JPH05296709A - Distribution type tactile sensor - Google Patents

Abstract

PURPOSE:To provide a distribution type tactile sensor capable of collecting accurate tactile information even on an irregular portion. CONSTITUTION:This sensor is constituted of a plurality of first wires running in a lateral direction, and a plurality of second wires running in a longitudinal direction across the plurality of the first wires. Furthermore, the sensor has a fabric form. Each of the second wires intersects all of the first wires, and alternately runs on and beneath the first wires at every arbitrary numbers thereof. Also, the covered sections of the first and second wires are kept in contact with each other. The first and second wires are constituted of conductors 1, and sheathes 2 comprising a pressure sensitive material to enclose the conductors 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distributed tactile sensor, and is particularly used for industrial robots and machine tools,
The present invention relates to a tactile sensor that contacts a surface of an object and detects the surface shape of the object.

[0002]

2. Description of the Related Art FIG. 5 is a diagram showing an example in which a tactile sensor is applied to a robot. Reference numeral 10 in the drawing denotes an arm portion of the robot, and the tactile sensor sheet 11 is attached to a hand portion at the tip of the arm portion 10. Tactile sensor sheet 1
When the object 1 detects an object, it notifies the robot controller 13 through the tactile sensor data processing unit 12 to be described later at which position on the tactile sensor sheet 11 the object is detected, and the robot controller 13 transmits the information. The next operation of the robot is instructed accordingly. The tactile sensor data processing unit 12
For example, it is arranged on the robot side, the distance to the tactile sensor sheet 11 is about 3 to 5 meters, and the distance to the robot controller 13 is about 1 meter. The tactile sensor sheet 11 is suitable for detecting and using tactile sensation on an object having a glossy surface for which it is difficult to obtain visual information or an object in a dark place.

FIG. 6 is a diagram showing the structure of a tactile sensor sheet according to the prior art, and FIG. 7 is an explanatory view of the AA cross section of FIG. As shown in these figures, the tactile sensor sheet according to the related art includes an upper sheet 21 and a lower sheet 2.
2 and a pressure-sensitive conductive sheet 25 sandwiched between the upper sheet 21 and the lower sheet 22. The pressure-sensitive conductive sheet 25 is manufactured by mixing silicon rubber with carbon powder. Polyester, for example, is used for the upper sheet 21 and the lower sheet 22, and electrodes are vapor-deposited in parallel on the pressure-sensitive conductive sheet 25 side of the upper sheet 21 and the lower sheet 22, respectively. 23 (v1, v2, ..., Vj, ..., vm) is
All lower electrodes 24 (h1, h2,
,, hi, ..., hn).

FIG. 8 is a diagram showing an equivalent circuit of the tactile sensor sheet and its peripheral circuits. In the figure, the upper electrode (h
1, h2, ..., Hi, ..., hn)
Between i and any one electrode vj of the lower electrodes (v1, v2, ..., Vj, ..., vm) (corresponding to point P in the figure),
For example, the voltage of DC5V is analog switch 31 in time division
Is supplied to the analog switch 32 through the resistor r.
Is input to the operational amplifier 33 via. When pressure is applied on the tactile sensor sheet, the electric resistance r of the pressure-sensitive conductive sheet 25 sandwiched between the upper electrode and the lower electrode corresponding to the portion to which the pressure is applied becomes infinite. The resistance value changes to a finite resistance value (for example, 500 ohms), and the operational amplifier 33 detects the change. Note that points P1 and P2 in the figure
The position of is a point on the position where the electrode hi and the electrode vj intersect, and is not a point on the same position on the equivalent circuit diagram, but is actually a point on the same position as shown in the right figure. The time division described above is performed by selecting each electrode with the analog switches 31 and 32. The operational amplifier 33 may be replaced with a digital circuit.

FIG. 9 is a diagram for explaining the operation of the tactile sensor sheet. The tactile sensor sheet 11 is attached to the hand portion of the robot, and is electrically connected to the robot control device 13 via the tactile sensor data processing unit 12. The tactile sensor data processing unit 12 includes a power supply circuit 41, an address selection circuit 42, a detection circuit 43, and an A / D converter 4.
4 and. First, the robot controller 13 causes the address selection circuit 42 to display any distribution point on the tactile sensor sheet 11, that is, the upper electrodes (h1, h2, ..., H).
i, ..., hn) and the lower electrode (v
1, v2, ..., Vj, ..., Vm)
A signal for selecting j is sent in a time division manner, and at the same time, a voltage is supplied from the power supply circuit 41 to the tactile sensor sheet 11 via the address selection circuit 42. Next, the electric signal at the selected distribution point on the tactile sensor sheet 11 is sent back to the address selection circuit 42, further through the detection circuit 43, and then the A / D (analog / digital) converter 4
4 is transmitted to the robot control device 13. At this time, the tactile sense can be transmitted by the change in the pressure at the distribution points, as described above.

[0006]

The distributed tactile sensor sheet according to the prior art described above has a problem that it cannot provide accurate tactile information to the uneven portion because it is not flexible. In view of the above points, an object of the present invention is to provide a distributed tactile sensor which is flexible and can provide accurate tactile information even to a portion having irregularities.

[0007]

A distributed tactile sensor of the present invention which achieves the above object, comprises a plurality of first electric wires running in a lateral direction and a plurality of first electric wires running in a longitudinal direction crossing the plurality of first electric wires. A distributed tactile sensor formed of a second electric wire of a book-like shape, wherein each of the second electric wires runs across all of the first electric wires, and alternates up and down every arbitrary number of the first electric wires. The coating portions of the first electric wire and the second electric wire are in contact with each other, and the first electric wire and the second electric wire are composed of the conductive wire 1 and the coating 2 surrounding the conductive wire 1 made of the pressure-sensitive conductive material.

[0008]

The distributed tactile sensor of the present invention is manufactured by knitting a wire 1 and an electric wire composed of a coating 2 made of a pressure-sensitive conductive material in a woven manner by crossing the wire lengthwise and crosswise. The shape is accurately tactile even for uneven parts.

[0009]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view showing the structure of a distributed tactile sensor sheet according to the present invention. The tactile sensor sheet according to the present invention comprises a plurality of first electric wires (H
1, H2, ..., Hi, ..., Hn) and a plurality of second electric wires (V1, V1) that cross the first electric wires in the longitudinal direction.
2, ..., Vj, ..., Vm). Each second wire is
All the arbitrary numbers of the first electric wires run alternately up and down, and the coating portions of the first electric wires and the second electric wires are in contact with each other, and the first electric wires and the second electric wires are conductive with pressure-sensitive conductor 1. A pressure-sensitive conductive coated electric wire comprising a coating 2 containing a conductive material as a component.

FIG. 2 is a sectional view of the pressure-sensitive conductive coated electric wire according to the present invention. In the figure, reference numeral 1 is a conductive wire made of copper or the like, and reference numeral 2 is a coating portion containing a pressure-sensitive conductive material whose resistance value changes with pressure as a component. The pressure-sensitive conductive material is made of silicone rubber. It is manufactured by mixing carbon powder. The pressure-sensitive conductive coated electric wire is manufactured by coating the conductive wire with, for example, pressure-sensitive conductive rubber or pressure-sensitive resistance ink.

FIG. 3 is a diagram showing applied pressure / electrical resistance characteristics of the tactile sensor sheet. In the figure, A and B are tactile sensor sheets manufactured with coatings containing different pressure-sensitive conductive materials as components. As shown in the figure, when pressure is applied, the resistance value decreases.

FIG. 4 is a diagram showing an improvement point of the tactile sensor sheet according to the present invention. A is a use example of the prior art, and B and C.
Shows an example of use of the present invention. In the figure, the shaded area indicates an object,
Reference numeral 5 in C indicates a hand part of the robot, which is made of a soft material such as rubber or sponge.
The tactile sensor sheet 11 'according to the present invention is attached to the tip of the hand portion 5 of the robot. As clearly shown in the figure, the tactile sensor sheet 11 according to the related art cannot capture accurate tactile information in the concave portion or the convex portion, and according to the tactile sensor sheet 11 ′ according to the present invention,
By providing flexibility and elasticity, it is possible to capture more accurate tactile information in the concave portion or the convex portion as compared with the conventional tactile sensor sheet 11.
It can be seen that the tactile ability has been greatly improved.

[0013]

As described above, according to the distributed tactile sensor of the present invention, accurate tactile information can be obtained even in the uneven portion because it has flexibility and elasticity.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a tactile sensor sheet according to the present invention.

FIG. 2 is a sectional view of a pressure-sensitive conductive coated electric wire according to the present invention.

FIG. 3 is a diagram showing applied pressure / electrical resistance characteristics of a tactile sensor sheet.

FIG. 4 is a diagram showing an improvement point of the tactile sensor sheet according to the present invention, where A is a use example of the conventional technique and B and C are use examples of the present invention.

FIG. 5 is a diagram showing an example in which a tactile sensor is applied to a robot.

FIG. 6 is a diagram showing a configuration of a tactile sensor sheet according to a conventional technique.

7 is an explanatory diagram of a cross section taken along the line AA of FIG.

FIG. 8 is a diagram showing an equivalent circuit of the tactile sensor sheet and its peripheral circuit.

FIG. 9 is a diagram illustrating the operation of the tactile sensor sheet.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Conductive wire 2 ... Pressure-sensitive conductive coating 10 ... Robot hand part 11, 11 '... Tactile sensor sheet 12 ... Tactile sensor data processing part 13 ... Robot control device

Claims (1)

[Claims] 1. A distributed tactile sensor in the form of a woven fabric, comprising a plurality of first electric wires running in a horizontal direction and a plurality of second electric wires running in a vertical direction crossing the plurality of first electric wires. And each of the second electric wires runs across all of the first electric wires, and alternately runs up and down for every arbitrary number of the first electric wires to cover the first electric wires and the second electric wires. The parts are in contact with each other, and the first electric wire and the second electric wire are composed of a conductor wire (1) and a coating (2) surrounding the conductor wire (1) made of a pressure-sensitive conductive material. Distributed tactile sensor.