JPS58132492A - 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 is a robotic device &Jll.

Robots that can grasp and transport items or assemble products in the same way as humans do are currently being used not only in factories, but also in a wide range of public funds. In the above-mentioned robot devices, the work process is first programmed, simulated using digital and analytical devices, and operated through a servo mechanism. The system detects the error and feeds it back, and controls each part so that the error is eliminated.

The functionality of today's robot devices has greatly improved compared to conventional devices, and as a result, they were primarily used to perform tasks in place of humans in hazardous environments. Nowadays, it is becoming more common for workers to work alongside humans in factories. For this reason, current robot devices are equipped with various safety devices, among which a sensing function is particularly important.

Generally, the visual range of a robot device is limited only to the operating range of the hand or arm of the robot device and its direction of movement, and therefore, t? There is a problem in that when surrounding humans or other objects enter the blind spot of the robot's vision, the approach sensing function and contact sensing function of the robot device do not work. In order for a robot device to operate safely and accurately without colliding with or coming into contact with surrounding humans or other objects, the sensing function is required to have no blind spots. 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 is considered impossible to completely eliminate the blind spot of robot equipment. Ta.

The present invention was made from the viewpoint of ridges, and its purpose is to completely eliminate blind spots, preferably without providing a large number of detectors, sensing devices, etc., on a robot device, and to eliminate surrounding objects. The aim is to provide a robot device that can perform safe and accurate operations without causing collision or contact with other objects.

The gist of this is that an oscillation coil that generates a magnetic field and a detection device that detects changes in the output of the oscillation coil are provided in the main body of the robot device, especially in its operating part, and the amount detected by the detection device is Based on this, it is possible to detect when the arm, hand, or robot body of the robot device approaches, contacts, or collides with surrounding objects by more than a predetermined value and does not cause substantial damage, and the amount detected by the detection device is Preferably, the operation of the robot device described in 1.
The purpose is to stop the process in a short time of Qmsec or less.

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

FIG. 1 is an explanatory diagram showing one embodiment of the robot device according to the present invention, FIG. 2 is an explanatory diagram showing the circuit configuration of a safety device provided inside the robot device of the present invention, and FIG. An explanatory diagram showing the state when the arm of the robot device shown in the figure approaches the arm of another robot device that is working in the surrounding area. FIG. 5 is a partially enlarged view of the arm portion, FIG. 5 is a partially cutaway explanatory view of the arm, and FIG. 6 is an explanatory view showing the state when the hand portion of the robot device approaches another surrounding object.

1, 2, 3, 4, 5 and 6, 1 is a robot device, 1a, 1a and 1b, 1b are magnetic bodies that can be expanded and contracted as necessary, The arm of the robot device 1 is formed such that the slightly thick sheet-like magnetic material is cut vertically and horizontally, and the gaps between the cut portions form magnetic gaps, and the magnetic gaps are distributed. Hands 2 are other robot devices working in close proximity to the robot device 1, 2 M, 2 a
The arms and hands of the robot device 2 are each made of a magnetic material such as a metal, and 3 is a plurality of arms and hands distributed appropriately on the half body of the robot device 11 and its operating parts, and generates a magnetic field. The above A A 18%
1 a or hand lb, 1b (7) an oscillation coil that is magnetized to cause lines of magnetic force to act outside the skin from the magnetic gap; 4 is a transistor; 5 is a capacitor; 6 is a power supply; 7 is an AC voltage supplied to the oscillation coil 3. 8 is a detection device that detects a change in the output of the oscillation coil 3, 9 is an amplifier that amplifies the detection signal of the detection device 8, 10 is a control device, and 11 is a frequency adjustment device that adjusts the frequency appropriately or automatically. Drives, 12.13.14 and 15 are arms la, l
a and the hand lb, 1b (7) an auxiliary actuator for extending/contracting, rotating, and grasping, and 16 are obstacles.

However, the arm 1aslas and hands lb, lb of the robot device l are made of a magnetic material that forms a large number of distributed magnetic gaps that can be expanded and contracted as necessary,
The magnetic field generated by the oscillation coil 3 is configured to emit lines of magnetic force from the magnetic gap to the entire area outside the surface. Also inside it are arms la and la, respectively.
and a plurality of auxiliary actuators 12, 13 .
14.Move 15 arms la,, 1a and hand l
A driving device 11 such as a motor for extending, contracting, rotating, and gripping bS lb is housed therein.

Thus, arms la, la and hand lb.

1b is connected to the oscillation coil 3, and the oscillation coil 3 is connected to the oscillation coil by a transistor 4 to generate a signal from 10Hz to 1001(z,
A low frequency AC voltage of 1 kHz or less, preferably 10 to 300 Hz is supplied. Therefore, the arm 1
Asla and the entire surface of the hands 1b, 1b have lines of magnetic force acting on them outside the surface due to the action of the koji vibration coil, and a magnetic field is acting on the periphery thereof. Now, the arm la of the robot device l is 1m or the hand lb, l
When b is working, the arms 2a, 2a or hands 2b, 2b of other robot devices 2 are working nearby.
If it approaches abnormally, the arm of the robot w1"
11ar (When the arms 2a and hands 2b, 2b made of magnetic material of the robot device 2 cross or enter the area of the magnetic field lines formed around the hands lb, 1b, the formed magnetic field It will be changed.

When the change in the magnetic field reaches a predetermined value, the detection device 8 detects it, the detection signal is amplified by the amplification I9, and based on this amplified signal, a control signal is sent to the control device 10, and this signal is The control device 10 that has received the command controls the drive device 11 to operate the entire robot device 1 or the parts of the arms 1a11a and hands 1b and Ib that are close to the arms 2a, 2a and hands 2b and 2b of the V-pot device 2. It makes it stop.

In addition, when the hands lb, lb grab something, the voltage supply to the oscillation coil 3 is stopped as necessary, or the hands lb, lb grab the object according to a predetermined program. The magnetic field generation action or the detection function of the detection device 8 is stopped only in that part. In addition, in the robot device of the present invention, employees working in the vicinity wear work clothes and helmets with magnetic patches attached, or work clothes with fine magnetic powder embedded in the fibers. If you wear a
It is similarly detected by the robot device 1 described above. Further, a configuration may be adopted in which changes in the magnetic field due to proximity of a human body or the like can be detected.

Therefore, the visual range of the robot device 1 is
rms 1a, 1a and hands Ib, 1b, and the direction of movement of the robot device 1.
Therefore, if the distances between the entire arms la, la and the entire hands lb, lb and objects around the robot device 1 are constantly detected as in the present invention, the entire operating range of the conventional robot device can be covered. This makes it possible. In addition, the operation of the robot device 1 is stopped and each part is controlled by
When the detection amount detected by the detection device 8 exceeds a predetermined value, it is controlled by an electric signal based on the detection signal, so the above sting can be performed in a short time of less than 10m5ec. It is.

Since the present invention is structured as presented, it is possible to eliminate the visual blind spot of the robot device, so that the touch sensing function does not work, and therefore the robot device can detect surrounding objects, etc. Furthermore, each part can be controlled in a single time without causing collision or contact with other parts.

It should be noted that the present invention is not limited to the presented examples. That is, for example, in the robo-nod device of the present invention,
The main body of the robot device, especially the operating parts of the arm and hand, are made of a magnetic material with distributed magnetic gaps, and a magnetic field generated by an oscillation coil is applied thereto to output magnetic lines of force to the outside, but this is not necessarily the case. It is not necessary to make the entire robot device from a magnetic material; it may be made by mixing magnetic powder into a synthetic resin, or by making most of the robot device from a magnetic material and using a part of it as a magnetic material. A similar effect can be obtained by converting the body part into values using an oscillation coil. In other words, for example,
+ No. 9940 describes a plurality of annular cores having excitation wire rings formed corresponding to the magnetic gap 4 - the radial distance of the desired leakage change field, or the magnetic gap 4 - the radial distance of the desired leakage change magnetic field. an annular core having an excitation line shaft configured to be switched in accordance with the excitation line;
KI (an excitation power source that supplies a low-frequency changing current such as an alternating current or a pulse with a frequency of z or less, and an excitation power source that changes the coil by electromagnetic induction in response to the intrusion of a detected object into the radiation area of the changing magnetic field leaked by the annular core) A plurality of low-angle magnetic detection devices for detecting the intrusion position of the detected object by distance and direction, each consisting of a device for discriminating and displaying the current according to the gap, are embedded in each part of the outer peripheral surface of the arm 1a and the hand 1b. death,
Each detection signal can be centrally managed, and the shape, operation method, control method, etc. of the arm and hand of the robot device can also be freely changed within the scope of the purpose of the present invention. Therefore, the present invention encompasses all of them.

[Brief Description of the Drawings] Fig. 1 is an explanatory diagram showing an embodiment of the robot device according to the present invention, and Fig. 2 is an explanatory diagram showing the circuit configuration of a safety device provided inside the robot device of the present invention. , FIG. 3 is an explanatory diagram showing the state when the robot device shown in FIG. 1 approaches the arm portion of the art device, and FIG. 4 is a partially enlarged view of the arm portion of the robot device shown in FIG. 3. , Fig. 5 is a partially broken explanatory view of the arm, and Fig. 6 is a partially broken explanatory view showing the state when the hand portion of the robot device approaches other surrounding objects.
− It is a large number. 1.2・-------1----Robo l device 1
a, 2 a----1----arm lb, 2
b-.
−−−−−−−−−− Capacitor'l−−〜−−−−
-Frequency adjustment device 8 -1 Detection device 9 ----・-1 ------- Amplifier l Q --
−・−−−−−−−@Control device 11−−−−−−−−−
-1 Drive device 12.13.14.15-Auxiliary actuator 16--11--Obstacle Patent applicant Inoue Japan Nox Research Institute Agent (7524 ) Mogami Seita part 618

Claims (1)

[Scope of Claims] 1) An oscillator that generates a magnetic field in the main body of the robot device, particularly its operating part, and a detection device that detects changes in the output of the oscillator are provided, and the robot device A robot device characterized by being equipped with a safety device that stops the operation of the device. 2) Claim 1, wherein the oscillator is an oscillation coil.
Robotic device for battle. 3) The robot device according to claim 1, characterized in that one oscillator is provided. 4) The robot device according to claim 1, characterized in that a plurality of the oscillators are provided. 5) Claims 1 to 4, wherein the voltage supplied to the oscillator is an alternating current voltage. The robot device described in any of the above. 6) The frequency of the AC voltage supplied to the oscillator is several 10H
Claims 1 to 5 which are from z to 300Hz
The robot device described in any of the preceding paragraphs. 7) The glue pot device according to any one of claims 1 to 6, wherein the time required for the safety device to stop the operation of the robot device is 10 m5ec or less.