed.
Accompanying drawing explanation
Fig. 1 is the top view of the composition of the collision detecting device representing embodiment 1.
Fig. 2 is the axonometric chart of the composition of the collision detecting device representing embodiment 1.
Fig. 3 is the explanatory diagram of the keeping method at the both ends of the stay cord of the collision detecting device representing embodiment 1.
Fig. 4 is that the change of the tension force according to stay cord in the collision detection portion of the collision detecting device representing embodiment 1 detects
The movable body figure to the composition of the collision of stay cord.
Fig. 5 is that the movement according to stay cord in the collision detection portion of the collision detecting device representing embodiment 1 detects movable body
Figure to the composition of the collision of stay cord.
Fig. 6 is that the "on" position according to stay cord in collision detection portion of the collision detecting device representing embodiment 1 detects can
The kinetoplast figure to the composition of the collision of stay cord.
Fig. 7 is the figure of the configuration example of many stay cords of the collision detecting device representing embodiment 2.
Fig. 8 is the figure of other configuration examples of the stay cord of the collision detecting device representing embodiment 2.
Fig. 9 is the figure representing the composition arranging armoring component on the stay cord of the collision detecting device of embodiment 2.
Figure 10 is the figure of the snapping method of many stay cords of the collision detecting device representing embodiment 2.
Figure 11 is the figure of the method to set up of many stay cords of the collision detecting device representing embodiment 2.
Figure 12 is the top view of the composition of the collision detecting device representing embodiment 3.
Figure 13 is the top view of the composition of the collision detecting device representing embodiment 4.
Figure 14 is the top view of the composition of the collision detecting device representing embodiment 4.
Detailed description of the invention
Embodiment 1.
While with reference to Fig. 1 and Fig. 2, the composition of the collision detecting device of embodiment 1 being illustrated.
Fig. 1 is the top view of the composition of the collision detecting device representing embodiment 1, and Fig. 2 is to represent touching of embodiment 1
Hit the axonometric chart of the composition of detection device.
Collision detecting device be include stay cord end keep component (holding component) 1, stay cord keep component (holding component) 2,
Stay cord (wire-like members) 3 and collision detection portion 4 and constitute, detection becomes movable body 20 the touching stay cord 3 monitoring object
Hit.Movable area A and action restricted area B, movable area A table it is set with in the region being configured with collision detecting device
Showing that movable body 20 can carry out the maximum region of action, action restricted area B is that movable body 20 is actual in this movable area A
Carry out allowing during operation the region of its action.
The robot equipped with mechanical arm i.e. movable body 20 and movable body 20 such as it is configured with in action restricted area B
Carry out the object i.e. manipulating object 30 of operation.In the example in fig 1, movable area A represents that movable body 20 is by mechanical arm
Extend to carry out under state to greatest extent the region in the case of action, and using real to manipulating object 30 as movable body 20
The region that the form in the region that border carries out operation action is restricted is then for action restricted area B.As long as in action restricted area
Outside the B of territory, just can configure equipment machine 40 etc..
Stay cord end keeps component 1a, 1b (following, in the case of being referred to as, referred to as stay cord end keeps component 1)
Such as it is made up of the pillar etc. erected from metope, ground.1st to the 6th stay cord keep component 2a, 2b, 2c, 2d, 2e,
2f (following, in the case of being referred to as, referred to as stay cord keeps component 2) is such as by the columned post erected from ground
Sons etc. are constituted.Stay cord end keeps component 1 and stay cord to keep component 2 to be arranged in outside action restricted area B.
In the example in fig 1, to keep component 1a, 1b to be arranged in the summit Ba of action restricted area B attached 2 stay cord ends
Closely.The summit Bb that a pair the 1st stay cord holding component 2a and the 2nd stay cord keep component 2b to be arranged in action restricted area B
Near.Similarly, a pair the 3rd stay cords keep component 2c and the 4th stay cord to keep component 2d to be arranged in action restricted area B
Summit Bc near, a pair the 5th stay cords keep component 2e and the 6th stay cord to keep component 2f to be arranged in action restricted area B
Summit Bd near.
Stay cord 3 is 1 stay cord of continuous print, and one end is maintained at stay cord end and keeps on component 1a.One end is maintained
Stay cord 3 keep component 2a to extend towards the 1st stay cord, and keep the periphery of component 2a to be wound around about half cycle at the 1st stay cord,
And then keep the periphery of component 2b to be wound around about half cycle at the 2nd adjacent stay cord, and component 2c is kept to extend towards the 3rd stay cord.
The stay cord 3 keeping component 2c to extend towards the 3rd stay cord keeps component 1a and the 1st stay cord to keep component 2a with linking stay cord end
Between stay cord 3 cross point C intersect.
Similarly, stay cord 3 keeps the periphery of component 2c to be wound around about half cycle at the 3rd stay cord, and then draws the adjacent the 4th
Rope keeps the periphery of component 2d to be wound around about half cycle, and keeps component 2e to extend towards the 5th stay cord.Structure is kept towards the 5th stay cord
Stay cord 3 and the stay cord 3 linked between the 2nd stay cord holding component 2b and the 3rd stay cord holding component 2c that part 2e extends exist
Cross point D intersects.
Additionally, stay cord 3 keeps the periphery of component 2e to be wound around about half cycle at the 5th stay cord, and then at the 6th adjacent stay cord
The periphery keeping component 2f is wound around about half cycle, and keeps component 1b to extend towards stay cord end.Component is kept towards stay cord end
Stay cord 3 and the stay cord 3 linked between the 4th stay cord holding component 2d and the 5th stay cord holding component 2e that 1b extends are intersecting
Point E intersects.The other end of stay cord 3 is maintained at stay cord end and keeps on component 1b.
In the case of action restricted area B viewed from above, above-mentioned stay cord 3 cross point C, D, E, F each other is respectively
Consistent with each summit Ba, Bb, Bc, Bd of action restricted area B.Additionally, keep component 1a to extend to from stay cord end
1st stay cord keeps the stay cord 3 of component 2a, keeps from the 2nd stay cord component 2b to extend to drawing of the 3rd stay cord holding component 2c
Rope 3, from the 4th stay cord keep component 2d extend to the 5th stay cord keep component 2e stay cord 3, from the 6th stay cord keep structure
The stay cord 3 that part 2f extends to stay cord end holding component 1b is consistent with each limit of the action restricted area B of rectangle respectively.Change
Sentence is talked about, and can link region obtained by cross point C, D, E, F with straight line and be set as action restricted area B.
Fig. 3 is stay cord 3 side of holding of the holding of stay cord end component 1a, the 1b of the collision detecting device representing embodiment 1
The explanatory diagram of method.
Connecting in the end of stay cord 3 and have spring 5 force body such as grade, the other end of this spring 5 is fixed on stay cord end and keeps component
On 1a, 1b.Thus, stay cord 3 is exerted a force along draw direction X, thus by do not produce lax in the way of wrapped around stay cord keep
Component 2 is around.In addition to the spring 5 shown in Fig. 3, as long as the method that along draw direction X, stay cord 3 can be exerted a force,
Just various method can be used as the keeping method of the end of stay cord 3.
Then, with reference to Fig. 4 to Fig. 6, while the composition of collision test section 4 is illustrated.
Fig. 4 to Fig. 6 is the figure of the composition in the collision detection portion 4 of the collision detecting device representing embodiment 1.Specifically,
Fig. 4 represents that utilization detects the movable body 20 composition to the collision of stay cord 3 as collision according to the change of the tension force of stay cord 3
The situation of test section 4, Fig. 5 represents that utilization detects the movable body 20 structure to the collision of stay cord 3 according to the movement of stay cord 3
Becoming the situation as collision detection portion 4, Fig. 6 represents that utilization detects movable body 20 to drawing according to the "on" position of stay cord 3
The composition of the collision of rope 3 is as the situation in collision detection portion 4.
First, according to Fig. 4, detect movable body 20 to the collision of stay cord 3 to using according to the change of the tension force of stay cord 3
Constitute the situation as collision detection portion 4 to illustrate.
(a) of Fig. 4 represents the change applying the tension force to stay cord 3 in the detection of the end of stay cord 3, and according to this tension force
Change detects the movable body 20 composition to the collision of stay cord 3, and (d) of (b) of Fig. 4 to Fig. 4 represents at stay cord 3
Intermediate point detection apply the change of tension force to stay cord 3, and detect movable body 20 to stay cord 3 according to the change of this tension force
The composition of collision.
(a) of Fig. 4, as Fig. 3, connects in the end of stay cord 3 and has spring 5 force body such as grade, another of this spring 5
End is fixed on stay cord end and keeps on component 1.Collision detection portion 4 is made up of proximity transducer 4a and block 4b, close to passing
Sensor 4a is fixed on ground or pedestal etc., and block 4b is arranged on stay cord 3 end, so that this proximity transducer 4a reaction.
In the case of the tension force of stay cord 3 is unconverted, proximity transducer 4a is close with block 4b, and proximity transducer 4a is ON shape
State.In the case of under proximity transducer 4a is ON state, movable body 20 contacts stay cord 3, stay cord 3 is along arrow Y-direction
Be stretched and spring 5 be subjected to displacement, block 4b along arrow Y-direction away from proximity transducer 4a.Because of block 4b away from
Proximity transducer 4a so that proximity transducer 4a becomes OFF state, thus detects that the tension force of stay cord 3 there occurs change.
At (b) of Fig. 4 in (d) of Fig. 4, arbitrary at least 1 stay cord in 6 stay cords keep component 2 keeps
The periphery configuration bearing 4c of component 2, and at the periphery lash stay cord 3 of this bearing 4c.
In the example of (b) of Fig. 4, any part of component 2 is kept to fix one end at the stay cord being provided with bearing 4c solid
The other end of the force bodies such as the spring 5 being scheduled on wall or pillar.Collision detection portion 4 is by bearing 4c and switch switching part 4d
Constituting, switch switching part 4d is connected with this bearing 4c, carries out the switching switched according to the motion of bearing 4c.At stay cord 3
Tension force unconverted in the case of, switch switching part 4d switch be ON state.Movable body 20 under switch is for ON state
In the case of contact stay cord 3, stay cord 3 is stretched along arrow Za direction or arrow Zb direction and spring 5 is subjected to displacement,
Bearing 4c moves along arrow Zc direction.Because bearing 4c moves so that switch switching part 4d breaker in middle is switched to OFF shape
State, thus detect that the tension force of stay cord 3 there occurs change.
In the example of (c) of Fig. 4, attaching pressure transducer 4e around bearing 4c, and at pressure transducer 4e
Upper lash stay cord 3.When movable body 20 contacts stay cord 3 and makes stay cord 3 be stretched, pressure can apply to pressure transducer
4e.Pressure sensor detection circuit 4f detects and applies the pressure to pressure transducer 4e, opening of stay cord 3 thus detected
Power there occurs change.
In the example of (d) of Fig. 4, keep attaching deformation-sensor 4g around component 2 at stay cord.When movable body 20
When contacting stay cord 3 and stay cord 3 is stretched, stay cord keeps component 2 to deform.Deformation-sensor testing circuit 4h
Detect that stay cord keeps the deformation of component 2, thus detect that the tension force of stay cord 3 there occurs change.
In the composition of (a) of Fig. 4 and (b) of Fig. 4, by getting involved configuration, there is the elastic spring bigger than stay cord 3
5 force bodies such as grade, can capture this tension force with the form of bigger displacement in the case of being applied with tension force on stay cord 3 so that
The sensitivity of the change detecting the tension force of stay cord 3 in collision detection portion 4 improves.Thus, movable body 20 can be improved to drawing
The sensitivity of the collision detection of rope 3.In (a) of Fig. 4 and (b) of Fig. 4, illustrate use spring 5 as force
The example of body, but as long as having the elastic force body bigger than stay cord 3, so that it may use various force body.
Then, according to Fig. 5, the movement according to stay cord 3 to collision test section 4 detects movable body 20 touching stay cord 3
The composition hit illustrates.
(a) of Fig. 5 represents the composition of the movement of detection stay cord 3 when contacting stay cord 3, and (b) of Fig. 5 represents
The composition of the movement of stay cord 3 is detected when not contacting stay cord 3.
As (b) of (a) of Fig. 5 and Fig. 4 and (c) of Fig. 4, in 6 stay cords keep component 2 arbitrary extremely
Few 1 stay cord keeps the periphery configuration bearing 4c of component 2, and at the periphery lash stay cord 3 of this bearing 4c.Stay cord keeps
Component 2 is fixed on wall or pillar etc. via fixing component 4i.Collision detection portion 4 is by bearing 4c and rotation detector
4j is constituted, and rotation detector 4j is connected with this bearing 4c, the rotation of detection bearing 4c.Stay cord 3 is contacted at movable body 20
In the case of, stay cord 3 moves along arrow Za direction or arrow Zb direction, and bearing 4c is along arrow Zd or arrow Ze side
To rotation.Rotation detector 4j detects that this bearing 4c, towards arrow Zd or the rotation in arrow Ze direction, thus detects and draws
The movement of rope 3.
In (b) of Fig. 5, near stay cord 3 and the position of stay cord 3 can be shot be configured with multiple imaging apparatus 4k.Touch
Hitting test section 4 to be made up of imaging apparatus 4k and mobile test section 4l, mobile test section 4l carries out by imaging apparatus 4k continuous
The image procossing of the view data got is to detect the movement of stay cord 3.In the case of movable body 20 contacts stay cord 3,
Stay cord 3 moves along arrow Zf direction or arrow Zg direction.Imaging apparatus 4k obtains and comprises this continuous print picture number moved
According to, mobile test section 4l carries out the image procossing of this view data, detects that according to the change of brightness value stay cord 3 occurs
Movement.As imaging apparatus 4k, include, for example CMOS (Complementary Metal Oxide Semiconductor:
Complementary metal oxide semiconductors (CMOS)) image sensor or CCD (Charge Coupled Devices: charge-coupled image sensor)
Image sensor etc..
Furthermore, in the composition of (a) of Fig. 5 and (b) of Fig. 5, illustrate the movement according to stay cord 3 and detect movably
The body 20 situation to the collision of stay cord 3, but also can be set to constitute as follows: calculate the amount of movement of stay cord 3, calculated
In the case of amount of movement exceedes threshold value set in advance, it is judged that movable body 20 is struck stay cord 3.
The composition of (a) of Fig. 5 and (b) of Fig. 5 is susceptible to the impact of the tension variation of stay cord 3, can suppress to become tension force
The misrecognition changed.Additionally, shown in (b) of Fig. 5, under discontiguous state movement according to stay cord 3 detect
In the movable body 20 composition to the collision of stay cord 3, imaging apparatus 4k can be arranged in the optional position near stay cord 3, touch
The degree of freedom of the configuration hitting test section 4 improves.Furthermore, imaging apparatus 4k is arranged in relatively action restricted area B in the outer part.
Finally, according to Fig. 6, the "on" position according to stay cord 3 of collision test section 4 is detected movable body 20 to stay cord 3
The composition of collision illustrate.
In figure 6, many stay cords 3 of snapping via buckle pieces 4m, it is thus configured to 1 stay cord 3.Stay cord 3 is by leading
Electric material is constituted, and is applied with voltage by power supply 4n.Collision detection portion 4 is by power supply 4n and energising test section 4o
Constituting, power supply 4n applies voltage, the energising test section 4o detection "on" position to stay cord 3 to stay cord 3.At stay cord 3
In the case of tension force is unconverted, all buckle pieces 4m are buckle state, thus detect logical in energising test section 4o
Electricity condition.When movable body 20 in the energized state contacts stay cord 3 and makes the snapping of arbitrary buckle pieces 4m release, logical
Electro-detection portion 4o detects energising off-state.
As the buckle pieces 4m shown in Fig. 6, such as, can use Magnet, electrostatic, fastening clips and Magic Tape (note
Volume trade mark, record omitted below) etc..Additionally, in addition to the foregoing, as long as by movable body 20 connecing stay cord 3
Touch and release the material of snapping, so that it may take the circumstances into consideration to be used.Owing to energising test section 4o is according to being determined by buckle pieces 4m
The buckle state of stay cord 3 detect "on" position or energising off-state, therefore this collision detection portion 4 can be directly connected to
Circuit to the operating in order to stop movable body 20 such as emergency stop circuit.
By will have shown in Fig. 4 to Fig. 6 any one constitute collision detection portion 4 detected by stay cord 3 change with
The form output of report signal is to the warning devices of external device (ED) or emergency stop circuit etc., if warning devices, then can be defeated
Going out to alert movable body 20 beyond the warning tones of action restricted area B, if emergency stop circuit, then can carry out stopping can
The control of the operating of kinetoplast 20.
As it has been described above, according to this embodiment 1, be configured to include: stay cord 3, it is around movable body 20 around；Stay cord
End keeps component 1 and stay cord to keep component 2, and it is arranged in outside the action restricted area B of movable body 20, keeps stay cord 3；
And collision detection portion 4, it detects the movable body 20 collision to stay cord 3 according to the change of stay cord 3, and, from
In the case of side observation action restricted area B, link the district of stay cord 3 each cross point C, D, E, F intersected with each other
Territory is consistent with the action restricted area B of movable body 20, i.e. will link region obtained by cross point C, D, E, F with straight line
Being set as action restricted area B, therefore, the region consistent with action restricted area B is only by stay cord 3 and the friendship of this stay cord 3
Crunode C, D, E, F are constituted, thus can suppress to cause collision detection portion 4, stay cord end to be protected because of the collision of movable body 20
Hold component 1 and stay cord keeps component 2 to damage.
Additionally, according to this embodiment 1, connect in the end of stay cord 3 and there is the elastic spring 5 bigger than this stay cord 3 also
This spring 5 is fixed on stay cord end keep on component 1, and is constituted detection spring by proximity transducer 4a and block 4b
The collision detection portion 4 of the displacement of 5, applies the tension force to stay cord accordingly, it is capable to capture with the form of bigger change, thus
The detection sensitivity in collision detection portion 4 can be improved.
Additionally, according to this embodiment 1, bearing 4c and switch switching part 4d constitute collision detection portion 4, bearing 4c exists
Periphery lash has the mid portion of stay cord 3, and switch switching part 4d will keep component 2 even with the stay cord being provided with this bearing 4c
The spring 5 connect is fixed on the member of formation such as wall portion, carries out switch motion by the movement of bearing 4c, accordingly, it is capable to
The form of bigger change obtains and applies the tension force to stay cord, thus can improve the detection sensitivity in collision detection portion 4.
Additionally, according to this embodiment 1, bearing 4c and rotation detector 4j constitute collision detection portion 4, bearing 4c exists
Periphery lash has the mid portion of stay cord 3, rotation detector 4j to detect the rotation of this bearing 4c, therefore, can detect movable
The change without the tension force by stay cord of colliding of stay cord is affected by body.Thus, collision detection can stably be carried out.
Additionally, according to this embodiment 1, constituted collision detection in the way of including imaging apparatus 4k and mobile test section 4l
Portion 4, imaging apparatus 4k is arranged near stay cord 3, shoots stay cord 3, and mobile test section 4l is imaged by parsing
The shooting image of element 4k detects the movement of stay cord 3, therefore, can stably detect movable body to the collision of stay cord not
Can be affected by the change of the tension force of stay cord.Additionally, imaging apparatus 4k can be arranged in the optional position near stay cord 3.
Additionally, according to this embodiment 1, be configured to stay cord 3 and use electric conductivity stay cord, and include the test section 4o that is energized, logical
Electro-detection portion 4o monitors the "on" position to this stay cord 3 and detects energising off-state, therefore, can detect stay cord 3 itself
Cut-out, thus the emergency stop circuit etc. of movable body can be connected directly to be energized test section 4o.
Embodiment 2.
In above-mentioned embodiment 1, illustrate 1 stay cord 3 or draw via 1 of buckle pieces 4m snapping
Rope 3 keeps the composition of the periphery of component 2 wrapped around stay cord.Preferably in 2, the kind about this stay cord 3 will be shown
The various configuration examples of the lash mode of class and stay cord 3.First, with reference to Fig. 7, while showing many stay cords 3 of lash
Composition.
Fig. 7 is the figure of the configuration example of many stay cords 3 of the collision detecting device representing embodiment 2.
In (a) of Fig. 7, the short transverse along the side of movable body 20 has been arranged side by side many stay cords 3.In other words,
Illustrate following situation: keep the periphery of component 2 at stay cord, keep the ground of component 2 upward with phase from being equipped with stay cord
Mode 3 stay cords 3a, 3b, 3c of lash side by side every certain intervals.Furthermore, each stay cord 3a, 3b, 3c keep at stay cord
Lash method on component 2 is identical with embodiment 1.By keeping the lower section of component 2 to draw toward many of top lash from stay cord
Rope 3, and form imaginary collision detection face 6a, the 6b of the side covering movable body 20.By this imaginary collision detection
Face 6a, 6b, can also obtain the face considered to the action restricted area B setting height direction of movable body 20.According to 3
In the case of the change of stay cord 3a, 3b, 3c detects the movable body 20 collision to stay cord 3, can be set to utilize 1 collision
Test section 4 carries out the composition detected, also can be so that each stay cord 3a, 3b, 3c are separately connected collision detection portion 4
Mode is constituted.
(b) of Fig. 7 illustrates following situation: the short transverse along the side of movable body 20 is arranged side by side many stay cords 3,
And be arranged side by side many stay cords 3 above movable body 20, thus by the way of the side and upper surface of movable body 20
Many stay cords 3 it are configured with in clathrate.In (b) of Fig. 7, for convenience of diagram, eliminate 2 sides in 4 sides
The record of the stay cord 3 on face.Additionally, (b) although of Fig. 7 eliminates stay cord keep the diagram of component 2, but can be
Stay cord can be configured on the position such as wall or ceiling arranging stay cord 3 in the way of the top of movable body 20 and keep structure
Part 2.Can by also forming covering in addition to imaginary collision detection face 6a, 6b of forming the side covering movable body 20
The imaginary collision detection face 6c of the top of kinetoplast 20, can set the action restricted area B of movable body 20 with 3-dimensional space.
In (b) of Fig. 7,1 collision detection portion 4 can be set to and detect movable body 20 according to the change of all stay cords 3
Composition to the collision of stay cord 3, also can be constituted in the way of separately each stay cord 3 is connected collision detection portion 4.Again
Person, although the example of (b) of Fig. 7 illustrates around the side of movable body 20 and the configuration of the stay cord 3 of upper surface, but also
Be not limited to this configuration, it is possible to be set to by 4 sides and upper surface all around the configuration of stay cord 3.Although additionally, figure
(b) of 7 illustrates and utilizes stay cord 3 around 4 sides of movable body 20 and the example of upper surface, but is not limited to figure
The composition of (b) of 7.Such as, it is possible to be set to constitute as follows: with 6 faces around the side of movable body 20, and with 2
Face, around upper surface, configures stay cord 3 in such a manner.
Fig. 8 is the figure of other application examples of the stay cord 3 of the collision detecting device representing embodiment 2.
In fig. 8, the example of the wide cut stay cord 3d such as using the live width with about 5cm or 10cm, and exhibition are illustrated
Show the situation keeping component 2 and surrounding wrapped around movable body 20 via stay cord.Stay cord 3d keeps on component 2 at stay cord
Lash mode method identical with embodiment 1.But, owing to stay cord 3d has certain live width, therefore stay cord 3d with
The cross point that stay cord 3d is overlapping, to keep the either direction along the above-below direction of component 2 to stagger by side stay cord 3d along stay cord
Mode make stay cord 3d intersected with each other.
Fig. 9 is the figure representing the composition arranging armoring component 7 on the stay cord 3 of the collision detecting device of embodiment 2.
In the example of figure 9, to be configured with armoring component 7 in the way of on 2 stay cords 3a, 3b.Can be by as long as being
Movable body 20 collides and is transferred to the shape of stay cord 3 to impact force during this plate armour component 7, then the shape of armoring component 7 can
At random constitute.In the example of figure 9, the shape of the one side depression making armoring component 7 is illustrated.In this case,
This concave face is configured towards movable body 20 side.As the raw material of armoring component 7, use rubber and resin etc..Armoring structure
Part 7 is such as arranged in optional positions such as inferring the position that can bump against of movable body 20.Additionally, although Fig. 9 does not illustrate,
But appointed interval can be separated by and configure multiple armoring component 7.
By arranging armoring component 7, movable body 20 can be collided to power during this plate armour component 7 and be transferred to stay cord 3.And then,
By being constituted the shape of the impingement area of armoring component 7 with the arbitrary shape such as face or special shape, can be by the collision of movable body 20
Power is efficiently transfer to stay cord 3.
Figure 10 is the figure of the snapping method of many stay cords 3 of the collision detecting device representing embodiment 2.
Figure 10 is the figure of collision detecting device viewed from above, illustrates following situation: protected from stay cord end by stay cord 3
Lash keeps to stay cord end via the 1st to the 6th stay cord holding component 2a, 2b, 2c, 2d, 2e, 2f to hold component 1a
During component 1b, utilize be arranged on stay cord 3 centre 4 at buckle pieces 8a, 8b, 8c, 8d snapping stay cord 3a, 3b,
3c、3d、3e.Stay cord 3a and stay cord 3b are via buckle pieces 8a in addition snapping, and stay cord 3b and stay cord 3c is via snapping
Component 8b in addition snapping, stay cord 3c and stay cord 3d via buckle pieces 8c in addition snapping, stay cord 3d and stay cord 3e via
Buckle pieces 8d snapping in addition.Furthermore, the change detecting stay cord 3a and stay cord 3e by collision detection portion 4p, pass through
Collision detection portion 4q detects the change of stay cord 3b and stay cord 3c, is detected the change of stay cord 3d by collision detection portion 4r
Change.
Buckle pieces 8a, 8b, 8c, 8d for example, use Magnet, electrostatic, fastening clips and Magic Tape etc. to constitute.
In the case of buckle pieces 8a, 8b, 8c, 8d use electric magnet or electrostatic, control electric power and adjust snapping power.Additionally,
In the case of buckle pieces uses permanent magnet, it is not necessary to electric power can carry out snapping.At buckle pieces 8a, 8b, 8c, 8d
In the case of using fastening clips, it is to utilize mechanicalness fastening force to carry out snapping, therefore can carry out snapping without electric power,
It is susceptible to the impact of electromagnetism.Additionally, in the case of buckle pieces 8a, 8b, 8c, 8d use Magic Tape, constitute
Relatively inexpensive, and snapping can be carried out without electric power, it is susceptible to the impact of electromagnetism.
Such as, when movable body 20 collides to stay cord 3a, because of this collision, the snapping of buckle pieces 8a is released, touch
Hit test section 4p and the change of stay cord 3a detected.Many stay cord 3a of snapping via buckle pieces 8a, 8b, 8c, 8d,
In the case of 3b, 3c, 3d, 3e, can suppress to cause stay cord 3 to damage because of the collision of movable body 20.And then, confirming
After safety, only need to can recover the operating of movable body 20 again by buckle pieces 8a, 8b, 8c, 8d again snapping.This
Outward, even if cause stay cord 3 to damage in the collision because of movable body 20 in the case of, stay cord 3 part of damage is only changed i.e.
Can.So, by snapping releasing and the snapping of stay cord 3 are repeated so that the adjustment of the length of stay cord 3 or stay cord 3
The replacing at position of existence damage, collision detecting device is easier to from the reset of the collision of movable body 20.
Figure 11 is the figure of the method to set up of many stay cords 3 of the collision detecting device representing embodiment 2.
Figure 11 is the figure of collision detecting device viewed from above, is fixed on each end of 4 stay cords 3a, 3b, 3c, 3d
On wall, make stay cord 3a intersect at cross point F with stay cord 3b, make stay cord 3a intersect at cross point C with stay cord 3c, make
Stay cord 3c intersects at cross point D with stay cord 3d, makes stay cord 3b intersect at cross point E with stay cord 3d.With embodiment 1
Equally, in the case of action restricted area B viewed from above, above-mentioned stay cord 3 cross point C, D, E, F each other divides
Not consistent with each summit Ba, Bb, Bc, Bd of action restricted area B.Additionally, the one of stay cord 3a, 3b, 3c, 3d
Divide consistent with each limit of the action restricted area B of rectangle.Furthermore, it is fixed with each end of stay cord 3a, 3b, 3c, 3d
Wall is positioned at outside action restricted area B.
In other words, region obtained by cross point C, D, E, F can be linked with straight line and be set as action restricted area B.
And then, when stay cord 3a, 3b, 3c, 3d are fixed on wall, by fixing via spring 5 force body such as grade,
Can by do not produce lax in the way of arrange stay cord 3a, 3b, 3c, 3d.Additionally, in the example of Figure 11, illustrate configuration
2 collision detection portions 4, detect the movable body 20 composition to the collision of stay cord 3 according to the change of 2 stay cords.Furthermore,
The configuration number in collision detection portion 4 changes.
As it has been described above, according to this embodiment 2, be configured to be arranged side by side many along the short transverse of the side of movable body 20 and draw
Rope 3, therefore, can detect the movable body collision to stay cord in the larger context.
Additionally, according to this embodiment 2, be configured to be set as arbitrarily angled by the bending direction of many stay cords 3, and,
In addition to the short transverse of the side of movable body 20, above movable body 20, also it is arranged side by side many stay cords 3, therefore,
The action restricted area of arbitrary polyhedron shape can be set.
Additionally, according to this embodiment 2, be configured to configure the stay cord 3d with certain live width, therefore, stay cord can suppressed
Configuration number state under carry out utilizing the collision detection in face.
Additionally, according to this embodiment 2, be configured to arrange armoring component 7 on stay cord 3, therefore, can be by movable body pair
The collision of armoring component is reliably transmitted to stay cord.
Additionally, according to this embodiment 2, be configured to many short stay cords of snapping via buckle pieces 8a, 8b, 8c, 8d
3a, 3b, 3c, 3d, 3e, be disposed in movable body 20 around by the stay cord 3 of this snapping, touched by movable body 20
Hit to this stay cord 3 to release the snapping of stay cord 3, therefore, stay cord snapping each other can be repeated or snapping releases so that
The length adjustment of stay cord, the replacing of the stay cord deteriorated, become easy from the recovery of the collision of movable body.
Furthermore, above-mentioned embodiment 1 and embodiment 2 illustrate the composition of configuration stay cord 3, but in addition to stay cord 3,
Also can use the wire-like members such as tinsel.Additionally, shown in case of to be made up of stay cord holding component 2 cylinder,
But the pulley etc. being fixed on wall or ceiling also can be used to constitute stay cord and to keep component 2.
Embodiment 3.
In embodiment 3, optical sensor 9 and optical axis bending section 10 is used to replace embodiment 1 and embodiment party displaying
The stay cord end that formula 2 is shown keeps component 1, stay cord to keep component 2, stay cord 3, collision detection portion 4 to realize collision inspection
Survey the composition of device.
Figure 12 is the top view of the composition of the collision detecting device representing embodiment 3.
Collision detecting device be include optical sensor the 9 and the 1st to the 6th optical axis bending section 10a, 10b, 10c, 10d, 10e,
10f (following, in the case of being referred to as, referred to as optical axis bending section 10) and constitute, by become monitor object can
Whether kinetoplast 20 has interdicted the optical axis exporting the light from optical sensor 9 whether to detect this movable body 20 beyond to action limit
Outside region B processed.
As embodiment 1, in the region of configuration collision detecting device, it is set with movable area A, action restricted area
B.Movable body 20, manipulating object 30 it is configured with in action restricted area B.
Optical sensor 9 is made up of light source 9a and light accepting part 9b, light source 9a emergent light, and light accepting part 9b receives outgoing from light source
The light of 9a.Light source 9a for example, light emitting diode or LASER Light Source.The light source 9a of this optical sensor 9 is equivalent to embodiment
The stay cord end that 1 is shown keeps component 1a, light accepting part 9b to be equivalent to the stay cord end holding structure that embodiment 1 is shown
Part 1b and collision detection portion 4.Outgoing is from configured the 1st to the 6th optical axis bending section at 6 of the optical axis of the light of light source 9a
10a, 10b, 10c, 10d, 10e, 10f are sequentially added by being directed to light accepting part 9b with bending.1st to the 6th smooth bending shaft
Portion 10a, 10b, 10c, 10d, 10e, 10f are equivalent to the 1st to the 6th stay cord holding component that embodiment 1 is shown
2a、2b、2c、2d、2e、2f.Optical sensor 9 and optical axis bending section 10 are all arranged in outside action restricted area B.
In the example of Figure 11, optical sensor 9 is arranged near the summit Ba of action restricted area B.A pair the 1st optical axises
Bending section 10a and the 2nd optical axis bending section 10b is arranged near the summit Bb of action restricted area B.Similarly, a pair
3rd optical axis bending section 10c and the 4th optical axis bending section 10d is arranged near the summit Bc of action restricted area B, a pair
5th optical axis bending section 10e and the 6th optical axis bending section 10f is arranged near the summit Bd of action restricted area B.Furthermore,
Optical sensor 9 and optical axis bending section 10 are arranged to the arbitrary height away from the ground being provided with movable body 20.
Be equivalent to the optical axis 11a of light of 9 outgoing of optical sensor of the stay cord 3 of embodiment 1 from light source 9a outgoing, its
The direction of propagation the 1st optical axis bending section 10a and the 2nd optical axis bending section 10b is changed and towards the 3rd optical axis bending section 10c
Advance.The optical axis 11a extending to the 1st optical axis bending section 10a from light source 9a extends to from the 2nd optical axis bending section 10b
The optical axis 11b of the 3rd optical axis bending section 10c intersects at cross point C.
Similarly, extend from the optical axis 11b of the 2nd optical axis bending section 10b the direction of propagation the 3rd optical axis bending section 10c and
4th optical axis bending section 10d is changed and advances towards the 5th optical axis bending section 10e.Extend from the 2nd optical axis bending section 10b
To the 3rd optical axis bending section 10c optical axis 11b with extend to the 5th optical axis bending section 10e's from the 4th optical axis bending section 10d
Optical axis 11c intersects at cross point D.
Additionally, extend from the direction of propagation the 5th optical axis bending section 10e and of the optical axis 11c of the 4th optical axis bending section 10d
6 optical axis bending section 10f are changed and advance towards light accepting part 9b.The 5th optical axis is extended to curved from the 4th optical axis bending section 10d
The optical axis 11c of pars convoluta 10e with extend to the optical axis 11d of light accepting part 9b from the 6th optical axis bending section 10f in cross point F phase
Hand over.The light advanced in optical axis 11d is received by light accepting part 9b.
In the case of action restricted area B viewed from above, above-mentioned optical axis cross point C, D, E, F each other respectively with
Each summit Ba, Bb, Bc, Bd of action restricted area B are consistent.Additionally, extend to the 1st optical axis bending section from light source 9a
The optical axis 11a of 10a, extend to the optical axis 11b of the 3rd optical axis bending section 10c from the 2nd optical axis bending section 10b, from the 4th light
Bending shaft portion 10d extends to the optical axis 11c of the 5th optical axis bending section 10e, extends to light from the 6th optical axis bending section 10f
The optical axis 11d of portion 9b is consistent with each limit of the action restricted area B of rectangle respectively.In other words, can link with straight line
Region obtained by cross point C, D, E, F is set as action restricted area B.
Interdicting outgoing at the movable body 20 becoming supervision object makes light be not incident to light accepting part from the optical axis of the light of light source 9a
In the case of 9b, detect that movable body 20 is beyond having arrived outside action restricted area B.
As it has been described above, according to this embodiment 3, be configured to configure optical sensor outside the action restricted area B of movable body 20
9 and optical axis bending section 10, optical sensor 9 includes the light source 9a of emergent light and receives this light and detect the screening of optical axis of light
Disconnected light accepting part 9b, in the case of collision detecting device viewed from above, by optical axis around region and movable body 20
Restricted area B is consistent in action, i.e. by by optical axis around region be set as action restricted area B, therefore, light can be passed through
The blocking of axle detect movable body beyond action restricted area outside.Additionally, detection speed is fast.Additionally, protect with via stay cord
Hold component 2 and the situation of lash stay cord 3 is compared, do not exist lax or elastic, which region no matter all can detect movable body in
20 prominent towards outside action restricted area B.
Furthermore, in above-mentioned embodiment 3, illustrate the composition of one optical sensor 9 of configuration, but also may be configured as: join
Put multiple optical sensor 9, thus formed multiple in the way of the composition shown in (b) of (a) or Fig. 7 that are equivalent to Fig. 7
By optical axis around region.Additionally, also may be configured as making optical axis have appointment width in the way of being equivalent to the composition shown in Fig. 8
Degree.
Embodiment 4.
In above-mentioned embodiment 1 to embodiment 3, opened up in case of action restricted area B is as tetragon
Show, but be not limited to tetragon.Simply by the presence of at least 1 cross point, the operating space of movable body 20 just can be limited.
Preferably in 4, displaying is utilized stay cord 3 or optical axis 11 and in the composition of 1 intersections.
Figure 13 is the top view of the composition of the collision detecting device representing embodiment 4, represents and detects the collision to stay cord
Constitute.
As the collision detecting device shown with embodiment 1, the collision detecting device of embodiment 4 is to include stay cord end
Portion keeps component (holding component) 1, stay cord to keep component (holding component) 2, stay cord (wire-like members) 3 and collision inspection
Survey portion 4 and constitute.Additionally, set movable area A of the maximum region representing that movable body 20 can carry out action, movable at this
In the A of region, movable body 20 is actual when carrying out operation, and movable body 20 has the action in the direction of stay cord 3 to be restricted towards lash.
In the composition of Figure 13, the action in movable area A1 of movable body 20 and movable area A2 is restricted.
Being configured with stay cord end keeps component 1a, 1b and a pair the 1st stay cords to keep component 2a and the 2nd stay cord to keep component
2b.Stay cord end keeps component 1a, 1b to be arranged in outside movable area A.Stay cord 3 is 1 stay cord of continuous print, one end
It is maintained at stay cord end to keep on component 1a.The stay cord 3 that one end is maintained keeps component 2a to extend towards the 1st stay cord,
And keep the periphery of component 2a to be wound around about half cycle at the 1st stay cord, and then keep outside component 2b at the 2nd adjacent stay cord
Week is wound around about half cycle, and keeps component 1b to extend towards stay cord end.The stay cord 3 that component 1b extends is kept towards stay cord end
Component 1a and the 1st stay cord is kept to keep the stay cord 3 between component 2a to intersect at cross point C with linking stay cord end.Stay cord
The other end of 3 is maintained at stay cord end and keeps on component 1b.
The movable body 20 collision to stay cord 3 is detected in collision detection portion 4.Collision detection portion 4 can use Fig. 4 of embodiment 1
To the composition shown in Fig. 6.Additionally, the composition of the collision detecting device shown in Figure 13 also can use the composition of embodiment 2.
Figure 14 is the top view of the composition of the collision detecting device representing embodiment 4, represents the structure of the blocking of detection optical axis
Become.
As the collision detecting device shown with embodiment 3, the collision detecting device of embodiment 4 is to include that light senses
Device 9 and the 1st optical axis bending section 10a and the 2nd optical axis bending section 10b and constitute, by becoming the movable body monitoring object
Whether 20 interdicted the optical axis exporting the light from optical sensor 9 whether to detect this movable body 20 beyond to action restricted area
Outside the B of territory.Setting movable area A, in this movable area A, movable body 20 is actual when carrying out operation, and movable body 20 is towards shape
The action becoming to have the direction of optical axis is restricted.In the composition of Figure 14, movable area A1 of movable body 20 and movable district
Action in the A2 of territory is restricted.
Optical sensor 9 is made up of light source 9a and light accepting part 9b, light source 9a emergent light, and light accepting part 9b receives outgoing from light source
The light of 9a.Outgoing is the most curved through the 1st optical axis bending section 10a and the 2nd optical axis bending section 10b from the optical axis of the light of light source 9a
Bent and be directed to light accepting part 9b.Light source 9a and light accepting part 9b is arranged in outside movable area A.The light of 9 outgoing of optical sensor
Optical axis 11a from light source 9a outgoing, its direction of propagation the 1st optical axis bending section 10a and the 2nd optical axis bending section 10b adds
Advance towards light accepting part 9b with change.The optical axis 11a of the 1st optical axis bending section 10a is extended to and from the 2nd light from light source 9a
Bending shaft portion 10b extends to the optical axis 11b of light accepting part 9b and intersects at cross point C.The light advanced in optical axis 11b is subject to
Light portion 9b receives.Interdicting outgoing at the movable body 20 becoming supervision object makes light not enter from the optical axis of the light of light source 9a
In the case of being incident upon light accepting part 9b, detect that movable body 20 is beyond movable area A1 or movable area A2.
In addition to the foregoing, the present invention in its invention scope can each embodiment of independent assortment, or each embodiment appoint
Meaning element deformable, or can omit in each embodiment and be formed arbitrarily key element.
Symbol description
1,1a, 1b stay cord end keeps component
2,2a, 2b, 2c, 2d, 2e, 2f stay cord keeps component
3,3a, 3b, 3c stay cord
4,4p, 4q, 4r collision detection portion
4a proximity transducer
4b block
4c bearing
4d switchs switching part
4e pressure transducer
4f pressure sensor detection circuit
4g deformation-sensor
4h deformation-sensor testing circuit
4i fixes component
4j rotation detector
4k imaging apparatus
4l moves test section
4m, 8a, 8b, 8c, 8d buckle pieces
4n power supply
4o is energized test section
5 force bodies
6a, 6b, 6c imaginary collision detection face
7 armoring components
9 optical sensors
9a light source
9b light accepting part
10,10a, 10b, 10c, 10d, 10e, 10f optical axis bending section
11a, 11b, 11c, 11d optical axis
20 movable bodys
30 manipulating objects
40 equipment machines
A, A1, A2 movable area
B action restricted area.
Claims (10)
1. a collision detecting device, its detection monitors the collision of object, it is characterised in that including:
Keep component；
Wire-like members, it is maintained on described holding component；And
Collision detection portion, it detects described supervision object according to the change of described wire-like members and touches described wire-like members
Hit,
When overlooking, described wire-like members is at least formed at 1 and is equipped with cross point obtained by this wire-like members intersection,
Described holding component is arranged in and links that region obtained by the end of described wire-like members and described cross point is outer or link
Outside region obtained by described cross point.
Collision detecting device the most according to claim 1, it is characterised in that
It is equipped with many described wire-like members side by side.
Collision detecting device the most according to claim 1 and 2, it is characterised in that
When side-looking, described wire-like members is at least formed at 3 and is equipped with cross point obtained by this wire-like members intersection.
Collision detecting device the most according to any one of claim 1 to 3, it is characterised in that
Described wire-like members has appointment live width.
Collision detecting device the most according to any one of claim 1 to 4, it is characterised in that
Described wire-like members is provided with plate armour.
Collision detecting device the most according to any one of claim 1 to 5, it is characterised in that
Described wire-like members is snapping via buckle pieces.
Collision detecting device the most according to any one of claim 1 to 6, it is characterised in that
Described supervision object detects to described wire according to the change of the tension force of described wire-like members in described collision detection portion
The collision of component.
Collision detecting device the most according to any one of claim 1 to 6, it is characterised in that
Described supervision object detects to described wire-like members according to the movement of described wire-like members in described collision detection portion
Collision.
Collision detecting device the most according to any one of claim 1 to 5, it is characterised in that
Described wire-like members is made up of the conductive of material of the snapping via buckle pieces,
Described supervision object detects to described wire structure according to the "on" position of described wire-like members in described collision detection portion
The collision of part.
10. a collision detecting device, its detection monitors the collision of object, it is characterised in that including:
Light source；Optical axis bending section, it makes the outgoing light bending shaft from the light of described light source；And light accepting part, it receives optical axis
Light after described optical axis bending section bends, and detect the blocking of described light,
Described optical axis is at least formed with cross point obtained by this optical axis intersection at 1,
Described optical axis bending section be arranged in outside region obtained by the described light source of link, described cross point and described light accepting part or
Link outside region obtained by described cross point.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-101774 | 2015-05-19 | ||
| JP2015101774A JP6678396B2 (en) | 2015-05-19 | 2015-05-19 | Collision detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106166759A true CN106166759A (en) | 2016-11-30 |
| CN106166759B CN106166759B (en) | 2018-10-16 |
Family
ID=57359129
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610326103.6A Expired - Fee Related CN106166759B (en) | 2015-05-19 | 2016-05-17 | collision detecting device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6678396B2 (en) |
| CN (1) | CN106166759B (en) |
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| CN106863271A (en) * | 2017-03-06 | 2017-06-20 | 温州泓呈祥科技有限公司 | A kind of robot arm based on optical signal control |
| CN110603123A (en) * | 2017-06-13 | 2019-12-20 | 住友理工株式会社 | Safety device |
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| CN112621801B (en) * | 2020-11-10 | 2022-12-06 | 东风汽车有限公司 | Clamp capable of automatically grabbing single material from material pile and grabbing robot |
| CN115519560B (en) * | 2022-11-22 | 2023-03-10 | 东莞市喜成电子科技有限公司 | Anti-collision structure for service robot and using method |
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Also Published As
| Publication number | Publication date |
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| JP2016215305A (en) | 2016-12-22 |
| CN106166759B (en) | 2018-10-16 |
| JP6678396B2 (en) | 2020-04-08 |
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