JPS58120494A - Robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to Sebot iIM.

Robotic devices that grip and transport items or assemble products in the same way as humans do are currently being used in a wide range of fields, not just factories. In the above-mentioned robot**, the work process is first programmed, simulated using digital and analytical equipment, and the robot equipment is operated through the servo mechanism. In this case, the error is detected and fed back, and each part is controlled so that the above am disappears.

The AM of current robot devices has been significantly improved compared to conventional devices, and therefore, conventionally they were mainly used to perform tasks in place of humans in harmful environments. Nowadays, it is becoming more common for workers to work alongside humans in factories. For this reason, current robot devices are equipped with numerous safety devices, and one of the most important functions is the sensing function.

Generally, the visual range of a robot device is limited only to the operating range of the robot device's hand and its direction of movement. Therefore, if surrounding humans or other objects enter the blind spot of the robot device's vision, the robot There was one Hal point where the device's approach sensing function and touch sensing function did not work. In order for the Robo-Nodo device to be able to operate safely and in one axis without colliding with or coming into contact with surrounding people or other objects, the sensing function must have no blind spots. Ru. However, as the operation of the robot device becomes more sophisticated, the shape of the robot device becomes more complex, and the blind spot increases accordingly. In order to eliminate this blind spot, it would be sufficient to install multiple stages of detectors or sensing devices, but there is a limit to the number of detectors or sensing devices, and for this reason, it was considered impossible to completely eliminate the blind spot.

The present invention was made from the viewpoint of ridges, and its purpose is to completely eliminate blind spots without providing multiple detectors, sensing devices, etc. in a robot device,
The present invention aims to provide a robot device that can perform safe and accurate operations without colliding with or coming into contact with surrounding objects.

The gist of this is that the main body of the robot device, especially the surface of its operating parts, is covered with a conductive material to form one electrode, and the surface of the electrode is covered with a composite material or rubber that increases elasticity. By covering the surface of the dielectric material with a dielectric material such as the above dielectric material, and then covering the surface of the dielectric material with a stretchable flexible wire to form the other electrode, the main body of the robot device, especially the entire surface of the operating part thereof, is covered with a capacitor. In addition, both surfaces of the capacitor structure are covered with a stretchable rubber membrane, and a voltage is applied between the two electrodes, so that when the main body of the robot device and its operating part come into contact with another object, By providing a capacitance detector that detects carbonization of the capacitance of the capacitor, the robot itself, such as the arm of the robot device, and objects that come into contact with or collide with the robot are substantially free from damage. safety system that enables detection of the amount of electricity and stops the operation of the robot device based on the amount detected by the capacitance detector.
The purpose of the present invention is to provide an i-current and stop the operation of the robot device in a short period of time, preferably less than 1Qmsec, based on the amount detected by the capacitance detector.

Hereinafter, the details of the present invention will be specifically explained with reference to the drawings.

FIG. 1 is an explanatory diagram showing the entire arm and hand attached to the robot device according to the present invention, and FIG.
A partially enlarged view of the arm part in the figure, Fig. 3 is an explanatory view showing the state where the rubber applied to the surface of the arm shown in Fig. 211 has been removed, and Fig. 4 is a part of the arm shown in Fig. 3. Figure 5 is a partial enlarged view of the hand part in Figure 1, Figure 6 is a partial sectional view showing the structure of the arm and hand, Figure 7 is the arm in contact with another object. 8th m is an explanatory diagram showing the state when the hand comes into contact with another object.

In Figures 1, 2, 3, 4, 5, 6, 7, and 8, 1 is the arm, 2 is the hand, and 3.3
is rubber II, 4.4 is a C-V electrode made of flexible wire, etc., 5.5 is a dielectric material such as a composite material or rubber, 6.6 is one electrode, 7.7 is an auxiliary actuator, 8 numeral 9 is a control device, 10 is a drive device, and 11 is an obstacle.

The surface of the arm 1 is covered with a conductive material to form one electrode 6, the surface of the electrode 6 is covered with a dielectric material 5 such as a composite material or rubber having elasticity, and the dielectric material A capacitor structure is formed by covering the surface of the material 5 with a stretchable conductive material such as a flexible wire to form the other electrode 4. Further, the entire surface of the electrode 4 is covered with a rubber film to form the arm 1.
The whole is composed.

Also, inside the arm 1, there is a capacitance detection device 8 for detecting the capacitance between the two electrodes 4.6, a control device 9 such as a micro combiator for controlling the arm 1, and a signal for the control device 9. A driving device 10 such as a motor that moves a plurality of auxiliary actuators 7.7 to cause the arm 1 to extend, contract, and rotate is housed therein.

Note that the structure of the hand 2 is also configured such that the surface thereof has a capacitor structure in the same way as the arm 1 described above.
is built-in.

A capacitance measurement terminal of an AC bridge built in the detection device 8 is connected between both electrodes 4.6.

Now, suppose that the arm 1 or hand 2 of the robot device comes into contact with an obstacle 11 during work, and the obstacle is made of composite material, rubber, etc. via the rubber film 3 and electrode 4 on the surface of the arm 1 or hand 2. The dielectric material 5 having elastic force is pressed. As a result, the distance between the two electrodes 4 and 6 is narrowed, and the capacitance of the capacitor formed on the surface of the arm 1 or hand 20 of the robot device is increased or otherwise changed. When this change in capacitance reaches a predetermined value or more, it is detected by the galvanometer needle and the galvanometer needle circuit in the AC bridge of the capacitance detection device 8, and a control signal is sent to the control device 9 based on the detection. Upon receiving this signal, the control device 9 controls the drive device 10 to stop the operation of the entire robot device or a portion thereof.

In addition, when hand 2 grabs something, the operation of capacitance detection device 8 is stopped as necessary, or capacitance is detected only in the part of hand 2 that grips the object according to a predetermined program. The detection function of the device 8 is stopped. % Therefore, the visual range of the robot device is limited only to the movement range of arm 1 and hand 2 of the robot device and the direction of movement of the robot device. 2 and the obstacle 11, it becomes possible to cover the entire visual blind spot of the conventional i-pot device.In addition, it is possible to stop the operation of the robot device and Each part is controlled by an electric signal based on a detection signal of a change in capacitance of a predetermined value or more by the capacitance detection device 8, so the above control can be performed in a short time of 10 m5ec or less. , and its control is performed by a control device such as a microcombi or eta, so the pF
It is possible to respond to changes in capacitance on the order of magnitude or more, and to perform detection with a low current on the order of μA.

Since the present invention is structured like a ridge, when the present invention is used, it is possible to eliminate the visual blind spot of the robot device, so that the contact sensing function does not work, and therefore, the robot device can be There is no collision or contact with other objects, and each part can be controlled for a single time and with low current.

Note that the present invention is not limited to the embodiment on the ridge. For example, in the robot device of the present invention, the entire surface of the capacitor formed on the main body of the robot device, especially the surface of the operating part thereof, is covered with a rubber film. However, other materials may be used as long as they are stretchable and insulating, and similar control can be performed by detecting changes in impedance due to changes in capacitance of a capacitor. Therefore, the shape of the arm and hand of the robot device, the operation method, the control method, etc. can be freely changed within the scope of the purpose of the present invention, and the present invention encompasses all of them. It is.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram showing the entire arm and hand attached to the robot robot (Roboso) *If according to the present invention, and Figure 2 is
Figure 111 is a partially enlarged view of the arm part, Figure 3 is an explanatory diagram showing the state in which the rubber applied to the surface of the arm shown in Figure 2 has been removed, and Figure 4 is a partial enlarged view of the arm shown in Figure 183. Figure 5 is a partially enlarged view of the hand part in Figure 1.
Figure 6 is a partially enlarged sectional view showing the structure of the arm and hand, Figure 7 is an explanatory diagram showing the state when the arm comes into contact with a Japanese cypress object, and Figure 8 shows the hand in contact with another object. FIG. 2 is an explanatory diagram showing a state when 1---------1・-Arm 2～---1-
−−−・−11−−−Hand 3−1−−−−−・−・−
・・Rubber film 4.6−−−−−−−−−−One electrode 5−−−−−−−−−−One dielectric material 7−−−−−
−−−−−−・−Auxiliary actuator 8−−1～−−
-------Capacitance detection device 9 -1---------
---1 control M learning 10-・-1------------・・-・
- Drive device 11...---------m-Obstacle patent applicant Inoue Japax Laboratory Co., Ltd. Agent (7
524) Mogami Shotabe

Claims (1)

[Scope of Claims] l) Covering the main body of the robot 11, especially the surface of the operating part thereof, with a conductive material to form one electrode, and covering the surface of the electrode with an elastic dielectric material, Furthermore, by covering the surface of the dielectric material with a stretchable conductive material to serve as the other electrode, the main body of the robot device, especially the entire surface of the operating part thereof, has a capacitor structure, and the capacitor structure The entire surface of the capacitor is covered with a stretchable insulating material, and a voltage is applied between the two electrodes to cause a change in the capacitance of the capacitor when the main body of the robot device and its operating part come into contact with another object. A robot device characterized in that it is provided with a capacitance detector for detecting the capacitance, and also provided with a safety *W'ti- that stops the operation of the robot device based on the amount detected by the capacitance detector. 2) The robot device according to claim 111m1, wherein the stretchable insulating material covering the entire surface of the capacitor structure is rubber. 3) Patent where the other electrode is a flexible wire -
The robot device of @ ■ Part 1 of the request. 4) The robot device according to claim 1, wherein the dielectric material is a Sunposite material having elasticity. 5) Claim 1, wherein the dielectric material is a rubber material.
6) The four-bot device as set forth in claim 1, wherein the distance required for the safety device to stop the operation of the robot device is 10 m5ec or less.