JP2013122377A - Intervening sensor and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the size of an intervening sensor.SOLUTION: The intervening sensor includes: a first substrate; a second substrate; a detecting section for detecting force; and a wiring substrate having an output circuit that outputs a signal for the force detected by the detecting section, the detecting section and the wiring substrate being formed between the first and the second substrates. Further, a through-hole is formed in at least one of the first and second substrates, and a part of the wiring substrate (folded part) is folded into the through-hole. With this configuration, the folded part of the wiring substrate can be used as a space for forming the output circuit, and a harness can be passed through an empty space formed by the folded part. In this way, spaces for providing the detecting section, providing the output circuit, and passing the harness can be ensured, thereby reducing the size of the intervening sensor.

Description

  The present invention relates to an intervening sensor and a robot equipped with the intervening sensor.

  There is known a robot in which a hand for holding an object is mounted on the tip of an arm having a plurality of joints. This robot can move the hand or change the direction of the hand by moving a plurality of joints provided on the arm. Further, since various objects can be grasped by devising the shape of the hand, it is used in various fields for moving and attaching various objects.

  Here, in order to grip the object and move the arm, it is necessary to detect a force or moment applied to the arm based on the weight or inertia of the object. Therefore, a detection device (referred to as an intervening sensor) for detecting force and moment is interposed between the hand and the arm (or in the middle of the arm or at the arm mounting portion). The intervening sensor is formed of a piezoelectric material such as quartz and has a plurality of detecting portions for detecting force, and based on the force detected by these detecting portions, the force and moment applied to the intervening sensor are detected. be able to. (Patent Document 1).

  In recent years, robots are also required to be lighter and smaller, and accordingly, intervening sensors are also required to be smaller.

JP 2008-58106 A

  However, the intervening sensor has a problem that it is difficult to reduce the size for the following reasons. In other words, the intervening sensor must be provided with not only a detection unit for detecting force but also an output circuit for outputting a signal corresponding to the detected force. Since this output circuit has a plurality of electrical components such as an amplifier and a capacitor, and wiring for connecting them, a relatively wide space is required to provide the output circuit. Furthermore, a space for passing a bundle of wires (harness) for outputting a signal from the output circuit to the outside is also required. In order to secure these spaces, there is a problem that the intervening sensor becomes a certain size, so that further miniaturization is difficult.

  The present invention has been made to solve at least a part of the above-described problems of the prior art, and an object thereof is to provide an intervening sensor that can be reduced in size.

In order to solve at least a part of the problems described above, the intervening sensor of the present invention employs the following configuration. That is,
An intervening sensor that connects a first member and a second member and detects a force acting between the first member and the second member,
A first substrate connected to the first member;
A second substrate connected to the second member;
A detection unit provided between the first substrate and the second substrate for detecting a force acting between the first substrate and the second substrate;
A wiring board provided between the first board and the second board, on which an output circuit that outputs a signal corresponding to the force detected by the detection unit is formed;
With
A through hole is formed in at least one of the first substrate or the second substrate,
The gist of the invention is that the wiring board is formed with a folding portion that is folded into the through hole.

  In such an intervening sensor of the present invention, when a force is applied between the first substrate and the second substrate, the force is detected by the detection unit, and a signal is output from the output circuit of the wiring substrate. For this reason, based on the force (output of the output circuit) detected by the detection unit, the force acting between the first member and the second member can be detected. The detection unit and the wiring substrate may be provided separately between the first substrate and the second substrate, or the wiring substrate on which the detection unit is mounted is provided between the first substrate and the second substrate. May be. Here, the wiring board of the intervening sensor of the present invention is provided with a folding part, and this folding part is folded into a through hole formed in at least one of the first substrate and the second substrate.

  In this way, the folded portion of the wiring board can also be used as a space for forming the output circuit. And since the folding part is folded in the through-hole, a harness can also be passed through the space which the folding part was folded and was vacant. As a result, the space for providing the detection unit, the space for forming the output circuit, and the space for passing the harness can be secured, so that the intervening sensor can be reduced in size.

  Further, the intervening sensor of the present invention described above may be configured as follows. First, a wiring board is configured by connecting a plurality of small board parts and folding parts via connecting parts. And it is good also as bending a folding part in a connection part and inserting the bent folding part in the through-hole of a 1st board | substrate or a 2nd board | substrate. In addition, a folding part is inserted in a through-hole in the state bent or rounded along the inner periphery of a through-hole.

  In the wiring substrate of such an intervening sensor, a plurality of small substrate portions are linearly arranged before being bent. Therefore, when an electronic component or the like is installed on the wiring board, the electronic component or the like can be installed in a straight line, so that the wiring board can be easily manufactured.

  In the above-described intervening sensor of the present invention, a lead wire that outputs the output of the output circuit may be formed in at least a part of the folded portion of the wiring board.

  If it carries out like this, a lead wire can be pulled out of the intervening sensor from the through hole of the 1st substrate or the 2nd substrate. Therefore, when connecting the output circuit and external wiring (harness, etc.), it is not necessary to perform the connection work in a narrow region (inside the through hole), so that the connection can be easily performed.

  Moreover, the intervening sensor of the present invention described above can be manufactured in a small size. Therefore, if such an intervening sensor is mounted on a robot, a small robot can be obtained while detecting the force applied to the position where the intervening sensor is mounted.

It is explanatory drawing which showed the rough structure of the robot of a present Example. It is explanatory drawing which showed the structure of the interposition sensor of a present Example. It is explanatory drawing which compared before and after folding the folding part of the wiring board of a present Example. It is explanatory drawing which showed the shape of the wiring board of a 1st modification. It is explanatory drawing which showed the shape of the wiring board of a 2nd modification. It is explanatory drawing which showed the state which assembled | attached the wiring board of the 2nd modification to the interposition sensor.

  FIG. 1 is an explanatory diagram showing a rough configuration of the robot 10 of this embodiment. As illustrated, the robot 10 includes a robot hand 20 that grips an object, a main body 30, and an arm 40 provided between the robot hand 20 and the main body 30. The arm 40 is configured by connecting a plurality of rod-like link portions 42 via joint portions 44, the link portion 42 on the distal end side of the arm 40 is connected to the robot hand 20, and the link portion 42 on the base side is Connected to the main body 30. The joint portion 44 is provided with an actuator (not shown) for bending the joint portion 44. By driving the actuator to bend each joint portion 44, the robot hand 20 can be moved, The direction of the robot hand 20 is changed.

  Further, the robot 10 according to the present embodiment is provided with a device (an intervening sensor 100) for detecting force or moment between the link portion 42 on the distal end side of the arm 40 and the robot hand 20. The intervening sensor 100 has one side screwed to the link portion 42 and the other side screwed to the robot hand 20. Since the robot hand 20 and the arm 40 are thus connected via the intervening sensor 100, if the arm 40 is moved while the object is gripped, the force or moment applied to the arm 40 due to the weight or inertia of the object. Is transmitted to the intervening sensor 100. The intervening sensor 100 detects such a force or moment and outputs the result to a control unit (not shown) of the robot 10. The intervening sensor 100 is provided not only between the robot hand 20 and the link portion 42 on the distal end side of the arm 40 but also on the link portion 42 in the middle of the arm 40 and the link portion 42 on the base side of the arm 40. Thus, the force and moment detected by each intervening sensor 100 are output. The control unit of the robot 10 operates the arm 40 by controlling the movement of the joint unit 44 based on the output from the intervening sensor 100.

  FIG. 2 is an explanatory diagram showing the configuration of the intervening sensor 100 of the present embodiment. 2A shows an overall view of the intervening sensor 100 of the present embodiment, and FIG. 2B shows an exploded view. As shown in FIG. 2A, the intervening sensor 100 of this embodiment is roughly composed of two discs (first substrate 110 and second substrate 120), a wiring substrate 130, and the like. Yes. The first substrate 110 and the second substrate 120 are screwed with a plurality of bolts 140 with the wiring substrate 130 sandwiched therebetween. In this state, the first substrate 110 is screwed to the robot hand 20 (or the link portion 42 of the arm 40), and the second substrate 120 is screwed to the link portion 42. Note that FIG. 2A shows a screw hole 112 for screwing the first substrate 110 to the robot hand 20 (or the link part 42).

  Further, as shown in the exploded view of FIG. 2B, the first substrate 110 and the second substrate 120 are formed with through holes 114 and 124 in the center for passing a bundle of wires (harness). . In addition, a hole (through hole 134) is formed in the central portion of the wiring board 130 by folding the central folding portion 130 i with respect to the through hole 124 of the second substrate 120. A harness for moving the robot hand 20 is passed through these through holes 114, 124, and 134. Although the wiring board 130 of this embodiment is folded into the through hole 124 of the second substrate 120, the wiring board 130 may be folded into the through hole 114 of the first substrate 110.

  Crystals 500 for detecting the force applied to the intervening sensor 100 are installed at a plurality of locations (three locations in the illustrated example) on the upper surface (the surface on the first substrate 110 side) of the wiring substrate 130. These quartz crystals 500 are formed in a quadrangular shape, and are arranged so that one side of each quadrangular crystal 500 faces the center of the wiring board 130. In addition, since the crystal 500 is formed in a quadrangle, it can be easily confirmed whether or not the crystal 500 is in an appropriate direction in a state where the crystal 500 is installed on the wiring board 130. Note that the crystal 500 of this embodiment corresponds to the detection unit of the present invention.

  The crystal 500 is sandwiched between the lower surface of the first substrate 110 and the convex portion 126 provided on the upper surface of the second substrate 120 in a state where the first substrate 110 and the second substrate 120 are screwed together. The wiring board 130 is provided with a contact hole 136 at a location facing the convex portion 126 of the second board. For this reason, the convex portion 126 of the second substrate 120 directly contacts the crystal 500 without passing through the wiring substrate 130. In this state, a preload is applied to the crystal 500. Therefore, when the force applied to the crystal 500 is larger than the preload, it is detected that a force is applied in the direction of pushing the crystal 500, and the applied force is also applied. By being smaller than the preload, it is detected that a force is applied in a direction opposite to the direction in which the crystal 500 is pushed. Note that a convex portion may be provided on the lower surface of the first substrate 110, and the crystal 500 may be sandwiched between the convex portion and the convex portion 126 of the second substrate 120.

  The crystal 500 is connected to an output circuit formed on the wiring board 130. The output circuit includes electronic parts such as an amplifier, a capacitor, a resistor, and a connector, and outputs the force detected by each crystal 500 as a signal to a control unit (not shown) of the robot 10. A signal indicating a moment of force applied to the intervening sensor 100 is generated and output based on the magnitude and direction of the force detected by the two crystals 500.

  As described above, since the convex portion 126 of the second substrate directly contacts the crystal 500 without passing through the wiring substrate 130, a force can be applied to the crystal 500 without being affected by the deformation of the wiring substrate 130. . In addition, holes (guide holes 138) into which bolts 140 for screwing the first substrate 110 and the second substrate 120 can be inserted are provided at positions adjacent to the place where the crystal 500 is installed. For this reason, since the crystal 500 is positioned by the bolt 140 that pressurizes the crystal 500, the crystal 500 can be appropriately pressurized.

  FIG. 3 is an explanatory diagram comparing before and after folding the folding portion 130i of the wiring board 130 of the present embodiment. Before the folding part 130i of the wiring board 130 is folded, as shown in FIG. 3A, all the components such as the electronic component and the crystal 500 constituting the output circuit are placed on the flat base material. is set up. Then, when the folding portion 130 i provided at the center of the wiring board 130 is folded downward in the drawing, a large through hole 134 is formed at the center of the wiring board 130 as shown in FIG. As a result, a space for passing the harness through the center of the wiring board 130 is secured. In addition, since the folding part 130i is folded, as the wiring board 130, it is desirable to use FPC (flexible printed circuit board) formed with a flexible material.

  As described above, in the wiring board 130 of this embodiment, the space for passing the harness is ensured by folding the folding portion 130i, so that the folding portion 130i can be used as a space for installing electronic components. As a result, a sufficient space for installing electronic components can be secured, and the wiring board 130 can be made small. As a result, it is possible to reduce the size of the intervening sensor 100 on which the wiring board 130 is provided.

  Further, as shown in FIG. 3A, since the electronic parts and the crystal 500 are installed with the base material being flat, the electronic parts can be easily installed, and the wiring board 130 can be inspected. It becomes easy.

  Furthermore, when installing an electronic component in the folding part 130i, an electronic component taller than the crystal 500 can be installed. That is, when installing in parts other than the folding part 130i, if an electronic component taller than the crystal 500 is installed, the space | interval of the 1st board | substrate 110 and the 2nd board | substrate 120 will become wide, and the interposed sensor 100 will become thick. On the other hand, when installing an electronic component in the folding part 130i, the electronic component is disposed in the space inside the through hole 134, so there is no need to increase the interval between the first substrate 110 and the second substrate 120. The intervening sensor 100 does not become thick. In addition, if a connector for connecting the harness and the output circuit is provided in the folding part 130i of the wiring board 130, the connector can be directed toward the harness, so that the connector and the harness can be easily connected. it can.

  There are various modifications to the intervening sensor 100 of the above-described embodiment. Hereinafter, these modified examples will be briefly described. In the following modification, the description will be made focusing on a different part from the above-described intervening sensor 100 of the present embodiment, and the same configuration as the intervening sensor 100 of the present embodiment will be described by assigning the same number. Omitted.

  In the intervening sensor 100 of this embodiment described above, the crystal 500, the electronic component, and the like on the wiring board 130 are arranged in a circle around the central through hole 134 (see FIG. 2). However, if it is as follows, the crystal 500, electronic parts, etc. can also be arrange | positioned linearly.

  FIG. 4 is an explanatory view showing the shape of the wiring board 230 of the first modification. In the first modification, the wiring substrate 230 having the shape shown in FIG. 4A is bent at a plurality of locations to form the shape shown in FIG.

  As shown in FIG. 4A, the wiring board 230 of the first modified example before being bent includes three small board portions 230s, a folding portion 230i formed in an elongated rectangular shape, and a small board portion 230s. And a connecting part 230j for connecting the folding part 230i. In such a wiring board 230, the crystal 500 of the three small board portions 230s is arranged in a straight line, and the electronic components of the three small board portions 230s are arranged in a straight line (and in the same direction). . Then, the folded portion 230i of the wiring board 230 is formed into a cylindrical shape by being bent while being bent at an intermediate fold, and further, the wiring board 230 is folded at the boundary between the folded portion 230i and the connecting portion 230j, so that FIG. A wiring board 230 having a shape as shown is completed. In this state, the quartz crystal 500 is disposed so that one side of the quadrangle of the crystal 500 faces the center of the wiring board 230. The wiring board 230 is inserted into the through hole 124 of the second board 120 at a part where the folding part 230i is rounded into a cylindrical shape.

  If the wiring board 230 is formed in this way, the three crystals 500 and the electronic components can be arranged in the predetermined direction described above. Can be installed in a straight line. Therefore, the wiring board 230 can be easily manufactured. Moreover, if it is the state before bending, the test | inspection of the wiring board 230 can also be performed easily.

  In the above-described intervening sensor 100 of the present embodiment and the first modified example, the connector with the harness has been described as being provided in the folding portions 130i and 230i. However, the lead wires may be drawn from the folding portions 130i and 230i and connected to the harness.

  FIG. 5 is an explanatory view showing the shape of the wiring board 330 of the second modification. The illustrated wiring board 330 has a configuration in which a plurality of elongated lead wires 330r are added to the folding portion 330i with respect to the wiring board 230 of the first modified example. A connector 340 is provided at the tip of the lead wire 330r.

  FIG. 6 is an explanatory view showing a state in which the wiring board 330 of the second modified example is assembled to the intervening sensor 100. When the wiring board 330 shown in FIG. 5 is bent and completed and assembled to the intervening sensor 100, the lead wire 330r and the connector 340 are exposed from the through hole 124 of the second board 120 as shown in FIG. . Therefore, the work of connecting the harness and the connector 340 can be performed outside the intervening sensor 100. As a result, the work space becomes wider as compared with the case where the connection work is performed in the space (penetrating portion) inside the intervening sensor 100, and the work becomes easy.

  Although the intervening sensor of the present invention has been described above, the present invention is not limited to the above-described embodiments and modifications, and can be implemented in various modes without departing from the gist thereof. For example, in the intervening sensors of the above-described embodiments and modifications, it has been described that the wiring board is formed as a single member. However, the wiring board does not need to be a single member as long as the folded portion is formed. Therefore, for example, the wiring board may be divided into a plurality of parts.

10 ... Robot, 20 ... Robot hand, 30 ... Main unit,
40 ... arm, 42 ... link part, 44 ... joint part,
100: Intervening sensor 110: First substrate 112: Screw hole
114 ... through hole, 120 ... second substrate, 124 ... through hole,
126 ... convex part, 130 ... wiring board, 130i ... folding part,
134 ... through hole, 136 ... contact hole, 138 ... guide hole,
140 ... bolt, 230 ... wiring board, 230i ... folding part,
230j ... connection part, 230s ... small substrate part, 330 ... wiring board,
330i ... Folding part, 330r ... Lead wire, 340 ... Connector 500 ... Crystal

Claims (4)

An intervening sensor that connects a first member and a second member and detects a force acting between the first member and the second member,
A first substrate connected to the first member;
A second substrate connected to the second member;
A detection unit provided between the first substrate and the second substrate for detecting a force acting between the first substrate and the second substrate;
A wiring board provided between the first board and the second board, on which an output circuit that outputs a signal corresponding to the force detected by the detection unit is formed;
With
A through hole is formed in at least one of the first substrate or the second substrate,
The interposition sensor, wherein the wiring board is formed with a folding portion that is folded into the through hole. The intervening sensor according to claim 1,
The wiring board is
The folding part;
A plurality of small board parts;
A plurality of connecting portions connecting the small substrate portion and the folding portion;
With
The interposition sensor, wherein the folding part is bent at the connection part and inserted into the through hole. The interposition sensor according to claim 1 or 2, wherein a lead wire that outputs an output of the output circuit is formed in at least a part of the folding portion.   A robot comprising the intervening sensor according to any one of claims 1 to 3.

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