KR20170126547A - Sliding sensor and robot hand sensing sliding - Google Patents

Abstract

The present invention relates to a sliding sensor and a robot hand sensing a sliding. The present invention provides the robot hand sensing a sliding by mounting the sliding sensor on a surface of the robot hand contacting with an object. The sliding sensor according to the present invention comprises: a base layer fixed to a surface of a moving body part; a dielectric layer fixed to the upper surface of the base layer, and formed with an incompressible dielectric; a contact layer located on the upper surface of the dielectric layer, contacting with the object, and separated from the dielectric layer when sliding; a first electrode located between the base layer and the dielectric layer; a second electrode located on the upper part of the first electrode, and fixed to the lower surface of the contact layer; and a sliding sensing part sensing a capacitance change between the first and second electrodes, and sensing the sliding.

Description

SLIDING SENSOR AND ROBOT HAND SENSING SLIDING [0002]

The present invention relates to a slip detection sensor and a robot hand for sensing slip, and more particularly, to a slip detection sensor for detecting a slip by using a change in a capacitance value when a slip occurs on a surface contacting an object, It is about a robot hand to detect.

In recent years, not only industrial robots used in industry but also robots used as housework and office assistants in general homes and offices have been put into practical use.

Among robots, robots equipped with robot hands for gripping objects using a plurality of finger joints corresponding to human hands have been developed. In the past, even when slippage occurred when gripping an object with a robot hand, So that it is difficult to grasp the object properly.

[0011]

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve the above-mentioned problems of the prior art. Accordingly, it is an object of the present invention to provide a method of manufacturing a semiconductor device, in which a separation layer is formed therein, And detecting a slip between the contacted object by using the change.

It is still another object of the present invention to provide a robot hand for detecting slip by mounting the slip detection sensor on a surface of a robot hand contacting an object.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

The object is achieved according to the present invention by a base layer fixed to the surface of a moving body part; A dielectric layer fixed to the upper surface of the base layer and formed of an incompressible dielectric; A contact layer disposed on an upper surface of the dielectric layer and separated from the dielectric layer when the dielectric layer slides in contact with an object; A first electrode positioned between the base layer and the dielectric layer; A second electrode located on the first electrode and fixed to a lower surface of the contact layer; And a slip sensing unit sensing a capacitance change between the first electrode and the second electrode to sense slip.

Here, it is preferable that the base layer and the contact layer are formed of a flexible material, and the contact layer is formed of a material that is easily stretched due to a high rate of the filament.

Here, the base layer is preferably formed of NBR.

Here, the contact layer is preferably formed of ecoflex.

Here, the dielectric layer is preferably formed of paper.

In addition, the base layer may be formed with a groove into which the first electrode is inserted.

The object is achieved according to the invention by a robot hand comprising a plurality of joints; And

And a robot hand sensing slip including the aforementioned sliding detection sensor formed on the surface of the robot hand in contact with an external object.

According to the slip detection sensor of the present invention and the robot hand for detecting the slip as described above, a separation layer is formed in the inside, and slippage is detected by using a displacement generated on the contact surface due to vibration when slip occurs, There is an advantage that the slip can be detected.

In addition, the robot hand for detecting slippage according to the present invention has an advantage that the slippage is detected when the object is gripped, thereby controlling the operation of the robot hand, thereby improving the gripping ability of the object.

1 is an inner side view of a sliding detection sensor according to an embodiment of the present invention.
2 is a view showing a state in which a normal force is applied to an object when the object is brought into contact with the slide detection sensor according to the present invention.
FIG. 3 is a view illustrating a state in which a subject is subjected to a shearing force due to an object touching the sliding detection sensor according to the present invention, but is not slid.
4 is a view showing a state in which a slip sensor receives a shear force when an object touches the slip detection sensor according to the present invention.
5 is a view showing a robot hand for detecting a slip according to an embodiment of the present invention.

The details of the embodiments are included in the detailed description and the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining a slip detection sensor and a robot hand for sensing sliding according to embodiments of the present invention.

FIG. 1 is an inner side view of a slide detection sensor according to an embodiment of the present invention. FIG. 2 is a view showing a state when an object touches a slide detection sensor according to the present invention, FIG. 4 is a view showing a state where an object touches the slide detection sensor according to the present invention and is slid by receiving a shear force. FIG. 4 is a view showing a state in which the object receives a shearing force, And FIG. 5 is a view showing a robot hand for detecting a slip according to an embodiment of the present invention.

The sliding sensor 100 according to an embodiment of the present invention includes a base layer 110, a dielectric layer 120, a contact layer 130, a first electrode 140, a second electrode 150, (Not shown).

The sliding sensor 100 according to the present invention is formed in the order of the base layer 110, the dielectric layer 120 and the contact layer 130 in this order, and the lowermost base layer 110 is shown in FIG. And is fixed to the surface of the body portion which is brought into contact with the object 200 while moving along with the fingertip of the robot hand 300. Hereinafter, the direction from the base layer 110 to the dielectric layer 120 and the contact layer 130 will be referred to as an upper direction.

Since the base layer 110 can be formed on a curved surface like the finger surface of the robot hand 300, it is preferable to use a flexible material, and it is also preferable that the base layer 110 is formed of a material which is strong and has a strong elastic force. For example, the base layer 110 may be formed of NBR, but the material of the base layer 110 is not limited thereto.

The dielectric layer 120 may be formed of a dielectric material and may be formed on the upper surface of the base layer 110 and may be fixed to the base layer 110. That is, in the present invention, the dielectric layers 120 are preferably bonded to the base layer 110 so as not to be separated from each other. The dielectric layer 120 is preferably formed of a flexible material in the same manner as the base layer 110 and is preferably formed of an incompressible dielectric so as not to be deformed in a direction perpendicular to the dielectric layer 120. For example, the dielectric layer 120 may be formed of paper, and the material of the dielectric layer 120 is not limited thereto. The dielectric layer 120 is disposed between the first electrode 140 and the second electrode 150 to form capacitances together with the first electrode 140 and the second electrode 150.

The contact layer 130 is formed on the upper surface of the dielectric layer 120 in contact with the object 200 and the base layer 110 and the dielectric layer 120 are adhered to each other between the contact layer 130 and the dielectric layer 120 So that they are separated from each other and slid. At this time, the dielectric layer 120 and the contact layer 130 are kept in contact with each other by the frictional force between the dielectric layer 120 and the dielectric layer 120. When the contact layer 130 slides in contact with the external object 200, And the contact layer 130 may be separated from each other. This will be described later with reference to FIG.

The contact layer 130 is also preferably formed of a flexible material, and it is particularly preferable to use a material that is easily stretched because of its good elongation. For example, the contact layer 130 may be formed of ecoflex, but the material of the contact layer 130 is not limited thereto.

The first electrode 140 and the second electrode 150 are formed between the base layer 110 and the dielectric layer 120 and between the dielectric layer 120 and the contact layer 130 to form capacitances together with the dielectric layer 120 do.

The first electrode 140 is formed between the base layer 110 and the dielectric layer 120. Since the base layer 110 and the dielectric layer 120 are not separated from each other, the position of the first electrode 140 can be fixed . 1, a groove is formed in the base layer 110 to allow the first electrode 140 to be inserted therein, so that the first electrode 140 is inserted into the groove, Can be prevented from protruding from the upper surface of the base layer 110. Therefore, even if the first electrode 140 is formed between the base layer 110 and the dielectric layer 120, the protrusion surface of the first electrode 140 can be prevented from being formed.

The second electrode 150 is formed between the dielectric layer 120 and the contact layer 130, and may be fixed to the lower surface of the contact layer 130. Since the dielectric layer 120 and the contact layer 130 are separated from each other as described above, the position of the second electrode 150 fixed to the contact layer 130 may vary according to the slip of the contact layer 130 have. Therefore, the position of the second electrode 150 is changed as the contact layer 130 is separated and slid, and as the position of the second electrode 150 is changed, the distance between the first electrode 140 and the second electrode 150, So that the capacitance is changed.

The sliding sensing unit receives electric signals generated from the first electrode 140 and the second electrode 150 to calculate a capacitance value between the first electrode 140 and the second electrode 150, Sensing the change in the capacitance value, and detecting that the slip sensor 100 having the above-described configuration contacts with the object 200 when the slip occurs. The capacitance value is inversely proportional to the distance between the first electrode 140 and the second electrode 150 and is proportional to the crossing area projected between the first electrode 140 and the second electrode 150. The dielectric constant .

Hereinafter, the operation of the above-described slide detection sensor 100 will be described with reference to FIGS. 2 to 4. FIG.

FIG. 2 shows a state in which a vertical force is applied to an object 200 when the slide detection sensor 100 according to the present invention is applied. As described above, the dielectric layer 120 is formed of an incompressible material. Therefore, when the normal force is applied to the sliding sensor 100, the contact layer 130 is slightly pressed but no deformation occurs in the dielectric layer 120, and a change in position between the first electrode 140 and the second electrode 150 Does not occur. Therefore, a change in the capacitance value calculated by the slip detection unit (not shown) does not occur.

FIG. 3 shows a state in which the object 200 touches the slide detection sensor 100 according to the present invention and receives a horizontal shearing force with a vertical force, but does not slip. In this state, the shear force between the contact layer 130 and the object 200 is canceled by the frictional force between the dielectric layer 120 and the contact layer 130, so that the contact layer 130 does not move due to the dielectric layer 120. In this case, therefore, the positional change between the first electrode 140 and the second electrode 150 does not occur as in the case of FIG. Therefore, a change in the capacitance value calculated by the slip detection unit (not shown) does not occur.

4 is a view showing a state in which a slip occurs due to a horizontal shearing force together with a normal force when the object 200 touches the sliding detection sensor 100 according to the present invention. Vibration may occur when a slip occurs between the object 200 and the contact layer 130. When a slip occurs between the object 200 and the contact layer 130, vibration occurs in the contact layer 130, and the generated vibration is transmitted to the surface between the dielectric layer 120 and the contact layer 130. At this time, since the dielectric layer 120 and the contact layer 130 are separated as described above, the surface between the dielectric layer 120 and the contact layer 130 is partially separated by vibration. Since the frictional force is not applied to the partially separated portion, the object 200 moves together in the direction in which the object 200 slides. Therefore, the contact layer 130 positioned at the front end of the object 200 to which the shear force is applied increases slightly due to the characteristics of the material, and the contact layer 130 positioned at the rear end of the object 200 to which the shear force is applied, 200 may be pushed to the rear end and may be compressed to cause wrinkles.

The second electrode 150 fixed to the lower surface of the contact layer 130 moves together as the contact layer 130 moves apart from the first electrode 140 and the second electrode 150, Resulting in a change in the projected intersection area. Accordingly, it is possible to detect that a slip has occurred due to a change in the capacitance value calculated by the slip detection unit (not shown).

4, in which slip occurs as described above with reference to FIGS. 2 to 4, the slip can be detected by the change in the capacitance value.

The sliding sensor 100 according to the present invention described with reference to FIGS. 1 to 4 is formed on the holding surface of a robot hand 300 formed of a plurality of finger joints as shown in FIG. 5, and the object 200 and the robot hand 300 ) Of the slip occurs. It is possible to grasp the object 200 more precisely through the robot hand 300 by controlling the position of each finger joint differently when slippage occurs.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

100: Slip sensor 110: Base layer
120 dielectric layer 130 contact layer
140: first electrode 150: second electrode
200: Object 300: Robotic hand

Claims (7)

A base layer fixed to a surface of the moving body part;
A dielectric layer fixed to the upper surface of the base layer and formed of an incompressible dielectric;
A contact layer disposed on an upper surface of the dielectric layer and separated from the dielectric layer when the dielectric layer slides in contact with an object;
A first electrode positioned between the base layer and the dielectric layer;
A second electrode located on the first electrode and fixed to a lower surface of the contact layer; And
And a sliding sensing unit sensing a capacitance change between the first electrode and the second electrode to sense sliding. The method according to claim 1,
Wherein the base layer and the contact layer are formed of a flexible material,
Wherein the contact layer is formed of a material which is easily stretched due to a high rate of fire. 3. The method of claim 2,
Wherein the base layer is formed of NBR. 3. The method of claim 2,
Wherein the contact layer is formed of an ecoflex. The method according to claim 1,
Wherein the dielectric layer is formed of paper. The method according to claim 1,
Wherein the base layer is formed with a groove into which the first electrode is inserted. A robot hand formed of a plurality of joints; And
A robot hand for detecting slip comprising the slip detection sensor according to any one of claims 1 to 6, formed on a surface of the robot hand in contact with an external object.

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