JP7052308B2 - センサー、およびロボット - Google Patents

センサー、およびロボット Download PDF

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Publication number
JP7052308B2
JP7052308B2 JP2017219663A JP2017219663A JP7052308B2 JP 7052308 B2 JP7052308 B2 JP 7052308B2 JP 2017219663 A JP2017219663 A JP 2017219663A JP 2017219663 A JP2017219663 A JP 2017219663A JP 7052308 B2 JP7052308 B2 JP 7052308B2
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JP
Japan
Prior art keywords
robot
sensor
electrode
unit
circuit board
Prior art date
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Active
Application number
JP2017219663A
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English (en)
Japanese (ja)
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JP2019089165A (ja
JP2019089165A5 (enExample
Inventor
俊幸 神谷
聡興 下島
秀明 岡
光宏 山村
一 小林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2017219663A priority Critical patent/JP7052308B2/ja
Priority to CN201811352836.2A priority patent/CN109773832B/zh
Priority to US16/190,492 priority patent/US11060890B2/en
Publication of JP2019089165A publication Critical patent/JP2019089165A/ja
Publication of JP2019089165A5 publication Critical patent/JP2019089165A5/ja
Application granted granted Critical
Publication of JP7052308B2 publication Critical patent/JP7052308B2/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/2405—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by varying dielectric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37284—Capacitive 3-D proximity sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40544—Detect proximity of object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40614—Whole arm proximity sensor WHAP

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)
JP2017219663A 2017-11-15 2017-11-15 センサー、およびロボット Active JP7052308B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2017219663A JP7052308B2 (ja) 2017-11-15 2017-11-15 センサー、およびロボット
CN201811352836.2A CN109773832B (zh) 2017-11-15 2018-11-14 传感器及机器人
US16/190,492 US11060890B2 (en) 2017-11-15 2018-11-14 Sensor and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017219663A JP7052308B2 (ja) 2017-11-15 2017-11-15 センサー、およびロボット

Publications (3)

Publication Number Publication Date
JP2019089165A JP2019089165A (ja) 2019-06-13
JP2019089165A5 JP2019089165A5 (enExample) 2020-12-24
JP7052308B2 true JP7052308B2 (ja) 2022-04-12

Family

ID=66432810

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017219663A Active JP7052308B2 (ja) 2017-11-15 2017-11-15 センサー、およびロボット

Country Status (3)

Country Link
US (1) US11060890B2 (enExample)
JP (1) JP7052308B2 (enExample)
CN (1) CN109773832B (enExample)

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US11077456B2 (en) 2018-07-12 2021-08-03 Tom Beaumont Real-time laser measurement and marking apparatus
US20200254471A1 (en) * 2018-07-12 2020-08-13 Tom Beaumont Precision real-time laser measurement and marking apparatus
WO2020017370A1 (ja) * 2018-07-17 2020-01-23 ソニー株式会社 制御装置、制御方法、及び制御システム
WO2020172214A1 (en) * 2019-02-19 2020-08-27 Material Handling Systems, Inc. End effector for engaging the flexible packaging materials of parcels
DE102019206012B4 (de) * 2019-04-26 2025-11-13 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
EP3842733B1 (en) * 2019-08-02 2025-10-08 Shenzhen Yuejiang Technology Co., Ltd. Sensing circuit, logic circuit board, joint control board, main controller board, and robot
JP7410726B2 (ja) * 2020-01-14 2024-01-10 Ntn株式会社 ロボットの対人保護装置
CN111251326A (zh) * 2020-01-20 2020-06-09 腾讯科技（深圳）有限公司 接近传感器、电子皮肤、制作方法以及接近感应方法
CN111230928A (zh) * 2020-01-20 2020-06-05 腾讯科技（深圳）有限公司 接近传感器、电子皮肤、制作方法以及接近感应方法
JP2021143934A (ja) * 2020-03-12 2021-09-24 セイコーエプソン株式会社 チャージアンプ、力センサー及びロボット
JP7521408B2 (ja) * 2020-12-17 2024-07-24 オムロン株式会社 金属検出センサおよびこれを備えた電動把持工具、金属検出方法、金属検出プログラム
JP7556776B2 (ja) * 2020-12-23 2024-09-26 株式会社モリタホールディングス 安全装置及び塵芥収集車
EP4074473A1 (en) * 2021-02-10 2022-10-19 Canon Kabushiki Kaisha System, manufacturing method, controlling method, program, and recording medium
US12162145B2 (en) * 2021-11-17 2024-12-10 Kawasaki Jukogyo Kabushiki Kaisha Substrate conveying robot and substrate conveying robot system
US20230202045A1 (en) * 2021-12-25 2023-06-29 Mantis Robotics, Inc. Robot System
CN118216332B (zh) * 2023-10-27 2025-10-28 南京林业大学 一种猕猴桃仿生疏蕾爪及其控制方法
JP7508057B1 (ja) 2024-02-09 2024-07-01 国立大学法人 東京大学 静電容量式センサ及びロボットシステム

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JP2015199174A (ja) 2014-04-09 2015-11-12 ファナック株式会社 リードスルー機能を有する人協調型産業用ロボット
US20170066130A1 (en) 2015-09-09 2017-03-09 Carbon Robotics, Inc. Robotic arm system and object avoidance methods
US20170203440A1 (en) 2016-01-15 2017-07-20 Vision Robotics Corporation Compliant touch sensor
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Also Published As

Publication number Publication date
CN109773832A (zh) 2019-05-21
US11060890B2 (en) 2021-07-13
JP2019089165A (ja) 2019-06-13
CN109773832B (zh) 2024-03-12
US20190145798A1 (en) 2019-05-16

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