JPS61121884A - Detecting mechanism - 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] [Industrial Application Field] The present invention relates to a detection mechanism applied to a robot used for testing the operation of automatic transaction equipment, etc., and in particular, the present invention relates to a detection mechanism applied to a robot used for operation testing of automatic transaction equipment, etc. The present invention relates to a detection mechanism that can improve detection accuracy.

Recently, automatic teller machines or automatic deposit dispensing machines have been introduced in financial institutions.
Automated transaction devices such as ATMs (hereinafter referred to as ATMs) are becoming widespread.

These devices automatically perform transaction processing such as deposits or cash withdrawals by inserting a credit card (usually referred to as a magnetic card or less) or bankbook, and by operation by the customer.

Therefore, during manufacturing, simulated trading operations similar to those during use are tested by robot operation.

In such a test operation, the next test operation is proceeded based on the detection by the optical sensor provided on the robot, so it is desired that the detection accuracy of the optical sensor is high.

[Conventional technology]

FIG. 2 is a side view of a robot testing an ATM.

In the figure, 1 is an ATM, la is an operation button, and 2 is a robot having a test program. 2a is arm, 2b
2 is a hand, 2C is a finger, 3 is an optical sensor, 3a is a light receiving element, and 4 is a light emitting unit, which is composed of, for example, a light emitting diode.

Therefore, when testing the operation of the ATM1, operate the robot 2 and operate the operation button 1a with the finger 20, the ATM1 will be activated and start operating. emits light.

At this time, the robot 2 is already holding the card between the fingers 20 and moving the hand 2b in front of the light emitting unit 4 and waiting as close as possible, and the light receiving element 3a of the sensor 3 detects the light emission, and the detection result is The card is inserted into the card insertion slot 5 based on the following. The ATMI reads customer data from the card and begins the next operation.

The operation sequence is performed in this way, but if there is an abnormality in the operation, the ATMI's abnormality detection function is activated and an alarm is issued, and the time required for each operation is recorded as test data in a data recording device (not shown). be done.

[Problem that the invention seeks to solve]

In the above conventional method, the light receiving element 3a of the sensor 3 is placed as close as possible to the light emitting part 4 in order to prevent the influence of ambient light when detecting light emission, but since the finger 2c protrudes forward, There is a risk of collision with other objects, and there is a limit to how close you can get. Therefore, it is difficult to completely prevent the influence of ambient light, and there is a problem that detection may sometimes occur.

In order to prevent this, it is possible to make the room darker, but since it is impossible to dim the lighting in a workplace where various tasks are being carried out concurrently, this lighting invention is not suitable for lighting outside the finger movement area of the hand. The detection mechanism is provided with a telescopic mechanism, and a light receiving element of an optical sensor is provided at the tip of the telescopic mechanism, and when detecting light emission, the telescopic mechanism is extended and the light receiving element approaches the light emitting position. The above problems can be solved.

[Effect]

According to the present invention, instead of the conventional method in which there is a limit in bringing the light receiving element of the optical sensor close to the light emitting part, the telescopic mechanism 1, for example, an air cylinder, is attached to the robot hand avoiding the operating area of the finger, and the air cylinder is By providing the light receiving element of the optical sensor at the end of the piston rond door, when detecting light emission from the light emitting part, an air cylinder is operated in front of the light emitting part to move the light receiving element closer to the light emitting part as the piston rond moves forward. When detected, light emission can be detected while preventing the influence of ambient light, and detection accuracy can be improved.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to the side view of FIG. The same symbols as in FIG. 2 indicate the same objects.

As shown in the figure, 6a and 7a are air cylinders, and 6b.

7b is the cylinder part, 6c, 7c is the piston rond, 8
9 is a mounting hardware, 13 is a light sensor, and 13a is a light receiving element.

The air cylinder 6a is attached to the hand 12b with a fitting 8, and the cylinder portion 7b of the air cylinder 7a is fixed to the tip of the piston rod c of the air cylinder 6a with a fitting 9, and is further provided on the fitting 8. Hole 8
It is slidably fitted into a. Therefore, air cylinder 6a
When the piston rondro c moves forward or backward by the operation of the air cylinder 7a, the air cylinder 7a moves forward or backward by the corresponding stroke.

Further, a light receiving element 13a of the optical sensor 13 is attached to the tip of the piston door c of the air cylinder 7a. Therefore, due to the operation of the air cylinder 7a, the piston ron door c
When the light receiving element 13a moves forward or backward, the light receiving element 13a moves forward or backward by the stroke.

Therefore, air cylinder 6a, ? When a is activated at the same time, the light receiving element 13a moves forward by a distance equal to the sum of both strokes.

You will have to retreat. This operation is performed by both the air cylinders 6a and 7a depending on the distance between the hand 12b and the light emitting part 4.

Or either one can be activated.

Having such a configuration and function, when moving the hand 12b, the piston rods 6c of the air cylinders 6a, 7a,
Move 7c back.

When the sensor 13 detects the light emission from the light emitting part 4, the air cylinders 6a and 7a are operated in front of the light emitting part 4 to advance the air cylinder 7a and the light receiving element 13a, as shown by the two-dot chain line in the figure. , the light emitting unit 4 is sufficiently approached or brought into contact with the light emitting unit 4 to detect light emission.

Therefore, when moving the hand 12b for detection, it is possible to prevent the finger 20 from colliding with the device housing, etc.
Furthermore, detection accuracy can be improved by preventing the influence of ambient light.

Furthermore, since it becomes possible to bring the light receiving element 13a sufficiently close to or in contact with the light emitting section 4, it is also possible to detect the display on the display lb of the ATM 1, and the detection method can be diversified.

Although the above example describes the case where two air cylinders are used, it goes without saying that the number of air cylinders may be one or three or more depending on the condition of the light emitting part 4 and the protrusions around it.

In addition, we explained the case of an air cylinder as the expansion and contraction mechanism.
Other telescoping mechanisms may be used, such as a solenoid or a pantograph-type telescoping hand, to achieve the same effect.

〔Effect of the invention〕

As explained above, according to the present invention, ■Prevents the influence of ambient light and improves detection accuracy.

■It is also possible to detect display information, etc.

There is an effect.

[Brief explanation of drawings]

FIG. 1 is a side view showing one embodiment of the present invention, and FIG. 2 is a side view showing a conventional method. In the figure, 1 is an ATM, 2 is a robot, 2b, 1
2b is hand, 2C is finger, 3a, 13a
4 is a light receiving element, 4 is a light emitting part, 6a and 7a are air cylinders, 6b and 7b are cylinder parts, and 6c and 7c are piston rods. Figure 1

Claims (3)

[Claims] (1) In a robot having a hand that performs a predetermined next action based on a detection output obtained by detecting light emission from a predetermined position of an external device by an optical sensor, an extension/contraction mechanism is provided outside the finger operation area of the hand. , a detection mechanism comprising a light-receiving element of an optical sensor at the tip of the telescopic mechanism, and when detecting the light emission, the telescopic mechanism is extended to bring the light-receiving element close to the light-emitting position. (2) The telescopic mechanism is an air cylinder, a cylinder portion of the air cylinder is fixed to the hand, and a light receiving element of an optical sensor is provided at the tip of the piston rod of the air cylinder. Detection mechanism described in Section. (3) The expansion and contraction mechanism is a plurality of air cylinders,
The cylinder part of one air cylinder is fixed to the hand, the cylinder parts of other air cylinders are sequentially attached to the tip of the piston rod of the air cylinder, and the light receiving element of the optical sensor is provided at the tip of the piston rod of the last air cylinder. The detection mechanism according to claim 1, characterized in that: