CN109773832B - 传感器及机器人 - Google Patents

传感器及机器人 Download PDF

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Publication number
CN109773832B
CN109773832B CN201811352836.2A CN201811352836A CN109773832B CN 109773832 B CN109773832 B CN 109773832B CN 201811352836 A CN201811352836 A CN 201811352836A CN 109773832 B CN109773832 B CN 109773832B
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China
Prior art keywords
robot
electrode
sensor
main body
contact
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CN201811352836.2A
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English (en)
Chinese (zh)
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CN109773832A (zh
Inventor
神谷俊幸
下岛聪兴
冈秀明
山村光宏
小林一
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Seiko Epson Corp
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Seiko Epson Corp
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Publication of CN109773832A publication Critical patent/CN109773832A/zh
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/2405—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by varying dielectric
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • B25J13/085—Force or torque sensors
    • 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
    • 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
    • B25J19/02—Sensing devices
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37284—Capacitive 3-D proximity sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40544—Detect proximity of object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40614—Whole arm proximity sensor WHAP

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)
CN201811352836.2A 2017-11-15 2018-11-14 传感器及机器人 Active CN109773832B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017219663A JP7052308B2 (ja) 2017-11-15 2017-11-15 センサー、およびロボット
JP2017-219663 2017-11-15

Publications (2)

Publication Number Publication Date
CN109773832A CN109773832A (zh) 2019-05-21
CN109773832B true CN109773832B (zh) 2024-03-12

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811352836.2A Active CN109773832B (zh) 2017-11-15 2018-11-14 传感器及机器人

Country Status (3)

Country Link
US (1) US11060890B2 (enExample)
JP (1) JP7052308B2 (enExample)
CN (1) CN109773832B (enExample)

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US11077456B2 (en) 2018-07-12 2021-08-03 Tom Beaumont Real-time laser measurement and marking apparatus
US20200254471A1 (en) * 2018-07-12 2020-08-13 Tom Beaumont Precision real-time laser measurement and marking apparatus
WO2020017370A1 (ja) * 2018-07-17 2020-01-23 ソニー株式会社 制御装置、制御方法、及び制御システム
WO2020172214A1 (en) * 2019-02-19 2020-08-27 Material Handling Systems, Inc. End effector for engaging the flexible packaging materials of parcels
DE102019206012B4 (de) * 2019-04-26 2025-11-13 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
EP3842733B1 (en) * 2019-08-02 2025-10-08 Shenzhen Yuejiang Technology Co., Ltd. Sensing circuit, logic circuit board, joint control board, main controller board, and robot
JP7410726B2 (ja) * 2020-01-14 2024-01-10 Ntn株式会社 ロボットの対人保護装置
CN111251326A (zh) * 2020-01-20 2020-06-09 腾讯科技（深圳）有限公司 接近传感器、电子皮肤、制作方法以及接近感应方法
CN111230928A (zh) * 2020-01-20 2020-06-05 腾讯科技（深圳）有限公司 接近传感器、电子皮肤、制作方法以及接近感应方法
JP2021143934A (ja) * 2020-03-12 2021-09-24 セイコーエプソン株式会社 チャージアンプ、力センサー及びロボット
JP7521408B2 (ja) * 2020-12-17 2024-07-24 オムロン株式会社 金属検出センサおよびこれを備えた電動把持工具、金属検出方法、金属検出プログラム
JP7556776B2 (ja) * 2020-12-23 2024-09-26 株式会社モリタホールディングス 安全装置及び塵芥収集車
EP4074473A1 (en) * 2021-02-10 2022-10-19 Canon Kabushiki Kaisha System, manufacturing method, controlling method, program, and recording medium
US12162145B2 (en) * 2021-11-17 2024-12-10 Kawasaki Jukogyo Kabushiki Kaisha Substrate conveying robot and substrate conveying robot system
US20230202045A1 (en) * 2021-12-25 2023-06-29 Mantis Robotics, Inc. Robot System
CN118216332B (zh) * 2023-10-27 2025-10-28 南京林业大学 一种猕猴桃仿生疏蕾爪及其控制方法
JP7508057B1 (ja) 2024-02-09 2024-07-01 国立大学法人 東京大学 静電容量式センサ及びロボットシステム

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JP2010010116A (ja) * 2008-05-30 2010-01-14 Fujikura Ltd 接近制御装置および接近センサ
CN202146362U (zh) * 2010-12-30 2012-02-22 上海交通大学医学院附属第九人民医院 一种基于光学导航七自由度颅颌面手术辅助机械臂
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WO2017170305A1 (ja) * 2016-03-29 2017-10-05 ライフロボティクス株式会社 近接センサ装置及びロボットアーム機構

Also Published As

Publication number Publication date
CN109773832A (zh) 2019-05-21
US11060890B2 (en) 2021-07-13
JP7052308B2 (ja) 2022-04-12
JP2019089165A (ja) 2019-06-13
US20190145798A1 (en) 2019-05-16

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