WO2020085124A1 - Dispositif de détection de contact - Google Patents

Dispositif de détection de contact Download PDF

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Publication number
WO2020085124A1
WO2020085124A1 PCT/JP2019/040231 JP2019040231W WO2020085124A1 WO 2020085124 A1 WO2020085124 A1 WO 2020085124A1 JP 2019040231 W JP2019040231 W JP 2019040231W WO 2020085124 A1 WO2020085124 A1 WO 2020085124A1
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WO
WIPO (PCT)
Prior art keywords
volume
foam
sensor
base material
air
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PCT/JP2019/040231
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English (en)
Japanese (ja)
Inventor
大介 森
嘉宏 中坊
竜一 黒瀬
Original Assignee
株式会社三重ロボット外装技術研究所
国立研究開発法人産業技術総合研究所
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Publication of WO2020085124A1 publication Critical patent/WO2020085124A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/68—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using thermal effects
    • G01F1/684—Structural arrangements; Mounting of elements, e.g. in relation to fluid flow
    • G01F1/688—Structural arrangements; Mounting of elements, e.g. in relation to fluid flow using a particular type of heating, cooling or sensing element
    • G01F1/69—Structural arrangements; Mounting of elements, e.g. in relation to fluid flow using a particular type of heating, cooling or sensing element of resistive type
    • G01F1/692—Thin-film arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/02—Measuring force or stress, in general by hydraulic or pneumatic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes

Definitions

  • the present invention comprises a base material formed in a specific shape and a foam formed in a specific shape by foaming synthetic resin, and forming a volume constituent on one side or both sides between the base material and the foam.
  • the present invention relates to a contact detection device that detects a change in the physical quantity of the volume structure with a sensor.
  • Patent Documents 1 and 2 disclose a technique for increasing the adhesive force between a foamed synthetic resin molded body and a cushion sheet.
  • foamable synthetic resins are used as raw materials for formally forming prototypes, this technology has not been realized for small-volume production.
  • a foamed synthetic resin molding such as foamed polystyrene is fragile, and the surface cannot be ground to a predetermined shape, and the surface cannot be smoothed with a good appearance.
  • a vent hole in the expandable synthetic resin filling the vent hole depends on the thickness of the remaining expandable synthetic resin, but only a skilled person can efficiently perform molding. Further, if the vent hole is filled up, there is a slight difference in the weight balance of the foamed synthetic resin molded body, and depending on the purpose, it may be necessary to adjust the weight balance.
  • Patent Document 3 and Patent Document 4 the above problems are solved, and a foamed synthetic resin material is used as a base material, and a specific shape is carved out to increase the thickness of the coated surface as a highly elastic molded body. Without having to obtain a good-looking, inexpensive foam synthetic resin molded body.
  • the contact sensor is used in Patent Document 3 and Patent Document 4, it is necessary to apply a metal electrode, a conductive paint or the like on the surface, and the use is limited to the one whose conductor is a conductor.
  • a commercially available pressure sensitive switch is used, the pressure sensitive switch itself at the portion receiving the pressing force operates, but the pressure cannot be detected at the portion where no other pressure sensitive switch is provided.
  • the pressure-sensitive switch cannot be formed three-dimensionally because the insulating substrate (sheet) cannot be freely deformed.
  • mass-produced popular sensors such as contact sensors and pressure-sensitive switches are inexpensive, but non-mass-produced sensors are expensive.
  • a pressure sensor using a change in capacitance or a strain gauge is available at a low price.
  • the present inventors have invented the contact detection device disclosed in Patent Document 5. That is, a base material formed in a specific shape and one foam synthetic resin material or foam rubber material covering the base material, or foam formed by forming a foam synthetic resin material or foam rubber material in a specific shape.
  • a body a predetermined volume forming body formed on one or both sides of the base material and the foam facing each other, and a space maintaining material having an open cell structure disposed in the volume forming body; Reinforcing layer forming the volume construct that prevents compressed air in the volume construct and the space maintaining material from leaking to the outside air from the substrate and / or the foam; and one side of the base and the foam.
  • a sensor that detects the pressing force applied from both sides from the outside as a physical change amount of the volume component and the space maintaining material formed by the reinforcing layer, and the on time of the on / off output from the sensor. Or off time
  • the length is used as a detection output
  • the base material formed in the specific shape and one foam synthetic resin material or foam rubber material that covers the base material, or the foam synthetic resin material or foam rubber material has a specific shape.
  • an output circuit embedded in a corner formed by the foam formed in This makes it possible to detect the pressure applied to a wide range, and it is possible to perform construction with either a two-dimensional planar configuration or a three-dimensional three-dimensional configuration, and it is possible to apply pressure from outside the prescribed level or more. It became a contact detection device that can detect pressure.
  • the volume structure needs to be divided. Therefore, as the volume of the volume structure increases, the detection error of the sensor increases.
  • the responsiveness of the sensor is to be made uniform, it is necessary to make the volume of the volume forming body uniform, and there is a problem that efficient mounting cannot be performed.
  • the first invention detects an external force applied to a contact detection device (system) such as a robot as a physical change amount of the volume constituent body, and further, a sensor is provided. It is possible to reduce the detection error of the physical change amount to be detected and improve the responsiveness of the sensor.
  • the second invention is to provide a contact detection device capable of determining whether the sensor itself is normal or abnormal by comparing the initial operation of the sensor with the operation before and after the zero-cross point after the air flow is stopped. It is what
  • the contact detection device comprises a foam body formed in a planar shape for covering a base material formed in a specific shape, and a volume constituent body in which the base material and / or the foam body are formed.
  • a sensor such as an air volume sensor, which is formed so that air does not leak easily and detects a change in external force (pressing force) applied to the volume component as a physical change amount formed in the volume component.
  • the predetermined volume forming body formed on the base material and / or the foam body has a uniform volume of the volume forming body and a sensor determines an abnormality.
  • the base material formed in the specific shape is a coating of a robot including a doll robot, a coating of a housing of various devices, and is generally formed of an aluminum plate, a stainless plate, an iron plate, a copper plate, or the like.
  • synthetic resin although foamed synthetic resin is also used, it is mainly formed by injection molding or the like.
  • Most of the substrates formed by this injection molding are composed of one block of thermoplastic resin material.
  • a thermoplastic resin material formed by adhering a thermoplastic resin material to a specific shape may be used.
  • the thermoplastic resin material may be a solid type resin or a foam, as long as it has hardness such that the volume change of the volume component appears.
  • this base material is covered with a self-propelled automatic production device such as a robot, and the foamed material is provided on the base material so as to be fail-safe compatible.
  • the foamed synthetic resin material used as the foam may be either a closed cell in which existing internal cells are not connected to each other or an open cell in which existing internal cells are connected to each other. In any case, it is sufficient that the air of the closed volume structure is formed so as not to easily leak to the outside air.
  • the foam is formed by covering the base material with one or a plurality of foam synthetic resin materials adhered to form a specific shape. Usually, the foam is configured to cover the foam from the outside.
  • the said volume structure may form a reinforcement layer on one side or both sides between the said base material and the said foam.
  • This reinforcing layer makes it difficult for air to leak from the base material and / or the foam to the outside air. For that purpose, it is made difficult for air to pass through by the reinforcing layer.
  • One of the reinforcing layers is a skin layer cooled by a mold formed by an injection molding mold or a film layer and a coating layer formed of another material for reducing air leakage. When the air in the volume forming body is compressed by an external pressure (external pressure), it is desirable to provide a reinforcing layer so that a part of the compressed air does not leak from the volume forming body.
  • the reinforcing layer can be selected by combining some of a filling agent, a filling agent, an undercoating agent, an overcoating agent, and a finishing agent.
  • the skin layer formed by a mold for forming the foam is formed in a specific shape by laminating and adhering one sheet of synthetic resin foam material or foam rubber material that covers the base material, or laminating and adhering a plurality of sheets. It can also be a foam.
  • the volume constituting body may have a hollow inside, or may be constituted by an elastic body made of the foam formed of the reinforcing layer.
  • the above-mentioned formation of the reinforcing layer may be a two-dimensional surface treatment or a three-dimensional (three-dimensional) treatment.
  • the three-dimensional reinforcing layer enables strength and densification of the volume construct rather than strength of the reinforcing layer only.
  • the reinforcement may be a synthetic resin sheet.
  • the volume constituent formed so that air does not leak easily does not mean a state in which air does not leak at all, but even if air leaks, it does not reach the extent that it changes the characteristics of the sensor. means.
  • the reinforcing layer is not limited to the one having no air leakage at all, and may have some leakage. It is also possible to manufacture a completely leak-free material and form a leak path having a specific diameter therein.
  • the present invention requires the characteristics of external pressing force applied to the volume component and its recovery.
  • a physical change amount such as a contact pressure, an atmospheric pressure, a change in pressure or the like is changed as a strain amount or a change in capacitance. It measures the amount of physical change detected as changes in air pressure, air flow, air flow velocity, air amount, and the like.
  • a commercially available micro flow sensor D6F-V03A1; made by OMRON
  • MEMS flow sensor MEMS air flow sensor
  • flow velocity sensor flow velocity sensor
  • one or two or more sensors are assigned to two or more planar volume components in a predetermined volume component formed on the base material and the foam, and The signal is compared to determine an abnormality.
  • the abnormality is determined by allocating the sensors to the two or more planar volume constructs by determining the external force applied to the volume constructs as the physical change amount of the volume constructs.
  • It is detected and compared with a plurality of histories to obtain a normal / abnormal binary signal as the signal detection output. For example, both integral values that return to the original after the air has come out due to an external force are constant. If they are compared and do not match, it is determined that there is some abnormality.
  • air is generated from a foam body formed in a planar shape that covers a base material formed in a specific shape, and a volume constituent body in which the base material or the foam body is formed.
  • a sensor that is formed so as not to leak easily and that detects a change in external pressing force applied to the volume component as an amount of physical change formed in the volume component, and is guided to the outside air.
  • a predetermined volume component formed on the material and / or the foam is assigned a sensor with the volume component having a uniform volume, and when the sensor is operating, the sensor operates normally and the sensor malfunctions. The operation is determined.
  • the base material formed in the above-mentioned specific shape is generally formed of an aluminum plate, a stainless plate, an iron plate, a copper plate, or the like for coating a robot such as a doll robot or a housing for various devices. is there.
  • synthetic resin although foamed synthetic resin is also used, it is mainly formed by injection molding or the like.
  • Most of the base material 1 formed by this injection molding is composed of one block of thermoplastic resin material.
  • a thermoplastic resin material formed by adhering a thermoplastic resin material to a specific shape may be used.
  • the thermoplastic resin material may be a solid type resin or a foam, as long as it has hardness such that the volume change of the volume component appears.
  • this base material is covered with a self-propelled automatic production device such as a robot, and the foamed material is provided on the base material so as to be fail-safe compatible.
  • the foamed synthetic resin material used as the foam may be either a closed cell in which existing internal cells are not connected to each other or an open cell in which existing internal cells are connected to each other. In any case, it is sufficient if the air of the volume forming body is formed so as not to easily leak to the outside air.
  • the foam is formed by covering the base material with one or a plurality of foam synthetic resin materials adhered to form a specific shape. Usually, the foam is configured to cover the foam from the outside.
  • the base material is, for example, a self-propelled automatic production device such as a robot that is covered, and the foam is provided on the base material so as to be fail-safe compatible.
  • the said volume structure may form a reinforcement layer on one side or both sides between the said base material and the said foam.
  • This reinforcing layer makes it difficult for air to leak from the base material and / or the foam to the outside air. For that purpose, it is made difficult for air to pass through by the reinforcing layer.
  • One of the reinforcing layers is a skin layer cooled by a mold formed by an injection molding mold or a film layer and a coating layer formed of another material for reducing air leakage. When the air in the volume forming body is compressed by the pressure (external pressure) from the outside, it is desirable to provide a reinforcing layer so that a part of the compressed air does not leak out from the volume forming body.
  • the reinforcing layer can be selected by combining some of a filling agent, a filling agent, an undercoating agent, an overcoating agent, and a finishing agent.
  • the skin layer formed by a mold for forming the foam is formed in a specific shape by laminating and adhering one sheet of synthetic resin foam material or foam rubber material that covers the base material, or laminating and adhering a plurality of sheets. It can also be a foam.
  • the volume constituting body may have a hollow inside, or may be constituted by an elastic body made of the foam formed of the reinforcing layer.
  • the above-mentioned formation of the reinforcing layer may be a two-dimensional surface treatment or a three-dimensional (three-dimensional) treatment.
  • the three-dimensional reinforcing layer enables strength and densification of the volume construct rather than strength of the reinforcing layer only.
  • the reinforcement may be a synthetic resin sheet.
  • the volume constituent formed so that air does not leak easily does not mean a state in which air does not leak at all, but even if air leaks, it does not reach the extent that it changes the characteristics of the sensor. means.
  • the reinforcing layer is not limited to the one having no air leakage at all, and may have some leakage. It is also possible to manufacture a completely leak-free material and form a leak path having a specific diameter therein.
  • the present invention requires the characteristics of external pressing force applied to the volume component and its recovery.
  • a change in contact pressure, atmospheric pressure, pressure or the like is physically detected as a change in strain amount or capacitance.
  • the physical quantity of change is detected by detecting the variable quantity as the air pressure, the flow of air, the flow velocity of air, the change of the air quantity, and the like.
  • a commercially available microflow sensor that causes a flow of air which is called “MEMS flow sensor”, “MEMS air flow sensor”, or “flow velocity sensor”, can be used.
  • MEMS flow sensor MEMS air flow sensor
  • flow velocity sensor a commercially available microflow sensor that causes a flow of air
  • a sensor is assigned to two or more planar volumetric structures formed in the base material and the foam, and a sensor is assigned to one or more planar volumetric structures at power-on or at a predetermined date and time.
  • An abnormality is determined by comparing the signals of the rotation sensors.
  • the sensor is assigned to the two or more planar volume constructs to determine an abnormality in that the pressing force from the outside applied to the volume constructs is determined by the physical force of the volume constructs.
  • the amount of change includes a sensor for detecting air pressure, the flow of air, the velocity of air, a change in the amount of air, and the like. Specifically, the pressing force from the outside applied to the volume structure is applied to the physical structure of the volume structure.
  • a dynamic change amount It is detected as a dynamic change amount and compared with a plurality of histories to obtain a normal / abnormal binary signal as a signal detection output. For example, a method of confirming a quadratic function curve by sampling may be used. Further, both integrated values that return to the original value after the air has come out by the external force are constant. If they are compared and do not match, it is determined that there is some abnormality.
  • the change in the external force applied to the volume component of the contact detection device according to the invention of claim 3 integrates the detection signals of the sensor around the zero-cross point where the air flow is stopped, and the air flow is stopped to cause a flow.
  • the history before and after the change is compared.
  • an external force is applied to the volume component, and the change in the pressing force is a change in the air flow.
  • the history before and after the zero-cross point at which the air flow is stopped and the flow changes are In principle, the integrated values of 1 and 2 match, so that the detection of abnormality of the contact detection device and the detection of abnormality of the sensor forming the contact detection device are performed.
  • a threshold is set for the amplitude of the air movement amount and the sensor abnormality is detected by the integral value. is there. Since the detection signal of the sensor is set as the time for sampling and holding and the history before and after that is compared, the integrated value becomes substantially constant by the first and first discharge of air and the subsequent inhalation. This means that there is a leak in the volume structure, and at this time, it is possible to judge whether the sensor is normal or abnormal by the sum of the number of sensors in consideration of the polarity.
  • the abnormality is detected by the first sensor operation, and regarding other abnormalities, the air is detected. It is to be detected after the flow is stopped.
  • the system abnormality of the contact detection device is performed depending on whether the abnormal amplitude of the detection signal of the sensor is equal to or larger than a predetermined threshold value, and the abnormality of the sensor is calculated by integration for a predetermined time from the zero cross point.
  • a foam formed by forming a foamed synthetic resin material or a foamed rubber material that covers the base material into a specific shape has at least a ridgeline on the design surface side of 5 to 30 ⁇ (diameter. mm) for chamfering.
  • the ridgeline of 5 to 30 ⁇ on the design surface side shows a drag force when the ridgeline is smaller than 5 ⁇ , and the designability cannot be maintained when the ridgeline exceeds 30 ⁇ . Therefore, the chamfering of the ridgeline on the design surface side of the foam body at 5 to 30 ⁇ means that the ridgeline with respect to an external force may be applied to the volume constituent body or the foam body inside the volume constituent body. Does not repel, so it can be detected even if the external force is small. Further, variations in error with respect to external force are reduced, and the characteristics are stabilized.
  • the contact detection device of the invention according to claim 1 is a base material formed in a specific shape, a foam body formed by forming a foamed synthetic resin material or a foamed rubber material covering the base material in a specific shape, Air is less likely to leak from the base material and / or the foam to the outside air, and a predetermined volume forming body formed on the base material and the foam facing each other, and an external pressing force applied to the volume forming body.
  • a sensor for detecting a change in the volume as a physical change amount formed in the volume constituent, and the predetermined volume constituent formed in the base material and / or the foam is substantially the volume constituent.
  • a sensor is assigned as a uniform volume to determine an abnormality.
  • each volume constituent is Since the volume is uniform, the sensor output obtained as each abnormal output is substantially uniform. Therefore, it is possible to manufacture a uniform one with a fixed resistor or an IC circuit.
  • the physical change amount from the base material and / or the foam body the physical change amount in the volume constituent which is made difficult to leak is detected, and therefore, the pressure applied to a wide range is detected.
  • the construction can be performed with a two-dimensional planar structure or a three-dimensional three-dimensional structure, and a predetermined pressure can be detected from the outside.
  • the sensor that detects as a physical change of the volume structure, the external force applied to the volume structure, by the sensor as a physical change amount of the volume structure to detect the normal volume structure. It is detected as the applied contact pressure.
  • the volume construct is formed as two or more planar volume constructs, there is no large difference in the output of the sensor.
  • the external force that rises or falls gently and the sudden rise in a short time It is possible to discriminate the contact in a short time by monitoring the external force applied to the. That is, since the sensor for detecting the physical change amount of the volume structure of the present invention is attached to the substantially uniform volume structure, normality / abnormality of the sensor itself is detected in order to detect the physical change amount. It is possible to determine, and in particular, it is possible to determine whether or not the air flow sensor abnormality has occurred at the timing immediately before the contact, which is unknown at what time the next activation occurs.
  • the contact detection device wherein a base material formed in a specific shape, a foam body formed by forming a foamed synthetic resin material or a foam rubber material covering the base material in a specific plurality of shapes, and the base material.
  • the material and / or the foam makes it difficult for air to leak to the outside air, and a predetermined volume forming body formed on the base material and the foam facing each other, and an external pressing force applied to the volume forming body.
  • a sensor is assigned as a volume, and when the sensor is operating, a normal operation of the contact detection device and an abnormal operation of the sensor constituting the contact detection device are determined.
  • the physical change amount from the base material and / or the foam body the physical change amount in the volume constituent which is made difficult to leak is detected, and therefore, the pressure applied to a wide range is detected.
  • the construction can be performed with a two-dimensional planar structure or a three-dimensional three-dimensional structure, and a predetermined pressure can be detected from the outside.
  • a sensor that detects as a physical change of the volume component the pressing force from the outside applied to the volume component is detected by the sensor as a physical change amount of the volume component, the normal It is detected as the contact pressure applied to the volume component.
  • the volume construct is formed as two or more planar volume constructs, there is no large difference in the output of the sensor.
  • the external force that rises or falls gently and the sudden rise in a short time It is possible to discriminate the contact in a short time by monitoring the external force applied to the. That is, since the sensor for detecting the physical change amount of the volume structure of the present invention is attached to the substantially uniform volume structure, normality / abnormality of the sensor itself is detected in order to detect the physical change amount. It is possible to determine, and in particular, it is possible to determine whether or not the air flow sensor abnormality has occurred at the timing immediately before the contact, which is unknown at what time the next activation occurs.
  • the change of the external force applied to the volume component of the contact detection device according to the invention of claim 3 integrates the detection signal of the sensor before the zero-cross point where the air flow is stopped, and the air flow is stopped and the flow is changed. Since the history before and after the change is compared, in addition to the effect according to claim 2, if an abnormal value appears in the sensor output during the time until the air flow is stopped, it is regarded as an abnormality of the contact detection device. , The history before and after the zero crossing point where the air flow stops and the flow changes, when the integrated values of the two differ, when the integrated value of the time until the air flow of the air flow differs, the sensor side It is judged as abnormal.
  • the contact detection device system
  • abnormality detection of the sensor constituting the contact detection device by one operation of the contact detection device.
  • the history before and after the zero-cross point at which the air flow stops and the flow changes, and since the integrated values of the two theoretically match, an abnormality in the contact detection device is detected, and a contact detection device is configured.
  • This is to detect an abnormality of the sensor.
  • the system abnormality as the contact detection device needs to be detected early and stopped. Therefore, a threshold is set for the amplitude, and the abnormality of the sensor is detected by integration.
  • the foamed body formed by forming the foamed synthetic resin material or the foamed rubber material covering the base material into a specific shape has at least a ridgeline on the design surface side chamfered by 5 to 30 ⁇ .
  • the chamfering of the ridgeline on the design surface side of the foam body at 5 to 30 ⁇ is effective against external force regardless of whether the volume constituent body or the foam body is filled with the foam body. Since the ridgeline is deformable and does not repel partially, it is possible to detect even if the external force is small. Further, variations in the error with respect to the detection value obtained by detecting the external force are reduced, and the characteristics are stabilized.
  • FIG. 1 is an exemplary perspective view of a base material formed in a specific shape of the contact detection device according to the first embodiment of the present invention.
  • FIG. 2 is an explanatory view of a cross section of the contact detection device according to Embodiment 1 of the present invention in which a base material and a foam are mounted.
  • FIG. 3 is a cross-sectional explanatory diagram illustrating the structure of the contact detection device according to the first embodiment of the present invention.
  • FIG. 4 is an explanatory diagram of an example of the space maintaining material used in the contact detection device according to the second embodiment of the present invention.
  • 5A and 5B are explanatory views of an example of the space maintaining material used in the contact detection device according to the third embodiment of the present invention, in which FIG.
  • FIG. 5A is a sectional view
  • FIG. 5B is a perspective view of a conceptual view of an air volume sensor
  • FIG. FIG. 4 is a perspective view of a ridgeline on the design surface side.
  • 6A and 6B are explanatory views of an example of the space maintaining material used in the contact detection device according to the third embodiment of the present invention, in which FIG. 6A is a conceptual view seen from a plane, and FIG. , (C) are conceptual views of the volume constructing body as seen from a plane.
  • FIG. 7 is a circuit diagram of the contact detection device showing the handling of comparison for comparing the history records according to the embodiment of the present invention.
  • FIG. 8 is a flowchart of a doll robot to which the contact detection device according to the embodiment of the present invention is attached.
  • FIG. 9 is an overall perspective view of a doll robot to which the contact detection device according to the embodiment of the present invention is attached.
  • FIG. 10 is an overall perspective view of the inside of the chest of the doll robot to which the contact detection device according to the embodiment of the present invention is attached.
  • FIG. 11 is a perspective view of a main part of the contact detection device according to the embodiment of the present invention when the outside of the chest of the doll robot is pressed.
  • the base material 1 used in the contact detection device according to the embodiment of the present invention is used on the exterior side of a robot 40 including a doll (human) robot and an industrial robot shown in FIG.
  • the protector corresponds to the outer skin of the robot 40 itself.
  • the base material 1 of this embodiment is made of, for example, a solid type or foamable thermoplastic resin material. Before cutting the base material 1, it is formed into a substantially semi-cylindrical shape with the size of the flange portion 2 secured for bonding. That is, the exposed base material side reinforcing surfaces 1a, 1b, 1c, 1d of the base material 1 form the volume constituent body 4 which is cut only on one side in view of the facing foam body 10. .
  • the volume component 4 formed by cutting can be formed on only one of the base material 1 and the foam body 10, or on both the base material 1 and the foam body 10.
  • the flange portion 2 of the base material 1 and the foam-side reinforcing surfaces 10e, 10f, 10g on the inner surface of the foam 10 are bonded with an adhesive to form the base-side reinforcing surfaces 1a, 1b, 1c, 1d and
  • the foaming side reinforcing surfaces 10e, 10f, and 10g on the inner surface ensure sealing performance.
  • a coating film that is, a filling agent, a filling agent, an undercoat, on the flange portion 2 of the base material side reinforcing surface 1a, 1b, 1c, 1d of the base material 1 and the foam side reinforcing surface 10e, 10f, 10g of the foam body 10.
  • a reinforcing layer selected by combining some of the agents, the overcoating agents, and the finishing agents is formed.
  • This reinforcing layer is treated so that the air in the volume constructing body 4 does not leak.
  • the reinforcing layer of the present embodiment is, for example, a skin layer formed by a mold forming a foam, and one sheet of synthetic resin material or foamed rubber covering the base material 1 is used.
  • the material or the foam 10 formed by laminating and adhering a plurality of sheets into a specific shape may be used, and high-density treatment may be performed so that air in the volume constituent body 4 does not leak.
  • the openings of the base material 1 and the openings of the foam 10 may be joined together.
  • a coating film may be applied on the surface.
  • the base material 1 is a synthetic resin material formed in a specific shape.
  • a solid type synthetic resin such as an aluminum plate, a stainless plate, an iron plate, or a copper plate is used. It can also be formed as a foamed synthetic resin material.
  • the base material side reinforcing surfaces 1a, 1b, 1c, 1 d1 and 1 d2 that oppose the foam side reinforcing surfaces 10e, 10f, 10g, 10 d1 and 10 d2 are cut only on one side when viewed from the facing foam body 10.
  • the formed volume structure 4 is formed.
  • the foam 10 side may be cut, or both sides of the base material 1 and the foam 10 may be cut.
  • the volume component 4 may be formed on one side or both sides of the base material 1 and the foam 10 which face each other.
  • the thickness of the volume component 4 is usually about 3 to 20 mm.
  • the design surface means only the exposed surface.
  • the volume component 4 formed between the base material 1 and the foam 10 is a space in which the volume component 4 itself is closed. Therefore, when pressure is applied to the foam 10 from the outside, a depression is generated in accordance with the applied pressure, and the volume of the volume component 4 changes, causing a pressure change. Since the volume change of the volume constructing body 4 becomes air pressure and enters the sensor SEN, the sensor SEN detects the pressure (external force) applied to the foam 10. When a commercially available micro flow sensor (D6F-V03A1; made by OMRON) is used as the sensor SEN, it is necessary to form an air flow in the sensor SEN. Therefore, the flow of air is generated from the auxiliary space 20 to the outside so that the volume of the volume component 4 changes.
  • D6F-V03A1 a commercially available micro flow sensor
  • the restoring force of the volume component 4 causes the sensor SEN to pass the zero cross point of the detected value.
  • the external force applied to the volumetric structure 4 is not applied by the sensor SEN, but after that, it may be described only the sensor SEN itself.
  • the foam 10 used in the contact detection device of the present embodiment has a hardness such that the volume change of the volume component 4 appears, and in particular, the foam 10 is independent in which existing internal bubbles are not connected to each other. It may be either a foamed body or an open-celled body in which existing internal bubbles are connected to each other. However, in order to reduce the leakage of air, an extremely soft and restorative closed-cell body is preferable, and the foaming ratio of these foams 10 is about 10 to 40 times.
  • the sponge hardness is preferably in the range of 10 to 40 (JIS-k-6243), and normally, the sponge hardness of 15 to 45 is more preferable, and it may be slightly changed depending on the structure.
  • a rubber glue non-toluene can (Marusue Oil Industry)
  • a rubber glue bond GSEN0X7 (Konishi Co., Ltd.)
  • the rubber type adhesive is bond (GSEN0X7 (Konishi Co., Ltd.), and cyclohexane, n-heptane, and acetone are the main components. is there.
  • the thickness of the adhesive should be as thin as possible so that its presence cannot be visually recognized, and only the adhesive function can be maintained.
  • an adhesive made of the same synthetic resin as the base material 1 such as polyethylene can also be used.
  • the base material 1 for covering the robot 40 and the housing for various devices is generally formed of an aluminum plate, a stainless plate, an iron plate, a copper plate or the like.
  • synthetic resin although foamed synthetic resin is also used, it is mainly formed by injection molding or the like. Most of the base material 1 formed by this injection molding is composed of one block of thermoplastic resin material, but in the contact detection device of the present embodiment, one block base material formed by injection molding or the like. An example will be described.
  • the base material 1 in which a foamed synthetic resin material is formed in a specific shape and the base material 1 in which one solid type synthetic resin material or a plurality of solid type synthetic resin plates are formed in a specific shape
  • the basic structure is the same as that formed by injection molding or the like.
  • foam synthetic resin material used in the present embodiment examples include polyurethane (PUR), polystyrene (PS), polyolefin (mainly polyethylene (PE) and polypropylene (PP)), phenol resin (PF), polychlorinated Foamed resin such as vinyl (PVC), urea resin (UF), silicone (SI), polyimide (PI), melamine resin (MF) can be used, and open cells or internal cells in which internal cells are connected to each other. It is possible to use closed cells that are not connected to each other. However, in order to form the volume constituent body 4 in which air does not easily leak to the outside air from the foam 10 and the base material 1, it is preferable to use a closed cell body in which internal cells are not connected.
  • the base material 1 is made of the same material as that of the foamed body 10 and is subjected to the same treatment as the box-shaped inner frame 6 corresponding thereto.
  • the periphery of the base material 1 is cut to form base material side reinforcing surfaces 1a, 1b, 1c, 1 d1 and 1 d2 .
  • Foam side reinforcing surface 10a of the foam 10, 10b, 10c, 10 d1 , 10 d2 and the inner surface of the foamed side reinforcing surface 10e, 10f, the 10 g, the inner frame 6 of a box type to be described later is formed as a stereoscopic configuration ing.
  • a box-shaped inner frame 6 described later is three-dimensionally formed. It is configured.
  • the foam-side reinforcing surface 10a of the foam 10, 10b, 10c, 10 d1 , 10 d2 and the foamed side reinforcing surface 10e of the inner surface, 10f, the 10 g, of the substrate 1 the substrate side reinforcing surface 1a, 1b , 1c, 1 d1 , 1 d2 and the base material side reinforcing surfaces 1e, 1f, 1g, the box-shaped inner frame 6 described later may be formed as a two-dimensional structure.
  • the box-shaped inner frame 6 may be a 0.5-2 mm-thick disc or a square base plate for joining the sensor SEN to the back inner surface side of the base material side reinforcing surface 1a of the base material 1.
  • the box-shaped inner frame 6 is a box formed by injection molding, which guides air pressure to the inlet of the sensor SEN via the guide passage 5 at a stable installation position. Is accurately transmitted to the sensor SEN.
  • the box shape of the inner frame 6 is a rectangular frame so that the inner frame 6 does not move in the horizontal direction and the vertical direction, and it is easy to obtain a change when an external force is applied.
  • a flat plate sealing plate (sponge) 8 made of an open-cell body of a foamed synthetic resin material is arranged on the opening side of the inner frame 6.
  • the space formed by the inner frame 6 and the flat plate sealing plate 8 is an auxiliary space 20. This auxiliary space 20 may temporarily absorb the volume change and pressure change of the volume component 4, or may be a completely independent space.
  • the inner frame 6 in the shape of a rectangular box may be made of a metal plate or a metal.
  • the auxiliary space 20 is formed by the flat plate sealing plate 8 made of an open-cell body made of a foamed synthetic resin material, the air pressed from the volume forming body 4 is guided to the inlet of the sensor SEN via the guide path 5. Flowing. At this time, the substantial air pressure in the auxiliary space 20 is maintained at atmospheric pressure. However, at this time, since the auxiliary space 20 is strained by the atmospheric pressure and the external pressure, in principle, the pressure is higher than the outside air. Therefore, through the flat plate sealing plate 8 made of open cells, Air at the inlet of the sensor SEN can be leaked.
  • the volume constructing body 4 introduces the outside air through the guide passage 5 and the sensor SEN for the insufficient air amount.
  • the auxiliary space 20 formed from the flat plate sealing plate 8 is formed of an open-cell body of a foamed synthetic resin material, and is formed so as to have an atmospheric pressure.
  • the sensor SEN uses an air volume sensor described later. The method of use is the same whether it is a pressure sensor or a commercially available microflow sensor (D6F-V03A1; made by OMRON) that detects the flow of air. At this time, it is necessary to configure so that the air flows from the volume constructing body 4 to the auxiliary space 20.
  • the sensor SEN used here detects the pressure of the volume component 4 formed by the reinforcing layer (not shown) so that air is unlikely to leak to the outside air.
  • This sensor SEN can be used as long as it is a commercially available sensor having a built-in strain cage, a sensor SEN for detecting via a diaphragm, a sensor using a piezo effect element, or a capacitance type sensor.
  • "SMC compact air pressure sensor PSE440A” is used as the sensor SEN used in the present embodiment.
  • the relationship between the input pressure and the output voltage V is substantially proportional and sensitive.
  • the output of the sensor SEN is composed of two power supply lines and one output signal line OUT, which is a total of three, and is used as a danger signal of the robot 40 to stop suddenly in this embodiment.
  • the foam 10 is a foamed thermoplastic resin, and main synthetic resin raw materials are polyurethane (PUR), polystyrene (PS), and polyolefin (mainly polyethylene (PE) and polypropylene (PP)), and others. Also, phenol resin (PF), polyvinyl chloride (PVC), urea resin (UF), silicone (SI), polyimide (PI), melamine resin (MF), etc. can be foamed and used.
  • PF polyurethane
  • PVC polyvinyl chloride
  • UF urea resin
  • SI silicone
  • PI polyimide
  • MF melamine resin
  • the foaming rate does not matter, but there is a case where the elasticity is maintained depending on the purpose of use, but the foaming rate is limited to finish hard.
  • a box-shaped inner frame 6 is arranged on the inner surface of the base material 1 on the base material side reinforcing surface 1e by bonding with an adhesive.
  • the inner frame 6 joins the sensor SEN having a characteristic that the output is proportional to the external force, and applies the pressure of the volume component 4 to the inlet of the guide passage 5 that guides air from the volume component 4.
  • the auxiliary space 20 is preferably at atmospheric pressure.
  • the output of the sensor SEN is input to the microprocessor 30 via the lead wire L and, if necessary, a connector or the like.
  • two or more sensors SEN can be arranged in one auxiliary space 20.
  • An air flow rate (liter / second) sensor SEN for detecting a change in pressure as a physical change amount formed by the volume constituent body 4 is provided, and the predetermined volume constituent body 4 formed on the base material 1 and the foam body 10 is Abnormalities can be determined by assigning the sensors SEN to two or more planar volume structures 4.
  • the foamed body 10 formed by forming the foamed synthetic resin material or the foamed rubber material covering the base material 1 into one or more planar shapes makes it difficult for air to leak from the base material 1 and / or the foamed material 10 to the outside air. For this reason, a coating film for preventing air leakage may be applied or thin films may be joined to provide a hermetic property.
  • a predetermined volume forming body 4 formed on the base material 1 and the foam 10 facing each other is constituted. That is, the volume component 4 does not need to be formed in a complete space, and the substrate 1 and / or the foam 10 may be inside.
  • the sensor SEN detects a change in the area of the foam 10 caused by the foam 10.
  • the base material 1 of the present embodiment is a protector such as a human body used for the robot 40 and an outer skin, and as shown in FIG.
  • a high-density foam side reinforcing surface 10a, 10b, 10c, 10d1 , 10d2 and a foam side reinforcing surface 10e, 10f, 10g foamed body 10 provided with a flat plate sealing plate for closing the opening of the base material 1 8 is arranged with double-sided tape or the like.
  • the reinforcing layer 4d is provided with a guide path 5 that guides air to the sensor SEN. When an external force deforms the foamed body 10, the guide path 5 allows air to pass through the sensor SEN and discharge paths 5a and 5b shown in FIG.
  • the lead wire L is composed of two power supply lines for the sensor SEN and one output signal line OUT, which is a total of three, and is directly connected to this power supply and a computer (not shown). The signal line is processed as shown in FIG.
  • FIGS. 1 to 3 may be configured as shown in the embodiment of FIG.
  • the base material 1 is substantially U-shaped, and the opening side thereof is the robot 40 side. Further, the base material 1 has a structure that is not easily deformed.
  • the foam 10 filled in the volume constructing body 4 is provided on the outer periphery thereof.
  • the outer foam side reinforcing surface 10a to prevent leakage of air from the design surface, 10b, 10c, 10 d1, 10 d2, inner foam side reinforcing surface 10e, 10f, A foam 10 having a weight of 10 g is formed.
  • the foam 10 is also outside the foam side reinforcing planes 10a, 10b, the 10c, 10 d1, the 10 d2 giving an external force, the air of a predetermined volume structure 4 is discharged.
  • the discharge of the air in the volume forming body 4 is stopped, and when the external force is released, the air inside becomes lean and the air is introduced into the guide path 5 from the outside.
  • the integrated value from when external force is applied to when external force is stopped is the external force after external force is stopped. Is constant with the integral value until is released.
  • the volume structure 4 is surrounded by the outer foam-side reinforcing surfaces 10a, 10b, 10c, 10d1 and 10d2 and the inner foam-side reinforcing surfaces 10e, 10f and 10g, the air from the foam 10 is exposed to the outside air. It is hard to leak and shows stable characteristics.
  • the foam-side reinforcing surfaces 10e, 10f, and 10g on the inside of the foam 10 of the base material 1 to the base material 1, it becomes difficult for air to leak from the foam 10 to the outside air and becomes stable. Not what you need.
  • the outer surface of the foam 10 may be formed as a film having a high density as in the embodiment of FIG.
  • the base material 1 has a structure in which the design surface side of the substantially rectangular parallelepiped is not easily deformed and is on the robot 40 side.
  • the foam 10 housed in the volume forming body 4 is provided on the outer periphery thereof.
  • the foamed side reinforcing surface 10a to prevent leakage of air, 10b, 10c, 10 d1, 10 d2 foam 10 forming the is formed from the design surface.
  • a decorative layer 15 which is a coating film of a design paint may be provided on the foam side reinforcing surfaces 10a, 10b, 10c, 10d1 and 10d2 in the embodiment of FIGS. 3 to 6. .
  • the foam 10 is also, given the foam side reinforcing surface 10a consisting of a coating film or coating film or the like, 10b, 10c, 10 d1, the 10 d2 external force, air of a predetermined volume structure 4 is discharged.
  • the discharge of the air in the volume forming body 4 is stopped, and when the external force is released, the air inside becomes lean and the air is introduced into the guide path 5 from the outside.
  • the integrated value from when external force is applied to when external force is stopped is the external force after external force is stopped.
  • the integral value until is released is constant.
  • the volume construction 4 the blowing side reinforcing surface 10a, 10b, 10c, 10 d1, 10 d2 and blowing side reinforcing surface 10e, 10f, so that surrounds at 10 g, made air from the foam 10 is less likely to leak to the outside air stable Shows the characteristics.
  • the guide path 5 through which air is introduced is preferably assembled so as to be aligned with the guide hole 14 shown in FIG.
  • the magnitude of the output of the sensor SEN depends on the volume of the volume constructing body 4. Therefore, the plurality of volume components 4 arranged on the plane of the robot 40 may be divided into the volume components 4 -1 , 4 -2 , 4 -3 . However, in order to arrange the volume components 4 that are uniform with respect to the robot 40, the same characteristics are selected as the sensor SEN, and as shown in FIG. 6A, each volume component 4 -1 , 4 -2 , 4 is selected. It is desirable that the volume of -3 be the same.
  • the sensor SEN is divided into three volume constituents 4 -1 , 4 -2 , 4 -3, and one volume constituent 4 -1 , 4 -2 , 4 -3 has two sensors SEN21, SEN24 or If two sensors SEN22, SEN25 and two sensors SEN23, SEN26 are provided, the sum of the integrated values of the two sensors SEN21, SEN24 of the both, the sum of the integrated values of the two sensors SEN22, SEN25, the two sensors The sum of the integrated values of the sensors SEN23 and SEN26 is output.
  • One volume construction 4 -1, 4 -2, 4 in the case of using two or more sensors SEN in any one of -3, each one of the volume construction 4 -1 or volume construction 4 - 2 or the volume component 4 -3 , when using two or more sensors SEN, the sum of the integrated values when the sum of each sensor SEN applies the external force and when the external force stops, the external force stops It is the same as the sum of integral values from the moment when the external force is released until the external force is released. Since the time from the stop of the external force to the release of the external force is a very long time up to the equilibrium point, the integration is normally completed when the change becomes small. Alternatively, it is set to a time when the external force is detected and the external force is stopped.
  • the abnormality of the robot 40 is detected when the total sum of the integrated values of the sensor SEN reaches a predetermined value, or the abnormality of the robot 40 is detected when the output of the sensor SEN reaches a predetermined amplitude. Detected as abnormal. Further, the abnormality of the sensor SEN itself means that when the change of the sum of the integrated values of the sensor SEN is stopped once and then the polarity of the sensor SEN becomes opposite and the sum of the integrated values of the sensor SEN reaches a predetermined value, the sensor SEN itself It is obtained by discriminating the abnormality of.
  • Each of the volume components 4 -1 , 4 -2 , 4 -3 has one sensor SEN11, SEN12, SEN13, or two or more sensors SEN21, SEN22, SEN23, SEN24, SEN25, SEN26. May be provided. Both, the volume construction 4 -1, 4 -2, 4 when there is the magnitude -3, it becomes necessary to modify their output by the potentiometer or fixed resistor. Therefore, it is desirable that the volume constituent members 4-1 , 4-2 and 4-3 are made of the same material and have the same volume. Of course, the gain can be adjusted, but it is desirable to minimize it and configure the circuit with a fixed resistor.
  • the volume construction 4 -1, 4 -2 if the uniform volume of 4 -3, adjustment of the gain is uniquely determined.
  • the volumes of the volume components 4 -1 , 4 -2 , 4 -3 are uniform, when the foam-side reinforcing surface 10a and the foam-side reinforcing surface 10a are continuous, the foam-side reinforcing surface 10a.
  • the ridge line 10h formed by the foam-side reinforcing surface 10a and the foam-side reinforcing surface 10a does not easily deform the foam body 10 even when a vertical downward force is applied from above.
  • the robot 40 equipped with the contact detection device according to the embodiment of the present invention has general-purpose hardware and software installed therein.
  • 9 is a perspective view of the main part of FIG. 9 showing the appearance of the chest 41 and the shoulder 42 of the robot 40.
  • the corner (corner) 45 of FIG. 10 forms a space in two dimensions or three dimensions, and the microprocessor 30 arranged at a position apart from the sensor SEN may be attached thereto.
  • a battery may be arranged there, if necessary.
  • a flexible film is bonded onto a flat plate sealing plate 8 (not shown) to form a base material 1 (robot 40) and a foam 10 covering the base material 1 (robot 40).
  • the sensor SEN is bonded to the plate-shaped body 46 having holes in a solid type plate.
  • the robot 40 of the present embodiment secures a volume on the inside of the chest 41 by a foam synthetic resin material plate of an open cell (not shown), and the space between the robot 40 and the foam 10 covering the base material 1 (robot 40).
  • the volume constructing body 4 is formed in the above, and further, air for closing the volume constructing body 4 is not passed, and the pressure is applied only to the sensor SEN.
  • the base material 1 (robot 40) is metal, the sensor SEN is fixed.
  • the lead wire stopper 39 is a wire stopper for the lead wire L.
  • the volume constituent 4 concentrates on the formed portion having low mechanical strength, and the volume constituent 4 changes in volume, which can be detected by the sensor SEN.
  • the ridgeline 10h by chamfering at least the ridgeline 10h on the design surface side with 5 to 30 ⁇ (diameter mm), the ridgeline 10h smaller than 5 ⁇ exhibits a drag force, and when the ridgeline 10h exceeds 30 ⁇ . The design cannot be maintained.
  • the chamfering of the ridgeline 10h on the design surface side of the foam body at 5 to 30 ⁇ does not apply external force to the volume constituent body 4 or the volume constituent body 4 containing the foam body.
  • the ridgeline 10h does not repel, it can be detected even if the external force is small. Further, variations in error with respect to external force are reduced, and the characteristics are stabilized.
  • the external force applied to the chest 41 of the robot 40 can be detected.
  • the contact of the shoulder portion 42 is not detected in the robot 40 of the present embodiment, but as shown in FIG. 10, even if it is not provided on the whole, it operates when stress (strain) is partially applied. There was found. Therefore, on one side or both sides between the base material 1 and the foam body 10, the volume constituent body 4 in which the air from the base material 1 and the foam material 10 does not easily leak to the outside air is formed, and the volume constituent body 4 is formed by the output of the sensor SEN.
  • a pressing force is applied to either the base material 1 or the foam body 10, and the existence of a factor that changes the volume of the volume forming body 4 is grasped, and the base material 1 and the foaming material are foamed. It is determined that a human body or the like has come into contact with one or both sides of the body 10.
  • the substrate 1 formed in a specific shape is one foam synthetic resin material or foam rubber material, or a foam synthetic resin material or foam rubber material obtained by laminating and bonding a plurality of sheets.
  • it can be a part of the robot 40 as in the present embodiment. Therefore, since the base material 1 and the foam 10 can be made of materials having the same characteristics, the base material 1 and the foam 10 facing each other are made of the same material, and weight reduction and processing are facilitated. It is also possible to use a sheet that does not expand and contract, that is, that does not expand and contract, whereby the use of the base material 1 can be expanded.
  • the volume component 4 is formed of a breathable synthetic resin material plate on the inner surface of which a lattice shape, a square shape, a shark pattern, a circular dot, and a checkerboard are punched or alternately punched to form an elastic member. It accommodates the body. Therefore, the volume constructing body 4 is formed by punching or forming one of a lattice shape, a square shape, a shark pattern, a circular polka dot shape, and a checkerboard shape on the inner surface with a foamed synthetic resin material plate having elasticity and breathability.
  • the sensor SEN introduces the pressure of air into the inflow port. Therefore, air is passed through the guide path 5 to the inflow port, and the volume change is detected by the abnormal amplitude detection circuit section 31 of the sensor SEN of the microprocessor 30 whether the amplitude is equal to or larger than a predetermined threshold value Vt. That is, when the abnormal amplitude detection circuit unit 31 detects an amplitude equal to or larger than the predetermined threshold value Vt, the integration circuit unit 32 before the zero-cross point starts integration. The input of the abnormal amplitude detection circuit unit 31 waits until the amplitude becomes zero in the zero cross point detection circuit unit 33, and then stops the integration of the integration circuit unit 32. The output of the abnormal amplitude detection circuit unit 31 becomes a stop signal for the robot 40.
  • the zero cross point means the equilibrium of the volume component 4 which is an external force.
  • the comparison circuit unit 35 compares the value integrated by the integration circuit unit 32 before the zero-cross point with the value of the integration circuit unit 34 that has obtained the integrated value for the predetermined time after the detection of the zero-cross point, and When the integrating circuit unit 34 is smaller than the value of the integrating circuit unit 32, it is determined that the sensor SEN is abnormal. If the abnormal amplitude detection circuit unit 31 is larger than a predetermined value and the amplitude is larger than a predetermined threshold, it is determined that the robot system is abnormal.
  • the LED 16 is an output of the abnormal amplitude detection circuit section 31 to indicate that the system is abnormal by lighting.
  • the LED 17 displays the abnormality of the sensor SEN by the output of the comparison circuit section 35.
  • the abnormal amplitude detection circuit unit 31 of the sensor SEN of the microprocessor 30 detects an amplitude equal to or larger than the predetermined threshold value Vt, the peak value of the amplitude is detected, and the integration circuit unit 32 before the zero cross point performs integration.
  • the input of the abnormal amplitude detection circuit unit 31 stops the integration of the integration circuit unit 32 after the zero cross point detection circuit unit 33 waits until the amplitude becomes zero.
  • the integration circuit section 32 before the zero-cross point is started to be integrated, and when the detection of the zero-cross point is completed, the integration value of a predetermined time is integrated by the integration circuit section 34 for a predetermined period.
  • the comparison circuit unit 35 compares the value integrated by the integration circuit unit 32 before the zero-cross point with the value of the integration circuit unit 34 that has obtained the integrated value for the predetermined time after the detection of the zero-cross point, and the integration circuit unit for the predetermined time period is compared. When 34 is smaller than the value of the integration circuit section 32, it is determined that the sensor SEN is abnormal. If the abnormal amplitude detection circuit unit 31 is larger than a predetermined value and the amplitude is larger than a predetermined threshold, it is determined that the robot system is abnormal.
  • the logic is programmed such that the integral value when an external force is applied is equal to the integral value when the external force is released. Since the responsiveness of the contact detection device of this embodiment is not good as it is, the integrated value when an external force is applied is set to the magnitude of the signal.
  • this routine is to turn on the target robot 40 or the like, or turn on another power source before the power is turned on and repeatedly operate.
  • initialization is performed in step S1.
  • step S2 it is determined whether the output of the sensor SEN is greater than or equal to the threshold value Vt, and if it is not greater than or equal to the threshold value Vt, steps S1 and S2 are repeatedly executed.
  • the system abnormality of the robot 40 is output in step S3.
  • the output may stop the mechanical device.
  • the system abnormality of the robot 40 detected by the sensor SEN is displayed in step S4, the counter D is incremented by "1" in step S5, "+1" is added to the value of the system abnormality counter D, and the result is recorded. indicate.
  • step S7 the integral ⁇ f (x) dx is repeatedly calculated until a predetermined time has elapsed.
  • the calculation of the integral ⁇ f (y) dy is started in step S8, and the integral ⁇ f (y) dy is started until the predetermined time passes in step S9. Is repeatedly calculated.
  • step S10 the integrated value ⁇ f (x) dx and the integrated value ⁇ f (y) dy are compared, and when the difference is larger than a predetermined threshold value, the sensor SEN operation is irreversible. Of the sensor SEN is determined in step S11. In step S12, the counter C is incremented by "1" so as to be recorded, and it is recorded and displayed.
  • the contact detection device of the present embodiment is formed by forming the base material 1 formed in a specific shape and the foamed synthetic resin material or foamed rubber material covering the base material 1 in a specific shape.
  • the body 10 a predetermined volume forming body 4 formed on the base material 1 and the foam 10 facing each other, and a sensor SEN for detecting an external pressing force applied to the volume forming body 4 as a physical change amount.
  • the predetermined volume forming body 4 provided on the base material 1 and / or the foam 10 determines the abnormality by allocating a sensor with the volume forming body 4 as a uniform volume.
  • the contact detection device includes a base material 1 formed in a specific shape facing each other, a specific volume configuration body 4 covering the base material 1 formed in the specific shape, and a volume configuration body 4.
  • a predetermined sensor formed on the base material 1 and / or the foam 10 is provided with a sensor SEN for detecting the applied pressing force from the outside as a physical change amount of the volume component 4 formed by the volume component 4.
  • the volume constructing body 4 assigns the sensor SEN with the volume constructing body 4 as a uniform volume, and determines the normal operation of the SEN and the abnormal operation of the sensor SEN when the sensor SEN operates.
  • the contact detection device of the present embodiment is a foam formed by forming a base material 1 formed in a specific plane shape and a foam synthetic resin material or foam rubber material covering the base material 1 in a plurality of specific plane shapes. Air is prevented from leaking from the body 10 and the base material 1 and / or the foam body 10 to the outside air, and the predetermined volume forming body 4 formed on the opposing base material 1 and the foam body 10 is added to the volume forming body 4. And a sensor SEN for detecting a change in the pressing force from the outside as a physical change amount formed in the volume component 4, and a predetermined volume component 4 formed in the base material 1 and / or the foam 10.
  • the predetermined volume constituents 4 formed on the base material 1 and / or the foam 10 determine the abnormality by allocating the sensor SEN with the volume constituents 4 having a substantially uniform volume and determining the abnormality. Since the body 4 has a uniform volume, the sensor output obtained as each abnormal output is substantially uniform. Therefore, it is possible to manufacture a uniform one with a fixed resistor or an IC circuit.
  • the pressure applied in a wide range is detected.
  • the construction can be performed with a two-dimensional planar structure or a three-dimensional three-dimensional structure, and a predetermined pressure can be detected from the outside.
  • the sensor SEN which detects as a physical change of the volume component 4 detects the external force applied to the volume component 4 as the physical change amount of the volume component 4 by the sensor SEN, and the normal volume component 4 is detected. It is detected as the contact pressure applied to.
  • the volume constructing body 4 is formed as two or more planar volume constructing bodies 4, there is no great difference in the output of the sensor SEN, and therefore, an external force that rises or falls smoothly and a short external force. It is possible to discriminate the contact in a short time by monitoring the external force rapidly applied to the time. That is, since the sensor SEN for detecting the physical change amount of the volume structure 4 of the present invention is attached to the substantially uniform volume structure 4, the sensor itself is normally operated toward the detection of the physical change amount. -Abnormality can be determined, and in particular, it is possible to determine whether or not a sensor abnormality has occurred at the timing immediately before the contact, which is not known when the next startup will occur.
  • the change in the pressing force applied to the volume structure 4 from the outside is performed by sampling and holding the detection signal of the sensor SEN before and after the air flow is stopped, and comparing the history before and after the air flow is stopped and the flow is changed. Therefore, if an abnormal value appears in the sensor output during the time until the air flow stops, it is regarded as an abnormality in the output of the contact detection device, and the air flow is stopped before and after the zero cross point where the flow changes.
  • the history is determined as an abnormality on the sensor side when the integrated values of the two differ, and when the integrated values of the time until the air flow stops differ. Therefore, it is possible to detect the abnormality of the system and the abnormality of the sensor SEN by one operation of the contact detection device.
  • the volume constituents 4 are arranged such that the volume constituents 4 rise in parallel with each other in order to minimize the joint area between the volume constituents 4, there is no undulation on the design surface side, and therefore external force is applied to the design surface. Since it can be detected as a vertical input, external force can be efficiently processed. Therefore, the change in the pressing force applied from the outside to the volume structure 4 is the time for sampling and holding the detection signal of the sensor SEN before and after the air flow is stopped, and the history before and after that is compared. Since the integrated value becomes substantially constant by the first discharge of air and the subsequent intake, when it is not constant, it means that there is a leak in the volume component. It is possible to determine whether the number is normal or abnormal based on the sum.
  • the abnormality is detected by the first sensor operation, and regarding other abnormalities, the air is detected. It is to be detected after the flow is stopped.
  • a fan having a different structure is arranged in the volume component 4, and the volume component 4 is set to have predetermined physical variables such as air pressure, air flow, air flow velocity, and air amount change.
  • the amount of physical change can be measured.
  • a fan (not shown) is attached, the number of parts increases, and it becomes necessary to manage the air volume of the fan.
  • the number of parts does not increase.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Measuring Volume Flow (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
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Abstract

Afin de permettre de réduire une erreur dans la détection d'une quantité de variation physique par un capteur pour détecter une quantité de variation physique d'un composant de volume et pour améliorer la réactivité du capteur, la présente invention comprend : un substrat (1) ayant une forme spécifique ; un corps en mousse (10) obtenu par formation d'un matériau en résine synthétique expansé ou d'un matériau en caoutchouc expansé dans une pluralité de formes planes spécifiques, le corps en mousse (10) recouvrant le substrat (1) ; un composant de volume prédéterminé (4) formé sur le substrat en vis-à-vis (1) et le corps en mousse (10), le composant de volume (4) rendant l'air moins sujet à fuir vers l'air extérieur à partir du substrat (1) et/ou du corps en mousse (10) ; et un capteur SEN pour détecter une variation de pression depuis l'extérieur appliqué au composant de volume (4) en tant que quantité de variation physique formée par le composant de volume (4) ; des composants de volume prédéterminés (4) formés sur le substrat (1) et/ou le corps en mousse (10) ayant tous un volume uniforme et le capteur SEN étant attribué pour déterminer une anomalie.
PCT/JP2019/040231 2018-10-24 2019-10-11 Dispositif de détection de contact WO2020085124A1 (fr)

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JP2018-200253 2018-10-24
JP2018200253A JP6913906B2 (ja) 2018-10-24 2018-10-24 接触検出装置

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WO2020085124A1 true WO2020085124A1 (fr) 2020-04-30

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Publication number Priority date Publication date Assignee Title
JP2021159661A (ja) * 2020-04-03 2021-10-11 株式会社大一商会 遊技機

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6325732B2 (fr) * 1981-04-10 1988-05-26 Hitachi Ltd
JP2013123773A (ja) * 2011-12-15 2013-06-24 Hitachi Ltd ロボット装置、およびセンサの状態判定方法
US20140069212A1 (en) * 2012-09-11 2014-03-13 SynTouch, LLC Compliant tactile sensor with fluid-filled, sponge-like material
JP2017170595A (ja) * 2016-03-25 2017-09-28 セイコーエプソン株式会社 ロボットおよび外力検知装置
JP2018040783A (ja) * 2016-09-05 2018-03-15 オムロンヘルスケア株式会社 力検出装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6325732B1 (ja) * 2017-09-05 2018-05-16 株式会社三重ロボット外装技術研究所 接触検出装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6325732B2 (fr) * 1981-04-10 1988-05-26 Hitachi Ltd
JP2013123773A (ja) * 2011-12-15 2013-06-24 Hitachi Ltd ロボット装置、およびセンサの状態判定方法
US20140069212A1 (en) * 2012-09-11 2014-03-13 SynTouch, LLC Compliant tactile sensor with fluid-filled, sponge-like material
JP2017170595A (ja) * 2016-03-25 2017-09-28 セイコーエプソン株式会社 ロボットおよび外力検知装置
JP2018040783A (ja) * 2016-09-05 2018-03-15 オムロンヘルスケア株式会社 力検出装置

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