CN106695889A - Anti-collision detection device, corresponding control method and mechanical arm suitable for same - Google Patents
Anti-collision detection device, corresponding control method and mechanical arm suitable for same Download PDFInfo
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- CN106695889A CN106695889A CN201610646987.3A CN201610646987A CN106695889A CN 106695889 A CN106695889 A CN 106695889A CN 201610646987 A CN201610646987 A CN 201610646987A CN 106695889 A CN106695889 A CN 106695889A
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- 238000001514 detection method Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000003990 capacitor Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 230000003449 preventive effect Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 229920000297 Rayon Polymers 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 239000002519 antifouling agent Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
Abstract
The invention provides an anti-collision detection device, a corresponding control method and a mechanical arm suitable for the anti-collision detection device, wherein the mechanical arm is provided with a preset moving path. The anti-collision detection device comprises a first sensing unit and a control unit. The first sensing unit is a non-contact sensing unit and is arranged on one side of the mechanical arm facing the preset moving path; the control unit is coupled to the first sensing unit and the mechanical arm. When the first sensing unit detects that an object enters the preset moving path, the control unit changes the preset action of the mechanical arm.
Description
Technical field
The present invention relates to a kind of anti-collision detection device, corresponding control method and it is applicable its mechanical arm.
Specifically, particularly a kind of contactless anti-collision detection device.
Background technology
Now in society, with industrial expansion and the rapid advances of science and technology, automatic technology is by widely
It is applied among the manufacturing industry in modern times, and little by little uses machinery equipment to replace hand labor；So as to
Among modern factories, often it is both provided with from feeding, processing and in each factory's stage of blanking corresponding
Automation equipment be automatically brought into operation with instead of manpower, such as mechanical arm or other similar equipment,
And then reduce production needed for labour, and the production efficiency of modern plant greatly improved.
However, mechanical arm is in operation, personnel or other objects are might have in its working range
It is close.To avoid personnel from causing injured or product defect with mechanical arm collision, existing safety device is big
Cause includes two kinds：First, being to be reached using the mode of strength limitation (Force Limited), it is former
Reason is that the electric current of its motor can be increased, when machine control using when robotic arm or machine collide object
When device processed detects electric current beyond limitation, i.e., can stop the running of machine, reach defencive function.However,
This kind of mode reaches limitation to reach protection due to being to use contact using strength is touched.When touching
The more fragile part of human body is bumped against, accidental injury personnel situation can be caused to produce, and while producing collision, product
Perhaps flaw has been produced.
Second, being reached using the mode of pressure sensor (Pressure Sensor).Its principle be
The surface of machine is covered with pressure sensor, when machine collides people or article, the pressure sensing of machine
Device will be signaled to machine controller, i.e., can stop the running of machine, reach defencive function.So
And, this mode must be covered with thousands of sensor on machine, the running weight except increasing machine
Amount is outer, and sensor assembles also very difficult on the machine of many curved surfaces, and each sensor all must be with control
Device is connected, and causes the waste of a large amount of wire rods, and substantial amounts of sensor can also increase cost.Except this it
Outward, this sensing mode is also contact, therefore equally has the foregoing problem for needing and overcoming.
The content of the invention
In view of this, a purpose of the invention is to provide a kind of non-contacting sensing mode, it is not necessary to contacted
It is actionable to sensing unit, it is possible to decrease mechanical arm is injured by when colliding to personnel and product.Additionally,
Due to cheap for manufacturing cost, used also into relatively large board.
One embodiment of the invention provides a kind of anti-collision detection device, it is adaptable to mechanical arm, the manipulator
Arm has default mobile route, and the anti-collision detection device includes the first sensing unit and control unit.First
Sensing unit is a kind of contactless sensing unit, is laid in the mechanical arm towards the default mobile route
Side；Control unit is coupled to first sensing unit and the mechanical arm.Wherein, when first sense
When survey unit has detected object into the default mobile route, the control unit changes the mechanical arm
Deliberate action.
In an embodiment, when first sensing unit detect the object into the mechanical arm this is pre-
If on mobile route and the object and first sensing unit less than first apart from when, control unit control
The mechanical arm carries out the first action change.
In another embodiment, anti-collision detection device also includes the second sensing unit, is laid in the manipulator
, towards the side of the default mobile route, wherein the sensing distance of second sensing unit is compared with first sense for arm
It is length to survey the sensing distance of unit.Wherein, when second sensing unit detects the object into the machinery
On the default mobile route of arm and when the object is less than a second distance with second sensing unit, should
Control unit controls the mechanical arm to carry out one second and acts change.In this embodiment, second action
Change and be different from the first action change.
Another embodiment of the present invention provides a kind of control method of anticollision detection, it is adaptable to foregoing anticollision
Detection means, the control method is comprised the steps of：(S1) detect the object whether in the mechanical arm
Deliberate action path on；(S2) if the testing result is yes, detect the object with second sensing
Whether unit is at a distance of less than the second distance；(S3) if the testing result is yes, the mechanical arm enters
Capable second action changes；(S4) detect the object and first sensing unit whether at a distance of less than this
One distance；And (S5) is if the testing result is yes, the mechanical arm carries out first action and changes.
Another embodiment of the present invention provides a kind of control method of anticollision detection, it is adaptable to foregoing anticollision
Detection means, the control method is comprised the steps of：(S11) object and second sensing unit are detected
Whether at a distance of less than the second distance；(S12) if the testing result is yes, the mechanical arm is somebody's turn to do
Second action changes；(S13) detect the object with first sensing unit whether less than first distance；
And (S14) is if the testing result is yes, the mechanical arm carries out first action and changes.
Another embodiment of the present invention provides a kind of mechanical arm, comprising arm body, the first sensing unit
And control unit.Arm body has deliberate action path；First sensing unit is a kind of contactless
Sensing unit, is laid in side of the arm body towards the deliberate action path；Control unit is coupled to
First sensing unit and the arm body.Wherein, enter when first sensing unit has detected object
During the default mobile route, the control unit changes the deliberate action of the arm body.
In an embodiment, when first sensing unit detect the object into the arm body this is pre-
If on path of motion and the object and first sensing unit less than first apart from when, control unit control
The arm body carries out the first action change.
In another embodiment, mechanical arm also includes the second sensing unit, is laid in the arm body court
To the side of the default mobile route, the wherein sensing distance of second sensing unit is single compared with first sensing
The sensing distance of unit is length.
Wherein, when second sensing unit detects the object into the default mobile road of the arm body
On footpath and when the object is less than second distance with second sensing unit, the control unit controls the arm sheet
Body carries out the second action change, and second action changes different from the first action change.
Compared to prior art, " anti-collision detection device, corresponding control method and suitable proposed by the invention
With its mechanical arm ", sensed using contactless sensing mode, not yet touched in machine
Taken preventive measures during object.Additionally, sensing unit tool pliability, can be laid in any position of machine
Put, manufacture is simple, can also reduce manufacturing cost.
On the advantages and spirit of the present invention, can be obtained into one by following implementation method and accompanying drawing
The understanding of step.
Brief description of the drawings
Figure 1A is an embodiment stereogram of anti-collision detection device of the present invention；
Figure 1B is the embodiment block diagram of Figure 1A；
Fig. 1 C are the embodiment sectional view of Figure 1A；
Fig. 2A is an embodiment side view of anti-collision detection device of the present invention；
Fig. 2 B are another embodiment top view of anti-collision detection device of the present invention；
Fig. 2 C are an embodiment schematic diagram of the first sensing unit of the invention；
Fig. 2 D are an embodiment schematic diagram of the first sensing unit of the invention；
Fig. 3 A are another embodiment stereogram of anti-collision detection device of the present invention；
Fig. 3 B are the embodiment schematic diagram of the first sensing unit of the invention and the second sensing unit；
Fig. 3 C are an embodiment side view of anti-collision detection device of the present invention；
Fig. 3 D are another embodiment top view of anti-collision detection device of the present invention；
Fig. 4 is one embodiment of the invention flow chart；
Fig. 5 is another embodiment of the present invention flow chart；
Fig. 6 is an embodiment stereogram of mechanical arm of the present invention.
Specific embodiment
Hereinafter word will be coordinated to describe with accompanying drawing and disclose multiple implementation methods of the invention, to have clearly stated
See, the details in many practices will be explained in the following description.It should be appreciated, however, that these realities
Details in business is not applied to limit the present invention.Additionally, for the sake of simplifying accompanying drawing, some existing structures
To be drawn in the way of simple signal in the accompanying drawings with element.
It should be noted that, anti-collision detection device provided by the present invention can be applied to mechanical arm, special machine
And toolroom machine etc., but be not limited thereto.As long as having demand for anticollision detection, the present invention can be all imported
Design in.
Figure 1A and Figure 1B is referred to, anti-collision detection device of the invention is preferably applied to mechanical arm 21,
Such as mechanical arm on mechanical arm, engineering mechanical arm, electronic installation on technique board or its
Toolroom machine that he is similar to etc..Anti-collision detection device preferably includes the first sensing unit 11 and control unit C,
Control unit C is coupled with the first sensing unit 11 and mechanical arm 21, so as to transmission signal.First sense
Survey unit 11 and be preferably a kind of contactless sensing unit, in the present embodiment, the first sensing unit 11
It is a kind of projecting type capacitor structure, its sense wire can be constituted in the way of grid or wire cross structure, because
This has the characteristics such as single anchor point, multiple spot sensing.In the present embodiment, the first sensing unit 11 can
Made in the way of soft board, make it have pliability, and because projecting type capacitor structure has single positioning
The characteristic of point, therefore realize that its positioning accurate accuracy can't be influenceed in soft board mode.
First sensing unit 11 can attach or be coated on any position of mechanical arm 21, and can because having
Flexibility, it is still applicable even if the surface of mechanical arm 21 is on-plane surface.
It is noted that because the first sensing unit is projecting type capacitor structure, when mechanical arm surface is
During non-conducting material, can directly attach or coat and use.But, when mechanical arm surface is conduction material
During material, to reduce the situation of short circuit, non-leading need to be preferably set between mechanical arm and the first sensing unit
Electrical connection medium.As shown in Figure 1 C, sandwiched between the sensing unit 11 of mechanical arm 21 and first
There is connection medium 31, and connection medium 31 does not have electric conductivity, such as foam, but be not limited.And
And, can be by adhesion layer (example between connection medium 31 and mechanical arm 21, the first sensing unit 11
Such as viscose, double faced adhesive tape) fixed.In other implementations, also can be in the outer of the first sensing unit 11
Surface apply last layer protective paint, in addition to defencive function, it may have effect attractive in appearance, but not as
Limitation.
Fig. 2A is referred to, mechanical arm 21 has a default mobile route, and this default mobile route is preferable
To be set according to its work purpose and order, can by engineer or person skilled be written into advance to
Control unit.The present embodiment is not limited by taking above-below direction movement as an example.First sensing unit 11
Mechanical arm 21 towards the side of default mobile route, first sensing of the present embodiment can be preferably laid in
Unit 11 is the mode of cladding, namely around the distribution annular in shape of the circle of mechanical arm 21 1；So in different realities
Apply in example, only can also be attached in the way of small area certainly.As shown in Figure 2 A, when the first sensing unit
11 when having sensed that object X (such as staff or its limbs) occurs on default mobile route, first
Sensing unit 11 can be by sensing signal transmission to control unit, and control unit can send instruction to manipulator
Arm, makes it change deliberate action.It is noted that the control unit of the present embodiment can be with the first sensing
Unit 11 is present on single soft board simultaneously, it is also possible to external from soft board bracing wire, has no specific limitation.
In this embodiment, specifically, due to the characteristic of projecting type capacitor structure, object X is not required to touch
Contact generation action by the first sensing unit, therefore, occur on default mobile route as object X and
When the first sensing unit of distance 11 is less than first apart from d1, control unit issues instructions to mechanical arm 21
Carry out the first action change.First action changes preferably including but not limited to making mechanical arm depart from script
Default mobile route, or maintain in the preset path of script but change speed or direction.In this embodiment
In, the first action changes preferably mechanical arm 21 and decommissions, but is not limited, in other realities
In applying example, it is also possible to be designed as evasive action or speed-down action.It should be noted that, the first of the present embodiment
It is preferably less than 2 centimetres apart from d1.
In addition, the embodiment of Fig. 2 B is main by taking left and right directions movement as an example, it senses and makees flowing mode such as
With the embodiment of Fig. 2A, therefore do not repeat herein.Only when the setting of the first action change is carried out, can be according to
Difference, ambient conditions, the moving direction of object X, the mechanical arm of default mobile route machine in itself
Structure design or load-carrying unit difference and take different settings.If such as moving direction of object X with it is pre-
If mobile route is vertical, the first action change may be set to stop, and wait object X to be further continued for after passing through
Action；If the moving direction of object X is parallel with default mobile route, the first action changes may then be needed
It is set as dodging, and avoids the situation pursued and attacked from producing.
The sensing mode of the first sensing unit 11 of the invention can be further described below.For example, such as
Shown in Fig. 2 C, the sense wire of the first sensing unit 11 can be distinguished, by taking sense wire L1~L8 as an example,
When mechanical arm is moved toward first direction, can by the sense wire L1 in the first sensing unit 11,
L2, L5 and L6 are sensed, when object has been sensed, just by sensing signal transmission to control unit simultaneously
Carry out subsequent action.If on the contrary, mechanical arm towards first direction opposite direction move when, with feel
Survey line L3, L4, L7 and L8 are sensed.
Furthermore, such as Fig. 2 D embodiment as a example by, can by the sense wire of the first sensing unit 11 divide into L1~
L8, when mechanical arm is moved toward second direction, can be by the sense wire in the first sensing unit 11
L1, L2, L3 and L4 are sensed, when object has been sensed, just by sensing signal transmission to controlling list
Unit simultaneously carries out subsequent action.If on the contrary, mechanical arm towards second direction opposite direction move when,
Sensed with sense wire L5, L6, L7 and L8.
Another embodiment of the present invention, refers to Fig. 3 A~Fig. 3 B.As shown in Figure 3A, anticollision detection dress
Put also comprising the second sensing unit 12, be also coupled in control unit, its position can equally be laid in manipulator
Arm 21 is not limited towards the side of default mobile route.It should be noted that, the second sensing is single
Unit 12 preferably can be that sensing distance is sensor long compared with the first sensing unit 11, for example ultrasonic wave, red
Outside line etc., but be not limited.Only the second sensing unit 12 does not have pliability, therefore can preferably use
The mode that point is set is set, and illustrates hereby.As shown in Figure 3 B, the sensing distance of the first sensing unit 11
(i.e. first apart from d1) is different from the sensing distance (i.e. second distance d2) of the second sensing unit 12, with this
For embodiment, first is less than second distance d2 apart from d1.
Fig. 3 C are referred to, mechanical arm 21 has a default mobile route, and the present embodiment is with above-below direction
As a example by movement, the second sensing unit 12 can preferably be laid in mechanical arm 21 towards default mobile route
Side, when the second sensing unit 12 has sensed object X (such as staff) on default mobile route
During appearance, the second sensing unit 12 can be by sensing signal transmission to control unit, and control unit can send
Instruction makes it change deliberate action to mechanical arm.
In this embodiment, when object X occurs and the second sensing unit of distance 12 on default mobile route
During less than second distance d2, control unit issues instructions to mechanical arm 21 and carries out the second action change,
Wherein, the second action changes and is differed with the first action change of previous embodiment.Second action change compared with
It is good to be operated for mechanical arm 21 slows down, but be not limited, in other embodiment, it is also designed to
Evasive action.It should be noted that, second distance d2 is preferably 1.5~2 centimetres.
Similarly, the embodiment of Fig. 3 D is that by taking left and right directions movement as an example, its sensing and manner of execution are such as
With the embodiment of Fig. 3 C, therefore do not repeat herein.
Another embodiment of the present invention, is the control method suitable for above-mentioned anti-collision detection device.Refer to
Fig. 4, the method is comprised the steps of：(S1) detect the object whether the mechanical arm default movement
On path；(S2) if the testing result is yes, detect whether the object is small with second sensing unit
In the second distance；(S3) if the testing result is yes, the mechanical arm carries out second action and changes
Become；(S4) detect the object with first sensing unit whether less than first distance；And (S5) if
The testing result is yes, then the mechanical arm carries out the first action change.Its element is configured and its acted
Principle is not added to repeat herein such as previous embodiment.If it is noted that by step (S2), (S3)
It is considered as one group, step (S4), (S5) is considered as one group, this two groups orders can be overturned or while carried out, spy
This explanation.
Another embodiment of the present invention, is also applied for above-mentioned anti-collision detection device.Refer to Fig. 5, the party
Method is comprised the steps of：(S11) detect the object and second sensing unit whether less than this second away from
From；(S12) if the testing result is yes, the mechanical arm carries out second action and changes；(S13) examine
Whether the object is surveyed with first sensing unit less than first distance；And (S14) is if the testing result
It is yes, then the mechanical arm carries out the first action change.Similarly, step (S11), (S12) and step
Suddenly (S13), the order of (S14) can be overturned or while carried out.
Another embodiment of the present invention provides a kind of mechanical arm.As shown in fig. 6, mechanical arm 4 is included
Arm body 41, the first sensing unit 42, the second sensing unit 43 and control unit (not shown).Hand
Arm body 41 is preferably comprising forearm 411, rotating shaft 412, long-armed 413, galianconism 414 and base 415.
The rear end of forearm 411 is commonly connected to rotating shaft 412 with long-armed 413 front end, enables forearm 411 towards upper and lower
Direction swings；Long-armed 413 rear end is located in galianconism 414, can further make forearm 411 facing forward with this
Rear direction is moved；Galianconism 414 is connected with base 415, and base 415 can rotate so that arm body 41
The action of 360 degrees omnidirection can be reached.
First sensing unit 42 and the second sensing unit 43 are laid in arm body 41 towards its default road
The side in footpath, with the present embodiment for, the first sensing unit 42 is the cloth in the way of small area and multi-disc
If, but be not limited.Similarly, its operating principle, response characteristic, control method are such as foregoing reality
Example is applied, is not repeated separately herein.
Compared to prior art, " anti-collision detection device and its control method " proposed by the invention is utilized
Contactless sensing mode is sensed, and is taken preventive measures when machine not yet touches object.
Additionally, sensing unit tool pliability, can be laid in any position of machine, manufacture is simple, also may be used
Reduce manufacturing cost.
By the detailed description of embodiments above, it would be desirable to more clearly describe feature of the invention with essence
God, and the scope of the present invention is any limitation as with above-mentioned disclosed preferred embodiment not, appoint
What skilled person, without departing from the spirit and scope of the present invention, when various changes and retouching can be done.
Therefore, protection scope of the present invention is worked as and is defined depending on those as defined in claim.
Claims (14)
1. a kind of anti-collision detection device, it is adaptable to mechanical arm, the mechanical arm has default mobile road
Footpath, it is characterised in that the anti-collision detection device is included：
First sensing unit, is a kind of contactless sensing unit, is laid in the mechanical arm towards institute
State the side of default mobile route；And
Control unit, is coupled to first sensing unit and the mechanical arm,
Wherein, when first sensing unit has detected object into the default mobile route, institute
State the deliberate action that control unit changes the mechanical arm.
2. anti-collision detection device according to claim 1, it is characterised in that first sensing is single
Unit is projecting type capacitor structure.
3. anti-collision detection device according to claim 1, it is characterised in that first sensing is single
There is connection medium between the first and mechanical arm, and the connection medium does not have electric conductivity.
4. anti-collision detection device according to claim 1, it is characterised in that when the described first sensing
Unit detects the object and enters on the described default mobile route of the mechanical arm and the object
With first sensing unit at a distance of less than first apart from when, described control unit controls the mechanical arm
Carry out the first action change.
5. anti-collision detection device according to claim 4, it is characterised in that also comprising the second sensing
Unit, is laid in the mechanical arm towards the side of the default mobile route, wherein second sense
The sensing distance for surveying sensing distance first sensing unit of unit is length.
6. anti-collision detection device according to claim 5, it is characterised in that when the described second sensing
Unit detects the object and enters on the described default mobile route of the mechanical arm and the object
During with second sensing unit at a distance of less than second distance, described control unit controls the mechanical arm
Carry out the second action change.
7. anti-collision detection device according to claim 1, it is characterised in that first sensing is single
Unit is made of with bendable material.
8. a kind of control method of anti-collision detection device, it is adaptable to the anticollision detection dress described in claim 6
Put, it is characterised in that the control method is comprised the steps of：
Detect the object whether on the default mobile route of the mechanical arm；
If the testing result is yes, detect the object with second sensing unit whether at a distance of small
In the second distance；
If the testing result is yes, the mechanical arm carries out second action and changes；
Detect the object with first sensing unit whether at a distance of less than first distance；And
If the testing result is yes, the mechanical arm carries out first action and changes.
9. a kind of control method of anti-collision detection device, it is adaptable to the anticollision detection dress described in claim 6
Put, it is characterised in that the control method is comprised the steps of：
Detect the object with second sensing unit whether at a distance of less than the second distance；
If the testing result is yes, the mechanical arm carries out second action and changes；
Detect the object with first sensing unit whether at a distance of less than first distance；And
If the testing result is yes, the mechanical arm carries out first action and changes.
10. a kind of mechanical arm, it is characterised in that include：
Arm body, with default mobile route；
First sensing unit, is a kind of contactless sensing unit, is laid in the arm body towards institute
State the side of default mobile route；And
Control unit, is coupled to first sensing unit and the arm body,
Wherein, when first sensing unit has detected object into the default mobile route, institute
State the deliberate action that control unit changes the arm body.
11. mechanical arms according to claim 10, it is characterised in that when the described first sensing is single
Unit detect the object into the arm body described default mobile route on and the object with
First sensing unit at a distance of less than first apart from when, described control unit controls the arm body to enter
The action of row first changes.
12. mechanical arms according to claim 11, it is characterised in that also single comprising the second sensing
Unit, is laid in the arm body towards the side of the default mobile route, wherein second sensing
The sensing distance of sensing distance first sensing unit of unit is length.
13. mechanical arms according to claim 12, it is characterised in that when the described second sensing is single
Unit detect the object into the arm body described default mobile route on and the object with
When second sensing unit is at a distance of less than second distance, described control unit controls the arm body to enter
The action of row second changes, and the second action change is different from the described first action and changes.
14. mechanical arms according to claim 10, it is characterised in that first sensing unit
It is made of with bendable material.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104137928 | 2015-11-17 | ||
| TW104137928A TWI564128B (en) | 2015-11-17 | 2015-11-17 | Collision-avoidance detecting device, corresponding control method and applicable robotic arm thereof |
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| CN106695889A true CN106695889A (en) | 2017-05-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111065496A (en) * | 2017-08-10 | 2020-04-24 | Fogale 纳米技术公司 | Capacitive enclosure element for a robot, robot having such an enclosure element |
| WO2021022625A1 (en) * | 2019-08-02 | 2021-02-11 | 深圳市越疆科技有限公司 | Obstacle avoidance method for apparatus, and apparatus and controller |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI664573B (en) | 2018-05-11 | 2019-07-01 | 國立交通大學 | Motion computing device, robot system and robot controlling method |
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| EP2437657B1 (en) * | 2009-06-05 | 2018-05-23 | Koninklijke Philips N.V. | Capacitive sensing system |
| JP5746483B2 (en) * | 2010-07-13 | 2015-07-08 | 日本電産サンキョー株式会社 | Industrial robot |
| DE102010063208A1 (en) * | 2010-12-16 | 2012-06-21 | Robert Bosch Gmbh | Method for operating a safety device for a handling device, safety device for a handling device and handling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111065496A (en) * | 2017-08-10 | 2020-04-24 | Fogale 纳米技术公司 | Capacitive enclosure element for a robot, robot having such an enclosure element |
| WO2021022625A1 (en) * | 2019-08-02 | 2021-02-11 | 深圳市越疆科技有限公司 | Obstacle avoidance method for apparatus, and apparatus and controller |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI564128B (en) | 2017-01-01 |
| TW201718209A (en) | 2017-06-01 |
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