JPH07198513A - Distribution type force-sensing detection sensor - Google Patents
Distribution type force-sensing detection sensorInfo
- Publication number
- JPH07198513A JPH07198513A JP33431893A JP33431893A JPH07198513A JP H07198513 A JPH07198513 A JP H07198513A JP 33431893 A JP33431893 A JP 33431893A JP 33431893 A JP33431893 A JP 33431893A JP H07198513 A JPH07198513 A JP H07198513A
- Authority
- JP
- Japan
- Prior art keywords
- detection sensor
- force
- work
- hardness
- sensor
- 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.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ロボットハンドの把持
部や位置決め装置の接触部に設けられる分布型力覚セン
サに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distributed force sensor provided in a grip portion of a robot hand or a contact portion of a positioning device.
【０００２】[0002]
【従来の技術】従来、ロボットハンドの把持部や位置決
め装置の接触部に設けられ、接触状態や接触位置を検出
する分布型力覚検出センサが知られている。前記力覚検
出センサには、互いに直交するＸ方向及びＹ方向の複数
の電極が設けられており、該力覚検出センサがワークに
接触したときに、前記複数の電極のそれぞれに信号を送
出し、前記Ｘ方向の電極とＹ方向の電極との各交点にお
ける抵抗を検出して、該抵抗に応じて力覚の検出値を出
力するようになっている。2. Description of the Related Art Conventionally, there has been known a distributed force sense sensor which is provided at a grip portion of a robot hand or a contact portion of a positioning device and detects a contact state or a contact position. The force detection sensor is provided with a plurality of electrodes in the X direction and the Y direction orthogonal to each other. When the force detection sensor contacts a workpiece, a signal is sent to each of the plurality of electrodes. , The resistance at each intersection of the X-direction electrode and the Y-direction electrode is detected, and the detected value of the sense of force is output according to the resistance.
【０００３】しかしながら、前記従来の分布型力覚検出
センサは、感度が鋭敏に過ぎるため、ワークの形状が複
雑であるときの力覚の検出値や、ワーク把持後の移動時
等のワークの振れまたは滑りに対する力覚の検出値に部
分的に突出した高い値が出て、検出精度が低減するとの
不都合がある。However, since the conventional distributed type force sense detection sensor is too sensitive, the sensed value of the force sense when the shape of the work is complicated or the shake of the work when the work is moved after gripping the work. Alternatively, there is an inconvenience that the detection value of the force sense with respect to the slippage is a partially projected high value and the detection accuracy is reduced.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、かかる不都
合を解消して、ワークの硬さ、形状や、ワーク把持後の
移動時のワークの状況に係わりなく、平均化された力覚
の検出値を得ることができる分布型力覚検出センサを提
供することを目的とする。SUMMARY OF THE INVENTION The present invention eliminates such inconvenience, and detects an averaged force sense regardless of the hardness and shape of the work and the condition of the work during movement after gripping the work. An object of the present invention is to provide a distributed force detection sensor that can obtain values.
【０００５】[0005]
【課題を解決するための手段】かかる目的を達成するた
めに、本発明の分布型力覚検出センサは、互いに直交す
るＸ方向及びＹ方向の複数の電極のそれぞれに信号を送
出し、前記Ｘ方向の電極とＹ方向の電極との各交点にお
ける抵抗を検出し、該抵抗に応じて力覚の検出値を出力
する分布型力覚検出センサにおいて、該力覚検出センサ
のワークに接触する側の面を、ＪＩＳ ＨＳｏｒにより
定められるスプリングハードネス硬度（以下、単に「硬
度」と略記する）が３０〜７０度の範囲にある弾性体か
らなる０．５〜５．０ｍｍの範囲の厚さのシートで被覆
してなることを特徴とする。In order to achieve the above object, the distributed force detection sensor of the present invention sends a signal to each of a plurality of electrodes in the X and Y directions which are orthogonal to each other, and the X In the distributed force detection sensor that detects the resistance at each intersection of the direction electrode and the Y direction electrode and outputs the detection value of the force sense according to the resistance, the side of the force detection sensor that contacts the work. Sheet having a thickness in the range of 0.5 to 5.0 mm made of an elastic body having a spring hardness hardness (hereinafter simply referred to as “hardness”) in the range of 30 to 70 degrees defined by JIS HSor. It is characterized by being coated with.
【０００６】前記弾性体のシートの硬度は、前記範囲内
で低くなるほど感度が鈍くなり、前記硬度が３０度未満
になると柔らかいワークに接触したときに適正な力覚の
検出値が得られなくなる。また、前記硬度は、前記範囲
内で高くなるほど、力覚の検出値の鋭敏性を抑制する効
果が十分に得られず、７０度を超えるときには剛体から
なるワークに接触したときに力覚の検出値が部分的に高
くなることがある。When the hardness of the elastic sheet is lower within the above range, the sensitivity becomes dull, and when the hardness is less than 30 degrees, an appropriate sense of force cannot be obtained when a soft work is contacted. Further, as the hardness becomes higher within the above range, the effect of suppressing the sharpness of the sensed value of the force sense is not sufficiently obtained, and when it exceeds 70 degrees, the force sense is detected when the workpiece made of a rigid body is contacted. The value may be partially higher.
【０００７】前記範囲の硬度を有する弾性体として、例
えば、ニトリルブタジエンゴム、天然ゴム、エチレンプ
ロピレンダイモノマー等のゴム系弾性体、塩化ビニル樹
脂系弾性体、シリコン樹脂系弾性体等を挙げることがで
きる。Examples of the elastic body having a hardness within the above range include rubber-based elastic bodies such as nitrile butadiene rubber, natural rubber and ethylene propylene dimonomer, vinyl chloride resin-based elastic bodies, and silicone resin-based elastic bodies. it can.
【０００８】また、前記弾性体のシートの厚さは、前記
範囲内で薄くなるほど力覚検出センサに接触する面が平
滑なワークに適するが、０．５ｍｍ未満になると、力覚
の検出値の鋭敏性を抑制する効果が十分に得られない。
また、前記厚さは前記範囲内で厚くなるほど力覚検出セ
ンサに接触する面に突起、稜部などを有するような複雑
な形状のワークに適するが、５．０ｍｍを超えるときに
は感度が鈍くなり、前記複雑な形状のワークに対しても
十分な力覚の検出値が得られない。Further, the thickness of the elastic sheet is suitable for a work having a smoother surface in contact with the force detection sensor as the thickness of the elastic sheet decreases within the above range. The effect of suppressing sharpness cannot be sufficiently obtained.
Further, as the thickness becomes thicker within the above range, it is suitable for a work having a complicated shape having a projection, a ridge, etc. on the surface contacting the force detection sensor, but when the thickness exceeds 5.0 mm, the sensitivity becomes low, A sufficient force sense detection value cannot be obtained even for a workpiece having the above-mentioned complicated shape.
【０００９】[0009]
【作用】本発明によれば、力覚検出センサのワークに接
触する側の面を弾性体のシートで被覆してなるので、ワ
ークの硬さ、形状や、ワーク把持後の移動時のワークの
状況によらず、部分的に突出した高い値とならずに、前
記力覚検出センサの各部で平均化された力覚の検出値が
得られる。According to the present invention, since the surface of the force detection sensor on the side in contact with the work is covered with the elastic sheet, the hardness and shape of the work, and the work during movement after gripping the work. Regardless of the situation, it is possible to obtain the sensed value of the force sense that is averaged in each part of the force sense detection sensor without becoming a partially projected high value.
【００１０】本発明の力覚検出センサでは、前記弾性体
のシートが３０〜７０度の範囲の硬度を有することによ
り、特にワークの硬さによらず、前記力覚検出センサの
各部で平均化された力覚の検出値が得られる。In the force detection sensor of the present invention, since the elastic sheet has a hardness in the range of 30 to 70 degrees, the respective portions of the force detection sensor are averaged regardless of the hardness of the work. The detected value of the sensed force is obtained.
【００１１】また、本発明の力覚検出センサでは、前記
弾性体のシートが０．５〜５．０ｍｍの範囲の厚さを有
することにより、特にワークの形状によらず、前記力覚
検出センサの各部で平均化された力覚の検出値が得られ
る。In the force detection sensor of the present invention, since the elastic sheet has a thickness in the range of 0.5 to 5.0 mm, the force detection sensor can be used regardless of the shape of the work. The detection value of the force sense averaged in each part of is obtained.
【００１２】[0012]
【実施例】次に、添付の図面を参照しながら本発明の分
布型力覚検出センサについてさらに詳しく説明する。図
１は本実施例の分布型力覚検出センサを備えるロボット
ハンドの概念図であり、図２は本実施例の分布型力覚検
出センサの構成を示す斜視図、図３は図１のＩＩＩ−Ｉ
ＩＩ線断面図、図４は本実施例の分布型力覚検出センサ
に使用される弾性体のシートの特性を示すグラフであ
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the distributed force sense sensor of the present invention will be described in more detail with reference to the accompanying drawings. 1 is a conceptual diagram of a robot hand including the distributed force sense sensor of this embodiment, FIG. 2 is a perspective view showing the configuration of the distributed force sense sensor of this embodiment, and FIG. 3 is III of FIG. -I
FIG. 4 is a cross-sectional view taken along line II, and FIG. 4 is a graph showing the characteristics of the elastic sheet used in the distributed force detection sensor of this embodiment.
【００１３】本実施例では、ロボットハンドの把持部に
備えられる分布型力覚検出センサを例に説明する。In this embodiment, a distributed force sense sensor provided in the grip portion of the robot hand will be described as an example.
【００１４】図１示のように、ロボットハンド１は、基
台２上に、図示しない駆動手段により駆動されるアーム
３，４，５が、関節６，７を介して揺動自在に備えら
れ、アーム５の先端にはワークを把持する把持部８が関
節９を介して揺動自在に備えられている。そして、把持
部８の表面に分布型力覚検出センサ１０が設けられてい
る。As shown in FIG. 1, the robot hand 1 has a base 2 on which arms 3, 4 and 5 driven by a driving means (not shown) are swingably provided through joints 6 and 7. At the tip of the arm 5, a gripping part 8 for gripping a work is swingably provided via a joint 9. The distributed force sense sensor 10 is provided on the surface of the grip portion 8.
【００１５】分布型力覚検出センサ１０は、図２示のよ
うに、一方の面にストライプ状に複数の電極１１，１
１，…が形成された２枚のポリエステルからなる可撓性
のバッキングシート１２，１２を、互いに前記電極１
１，１１，…が形成された面で対向させることにより、
互いに直交するＸ方向及びＹ方向の複数の電極１１，１
１，…が設けられている。尚、各電極１１は特殊インキ
１３で被覆されている。As shown in FIG. 2, the distributed force sensor 10 has a plurality of electrodes 11, 1 arranged in stripes on one surface.
The flexible backing sheets 12, 12 made of two polyesters on which the electrodes 1, ...
By facing the surfaces on which 1, 11, ... Are formed,
A plurality of electrodes 11, 1 in the X and Y directions orthogonal to each other
1, ... are provided. Each electrode 11 is covered with a special ink 13.
【００１６】前記分布型力覚検出センサ１０は、図１示
のロボットハンド１が把持部８でワークを把持すると、
互いに直交するＸ方向及びＹ方向の複数の電極１１，１
１，…のそれぞれに信号を送出し、前記Ｘ方向の電極１
１，１１，…とＹ方向の電極１１，１１，…との各交点
における抵抗を検出し、該抵抗に応じて力覚の検出値を
出力するようになっている。When the robot hand 1 shown in FIG.
A plurality of electrodes 11, 1 in the X and Y directions orthogonal to each other
A signal is sent to each of the electrodes 1, ...
The resistance at each intersection of the electrodes 1, 11, ... And the electrodes 11, 11, ... In the Y direction is detected, and the sensed force value is output according to the resistance.
【００１７】そして、本実施例の分布型力覚検出センサ
１０は、図３示のように把持部８に取着されたときにワ
ークに接触する側の面が弾性体のシート１４で被覆され
ている。In the distributed force detection sensor 10 of this embodiment, the surface of the distributed type force sense sensor 10 which comes into contact with the work when attached to the grip portion 8 is covered with an elastic sheet 14 as shown in FIG. ing.
【００１８】前記シート１４は、図４に実線で囲まれた
領域Ａとして示すように、スプリングハードネス硬度が
３０〜７０度の範囲であって、かつ、厚さが０．５〜
５．０ｍｍの範囲にあるものが用いられる。シート１４
は、前記範囲の硬度を有する弾性体として、例えば、ニ
トリルブタジエンゴム、天然ゴム、エチレンプロピレン
ダイモノマー等のゴム系弾性体、塩化ビニル樹脂系弾性
体、シリコン樹脂系弾性体等が用いられる。As shown by a region A surrounded by a solid line in FIG. 4, the seat 14 has a spring hardness in a range of 30 to 70 degrees and a thickness of 0.5 to.
Those in the range of 5.0 mm are used. Sheet 14
As the elastic body having a hardness within the above range, for example, a rubber-based elastic body such as nitrile butadiene rubber, natural rubber, ethylene propylene dimonomer, a vinyl chloride resin-based elastic body, or a silicon resin-based elastic body is used.
【００１９】分布型力覚検出センサ１０は、シート１４
の硬度が図４示の領域Ａ内で低くなるほど感度が鈍くな
り、前記範囲内で高くなるほど、力覚の検出値の鋭敏性
を抑制する効果が十分に得られなくなる。また、シート
１４の厚さが図４示の領域Ａ内で薄くなるほど力覚検出
センサに接触する面が平滑なワークに適し、厚くなるほ
ど力覚検出センサに接触する面に突起、稜部などを有す
るような複雑な形状のワークに適している。The distributed force sensor 10 includes a sheet 14
The lower the hardness within the area A shown in FIG. 4, the lower the sensitivity, and the higher the hardness within the range, the more insufficient the effect of suppressing the sharpness of the sensed value of the force sense becomes. Further, the thinner the thickness of the sheet 14 in the area A shown in FIG. 4, the more suitable the surface for contacting the force detection sensor with a smooth work, and the thicker the area for contacting the force detection sensor with a protrusion or a ridge. It is suitable for works with complicated shapes.
【００２０】そこで、シート１４の硬度が低くても十分
な厚さがあれば、複雑な形状の剛体からなるワークに用
いることができ、硬度が高くても薄ければ、表面平滑な
柔らかいワークに用いることができるというように、前
記範囲内でシート１４の硬度及び厚さを調整することに
より、各種のワークに対して適切な平均化処理を行うこ
とができ、前記力覚検出センサの各部で平均化された力
覚の検出値を得ることができる。Therefore, if the sheet 14 has a low hardness and a sufficient thickness, it can be used for a work made of a rigid body having a complicated shape. If the sheet 14 has a high hardness and a thin thickness, it can be a soft work having a smooth surface. As can be used, by adjusting the hardness and thickness of the sheet 14 within the above range, it is possible to perform an appropriate averaging process on various works, and in each part of the force detection sensor. It is possible to obtain an averaged detection value of force sense.
【００２１】尚、本実施例では、分布型力覚検出センサ
１０をロボットハンド１に設ける場合について述べてい
るが、分布型力覚検出センサ１０は位置決め装置の接触
部等に設けることもできる。Although the distributed force detection sensor 10 is provided in the robot hand 1 in the present embodiment, the distributed force detection sensor 10 may be provided in the contact portion of the positioning device.
【００２２】[0022]
【発明の効果】従って、本発明の分布型力覚検出センサ
によれば、前記弾性体のシートの硬度を３０〜７０度の
範囲で、また厚さを０．５〜５．０ｍｍの範囲で調整す
ることにより、ワークの硬さ、形状や、ワーク把持後の
移動時のワークの状況に応じて適切な平均化処理を行う
ことができ、前記力覚検出センサの各部で平均化された
力覚の検出値を得ることができる。Therefore, according to the distributed force detection sensor of the present invention, the hardness of the elastic sheet is in the range of 30 to 70 degrees and the thickness is in the range of 0.5 to 5.0 mm. By adjusting the hardness and shape of the work, it is possible to perform an appropriate averaging process according to the state of the work during movement after gripping the work, and the force averaged by each part of the force detection sensor. A sensed value can be obtained.
【図１】本発明に係わる分布型力覚検出センサを備える
ロボットハンドの概念図。FIG. 1 is a conceptual diagram of a robot hand including a distributed force sensor according to the present invention.
【図２】本発明に係わる分布型力覚検出センサの構成を
示す斜視図。FIG. 2 is a perspective view showing a configuration of a distributed force detection sensor according to the present invention.
【図３】図１のＩＩＩ−ＩＩＩ線断面図。FIG. 3 is a sectional view taken along line III-III in FIG.
【図４】本発明に係わる分布型力覚検出センサに使用さ
れる弾性体のシートの特性を示すグラフ。FIG. 4 is a graph showing characteristics of an elastic sheet used in the distributed force sensor according to the present invention.
１０…分布型力覚検出センサ、 １１…電極、 １４…
弾性体のシート。10 ... Distributed force sensor, 11 ... Electrode, 14 ...
Elastic sheet.
Claims (1)
電極のそれぞれに信号を送出し、前記Ｘ方向の電極とＹ
方向の電極との各交点における抵抗を検出し、該抵抗に
応じて力覚の検出値を出力する分布型力覚検出センサに
おいて、 該力覚検出センサのワークに接触する側の面を、ＪＩＳ
ＨＳｏｒにより定められるスプリングハードネス硬度
が３０〜７０度の範囲にある弾性体からなる０．５〜
５．０ｍｍの範囲の厚さのシートで被覆してなることを
特徴とする分布型力覚検出センサ。1. A signal is sent to each of a plurality of electrodes in the X and Y directions that are orthogonal to each other, and the electrodes in the X direction and the Y
In the distributed force detection sensor that detects the resistance at each intersection with the electrode in the direction and outputs the detection value of the force according to the resistance, the surface of the force detection sensor that contacts the work is
The spring hardness determined by HSor is 0.5 to 0.5, which is made of an elastic body having a hardness of 30 to 70 degrees.
A distributed force detection sensor characterized by being coated with a sheet having a thickness in the range of 5.0 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33431893A JPH07198513A (en) | 1993-12-28 | 1993-12-28 | Distribution type force-sensing detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33431893A JPH07198513A (en) | 1993-12-28 | 1993-12-28 | Distribution type force-sensing detection sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07198513A true JPH07198513A (en) | 1995-08-01 |
Family
ID=18276019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33431893A Pending JPH07198513A (en) | 1993-12-28 | 1993-12-28 | Distribution type force-sensing detection sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07198513A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002131155A (en) * | 2000-10-30 | 2002-05-09 | Denso Corp | Pressure sensitive resistance sensor |
| US6762418B2 (en) * | 2001-03-13 | 2004-07-13 | Advanced Cardiovascular Systems, Inc. | Calorimetry as a routine dosimeter at an electron beam processing facility |
| JP2010501849A (en) * | 2006-08-31 | 2010-01-21 | コーリア リサーチ インスティトゥート オブ スタンダーズ アンド サイエンス | Curved adhesion type tactile sensor and manufacturing method thereof |
| JP2011007654A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detector and robot |
| JP2011007653A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detecting device and robot |
| JP2011099721A (en) * | 2009-11-05 | 2011-05-19 | Honda Motor Co Ltd | Fiber optic sensor, pressure sensor, and end effector |
| JP2012057991A (en) * | 2010-09-06 | 2012-03-22 | Nitta Ind Corp | Pressure sensitive sensor |
| US8547534B2 (en) | 2009-09-03 | 2013-10-01 | Honda Motor Co., Ltd. | Optical fiber sensor, pressure sensor, end effector and sensor signal processor |
-
1993
- 1993-12-28 JP JP33431893A patent/JPH07198513A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002131155A (en) * | 2000-10-30 | 2002-05-09 | Denso Corp | Pressure sensitive resistance sensor |
| US6762418B2 (en) * | 2001-03-13 | 2004-07-13 | Advanced Cardiovascular Systems, Inc. | Calorimetry as a routine dosimeter at an electron beam processing facility |
| JP2010501849A (en) * | 2006-08-31 | 2010-01-21 | コーリア リサーチ インスティトゥート オブ スタンダーズ アンド サイエンス | Curved adhesion type tactile sensor and manufacturing method thereof |
| JP2011007654A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detector and robot |
| JP2011007653A (en) * | 2009-06-26 | 2011-01-13 | Toyota Motor Corp | Contact detecting device and robot |
| US8547534B2 (en) | 2009-09-03 | 2013-10-01 | Honda Motor Co., Ltd. | Optical fiber sensor, pressure sensor, end effector and sensor signal processor |
| JP2011099721A (en) * | 2009-11-05 | 2011-05-19 | Honda Motor Co Ltd | Fiber optic sensor, pressure sensor, and end effector |
| JP2012057991A (en) * | 2010-09-06 | 2012-03-22 | Nitta Ind Corp | Pressure sensitive sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH07198513A (en) | Distribution type force-sensing detection sensor | |
| JP4977825B2 (en) | Shear force detection device and object gripping system | |
| JP2000254888A (en) | Foot part sensor and human type robot having the sensor | |
| JPH06182688A (en) | Tactile sensor device | |
| JPH07128163A (en) | Touch sensor | |
| JP3636792B2 (en) | Nib coordinate input device | |
| JP4353624B2 (en) | Tactile sensor and sensor unit combining the same | |
| US4666114A (en) | Device for holding on a non-horizontal surface an apparatus capable of moving along said surface | |
| JPH07186083A (en) | Grasp control method of robot hand | |
| US20210055810A1 (en) | Input device | |
| JP2686778B2 (en) | Work positioning support device | |
| JP2003019571A (en) | Perpendicularity sensor for spot welding electrode and perpendicularity measuring method and device | |
| JP3348424B2 (en) | Articulated robot system | |
| JPH0750689Y2 (en) | Pressure sensor | |
| JPS61122539A (en) | Sensor for sense of force | |
| CN113752290B (en) | Clamp holder and robot | |
| JPH04304988A (en) | Device for fingertip pressure sensor | |
| JPS6199819A (en) | Positioning device using surface pressure sensor | |
| JPH0347835Y2 (en) | ||
| JP4522130B2 (en) | Deformation detection member | |
| JPH081452Y2 (en) | Protective cover mounting device | |
| JPH08334301A (en) | Probe for measuring instrument | |
| JPH06252593A (en) | Handling mechanism | |
| JP2004358575A (en) | Robot system, and impedance control method of robot | |
| JP2657837B2 (en) | Bonding height detector |