JPH0457695A - Holding housing for robot - Google Patents
Holding housing for robotInfo
- Publication number
- JPH0457695A JPH0457695A JP16419190A JP16419190A JPH0457695A JP H0457695 A JPH0457695 A JP H0457695A JP 16419190 A JP16419190 A JP 16419190A JP 16419190 A JP16419190 A JP 16419190A JP H0457695 A JPH0457695 A JP H0457695A
- Authority
- JP
- Japan
- Prior art keywords
- tactile sensor
- coating
- skin
- base
- soft
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 239000011248 coating agent Substances 0.000 abstract 10
- 238000000576 coating method Methods 0.000 abstract 10
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- MMOXZBCLCQITDF-UHFFFAOYSA-N N,N-diethyl-m-toluamide Chemical compound CCN(CC)C(=O)C1=CC=CC(C)=C1 MMOXZBCLCQITDF-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、マニプレータ等のロボットの把持部のうち、
把持外被に関する。[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to gripping parts of robots such as manipulators,
Relating to gripping jackets.
〈従来の技術〉
マニプレータ等の把持部には、最近では、ハンドや指の
本体上に外被が備えられており、この外被によって高精
度な圧力検出が行なわれ、用途によっては耐放射線性や
耐熱性が要求されろ外、人間の感覚に近い力分布を得た
り接触覚を得るという高度機能も要請される。<Prior art> In recent years, gripping parts such as manipulators are equipped with an outer sheath on the body of the hand or fingers, and this outer sheath allows for highly accurate pressure detection, and depending on the application, it is radiation-resistant. In addition to requiring heat resistance and heat resistance, advanced functions such as obtaining a force distribution close to that of humans and obtaining a sense of touch are also required.
このために、マニプレータの把持部は外被と共に触覚セ
ンサが備えられることになる。For this purpose, the gripping portion of the manipulator is equipped with a tactile sensor together with the outer cover.
第4図は、従来の触覚センサを含む外被を示すもので、
ベース1上に触覚センサ2が固定され、この触覚センサ
2上の対象物5とのなじみを良くするため軟らかくて高
摩擦係数を持つ材質の皮膚3を被着している。FIG. 4 shows an envelope containing a conventional tactile sensor.
A tactile sensor 2 is fixed on a base 1, and a skin 3 made of a soft material having a high coefficient of friction is attached to the tactile sensor 2 in order to improve the compatibility with an object 5 on the tactile sensor 2.
ところが、かかる第4図に示す構造では、力が軟らかな
皮膚3で分散されて感度が低下するという点、同じ力で
あっても触覚センサ2の検出範囲中央に加わる場合とこ
の中央から外れた点に加わる場合とでは触覚センサ2に
伝わる力が大きく変化するという点、更には、触覚セン
サ2の検出範囲外に加わるカニ対しては、触覚センサ2
への力が伝わりにくく不感帯が生ずるという点で不具合
がある。However, with the structure shown in FIG. 4, the force is dispersed by the soft skin 3, resulting in a decrease in sensitivity. The point is that the force transmitted to the tactile sensor 2 changes greatly depending on the case where it is applied to a point, and furthermore, the force transmitted to the tactile sensor 2 changes greatly when applied to a crab outside the detection range of the tactile sensor 2.
There is a problem in that it is difficult for the force to be transmitted to the area, resulting in a dead zone.
このため、第5図に示すように触覚センサ2と皮膚3と
の接触部分に例えば金属板からなる硬い小板4を貼り付
け、なるべく広い面積に加わる力を接触センサ2に集中
して感度を高め、検出範囲を小板4の面積まで広げて力
の加わる点がこの範囲内であれば触覚センサ2の中心に
同じ力が加わった状態と同程度に力が伝わるようにし、
更に小板4の面積増加分だけ不感帯も狭くなるように工
夫している。For this reason, as shown in FIG. 5, a small hard plate 4 made of, for example, a metal plate is attached to the contact area between the tactile sensor 2 and the skin 3, and the force applied to the tactile sensor 2 is concentrated over as wide an area as possible to increase the sensitivity. by increasing the detection range to the area of the small plate 4, so that if the point where the force is applied is within this range, the force will be transmitted to the same extent as when the same force is applied to the center of the tactile sensor 2,
Furthermore, the dead zone is made narrower by the increase in area of the small plate 4.
〈発明が解決しようとする課題〉
しかしながら、第4図や第5図に示す把持外被にあって
は、更に次のような問題が生じている。<Problems to be Solved by the Invention> However, the gripping jacket shown in FIGS. 4 and 5 has the following problems.
すなわち、皮膚3は曲面を構成している場合が多く、こ
の曲面にすきまなく小板4を貼り付けられない領域に加
わる力は検知できず不感帯が残ってしまうこと。That is, the skin 3 often has a curved surface, and the force applied to the curved surface where the small plate 4 cannot be pasted without any gaps cannot be detected, leaving a dead zone.
皮膚3の材質によっては小板4を貼り付けること自体困
難なことがあり、また仮に貼り付けtコとしてもその接
着の耐久性に問題を残すこと。Depending on the material of the skin 3, it may be difficult to attach the small plate 4, and even if it is attached, there will still be problems with the durability of the adhesive.
一定の触覚センサ感度分布を得ろため小板4を触覚セン
サ2の中心に正確に位置決めする必要があるが、これば
実際非常に困難な作業であり、特にマニプレータの触覚
能力を向上するため触覚センサ2の実装密度を上げる時
には不可能であること。In order to obtain a constant tactile sensor sensitivity distribution, it is necessary to precisely position the platelet 4 in the center of the tactile sensor 2, which is actually a very difficult task, especially in order to improve the tactile ability of the manipulator. 2, which is impossible when increasing the packaging density.
小板4の正確な位置決めは皮膚3の取り代えに当っても
要求されるが、この取り代えには必ず誤差が生じ、この
ため触覚センサ出力の再現性は期待できないこと。Accurate positioning of the platelet 4 is also required when replacing the skin 3, but this replacement always involves errors, and therefore reproducibility of the tactile sensor output cannot be expected.
本発明は、上述の問題に鑑み、小板の配置に基づく不感
帯の発生、耐久性の問題、あるいは位置決め精度の困難
性を軽減又は排除したロボットの把持外被の提供を目的
とする。SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a gripping jacket for a robot that reduces or eliminates dead zones, durability problems, or difficulties in positioning accuracy due to the arrangement of platelets.
く課題を解決するための手段〉
上述の目的を達成する本発明は、ベース上に配置された
触覚センサを覆うようにこの触覚センサ上に密着された
硬い内部皮膚と、この内部皮膚の外側に直接密着され軟
らかくて高摩擦係数を持つ外部皮膚と、を有することを
特徴とする。Means for Solving the Problems> The present invention, which achieves the above-mentioned objects, includes a hard internal skin that is tightly attached to the tactile sensor so as to cover the tactile sensor disposed on the base, and a hard internal skin that is placed on the outside of the internal skin to cover the tactile sensor disposed on the base. It is characterized by having an external skin that is in direct contact with the skin and is soft and has a high coefficient of friction.
く作 用〉
外部皮膚に加わった力は内部皮膚に接した触覚センサに
高効率で伝わることができて、触覚センサとしての性能
を維持できるのみならず、
硬い層である内部皮膚が任意に広くとれ軟らかな外部皮
膚t!けの領域を極めて少なくできるので、不感帯を極
めて少なくでき、硬い内部皮膚がmsされることになる
ので、耐久性、メインテナンス性、及び信頼性が向上す
ると同時に、荷重が分散伝達されるため触覚センサの位
置決め作業が不要となり精度や誤差を問題視しなくて済
む。Function: The force applied to the external skin can be transmitted with high efficiency to the tactile sensor in contact with the internal skin, which not only maintains its performance as a tactile sensor, but also allows the internal skin, which is a hard layer, to expand arbitrarily. Soft external skin that comes off! Since the area of injury can be minimized, the dead zone can be minimized, and the hard internal skin can be minimized, improving durability, maintainability, and reliability.At the same time, the load is distributed and transmitted, so the tactile sensor This eliminates the need for positioning work and eliminates the need to consider accuracy and errors as problems.
く実 施 例〉
第1図ないし第3図、第6図は、把持外被の実施例で指
先に応用した例を示している。Embodiment Examples FIGS. 1 to 3 and 6 show examples of gripping jackets applied to fingertips.
第1図において、ベース1上には、複数個の触覚センサ
2が配置されている。そして、この触覚センサ2を覆う
ように例えばシリコンなどで形成された硬い材質からな
る内部皮膚6が配置されている。更に、この内部皮膚6
の外側には、軟らかくしかも高摩擦係数を持つ高分子素
材(例えばノーソレックス(商品名)など)が密着して
配置されている。In FIG. 1, a plurality of tactile sensors 2 are arranged on a base 1. As shown in FIG. An internal skin 6 made of a hard material such as silicone is disposed to cover the tactile sensor 2. Furthermore, this internal skin 6
A soft polymeric material with a high coefficient of friction (such as Norsolex (trade name)) is placed in close contact with the outside of the holder.
このうち、外部皮膚3の材質は、対象物5に対するなじ
み性を保つtこめ選定され、また、内部皮膚6の材質は
外部皮膚3に加わった力に比例する力が触覚センサ2に
高効率で伝わるような硬さを用いている。そして、これ
ら外部及び内部の各皮膚の機能を充分発揮させるために
両者の合計厚を例えば1m程度としている。Among these, the material of the external skin 3 is carefully selected to maintain compatibility with the object 5, and the material of the internal skin 6 is selected so that a force proportional to the force applied to the external skin 3 can be applied to the tactile sensor 2 with high efficiency. I use a hardness that conveys the feeling. In order to fully demonstrate the functions of these external and internal skins, the total thickness of both is set to about 1 m, for example.
第2図はマニプレータの指先7に応用した例を示してい
る。第2図(a) (b)に示すように指先7の形状に
加工されるベース1には、7個(第3図参照)の触覚セ
ンサ2が配Mされている。FIG. 2 shows an example of application to the fingertip 7 of a manipulator. As shown in FIGS. 2(a) and 2(b), seven tactile sensors 2 (see FIG. 3) are arranged on the base 1, which is machined into the shape of a fingertip 7.
この触覚センサ2を覆うように硬い内部皮膚6が密着さ
れて取付けられ、更にこの内部皮膚6の外側に外部皮膚
3が直接密着して配置されている。A hard internal skin 6 is attached in close contact with the tactile sensor 2, and an external skin 3 is placed on the outside of the internal skin 6 in direct contact with the tactile sensor 2.
この場合、触覚センサ2と内部皮膚6の内側とがぴった
り接触するように内部皮膚6の内側とベース1のりんか
くとは相似形に加工されることになる。In this case, the inside of the internal skin 6 and the link of the base 1 are processed to have similar shapes so that the tactile sensor 2 and the inside of the internal skin 6 are in close contact with each other.
なお、第3図はベース1を展開してベース1上での触覚
センサ2の配置状態を示したものである。Note that FIG. 3 shows the state in which the tactile sensor 2 is arranged on the base 1 when the base 1 is unfolded.
第6図は本発明の他の実施例で、硬い内部皮膚6は触覚
センサ2の接触感圧面積よりやや広い程度とし、内部皮
膚6と触覚センサ2との間に突起8を介在させて感圧域
を広げるようにしている。FIG. 6 shows another embodiment of the present invention, in which the hard inner skin 6 is slightly wider than the contact pressure sensing area of the tactile sensor 2, and a protrusion 8 is interposed between the inner skin 6 and the tactile sensor 2. I'm trying to widen the pressure range.
〈発明の効果〉
以上説明したように本発明によれば、対象物へのなじみ
を有する外部皮膚と力が高効率で伝達される内部皮膚と
を施すため、不感帯の全くない又は少ししかないセンづ
機能を得ることができると共に従来の如き位置決め作業
もなく製作時の労力低減、高耐久性及び高信頼性を得る
ことができてメインテナンス費用が少なくてきる。また
、実装密度を上げることも界易であり位置決めに注意を
払う必要もなくて、触覚能力を向上できろ。更には、形
状決定後の調整が必要なくなり、外被交換も容易となる
。こうして、高性能の把持外被の製作・維持が安価とな
り、ひいてはマニプレータ全体のコストダウンにつなが
る。<Effects of the Invention> As explained above, according to the present invention, in order to provide an external skin that conforms to the object and an internal skin that transmits force with high efficiency, a sensor with no or only a small dead zone is created. It is possible to obtain more functions, reduce labor during manufacturing without the need for positioning work as in the past, achieve high durability and high reliability, and reduce maintenance costs. In addition, it is easy to increase the packaging density, and there is no need to pay attention to positioning, and the tactile ability can be improved. Furthermore, there is no need for adjustment after the shape has been determined, and the outer cover can be easily replaced. In this way, a high-performance gripping jacket is inexpensive to manufacture and maintain, which in turn leads to a reduction in the overall cost of the manipulator.
第1図ないし第3図は本発明の一実施例で、第1図は断
面構成図、第2図(alは指先7の構成図、第2図(b
lは第2図(a)の部分拡大図、第3図はベースの展開
図、第4図、第5図は二つの従来例の断面構成図、第6
図は本発明の他の実施例の断面構成図である。
図 中、
1はベース、
2は触覚センサ、
3は外部皮膚、
6は内部皮膚である。1 to 3 show one embodiment of the present invention, in which FIG. 1 is a cross-sectional configuration diagram, FIG. 2 (al is a configuration diagram of the fingertip 7, and FIG. 2 (b)
1 is a partially enlarged view of FIG. 2(a), FIG. 3 is a developed view of the base, FIGS. 4 and 5 are cross-sectional configuration diagrams of two conventional examples, and FIG.
The figure is a cross-sectional configuration diagram of another embodiment of the present invention. In the figure, 1 is the base, 2 is the tactile sensor, 3 is the external skin, and 6 is the internal skin.
Claims (1)
センサ上に密着された硬い内部皮膚と、 この内部皮膚の外側に直接密着され軟らかくて高摩擦係
数を持つ外部皮膚と、 を有するロボットの把持外被。[Claims] A hard inner skin that is in close contact with the tactile sensor so as to cover the tactile sensor disposed on the base, and a soft outer skin that is in close contact with the outside of this inner skin and has a high coefficient of friction. , a gripping envelope for a robot having:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2164191A JPH078477B2 (en) | 1990-06-25 | 1990-06-25 | Robot grip jacket |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2164191A JPH078477B2 (en) | 1990-06-25 | 1990-06-25 | Robot grip jacket |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0457695A true JPH0457695A (en) | 1992-02-25 |
JPH078477B2 JPH078477B2 (en) | 1995-02-01 |
Family
ID=15788417
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2164191A Expired - Lifetime JPH078477B2 (en) | 1990-06-25 | 1990-06-25 | Robot grip jacket |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH078477B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007010383A (en) * | 2005-06-29 | 2007-01-18 | Institute Of Physical & Chemical Research | Flexible tactile sensor and its manufacturing method |
JP2008185399A (en) * | 2007-01-29 | 2008-08-14 | Tokyo Denki Univ | Tactile sensor |
JP2011085435A (en) * | 2009-10-14 | 2011-04-28 | Tohoku Univ | Tactile sensor system |
US8033189B2 (en) * | 2005-12-28 | 2011-10-11 | Honda Motor Co., Ltd. | Robot skin |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4313125B2 (en) | 2003-09-12 | 2009-08-12 | 本田技研工業株式会社 | Robot hand |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6048981U (en) * | 1983-09-13 | 1985-04-06 | アイシン精機株式会社 | Tactile sensor |
-
1990
- 1990-06-25 JP JP2164191A patent/JPH078477B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6048981U (en) * | 1983-09-13 | 1985-04-06 | アイシン精機株式会社 | Tactile sensor |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007010383A (en) * | 2005-06-29 | 2007-01-18 | Institute Of Physical & Chemical Research | Flexible tactile sensor and its manufacturing method |
US8033189B2 (en) * | 2005-12-28 | 2011-10-11 | Honda Motor Co., Ltd. | Robot skin |
JP2008185399A (en) * | 2007-01-29 | 2008-08-14 | Tokyo Denki Univ | Tactile sensor |
JP2011085435A (en) * | 2009-10-14 | 2011-04-28 | Tohoku Univ | Tactile sensor system |
US8336399B2 (en) | 2009-10-14 | 2012-12-25 | Tohoku University | Sensor system |
Also Published As
Publication number | Publication date |
---|---|
JPH078477B2 (en) | 1995-02-01 |
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EXPY | Cancellation because of completion of term |