JPS5959379A - Mechanical hand with visual sensor - 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 provides a mechanical device having a visual sensor, which detects the shape of an object to be grasped by the visual sensor, and automatically controls the opening width and grasping timing. Regarding hands.

In recent years, robotization has progressed in various industrial fields, and various mechanical hands have been developed. In general, mechanical hand operations are performed based on a predetermined take, and methods in which a human visually controls the amount and timing of the operation are used. Appropriately responding to minute positional changes or shape changes is difficult to deal with, but the latter method's operating efficiency depends on the skill of the operator. When controlling a standardized mechanical hand, it is difficult to grasp the sense of distance [Accurate control is difficult due to limitations in the visual range, etc. The present invention has been made in consideration of the above-mentioned points, and includes a mechanical hand equipped with a visual sensor that can accurately judge the shape and position of an object and efficiently grasp the nuclear object. The purpose of the present invention is to provide a mechanical hand having the following functions. In the present invention, a light emitting element having directivity and light emitted from the light emitting element are reflected by an object.
A visual sensor is formed from a set of α numbers with a light receiving element that receives n light, and the visual sensor is connected to a mechanical hand. 'J and place it. Then, the shape of the object is detected from the distribution of output levels of each light receiving element of the visual sensor, and the opening width of the mechanical hand and the timing of grasping the mechanical hand are controlled in accordance with the shape and distance of the detected object. That's what I do.

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a side view showing a schematic configuration of a mechanical hand having a visual sensor according to the present invention.

A front bracket 2 of the support base 1 of the mechanical hand is provided, and the bracket 2 has a first joint finger 30.
A and 30b are respectively pivoted via pivot shafts 20a and 120b, and at the tips of the first articulated fingers 30a and 30b, there is a second articulated finger 40a and 140b.
It is pivoted via the pivot shafts 21a, 2]b. The cylinder devices 3a, 3b are attached to the first bell of the first articulated fingers 30a, 30b, and the second articulated finger 4 (Jas4(
A series of cylinder devices it4aN4b are connected to one end of Jb. and cylinder device 3a,
3b, optionally 1), by pivoting the first articulated finger 30
Opening and closing of a and 30b is restricted f1 cylinder device 48% 4
By appropriately driving b, the second joint finger = iu a −
, 41J t) are controlled by 6 times. Further support so I
Q cylinder device', 51/i: Connected to the support base 1 by driving this cylinder device 5. ″Isan
ft The forward and backward movement of the mechanical hand is controlled. Further, a sensor panel 6 (n-1) is provided on the upper blade of the support base 1. FIG. 2 is a front view showing the details of this sensor panel 6. In the longitudinal direction of the sensor panel 6, light emitting elements 78 to 7H and light receiving elements 8A to 8H are arranged at equal intervals f),
ing. The light emitting elements 7A~ are placed in the center of the twisted sensor panel 6.
A partition plate 9 is provided 6 to prevent the light emitted from the light receiving element 7H from being directly received by the light receiving elements 8A to 8H. FIG. 3 is a block diagram showing a processing circuit using a visual sensor according to the present invention. Although FIG. 3 only shows circuits corresponding to the light emitting element 7A and light receiving element 8A for simplicity, similar circuits may be provided for other light emitting elements 7B to 7H and light receiving elements 813 to 8H. It is being 'First, the light emitting element 7A emits light and projects it onto the object T in response to a pulse signal of a predetermined period sent out by the pulse drive circuit 20A. The projected light from this light emitting element 7A is
The received light 6 is falsified by the ℃ element 8A which reflects it to r. kot'
Due to L, a collector current corresponding to the amount of light received flows through the light emitting element 88, and this collector current is amplified by the amplifier 21A and applied to the pantone filter 22AK. A pantone filter 22A removes unspecified frequency components from this collector current, and the collector current is rectified by a rectifier circuit 23A and then applied to a Schmitt trigger circuit. The Schmitt trigger circuit 24A includes a plurality of comparison circuits having individual slice levels, and the collector currents are compared by the plurality of comparison circuits. Then, the comparison output from the comparison circuit that satisfies the level of the applied current value is sent to the digital sequencer 5.
Send to. The digital sequencer 25 recognizes the distance from the light emitting element 7A to the object T according to this comparison output. Such processing is performed on the light emitting elements 7B to 7H1 and the light receiving element 8.
In B to 8H, 10 is also done through the same processing circuit,
The nine comparison outputs are recognized by the digital sequencer 5. Figures 4 (a3, (b), and (c)) show the above situation. In other words, Figure 4 (a) shows the light emitting and receiving form ζ of each light emitting element 78 to 7H and light receiving element 8A to 8H. 4) are the current values of the respective light receiving elements 8A to 8H applied to the seamit trigger circuits 24A to 24H.
) shows the recognition form of the comparison output of the seamit trigger circuit 24A-SaeH by the digital 7-controller Z, respectively. When the object T has the external shape shown in FIG. 4(a), the current of each light receiving element 88 to 8H applied to the Schmitt trigger circuits 24A to 24I is the value shown in FIG. 4(b). Then, the seamit trigger circuit 24A-
The respective comparison outputs outputted from 24H are displayed by the digital sequencer 5 in the format shown in FIG. 4(C). Here, 101 to 106 indicate distance levels from the light emitting elements 7A to 7H and the light receiving elements 88 to 8H to the object Tf. The distance level 101 is the lowest level distance level 106iJit8 level. Further, the distance levels 101 to 106 are separated by predetermined intervals. The digital sequencer 5 is connected to the above-mentioned Seamits l-) trigger circuit 24.
A-';b4 The comparison output sent from M is displayed by turning on the distance level to which the comparison output corresponds and turning off the others.

When the above-mentioned display is displayed, the digital sequencer +J25 detects the external shape of the object T from the distribution of this distance level, and controls the width of the releno eight hand, the timing of grasping, etc. to the mechanism. The manner of controlling this mechanical hand will be explained below based on a diagram showing the operation of the mechanical hand shown in the fifth prisoner.

1. Second joint finger 40a of the mechanical hand.

4 (J b's grip?
106. Then, the digital sequencer 5 calculates the distance between the adjacent light receiving elements 8A to 811 from the distance level distribution shown in FIG. 4(c). Search for light-receiving elements that have a distance level difference of three or more sections. Through this search, the areas between the light receiving elements 8B and 8C and between 8G and 8F that satisfy the above-mentioned conditions are detected as the opening width of the mechanical node. Then, a drive signal is sent from the digital sequencer 5 via the anal amplifier 26, the relay 27, and the hydraulic solenoid path.
Then, apply a driving force to the hydraulic cylinder device connected to the hydraulic solenoid trap.
0b is opened according to the above-mentioned search results. (Figure 5 (
a) Reference 1!6) Jth round μm” finger: 30 B1:
When 3Ll b opens to the opening width of the tir constant, the mechanical hand continues to move forward from the digital sequencer section.
The drive signal is sent out and connected to the hydraulic solenoid via the amplifier 26, 1-27 and the hydraulic solenoid path. The cylinder device 5 is driven to advance the L mechanical hand toward the object T. (5th Ill (t)
) As the reference mechanical hand advances, the digital sequencer 5 continues to monitor only the light received by the light receiving element 8D having the closest distance level to the object T displayed by the digital sequencer section. Therefore, the mechanical node advances rapidly and the amount of light received by the light receiving element 8D gradually decreases. The digital sequencer 6 sets f in advance according to the reflection characteristics of the object 'r.
When an IC distance level suitable for the gripping motion of the L-mechanical hand is detected, the amplifier 26 is activated, and a stop key signal for the Mi+adic motion is sent out. This (),, stop (by No. g, 1-2'11 hydraulic solenoid, hydraulic cylinder 5 stops the forward movement of the mechanical hand).
Figure (see cl).

Subsequently, the digital sequencer 5 sends out the grip E number to the amplifier 26, II serial number 7. /I', a cylinder device 4 connected to the hydraulic solenoid via a pressure solenoid section;
a and 4b are driven. This drive is performed according to the width of the object T detected from the distribution of that distance level by the digital sequencer.
Grasp the object by closing Ib appropriately (Fig. 5(d))
reference). The distance level, which is set in advance in the above-mentioned digital sensor 25, is sufficiently close to the object T to be suitable for grasping the object, and has the property that it varies greatly depending on the reflection characteristics of the object T. In the present invention, this set value is configured to be corrected within the Schmino 11-Riga circuit according to the reflection characteristics of the object T. For example, if a white object has good reflection characteristics, the set value may be increased. If the object is relatively black, its reflective properties will be high and the setting value will be lowered for trap correction.

- Furthermore, in order to improve the detection accuracy of the visual sensor according to the present invention, restrictions on each element and circuit are reduced by the following measures. That is, the light emitting elements 78 to 7H and the receiver
f: LEDs and phototransistors are used as the elements 8A to 8H, but in the present invention, elements with excellent directivity are driven in an efficient infrared region. Furthermore, by using the phototransistor in a Darlington connection, the sensing distance can be extended and the detection accuracy can be increased. Also, the dark current becomes λ at the ambient temperature r(yo-)] used as the light-receiving elements 88 to 8H.
-If you add one inch of temperature compensation circuit, it will be more stable and it will be possible to detect the FC test. For example, balanced bridge circuit, length-mister high temperature! Since it is possible to use an H-type transistor, it is also versatile and can be used as a single-pin element, which also contributes to cost reduction. In addition, the pulse drive circuit causes the light emitting element to emit light in synchronization with the output 'f'Lpuff +/s, and a bandpass filter C' provided on the light receiving side removes disturbance light incident from sources other than the light emitting element. That's what I do.

As explained above, according to the present invention, a visual sensor is provided in a mechanical handshake, and a visual sensor consisting of a plurality of light emitting elements and light receiving elements is disposed on the front surface of the mechanical hand, and each light receiving element of the visual sender The external shape of the object is detected from the distribution of the output level of the object, and the opening width of the mechanical hand and the timing of clenching are controlled in accordance with the detected object's external shape and distance.
It has the same effect as fL7 in that it can grasp objects more accurately and efficiently than conventional mechanical hands.

In the tri-IIL section of the drawing, Section 1, Gel,',',%2 shows a schematic configuration diagram of a mechanical hand that uses a visual sensor according to an embodiment of the present invention. FIG. 2 is a front view of the visual sensor. FIG. 3 is a block diagram showing the detection processing circuit of the visual sensor according to the present invention, and FIG. 4 (a>, i), (
C) is a diagram showing the light emitting/receiving form and detection power method of the visual sensor according to the present invention, and Figures 5 to (d) are diagrams for explaining the operation of the mechanical hand that covers the visual sensor of the present invention. It's a country.

1.-Support stand, 20a12ob...clamp part, 3(
Ja, 30b...first joint fin〃, 40 b2.4
0 b...Second intersection fi7 Ka, 3a, 3b' %
4 a s 4 '+3.5...Cylinder device, 6
...Sensor panel, 78-7H...Light emitting element, 88-8H...Light receiving element, A-41...Light emitter/receiver, 20A
~20H...Pulse drive circuit, 21,...Amplifier,;a...Band pass filter, Ru...Setting? circuit, Schmitt trigger circuit, 6... Tijikurusokenza, 27... Relay, Separate... Hydraulic solenoid,
r...Object.

Figure 4 (at -------7A Hee 8A (A) (C) lot 102 103 104 105 106
8A Rorororororo 8B Rorororororo 80 Rororo■Kuchukuchi 8D Rororororo Z 8E Rororo Zuguchiguchi 8F Rororo Sonoguchiguchi 8G Diagram Rororororo 8th Anti Rororororo 517- Z Sai Nro Off No. 5 (0) (b) (C) (d)

Claims (3)

[Claims] (1) A plurality of sets of light-emitting elements and light-receiving elements that receive light emitted from the light-emitting elements and reflected by the target object are arranged in front of the mechanical hand, and the target object is detected from the distribution of the light reception level of the light-receiving elements. A mechanical hand with a visual sensor that detects the shape of (2) A plurality of sets of light-emitting elements and light-receiving elements that receive light emitted from the light-emitting elements and reflected by an object are arranged in front of the mechanical hand, and the difference in light reception levels between adjacent light-receiving elements is greater than a predetermined value. Detect the gripping width of the object from the distribution width of the light receiving element, detect the distance between the object and the mechanical hand from the maximum force of the light reception level, and calculate the opening width of the mechanical hand from the detected gripping width. A mechanical hand having a visual sensor for controlling a grasping point of the mechanical hand from the detection distance. (3) The output level of the light-receiving element is controlled in accordance with the reflection characteristics of the object.
A mechanical hand having a visual sensor as described in ).