JPH02147812A - Finger device with angle detecting function - Google Patents

Abstract

PURPOSE:To quickly and easily detect the surface angle of an inclined object with high accuracy by detecting the rotational angle of a finger when the contacting surface of the finger is closely brought into contact with the surface of the tilt object with a potentiometer. CONSTITUTION:A finger device 1 is provided with a finger 2 rotatably fitted to a holder 3. The holder 2 has a cylindrical shape, is fitted with the finger 2 at the front end section, and incorporates a potentiometer 4. The finger 2 is provided with a fixed rotating shaft 5, the central axis of which coincides with the center of rotation 6 of the finger 2, and the rotational angle of the shaft 5 is measured by means of the potentiometer 4. In addition, the finger is formed to an almost cylindrical shape with a bottom and provided with a flat surface parallel with the center of rotation 6 at part of its side face. The flat surface constitutes a contacting surface 7 which is brought into contact with an object for angle detection. When the surface of the object is inclined, the finger 2 is rotated until the contacting surface 7 is closely brought into contact with the surface of the inclined surface. When the rotational angle of the finger 2 is detected through the potentiometer 4, the surface angle of the object can be detected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an angle detection function 1 for use in detecting the inclination of the surface of a pair or object.

For example, when a robot's hand is working on an object such as grasping an object, it is necessary to distinguish the shape and posture of the object. It is effective to detect the slope of the surface.

[Prior Art] A technique conventionally used for determining the inclination of the surface of an object is visual perception.

This visual sensor images an object using a mirroring device such as an ITV camera, and performs image processing to determine the inclination of the object's surface.

[Problem 1 that the invention seeks to solve: However, when this visual obscurity occurs, it is difficult to distinguish between
Furthermore, if the surface of the object is dirty, it becomes difficult to distinguish it.

For this reason, it is desired to develop a technology that can detect the angles r and σ of the surface of a pair or object using a tactile hinge attached to a robot hand that directly works on the object.

The present invention has been made in view of the above circumstances, and is aimed at providing an angle detecting finger capable of detecting the angle of the surface of an object with high precision, quickly, and easily. This is the purpose.

[W for the assignment? Means for Determining] Corresponding to this purpose, the angle detection function I1 finger device of the present invention has a contact surface that is capable of contacting the counter-staining object and is a plane parallel to the rotation axis, and is rotatable about the rotation axis. An angle detection surface finger mounted on the holder, a potentiometer for detecting the rotation angle of the angle detection finger mounted on the holder, and a female detection function installed on the holder. ] It is characterized by including a spring device that acts on the restoring horn in the direction of restoring the finger to the rotational neutral position.

[Function] In the finger device u with an angle detection function of the present invention, the contact surface of the finger with an angle detection function (1) comes into contact with the surface of the object. When the surface of the object is inclined, it comes into contact with the surface. The finger with angle detection function rotates until the surfaces come into close contact. By detecting this rotation angle with a potentiometer, the angle of the surface of the S.1 object is detected. The angle detection function i = J finger is equipped with a spring device. Gives resilience.

[Embodiment] Details of the present invention will now be described with reference to the drawings showing one embodiment.

In FIGS. 1 and 2, 1 is a finger device for angle detection. The holder 3 has a cylindrical shape, has a finger 2 located at its tip, and has a built-in potentiometer 4.

The finger 2 is provided with a fixed rotation axis 5 that coincides with the rotation center 6, and the rotation angle of the rotation axis 5 can be measured by the potentiometer 4. As shown in FIGS. 3, 4, and 5, the finger 2 has a substantially cylindrical shape with a bottom, but has a flat surface parallel to the rotation center 6 on a portion of the side surface. This plane constitutes a contact surface 7 that comes into contact with the object whose angle is to be detected.

The rotation shaft 5 mentioned above is fixed to the bottom 8 of the finger 2. t, L guide surface 114 to the right of this 28. This guide surface 1
1 has a radius of rotation r that has a correlation with the rotation angle of the finger 2 that guides a pressure lever to be described later. In this embodiment, when the finger 2 is in the neutral position (the 12th position), the radius of rotation [゛ is the largest, as shown in Figs. 6 and 7,
When the finger 2 rotates in either the forward or reverse direction, the radius of rotation of the guide surface 11 becomes smaller as the rotation angle increases.

However, a four part 13 is formed in the center of the guide surface 11 (that is, the part where the rotation radius r is the smallest), and the micro bearing of the pressure lever (rear) is located in the center of the guide surface 11 compared to other parts. This makes it easy to position the parts.

A guide plate 14 is positioned between the boisometer 4 and the finger 2, and is fixed to the holder 3.

As shown in FIG. 8, a guide groove 15 is formed in the guide plate 14 in the direction of the center of rotation, and this guide groove 15 is located at the neutral position II of the finger 2! ? The direction dimension is formed in the direction connecting the center of the guide surface 11 and the center of rotation when the finger 2 is in the middle q position.

Further, the guide plate 14 has a circular hole 16 formed in the center thereof, through which the rotating shaft 5 passes, and is attached to the holder 3 using a bolt/hole 17.

An eleventh plate 18 is attached to the holder 3.The first plate 18 is attached to the bottle 19. This is a mark for attaching 1) to the finger fixing part 32.

A lever mounting plate 23 is fixed to the lever 1 plate 18. Rubber 25 (has a rod shape, and reaches the finger 2 through the guide groove 15 of the guide plate 14 at the lower end.)
A microbearing 26 is attached to the lower end of the lever 25, and the microphone 1 bearing 26 contacts the guide surface 11 of the finger 2 and is movable by rolling along the guide surface 11.

The middle part of the pressure lever 25 is loosely connected to the spring #27, and the 1° spring 28 supported by the spring seat 27 and the mounting plate 18 applies an elastic force to the pressure lever 25 through the spring 827. Avoid acting. When the finger 2 is in the middle ＼'l ◇ device, the finger 1 is in the state of natural length τ pressurization (flange)
No force is applied to the lever 25, but when the finger 2 is at the position where it has turned 11 or 1 from the neutral position, it is in a compressed state and an elastic restoring force is applied to the lever 25 via the spring seat 27. to act.

As shown in FIG. 6, a sensor 31 is attached to the contact surface 7 of the finger 2, if necessary, to detect contact with the JlΦ object 30. This J:U<KtadjiLn1
As f31! , a known sensor using an incense can be used.

Next, the angle detection function (NJ)-r configured as above
As shown in FIG. 10, the finger device 1 has two contact surfaces 7 of the fingers 2 (a touch sensor 31 is attached to the contact surface 7).
If the head is attached, place it on the finger fixing part 32 of the main body of the robot 1 with the surfaces of A facing each other, and attach it to the contact surface 7. At this time, the contact surface 7i comes into contact with the surfaces s and s of the counter-dyed object 30, but this point S (S, ).

S2...55) (in case of pentagon) is the pair of angle detection.

This contact FPl! At the beginning of the movement, if the contact surface 7 is +114 C with respect to the surface S, the fin) j-2 rotates about the center of rotation 6 until the contact surface 7 coincides with the surface S. This rotation is manually applied to the potentiometer 4 as a rotation of the rotating shaft 5, and the rotation angle of the Neuger 2 is detected by the potentiometer 4, and the inclination of the pair or object 300 surface S is detected as a result. .

The elastic restoring force f1 is applied to the finger 2 by the spring 28 to restore it to the middle ti-position, and the finger 2
Prepare for the next grasping motion. 14↑When the finger 2 contacts the surface S of the counter-dye material 30 and rotates -C, the guide surface 11 of the finger 2 and the microphone [ of the pressure lever 25]
The rotation radius r of the point of contact with the first bearing 26 changes. This change in rotation radius is transmitted to the -C pressure lever 25 via the microphone 1 bearing 26.
1; i It is held in the guide groove 15 of the guide plate 14 (・
,guidance! Mi 151) (1 is converted into rotational displacement with the pin 24 at the center 9, this force 111 changes the lever 25 1 C: k> 23 is compressed by j1 once, and as a reaction, the spring 28 is Applying an elastic restoring force to the lever 25,
This bullet! J restoring force C, 1, miter 1 bearing 2G,
The -2 fin is restored to the neutral IQ position via the guide groove 15 and guide surface 11 for IJ fishing.

In this way, the finger 2 is transferred from the device 117 shown in FIG.
When it rotates to the position shown in the figure (that is, from one end of the guide surface 11 to the other) (center t of the microbearing 26, there is a shaft that moves in the radial direction of the finger 2), for example, the IO
The resistance value of the potentiometric meter 4 in KΩ changes from approximately 2 to approximately 8 K (,)+1-U-, so either read the resistance value directly or apply a "voltage n-" to the potentiometer 4. By reading the change in the power of J3 and the power of 11,
The rotation direction and rotation angle from the middle to γ positions can be detected.

In this way, use two Neugers 2 that have the angle detection function, and then approach a columnar object with a polygonal cross section, as shown in Figures 11 and 12, with the fingers 2 facing each other. When the finger 2 is held and held, the finger 2 can be rotated around the axis of the bonsicometer 4, so that the finger 2 can be rotated around the axis of the bonsicometer 4, so that it fits along the side surface of the object 30. Rotate and then touch.

Therefore, since this finger is fixed to the robot hand, the center position of the contact plane of the finger is known with respect to the set point system of Obot 1~, so the contact point P1. P2
in the hand coordinate system and the normal direction n1 of the side surface of the object 30. It is possible to detect n2 to be 4.

Furthermore, as shown in FIG. 12, when the same object 30 is gripped in the same way, for example, from a direction perpendicular to the first gripping direction (Fig. ff411), contact points P3 and P4 and the pair at that point are The normal direction n3°n4 of the side surface of the dyed article can be detected. Three of these pieces of information (for example, Pl, P2.P3.:nl,
n2. If the geometric structure model of the object is known from n3), the position and orientation of the object can be identified without relying on vision, and it is possible to give the robot the next flight action.

Further, the same effect can be expected even if the object 30 is gripped with three or more fingers 2 having such an angle detection function.

In addition, when one of the backs of the finger 2 that is in contact with the object is slightly moved near the contact point, 1) If the finger 2 moves along the side of the object and there is no change in the normal direction. For example, the finger 2 is in contact with the side surface of the object.

2) If the finger 2 makes a slight rotation around the point of contact and the normal direction changes, the finger 2 is in contact with the edge of the counter-stain.

Therefore, this finger 2 also has the function of detecting azaleas.

The guide surface 11 of the finger 2 has a small recess 13 of, for example, φ3 in the center, and when the microphone [■ bearing 26 is in the neutral position, this micro bearing 26' is affected by the restoring force of the spring 28. (Mic 1 co-bearing 26
(Even when the spring is in the center, a compressive force acts on the spring.) Since it is pressed outward in the radial direction, it rests stably in this recess 13.

Therefore, in order to rotate the finger 2, it is necessary to apply a torque exceeding the restoring moment based on the minute restoring force of the spring 28. It has the effect of preserving the power.

The contact surface 7 of the finger 2 has a rectangular shape of approximately 19M x 9M, for example. When gripping a small medium object, it can be handled by placing a flat pad 34 on this contact surface 7 as shown in FIG. Conversely, when gripping a large object, a ninth
This can be achieved by inserting a rectangular parallelepiped spacer 35 as shown in the figure to reduce the distance between the opposing surfaces of the two fingers 2.

[Effects of the Invention] Thus, according to the present invention, when the geometric structure model of an object is known, the position n of the object can be determined without relying on the visual sense.
It is possible to quickly and easily detect the posture and posture with high t1iIa, and the angle detection function that can give instructions for the next work to 1 bot.

[Brief explanation of the drawing]

Figure 1 is a front view of the finger device with angle detection function, Figure 2 is a longitudinal sectional view of the finger device with angle detection function, and Figure 3 is a longitudinal sectional view of the finger device with angle detection function.
The figure is a plan view of the finger, Figure 4 is a perspective explanatory view of the finger, Figure 5 is a bottom view of the finger, Figure 6 is a bottom view of the finger at the maximum rotational displacement position in the forward direction, and Figure 7 is reverse rotation. Fig. 8 is a plan view of the guide plate, Fig. 9 is a perspective view of the base plate, and Fig. 10 is an angle detection function. FIG. 11 is an explanatory side view showing the state of detection, FIG. 11 is an explanatory bottom view showing the state of detection by the finger, and Figure t512 is an explanatory bottom view showing other states of detection by the finger. 1...Angle detection function 1. Noinga equipment, 2...
Finger, 3...Holder 4...Potency 1 meter, 5...Rotation axis, 6...Rotation center, 7...
・Contact surface, 8... Bottom, 11... Guide surface, 13.
... recess, 14 ... guide plate, 15] ... guide groove,
1G...Circular hole, 17...Bolt hole, 18...
Mounting plate, 19... Pin, 22... 1] Bot body, 23... Lever handle A/J plate, 24... Bin,
25...h Old Rubber 26...Micro bearing, 27...Spring seat, 28...Spring, 30...Counter dye, 31...Touch sensor, 32...Finger fixing part , 34...Pad, 35...Suberi,
``...Rotating radius, S... surface rotation agent, agent Kawa Su (Yo 5 Figure 6 Figure 9 Figure 10

Claims (2)

[Claims] (1) A finger with an angle detection function that can contact an object and has a contact surface made of a plane parallel to the rotation axis, and is attached to a holder so as to be rotatable about the rotation axis; A finger device with an angle detection function, comprising a potentiometer that detects the rotation angle of the finger with an angle detection function, and a spring device that applies a restoring force in a direction to restore the finger with an angle detection function to a rotational neutral position. (2) The finger with an angle detection function has a guide surface having a radius of rotation that correlates with the rotation angle, and is attached to the holder and has a radius of rotation of the finger with an angle detection function at the rotational neutral position. The spring device has a guide plate having a guide groove formed in the direction, and the spring device is pivotably supported by the holder near one end and can be displaced by engaging the guide surface and the guide groove near the other end. The finger device with an angle detection function according to claim 1, further comprising: a pressure lever; and a spring that applies a restoring force in a direction to restore the pressure lever to a neutral position.