JP2017170596A5 - - Google Patents

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Publication number
JP2017170596A5
JP2017170596A5 JP2016062310A JP2016062310A JP2017170596A5 JP 2017170596 A5 JP2017170596 A5 JP 2017170596A5 JP 2016062310 A JP2016062310 A JP 2016062310A JP 2016062310 A JP2016062310 A JP 2016062310A JP 2017170596 A5 JP2017170596 A5 JP 2017170596A5
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JP
Japan
Prior art keywords
robot according
pressure
space
disposed
movable portion
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.)
Withdrawn
Application number
JP2016062310A
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Japanese (ja)
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JP2017170596A (en
Filing date
Publication date
Application filed filed Critical
Priority to JP2016062310A priority Critical patent/JP2017170596A/en
Priority claimed from JP2016062310A external-priority patent/JP2017170596A/en
Priority to EP17162546.0A priority patent/EP3222394A3/en
Priority to US15/468,579 priority patent/US20170274536A1/en
Priority to CN201710184060.7A priority patent/CN107263549A/en
Publication of JP2017170596A publication Critical patent/JP2017170596A/en
Publication of JP2017170596A5 publication Critical patent/JP2017170596A5/ja
Withdrawn legal-status Critical Current

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Claims (11)

可動部と、
前記可動部に配置されている第１部材と、
前記第１部材に対して前記可動部とは反対側に配置されている第２部材と、
前記第１部材と前記第２部材との間に位置し、前記第１部材から離間する方向への前記第２部材の変位を規制する第３部材と、
前記第１部材と前記第２部材との間にある空間の圧力を検出する圧力検出部と、
前記空間の内外を連通する開口部と、を有していることを特徴とするロボット。 A movable part,
A first member disposed in the movable portion;
A second member disposed opposite to the movable portion with respect to the first member;
A third member for restricting the displacement of said first member positioned between the second member, pre-Symbol the second member in a direction away from the first member,
A pressure detecting unit for detecting the pressure between air in between the second member and the first member,
And an opening communicating with the inside and outside of the space. 前記空間は、前記第１部材と前記第２部材とで囲まれている請求項１に記載のロボット。   The robot according to claim 1, wherein the space is surrounded by the first member and the second member. 前記第３部材は、前記第１部材に固定されている請求項１または２に記載のロボット。   The robot according to claim 1, wherein the third member is fixed to the first member. 前記空間は、複数に仕切られている請求項１ないし３のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 3, wherein the space is divided into a plurality of spaces. 前記圧力検出部は、前記第２部材に配置されている請求項１ないし４のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 4, wherein the pressure detection unit is disposed on the second member. 前記圧力検出部は、前記第１部材に配置されている請求項１ないし４のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 4, wherein the pressure detection unit is disposed on the first member. 前記可動部の一部が前記第１部材を兼ねている請求項１ないし６のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 6, wherein a part of the movable portion doubles as the first member. 前記第３部材は、発泡体を含んでいる請求項１ないし６のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 6, wherein the third member includes a foam. 前記第３部材と前記第２部材との固定部が複数設けられている請求項１ないし８のいずれか１項に記載のロボット。   The robot according to any one of claims 1 to 8, wherein a plurality of fixing portions between the third member and the second member are provided. 前記開口部は、開口面積が変化可能である請求項１ないし９のいずれか１項に記載のロボット。 The opening, the robot according to any one of claims 1 to 9 opening area is variable. 第１部材と、
可撓性を有する第２部材と、
前記第１部材と前記第２部材との間に位置し、前記第１部材から離間する方向への前記第２部材の変位を規制する第３部材と、
前記第１部材と前記第２部材との間にある空間の圧力を検出する圧力検出部と、
前記空間の内外を連通する開口部と、を有していることを特徴とする外力検知装置。 A first member,
A second member having flexibility ;
A third member for restricting the displacement of said first member positioned between the second member, pre-Symbol the second member in a direction away from the first member,
A pressure detecting unit for detecting the pressure between air in between the second member and the first member,
And an opening communicating the inside and the outside of the space.
JP2016062310A 2016-03-25 2016-03-25 Robot and external force detection device Withdrawn JP2017170596A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2016062310A JP2017170596A (en) 2016-03-25 2016-03-25 Robot and external force detection device
EP17162546.0A EP3222394A3 (en) 2016-03-25 2017-03-23 Robot and external-force detecting device
US15/468,579 US20170274536A1 (en) 2016-03-25 2017-03-24 Robot and external-force detecting device
CN201710184060.7A CN107263549A (en) 2016-03-25 2017-03-24 Robot and external force detection device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016062310A JP2017170596A (en) 2016-03-25 2016-03-25 Robot and external force detection device

Publications (2)

Publication Number Publication Date
JP2017170596A JP2017170596A (en) 2017-09-28
JP2017170596A5 true JP2017170596A5 (en) 2019-05-09

Family

ID=59972598

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016062310A Withdrawn JP2017170596A (en) 2016-03-25 2016-03-25 Robot and external force detection device

Country Status (1)

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JP (1) JP2017170596A (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6794800B2 (en) * 2016-11-29 2020-12-02 セイコーエプソン株式会社 robot
JP6456467B1 (en) * 2017-12-08 2019-01-23 フォシャン センシックフュージョン テクノロジー カンパニー，リミテッド Force sensor array
JP6854488B2 (en) * 2018-10-24 2021-04-07 株式会社三重ロボット外装技術研究所 Contact detector

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6133894A (en) * 1984-07-25 1986-02-17 神鋼電機株式会社 Safety arm and safety hand for industrial robot
JPH0445834Y2 (en) * 1986-12-25 1992-10-28
JP2002052009A (en) * 2000-08-07 2002-02-19 Hitachi Ltd Air mat for measuring subject data
JP2004358634A (en) * 2003-06-06 2004-12-24 Akito Sano Soft finger with built-in tactile sensor
EP1810795A1 (en) * 2006-01-19 2007-07-25 Abb Ab Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas
JP5071255B2 (en) * 2008-06-16 2012-11-14 株式会社豊田自動織機 Tactile sensor mechanism for robot hand and robot having tactile sensor mechanism for robot hand
JP5777331B2 (en) * 2010-12-03 2015-09-09 山口　仁一 Finger unit and gripping device
FR3016039B1 (en) * 2013-12-26 2017-02-10 European Aeronautic Defence & Space Co Eads France IMPACT DETECTION SYSTEM FOR ROBOTIC DEVICE
AT516097B1 (en) * 2014-07-03 2016-09-15 Blue Danube Robotics Gmbh Protection method and protective device for handling equipment

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