JP2017123715A5 - - Google Patents
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- Publication number
- JP2017123715A5 JP2017123715A5 JP2016000887A JP2016000887A JP2017123715A5 JP 2017123715 A5 JP2017123715 A5 JP 2017123715A5 JP 2016000887 A JP2016000887 A JP 2016000887A JP 2016000887 A JP2016000887 A JP 2016000887A JP 2017123715 A5 JP2017123715 A5 JP 2017123715A5
- Authority
- JP
- Japan
- Prior art keywords
- arm
- base
- piezoelectric actuator
- obstacle
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Claims (8)
前記圧電アクチュエーターからの駆動力により前記圧電アクチュエーターに対して相対的に移動する被駆動部と、
前記圧電アクチュエーターから発信される超音波信号を受信する受信部と、
前記受信部からの出力信号により障害物の有無を判断する判断部と、を備えていること
を特徴とする駆動装置。 A pressure electrostatic actuator over,
A driven portion that moves relative to the piezoelectric actuator by a driving force from the piezoelectric actuator ;
A receiver for receiving an ultrasonic signal transmitted from the piezoelectric actuator ;
And a determination unit that determines the presence or absence of an obstacle based on an output signal from the reception unit.
前記判断部は、前記記憶部に記憶されている前記基準超音波信号と、前記被駆動部の移動中に前記受信部が受信した前記超音波信号に基づく前記受信部からの出力信号とに差がある場合に、前記障害物が存在すると判断し、判断信号を出力することを特徴とする請求項１に記載の駆動装置。 The ultrasonic signal received if there is no previous SL obstacle, comprising a storage unit that stores as a reference ultrasonic signal,
The determination unit includes: the reference ultrasonic signal stored in the storage unit, and the output signal from the receiving portion the receiving portion during the movement is based on the ultrasonic signals received in the driven part 2. The driving apparatus according to claim 1, wherein when there is a difference between the two, it is determined that the obstacle exists and a determination signal is output.
求項３のいずれか一項に記載の駆動装置。 The drive device according to any one of claims 1 to 3, wherein a plurality of the piezoelectric actuators are arranged.
前記基台に接続されている関節部と、
前記基台に前記関節部を介して接続され、前記基台に対して相対移動可能な第１アームと、
請求項１ないし請求項４のいずれか一項に記載の駆動装置と、を備え、
前記関節部に、前記駆動装置の前記圧電アクチュエーターが備えられていることを特徴
とするロボット。 The base ,
A joint connected to the base ;
The connected base to via the joint portion, a first arm movable relative the base,
A drive device according to any one of claims 1 to 4,
The robot characterized in that the joint portion is provided with the piezoelectric actuator of the driving device.
前記関節部が、前記第１アームと前記第２アームとの間、および前記第２アームと前記基台との間に配置されていることを特徴とする請求項５に記載のロボット。 A second arm which is movable relative to the first arm and is located between the first arm and the base ;
The robot according to claim 5 , wherein the joint portion is disposed between the first arm and the second arm and between the second arm and the base .
前記第１アームの可動範囲内に前記障害物が有ると前記判断部が判断したときに、前記第１アームと前記障害物との衝突を回避する制御を行うアーム制御部を備えていることを特徴とする請求項７に記載のロボット。 The receiver is disposed on the first arm;
When it is determined the previous SL determination unit when the obstacle within the movable range of the first arm there, includes the arm control unit that performs you avoid control a collision between the first arm and the obstacle robot according to claim 7, characterized in that there.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016000887A JP6714815B2 (en) | 2016-01-06 | 2016-01-06 | Drive device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016000887A JP6714815B2 (en) | 2016-01-06 | 2016-01-06 | Drive device and robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017123715A JP2017123715A (en) | 2017-07-13 |
| JP2017123715A5 true JP2017123715A5 (en) | 2019-02-07 |
| JP6714815B2 JP6714815B2 (en) | 2020-07-01 |
Family
ID=59305868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016000887A Active JP6714815B2 (en) | 2016-01-06 | 2016-01-06 | Drive device and robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6714815B2 (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05345293A (en) * | 1992-06-15 | 1993-12-27 | Yaskawa Electric Corp | Collision prevention of industrial robot |
| JP3087484B2 (en) * | 1992-12-25 | 2000-09-11 | セイコーエプソン株式会社 | Micro robot |
| JP3986848B2 (en) * | 2001-09-13 | 2007-10-03 | シャープ株式会社 | Group robot system and pheromone robot used in it |
| JP2004015092A (en) * | 2002-06-03 | 2004-01-15 | Asmo Co Ltd | Welfare tool and walking stick |
| JP2006142913A (en) * | 2004-11-17 | 2006-06-08 | Ishikawajima Harima Heavy Ind Co Ltd | Small flight machine |
| JP2009136939A (en) * | 2007-12-04 | 2009-06-25 | Toyota Industries Corp | Robot hand |
| JP5609238B2 (en) * | 2010-04-27 | 2014-10-22 | 日本電気株式会社 | Optical structure, portable terminal, and lens position detection method |
| JP6268999B2 (en) * | 2013-12-06 | 2018-01-31 | セイコーエプソン株式会社 | Piezoelectric motor, robot hand, robot, finger assist device, electronic component transport device, electronic component inspection device, liquid feed pump, printing device, electronic clock, projection device |
-
2016
- 2016-01-06 JP JP2016000887A patent/JP6714815B2/en active Active
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