JP6772506B2 - robot - Google Patents

Description

The present invention relates to a robot.

For example, the robot described in Patent Document 1 is known as a robot used in a manufacturing process for manufacturing an industrial product. The robot of Patent Document 1 has a plurality of arms connected via joints and a hand attached to an arm located at the most advanced position. In addition, this robot has a mechanism capable of detecting contact with an operator. This mechanism has a mat that is arranged on the most advanced arm and has a band-shaped air chamber formed inside, and a pressure switch that detects the pressure inside the mat, and changes upon contact with the operator. When the pressure switch detects the pressure inside the mat, the robot will stop safely.

Japanese Unexamined Patent Publication No. 63-39786

However, in the robot of Patent Document 1, when an operator (contacted object) comes into contact with the mat, the contact portion with the operator of the mat is dented and the portion other than the contact portion is expanded, resulting in pressure in the mat. It is hard to change. Therefore, the contact with the operator cannot be detected with high accuracy.

An object of the present invention is to provide a robot and an external force detecting device capable of detecting contact with an object to be contacted with high accuracy.

Such an object is achieved by the following invention.
The robot of the present invention has a moving part and
The first member arranged in the movable part and
A second member forming a space between the first member and the first member
A third member, which is located between the first member and the second member and regulates the displacement of the second member in a direction away from the first member.
It is characterized by having a pressure detecting unit for detecting the pressure in the space.
By restricting the displacement of the second member in the direction away from the first member by the third member in this way, when the contacted object (typically an operator) comes into contact with the second member, the second member The portion of the member other than the contact portion with the object to be contacted is less likely to swell, and the pressure change in the space can be increased. Therefore, the robot can detect contact with an object to be contacted with high sensitivity.

In the robot of the present invention, it is preferable that the space is surrounded by the first member and the second member.
As a result, the space can be formed relatively easily.

In the robot of the present invention, the space is preferably sealed.
As a result, the pressure in the space is likely to change due to contact with the object in contact, and the pressure changes instantly in response to contact with the object in contact, so that the pressure change in the space is detected with higher sensitivity. be able to.

In the robot of the present invention, the space is preferably positive pressure in a natural state.
As a result, the pressure in the space is likely to change due to contact with the object in contact, and the pressure in the space can be quickly returned to the natural state when the contact with the object in contact is released.

In the robot of the present invention, it is preferable that the space is divided into a plurality of partitions.
As a result, one space can be made smaller, so that the pressure change due to contact with the object to be contacted becomes large.

In the robot of the present invention, it is preferable that the pressure detecting unit is arranged on the second member.
As a result, the pressure detection unit can be arranged closer to the space, so that the pressure in the space can be detected more accurately.

In the robot of the present invention, it is preferable that the pressure detecting unit is arranged on the first member.
As a result, the pressure detection unit can be arranged closer to the space, so that the pressure in the space can be detected more accurately.

In the robot of the present invention, it is preferable that a part of the movable portion also serves as the first member.
As a result, the device configuration can be simplified.

In the robot of the present invention, the third member is preferably an elastic body.
This simplifies the configuration of the third member and can alleviate the impact at the time of contact with the object to be contacted.

In the robot of the present invention, it is preferable that the third member contains a foam.
This simplifies the configuration of the third member.

In the robot of the present invention, the third member is fixed to the first member and the second member.
A plurality of fixing portions of the third member and the first member are provided apart from each other.
It is preferable that a plurality of fixing portions of the third member and the second member are provided apart from each other.
As a result, in particular, the deformation of the second member is less likely to be hindered by the third member, so that damage to the second member can be reduced.

The external force detection device of the present invention includes the first member and
A second member forming a space between the first member and the first member
A third member, which is located between the first member and the second member and regulates the displacement of the second member in a direction away from the first member.
It is characterized by having a pressure detecting unit for detecting the pressure in the space.
By restricting the displacement of the second member in the direction away from the first member by the third member in this way, when the contacted object comes into contact with the second member, the contact with the contacted object of the second member The part other than the part is less likely to swell, and the pressure change in the space can be increased. Therefore, contact with the object to be contacted can be detected with high sensitivity.

It is a perspective view which shows the robot which concerns on 1st Embodiment of this invention. It is sectional drawing which shows the external force detection device provided in the robot shown in FIG. It is sectional drawing which shows the state which the contacted object came into contact with the external force detection device shown in FIG. It is a graph which shows an example of the detection signal of the pressure sensor provided in the external force detection device. It is a partially enlarged sectional view which shows the robot which concerns on 2nd Embodiment of this invention. It is a partially enlarged sectional view which shows the robot which concerns on 3rd Embodiment of this invention. It is a partially enlarged sectional view which shows the robot which concerns on 4th Embodiment of this invention. It is a partially enlarged sectional view which shows the robot which concerns on 5th Embodiment of this invention. It is a partially enlarged sectional view which shows the robot which concerns on 6th Embodiment of this invention.

Hereinafter, the robot and the external force detecting device of the present invention will be described in detail based on the preferred embodiments shown in the accompanying drawings.

<First Embodiment>
First, the robot according to the first embodiment of the present invention will be described.

FIG. 1 is a perspective view showing a robot according to the first embodiment of the present invention. FIG. 2 is a cross-sectional view showing an external force detecting device included in the robot shown in FIG. FIG. 3 is a cross-sectional view showing a state in which an object to be contacted is in contact with the external force detecting device shown in FIG. FIG. 4 is a graph showing an example of a detection signal of a pressure sensor included in the external force detection device.

The robot 1 shown in FIG. 1 is, for example, a robot that can be used in a manufacturing process for manufacturing an industrial product such as a precision instrument. As shown in the figure, the robot 1 includes a robot body 2 having a plurality of arms 231 and 232, 233, 234, 235, and 236 as movable parts, and an external force detecting device 3 arranged on the robot body 2. And have. Further, as shown in FIG. 2, the external force detecting device 3 includes the first sheet material 31 as the first member arranged in the housing 234a of the arm 234, and the first sheet material 31 together with the first sheet material 31. The second sheet material 32 as a second member constituting the space S surrounded by the space S, and the second sheet material 32 located between the first sheet material 31 and the second sheet material 32. The displacement regulating unit 33 as a third member that regulates the displacement in the direction away from the first sheet material 31, the pressure sensor 34 as the pressure detecting unit that detects the pressure in the space S, and the pressure in the space S. It has a pressure control unit 36 for controlling. According to such an external force detecting device 3, the displacement regulating unit 33 can regulate the displacement of the second sheet material 32 in the direction away from the first sheet material 31, so that the contacted object X (typically) When the worker) comes into contact with the second sheet material 32 (arm 234), as shown in FIG. 3, the portion of the second sheet material 32 other than the contact portion with the contacted object X is less likely to swell, resulting in a space. The pressure change in S can be increased. Therefore, the contact with the contacted object X can be detected with high sensitivity, and the robot 1 can be safely driven. Note that "regulating displacement" also includes reducing the amount of displacement without completely suppressing the displacement.

Hereinafter, such a robot 1 will be described in detail.
The robot body 2 is connected to, for example, a base 21 fixed to the floor or ceiling, an arm 231 connected to the base 21 via a joint mechanism 221 and rotating around the joint mechanism 221, and an arm 231 via a joint mechanism 222. An arm 232 that is connected and rotates about the joint mechanism 222, an arm 233 that is connected to the tip of the arm 232 via the joint mechanism 223 and rotates about the joint mechanism 223, and an arm via the joint mechanism 224. An arm 234 connected to the tip of 233 and rotating around the joint mechanism 224, an arm 235 connected to the tip of the arm 234 via the joint mechanism 225 and rotating around the joint mechanism 225, and a joint mechanism 226. It has an arm 236 that is connected to the tip of the arm 235 via a joint mechanism 226 and rotates around the joint mechanism 226. Further, the arm 236 is provided with a hand connecting portion 24, and the hand connecting portion 24 is equipped with a hand 26 (end effector) according to the work to be executed by the robot 1.

The rotational drive of each arm 231, 232, 233, 234, 235, 236 is performed by a motor or the like built in each joint mechanism 221, 222, 223, 224, 225, 226. The drive of each motor is controlled by the robot control unit 25, which allows the robot 1 to execute a desired operation.

As shown in FIG. 2, the external force detecting device 3 forms a space S between the first sheet material 31 and the first sheet material 31 (in other words, the space S is separated from the first sheet 31). The second sheet material 32 (provided), the displacement regulating portion 33 located between the first sheet material 31 and the second sheet material 32, the pressure sensor 34 for detecting the pressure in the space S, and the pressure sensor 34. It has a pressure control unit 36 that controls the pressure in the space S. The first sheet material 31 is arranged on the surface of the housing 234a of the arm 234, and the surface 321 of the second sheet material 32 is a contact surface with the contacted object X. That is, the second sheet material 32 is arranged on the side opposite to the arm 234 with respect to the first sheet material 31.

The arrangement of the external force detecting device 3 is not particularly limited as long as it is arranged in the moving portion (that is, the moving portion), and is arranged in at least one arm of the arms 231 and 232, 233, 234, 235, and 236. You just have to. However, when the external force detecting device 3 is arranged on a plurality of arms, it is preferable to arrange an independent space S for each arm without arranging the space S across the joint mechanism.

The first sheet material 31 and the second sheet material 32 are sheet-like members having airtightness and flexibility, respectively. The first sheet material 31 and the second sheet material 32 are joined to each other at the outer edge portions, and a bag body having a space S inside (between the first sheet material 31 and the second sheet material 32). 30 is formed. However, the first sheet material 31 may be made of a hard member. Further, the first sheet material 31 and the second sheet material 32 may be integrated. That is, for example, one sheet may be folded in half and the outer edges of the two bent pieces may be joined to form the bag body 30.

The space S is surrounded by the first sheet material 31 and the second sheet material 32, and is hermetically sealed (that is, airtightly sealed) by these. By sealing the space S in this way, the pressure in the space S is likely to change due to contact with the contacted object X, and the pressure in the space S is instantaneously changed in response to the contact with the contacted object X. Therefore, the pressure change in the space S (that is, the contact with the contacted object X) can be detected with higher sensitivity.

In particular, in the present embodiment, the space S has a positive pressure (that is, a pressure higher than the pressure of the atmosphere in which the robot 1 is arranged) in the natural state due to the introduction of the gas. In this way, by setting the space S to a positive pressure in the natural state, the pressure in the space S can be changed more greatly by the contact with the contacted object X, so that the contact with the contacted object X is higher. It can be detected with sensitivity. Further, the contact strength with the contacted object X can be detected based on the pressure change in the space S. Further, when the contact with the contacted object X is released, the pressure in the space S quickly returns to the natural state. Further, for example, when the sealed state of the space S collapses due to the breakage of the bag body 30, it is possible to detect an abnormal drop in the pressure in the space S, so that the breakage of the bag body 30 can be detected earlier. it can. The "natural state" refers to a state in which the object is stationary and is not in contact with the object X to be contacted.

The gas to be introduced into the space S is not particularly limited and may be air, but a rare gas such as nitrogen or argon (particularly, a dry rare gas) is preferable. As a result, the space S has a more stable atmosphere. Further, a fluid other than a gas such as a liquid or a gel may be introduced into the space S to obtain a positive pressure.

The pressure in the space S is not particularly limited, and varies depending on the strength of the first sheet material 31 and the second sheet material 32, the joint strength between the first sheet material 31 and the second sheet material 32, and the like. For example, the robot 1 It can be set to about +5 kPa with respect to the pressure (atmospheric pressure) of the atmosphere in which. If it is about + 5 kPa, the pressure detection accuracy can be sufficiently improved.

Further, a displacement regulating portion 33 is provided in the space S, that is, between the first sheet material 31 and the second sheet material 32. The displacement regulating portion 33 of this embodiment is made of an elastic body. By forming the displacement regulating portion 33 with an elastic body in this way, the configuration of the displacement regulating portion 33 can be simplified and the impact at the time of contact with the contacted object X can be alleviated. Therefore, the safety of the operator as the contacted object X is improved.

In particular, in the present embodiment, the displacement regulating unit 33 is made of a soft foam having continuous pores, as typified by a sponge. By forming the displacement regulating portion 33 with the foam material in this way, the configuration of the displacement regulating portion 33 can be simplified and high impact absorption can be exhibited. As such a foam, for example, a urethane foam material can be used. The foam of the present embodiment has continuous pores, but the foam does not have to have continuous pores.

Such a displacement regulating portion 33 has a sheet shape and is located between the first sheet material 31 and the second sheet material 32. Further, the lower surface of the displacement regulating portion 33 (that is, the surface on the first sheet material 31 side) is fixed to the first sheet material 31 over the entire area, and the upper surface (that is, the surface on the second sheet material 32 side) is fixed. , Is fixed to the second sheet material 32 over the entire area. The displacement regulating portion 33 and the first and second sheet materials 31 and 32 can be fixed by using, for example, an adhesive. By fixing the displacement regulating portion 33 to the first and second sheet materials 31 and 32 in this way, as shown in FIG. 3, when the contacted object X comes into contact, the contacted object of the second sheet material 32 It is possible to regulate the swelling of the portion other than the contact portion with X. The term "regulation" here means that the portion of the second sheet material 32 other than the contact portion can be made less likely to swell as compared with the case where the displacement regulating portion 33 is omitted, which is preferable. This means that it is possible to prevent swelling of a portion other than the contact portion.

The thickness of the displacement regulating portion 33 is not particularly limited, but can be, for example, 1 cm or more and 5 cm or less in the state of being arranged in the bag body 30. With this thickness, the bag body 30 becomes sufficiently thin, and it becomes easy to arrange it on the arm 234.

The pressure sensor 34 is arranged on the second sheet material 32. Specifically, the second sheet material 32 is provided with a pedestal 35, and the pedestal 35 has a storage space SS communicating with the space S through an opening formed in the second sheet material 32. It is provided. A pressure sensor 34 is provided in the accommodation space SS. By arranging the pressure sensor 34 on the second sheet material 32 in this way, the pressure sensor 34 can be arranged at a place closer to the space S. Therefore, the pressure loss becomes smaller, the time lag until the pressure change is detected becomes shorter, and the pressure in the space S can be detected more accurately.

The pressure sensor 34 is not particularly limited as long as it can detect the pressure, and a known one can be applied. For example, the pressure sensor 34 can be configured to include a diaphragm that bends and deforms due to pressure reception, and a detection element (for example, a piezoresistive element that is arranged on the diaphragm) that detects the deflection of the diaphragm.

As shown in FIG. 2, the pressure control unit 36 includes a pressurizing pump 361, a flow path 362 communicating with the pressurizing pump in the space S, a valve 363 arranged in the middle of the flow path 362, and a pressure sensor. It has a pressure pump 361 and a control unit 364 that controls the drive of the valve 363 based on the pressure in the space S detected in 34. Then, the control unit 364 drives the pressurizing pump 361 and the valve 363 so that the pressure in the space S maintains a predetermined value (for example, the atmospheric pressure + positive pressure of about 5 kPa as described above) in the natural state. Control. Since the pressure in the space S changes due to temperature changes, aging gas escape, etc., by providing such a pressure control unit 36, the pressure in the space S in the natural state can be maintained at a predetermined value. it can. Therefore, the pressure change in the space S due to the contact with the contacted object X can be detected more accurately.

The arrangement of the pressurizing pump 361, the valve 363, and the control unit 364 is not particularly limited, but can be arranged, for example, in the arm 234. Thereby, each of these parts can be protected. In addition, for example, when aged air leakage from the space S does not substantially occur and a temperature sensor capable of detecting the temperature in the space S is provided, the pressurizing pump 361, The flow path 362 and the valve 363 can be omitted. In this case, the actual pressure in the space S can be detected by correcting the pressure in the space S detected by the pressure sensor 34 based on the temperature information from the temperature sensor.

Here, FIG. 4 shows an example of a change in pressure in the space S (that is, a detection signal of the pressure sensor 34) when it comes into contact with the contacted object X. This graph shows the pressure change when the contacted object X comes into contact with the second sheet material 32 at time T1 and the contacted object X separates from the second sheet material 32 at time T2. As shown in the figure, when the contacted object X comes into contact with the second sheet material 32 at time T1, the pressure in the space S rises sharply, and when the contact with the contacted object X is released at time T2, It quickly returns to its natural pressure. The external force detecting device 3 is configured to be able to determine the presence or absence of contact with the contacted object X based on such a pressure change.

The control unit 364 determines whether or not there is contact with the contacted object X from the detection result of the pressure in the space S by the pressure sensor 34. Specifically, as shown in FIG. 4, the control unit 364 determines that when the pressure in the space S rises significantly, it has come into contact with the contacted object X, and the pressure in the space S becomes a natural state. When it returns, it is determined that the contact with the contacted object X has been released. Then, when the control unit 364 determines that it has come into contact with the contacted object X, the control unit 364 transmits the information to the robot control unit 25 of the robot main body 2. When the robot control unit 25 receives information from the control unit 364 that it has come into contact with the contacted object X, for example, the robot control unit 25 promptly stops the robot body 2. As a result, damage to the robot 1 and the contacted object X can be prevented, and in particular, the safety of the operator as the contacted object X can be ensured. On the contrary, when the control unit 364 determines that the contact with the contacted object X has been released, the control unit 364 transmits the information to the robot control unit 25. When the robot control unit 25 receives information from the control unit 364 that the contact with the contacted object X has been released, the robot control unit 25 promptly resumes driving the robot body 2, for example. As a result, the time loss due to contact with the contacted object X can be shortened.

The external force detecting device 3 has been described in detail above. According to such a configuration, as described above, the presence or absence of contact with the contacted object X can be detected with high accuracy, and the robot 1 can be safely driven. In particular, in the present embodiment, since the displacement regulating portion 33 such as a sponge is arranged in the bag body 30 in contact with the contacted object X, the impact at the time of contact with the contacted object X can be mitigated. , The safety of the operator as the contacted object X can be further ensured. Further, since there is a slight time difference between the contact with the contacted object X and the time when the displacement regulating portion 33 is completely compressed (that is, until the contacted object X hits the housing 234a of the hard arm 234), the robot body 2 It is possible to give some grace to the time until the drive is stopped. Therefore, for example, even if the moving speeds of the arms 231, 232, 233, 234, 235, and 236 in the normal operation are set relatively high, the robot body 2 is safely stopped when it comes into contact with the contacted object X. be able to.

<Second Embodiment>
Next, the robot according to the second embodiment of the present invention will be described.
FIG. 5 is a partially enlarged cross-sectional view showing the robot according to the second embodiment of the present invention.

The robot according to the present embodiment is the same as the robot according to the first embodiment described above, except that the configuration of the external force detection device is mainly different.

In the following description, the robot of the second embodiment will be mainly described with respect to the differences from the above-described embodiment, and the description of the same matters will be omitted. Further, in FIG. 5, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 5, in the robot 1 of the present embodiment, a part of the arm 234 also serves as the first sheet material 31 of the external force detecting device 3. Specifically, the housing 234a of the arm 234 also serves as the first sheet material 31. This makes it possible to simplify the device configuration of the robot 1.

In particular, in the present embodiment, the housing 234a is provided with fins 234b, and for example, heat exchange inside and outside the space S can be efficiently performed. The housing 234a can be made of, for example, various metal materials.

Further, the housing 234a is formed with an opening 234c that communicates the inside and outside of the space S, and the end of the flow path 362 is connected to the opening 234c. Further, the housing 234a is formed with an opening 234d that communicates with the inside and outside of the space, and a pressure sensor 34 is arranged in the opening 234d. That is, the pressure sensor 34 is arranged in the housing 234a that also serves as the first sheet material 31. By arranging the pressure sensor 34 in the housing 234a in this way, the pressure sensor 34 can be arranged in a place closer to the space S. Therefore, the pressure loss becomes smaller and the time lag until the pressure change is detected becomes shorter, so that the pressure in the space S can be detected more accurately. Further, since the pressure control unit 36 and the pressure sensor 34 can be arranged in the arm 234, each of these parts can be protected.

Even with such a second embodiment, the same effect as that of the first embodiment described above can be exhibited.

<Third Embodiment>
Next, the robot according to the third embodiment of the present invention will be described.
FIG. 6 is a partially enlarged cross-sectional view showing the robot according to the third embodiment of the present invention.

The robot according to the present embodiment is the same as the robot according to the first embodiment described above, except that the configuration of the external force detection device is mainly different.

In the following description, the robot of the third embodiment will be mainly described with respect to the differences from the above-described embodiment, and the description of the same matters will be omitted. Further, in FIG. 6, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 6, in the external force detecting device 3 of the present embodiment, the space S is divided into a plurality of spaces. A pressure sensor 34 and a pressure control unit 36 are arranged in each space S. With such a configuration, the volume of one space S can be reduced, so that the pressure change due to contact with the contacted object X becomes larger. Therefore, it is possible to detect contact with the contacted object X with higher sensitivity. Further, by specifying the space S corresponding to the pressure sensor 34 that has detected the pressure change, the contact point with the contacted object X can be specified in a narrower range.

Even with such a third embodiment, the same effect as that of the first embodiment described above can be exhibited. In the present embodiment, the control unit 364 of the pressure control unit 36 is arranged for each space S, but a plurality of control units 364 may be combined into one. Further, in the present embodiment, the pressure sensor 34 and the pressure control unit 36 are arranged in each space S. For example, a plurality of spaces S are connected in series and the pressure is changed by one pressure sensor 34 and the pressure control unit 36. It may be configured to detect a pressure change, or a plurality of spaces S may be connected in parallel and a pressure change may be detected by one pressure sensor 34 and a pressure control unit 36.

<Fourth Embodiment>
Next, the robot according to the fourth embodiment of the present invention will be described.
FIG. 7 is a partially enlarged cross-sectional view showing the robot according to the fourth embodiment of the present invention.

The robot according to the present embodiment is the same as the robot according to the first embodiment described above, except that the configuration of the external force detection device is mainly different.

In the following description, the robot of the fourth embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same items will be omitted. Further, in FIG. 7, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 7, in the external force detecting device 3 of the present embodiment, the displacement regulating unit 33 is divided into a plurality of divided pieces 331, and the plurality of divided pieces 331 are arranged apart from each other. The lower surface of each divided piece 331 is fixed to the first sheet material 31, and the upper surface is fixed to the second sheet material 32. That is, the displacement regulating portion 33 is fixed to the first sheet material 31 and the second sheet material 32, and a plurality of fixing portions between the displacement regulating portion 33 and the first sheet material 31 are provided so as to be separated from each other. A plurality of fixed portions of the displacement regulating portion 33 and the second sheet material 32 are provided apart from each other. As a result, in particular, the displacement regulating portion 33 makes it difficult for the deformation of the second sheet material 32 to be hindered, so that the degree of freedom of deformation of the second sheet material 32 is increased, and damage to the second sheet material 32 can be reduced. ..

Even with such a fourth embodiment, the same effect as that of the first embodiment described above can be exhibited. In the present embodiment, the displacement regulating unit 33 is divided into a plurality of divided pieces 331. For example, as in the first embodiment, one displacement regulating unit 33 which is not divided is used, and the first and first displacement regulating units 33 are used. A plurality of fixing points with the two sheet materials 31 and 32 may be arranged.

<Fifth Embodiment>
Next, the robot according to the fifth embodiment of the present invention will be described.
FIG. 8 is a partially enlarged cross-sectional view showing the robot according to the fifth embodiment of the present invention.

The robot according to the present embodiment is the same as the robot according to the first embodiment described above, except that the configuration of the external force detection device is mainly different.

In the following description, the robot of the fifth embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same items will be omitted. Further, in FIG. 8, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 8, in the external force detecting device 3 of the present embodiment, the displacement regulating unit 33 is composed of a plurality of flexible linear bodies 332. One end of each linear body 332 is fixed to the first sheet material 31, and the other end is fixed to the second sheet material 32. Then, the linear body 332 is fully extended to regulate the displacement of the second sheet material 32 in the direction away from the first sheet material 31.

Even with such a fifth embodiment, the same effect as that of the first embodiment described above can be exhibited.

<Sixth Embodiment>
Next, the robot according to the sixth embodiment of the present invention will be described.
FIG. 9 is a partially enlarged cross-sectional view showing the robot according to the sixth embodiment of the present invention.

The robot according to the present embodiment is the same as the robot according to the first embodiment described above, except that the configuration of the external force detection device is mainly different.

In the following description, the robot of the sixth embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same items will be omitted. Further, in FIG. 9, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 9, the external force detecting device 3 of the present embodiment includes a first sheet material 31, a second sheet material 32 arranged to face the first sheet material 31, and a first sheet material 31 and a second sheet material 31. A flexible connecting portion 37 that connects the outer peripheral portions of the sheet material 32 to each other to form a sealed space S between the first sheet material 31 and the second sheet material 32, and the first sheet material 31 It has a displacement regulating unit 33 located between the second sheet material 32, a pressure sensor 34 for detecting the pressure in the space S, and a pressure control unit 36 for controlling the pressure in the space S. Further, in the present embodiment, the first sheet material 31 and the second sheet material 32 are composed of a plate-shaped hard member, and the displacement regulating portion 33 is composed of a plurality of spring members 333 as elastic bodies. There is. Each spring member 333 is provided so as to expand and contract in the thickness direction of the space S. By forming the displacement regulating portion 33 with the spring member 333 in this way, the configuration of the displacement regulating portion 33 can be simplified and the impact at the time of contact with the contacted object X can be alleviated. Therefore, the safety of the operator as the contacted object X is improved.

Even with such a sixth embodiment, the same effect as that of the first embodiment described above can be exhibited. In the case of the present embodiment, the spring member 333 as the displacement regulating portion 33 may be omitted, and the connecting portion 37 may also serve as the displacement regulating portion 33.

The robot and the external force detecting device of the present invention have been described above based on the illustrated embodiment, but the present invention is not limited to this, and the configuration of each part is an arbitrary configuration having the same function. Can be replaced with. Further, any other constituents may be added to the present invention. Moreover, each embodiment may be combined appropriately.

Further, in the above-described embodiment, a 6-axis articulated robot having 6 rotation axes is used as the robot, but the robot is not limited to this, and has, for example, a body and two articulated arms. It may be a dual-arm robot or a SCARA robot (horizontal articulated robot).

Further, in the above-described embodiment, the configuration in which the external force detection device is arranged in the robot has been described, but the target in which the external force detection device is arranged is not limited to the robot. For example, it may be placed on a moving body such as a motorcycle or an automobile, an animal (particularly a human), or an organism such as a plant.

Further, in the above-described embodiment, the space inside the bag is sealed, but the space inside the bag does not have to be sealed. In this case, the space S is to have a pressure equal to the pressure of the atmosphere.

1 ... Robot, 2 ... Robot body, 21 ... Base, 221, 222, 223, 224, 225, 226 ... Joint mechanism, 231, 232, 233, 234, 235, 236 ... Arm, 234a ... Housing, 234b ... Fins , 234c, 234d ... Opening, 24 ... Hand connection part, 25 ... Robot control unit, 26 ... Hand, 3 ... External force detection device, 30 ... Bag body, 31 ... First sheet material, 32 ... Second sheet material, 321 ... Surface, 33 ... Displacement control part, 331 ... Divided piece, 332 ... Linear body, 333 ... Spring member, 34 ... Pressure sensor, 35 ... Pedestal, 36 ... Pressure control unit, 361 ... Pressurized pump, 362 ... Flow path, 363 ... valve, 364 ... control unit, 37 ... connection unit, S ... space, SS ... accommodation space, T1, T2 ... time, X ... contacted object

Claims (10)

Moving parts and
The first member arranged in the movable part and
A second member arranged on the side opposite to the movable portion with respect to the first member,
A third member located between the first member and the second member and regulating the displacement of the second member in a direction away from the first member.
It has a pressure detecting unit that detects the pressure in the space between the first member and the second member.
The third member is fixed to the first member and the second member.
A plurality of fixing portions between the third member and the first member are provided apart from each other.
A robot characterized in that a plurality of fixing portions of the third member and the second member are provided apart from each other. The robot according to claim 1, wherein the space is hermetically sealed. The robot according to claim 1 or 2, wherein the space is surrounded by the first member and the second member. The robot according to any one of claims 1 to 3, wherein the space is a positive pressure in a natural state. The robot according to any one of claims 1 to 4, wherein the space is partitioned into a plurality of parts. The robot according to any one of claims 1 to 5, wherein the pressure detecting unit is arranged on the second member. The robot according to any one of claims 1 to 5, wherein the pressure detecting unit is arranged on the first member. The robot according to any one of claims 1 to 7, wherein a part of the movable portion also serves as the first member. The robot according to any one of claims 1 to 8, wherein the third member is an elastic body. The robot according to any one of claims 1 to 9, wherein the third member includes a foam .

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