JP2019174472A5 - Sensors, robots, robot systems, manufacturing methods for articles using robot systems, sensor control methods, structures, programs and recording media - Google Patents
Sensors, robots, robot systems, manufacturing methods for articles using robot systems, sensor control methods, structures, programs and recording media Download PDFInfo
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- JP2019174472A5 JP2019174472A5 JP2019061553A JP2019061553A JP2019174472A5 JP 2019174472 A5 JP2019174472 A5 JP 2019174472A5 JP 2019061553 A JP2019061553 A JP 2019061553A JP 2019061553 A JP2019061553 A JP 2019061553A JP 2019174472 A5 JP2019174472 A5 JP 2019174472A5
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- 238000000034 method Methods 0.000 title claims 5
- 238000004519 manufacturing process Methods 0.000 title claims 3
- 239000003638 chemical reducing agent Substances 0.000 claims 6
- 238000001514 detection method Methods 0.000 claims 5
- 239000011800 void material Substances 0.000 claims 3
- 239000000463 material Substances 0.000 claims 2
- 239000000945 filler Substances 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
- 229910001220 stainless steel Inorganic materials 0.000 claims 1
- 239000010935 stainless steel Substances 0.000 claims 1
Description
上記課題を解決するために本発明においては、力に関する情報を取得するセンサであって、複数の弾性体と、前記弾性体を連結する第１部材と、前記第１部材に連結される第２部材と、を有している、ことを特徴とするセンサを採用した。 In order to solve the above problems, in the present invention, a sensor for acquiring information on a force , a plurality of elastic bodies, a first member connecting the elastic bodies, and a second member connected to the first member. We adopted a sensor characterized by having a member and .
Claims (34)
複数の弾性体と、
前記弾性体を連結する第１部材と、前記第１部材に連結される第２部材と、を有している、
ことを特徴とするセンサ。 A sensor that acquires information about force
With multiple elastic bodies,
It has a first member that connects the elastic body and a second member that is connected to the first member.
A sensor characterized by that .
前記第２部材は円形である、
ことを特徴とするセンサ。 In the sensor according to claim 1,
The second member is circular.
A sensor characterized by that .
前記第２部材はリング状である、
ことを特徴とするセンサ。 In the sensor according to claim 1 or 2.
The second member has a ring shape.
A sensor characterized by that .
前記第１部材と前記第２部材とは、ボルトにより連結される、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 3.
The first member and the second member are connected by bolts.
A sensor characterized by that .
前記第１部材と前記第２部材とには締結孔が設けられている、
ことを特徴とするセンサ。 In the sensor according to claim 4,
Fastening holes are provided in the first member and the second member.
A sensor characterized by that .
前記第２部材は、前記センサを他の装置へ設ける際のフランジ部位として機能する、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 5.
The second member functions as a flange portion when the sensor is provided in another device.
A sensor characterized by that .
前記第１部材は、前記第２部材と前記弾性体とにより挟まれている、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 6.
The first member is sandwiched between the second member and the elastic body.
A sensor characterized by that .
前記第２部材の径方向における剛性が、前記第２部材の円周方向における剛性よりも小さい、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 7.
The radial rigidity of the second member is smaller than the circumferential rigidity of the second member.
A sensor characterized by that .
前記第２部材には、減速機からの駆動が、前記弾性体および前記第１部材に伝達される前に伝達される、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 8.
The drive from the speed reducer is transmitted to the second member before being transmitted to the elastic body and the first member.
A sensor characterized by that .
前記センサは前記減速機に接続されて使用され、
前記減速機は波動歯車を用いた減速機である、
ことを特徴とするセンサ。 In the sensor according to claim 9,
The sensor is used by being connected to the speed reducer.
The speed reducer is a speed reducer using a wave gear.
A sensor characterized by that .
前記第２部材は、
前記減速機と締結するための第１締結孔と、
空隙と、を有しており、
前記空隙は、前記第１締結孔に対して、前記第２部材の径方向において内側と外側に１つずつ設けられている、
ことを特徴とするセンサ。 In the sensor according to claim 9 or 10.
The second member is
A first fastening hole for fastening to the speed reducer,
It has a void and
The gap is provided one inside and one outside in the radial direction of the second member with respect to the first fastening hole.
A sensor characterized by that .
前記第２部材は、
前記第１部材と締結するための第２締結孔を有し、
前記第１締結孔と前記第２締結孔は、前記第２部材の円周方向に交互に配列されている、
ことを特徴とするセンサ。 In the sensor according to claim 11,
The second member is
It has a second fastening hole for fastening to the first member.
The first fastening hole and the second fastening hole are alternately arranged in the circumferential direction of the second member.
A sensor characterized by that .
前記第１締結孔は、前記径方向に長い長穴形状であり、弾性変形可能な充填剤が塗布されている、
ことを特徴とするセンサ。 In the sensor according to claim 11 or 12.
The first fastening hole has an elongated hole shape that is long in the radial direction, and is coated with an elastically deformable filler.
A sensor characterized by that .
前記第２部材は、
前記第１部材の周りに配置されて前記第１部材と連結されており、
減速機と締結するための第１締結孔と、
空隙と、を有しており、
前記空隙は、前記第１締結孔の周りの一部を囲うように設けられている、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 3.
The second member is
It is arranged around the first member and connected to the first member.
The first fastening hole for fastening to the reducer,
It has a void and
The void is provided so as to surround a part around the first fastening hole.
A sensor characterized by that .
前記第１部材と前記第２部材とは、前記空隙の周りに配置された梁によって連結されている、
ことを特徴とするセンサ。 In the sensor according to claim 14,
The first member and the second member are connected by a beam arranged around the gap.
A sensor characterized by that .
前記第２部材の厚さは、前記弾性体の前記第２部材の厚み方向の長さ以下である、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 15.
The thickness of the second member is equal to or less than the length of the elastic body in the thickness direction of the second member.
A sensor characterized by that .
前記第２部材の厚さは、前記第１部材の厚さ以下である、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 16.
The thickness of the second member is equal to or less than the thickness of the first member.
A sensor characterized by that .
前記第２部材の厚さ方向において前記第１部材の反対側で前記弾性体を連結する第３部材を備え、
前記第２部材の厚さは、前記第２部材の厚さ方向における前記第１部材と前記第３部材との距離以下である、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 17.
A third member for connecting the elastic body on the opposite side of the first member in the thickness direction of the second member is provided.
The thickness of the second member is not less than or equal to the distance between the first member and the third member in the thickness direction of the second member.
A sensor characterized by that .
前記第１部材と前記第３部材との間の所定位置に、前記第１部材と前記第３部材との相対移動量を検出する検出ユニットが設けられており、
前記検出ユニットは、前記第１部材と前記第３部材のどちらか一方に固定された検出部と、他方に固定された被検出部とを備えている、
ことを特徴とするセンサ。 In the sensor of claim 18,
A detection unit for detecting the relative movement amount between the first member and the third member is provided at a predetermined position between the first member and the third member.
The detection unit includes a detection unit fixed to either one of the first member and the third member, and a detection unit fixed to the other.
A sensor characterized by that .
前記相対移動量から、前記第１部材と前記第２部材とに作用する前記力に関する情報を取得する、
ことを特徴とするセンサ。 In the sensor of claim 19,
Information on the force acting on the first member and the second member is acquired from the relative movement amount.
A sensor characterized by that .
前記検出部は発光素子と受光素子を備え、
前記被検出部はスケールである、
ことを特徴とするセンサ。 In the sensor of claim 19 or 20,
The detection unit includes a light emitting element and a light receiving element, and has a light emitting element.
The detected portion is a scale.
A sensor characterized by that .
前記第２部材の厚さは、数ｍｍである、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 21,
The thickness of the second member is several mm.
A sensor characterized by that .
前記第２部材の厚さは、３ｍｍまたは４ｍｍである、
ことを特徴とするセンサ。 In the sensor according to claim 22,
The thickness of the second member is 3 mm or 4 mm.
A sensor characterized by that .
前記第２部材の材質は、金属である、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 23,
The material of the second member is metal.
A sensor characterized by that .
前記第２部材の材質は、ステンレス鋼である、
ことを特徴とするセンサ。 In the sensor according to claim 24,
The material of the second member is stainless steel.
A sensor characterized by that .
前記第２部材の剛性は、前記第１部材の剛性よりも小さい、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 23,
The rigidity of the second member is smaller than the rigidity of the first member.
A sensor characterized by that .
前記力に関する情報は、トルクに関する情報である、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 26,
The information regarding the force is information regarding torque.
A sensor characterized by that .
前記センサは、
複数の弾性体と、
前記弾性体を連結する第１部材と、前記第１部材に連結される第２部材と、を有しており、
前記弾性体の変形に基づき前記力に関する情報を取得する、
ことを特徴とする制御方法。 It is a control method of a sensor that acquires information about force.
The sensor is
With multiple elastic bodies,
It has a first member that connects the elastic body and a second member that is connected to the first member.
Obtaining information about the force based on the deformation of the elastic body,
A control method characterized by that .
複数の弾性体と、
前記弾性体を連結する第１部材と、前記第１部材に連結される第２部材と、を有している、
ことを特徴とする構造体。 A structure for acquiring information about force,
With multiple elastic bodies,
It has a first member that connects the elastic body and a second member that is connected to the first member.
A structure characterized by that .
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018064216 | 2018-03-29 | ||
| JP2018064216 | 2018-03-29 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019174472A JP2019174472A (en) | 2019-10-10 |
| JP2019174472A5 true JP2019174472A5 (en) | 2022-03-31 |
| JP7254579B2 JP7254579B2 (en) | 2023-04-10 |
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| JP2019061553A Active JP7254579B2 (en) | 2018-03-29 | 2019-03-27 | Sensor, robot, robot system, manufacturing method of article using robot system, sensor control method, structure, program and recording medium |
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| JP (1) | JP7254579B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4050311A4 (en) * | 2019-10-24 | 2023-07-26 | Kabushiki Kaisha Yaskawa Denki | Torque sensor, robot, and torque computation method |
| WO2023074781A1 (en) | 2021-10-27 | 2023-05-04 | キヤノン株式会社 | Sensor, apparatus, system, and method for manufacturing article |
| US20230129177A1 (en) | 2021-10-27 | 2023-04-27 | Canon Kabushiki Kaisha | Sensor, device, system, and manufacturing method for product |
| CN114544058A (en) * | 2022-02-14 | 2022-05-27 | 上海非夕机器人科技有限公司 | Torque sensor device, joint, robot and deformation measurement method |
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| JP6525940B2 (en) * | 2015-11-18 | 2019-06-05 | キヤノン株式会社 | Sensor, drive mechanism, and robot |
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