JP2020015145A5 - Sensors, sensor control methods, robot hands, robot hand control methods, robot devices, article control methods using robot devices, structures, control programs and recording media. - Google Patents
Sensors, sensor control methods, robot hands, robot hand control methods, robot devices, article control methods using robot devices, structures, control programs and recording media. Download PDFInfo
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- JP2020015145A5 JP2020015145A5 JP2018140572A JP2018140572A JP2020015145A5 JP 2020015145 A5 JP2020015145 A5 JP 2020015145A5 JP 2018140572 A JP2018140572 A JP 2018140572A JP 2018140572 A JP2018140572 A JP 2018140572A JP 2020015145 A5 JP2020015145 A5 JP 2020015145A5
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Description
そこで本発明は上記課題に鑑み、ロボットハンドの指部に３軸力センサを設ける際、３軸力センサを設ける位置、指部に発生する力の作用点によらず、正確に３軸方向の力を検出可能なセンサ、ロボットハンドを提供することにある。 Therefore, in view of the above problems, in view of the above problems, when the 3-axis force sensor is provided on the finger portion of the robot hand, the robot hand is accurately oriented in the 3-axis direction regardless of the position where the 3-axis force sensor is provided and the point of action of the force generated on the finger portion. The purpose is to provide a sensor capable of detecting force and a robot hand.
上記課題を解決するために本発明においては、力を検出するための情報を取得するセンサであって、第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、を備えている、ことを特徴とするセンサを採用した。また、力を検出するための情報を取得するセンサを備えたロボットハンドであって、前記センサは、第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、を備えている、ことを特徴とするロボットハンドを採用した。 In order to solve the above problems, in the present invention, it is a sensor that acquires information for detecting a force, and has a first direction and a second direction that intersects the first direction with respect to the first member. With respect to the second member connected to the second member so as to be relatively movable and the third member fixed to the second member, relative to the first direction and the third direction intersecting the second direction. A sensor characterized by having a fourth member movably connected and provided is adopted. Further, it is a robot hand provided with a sensor for acquiring information for detecting a force, and the sensor has a first direction with respect to the first member and a second direction intersecting with the first direction. With respect to the second member connected so as to be relatively movable and the third member fixed to the second member, the second member moves relatively in the first direction and the third direction intersecting the second direction. We have adopted a robot hand that is characterized by having a fourth member that is possibly connected.
本発明は、センサ、ロボットハンドに関する。 The present invention relates to a sensor and a robot hand.
Claims (29)
第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、
前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、を備えている、
ことを特徴とするセンサ。 It is a sensor that acquires information for detecting force.
For the first member, a first direction, a second member and the second direction, which is relatively movably connected to intersecting the first direction,
The third member fixed to the second member is provided with a fourth member connected so as to be relatively movable in the first direction and the third direction intersecting the second direction.
A sensor characterized by that.
前記第２部材およびまたは前記第４部材の移動と共に移動する第５部材を備えている、A fifth member that moves with the movement of the second member and / or the fourth member.
ことを特徴とするセンサ。A sensor characterized by that.
前記第５部材は、一部が前記第２部材の内部に配置され、一部が前記第４部材に設けられている、A part of the fifth member is arranged inside the second member, and a part of the fifth member is provided in the fourth member.
ことを特徴とするセンサ。A sensor characterized by that.
前記第５部材は、前記第２部材による前記第１方向およびまたは前記第２方向の移動が伝達されることで、前記第１方向およびまたは前記第２方向に移動する、The fifth member moves in the first direction and / or the second direction by transmitting the movement of the second member in the first direction and / or the second direction.
ことを特徴とするセンサ。A sensor characterized by that.
前記第２部材には、前記第４部材が前記第３方向に移動することで、前記第５部材を前記第３方向に移動させるための凹部が設けられている、The second member is provided with a recess for moving the fifth member in the third direction by moving the fourth member in the third direction.
ことを特徴とするセンサ。A sensor characterized by that.
前記第５部材は、ベース部と、突出部と、鉤爪部とを備え、The fifth member includes a base portion, a protruding portion, and a claw portion.
前記突出部は前記凹部を通るように設けられ、前記鉤爪部は前記第４部材に設けられ、The protrusion is provided so as to pass through the recess, and the claw portion is provided on the fourth member.
前記突出部と前記鉤爪部とにより前記ベース部が前記第２部材の内部に配置されている、The base portion is arranged inside the second member by the protrusion portion and the claw portion.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１部材と前記第５部材との相対的な移動量を検出する検出ユニットを備えている、A detection unit for detecting a relative movement amount between the first member and the fifth member is provided.
ことを特徴とするセンサ。A sensor characterized by that.
前記検出ユニットは、前記第１部材と前記第５部材のどちらか一方に設けられた検出部と、他方に設けら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 according to claim 7 ,
Wherein the detection unit comprises said detecting portion is provided et the to either of the first member and the fifth member, and a detected portion was found on the other,
A sensor characterized by that.
前記検出部は、ホール素子であり、
前記被検出部は、磁石である、
ことを特徴とするセンサ。 In the sensor according to claim 8 ,
The detection unit is a Hall element.
The detected portion is a magnet.
A sensor characterized by that.
前記検出部は発光素子と受光素子と、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 according to claim 8 ,
The detection unit includes a light emitting element and a light receiving element, and includes a light emitting element and a light receiving element.
The detected portion is a scale .
A sensor characterized by that.
前記センサは、ロボットハンドの指部に設けられるセンサであり、The sensor is a sensor provided on the finger of the robot hand.
前記第４部材に前記指部が設けられている、The finger portion is provided on the fourth member.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１部材と前記第２部材とは、前記第１方向と、前記第２方向と、に変形可能な第１弾性体によって連結され、The first member and the second member are connected by a first elastic body that can be deformed in the first direction and the second direction.
前記第３部材と前記第４部材とは、前記第３方向に変形可能な第２弾性体によって連結されている、The third member and the fourth member are connected by a second elastic body that can be deformed in the third direction.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１弾性体は、前記第３方向に延在し、The first elastic body extends in the third direction and extends.
前記第２弾性体は、前記第３方向とは異なる方向に延在する、The second elastic body extends in a direction different from the third direction.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１弾性体は、複数の梁であり、
前記第２弾性体は、複数の板バネである、
ことを特徴とするセンサ。 In the sensor according to claim 1 2 or 13 .
The first elastic body is a plurality of beams, and the first elastic body is a plurality of beams.
The second elastic body is a plurality of leaf springs.
A sensor characterized by that.
前記第３部材と、前記第２弾性体と、前記第４部材は一体となって設けられている、
ことを特徴とするセンサ。 In the sensor according to any one of claims 12 to 14 .
The third member, the second elastic body, and the fourth member are integrally provided .
A sensor characterized by that.
前記第３部材と、前記第２弾性体と、前記第４部材は、前記第２部材の一部を囲むように、前記第２部材に設けられている、
ことを特徴とするセンサ。 In the sensor according to claim 15 ,
The third member, the second elastic body, and the fourth member are provided on the second member so as to surround a part of the second member.
A sensor characterized by that.
前記指部の剛性は、前記第１弾性体及び前記第２弾性体の剛性より大きい、
ことを特徴とするセンサ。 In the sensor according to any one of claims 1 to 16 .
The rigidity of the finger portion is larger than the rigidity of the first elastic body and the second elastic body .
A sensor characterized by that.
前記第２部材と前記第３部材とは第１ネジにより締結されている、The second member and the third member are fastened with a first screw.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１部材には貫通孔が設けられており、The first member is provided with a through hole and has a through hole.
前記貫通孔との間に隙間を有するように配置された第２ネジが前記第４部材に連結されている、A second screw arranged so as to have a gap between the through hole and the fourth member is connected to the fourth member.
ことを特徴とするセンサ。A sensor characterized by that.
前記力として３軸方向の力を検出するための情報を取得する、Obtaining information for detecting a force in the three axial directions as the force.
ことを特徴とするセンサ。A sensor characterized by that.
前記第１弾性体の材質はピアノ線であり、前記第２弾性体の材質はＳＵＳである、The material of the first elastic body is piano wire, and the material of the second elastic body is SUS.
ことを特徴とするセンサ。A sensor characterized by that.
前記センサは、The sensor is
第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、A second member that is movably connected to the first member in the first direction and the second direction that intersects the first direction.
前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、With respect to the third member fixed to the second member, the fourth member connected so as to be relatively movable in the first direction and the third direction intersecting the second direction.
処理部と、を備え、With a processing unit,
前記第１部材と前記第２部材との相対的な移動と、前記第３部材と前記第４部材との相対的な移動とに基づき前記情報を取得する、The information is acquired based on the relative movement between the first member and the second member and the relative movement between the third member and the fourth member.
ことを特徴とする制御方法。A control method characterized by that.
前記センサは、The sensor is
第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、A second member that is movably connected to the first member in the first direction and the second direction that intersects the first direction.
前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、を備えている、The third member fixed to the second member is provided with a fourth member connected so as to be relatively movable in the first direction and the third direction intersecting the second direction.
ことを特徴とするロボットハンド。A robot hand that features that.
前記センサは、The sensor is
第１部材に対して、第１方向と、前記第１方向と交差する第２方向と、に相対的に移動可能に連結された第２部材と、A second member that is movably connected to the first member in the first direction and the second direction that intersects the first direction.
前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能に連結された第４部材と、を備え、A fourth member fixed to the second member and connected so as to be relatively movable in the first direction and a third direction intersecting the second direction is provided.
制御装置が、The control device
前記センサからの前記情報に基づき、前記ロボット本体の動作を制御する、Controlling the operation of the robot body based on the information from the sensor.
ことを特徴とする制御方法。A control method characterized by that.
前記第２部材に固定された第３部材に対して、前記第１方向および前記第２方向と交差する第３方向に相対的に移動可能連結された第４部材と、を備えている、A fourth member fixed to the second member and connected so as to be relatively movable in the first direction and a third direction intersecting the second direction is provided.
ことを特徴とする構造体。A structure characterized by that.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS62187230A (en) * | 1986-02-14 | 1987-08-15 | Ricoh Co Ltd | Force detecting element |
| JP4249735B2 (en) * | 2005-09-15 | 2009-04-08 | ファナック株式会社 | Force sensor |
| JP5836633B2 (en) * | 2011-05-10 | 2015-12-24 | キヤノン株式会社 | Force sensor and assembly robot |
| ITTO20120890A1 (en) * | 2012-10-11 | 2014-04-12 | Fond Istituto Italiano Di Tecnologia | ELECTRONIC MEASUREMENT UNIT FOR A POLYMORPHIC DEVICE FOR THE FORCE MEASUREMENT AND POLYMORPHIC DEVICE INCLUDING THE SAME |
| JP2014108466A (en) * | 2012-11-30 | 2014-06-12 | Fanuc Ltd | Electric hand with force sensor |
| JP2017164832A (en) * | 2016-03-14 | 2017-09-21 | キヤノン株式会社 | Robot hand, control program of the robot hand, and robot device |
| JP6501746B2 (en) * | 2016-10-07 | 2019-04-17 | キヤノン株式会社 | Displacement measuring device, robot, robot arm and method of manufacturing article |
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