JP2010010116A - Proximity control device and proximity sensor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an proximity control device having inexpensive construction for preventing an accident such as the collision of an object during closest proximity (contact) by detecting the proximity of the object with high accuracy. <P>SOLUTION: The proximity control device comprises an proximity sensor 10 and a control device 25. The proximity sensor 10 has a detecting electrode 11 arranged on the surface side of an arm 31 of an industrial robot 30, a spacer 12 laid between the detecting electrode 11 and the arm 31 to form a predetermined clearance L from a surface 31a of the arm 31 to the detecting electrode 11, and a detecting circuit 20 for outputting information corresponding to a change of an electrostatic capacity due to the proximity of the object P in accordance with a detection signal from the detecting electrode 11. The clearance L formed by the spacer 12 is greater than a braking distance (an idle run distance) required for actually stopping the operation of the arm 31, thus preventing an accident such as the collision of the object F with the arm 31 during closest proximity (contact). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an approach control device and an approach sensor that detect approach to an object, and more particularly to an approach control device and an approach sensor that can prevent accidents due to a collision caused by contact with an object.

  Conventionally, for example, a contact sensor for an optical robot disclosed in Patent Document 1 described below is known as a device that detects contact with an object. This contact sensor attaches an optical fiber formed so that at least a part is bent when it comes into contact with an object to the movable part, measures the intensity of the light incident from one end of the optical fiber and emitted from the other end, and It is said that contact with an object is detected by detecting a change in the amount of conduction light caused by bending of the fiber.

Japanese Patent Laid-Open No. 10-249785

  However, the contact sensor disclosed in Patent Document 1 described above is configured to detect contact with an object by measuring a change in the amount of conduction light with respect to the bending of the optical fiber. When the optical fiber vibrates, etc., if the change in the amount of light due to the vibration or the like and the change in the amount of light due to contact with the object are almost the same, the contact cannot be detected, and the accuracy is reduced. There is a problem.

  Also, it is costly to install and fix an optical fiber on a movable part, or to mold and fix it in a small-diameter coil, and when installing a light receiving element or a light emitting element together with an optical fiber on a movable part There is also a problem that the circuit scale increases, leading to an increase in cost.

  The present invention eliminates the above-mentioned problems caused by the prior art, and can be configured at low cost, can detect the approach of an object with high accuracy, and can prevent an accident due to a collision associated with the contact with the object. And to provide a proximity sensor.

  In order to solve the above-described problems and achieve the object, an approach control device according to the present invention is arranged on the surface side of a mounted member on the movable member side and detects an object approaching the mounted member by a capacitance. A detection electrode, a spacer interposed between the detection electrode and the attachment site, and forming a predetermined interval between the surface of the attachment site and the detection electrode, and a detection signal from the detection electrode And a detection circuit that outputs information according to a change in capacitance due to the approach of the object, and the object is attached to the attachment site via the detection electrode and the spacer according to the information from the detection circuit. And a control circuit for controlling the operation of the movable member prior to the closest approach.

  In the approach control device according to the present invention, the control circuit performs control to stop the operation of the movable member, and the interval formed by the spacer is determined by the relative pressing of the object by the object. The distance is set such that the actual operation of the movable member is stopped by the control by the control circuit until the most contraction in the surface direction of the part.

  Further, in the approach control device according to the present invention, the control circuit performs control to stop the operation of the movable member, and an interval formed by the spacer is the interval by the relative pressing by the object. It may be set to a distance at which the actual operation of the movable member stops by the control by the control circuit until it disappears.

  The proximity sensor according to the present invention is disposed on the surface side of the attached part on the movable member side, and detects a capacitance approaching an object approaching the attached part, the detection electrode, and the attached part. And a spacer that forms a predetermined interval between the surface of the attachment site and the detection electrode, and a capacitance change due to the approach of the object based on a detection signal from the detection electrode. And a detection circuit for outputting the corresponding information.

  In addition, you may provide the guard electrode which shields the detection of the back surface side of this detection electrode while being insulated from the said detection electrode between the surface of the said to-be-attached part, and the said spacer.

  Further, the spacer may be provided with a guard electrode that is insulated from the detection electrode and shields detection on the back surface side of the detection electrode.

  In this case, the spacer is interposed between the detection electrode and the guard electrode, for example, and forms a predetermined interval between the guard electrode and the detection electrode, and the guard electrode and the covered electrode. And a second spacer which is interposed between the attachment site and forms a predetermined interval between the attachment site and the guard electrode.

  For example, the guard electrode is applied with the same potential as the detection electrode, a ground potential, or a predetermined fixed potential.

  The spacer is made of an elastic insulator, for example.

  At least the detection electrode of the detection electrode, the spacer, and the guard electrode is covered with a cover member, for example.

  The attached portion is made of, for example, a resin molded member.

  Moreover, the said attachment site | part consists of metal members, for example.

  For example, the detection electrode, the spacer, and the detection circuit may be further provided with a mounting portion that can be mounted integrally to the mounted site.

  In addition, the mounting portion may be configured such that the guard electrode can also be mounted integrally to the attachment site.

  ADVANTAGE OF THE INVENTION According to this invention, the approach control apparatus and approach sensor which can be comprised cheaply, can detect the approach of an object with high precision, and can aim at the accident prevention by the collision accompanying the contact with an object, etc. can be provided.

  Exemplary embodiments of an approach control device and an approach sensor according to the present invention will be explained below in detail with reference to the accompanying drawings.

  FIG. 1 is an explanatory view showing an industrial robot to which an example of an approach control device having an approach sensor according to an embodiment of the present invention is applied, FIG. 2 is a cross-sectional view taken along line AA ′ of FIG. 1, and FIG. FIG. 4 is a block diagram showing an example of the internal configuration of the capacitance detection circuit of the proximity sensor, and FIG. 5 is an operation showing an example of the operation waveform of the capacitance detection circuit. It is a waveform diagram.

  As shown in FIGS. 1 to 3, the approach control device according to the present embodiment is configured to include, for example, an approach sensor 10 and a control device 25, and is applied to an industrial robot 30 used in the manufacturing industry, industry, and the like. Yes. The proximity sensor 10 is attached so as to surround an outer periphery of a predetermined position of the arm 31 as an attachment site of the industrial robot 30 that is a movable member.

  The proximity sensor 10 is disposed on the surface side of the arm 31 of the industrial robot 30, detects the object F such as a human body approaching the arm 31 by capacitance, the detection electrode 11 and the arm 31. Between the surface 31 a of the arm 31 and the detection electrode 11, and a spacer 12 that forms a predetermined distance (distance) L, and a static signal due to the approach of the object F based on the detection signal from the detection electrode 11. And a detection circuit 20 that outputs information corresponding to a change in capacitance (capacitance change information).

  The detection electrode 11 has flexibility such as a flexible printed circuit board or a membrane circuit made of an insulator such as polyethylene terephthalate (PET), polyethylene naphthalate (PEN), polyimide (PI), polyamide (PA), or epoxy resin. It is made of a conductor such as copper, copper alloy, or aluminum patterned on a substrate (not shown). In addition, the detection electrode 11 may use a conductive material such as a simple electric wire.

  The spacer 12 is made of an elastic insulator having both a contracting force and a repulsive force, such as sponge and rubber, and a low-repulsive sponge is used in this example. The surface side of the detection electrode 11 is covered with an exterior cover 13 made of a material such as nylon, and the outer side of the exterior cover 13 is, for example, two magics for fixing the proximity sensor 10 to the arm 31. It is bound by tape 19.

  The detection circuit 20 is disposed on the same surface side or the opposite surface on the substrate on which the detection electrode 11 is formed. The detection circuit 20 outputs a capacitance detection circuit 21 that outputs information indicating the capacitance detected by the detection electrode 11 and a capacitance value based on the information output from the capacitance detection circuit 21. And an arithmetic processing circuit 22 that performs predetermined arithmetic processing and outputs information related to a change in capacitance used for control of the industrial robot 30 and other information to the control device 25.

  Therefore, the proximity sensor 10 is formed in a rectangular shape that can cover the surface of the arm 31 in the unfolded state, and the detection electrode 11, the spacer 12, and the detection circuit 20 are integrated with the arm 31. It is configured to be able to be installed. In this example, the arm 31 is made of, for example, a resin molded member.

  The control device 25 controls the operation of the industrial robot 30 before the object F comes closest to the arm 31 via the detection electrode 11 and the spacer 12 in accordance with the information from the detection circuit 20. Controls the entire robot 30. Specifically, the control device 25 mainly performs control to stop the operation of the industrial robot 30 in accordance with information from the detection circuit 20. Here, the detection circuit 20 and the control device 25 are electrically connected by a wire harness (not shown).

  In order to prevent the object F from being closest to the arm 31, the spacer 12 forms a predetermined interval L between the detection electrode 11 and the arm 31 as described above. For example, the interval L is as follows. Is set. That is, for example, the response speed of the detection circuit 20 is 1 mSec (milliseconds), the time until the arm 31 is actually stopped by the stop control from the control device 25 is 9 mSec, and the moving speed of the arm 31 is 1 mm / 1 mSec. If the thickness of the detection electrode 11 is ignored, the time until the arm 31 actually stops is 1 mSec + 9 mSec = 10 mSec.

  Since the moving speed of the arm 31 is as described above, a braking distance (idle running distance) of 10 mm is required until the arm 31 actually stops. Therefore, in the case of the above condition, the object F comes closest to (contacts) the arm 31 if the spacer 12 is formed to have a size in which the distance L is the thickness when the spacer is most contracted plus 10 mm or more. This makes it possible to avoid accidents caused by collisions.

  In practice, the above conditions vary depending on the characteristics of the industrial robot 30 and the like. Therefore, the distance L may be set optimally each time.

  Here, the capacitance detection circuit 21 of the detection circuit 20 generates, for example, a pulse signal whose duty ratio changes according to the capacitance between the detection electrode 11 and the object F, and smoothes the capacitance by generating a pulse signal. The detection signal shown is output. The arithmetic processing circuit 22 includes, for example, a CPU, a RAM, a ROM, and the like, and controls the robot 30 with respect to the control device 25 according to the capacitance value indicated by the detection signal output from the capacitance detection circuit 21. Various kinds of information (for example, emergency stop signal, power on / off signal, etc.) are output.

  As shown in FIG. 4, the capacitance detection circuit 21 has a duty ratio that changes according to the capacitance C. For example, the capacitance detection circuit 21 outputs a trigger signal TG having a constant cycle, and an input terminal. Is provided with a timer circuit 102 that outputs a pulse signal Po whose duty ratio changes depending on the size of the capacitance C connected to the, and a low-pass filter (LPF) 103 that smoothes the pulse signal Po. .

  The timer circuit 102 includes, for example, two comparators 201 and 202, and an RS flip-flop circuit (hereinafter referred to as “RS-FF”) in which outputs of the comparators 201 and 202 are input to a reset terminal R and a set terminal S, respectively. 203), a buffer 204 that outputs the output DIS of the RS-FF 203 to the LPF 103, and a transistor 205 that is on / off controlled by the output DIS of the RS-FF 203.

  The comparator 202 compares the trigger signal TG as shown in FIG. 5 output from the trigger signal generation circuit 101 with a predetermined threshold value Vth2 divided by the resistors R1, R2, and R3, and generates a trigger signal TG. Output synchronized set pulse. This set pulse sets the Q output of the RS-FF 203.

  This Q output turns off the transistor 205 as a discharge signal DIS, and the resistance R4 connected between the detection electrode 11 and the ground, between the grounding capacitance C of the detection electrode 11 and the input terminal and the power supply line. Charge at a speed determined by the time constant. As a result, the potential of the input signal Vin increases at a speed determined by the capacitance C.

  When the input signal Vin exceeds the threshold value Vth1 determined by the resistors R1, R2, and R3, the output of the comparator 201 is inverted and the output of the RS-FF 203 is inverted. As a result, the transistor 205 is turned on, and the charge accumulated in the detection electrode 11 is discharged through the transistor 205.

  Therefore, the timer circuit 102 outputs a pulse signal Po that oscillates at a duty ratio based on the capacitance C between the detection electrode 11 and the approaching object F, as shown in FIG. The LPF 103 smoothes this output to output a DC detection signal Vout as shown in FIG. In FIG. 5, a waveform indicated by a solid line and a waveform indicated by a dotted line indicate that the former has a smaller capacitance than the latter, and for example, the latter indicates an object approaching state.

  Since the detection electrode 11 can detect the approach of the object F before the object F comes closest, for example, the value of the resistance R4 in FIG. If it is set to be larger than the value when it is detected after being touched and pushed inward to some extent, the sensitivity regarding detection of the object F can be improved. As a result, the voltage output of the detection signal increases accordingly when the object F is not in contact with the exterior cover 13. In such a case, the presence of the object F can be detected even when the object F is not in contact with the exterior cover 13. it can. When the detection sensitivity is improved in this way, the thickness of the spacer 12 can be reduced as compared with the case where the spacer 12 is stopped from the time of contact, and the material cost can be further reduced.

  The control device 25 controls the operation of the industrial robot 30 based on the capacitance change information from the arithmetic processing circuit that performs various calculations related to the control of the industrial robot 30 by the detection signal Vout from the capacitance detection circuit 21. In order to stop, the operation of each drive motor (not shown) is controlled.

  Thus, according to the proximity control device having the proximity sensor 10 according to the present embodiment, the proximity sensor 10 having the detection electrode 11 and the spacer 12 can be configured at low cost, and the object F can be approached with high accuracy. It is possible to detect this, and it is possible to effectively prevent accidents caused by a collision associated with the closest approach (contact) between the object F and the arm 31.

  FIG. 6 is a partial cross-sectional view for explaining another example of the proximity sensor according to the embodiment of the present invention. In the following description, the same parts as those already described will be denoted by the same reference numerals and description thereof will be omitted, and parts not particularly related to the present invention may not be specified.

  As shown in FIG. 6, this proximity sensor 10 </ b> A basically has the same configuration as that of the proximity sensor 10 described above, except that a guard electrode 14 is provided in addition to the detection electrode 11. This is different from the proximity sensor 10 of the previous example. For example, the guard electrode 14 is insulated from the detection electrode 11 between the surface 31 a of the arm 31 and the spacer 12, and shields detection on the back surface side of the detection electrode 11.

  The guard electrode 14 is driven to the same potential as the detection electrode 11 by the detection circuit 20, or is driven at the ground potential or a predetermined fixed potential. By providing the guard electrode 14, even when the arm 31 is made of metal, the detection electrode 11 can satisfactorily detect the approach of the object F.

  For example, the spacer 12 may be provided with a guard electrode 14 that is insulated from the detection electrode 11 and shields detection on the back surface side of the detection electrode 11. Explained.

  FIG. 7 is an explanatory view showing an industrial robot to which an example of an approach control device having an approach sensor according to another embodiment of the present invention is applied, and FIG. 8 is a cross-sectional view taken along line B-B ′ of FIG. 7. The proximity sensor 10 </ b> B of this example is interposed between the detection electrode 11 and the guard electrode 14, and a first spacer 17 that forms a predetermined interval La between the guard electrode 14 and the detection electrode 11, and the guard electrode 14. Information corresponding to the change in capacitance due to the approach of the object F based on the detection signal from the detection electrode 11 and the second spacer 18 which is interposed between the arm 31 and the second spacer 18 which forms a predetermined distance Lb. And a detection circuit 20 that outputs (capacitance change information). That is, the spacer 12 described above has a two-part structure in which the first spacer 17 and the second spacer 18 are divided, and the guard electrode 14 is disposed therebetween. Therefore, the state is the same as when the guard electrode 14 is disposed in the spacer 12.

  Here, the detection electrode 11 and the guard electrode 14 are made of a conductor as described above, and other conductive materials such as a simple electric wire may be used. The first and second spacers 17 and 18 are similarly low. It consists of a repellent sponge. The surface side of the detection electrode 11 and the arm 31 side of the second spacer 18 are covered with an exterior cover 13 made of a material such as nylon, and the outer side of the exterior cover 13 connects, for example, the proximity sensor 10B to the arm 31. It is bound by two velcro tapes 19 which are fixing tools for fixing to the head.

  Note that the configuration, structure, operation, and the like of the detection circuit 20 are the same as those described above, and thus description thereof is omitted here.

  The proximity sensor 10B is formed in a rectangular shape in which, for example, the outer surface having a size capable of covering the surface 31a of the arm 31 is covered with the exterior cover 13 in the unfolded state. The detection electrode 11 and the first spacer 17, the guard electrode 14, the second spacer 18, and the detection circuit 20 are configured to be integrally mountable on the arm 31. In this example, the arm 31 is made of a metal member, for example.

  In response to information from the detection circuit 20, the control device 25 prior to the object F approaching (contacting) the arm 31 via the detection electrode 11, the first spacer 17, the guard electrode 14, and the second spacer 18. In addition to controlling the operation of the industrial robot 30, it controls the entire industrial robot 30. Since other configurations are the same, description thereof is omitted.

  In order to prevent the object F from approaching (contacting) the arm 31 closest to the arm 31, the proximity sensor 10B has the first spacer 17 that forms a predetermined interval La between the detection electrode 11 and the guard electrode 14 as described above. The spacer 18 forms a predetermined distance Lb between the guard electrode 14 and the arm 31, and has a distance L obtained by adding both the distances La and Lb. The setting of the distance L is also the same as that described above, and thus detailed description thereof is omitted here.

  That is, the distance L is, for example, under the above-described conditions, if the first and second spacers 17 and 18 are formed to have a distance L (interval La + Lb) of 10 mm or more. It is possible to avoid the closest approach (contact) to the arm 31 and to prevent an accident due to a collision or the like.

  Further, under the conditions as described above, the free length thickness of the first and second spacers 17 and 18 is, for example, L1, the thickness when these are most contracted is, for example, L2, and the distance L is L1-L2. Even if it is set to be equal to or greater than 10 mm, it is possible to similarly prevent accidents due to collisions. In practice, the above conditions vary depending on the characteristics of the industrial robot 30 and the like. Therefore, the distance L (interval La + Lb) may be set optimally each time.

  In the proximity sensor 10B, since the second spacer 18 is disposed between the surface 31a of the arm 31 made of a metal member and the guard electrode 14, the capacitance coupling between the guard electrode 14 and the arm 31 is reduced. can do. For this reason, the detection capability of the capacitance detection circuit 21 of the detection circuit 20 (such as the drive capability of the amplifier) does not have to be so high. For example, a commercially available capacitance detection circuit having high versatility can be used as the detection circuit. 20 can be used, and can be configured inexpensively and easily.

  Thus, according to the proximity control device having the proximity sensor 10B according to the present embodiment, the proximity sensor 10B having the detection electrode 11, the guard electrode 14, the first and second spacers 17, 18 and the like is configured at low cost. In addition, it is possible to detect the approach of the object F with high accuracy, and to effectively prevent accidents due to a collision caused by the closest approach while reliably preventing malfunction due to capacitive coupling between the object F and the arm 31. It becomes possible.

  FIG. 9 is a partial cross-sectional view for explaining still another example of the proximity sensor according to the embodiment of the present invention. The proximity sensor 10 </ b> C has substantially the same configuration as the proximity sensor 10 described above, but the spacers 12 provided over the entire surface between the detection electrode 11 and the surface 31 a of the arm 31 are arranged on the respective end sides. This is different from the proximity sensor 10 of the previous example in that a space 28 having a distance L is formed between the spacers 12. In this way, since the material cost of the spacer 12 can be reduced, it can be configured at a lower cost.

  FIG. 10 is an explanatory view showing a vehicle to which an example of an approach control device having an approach sensor according to an embodiment of the present invention is applied, and FIG. 11 is a cart to which an example of an approach control device having the approach sensor is applied. It is explanatory drawing shown. As shown in FIG. 10, detailed description of a specific mounting method is omitted for a bumper portion of a fuel-driven or electric vehicle 40 used for industrial, industrial, and amusement purposes. After the adhesive material or the like is applied to the proximity sensors 10, 10 </ b> A, 10 </ b> B, 10 </ b> C instead of the tape 19, the above-described proximity sensors 10 to 10 </ b> C are attached to the bumper portion and applied. The control device 25 may be mounted on 41. Then, for example, the vehicle 40 is stopped by the control unit 41 based on information obtained through the proximity sensor 10 and the control device 25 before an object (not shown) actually approaches (contacts) the bumper unit of the vehicle 40. You may control as follows.

  Further, as shown in FIG. 11, the same as described with reference to FIG. 10 on the entire outer surface of the base portion 52 of the fuel-driven or electric cart 50 used for industrial, industrial, and amusement purposes. You may make it control the operation | movement of the trolley | bogie 50 by applying the proximity sensor 10 grade | etc., Mentioned above, and mounting the control apparatus 25 in the control part 51 of this trolley | bogie 50. FIG. In this manner, the distance L between the spacers 12 such as the proximity sensor 10 and the first and second spacers 17 and 18 such as the proximity sensor 10B are adjusted in accordance with various conditions such as the moving speed and braking characteristics of the vehicle 40 and the carriage 50. If the distances La and Lb (distance L) are set and various other settings are made, and the contact control processing is performed by the control device 25, the body portion and the case of the vehicle 40 and the carriage 50 are directly objects. It is also possible to prevent accidents caused by collisions.

  As described above, according to the proximity sensors 10 to 10C and the proximity control device according to the present embodiment, the approach of the object F can be detected with high accuracy and the approach to the object F can be made closest (contact). It is possible to prevent accidents caused by associated collisions.

  In the above embodiment, the proximity sensor 10 or the like is described as being attached to the arm 31 or the like with an attachment such as a magic tape 19 or attached via an adhesive or the like, but is not limited thereto. It is not intended to be attached, but it can be attached using a predetermined fixture designed according to the attachment site (for example, a clip fitted and fixed in an attachment hole formed in the attachment site), or the arm 31 etc. The sensor 10 or the like may be subjected to processing dedicated to attachment, and both may be attached.

  The control device 25 may be configured in the detection circuit 20 such as the proximity sensor 10 so that various signals from the control device 25 can be transmitted to the control unit such as the industrial robot 30 regardless of wired or wireless. . In this case, the proximity sensor 10 or the like may be attached to the attachment site after newly installing a known signal transmission / reception circuit or the like in the detection circuit 20 such as the proximity sensor 10. In addition, the detection circuit 20 may be configured separately from the proximity sensor 10 or the like, and the signal from the detection electrode 11 or the like may be used as described above.

  As described above, the proximity sensor and the proximity control device according to the present invention are useful for industrial and industrial machines and the like, and are particularly suitable for operation stop control of industrial and industrial robots.

It is explanatory drawing which shows the industrial robot to which an example of the approach control apparatus which has a proximity sensor which concerns on one Embodiment of this invention was applied. It is A-A 'sectional drawing of FIG. It is a block diagram which shows the example of the whole structure of the proximity sensor. It is a block diagram which shows the example of an internal structure of the electrostatic capacitance detection circuit of the proximity sensor. It is an operation waveform diagram showing an example of an operation waveform of the capacitance detection circuit. It is a partial cross section figure for demonstrating the other example of the proximity sensor which concerns on one Embodiment of this invention. It is explanatory drawing which shows the industrial robot to which an example of the approach control apparatus which has a proximity sensor which concerns on other embodiment of this invention was applied. It is B-B 'sectional drawing of FIG. It is a partial cross section figure for demonstrating the further another example of the proximity sensor which concerns on one Embodiment of this invention. It is explanatory drawing which shows the vehicle to which an example of the approach control apparatus which has a proximity sensor which concerns on one Embodiment of this invention was applied. It is explanatory drawing which shows the trolley | bogie to which an example of the approach control apparatus which has the proximity sensor was applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Proximity sensor 11 Detection electrode 12 Spacer 13 Exterior cover 14 Guard electrode 17 1st spacer 18 2nd spacer 20 Detection circuit 21 Capacitance detection circuit 22 Arithmetic processing circuit 25 Controller 28 Space 30 Industrial robot 31 Arm 40 Vehicle 41, 51 Control unit 50 cart 52 platform

Claims (24)

A detection electrode that is disposed on the surface side of the movable member-side attached member and detects an object approaching the attached member by capacitance;
A spacer that is interposed between the detection electrode and the attachment site, and forms a predetermined interval between the surface of the attachment site and the detection electrode;
Based on a detection signal from the detection electrode, a detection circuit that outputs information according to a capacitance change due to the approach of the object;
A control circuit that controls the operation of the movable member prior to the object approaching the attachment site via the detection electrode and the spacer according to information from the detection circuit. An access control device characterized by. The control circuit performs control to stop the operation of the movable member,
The interval formed by the spacer is such that the actual operation of the movable member is stopped by the control by the control circuit until the spacer is most contracted in the direction of the surface of the attached portion by the relative pressing by the object. The approach control device according to claim 1, wherein the access control device is set to a distance. The control circuit performs control to stop the operation of the movable member,
The interval formed by the spacer is set to a distance at which the actual operation of the movable member stops by the control by the control circuit until the interval disappears due to the relative pressing by the object. The access control device according to claim 1.   The guard electrode which shields the detection of the back surface side of this detection electrode while being insulated from the said detection electrode between the surface of the said attachment site | part and the said spacer was provided. The access control device according to any one of the preceding claims.   The proximity control according to any one of claims 1 to 3, wherein the spacer includes a guard electrode that is insulated from the detection electrode and shields detection on the back side of the detection electrode. apparatus.   The spacer is interposed between the detection electrode and the guard electrode, and includes a first spacer that forms a predetermined interval between the guard electrode and the detection electrode, and the guard electrode and the attachment site. The access control device according to claim 5, further comprising a second spacer that is interposed therebetween and forms a predetermined interval between the attached portion and the guard electrode.   The access control device according to claim 4, wherein the guard electrode is provided with the same potential as the detection electrode, a ground potential, or a predetermined fixed potential.   The access control device according to claim 1, wherein the spacer is made of an elastic insulator.   The access control device according to claim 4, wherein at least the detection electrode of the detection electrode, the spacer, and the guard electrode is covered with a cover member.   The approach control device according to claim 1, wherein the attached portion is made of a resin molded member.   The approach control device according to claim 4, wherein the attached portion is made of a metal member.   The approach according to any one of claims 1 to 11, further comprising a mounting portion that allows the detection electrode, the spacer, and the detection circuit to be mounted integrally to the mounted site. Control device.   13. The access control device according to claim 12, wherein the mounting portion is configured such that the guard electrode can also be mounted integrally with the attachment site. A detection electrode that is disposed on the surface side of the mounted part on the movable member side and detects an object approaching the mounted part by capacitance;
A spacer that is interposed between the detection electrode and the attachment site, and forms a predetermined interval between the surface of the attachment site and the detection electrode;
And a detection circuit that outputs information corresponding to a change in capacitance due to the approach of the object based on a detection signal from the detection electrode.   The approach according to claim 14, further comprising a guard electrode which is insulated from the detection electrode and shields detection on the back side of the detection electrode between the surface of the attachment site and the spacer. Sensor.   The proximity sensor according to claim 14, further comprising a guard electrode that is insulated from the detection electrode and shields detection on the back side of the detection electrode in the spacer.   The spacer is interposed between the detection electrode and the guard electrode, and includes a first spacer that forms a predetermined interval between the guard electrode and the detection electrode, and the guard electrode and the attachment site. The proximity sensor according to claim 14, further comprising a second spacer that is interposed between the second part and the guard electrode.   The proximity sensor according to any one of claims 15 to 17, wherein the guard electrode is provided with the same potential as the detection electrode, or a ground potential or a predetermined fixed potential.   The proximity sensor according to claim 14, wherein the spacer is made of an elastic insulator.   The proximity sensor according to any one of claims 15 to 19, wherein at least the detection electrode of the detection electrode, the spacer, and the guard electrode is covered with a cover member.   The proximity sensor according to claim 14, wherein the attached portion is made of a resin molded member.   The proximity sensor according to any one of claims 15 to 20, wherein the attached portion is made of a metal member.   The approach according to any one of claims 14 to 22, further comprising a mounting portion that allows the detection electrode, the spacer, and the detection circuit to be mounted integrally to the attachment site. Sensor.   24. The proximity sensor according to claim 23, wherein the mounting portion is configured such that the guard electrode can also be mounted integrally with the attachment site.

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