WO2020209234A1 - ワークセンシング装置およびロボット - Google Patents

ワークセンシング装置およびロボット Download PDF

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Publication number
WO2020209234A1
WO2020209234A1 PCT/JP2020/015591 JP2020015591W WO2020209234A1 WO 2020209234 A1 WO2020209234 A1 WO 2020209234A1 JP 2020015591 W JP2020015591 W JP 2020015591W WO 2020209234 A1 WO2020209234 A1 WO 2020209234A1
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WO
WIPO (PCT)
Prior art keywords
electrode portion
electrode
base
work
sensing device
Prior art date
Application number
PCT/JP2020/015591
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English (en)
French (fr)
Japanese (ja)
Inventor
西川　和宏
Original Assignee
日本電産株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2021513633A priority Critical patent/JP7416056B2/ja
Publication of WO2020209234A1 publication Critical patent/WO2020209234A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H36/00—Switches actuated by change of magnetic field or of electric field, e.g. by change of relative position of magnet and switch, by shielding

Definitions

  • the present disclosure relates to work sensing devices and robots.
  • an industrial robot in which an appropriate hand (end effector) according to a work content is attached to the tip of an arm and a work gripped by the hand is transferred by driving the arm.
  • the robot hand is equipped with a sensor that can acquire information on various workpieces having different shapes or postures.
  • a capacitance type proximity sensor that detects a change in capacitance due to the approach of a workpiece is known.
  • An electrostatic detection device that detects a change in capacitance is known (for example, Japanese Patent Application Laid-Open No. 2018-37352).
  • This electrostatic detection device includes an electrode for electrostatic detection set on a fixed portion of a vehicle and a conductor set on a window glass which is a movable portion and is independent of the electrode.
  • a charge having the opposite sign to the charge of the charged object appears on the side of the conductor near the charged object, and the same sign as the charge of the charged object appears on the side far from the charged object of the conductor.
  • the phenomenon that the electric charge of is appeared occurs.
  • Such a phenomenon is called electrostatic induction.
  • the electrode indirectly detects the target while directly detecting the change in capacitance caused by the electrostatic induction generated in the conductor.
  • An object of the present disclosure is to provide a work sensing technique capable of reducing the possibility of erroneously detecting an object other than the work to be detected.
  • the exemplary work sensing device of the present disclosure is a work sensing device that detects the approach of a work, and has a capacitance sensor having a detection electrode and a structure in which at least a part thereof is movable with respect to the detection electrode.
  • a capacitance sensor having a detection electrode and a structure in which at least a part thereof is movable with respect to the detection electrode.
  • the structure has an insulating base and a conductor provided on the base that keeps the capacitance between the structure and the detection electrode constant when the structure is moved with respect to the detection electrode.
  • the conductor is arranged so that at least one of a part of the base and a space is interposed between the first electrode portion provided at a position facing the detection electrode of the base and the first electrode portion. It has a second electrode portion provided at a position facing the work of the base, and a connecting portion for electrically connecting the first electrode portion and the second electrode portion.
  • the exemplary robot of the present disclosure has a work sensing device having the above configuration and a hand provided so as to be able to grip the work.
  • the structure is constructed by using the hand, and the hand is at least one of the first electrode portion, the second electrode portion, and the connection portion, the second electrode portion and the connection portion. Has a part.
  • the possibility of erroneously detecting an object other than the work to be detected can be reduced.
  • FIG. 1 is a schematic view showing a configuration of a work sensing device according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic perspective view showing a detailed example of the structure according to the embodiment of the present disclosure.
  • FIG. 3 is a schematic view showing the periphery of the portion of the structure shown in FIG. 2 where the movable mechanism is provided in an exploded manner.
  • FIG. 4 is a schematic perspective view showing a part of the structure of the structure of the first modification.
  • FIG. 5 is a schematic view showing the periphery of the portion of the structure shown in FIG. 4 where the movable mechanism is provided in an exploded manner.
  • FIG. 6 is a schematic perspective view showing a part of the structure structure of the second modification.
  • FIG. 1 is a schematic view showing a configuration of a work sensing device according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic perspective view showing a detailed example of the structure according to the embodiment of the present disclosure.
  • FIG. 3 is a
  • FIG. 7 is a schematic view showing the periphery of the portion where the movable mechanism of the structure shown in FIG. 6 is provided in an exploded manner.
  • FIG. 8 is a schematic perspective view showing the configuration of the structure of the third modification.
  • FIG. 9 is a schematic view showing the structure shown in FIG. 8 in an exploded manner.
  • FIG. 10 is a schematic view showing the configuration of the robot according to the embodiment of the present disclosure.
  • the direction in which the detection electrode 11 and the first electrode portion 221 face each other is defined as the vertical direction, and the direction is defined as the detection electrode 11 is above the first electrode portion.
  • the X direction and the Y direction in the drawing are defined as directions orthogonal to each other on a plane orthogonal to the vertical direction, the X direction is referred to as a left-right direction, and the Y direction is referred to as a front-back direction, and the shape and positional relationship of each part will be described. .. These directions are names used only for explanation and are not intended to limit the actual positional relationship and direction.
  • the vertical direction is defined with the swivel base 302 as the upper side with respect to the support base 301 shown in FIG. 10, and the shape and positional relationship of each part will be described.
  • This direction is just a name used for explanation and is not intended to limit the actual positional relationship and direction.
  • FIG. 1 is a schematic view showing the configuration of the work sensing device 100 according to the embodiment of the present disclosure.
  • the work 200 is also shown in FIG.
  • the work 200 is an object to be processed such as processing or inspection at a production site.
  • the work 200 is, for example, an object gripped by a robot hand.
  • the shape of the work 200 may be diverse.
  • the work sensing device 100 detects the approach of the work 200.
  • the work sensing device 100 includes a capacitance sensor 1 and a structure 2.
  • the capacitance sensor 1 detects a change in capacitance.
  • the capacitance sensor 1 has a detection electrode 11.
  • the detection electrode 11 is made of a metal such as copper or a copper alloy.
  • the detection electrode 11 has a plate shape or a thin film shape extending in a direction orthogonal to the vertical direction.
  • the detection electrode 11 may have another shape such as a curved shape.
  • the capacitance sensor 1 further includes a case 12, a circuit unit 13, and a lead wire 14.
  • the case 12 is made of, for example, resin, and houses the detection electrode 11 and the circuit unit 13.
  • the detection electrode 11 is arranged at the bottom of the case 12. Therefore, the lower surface of the case 12 becomes the detection surface of the capacitance sensor 1.
  • An opening (not shown) is provided on the upper surface of the case 12, so that the lead wire 14 can be pulled out to the outside of the case 12.
  • the lead wire 14 includes, for example, a power line and a signal line.
  • the circuit unit 13 is electrically connected to the detection electrode 11.
  • the circuit unit 13 together with the detection electrode 11 constitutes a detection circuit for detecting a change in capacitance.
  • the circuit unit 13 detects a change in capacitance by the detection circuit, the circuit unit 13 outputs a detection signal to the outside of the capacitance sensor 1 via the lead wire 14.
  • the circuit unit 13 is composed of, for example, a printed circuit board having a circuit pattern formed of copper foil or the like. In the present embodiment, the printed circuit board constituting the circuit unit 13 is arranged above the detection electrode 11, and is electrically connected to the detection electrode 11 by a connection line (not shown).
  • the structure 2 is movable with respect to the detection electrode 11.
  • the structure 2 is partially movable with respect to the detection electrode 11.
  • the capacitance sensor 1 may be attached to a part of the structure 2.
  • the structure 2 may be provided so as to be movable as a whole with respect to the detection electrode 11.
  • the capacitance sensor 1 is arranged apart from the structure 2. Even when a part of the structure 2 is movably provided with respect to the detection electrode 11, the capacitance sensor 1 may be arranged in another member separated from the structure 2.
  • the structure 2 has a base 21 and a conductor 22.
  • the base 21 has an insulating property.
  • the insulating base 21 is made of, for example, a resin.
  • the base 21 is a main member constituting the structure 2.
  • the base 21 has a first base portion 211 and a second base portion 212. That is, the base 21 is divided into a first base portion 211 and a second base portion 212.
  • the second base portion 212 is movably provided with respect to the first base portion 211 by the movable mechanism 20. It is preferable that the structure 2 is provided with a drive unit that drives the movable mechanism 20. The first base portion 211 does not move with respect to the detection electrode 11. The capacitance sensor 1 may be attached to the first base portion 211. The second base portion 212 is provided so as to be movable with respect to the detection electrode 11.
  • the movable mechanism 20 may be a rotation mechanism that makes the second base portion 212 rotatable with respect to the first base portion 211. Further, the movable mechanism 20 may be a linear motion mechanism that allows the second base portion 212 to move linearly with respect to the first base portion 211.
  • the structure 2 may have a plurality of movable mechanisms 20. In this case, the structure 2 may have three or more base portions separated from each other.
  • the conductor 22 is an electric conductor and is made of a metal such as copper or a copper alloy.
  • the conductor 22 is provided on the base 21. In this embodiment, a part of the conductor 22 is provided on the first base portion 211. The remaining part of the conductor 22 is provided on the second base portion 212.
  • the conductor 22 keeps the capacitance between the conductor 22 and the detection electrode 11 constant when the structure 2 moves with respect to the detection electrode 11. It should be noted that the constant includes substantially constant. In the present embodiment, the conductor 22 keeps the capacitance between the second base portion 212 and the detection electrode 11 constant when the second base portion 212 moves with respect to the detection electrode 11. That is, even if the second base portion 212 moves with respect to the detection electrode 11, the capacitance between the detection electrode 11 and the conductor 22 does not change due to the movement and is constant.
  • the conductor 22 has a first electrode portion 221 and a second electrode portion 222, and a connecting portion 223.
  • the first electrode portion 221 is provided at a position facing the detection electrode 11 of the base 21.
  • the first electrode portion 221 is provided at a position facing the detection electrode 11 of the first base portion 211.
  • the first electrode portion 221 is arranged apart from the detection electrode 11 in the vertical direction.
  • the first electrode portion 221 has a plate-like or thin-film shape that extends in a direction orthogonal to the vertical direction.
  • the first electrode portion 221 may have another shape such as a curved shape.
  • the first electrode portion 221 and the detection electrode 11 may face each other with the same area, or may face one with a larger area of the other.
  • the second electrode portion 222 is provided at a position facing the work 200 of the base 21.
  • the second electrode portion 222 is appropriately arranged at a position where it can be detected that the work 200 to be detected has approached a predetermined region.
  • the second electrode portion 222 is provided on the second base portion 212.
  • the second electrode portion 222 has a plate shape or a thin film shape that spreads in a direction orthogonal to the direction facing the work 200.
  • the second electrode portion 222 may have another shape such as a curved shape.
  • the second electrode portion 222 and the work 200 may face each other with the same area, or may face one with a larger area of the other.
  • the second electrode portion 222 is arranged between the second electrode portion 222 and the first electrode portion 221 with at least one of a part of the base 21 and a space interposed therebetween. That is, the first electrode portion 221 and the second electrode portion 222 are not in a relationship such as, for example, a front surface portion and a back surface portion of a single conductor.
  • the second electrode portion 222 can be arranged independently of the first electrode portion 221. Further, the second electrode portion 222 can be arranged apart from the first electrode portion 221.
  • the first electrode portion 221 and the second electrode portion 222 are preferably arranged on or near the surface of the base 21. As a result, the detection electrode 11 and the first electrode portion 221 and the work 200 and the second electrode portion 222 can be brought close to each other, so that the sensitivity for detecting the approach of the work 200 can be improved.
  • each electrode portion 221 and 222 may be covered with a protective material different from that of the base 21.
  • the connecting portion 223 electrically connects the first electrode portion 221 and the second electrode portion 222.
  • the connecting portion 223 may have a configuration in which the first electrode portion 221 and the second electrode portion 222 are physically connected without interruption.
  • the connecting portion 223 is divided into the first base portion 211 and the second base portion 212 and arranged.
  • the connecting portion 223 formed in the first base portion 211 and the connecting portion 223 formed in the second base portion 212 are intentionally capacitively coupled as described later.
  • the intentionally capacitively coupled portion is included in the electrically connected portion. Even when the structure 2 has the movable mechanism 20, the connecting portion 223 may connect the first electrode portion 221 and the second electrode portion 222 without interruption by having the movable contact.
  • the work sensing device 100 In the work sensing device 100, electrostatic induction occurs in the conductor 22 when the work 200 approaches the second electrode portion 222. As a result, the detection electrode 11 detects the change in capacitance. By detecting the change in capacitance by the detection electrode 11, the work sensing device 100 detects the approach of the work 200.
  • the capacitance between the detection electrode 11 and the conductor 22 is kept constant, so that the capacitance is maintained. Even if the sensor 1 is arranged away from the detection position of the work 200, the approach of the work 200 can be accurately detected. As a result, the degree of freedom in designing the detection location of the work 200 can be improved. Further, according to the present embodiment, when the capacitance sensor 1 is arranged away from the detection position of the work 200, it is possible to avoid forming the conductor 22 with one large conductive member. For this reason, the area of the conductor 22 can be increased at a position where the work 200 should be detected and decreased at a position away from the position where the work 200 should be detected. As a result, it is possible to reduce the possibility of erroneously detecting an object other than the work 200 to be detected.
  • the connecting portion 223 is linear. According to this configuration, since the width of the connecting portion 223 can be narrowed, it is possible to reduce the possibility that electrostatic induction occurs in the connecting portion 223 as the object approaches. That is, according to this configuration, the possibility of erroneously detecting the approach of the work 200 can be reduced.
  • At least a part of the connecting portion 223 may be arranged inside the base 21. According to this configuration, since at least a part of the connecting portion 223 can be arranged at a position away from the surface of the base 21, it is possible to reduce the possibility that electrostatic induction occurs when an object approaches the connecting portion 223. it can. That is, according to this configuration, the possibility of erroneously detecting the approach of the work 200 can be reduced. At least a part of the connecting portion 223 may be arranged on the surface of the base 21. The connecting portion 223 arranged on the surface of the base 21 may be covered with a protective material different from that of the base 21.
  • the structure 2 may be formed by, for example, a known MID (Molded Interconnect Device) method.
  • a MID method a metal thin film is formed on the surface of a three-dimensional molded product formed by an injection molding method by sputtering or the like, and then the metal thin film is partially removed by laser processing to perform metal wiring on the surface of the three-dimensional molded product.
  • the method of forming the above is exemplified.
  • the structure 2 may be manufactured by a technique (AM-MID technique) in which a MID method and an additive manufacturing method (AM: Additive Manufacturing) are combined. That is, for the structure 2, the powder bed melt bonding method in the addition manufacturing method may be used instead of the injection molding method in the MID method.
  • the powder bed fusion bonding method is a method in which powder materials are laminated layer by layer, the cross-sectional shape is melted by an energy source such as a laser or an electron beam, and then solidified to form a model.
  • the metal complex added to the powder material is activated by a laser beam and plated, so that the formation of metal wiring can be promoted while performing the molding.
  • a conductor 22 having a predetermined shape can be freely formed not only on the surface of the structure 2 but also inside.
  • the first base portion 211 having the first electrode portion 221 and a part of the connecting portion 223, and the second base portion 212 having the second electrode portion 222 and a part of the connecting portion 223. are manufactured separately.
  • FIG. 2 is a schematic perspective view showing a detailed example of the structure 2 according to the embodiment of the present disclosure.
  • the structure 2 has at least one movable mechanism 20 between the first electrode portion 221 and the second electrode portion 222 that allows the other member to move with respect to one member. ..
  • the number of movable mechanisms 20 is one.
  • one member is the first base portion 211, and the other member is the second base portion 212.
  • FIG. 3 is a schematic view showing the periphery of the portion of the structure 2 shown in FIG. 2 where the movable mechanism 20 is provided in an exploded manner.
  • the structure 2 is composed of a first base portion 211 and a second base portion 212.
  • the first base portion 211 has a main body portion 2111, an upper connecting portion 2112, and a lower connecting portion 2113.
  • the main body portion 2111, the upper connecting portion 2112, and the lower connecting portion 2113 are prepared separately and integrated in the middle of manufacturing to form the first base portion 211.
  • the main body portion 2111 and the upper connecting portion 2112 may be formed including a part of the conductor 22 by the AM-MID technique, respectively.
  • the main body portion 2111 and the upper connecting portion 2112, or the main body portion 2111 and the lower connecting portion 2113 may be integrally formed by AM-MID technology.
  • the main body 2111 is a prismatic shape extending in the left-right direction.
  • the upper connecting portion 2112 has a plate shape extending in the left-right direction, and is arranged above the main body portion 2111.
  • the upper connecting portion 2112 has a connecting portion recess 2112a that is recessed upward toward the right end side of the lower surface.
  • the connecting portion recess 2112a has a circular shape in a plan view from the vertical direction.
  • the lower connecting portion 2113 has a plate shape extending in the left-right direction, and is arranged below the main body portion 2111.
  • the lower connecting portion 2113 has a connecting portion convex portion 2113a projecting upward toward the right end side of the upper surface.
  • the convex portion 2113a of the connecting portion is a columnar shape extending in the vertical direction.
  • a part of the upper connecting portion 2112 is overlapped with the right end portion of the main body portion 2111 and fixed to the main body portion 2111.
  • the connecting portion recess 2112a is arranged on the right side of the right end of the main body portion 2111 and is exposed without being covered by the main body portion 2111.
  • a part of the lower connecting portion 2113 is overlapped with the right end portion of the main body portion 2111 and fixed to the main body portion 2111.
  • the convex portion 2113a of the connecting portion is arranged on the right side of the right end of the main body portion 2111 and does not overlap with the main body portion 2111.
  • the circular connecting portion concave portion 2112a and the columnar connecting portion convex portion 2113a are arranged in the vertical direction with the same center position.
  • the upper portion of the connecting portion convex portion 2113a is inserted into the connecting portion concave portion 2112a.
  • the main body portion 2111 and the respective connecting portions 2112 and 2113 may be fixed by, for example, an adhesive or a screw.
  • a fixing method other than fixing with an adhesive or a screw may be used.
  • the second base portion 212 has a prismatic portion 2121 and a tubular portion 2122.
  • the prismatic portion 2121 and the tubular portion 2122 are single members.
  • the prism portion 2121 is a quadrangular prism extending in the left-right direction.
  • the tubular portion 2122 has a cylindrical shape extending in the vertical direction.
  • the tubular portion 2122 is arranged on the left side of the prismatic portion 2121.
  • the tubular portion 2122 is arranged with a gap on the right side of the main body portion 2111.
  • a connecting portion convex portion 2113a is inserted into the through hole 2122a of the tubular portion 2122.
  • the second base portion 212 is rotatably supported by the first base portion 211 about the central axis C.
  • the structure 2 may have a drive unit (not shown) that rotates the second base unit 212 with respect to the first base unit 211.
  • the drive unit may be, for example, a motor or the like.
  • the right end portion of the second base portion 212 can be moved in the front-rear direction by rotation.
  • the upper connecting portion 2112, the lower connecting portion 2113, and the tubular portion 2122 form a movable mechanism 20.
  • the movable mechanism 20 is a rotating mechanism.
  • the movable mechanism 20 makes the other member 212 movable with respect to one member 211.
  • the other member 212 is rotatably provided with respect to the one member 211 about the central axis C.
  • a first electrode portion 221 is provided on the upper surface of the main body portion 2111. That is, the first base portion 211 has a first electrode portion 221.
  • the first electrode portion 221 is a circular thin film, and is arranged at the left end portion of the main body portion 2111.
  • the first electrode portion 221 may have another shape such as a rectangular shape.
  • a second electrode portion 222 is provided on the front side surface of the prism portion 2121. That is, the second base portion 212 has a second electrode portion 222.
  • the second electrode portion 222 is a rectangular thin film, and is arranged at the right end portion of the prism portion 2121.
  • the second electrode portion 222 may have another shape such as a circular shape.
  • a part of the first base portion 211 and a gap between the first base portion 211 and the second base portion 212 in the left-right direction are formed between the first electrode portion 221 and the second electrode portion 222.
  • a part of the second base portion 212 intervenes. That is, the second electrode portion 222 is arranged between the second electrode portion 222 and the first electrode portion 221 with a part of the base 21 and a space interposed therebetween.
  • the connecting portion 223 has a first coupling electrode portion 2231 included in the first base portion 211 and a second coupling electrode portion 2232 included in the second base portion 212.
  • the movable mechanism 20 has a movable mechanism 20 that makes the other member 212 movable with respect to one member 211.
  • the connecting portion 223 has a first coupling electrode portion 2231 included in one member 211 and a second coupling electrode portion 2232 included in the other member 212.
  • the connecting portion 223 has a linear connecting wire portion 2230 in addition to the first coupling electrode portion 2231 and the second coupling electrode portion 2232.
  • the connecting wire portion 2230, the first coupling electrode portion 2231, and the second coupling electrode portion 2232 are thin films.
  • a connecting wire portion 2230 extending from the first electrode portion 221 to the right end of the main body portion 2111 is provided on the upper surface of the main body portion 2111.
  • a connecting wire portion 2230 and a first coupling electrode portion 2231 are provided on the lower surface of the upper connecting portion 2112.
  • the first coupling electrode portion 2231 is an annular electrode centered on the central axis C.
  • the first coupling electrode portion 2231 surrounds the connecting portion recess 2112a.
  • the connecting wire portion 2230 provided in the upper connecting portion 2112 extends from the left end of the upper connecting portion 2112 to the first coupling electrode portion 2231.
  • the connecting wire portion 2230 provided in the upper connecting portion 2112 overlaps in a state of being in contact with the connecting wire portion 2230 provided in the main body portion 2111.
  • a second coupling electrode portion 2232 is provided on the upper surface of the second base portion 212.
  • the second coupling electrode portion 2232 surrounds the through hole 2122a of the tubular portion 2122 and has an annular shape centered on the central axis C.
  • the second base portion 212 is provided with a connecting wire portion 2230 that connects the second coupling electrode portion 2232 and the second electrode portion 222.
  • the connection line portion 2230 is composed of a first connection line portion 2230a, a second connection line portion 2230b, and a third connection line portion 2230c.
  • the first connecting wire portion 2230a extends in the left-right direction from the second coupling electrode portion 2232 to a position slightly before the right end of the prism portion 2121 on the upper surface of the second base portion 212.
  • the second connecting wire portion 2230b extends forward from the right end portion of the first connecting wire portion 2230a on the upper surface of the second base portion 212.
  • the third connecting wire portion 2230c extends vertically on the front side surface of the prism portion 2121, the upper end is connected to the second connecting wire portion 2230b, and the lower end is connected to the second electrode portion 222.
  • the second coupling electrode portion 2232 is an annular electrode that faces the first coupling electrode portion 2231 with a certain gap in the direction in which the central axis C extends.
  • the first coupling electrode portion 2231 and the second coupling electrode portion 2232 are congruent. However, the two do not have to be joint.
  • the area and gap of the second coupling electrode portion 2232 facing the first coupling electrode portion 2231 do not change when the second base portion 212 rotates with respect to the first base portion 211.
  • the second coupling electrode portion 2232 keeps the capacitance between the second coupling electrode portion 2232 and the first coupling electrode portion 2231 constant regardless of the movement of the movable mechanism 20. Therefore, even when the movable mechanism 20 is present between the first electrode portion 221 and the second electrode portion 222 of the structure 2, the conductor 22 and the detection electrode 11 are not affected by the movement of the movable mechanism 20.
  • the capacitance between and can be kept constant. In this example, the capacitance between the conductor 22 and the detection electrode 11 can be kept constant without being affected by the rotational operation by the movable mechanism 20.
  • At least a part of the connecting portion 223 has a width in a predetermined direction narrower than that of the second electrode portion 222 in a plan view from a direction in which the second electrode portion 222 and the work 200 face each other.
  • a part of the connecting portion 223 has a width narrower in the left-right direction than the second electrode portion 222 in a plan view from the front-rear direction.
  • the width of the second connection line portion 2230b and the third connection line portion 2230c in the left-right direction is narrower than that of the second electrode portion 222.
  • the width of a part of the connecting portion 223 in the front-rear direction in the plan view from the vertical direction is narrower than the width in the left-right direction of the second electrode portion 222 in the plan view from the front-rear direction.
  • the width of the first connecting wire portion 2230a in the front-rear direction is narrower than the width of the second electrode portion 222 in the left-right direction.
  • the connecting portion 223 since at least a part of the connecting portion 223 has a portion narrower than that of the second electrode portion 222, the possibility that electrostatic induction occurs when an object approaches the connecting portion 223 is reduced. can do.
  • the second electrode portion 222 for detecting the work 200 can have a large area, the sensitivity to the approach of the work 200 can be increased. That is, according to this configuration, the approach of the work 200 can be accurately detected without being erroneously detected.
  • FIG. 4 is a schematic perspective view showing a part of the structure of the structure 2A of the first modification.
  • FIG. 5 is a schematic view showing the periphery of the portion of the structure 2A shown in FIG. 4 where the movable mechanism 20A is provided in an exploded manner.
  • the structure 2A has a movable mechanism 20A that allows the other member 212A to move with respect to one member 211A between the first electrode portion and the second electrode portion (not shown).
  • the other member 212A is rotatably oriented about the central axis C with respect to one member 211A.
  • one member 211A is the first base portion
  • the other member 212A is the second base portion.
  • the second base portion 212A is rotatably supported by the first base portion 211A about the central axis C.
  • the first base portion 211A has a main body portion 2111A, an upper connecting portion 2112A, and a lower connecting portion 2113A.
  • the second base portion 212A has a prismatic portion 2121A and a tubular portion 2122A. Since the configurations of the upper connecting portion 2112A, the lower connecting portion 2113A, the prismatic portion 2121A, and the tubular portion 2122A are the same as those of the above-mentioned structure 2, detailed description thereof will be omitted.
  • the main body portion 2111A has an enlarged portion 2111x at the right end portion that widens the width in the front-rear direction.
  • the right end surface of the enlarged portion 2111x is provided with a notch portion 2111y that penetrates in the vertical direction and is recessed toward the left. Due to the cutout portion 2111y, a part of the right end surface of the enlarged portion 2111x is a semicircular concave surface centered on the central axis C in a plan view from the vertical direction.
  • a part of the tubular portion 2122A of the second base portion 212A is inserted into the notch portion 2111y and is rotatably supported by the first base portion 211A.
  • the first base portion 211A and the second base portion 212A are provided with a connecting portion 223A that electrically connects the first electrode portion and the second electrode portion (not shown).
  • the connecting portion 223A has a first coupling electrode portion 2231A included in the first base portion 211A and a second coupling electrode portion 2232A included in the second base portion 212A.
  • the first coupling electrode portion 2231A is a planar electrode extending in the circumferential direction about the central axis C.
  • the first coupling electrode portion 2231A can be formed by arranging a metal thin film such as copper on a semicircular concave surface formed by the notch portion 2111y.
  • the first coupling electrode portion 2231A is connected to a first electrode portion (not shown) by a connecting line portion 2230A provided on the upper surface of the first base portion 211A and extending in the left-right direction.
  • the connecting portion 223 is not formed on the upper connecting portion 2112A.
  • the second coupling electrode portion 2232A is a linear electrode extending in a direction parallel to the central axis C.
  • the second coupling electrode portion 2232A is provided on the side surface of the tubular portion 2122A.
  • the second coupling electrode portion 2232A extends from the lower end to the upper end of the tubular portion 2122A, but may be shorter than this, and does not necessarily extend to the lower end and the upper end.
  • the second coupling electrode portion 2232A is connected to a second electrode portion (not shown) by a connection line portion 2230A provided on the second base portion 212A.
  • the second coupling electrode portion 2232A faces the first coupling electrode portion 2231A with a constant gap in the radial direction centered on the central axis C.
  • the second coupling electrode portion 2232A keeps the facing area and the gap with the first coupling electrode portion 2231A constant when the second base portion 212A rotates with respect to the first base portion 211A. For this reason, the second coupling electrode portion 2232A keeps the capacitance between the second coupling electrode portion 2232A and the first coupling electrode portion 2231A constant regardless of the movement of the movable mechanism 20A. That is, the capacitance between the conductor 22A and the detection electrode of the capacitance sensor (not shown) can be kept constant without being affected by the rotational operation by the movable mechanism 20A.
  • FIG. 6 is a schematic perspective view showing a part of the structure of the structure 2B of the second modification.
  • FIG. 7 is a schematic view showing the periphery of the portion of the structure 2B shown in FIG. 6 where the movable mechanism 20B is provided in an exploded manner.
  • the structure 2B has a movable mechanism 20B that allows the other member 212B to move with respect to one member 211B between the first electrode portion and the second electrode portion (not shown).
  • the other member 212B is rotatably oriented about the central axis C with respect to one member 211B.
  • one member 211B is the first base portion
  • the other member 212B is the second base portion.
  • the second base portion 212B is rotatably supported by the first base portion 211B about the central axis C.
  • the first base portion 211B does not have the upper connecting portion 2112 and the lower connecting portion 2113, and is composed only of the main body portion 2111B.
  • the main body portion 2111B has a columnar portion 2111z centered on the central axis C at the right end portion.
  • one member 211B has a columnar portion 2111z centered on the central axis C.
  • the columnar portion 2111z is columnar in detail.
  • the second base portion 212B has a prismatic portion 2121B and a tubular portion 2122B, similarly to the structure 2 described above.
  • the columnar portion 2111z is inserted into the through hole 2122aB of the tubular portion 2122B.
  • the other member 212B has a tubular portion 2122B arranged radially outward about the central axis C of the columnar portion 2111z.
  • the first base portion 211B and the second base portion 212B are provided with a connecting portion 223B that electrically connects the first electrode portion and the second electrode portion (not shown).
  • the connecting portion 223B has a first coupling electrode portion 2231B included in the first base portion 211B and a second coupling electrode portion 2232B included in the second base portion 212B.
  • the first coupling electrode portion 2231B is an annular electrode arranged on the outer peripheral surface of the columnar portion 2111z.
  • the first coupling electrode portion 2231B can be formed by arranging a metal thin film such as copper on the outer peripheral surface of the columnar portion 2111z.
  • the first coupling electrode portion 2231B may extend from the lower end to the upper end of the columnar portion 2111z, but at least one of the upper end and the lower end of the first coupling electrode portion 2231B extends to the vertical end of the columnar portion 2111z. It does not have to extend. In the example shown in FIG. 7, the upper end and the lower end of the first coupling electrode portion 2231B do not extend to the vertical end of the columnar portion 2111z.
  • the first coupling electrode portion 2231B is connected to a first electrode portion (not shown) by a connection line portion 2230B provided on the first base portion 211B.
  • the second coupling electrode portion 2232B is an annular electrode arranged on the inner peripheral surface of the tubular portion 2122B.
  • the second coupling electrode portion 2232B can be formed by arranging a metal thin film such as copper on the inner peripheral surface of the tubular portion 2122B.
  • the second coupling electrode portion 2232B may extend from the lower end to the upper end of the tubular portion 2122B, but at least one of the upper end and the lower end of the second coupling electrode portion 2232B is in the vertical direction of the tubular portion 2122B. It does not have to extend to the edge. In the example shown in FIG. 7, the upper end and the lower end of the second coupling electrode portion 2232B do not extend to the vertical end of the tubular portion 2122B.
  • the second coupling electrode portion 2232B is connected to a second electrode portion (not shown) by a connection line portion 2230B provided on the second base portion 212B.
  • the second coupling electrode portion 2232B faces the first coupling electrode portion 2231B with a constant gap in the radial direction centered on the central axis C.
  • the through hole 2122aB of the tubular portion 2122B is formed with a diameter of an intermediate portion larger than that of the upper portion and the lower portion.
  • the second coupling electrode portion 2232B is provided in a portion having a large diameter.
  • the first coupling electrode portion 2231B and the second coupling electrode portion 2232B can be arranged apart from each other in the radial direction.
  • the second coupling electrode portion 2232B keeps the facing area and the gap with the first coupling electrode portion 2231B constant when the second base portion 212B rotates with respect to the first base portion 211B.
  • the second coupling electrode portion 2232B keeps the capacitance between the second coupling electrode portion 2232B and the first coupling electrode portion 2231B constant regardless of the movement of the movable mechanism 20B. That is, the capacitance between the conductor 22B and the detection electrode of the capacitance sensor (not shown) can be kept constant without being affected by the rotational operation by the movable mechanism 20B.
  • the diameter of the through hole 2122aB may be constant from the upper end to the lower end so that the first coupling electrode portion 2231B and the second coupling electrode portion 2232B come into contact with each other.
  • the first coupling electrode portion 2231B and the second coupling electrode portion 2232B form a movable contact, and are in a state of being directly electrically connected instead of capacitively coupled.
  • FIG. 8 is a schematic perspective view showing the configuration of the structure 2C of the third modification.
  • FIG. 9 is a schematic view showing the structure 2C shown in FIG. 8 in an exploded manner.
  • the structure 2C has a movable mechanism 20C that allows the other member 212C to move with respect to one member 211C between the first electrode portion 221C and the second electrode portion 222C.
  • One member 211C is the first base portion, and the other member 212C is the second base portion.
  • the first base portion 211C is a square columnar shape extending in the left-right direction.
  • the first base portion 211C has a base hole portion 2114 extending to the left on the right end surface.
  • the second base portion 212C has a rectangular parallelepiped base main body portion 2123 and a square columnar base protruding portion 2124 extending to the left from the left end surface of the base main body portion 2123.
  • the base hole portion 2114 and the base protruding portion 2124 form a movable mechanism 20C.
  • the movable mechanism 20C is a linear motion mechanism.
  • a thin-film first electrode portion 221C is provided on the left end side of the upper surface of the first base portion 211C.
  • a thin-film second electrode portion 222C is provided at the center of the upper surface of the second base portion 212C.
  • the first electrode portion 221C and the second electrode portion 222C are formed at the same height position.
  • the second electrode portion 222C is arranged with a space interposed between the second electrode portion 222C and the first electrode portion 221C.
  • connection portion 223C has a first coupling electrode portion 2231C included in the first base portion 211C and a second coupling electrode portion 2232C included in the second base portion 212C.
  • the connecting portion 223C has a connecting wire portion 2230C as in the structure 2 described above.
  • the first coupling electrode portion 2231C is provided inside the first base portion 211C.
  • the first coupling electrode portion 2231C is a rectangular thin film-shaped electrode provided on the front side surface of the four side surfaces constituting the base hole portion 2114.
  • the first coupling electrode portion 2231C is connected to the first electrode portion 221C by a connecting wire portion 2230C arranged on the upper surface and inside of the first base portion 211C.
  • the second coupling electrode portion 2232C is provided at the left end portion of the front side surface of the base protruding portion 2124.
  • the second coupling electrode portion 2232C is a rectangular thin film-shaped electrode extending in the left-right direction.
  • the width of the second coupling electrode portion 2232C in the left-right direction is larger than that of the first coupling electrode portion 2231C.
  • the second coupling electrode portion 2232C faces the first coupling electrode 2231C via a constant gap in the front-rear direction.
  • a gap can be formed between the first coupling electrode portion 2231C and the second coupling electrode portion 2232C in the front-rear direction.
  • the second coupling electrode portion 2232C is connected to the second electrode portion 222C by a connecting wire portion 2230C arranged on the front side surface of the base protruding portion 2124 and inside the base main body portion 2123.
  • the second coupling electrode portion 2232C keeps the facing area and the gap with the first coupling electrode portion 2231C constant when the second base portion 212C moves linearly with respect to the first base portion 211C. For this reason, the second coupling electrode portion 2232C keeps the capacitance between the second coupling electrode portion 2232C and the first coupling electrode portion 2231C constant regardless of the movement of the movable mechanism 20C. That is, static electricity between the conductor 22C and the detection electrode of the capacitance sensor 1 (not shown) is not affected by the movement of the movable mechanism 20C existing between the first electrode portion 221C and the second electrode portion 222C. The electric capacity can be kept constant.
  • the first coupling electrode portion 2231C and the second coupling electrode portion 2232C may be in contact with each other.
  • the first coupling electrode portion 2231C and the second coupling electrode portion 2232C form a movable contact, and are in a state of being directly electrically connected instead of capacitively coupled.
  • the area of the conductor 22C can be increased at a position where the work 200 should be detected and decreased at a position away from the position where the work 200 should be detected. As a result, it is possible to reduce the possibility of erroneously detecting an object other than the work 200 to be detected.
  • FIG. 10 is a schematic view showing the configuration of the robot 300 according to the embodiment of the present disclosure.
  • the robot 300 is an industrial robot that performs work such as assembly in a factory instead of a human.
  • the robot 300 has a work sensing device 100D and a hand 304.
  • the robot 300 further includes a support base 301, a swivel base 302, and an arm 303.
  • the robot 300 also has a controller (not shown) that controls the movement of the robot 300.
  • the work sensing device 100D has substantially the same configuration as the work sensing device 100 described above. However, in the configuration of the structure 2D, there is a difference from the above-mentioned structure 2.
  • the structure 2D is different in shape from the above-mentioned structure 2.
  • the structure 2D differs from the above-mentioned structure 2 in that it has two movable mechanisms 20D. Further, since the structure 2D has two movable mechanisms 20D, the configuration of the connecting portion 223D is different from that of the connecting portion 223 described above.
  • the movable mechanism 20D may have the same configuration as the movable mechanism 20 described above.
  • the support base 301 itself does not move and is fixed to the ground, floor, or the like.
  • the swivel 302 is rotatably supported on the support 301.
  • the swivel base 302 is provided so as to be rotatable around an axis extending in the vertical direction.
  • the rotation of the swivel base 302 is performed by, for example, a servomotor (not shown). By rotating the swivel base 302, the positions of the arm 303 and the hand 304 can be moved in the swivel direction.
  • the arm 303 is rotatably supported by the swivel base 302 about a first rotation axis R1 extending in a direction orthogonal to the vertical direction.
  • the arm 303 has one arm joint portion 3031 and is divided into a first arm 303a and a second arm 303b.
  • the arm joint portion 3031 has a mechanism that makes the second arm 303b movable with respect to the first arm 303a.
  • the mechanism is driven by, for example, a servomotor (not shown).
  • the first arm 303a is rotatably supported by the swivel base 302 about the first rotation axis R1.
  • the rotation of the first arm 303a with respect to the swivel base 302 is performed by, for example, a servomotor (not shown).
  • the second arm 303b is rotatably supported by the arm joint portion 3031 about the second rotation axis R2 extending in a direction parallel to the first rotation axis R1 with respect to the first arm 303a.
  • the number of arm joints 3031 included in the arm 303 is not limited to one, and may be plural. As the number of arm joints 3031 increases, the arm 303 is divided into three or more.
  • the hand 304 is rotatably supported with respect to the arm 303 via an arm-hand joint 305.
  • the arm-hand joint portion 305 has a movable mechanism 20D that allows the hand 304 to rotate with respect to the second arm 303b.
  • the movable mechanism 20D is driven by, for example, a servomotor (not shown).
  • the hand 304 is rotatably provided about a third rotation axis R3 extending in a direction parallel to the first rotation axis R1 with respect to the second arm 303b.
  • the hand 304 does not have to be rotatable with respect to the second arm 303b. Further, the rotation direction of the hand 304 with respect to the second arm 303b may be another direction. For example, the hand 304 may be rotatably provided about a rotation axis extending in a direction parallel to the direction in which the second arm 303b extends with respect to the second arm 303b.
  • the hand 304 is provided so that the work 200 can be gripped.
  • the hand 304 has a hand body portion 3041, a finger portion 3042, and a knuckle portion 3043.
  • the finger portion 3042 is rotatably supported with respect to the hand body portion 3041 via the finger joint portion 3043.
  • the knuckle portion 3043 has a movable mechanism 20D that allows the hand 304 to rotate with respect to the hand body portion 3041.
  • the movable mechanism 20D is driven by, for example, a servomotor (not shown).
  • the finger portion 3042 is rotatably provided about the fourth rotation shaft R4 extending in a direction parallel to the first rotation shaft R1 with respect to the hand body portion 3041.
  • the work 200 can be gripped by the two finger portions 3042 rotatably provided with respect to the hand main body portion 3041.
  • the structure 2D included in the work sensing device 100D is configured by using the hand 304.
  • the capacitance sensor 1D is attached to the second arm 303b.
  • the structure 2D is configured by using the second arm 303b in addition to the hand 304.
  • the arm 303 and the hand 304 are mainly composed of an insulating member and also serve as a base.
  • the capacitance sensor 1D may be attached to, for example, the first arm 303a, the swivel base 302, or the support base 301.
  • the capacitance sensor 1D may be attached to the hand 304.
  • the structure 2 is composed of only the hand 304.
  • the hand 304 has at least a second electrode portion 222D and a part of the connecting portion 223D among the first electrode portion 221D, the second electrode portion 222D, and the connecting portion 223D.
  • the hand 304 has a second electrode portion 222D and a part of the connecting portion 223D.
  • the second electrode portion 222D is provided at the tip of the finger portion 3042.
  • the first electrode portion 221D is provided on the second arm 303b.
  • the connecting portion 223D is provided on the second arm 303b and the hand 304.
  • the connecting portion 223D has a pair of a first coupling electrode portion and a second coupling electrode portion (not shown) in the arm-hand joint portion 305 and the finger joint portion 3043, respectively.
  • the capacitance sensor 1D can be arranged away from the position where the work 200 should be detected.
  • the capacitance sensor 1D can be arranged on the arm 303 or the like, which has a smaller limitation on the weight of the load than the hand 304. That is, according to the present embodiment, the degree of freedom of application of the work sensing device 100D for detecting the approach of the work 200 to the robot 300 can be increased.
  • the first electrode portion 221D and the second electrode portion 222D arranged at positions separated from each other can be electrically connected by using a connecting portion 223D having a narrow width such as a linear shape. it can. That is, in the present embodiment, the area of the odor conductor 22 can be reduced at a position away from the position where the work 200 should be detected, and the detection sensitivity of the object can be reduced. There may be many objects other than the work 200 around the robot 300, but according to this embodiment, there is a low possibility that an object other than the work 200 will be erroneously detected, and the accuracy of the movement of the robot 300 will be improved. Can be improved.
  • the present disclosure can be used for industrial robots.
  • Capacitance sensor Structure 11 Detection electrode 20 Movable mechanism 21 Base 22 Conductor 100 Work sensing device 200 Work 211 1st base part (1st member) 212 2nd base part (2nd member) 22 1 Part 222, 2nd electrode part 223, connection part 300, robot 304, hand 2111z, columnar part 2122, tubular part 2231, 1st coupling electrode part 2232, 2nd coupling electrode part C, central axis

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)
PCT/JP2020/015591 2019-04-08 2020-04-07 ワークセンシング装置およびロボット WO2020209234A1 (ja)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5834267U (ja) * 1981-08-29 1983-03-05 オムロン株式会社 静電容量型近接スイツチ
JPS62178433U (enrdf_load_stackoverflow) * 1986-05-02 1987-11-12

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008297756A (ja) 2007-05-30 2008-12-11 Shiroki Corp ウィンドウレギュレータ制御装置
JP2018037352A (ja) 2016-09-01 2018-03-08 株式会社東海理化電機製作所 静電検出装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5834267U (ja) * 1981-08-29 1983-03-05 オムロン株式会社 静電容量型近接スイツチ
JPS62178433U (enrdf_load_stackoverflow) * 1986-05-02 1987-11-12

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