JP2001088079A - Contact detector of manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a soft control such as an accurate impedance control for a contact sensor capable of detecting a contact position using a contact sensor installed on an arm of a manipulator but not capable of detecting a magnitude of a contact pressure or capable of detecting the magnitude of the contact pressure but not capable of detecting the contact position. SOLUTION: A contact detector detecting an external force using a contact sensor 2 installed on an arm of a manipulator 1 is formed so that a pressure- sensitive conductive rubber 2 having a resistance value varying monotonous- decreasingly by a load pressure, a resistance 8 connected in series to the rubber 2, and voltage measuring means V00 to V09 measuring a voltage at both ends of the rubber 2 on the arm of the manipulator. A voltage of 9 V is applied at both ends of a series connection of the rubber 2 and resistance 8 connected in series to each other, a contact pressure of load is applied to the arm of the manipulator 1, a voltage is measured by voltage measurement means, and the position of the contact point is detected at least one contact points using either of the size of the contact pressure and the voltage measurement means V00 to V09.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a contact detection device capable of detecting the magnitude and position of a contact pressure at a plurality of points using a contact sensor attached to an arm of a manipulator.

[0002]

2. Description of the Related Art Conventionally, means for detecting a position where a contact pressure is applied is shown in FIGS. 8 (a), 8 (b) and 8 (c) (JP-A-9-14989). In FIG. 8A, reference numeral 10 denotes a conductive sheet, 11 denotes a polymer substance (insulator), 12 denotes conductive particles, and 13 denotes a conductive part. 8 (b) and 8 (c), reference numeral 30 denotes a pressing position detecting device, 31 denotes a printed circuit board, 32 denotes an insulating member, 31a, 31b,
31c, 31d are linear metal foils, 34a, 34b, 34c, 34d and 35a, 35b,
35c, 35d and 35e are conductors. When viewed from the end surface of the printed circuit board 31, a predetermined direction (X, Y
A printed circuit board in which metal foils are formed at a predetermined pitch in the X-axis direction (coordinates) and the metal foils are attached to the front surface on the other surface
The printed circuit board 31 is formed by laminating a plurality of metal foils located at the same X value in each X-axis direction on one surface of the printed circuit board 31 by conductive wires. When the conductive sheet is applied to the end face of the laminated printed circuit board and a part of the conductive sheet is pressed, a metal positioned on the X axis of the pressed part is connected. Conduction between the foil portion and the metal foil portion located on the Y-axis via the conductive sheet allows the position of the pressurized portion to be electrically detected.

When viewed from an end face where the end surface of the printed circuit board forms a part of a spherical surface, a metal foil is formed on one surface of the printed circuit board at a predetermined pitch in a predetermined direction (longitudinal direction) of the spherical surface, and on the other side. Is a spherical shape in which a plurality of printed circuit boards with metal foil adhered to the front surface are laminated with an insulating material in the thickness direction (latitude direction) of the printed circuit board. The metal foils located at the same longitude are connected to each other by a conductive wire and are electrically connected to the outside, and the entire metal foil on the other surface of the printed circuit board is connected to each conductive wire and led out, and further, It is described that the position of the pressurized portion can be electrically detected by conducting to the spherical surface of the laminated printed board via a conductive sheet.

[0004]

However, in such a conventional technique, the contact position can be detected by using a contact sensor attached to the arm of the manipulator, but the magnitude of the contact pressure cannot be detected. However, there is a problem that flexible control cannot be performed. In addition, when a contact sensor that can detect the magnitude of the contact pressure but cannot detect the contact position is attached to the manipulator arm, it is difficult to perform flexible control such as accurate impedance control. .
Therefore, the present invention provides a pressure-sensitive conductive rubber whose resistance value monotonically decreases in accordance with the load pressure on a manipulator arm that performs contact detection, is arranged in a grid, and is covered with a flexible material. By measuring such a voltage, the magnitude of the contact force and the contact position are detected at multiple points.
Disposing a contact detection switch that is turned on when an external force is applied to a lower portion of the pressure-sensitive conductive rubber arranged in a lattice pattern.] .

[0005]

According to one aspect of the present invention, there is provided a contact detecting device for detecting an external force using a contact sensor attached to an arm of a manipulator. A pressure-sensitive conductive rubber whose resistance value monotonically decreases depending on the load pressure on the arm of the manipulator that performs the contact detection, a resistor connected in series with the pressure-sensitive conductive rubber, and the pressure-sensitive conductive rubber. Voltage measuring means for measuring the voltage at both ends of the rubber, and a voltage is applied to both ends of the series connection of the pressure-sensitive conductive rubber and the resistor connected in series, and then a load is applied to the arm of the manipulator. When the contact pressure is applied, the magnitude of the contact pressure and the position of the contact point are measured at one or more contact points by measuring the voltage by the voltage measuring means. A contact detection device of the Regulator.
Thus, according to the invention of claim 1 of the present invention, in a contact detection device for detecting an external force using a contact sensor attached to an arm of a manipulator, depending on the load on the arm of the manipulator for performing contact detection A pressure-sensitive conductive rubber whose resistance value monotonically decreases is arranged in a lattice, and the upper surface thereof is covered with a flexible material.
By connecting a resistor in series and measuring the voltage across the pressure-sensitive conductive rubber obtained by converting the contact pressure applied to the pressure-sensitive conductive rubber, it is possible to detect the magnitude of the contact pressure and the contact position at a plurality of points. It has a special effect that it can be done.

According to a second aspect of the present invention, in the contact detecting device for a manipulator according to the first aspect, the switch is turned on when external pressure is applied by being arranged in a grid and covered with a flexible material. The contact detection device for a manipulator according to claim 1, further comprising a contact detection switch. Thus, according to the invention of claim 2 of the present invention,
In a contact detection device that detects external force using a contact sensor attached to the arm of a manipulator, a pressure-sensitive conductive rubber whose resistance value changes monotonically and decreases depending on the load on the arm of the manipulator that performs contact detection and the external The contact detection switches that turn on when pressure is applied are arranged in a grid and covered with a flexible material, and the pressure-sensitive conductive rubber and the resistor are connected in series. However, since only the voltage between both ends of the pressure-sensitive conductive rubber is measured, a remarkable effect that the magnitude of the contact force and the contact position can be accurately detected at a plurality of points is recognized.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIG. 1 is a block diagram showing a schematic configuration of a main part in a first embodiment of the present invention. The same reference numerals in all the drawings denote the same or corresponding members. This embodiment is a contact detection device for a manipulator in which a pressure-sensitive conductive rubber and a contact detection switch are arranged in a lattice on an arm of the manipulator. In FIG. 1, reference numeral 1 denotes a manipulator, 2 denotes a pressure-sensitive conductive rubber, 4 denotes a flexible material, 5 denotes a controller, and 50 denotes a control including all members for controlling the operation of the manipulator (excluding a manipulator-side mounting member such as a motor). Device, 51 is a power supply unit, 52 is a power amplifier unit, 53 is a connection unit that electrically connects the control device and the manipulator, and 6 is an AD board [Analgue Digi
[7] means for converting an analog amount of the contact pressure detected by the [tal Board] into a digital amount, and 7 means a DIO board [Digital In].
put Output Board] is a means for exchanging signals between the controller and the manipulator.

FIG. 2 shows a circuit diagram for measuring a load pressure applied to an arm of a manipulator by connecting a pressure-sensitive conductive rubber and a resistor in series. In FIG. 2, 8 is a resistor, and 9 is a voltage source. The output voltage Vout in this circuit configuration is as follows: Vout = R2V / (R1 + R2) (1) The voltage is applied by connecting the respective pressure-sensitive conductive rubbers 2 and the resistors 8 arranged in a grid on the arm of the manipulator 1 in series, and the voltage applied to the pressure-sensitive conductive rubbers 2 is controlled by the AD board 6 in the controller 5. To detect.

FIG. 3A shows a load-resistance characteristic curve of the pressure-sensitive conductive rubber, and FIG. 3B shows a load-output voltage characteristic of the pressure-sensitive conductive rubber when the circuit of FIG. 2 is used. Is shown. The pressure-sensitive conductive rubber 2 has a large resistance value when no load is applied, and when a load pressure is applied, the resistance value monotonically decreases depending on the pressure. External pressure can be measured. By connecting the output voltages of the circuit of FIG. 2 to different channels of the AD board 6, it is possible to detect the magnitude of the contact pressure at a plurality of points.
The pressure-sensitive conductive rubber 2 has a high resistance value when no load is applied, and when an external force is applied to the pressure-sensitive conductive rubber 2, the output voltage therefrom changes. Since it is known in advance, the magnitude of the pressure can be measured together with the determination of the position of the contact point of the external pressure. When the number of the pressure-sensitive conductive rubbers 2 is large and the number of the wirings is large,
If a multiplexer circuit is used, wiring can be reduced.

FIG. 4 is a block diagram showing an electric circuit configuration of this embodiment. R20 to R29 are resistance values of the pressure-sensitive conductive rubber 2 [which change according to external pressure], R
11 to R20 are resistance values of fixed resistors, and V00 to V09 are detection output terminals of this voltage detection device.

(Second Embodiment)

FIG. 5 shows a second embodiment of the present invention, in which a pressure-sensitive conductive rubber is arranged in a grid on an arm of a manipulator, a flexible material is coated on the upper surface thereof, and a pressure-sensitive conductive rubber is further provided. FIG. 2 is a schematic diagram of a contact detection device in which a contact sensing switch is disposed below the contact detection switch. 1, the resistance value of the pressure-sensitive conductive rubber 2 is large when there is no load, and the resistance value monotonically decreases depending on the load. External force can be measured. Reference numeral 3 denotes a newly provided contact detection switch (for example, a push button switch).

FIG. 6 is a block diagram showing a circuit configuration in this embodiment. The output voltage of the circuit of FIG.
By connecting to different channels of the board 6, it is possible to detect the magnitude of the contact force at a plurality of points. In addition, since the pressure-sensitive conductive rubbers 2 are arranged independently in a grid pattern, it is possible to detect contact positions at a plurality of points. The signal from the contact detection switch 3 at the position turned on by the external pressure is detected by the AD board 6 in the controller 5.
The signal of the contact detection switches 3 arranged in a grid on the arm of the manipulator 1 is detected by the AD board 6 in the controller 5 to determine the position of the external pressure. That is, since the contact detection switch 3 is off when there is no load and the output voltage is 0V, when the contact detection switch 3 is turned on and the output voltage becomes other than 0V, it can be determined that an external force is applied. By connecting the contact detection switch 3 to another channel of the DIO board 7 as a separate circuit, it is also possible to detect a position (not shown) where external forces are applied at a plurality of points.

FIG. 7 is a connection diagram showing an example of a means for transmitting a detected voltage to the controller according to the present invention. In this way, signals can be transmitted and received efficiently. When a plurality of pressed contact detection switches 3 are pressed, the output voltage of the pressure-sensitive conductive rubber may be displayed at every position to identify the highest value, or a high value may be hardened every two outputs. Although it is possible to select only the highest value by selecting using a voltage priority circuit, it is also possible to select using software.

[0015]

As described above, according to the first aspect of the present invention, there is provided a contact detecting device for detecting an external force using a contact sensor attached to an arm of a manipulator. A pressure-sensitive conductive rubber whose resistance value monotonically decreases depending on the load is arranged in a lattice on the arm. The upper surface is covered with a flexible material, and the pressure-sensitive conductive rubber and the (load) resistor are connected in series. By measuring the voltage across the pressure-sensitive conductive rubber obtained by converting the contact pressure applied to the pressure-sensitive conductive rubber, the magnitude of the contact pressure and the detection of the contact position can be detected at a plurality of points. To play. Furthermore, according to the invention of claim 2 of the present invention, in a contact detection device for detecting an external force using a contact sensor attached to a manipulator arm, the manipulator arm for performing contact detection monotonically decreases depending on a load. A pressure-sensitive conductive rubber whose resistance value changes and a contact detection switch that is turned on when an external pressure is applied are arranged in a grid and covered with a flexible material, and the pressure-sensitive conductive rubber and a resistor are connected in series. Because it is connected, contact pressure is applied to the pressure-sensitive conductive rubber.Only the voltage across the pressure-sensitive conductive rubber is measured, and the magnitude of the contact force and the detection of the contact position can be accurately detected at multiple points. There is a remarkable effect of being able to do so.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a main part according to a first embodiment of the present invention.

FIG. 2 is a circuit diagram for measuring a load pressure applied to a manipulator arm by connecting in series a pressure-sensitive conductive rubber and a resistor applied to the present invention.

3A and 3B show characteristic diagrams of a pressure-sensitive conductive rubber. FIG. 3A is a load-resistance characteristic curve diagram of the pressure-sensitive conductive rubber, and FIG. 3B is a diagram showing the pressure-sensitive conductive rubber using the circuit of FIG. Load-output voltage characteristic diagram

FIG. 4 is a block diagram showing an electric circuit configuration according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of a contact detection device in which a pressure-sensitive conductive rubber according to a second embodiment of the present invention is arranged in a lattice shape on an arm of a manipulator, and a contact detection switch is arranged below the arm;

FIG. 6 is a block diagram showing an electric circuit configuration according to a second embodiment of the present invention.

FIG. 7 is a connection diagram showing an example of a means for transmitting a detection voltage to a controller according to the present invention.

FIG. 8 is a view showing an embodiment of a conventional example (Japanese Patent Application Laid-Open No. 9-14989), in which (a) is a partially cutaway view of one conductive sheet, and (b) is a pressing position using another conductive sheet. (C) is a perspective view from the front of the detector, and (b) is a perspective view from the back of (b).

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Manipulator 2 Pressure-sensitive conductive rubber (R20-R29 show the internal resistance value of each pressure-sensitive conductive rubber which changes with the applied external pressure) 3 Contact sensing switch 4 Flexible material 5 Controller 50 Control device 51 Power supply unit 52 Power amplifier 53 Connection part 6 AD board 7 DIO board 8 Resistance (R10 to R29 are resistance values of each fixed resistance) 9 Voltage source 10 Conductive sheet 11 Polymer substance (insulator) 12 Conductive particles 13 Conductive part 30 Pressure position detector 31 Printed circuit board 31a, 31b, 31c, 31d Linear metal foil 32 Insulation member 34a, 34b, 34c, 34d, 35a, 35b, 35c, 35d, 35e Conductor V Voltage source output voltage V00-V09 Pressure measurement Output terminal

Claims (2)

[Claims] 1. A contact detection device for detecting an external force using a contact sensor attached to an arm of a manipulator, wherein the resistance of the manipulator for detecting the contact monotonously decreases depending on the load pressure. A pressure-sensitive conductive rubber, a resistor connected in series to the pressure-sensitive conductive rubber, and voltage measuring means for measuring a voltage across the pressure-sensitive conductive rubber. A voltage is applied to both ends of the series connection of the piezoelectric conductive rubber and the resistor, and then, when a contact pressure of a load is applied to the arm of the manipulator, the voltage is measured by the voltage measuring means, whereby the contact is measured. A contact detecting device for a manipulator, wherein the magnitude of pressure and the position of a contact point are determined at one or more contact points. 2. The contact detection device for a manipulator according to claim 1, further comprising a contact detection switch that is arranged in a grid and covered with a flexible material and that is turned on when an external pressure is applied. The contact detecting device for a manipulator according to claim 1.