JP2003340774A - Surface contact sensor and system type group control robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surface contact sensor that detects contact in an arbitrary direction and further is not bulky. <P>SOLUTION: In the surface contact sensor, a detection surface member 11 is arranged on the surface of a plated section 12 via an elastic material 13; projections 14 are provided at the four corners of the detection surface member 11; at least one projection 14 comes into contact with the plated section 13 for operating a contact member by allowing the detection surface member 11 to approach the plated section 12 against the elastic force of the elastic material 13 when the detection surface member 11 comes into contact with other members; the contact in the arbitrary direction is detected; and further bulk is not increased. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface contact sensor capable of detecting the contact of another member with the surface of a surface member regardless of the contact direction.

Further, according to the present invention, in a tissue type group control robot in which a large number of spherical functional elements are connected or combined, a surface capable of detecting the contact of another member with the surface of the functional element regardless of the contact direction. The present invention relates to a technology including a contact sensor.

[0003]

2. Description of the Related Art As a robot used for maintenance of a power plant or the like, an organizational type group in which a large number of spherical functional elements, holons, are connected in series to form a functional element row, and a plurality of functional element rows are connected in parallel. Control robots are known. Various functions such as an energy function, a flaw detection function, and a control function are assigned to each holon, and they are configured as one robot. Then, it takes an arbitrary form to perform self-propelled operation in a pipe, a narrow space or the like to obtain necessary information.

In such a robot, it is necessary to detect that each holon has come into contact with another member such as an obstacle when self-propelled on a desired route, and a sensor for detecting the contact is provided. Is desirable.

[0005]

As a general contact sensor, a pin or the like is provided as a contactor, an optical fiber,
A contact sensor using a sealed fluid, a piezoelectric element, image processing, etc. is conceivable. However, even if any existing sensor is used, there is a blind spot because there is a limit in the direction in which contact is detected, and the sensor itself is bulky, so it is applied to a robot that runs in any form. Was unsuitable for.

The present invention has been made in view of the above circumstances, and can detect contact in any direction, and
An object is to provide a surface contact sensor that is not bulky.

The present invention has been made in view of the above circumstances, and provides a tissue type group control robot equipped with a surface contact sensor which can detect contact in any direction and is not bulky. The purpose is to

[0008]

In order to achieve the above object, a surface contact sensor of the present invention has a detection surface member arranged on the surface of a surface member with an elastic material interposed between the surface member and the detection surface member. At least one contact member operates by providing a plurality of contact members to the detection member, and when the detection surface member comes into contact with another member, the surface member and the detection surface member approach each other against the elastic force of the elastic material. Is characterized by.

Further, in the surface contact sensor of the present invention for achieving the above object, a detection surface member having the same curvature as that of the curved surface member is arranged on the surface of the curved surface member via an elastic material, and the curved surface member and the detection surface member are A plurality of contact members are provided between the contact members, and when the detection surface member comes into contact with another member, at least one contact member operates by the approach of the surface member and the detection surface member against the elastic force of the elastic material. It is characterized by doing.

The curved surface member is a sphere, and the detection surface member is divided into a plurality of parts so as to cover the sphere.

The contact members are provided at the four corners of the detection surface member.

Further, the operation resistance is detected when the contact member operates, and the contact resistance also functions as a force sensor according to the detected operation resistance.

In the organizational type group control robot of the present invention for achieving the above object, a large number of spherical functional elements, holons, are connected in series to form a functional element array, and a plurality of functional element arrays are connected in parallel. In the tissue type group control robot, the holons forming the functional element array are the curved surface member according to any one of claims 2 to 5.
The surface contact sensor according to claim 1.

[0014]

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 is an overall configuration of a tissue type group control robot equipped with a surface contact sensor according to an embodiment of the present invention, FIG. 2 is an external view of a holon, and FIG. 3 is III-III in FIG. Arrow view,
FIG. 4 shows a view taken along the line IV-IV in FIG. 3, and FIGS. 5 and 6 show an explanation of the self-propelled state of the tissue group control robot.

As shown in FIG. 1, the organization type group control robot 1 has a large number of spherical functional elements holons 2 connected in series to form a functional element array 3, and a plurality of functional element arrays 3 are connected in parallel. Is configured. Various functions such as an energy function, a flaw detection function, and a control function are assigned to each holon 2, and the respective holons 2 are connected to each other in a freely movable state to form one tissue-type group control robot 1. .

As shown in FIG. 5, the systematic group control robot 1 is, for example, self-propelled in the piping 4 of the power generation plant to detect flaws in the piping 4, or as shown in FIG. It runs on the step 5 of the narrow part of the plant and grasps the condition of the narrow part.

The tissue-type group control robot 1 detects contact with the inner wall 4a of the pipe 4 to smoothly travel in the pipe 4, and detects contact with the floor 5a of the step 5 to detect the condition of the step 5. In order to travel smoothly while keeping track of, the surface contact sensor 6 that detects contact with the inner wall 4a of the pipe 4 and the floor surface 5a of the step 5 is provided on the outer surface of the holon 2 as another member.

The surface contact sensor 6 can detect contact in any direction and is not bulky because the tissue-type group control robot 1 is self-propelled in an arbitrary shape in a narrow space. It is said that.

The surface contact sensor 6 will be described with reference to FIGS. The surface contact sensor 6 is provided on all the holons 2 or on the outermost holons 2.

As shown in FIGS. 2 and 3, a detection surface member 11 having the same radius of curvature as that of the holon 2 is arranged on the surface of the spherical holon 2 as a curved surface member, and the detection surface member 11 is spherical. It is divided into four (plural divisions) in a state of covering the holon 2 (sphere) (formed in a shell shape).

A plated portion 12 formed by plating a conductive member is formed on the surface of the holon 2. Between the plated portion 12 and the detection surface member 11, an elastic material is arranged around the detection surface member 11. Resilient material (insulation material: sponge, etc.)
13 is interposed.

As shown in FIGS. 2 and 3, the detection surface member 11
Protrusions 14 made of a conductive member as contact members are provided on the inner side surface (surface on the side of the plated portion 12) of the detectors, and the protrusions 14 are provided at the four corners of the detection surface member 11. A current is supplied to the detection surface member 11 or the plating unit 12, and the plating unit 12 is brought into contact with at least one protrusion 14 by contacting the plating unit 12.
Alternatively, the detection surface member 11 is in a state in which a current flows (ON state). That is, the contact member of the surface contact sensor 6 is in an operating state.

The number of the protrusions 14 is not limited to four as long as it is plural. Further, the protrusion 14 can be provided on the plated portion 12 side.

By the self-propelling of the tissue type group control robot 1 by any form, an arbitrary holon 2 is arbitrarily placed on the inner wall 4a of the pipe 4 (see FIG. 5) or the floor 5a of the step 5 (see FIG. 6). When contacted at an angle of 1, the contacted portion of the detection surface member 11 approaches the plated portion 12 side (the surface side of the holon 2) against the elastic force of the elastic material 13, and at least one protrusion 14 contacts the plated portion 12. When they come into contact with each other, an electric current flows through the plated portion 12 to bring them into an ON state (the contact member is in an operating state).

For example, when the contact location is the inner wall 4a of the pipe 4, the self-propelled state is corrected so that the tissue type group control robot 1 does not face the inner wall 4a. Further, when the contact place is the floor surface 5a of the step 5, it is determined that the front holon 2 has reached the floor surface 5a, and the subsequent self-propelled state is determined.

Since the detection surface member 11 is arranged on the surface of the holon 2 and the projections 14 are provided at the four corners of the inner surface of the detection surface member 11, the holon 2 comes into contact with other members in any direction. Also, at least one protrusion 14 can come into contact with the plated portion 12 to activate the contact member. Therefore, there is no limitation on the direction in which contact is detected, and contact in any direction can be detected.

Further, the detection surface member 11 is a spherical holon 2
Since the contact is detected by the operation / non-operation of the contact member, the surface contact sensor 6 is not bulky because it is divided into four parts (a plurality of parts) while covering the (sphere). Therefore, it can be applied as a contact sensor of the tissue-type group control robot 1 that is self-propelled in an arbitrary shape in a narrow space.

As another embodiment of the surface contact sensor 6,
The tip shape of the protrusion 14 is round. When the protrusion 14 comes into contact with the plated portion 12, the larger the contact force, the larger the contact area of the protrusion 14 having a rounded tip shape with respect to the plated portion 12 and the higher the resistance value of the switch. Therefore, when the projection 14 contacts the plated portion 12 (when the contact member operates), the resistance value (operation resistance) is detected, and the resistance value is converted into force by A / D conversion and measured. It also functions as a force sensor.

By adding a function of a force sensor to the surface contact sensor 6, whether or not the contacted member on the other side is a solid structure, a movable mount or a soft structure, etc. It becomes possible to infer information about members.

Another application example of the surface contact sensor according to the embodiment of the present invention will be described with reference to FIG.

FIG. 7 shows the overall situation of an industrial robot equipped with a surface contact sensor according to an embodiment of the present invention.

As shown in the figure, in the industrial robot 20, for example, an arm 23 is tiltably provided via a joint 22 on a rotatable support shaft 21, and a joint 24 is provided at the tip of the arm 23. The work arm 25 is tiltably connected via the.

An operating portion 26 is rotatably provided at the tip of the working arm 25 so that the supporting shaft 21 can be rotated and the arm 2 can be rotated.
3 and tilting of the work arm 25 and arbitrary rotation of the operating portion 26 allow the operating portion 26 to move freely around multiple axes, and various operations are performed.

A surface contact sensor 27 is provided on the arm 23 and the working arm 25, for example. When the arm 23 and the work arm 25 are cylindrical, the surface contact sensor 27 is configured by dividing a cylindrical curved surface member 28 into, for example, four parts. When the arm 23 and the work arm 25 are prismatic, a surface member corresponding to the prismatic shape is divided.

The surface contact sensor 27 is, like the surface contact sensor 6 described above, a plated portion provided on the arm 23 side and the working arm 25 side, and an elastic material interposed between the curved member 28 and the plated portion. It is configured by a protrusion provided inside the curved member 28.

When the arm 23 and the working arm 25 come into contact with other members, the curved surface member 28 approaches the plated portion (the arm 23 side and the working arm 25 side), the projection comes into contact with the plated portion, and the current flows. , ON state (the contact member is in an operating state).

When the surface contact sensor 27 detects that many members contact the arm 23 and the working arm 25, the operation of the industrial robot 20 is immediately stopped.

The surface contact sensor 27 can also detect the resistance value and function as a force sensor, like the surface contact sensor 6 described above.

Therefore, even with respect to the arm 23 and the working arm 25 of the industrial robot 20 that makes complicated movements, there is no limitation in the direction in which contact is detected, and contact in any direction can be detected. Further, the surface contact sensor 27 is not bulky and can be applied as a contact sensor for the arm 23 and the working arm 25 of the industrial robot 20 that makes complicated movements.

The contact sensor of the present invention constitutes a sensor with the skin part of an animal type amusement robot, or a robot such as a nursing robot, in addition to the tissue group control robot 1 and the industrial robot 20 described above. It can detect contact in any direction, such as a contact sensor, a contact sensor for unmanned / manned traveling carts, automobiles, etc., or a contact sensor for transporting articles on an assembly or processing line. Moreover, it can be used as a surface contact sensor in any place used without being bulky.

[0042]

According to the surface contact sensor of the present invention, the detection surface member is arranged on the surface of the surface member via the elastic material, and a plurality of contact members are provided between the surface member and the detection surface member. When at least one contact member is operated by contacting the surface member and the detection surface member against the elastic force of the elastic material when the member contacts another member, contact in any direction is detected. In addition, it becomes possible to provide a surface contact sensor which is not bulky.

In the surface contact sensor of the present invention, a detection surface member having the same curvature as that of the curved surface member is arranged on the surface of the curved surface member via an elastic material, and a plurality of contact members are provided between the curved surface member and the detection surface member. , When at least one contact member is operated by the approach of the detection surface member against the elastic force of the elastic material when the detection surface member comes into contact with another member, any direction can be set. It is possible to provide a surface contact sensor which can detect the contact of the above and is not bulky.

The systematic group control robot of the present invention is a systematic group control robot in which a large number of spherical functional elements, holons, are connected in series to form a functional element array, and a plurality of functional element arrays are connected in parallel. Since the holon forming the functional element row is the curved surface member according to any one of claims 2 to 5, the surface contact sensor according to any one of claims 2 to 5 is provided. Further, it becomes possible to provide a tissue type group control robot which is capable of detecting a contact in an arbitrary direction and is provided with a surface contact sensor which is not bulky.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a tissue type group control robot including a surface contact sensor according to an embodiment of the present invention.

FIG. 2 is an external view of Holon.

FIG. 3 is a view taken along the line III-III in FIG.

FIG. 4 is a view taken along the line IV-IV in FIG.

FIG. 5 is an explanatory diagram of a self-propelled state of the organizational type group control robot.

FIG. 6 is an explanatory diagram of a self-propelled state of the organizational group control robot.

FIG. 7 is an overall configuration diagram of an industrial robot including a surface contact sensor according to an embodiment of the present invention.

[Explanation of symbols]

1 Organization type group control robot 2 Holon 3 functional elements 4 piping 5 steps 6 surface contact sensor 11 Detection surface member 12 Plated part 13 Resilient material 14 Protrusion 20 industrial robots 21 Support shaft 22, 24 joints 23 arms 25 working arm 26 Operation part 27 surface contact sensor

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shiritoshi Shiotani             2-1-1 Niihama, Arai-cho, Takasago City, Hyogo Prefecture             Takasago Laboratory, Mitsubishi Heavy Industries, Ltd. F-term (reference) 2F051 AA10 AB06 BA07                 3C007 CS08 KW01 WA25                 5G006 AA01 AB33 AZ05 BA01 BB05                       BC04 CB05 CD02 DD02                 5G025 AA02 AA04 AA14 BA04 CA09                       DA01 EA03 FA01 FA04

Claims (6)

[Claims] 1. When a detection surface member is arranged on the surface of a surface member via an elastic material, a plurality of contact members are provided between the surface member and the detection surface member, and the detection surface member comes into contact with another member. A surface contact sensor, wherein at least one contact member operates when the surface member and the detection surface member approach each other against the elastic force of the elastic material. 2. A detection surface member having the same curvature as that of the curved surface member is arranged on the surface of the curved surface member via an elastic material, and a plurality of contact members are provided between the curved surface member and the detection surface member, and the detection surface member is The surface contact sensor, wherein at least one contact member operates when the surface member and the detection surface member approach each other against the elastic force of the elastic material when the member contacts the member. 3. The surface contact sensor according to claim 2, wherein the curved surface member is a sphere, and the detection surface member is divided into a plurality of parts so as to cover the sphere. 4. The surface contact sensor according to claim 1, wherein the contact members are provided at four corners of the detection surface member. 5. The operation resistance according to claim 1, wherein an operation resistance is detected when the contact member operates, and the operation resistance also functions as a force sensor according to the detected operation resistance. Surface contact sensor to do. 6. In a systematic group control robot in which a large number of spherical functional elements, holons, are connected in series to form a functional element row, and a plurality of functional element rows are connected in parallel, the holons that form the functional element row are A tissue type group control comprising the surface contact sensor according to any one of claims 2 to 5, which is the curved surface member according to any one of claims 2 to 5. robot.