WO2020241124A1 - Sensor device and sensor system - Google Patents
Sensor device and sensor system Download PDFInfo
- Publication number
- WO2020241124A1 WO2020241124A1 PCT/JP2020/017247 JP2020017247W WO2020241124A1 WO 2020241124 A1 WO2020241124 A1 WO 2020241124A1 JP 2020017247 W JP2020017247 W JP 2020017247W WO 2020241124 A1 WO2020241124 A1 WO 2020241124A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- sensor unit
- housings
- tube
- connecting member
- Prior art date
Links
Images
Classifications
-
- 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
-
- 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
- B25J19/06—Safety devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
Definitions
- the present invention relates to a sensor device and a sensor system that can be flexibly arranged according to a detection area and can be easily mounted on an installation surface.
- a plurality of detection units are arranged inside a head portion (housing) attached to the tip of a movable portion of a robot, and these detection portions are used to lower the head portion. It is described that the misalignment error of the moving part is detected by detecting the detection area (pages 3 to 19 in the upper right column of the same publication, and FIGS. 1 and 2 and See FIG. 6).
- Japanese Unexamined Patent Publication No. 58-21188 see pages 13 to 19 in the upper right column of page 3 and FIGS. 1, 2 and 6) Japanese Unexamined Patent Publication No. 2003-173201 (see paragraphs [0015] to [0017] and FIGS. 1 to 3)
- the present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is that it can be flexibly arranged according to the detection area and can be mounted on an installation surface.
- An object of the present invention is to provide a sensor device and a sensor system that can be easily performed.
- the sensor device includes a plurality of housings, each of which constitutes a sensor unit by incorporating a sensor, and a connecting member for connecting each housing, and each housing is connected by a connecting member. By doing so, the positional relationship between the housings is maintained.
- each of the plurality of housings since each of the plurality of housings has a built-in sensor and constitutes a sensor unit, the arrangement and number of each housing, that is, each sensor unit can be freely changed. It can be flexibly arranged according to the detection area. As a result, the versatility of the sensor device can be improved and the cost can be reduced. Moreover, according to the present invention, since each housing is connected by a connecting member, the positional relationship between the housings is maintained, whereby each housing, that is, each sensor unit is attached to the installation surface. It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed.
- the connecting member is provided so that the positional relationship between the housings can be adjusted.
- the connecting member is a hollow member, and each housing has a connected portion for detachably connecting the end portions of the connecting member.
- each sensor unit is arranged so as to detect the approach of a person to a jig or a workpiece provided on a robot arm.
- each of the plurality of housings has a built-in sensor and each constitutes a sensor unit, it is possible to flexibly arrange the sensors according to the detection area. Since the housings are connected by the connecting member, the positional relationship between the housings is maintained, so that the housings can be easily mounted on the installation surface.
- FIG. 2 is a view taken along the line III-III in FIG.
- FIG. 3 is a view taken along the line IV-IV of FIG. 3, showing a state in which a connecting member (tube) between each sensor unit constituting the sensor device is omitted.
- It is a top view of the sensor unit which comprises the sensor device (FIG. 1).
- It is a VI-VI line arrow view of FIG.
- It is a perspective view of the sensor unit (FIG. 5) viewed from above, and shows a state in which a connecting member is attached to one connected portion and the other connected portion is cut in the axial direction.
- FIG. 5 It is a perspective view of the sensor unit (FIG. 5) viewed from below, and shows a state in which a connecting member is attached to one connected portion and the other connected portion is cut in the axial direction. It is a perspective view of the sensor unit (FIG. 5) viewed from above, and shows a state in which a connecting member made of transparent resin is attached to one of the connected portions.
- FIG. 6 is a side schematic view showing a state in which the sensor unit (FIG. 6) is linearly connected via a connecting member. It is a top view which shows the state which removed the lid body from the sensor unit (FIG. 5), and shows the state which the wiring passes through the inside of the connecting member. The state in which the sensor units (FIG. 5)
- FIGS. 1 to 13 are diagrams for explaining a sensor device according to an embodiment of the present invention.
- the sensor device according to this embodiment is applied to a nut runner as a jig and tool for a robot arm.
- a nut runner (jig tool) NR is rotatably provided at the tip of the robot arm RA.
- the tip of the nut runner NR is formed in the shape of a socket, for example, and the nut / bolt is tightened and loosened by fitting the nut / bolt head (work) and rotating the nut / bolt head. It is a tool for.
- a disk-shaped table T is arranged above the nut runner NR.
- a through hole Ta is formed in the center of the table T, and the nut runner NR extends downward through the through hole Ta.
- a plurality of sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 constituting the sensor device 1 are nut runners. They are evenly spaced or approximately evenly spaced on the circumference around the NR.
- the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 each have a built-in sensor in the housing, and each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C. Consists of sensor units 10 1 , 10 2 , 10 3 , 10, 4 , 10 5 , respectively.
- Each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C is composed of an insulating resin.
- each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 detects an intruder such as a human body that has invaded the irradiation area of the laser beam by irradiating the laser beam downward. It is provided as follows. In this example, a distance measuring sensor using the TOF (Time of Flight) method is used, but other methods may be adopted, or a camera or an image sensor may be adopted. Good.
- TOF Time of Flight
- reference numerals D 1 , D 2 , D 3 , D 4 , and D 5 indicate detection areas (sensing areas) of the respective sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 , respectively. ..
- each sensor unit adjacent to each other in the circumferential direction is connected by a tube (connecting member) t. That is, each sensor unit 10 1 , 10 2 is connected to the tube t 1 , each sensor unit 10 2 , 10 3 is connected to the tube t 2 , and each sensor unit 10 3 , 10 4 is connected to the tube t 3. 10 4, 10 5 while being respectively connected by a tube t 4.
- each tube t 1 , t 2 , t 3 , t 4 , t 5 is composed of a flexible hollow resin member. As shown in FIG. 2, each tube t 1 , t 2 , t 3 , t 4 , and t 5 are arranged while being curved in an arc shape.
- the cable 21 extending from the controller unit 20 is connected to a control panel (not shown) of the robot arm RA.
- the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 (or housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C), tubes t 1 , t 2 ,
- the sensor system according to the present invention is composed of t 3 , t 4 , t 5 , and nut runner NR.
- the area in which these detection areas D 1 , D 2 , D 3 , D 4 , and D 5 are combined is the detection area by the sensor device 1.
- FIG Each sensor unit 10 1 in 3, 10 2, 10 3, 10 4, 10 each detection area D 1 in the plane W, which is located away by a predetermined distance H downwardly from 5, D 2, D 3, D 4 and D 5 are shown in FIG.
- the plane W corresponds to a work surface on which a nut (not shown) is placed.
- the tubes t 1 , t 2 , t 3 , and t 4 for connecting the sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 are omitted.
- each detection area D 1 , D 2 , D 3 , D 4 , D 5 is arranged around the nut runner NR while surrounding (that is, surrounding) the nut runner NR. Is not included in any of the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 .
- each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 has a sensor on the lower surface 10 1 B, 10 2 B, 10 3 B, 10 4 B, 10 5 B, respectively.
- the light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, and 10 5 S are arranged.
- Each sensor light emitting / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S is composed of a laser beam light emitting / receiving unit, respectively.
- Each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is a pair of tubular connected portions 10 1 a, 10 1 b; 10 2 for detachably connecting the ends of the tubes t. It has a, 10 2 b; 10 3 a, 10 3 b; 10 4 a, 10 4 b; 10 5 a, 10 5 b, respectively.
- each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C constituting each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 will be described.
- the sensor unit 10 1 will be described as an example, but the same applies to the other sensor units 10 2 , 10 3 , 10, 4 , and 10 5 , and the description of the sensor unit 10 1 is based on the other sensor unit 10 2. The same applies to 10, 3 , 10, 4 , and 10 5 .
- the housing 10 1 C has a main body portion 10 1 C 1 and a lid body 10 1 C 2 screwed and fixed to the main body portion 10 1 C 1 .
- the connected portions 10 1 a and 10 1 b are integrally provided with the main body portion 10 1 C 1 in this example, but they may be separate bodies. Further, the connected portions 10 1 a and 10 1 b each have convex portions ar and br on the outer periphery into which the end portion of the tube t is press-fitted.
- the tube t connects the housings of the adjacent sensor units to each other via a connected portion (see FIG. 2). It should be noted that FIGS.
- FIG. 7 to 9 show a state in which the tube t is attached to one connected portion 10 1 a and the tube t is not attached to the other connected portion 10 1 b.
- the connected portion 10 1 b in FIG. 8 is shown in a state of being cut in the axial direction.
- FIG. 10 shows a state in which a plurality of (here, three) sensor units 10 1 are connected via a tube t.
- the tube t is flexible and can be bent in the vertical direction in the figure, and each sensor unit 10 1 has a curved surface in which each lower surface 10 1 B is substantially straight (or slightly curved). ) Arranged along a plane (or curved surface) passing through L.
- the lower surface 10 1 B of the sensor unit 10 1 has a more curved curve Will be placed along. Even in such a case, the positional relationship between the respective sensor units 10 1 (i.e., placement and spacing, etc.) is maintained.
- each sensor unit 10 1 is slightly tilted around the central axis of the tube t, and as a result, each sensor unit 10 1 is attached to the tube t. It may be twisted around the central axis.
- FIG. 10 for simplification of the illustration, none of the sensor units 10 1 is tilted around the central axis of the tube t, but all the sensor units 10 1 are around the central axis of the tube t. the same angle or by substantially the same angle than the case of tilting the original, even when the sensor units 10 1 is tilted by different angles about the central axis of the tube t, the positional relationship between the respective sensor units 10 1 (i.e.
- each sensor unit 10 1 On an extension line of the center axis of the tube t are arranged, each sensor unit 10 1 or reduce the angle of tilt around the tube t, each sensor unit 10 1 It is also possible to align the tilt angles of.
- FIG. 11 shows a state in which the lid body 10 1 C 2 is removed from the housing 10 1 C of the sensor unit 10 1 .
- the main body portion 10 1 C 1 of the housing 10 1 C accommodates the sensor (board) K 1 on which the sensor light receiving / receiving unit 10 1 S is mounted.
- Lead wires 25 1 a and 25 1 b are connected to the sensor K 1 , respectively.
- the lead wires 25 1 a and 25 1 b are taken out to the left and right of the main body 10 1 C 1 through the connected portions 10 1 a and 10 1 b, respectively, and pass through the insides of the tubes t 5 and t 1 , respectively. Is wired.
- FIG. 12 shows a state in which the lids are removed from the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 shown in FIG.
- the sensor unit 10 2, 10 3, 10 4, 10 5 each lead wire 25 2 b, 25 3 b, 25 4 b
- tube t 2 respectively, t 3, t 4 It is wired through the inside of the sensor unit 10 2 , 10 3 , 10 4 , 10 5 and is connected to each of the sensors K 2 , K 3 , K 4 , and K 5 , respectively.
- the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 and the sensor light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S are on, and each sensor's light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S goes downward. Laser light is emitted from each of them.
- the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 of each laser beam are formed in a conical shape around the nut runner NR, and are adjacent to each other in the circumferential direction. Partially overlap each other.
- an intruder such as a worker's finger invades one of the detection areas D 1 , D 2 , D 3 , D 4 , D 5 , for example, the detection area D 2 or D 3 .
- the sensor K 2 or K 3 detects the intruder.
- the detection signal of the sensor K 2 or K 3 is input to the controller unit 20 and input to the control panel of the robot arm RA.
- the nut runner NR is temporarily stopped (or urgently stopped).
- the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 are arranged over the entire circumference of the nut runner NR, intrusion detection from all directions is detected for the nut runner NR. can do. Further, when the nut runner NR is arranged above the nut (not shown), if an intruder such as a worker's finger approaches the nut, the intruder will invade one of the detection areas. , Similarly, either sensor detects the intruder and the nut runner NR pauses (or urgently stops).
- the plurality of housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are sensors K 1 , K 2 , K 3 , K 4 , and K 5, respectively. Since each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is built in, the arrangement of each housing, that is, each sensor unit can be freely changed, thereby detecting. It is possible to flexibly arrange the area according to the size and shape of the area, and the degree of freedom in layout can be increased. As a result, the versatility of the sensor device can be improved and the cost can be reduced.
- the housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C are connected by tubes t 1 , t 2 , t 3 , and t 4 .
- the positional relationship between each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C is maintained, so that when each housing, that is, each sensor unit is mounted on the installation surface, It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed.
- each tube t 1 , t 2 , t 3 , and t 4 has flexibility, each tube t 1 , t 2 , t 3 , and t 4 can be deformed by bending or bending.
- each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are arranged in a straight line. It is also possible to arrange them in an arc shape, a U shape, or the like. That is, in this embodiment, the positional relationship between the housings can be adjusted. Further, since each sensor unit is housed in a housing, each sensor unit has waterproof, drip-proof, and oil-proof properties.
- lead wires 25 1 b, 25 2 b, 25 3 b, 25 4 b is accommodated in the interior of the tube t 1, t 2, t 3 , t 4 , respectively, the housing structure as a whole sensor device As a result, the rigidity of the entire device can be increased, and the environmental resistance of the device as a whole can be improved.
- each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is one sensor light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S.
- the number of sensor light-receiving parts built in each sensor unit may be two or more, and the number of sensor light-receiving parts built in each sensor unit is a sensor. It may vary from unit to unit.
- sensor units 10 1 , 10 2 , 10 3 , 10 4 and 10 5 are arranged on the circumference, but the application of the present invention is not limited to this.
- the number of sensor units constituting the sensor device may be more than or less than 5, and is appropriately determined according to the size of the detection area determined by the size of the jig and tool, the size of the intruder, and the like.
- 12 sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 7 , 10 8 10, 9 9 , 10 10 10 , 11 10 12 are arranged on the circumference.
- each The array pitch of the sensor units may be relatively large, and if the intruder is a human finger, the array pitch of each sensor unit may be relatively small. Since the sensor device 1 according to the present invention adopts a configuration in which each housing of each sensor unit is connected by a connecting member, it is possible to flexibly respond to a change in the number of sensor units.
- each sensor unit is arranged on the circumference, but the application of the present invention is not limited to this.
- the sensor unit according to the present invention has various shapes such as rectangular, U-shaped, U-shaped, V-shaped, L-shaped, horseshoe-shaped, oval-shaped, oval-shaped, and oval-shaped, depending on the detection region. It may be arranged along.
- FIG. 15 shows an example in which the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 10, 8 and 10 9 are arranged in a U shape. In FIG. 15, the tube connecting each sensor unit is omitted.
- the tubes t 1 , t 2 , t 3 , and t 4 connecting the sensor units 10 1 , 10 2 , 10 3 , 10 4 , and 10 5 adjacent to each other in the circumferential direction have a constant length.
- these tubes are made of resin and can be cut, their lengths can be freely changed. Therefore, by increasing the length of the tube, the arrangement pitch of each sensor unit can be increased and sparsely arranged. On the contrary, by shortening the length of the tube, the arrangement pitch of each sensor unit can be increased. It can be made small and densely arranged.
- the resin tube as the connecting member, the positional relationship between the sensor units (or between the housings) can be adjusted.
- a resin tube is used as the connecting member
- the connecting member a member having elasticity may be adopted.
- a plurality of tubular members having different diameters may be prepared and combined in a nested manner to form a telescopic connecting member having a telescopic structure.
- a bellows-shaped member may be used as the connecting member.
- the connecting member since the connecting member has elasticity, the positional relationship between the sensor units (or between the housings) can be adjusted without cutting the connecting member as in the above embodiment. It is possible.
- the connected portions 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 ; 10 4 a, 10 4 b; 10 5 a, 10 5 b are the housings of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 10 1 C, 10 2 C, 10 3 C, 10
- An example is shown in which the main bodies of 4 C, 10 and 5 C are integrally provided and fixed (in FIG. 5, each connected portion 10 1 a, 10 1 with respect to the center line CL of the housing 10 1 C).
- the center lines CaL and CbL of b are orthogonal to each other), but the application of the present invention is not limited to this.
- Ball joint connection to each main body of the sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C.
- the connected portion may be configured to be tiltable in any direction with respect to the main body portion (at this time, the center lines CaL and CbL of the connected portions 10 1 a and 10 1 b in FIG. 5). There angle formed with respect to the center line CL of the casing 10 1 C can vary). In this case, since the connected portion tilts when connecting the adjacent sensor units with the tube, the tube can be smoothly connected without applying an excessive force to the tube.
- the sensor device according to the present invention is applied to the nut runner NR of the robot arm RA, but the application of the present invention is not limited to this.
- the present invention is also applicable to jigs and tools other than the nut runner NR.
- the application of the present invention is not limited to the jig and tool of the robot arm, and the present invention can be applied to end effectors other than the jig and tool, and can be similarly applied to machines and devices other than the robot arm.
- the present invention is useful for sensor devices and sensor systems that can be flexibly arranged according to the detection area and can be easily mounted on the installation surface.
- Sensor device 10 1 , 10 2 , 10 3 , 10 4 , 10 5 Sensor unit 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b: Connected part 10 4 a, 10 4 b; 10 5 a, 10 5 b: Connected part 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C: Housing K 1 , K 2 , K 3 , K 4 , K 5 : Sensor t, t 1 , t 2 , t 3 , t 4 : Tube (connecting member)
- RA Robot arm NR: Nut runner (jig tool)
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Manipulator (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention provides a sensor device and a sensor system that can be flexibly arranged in accordance with a detection region, and that moreover can easily be attached to a mounting surface. In this sensor device 1, there are provided: a plurality of housings 101C, 102C, 103C, 104C, 105C that respectively constitute sensor units 101, 102, 103, 104, 105 by having respective sensors K1, K2, K3, K4, K5 built thereinto; and tubes t1-t4 that connect the housings 101C, 102C, 103C, 104C, 105C. Due to the housings 101C, 102C, 103C, 104C, 105C being connected by the tubes t1-t4, the positional relationship between the housings 101C, 102C, 103C, 104C, 105C is maintained. In addition, the tubes t1-t4 are provided such that the positional relationship between the housings 101C, 102C, 103C, 104C, 105C can be adjusted.
Description
本発明は、検出領域に応じた柔軟な配置をすることができ、しかも設置面への取付けを容易に行えるセンサ装置およびセンサシステムに関する。
The present invention relates to a sensor device and a sensor system that can be flexibly arranged according to a detection area and can be easily mounted on an installation surface.
特開昭58-211880号公報には、ロボットの可動部の先端に取り付けたヘッド部(筐体)の内部に複数の検出部(センサ)を配置し、これらの検出部によりヘッド部の下方の検出領域を検出することで、可動部の位置ずれ誤差を検出するようにしたものが記載されている(同公報の第3頁右上欄第13~19行、ならびに第1図、第2図および第6図参照)。
In Japanese Patent Application Laid-Open No. 58-21188, a plurality of detection units (sensors) are arranged inside a head portion (housing) attached to the tip of a movable portion of a robot, and these detection portions are used to lower the head portion. It is described that the misalignment error of the moving part is detected by detecting the detection area (pages 3 to 19 in the upper right column of the same publication, and FIGS. 1 and 2 and See FIG. 6).
また、特開2003-173201号公報には、複数の磁気センサ(センサ)をカバー(筐体)の内部に配置し、これらの磁気センサによりロボットアームの回転時の変位量を検出するようにしたものが記載されている(同公報の段落[0015]~[0017]および図1~図3参照)。
Further, in Japanese Patent Application Laid-Open No. 2003-173201, a plurality of magnetic sensors (sensors) are arranged inside a cover (housing), and the displacement amount of the robot arm during rotation is detected by these magnetic sensors. Are described (see paragraphs [0015] to [0017] and FIGS. 1 to 3 of the same publication).
上記特開昭58-211880号公報および上記特開2003-173201号公報に記載のものでは、一つの筐体の内部に複数のセンサを配置しており、各センサの取付位置が一つの筐体の内部に限定されている。このため、検出領域が変われば、その都度、検出領域に対応した筐体を新たに用意する必要がある。また、各センサの取付けの際には、個々のセンサの位置を一つずつ定めてやる必要があり、取付作業が煩雑になる。
In the above-mentioned Japanese Patent Application Laid-Open No. 58-21188 and the above-mentioned Japanese Patent Application Laid-Open No. 2003-173201, a plurality of sensors are arranged inside one housing, and each sensor is mounted in one housing. It is limited to the inside of. Therefore, every time the detection area changes, it is necessary to prepare a new housing corresponding to the detection area. Further, when mounting each sensor, it is necessary to determine the position of each sensor one by one, which complicates the mounting work.
本発明は、このような従来の実情に鑑みてなされたものであり、本発明が解決しようとする課題は、検出領域に応じた柔軟な配置をすることができ、しかも設置面への取付けを容易に行えるセンサ装置およびセンサシステムを提供することにある。
The present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is that it can be flexibly arranged according to the detection area and can be mounted on an installation surface. An object of the present invention is to provide a sensor device and a sensor system that can be easily performed.
本発明に係るセンサ装置は、各々センサを内蔵することによりそれぞれがセンサユニットを構成する複数の筐体と、各筐体を連結するための連結部材とを備え、各筐体が連結部材で連結されていることにより、各筐体間の位置関係が保たれている。
The sensor device according to the present invention includes a plurality of housings, each of which constitutes a sensor unit by incorporating a sensor, and a connecting member for connecting each housing, and each housing is connected by a connecting member. By doing so, the positional relationship between the housings is maintained.
本発明においては、複数の筐体の各々がセンサを内蔵していてそれぞれセンサユニットを構成しているので、各筐体つまり各センサユニットの配置や数を自由に変えることができ、これにより、検出領域に応じた柔軟な配置をすることができる。その結果、センサ装置として、汎用性を向上でき、コストを低減できる。しかも、本発明によれば、各筐体が連結部材で連結されていることで各筐体間の位置関係が保たれており、これにより、各筐体つまり各センサユニットを設置面に取り付ける際に各センサユニットの位置を一つずつ定めていく必要がなくなり、取付作業を容易に行えるようになる。
In the present invention, since each of the plurality of housings has a built-in sensor and constitutes a sensor unit, the arrangement and number of each housing, that is, each sensor unit can be freely changed. It can be flexibly arranged according to the detection area. As a result, the versatility of the sensor device can be improved and the cost can be reduced. Moreover, according to the present invention, since each housing is connected by a connecting member, the positional relationship between the housings is maintained, whereby each housing, that is, each sensor unit is attached to the installation surface. It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed.
本発明では、連結部材が、各筐体間の位置関係を調節可能に設けられている。
In the present invention, the connecting member is provided so that the positional relationship between the housings can be adjusted.
本発明では、連結部材が中空部材であって、各筐体が連結部材の端部を着脱可能に連結する被連結部を有している。
In the present invention, the connecting member is a hollow member, and each housing has a connected portion for detachably connecting the end portions of the connecting member.
本発明に係るセンサシステムは、各センサユニットが、ロボットアームに設けられる治工具またはワークへの人の接近を検知するように配置されている。
In the sensor system according to the present invention, each sensor unit is arranged so as to detect the approach of a person to a jig or a workpiece provided on a robot arm.
以上のように本発明によれば、複数の筐体が各々センサを内蔵していてそれぞれがセンサユニットを構成しているので、検出領域に応じた柔軟な配置をすることができ、さらに、各筐体が連結部材で連結されていることで各筐体間の位置関係が保たれているので、設置面への取付けを容易に行える。
As described above, according to the present invention, since each of the plurality of housings has a built-in sensor and each constitutes a sensor unit, it is possible to flexibly arrange the sensors according to the detection area. Since the housings are connected by the connecting member, the positional relationship between the housings is maintained, so that the housings can be easily mounted on the installation surface.
以下、本発明の実施例を添付図面に基づいて説明する。
図1ないし図13は、本発明の一実施例によるセンサ装置を説明するための図である。ここでは、本実施例によるセンサ装置がロボットアームの治工具としてのナットランナーに適用された例を示している。 Hereinafter, examples of the present invention will be described with reference to the accompanying drawings.
1 to 13 are diagrams for explaining a sensor device according to an embodiment of the present invention. Here, an example is shown in which the sensor device according to this embodiment is applied to a nut runner as a jig and tool for a robot arm.
図1ないし図13は、本発明の一実施例によるセンサ装置を説明するための図である。ここでは、本実施例によるセンサ装置がロボットアームの治工具としてのナットランナーに適用された例を示している。 Hereinafter, examples of the present invention will be described with reference to the accompanying drawings.
1 to 13 are diagrams for explaining a sensor device according to an embodiment of the present invention. Here, an example is shown in which the sensor device according to this embodiment is applied to a nut runner as a jig and tool for a robot arm.
図1に示すように、ロボットアームRAの先端には、ナットランナー(治工具)NRが回転可能に設けられている。ナットランナーNRは、先端部がたとえばソケット状に形成されており、これがナット/ボルト頭部(ワーク)に嵌合してナット/ボルト頭部を回転させることにより、ナット/ボルトの締緩を行うための工具である。ナットランナーNRの上部には、円板状のテーブルTが配置されている。図2に示すように、テーブルTの中央には貫通孔Taが形成されており、ナットランナーNRは、貫通孔Taを挿通して下方に延びている。
As shown in FIG. 1, a nut runner (jig tool) NR is rotatably provided at the tip of the robot arm RA. The tip of the nut runner NR is formed in the shape of a socket, for example, and the nut / bolt is tightened and loosened by fitting the nut / bolt head (work) and rotating the nut / bolt head. It is a tool for. A disk-shaped table T is arranged above the nut runner NR. As shown in FIG. 2, a through hole Ta is formed in the center of the table T, and the nut runner NR extends downward through the through hole Ta.
図1および図2に示すように、テーブルT上には、センサ装置1を構成する複数(この例では5個)のセンサユニット101、102、103、104、105がナットランナーNRの回りの円周上に均等間隔または概略均等間隔で配置されている。センサユニット101、102、103、104、105はそれぞれ筐体内にセンサを内蔵しており、各筐体101C、102C、103C、104C、105Cがそれぞれセンサユニット101、102、103、104、105を構成している。各筐体101C、102C、103C、104C、105Cは、絶縁性樹脂から構成されている。また、各センサユニット101、102、103、104、105は、それぞれレーザ光を下方に向かって照射することにより、レーザ光の照射領域に侵入した人体等の侵入体を検知するように設けられている。この例では、TOF(Time of Flight)方式を利用した測距センサが用いられているが、その他の方式を採用するようにしてもよいし、また、カメラやイメージセンサを採用するようにしてもよい。
As shown in FIGS. 1 and 2, on the table T, a plurality of sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 constituting the sensor device 1 (five in this example) are nut runners. They are evenly spaced or approximately evenly spaced on the circumference around the NR. The sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 each have a built-in sensor in the housing, and each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C. Consists of sensor units 10 1 , 10 2 , 10 3 , 10, 4 , 10 5 , respectively. Each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C is composed of an insulating resin. In addition, each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 detects an intruder such as a human body that has invaded the irradiation area of the laser beam by irradiating the laser beam downward. It is provided as follows. In this example, a distance measuring sensor using the TOF (Time of Flight) method is used, but other methods may be adopted, or a camera or an image sensor may be adopted. Good.
図1中、符号D1、D2、D3、D4、D5は、各センサユニット101、102、103、104、105の検知エリア(センシングエリア)をそれぞれ示している。図2に示すように、周方向に隣り合う各センサユニットは、チューブ(連結部材)tにより連結されている。すなわち、各センサユニット101、102間はチューブt1により、各センサユニット102、103間はチューブt2により、各センサユニット103、104間はチューブt3により、各センサユニット104、105間はチューブt4によりそれぞれ連結されている。また、各センサユニット101、105間はチューブにより連結されておらず、センサユニット101はチューブt5によりコントロールユニット20に連結されている。各チューブt1、t2、t3、t4、t5は、可撓性を有する中空の樹脂製部材から構成されている。図2に示すように、各チューブt1、t2、t3、t4、t5は、弧状に湾曲しつつ配設されている。コントローラユニット20から延びるケーブル21は、ロボットアームRAの制御盤(図示せず)に接続されている。なお、センサユニット101、102、103、104、105(または筐体101C、102C、103C、104C、105C)、チューブt1、t2、t3、t4、t5、およびナットランナーNRにより、本発明によるセンサシステムが構成されている。
In FIG. 1, reference numerals D 1 , D 2 , D 3 , D 4 , and D 5 indicate detection areas (sensing areas) of the respective sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 , respectively. .. As shown in FIG. 2, each sensor unit adjacent to each other in the circumferential direction is connected by a tube (connecting member) t. That is, each sensor unit 10 1 , 10 2 is connected to the tube t 1 , each sensor unit 10 2 , 10 3 is connected to the tube t 2 , and each sensor unit 10 3 , 10 4 is connected to the tube t 3. 10 4, 10 5 while being respectively connected by a tube t 4. Further, the sensor units 10 1 , 10 5 are not connected by a tube, and the sensor unit 10 1 is connected to the control unit 20 by a tube t 5 . Each tube t 1 , t 2 , t 3 , t 4 , t 5 is composed of a flexible hollow resin member. As shown in FIG. 2, each tube t 1 , t 2 , t 3 , t 4 , and t 5 are arranged while being curved in an arc shape. The cable 21 extending from the controller unit 20 is connected to a control panel (not shown) of the robot arm RA. The sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 (or housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C), tubes t 1 , t 2 , The sensor system according to the present invention is composed of t 3 , t 4 , t 5 , and nut runner NR.
図3および図4に示すように、センサユニット101、102、103、104、105の各検知エリアD1、D2、D3、D4、D5は、それぞれ下方に向かって円錐状に広がっており、互いに一部オーバラップしつつ配置されている。これらの検知エリアD1、D2、D3、D4、D5を合わせた領域がセンサ装置1による検出領域である。図3において各センサユニット101、102、103、104、105から下方に所定の距離Hだけ離れた位置に配置された平面Wにおける各検知エリアD1、D2、D3、D4、D5が図4に示されている。平面Wは、ナット(図示せず)が配置される作業面に相当している。図4では、図示の便宜上、各センサユニット101、102、103、104、105を連結するための各チューブt1、t2、t3、t4が省略されている。
As shown in FIGS. 3 and 4, the sensor unit 10 1, 10 2, 10 3, 10 4, each detection area D 1 of the 10 5, D 2, D 3 , D 4, D 5 , respectively downward It spreads out in a conical shape and is arranged so that it partially overlaps with each other. The area in which these detection areas D 1 , D 2 , D 3 , D 4 , and D 5 are combined is the detection area by the sensor device 1. FIG Each sensor unit 10 1 in 3, 10 2, 10 3, 10 4, 10 each detection area D 1 in the plane W, which is located away by a predetermined distance H downwardly from 5, D 2, D 3, D 4 and D 5 are shown in FIG. The plane W corresponds to a work surface on which a nut (not shown) is placed. In FIG. 4, for convenience of illustration, the tubes t 1 , t 2 , t 3 , and t 4 for connecting the sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 are omitted.
図4から分かるように、各検知エリアD1、D2、D3、D4、D5は、ナットランナーNRを囲繞しつつ(つまり取り囲むように)その周囲に配置されており、ナットランナーNRは、どの検知エリアD1、D2、D3、D4、D5にも含まれていない。これは、各センサユニット101、102、103、104、105がナットランナーNRに対する人等の侵入体の接近を検知するためのものであって、各センサユニット101、102、103、104、105によってナットランナーNR自体が検知されないようにするためである。
As can be seen from FIG. 4, each detection area D 1 , D 2 , D 3 , D 4 , D 5 is arranged around the nut runner NR while surrounding (that is, surrounding) the nut runner NR. Is not included in any of the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 . This is for each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 to detect the approach of an intruder such as a person to the nut runner NR, and each sensor unit 10 1 , 10 2 is to 10 3, 10 4, 10 5 as the nut runner NR itself is not detected by.
図4に示すように、各センサユニット101、102、103、104、105の下面101B、102B、103B、104B、105Bには、それぞれセンサ投受光部101S、102S、103S、104S、105Sが配置されている。各センサ投受光部101S、102S、103S、104S、105Sは、レーザ光の投受光部からそれぞれ構成されている。各センサユニット101、102、103、104、105は、チューブtの端部を着脱可能に連結するための一対の筒状の被連結部101a、101b;102a、102b;103a、103b;104a、104b;105a、105bをそれぞれ有している。
As shown in FIG. 4, each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 has a sensor on the lower surface 10 1 B, 10 2 B, 10 3 B, 10 4 B, 10 5 B, respectively. The light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, and 10 5 S are arranged. Each sensor light emitting / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S is composed of a laser beam light emitting / receiving unit, respectively. Each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is a pair of tubular connected portions 10 1 a, 10 1 b; 10 2 for detachably connecting the ends of the tubes t. It has a, 10 2 b; 10 3 a, 10 3 b; 10 4 a, 10 4 b; 10 5 a, 10 5 b, respectively.
次に、各センサユニット101、102、103、104、105を構成する各筐体101C、102C、103C、104C、105Cの詳細について、図5ないし図13を用いて説明する。
ここでは、センサユニット101を例にとって説明するが、他のセンサユニット102、103、104、105についても同様であり、センサユニット101についての説明は、他のセンサユニット102、103、104、105についても当てはまる。 Next, the details of each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C constituting each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 are shown in the figure. 5 to 13 will be described.
Here, the sensor unit 10 1 will be described as an example, but the same applies to the other sensor units 10 2 , 10 3 , 10, 4 , and 10 5 , and the description of the sensor unit 10 1 is based on the other sensor unit 10 2. The same applies to 10, 3 , 10, 4 , and 10 5 .
ここでは、センサユニット101を例にとって説明するが、他のセンサユニット102、103、104、105についても同様であり、センサユニット101についての説明は、他のセンサユニット102、103、104、105についても当てはまる。 Next, the details of each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C constituting each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 are shown in the figure. 5 to 13 will be described.
Here, the sensor unit 10 1 will be described as an example, but the same applies to the other sensor units 10 2 , 10 3 , 10, 4 , and 10 5 , and the description of the sensor unit 10 1 is based on the other sensor unit 10 2. The same applies to 10, 3 , 10, 4 , and 10 5 .
図5ないし図9に示すように、筐体101Cは、本体部101C1と、これにねじ止め固定される蓋体101C2とを有している。被連結部101a、101bは、この例では本体部101C1に一体に設けられているが、これは別体でもよい。また、被連結部101a、101bは、チューブtの端部が圧入される凸部ar、brをそれぞれ外周に有している。チューブtは、隣り合う各センサユニットの筐体同士を被連結部を介して連結している(図2参照)。なお、図7ないし図9では、一方の被連結部101aにチューブtが装着され、他方の被連結部101bにチューブtが装着されていない状態が示されており、さらに図7および図8の被連結部101bは、軸方向に切断された状態で示されている。
As shown in FIGS. 5 to 9, the housing 10 1 C has a main body portion 10 1 C 1 and a lid body 10 1 C 2 screwed and fixed to the main body portion 10 1 C 1 . The connected portions 10 1 a and 10 1 b are integrally provided with the main body portion 10 1 C 1 in this example, but they may be separate bodies. Further, the connected portions 10 1 a and 10 1 b each have convex portions ar and br on the outer periphery into which the end portion of the tube t is press-fitted. The tube t connects the housings of the adjacent sensor units to each other via a connected portion (see FIG. 2). It should be noted that FIGS. 7 to 9 show a state in which the tube t is attached to one connected portion 10 1 a and the tube t is not attached to the other connected portion 10 1 b. And the connected portion 10 1 b in FIG. 8 is shown in a state of being cut in the axial direction.
図10は、複数(ここでは3個)のセンサユニット101をチューブtを介して連結した状態を示している。このとき、チューブtが可撓性を有していて同図の上下方向に撓み得るようになっており、各センサユニット101は、各下面101Bが概ね直線(またはわずかに湾曲する曲線)Lを通る平面(または曲面)に沿って配置される。このとき、チューブtの長さが長くなるほど、センサユニット101の重量の影響を受けやすくなって、チューブtの撓み量が大きくなり、センサユニット101の各下面101Bはより湾曲した曲線に沿って配置されることになる。このような場合であっても、各センサユニット101間の位置関係(すなわち、配置や間隔等)は保たれている。
FIG. 10 shows a state in which a plurality of (here, three) sensor units 10 1 are connected via a tube t. At this time, the tube t is flexible and can be bent in the vertical direction in the figure, and each sensor unit 10 1 has a curved surface in which each lower surface 10 1 B is substantially straight (or slightly curved). ) Arranged along a plane (or curved surface) passing through L. In this case, as the length of the tube t becomes longer, are susceptible to the weight of the sensor unit 10 1, the amount of deflection of the tube t is increased, the lower surface 10 1 B of the sensor unit 10 1 has a more curved curve Will be placed along. Even in such a case, the positional relationship between the respective sensor units 10 1 (i.e., placement and spacing, etc.) is maintained.
また、可撓性を有するチューブtがその中心軸回りに捩じれることにより、各センサユニット101がチューブtの中心軸回りをわずかに傾動し、その結果、各センサユニット101がチューブtの中心軸回りに捩じれて配置される場合もある。図10では、図示の簡略化のため、いずれのセンサユニット101もチューブtの中心軸回りを傾動していない状態が示されているが、すべてのセンサユニット101がチューブtの中心軸回りを同じ角度または略同一の角度だけ傾動する場合は元より、各センサユニット101がチューブtの中心軸回りを互いに異なる角度だけ傾動する場合においても、各センサユニット101間の位置関係(すなわち、配置や間隔等)は保たれている。なお、チューブtの中心軸の延長線上にセンサユニット101の重心が配置されるようにすれば、各センサユニット101がチューブtの回りを傾動する角度を小さくしたり、各センサユニット101の傾動角度を揃えたりすることも可能である。
Further, as the flexible tube t is twisted around its central axis, each sensor unit 10 1 is slightly tilted around the central axis of the tube t, and as a result, each sensor unit 10 1 is attached to the tube t. It may be twisted around the central axis. In FIG. 10, for simplification of the illustration, none of the sensor units 10 1 is tilted around the central axis of the tube t, but all the sensor units 10 1 are around the central axis of the tube t. the same angle or by substantially the same angle than the case of tilting the original, even when the sensor units 10 1 is tilted by different angles about the central axis of the tube t, the positional relationship between the respective sensor units 10 1 (i.e. , Arrangement, spacing, etc.) are maintained. Incidentally, if the center of gravity of the sensor unit 10 1 on an extension line of the center axis of the tube t are arranged, each sensor unit 10 1 or reduce the angle of tilt around the tube t, each sensor unit 10 1 It is also possible to align the tilt angles of.
図11は、センサユニット101の筐体101Cから蓋体101C2を取り外した状態を示している。同図に示すように、筐体101Cの本体部101C1には、センサ投受光部101Sが搭載されたセンサ(基板)K1が収容されている。センサK1には、リード線251a、251bがそれぞれ接続されている。各リード線251a、251bはそれぞれ被連結部101a、101bを通って本体部101C1の左右に取り出されており、それぞれチューブt5、t1の内部を通って配線されている。
FIG. 11 shows a state in which the lid body 10 1 C 2 is removed from the housing 10 1 C of the sensor unit 10 1 . As shown in the figure, the main body portion 10 1 C 1 of the housing 10 1 C accommodates the sensor (board) K 1 on which the sensor light receiving / receiving unit 10 1 S is mounted. Lead wires 25 1 a and 25 1 b are connected to the sensor K 1 , respectively. The lead wires 25 1 a and 25 1 b are taken out to the left and right of the main body 10 1 C 1 through the connected portions 10 1 a and 10 1 b, respectively, and pass through the insides of the tubes t 5 and t 1 , respectively. Is wired.
図12は、図2に示した各センサユニット101、102、103、104、105からそれぞれの蓋体を取り外した状態を示している。図12に示すように、センサユニット102、103、104、105の各リード線252b、253b、254bについても同様に、それぞれチューブt2、t3、t4の内部を通って配線されており、センサユニット102、103、104、105の各センサK2、K3、K4、K5にそれぞれ接続されている。
FIG. 12 shows a state in which the lids are removed from the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 shown in FIG. As shown in FIG. 12, the sensor unit 10 2, 10 3, 10 4, 10 5 each lead wire 25 2 b, 25 3 b, 25 4 b Similarly for, tube t 2, respectively, t 3, t 4 It is wired through the inside of the sensor unit 10 2 , 10 3 , 10 4 , 10 5 and is connected to each of the sensors K 2 , K 3 , K 4 , and K 5 , respectively.
次に、本実施例の作用効果について説明する。
ロボットアームRAに取り付けられたナットランナーNRの駆動時には、図1および図4に示すように、センサユニット101、102、103、104、105の各センサ投受光部101S、102S、103S、104S、105Sがオンとなっていて、各センサ投受光部101S、102S、103S、104S、105Sから下方に向かってそれぞれレーザ光が出射されている。各レーザ光の検知エリアD1、D2、D3、D4、D5は、上述したように、ナットランナーNRの周囲にそれぞれ円錐状に形成されるとともに、周方向に隣り合う各検知エリアが互いに一部オーバラップしている。 Next, the action and effect of this example will be described.
When driving the nut runner NR attached to the robot arm RA, as shown in FIGS. 1 and 4, the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 and the sensor light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S are on, and each sensor's light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S goes downward. Laser light is emitted from each of them. As described above, the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 of each laser beam are formed in a conical shape around the nut runner NR, and are adjacent to each other in the circumferential direction. Partially overlap each other.
ロボットアームRAに取り付けられたナットランナーNRの駆動時には、図1および図4に示すように、センサユニット101、102、103、104、105の各センサ投受光部101S、102S、103S、104S、105Sがオンとなっていて、各センサ投受光部101S、102S、103S、104S、105Sから下方に向かってそれぞれレーザ光が出射されている。各レーザ光の検知エリアD1、D2、D3、D4、D5は、上述したように、ナットランナーNRの周囲にそれぞれ円錐状に形成されるとともに、周方向に隣り合う各検知エリアが互いに一部オーバラップしている。 Next, the action and effect of this example will be described.
When driving the nut runner NR attached to the robot arm RA, as shown in FIGS. 1 and 4, the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 and the sensor light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S are on, and each sensor's light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S goes downward. Laser light is emitted from each of them. As described above, the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 of each laser beam are formed in a conical shape around the nut runner NR, and are adjacent to each other in the circumferential direction. Partially overlap each other.
この状態から、図13に示すように、作業者の手指などの侵入体がいずれかの検知エリアD1、D2、D3、D4、D5、たとえば検知エリアD2またはD3に侵入すると、センサK2またはK3が侵入体を検知する。すると、センサK2またはK3の検知信号はコントローラユニット20に入力され、ロボットアームRAの制御盤に入力される。その結果、ナットランナーNRが一時停止(または緊急停止)する。これにより、作業者の手指がナットランナーNRの先端およびナット間で挟み込まれるのを確実に防止できる。しかも、この場合には、センサユニット101、102、103、104、105がナットランナーNRの全周にわたって配置されているので、ナットランナーNRに対して全方位からの侵入検知をすることができる。また、ナットランナーNRがナット(図示せず)の上方に配置されているとき、作業者の手指などの侵入体がナットに接近すると、侵入体はいずれかの検知エリアに侵入することになるので、同様にして、いずれかのセンサが侵入体を検知し、ナットランナーNRが一時停止(または緊急停止)する。
From this state, as shown in FIG. 13, an intruder such as a worker's finger invades one of the detection areas D 1 , D 2 , D 3 , D 4 , D 5 , for example, the detection area D 2 or D 3 . Then, the sensor K 2 or K 3 detects the intruder. Then, the detection signal of the sensor K 2 or K 3 is input to the controller unit 20 and input to the control panel of the robot arm RA. As a result, the nut runner NR is temporarily stopped (or urgently stopped). As a result, it is possible to reliably prevent the operator's fingers from being pinched between the tip of the nut runner NR and the nut. Moreover, in this case, since the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 are arranged over the entire circumference of the nut runner NR, intrusion detection from all directions is detected for the nut runner NR. can do. Further, when the nut runner NR is arranged above the nut (not shown), if an intruder such as a worker's finger approaches the nut, the intruder will invade one of the detection areas. , Similarly, either sensor detects the intruder and the nut runner NR pauses (or urgently stops).
このように本実施例によれば、複数の筐体101C、102C、103C、104C、105CがそれぞれセンサK1、K2、K3、K4、K5を内蔵していてそれぞれセンサユニット101、102、103、104、105を構成しているので、各筐体つまり各センサユニットの配置を自由に変えることができ、これにより、検出領域の大きさや形状等に応じた柔軟な配置をすることができ、レイアウトの自由度をアップできる。その結果、センサ装置として、汎用性を向上でき、コストを低減できる。この場合、センサユニットの筐体として一つの筐体を用意すれば足りるので、金型も一種類で済み、コストを大幅に削減できる。これに対して、従来のように、複数のセンサを一つの筐体の内部に配置する構造では、検出領域の大きさや形状等が変われば、検出領域に合わせてその都度筐体を新たに作り直す必要があり、コスト高となる。
As described above, according to the present embodiment, the plurality of housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are sensors K 1 , K 2 , K 3 , K 4 , and K 5, respectively. Since each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is built in, the arrangement of each housing, that is, each sensor unit can be freely changed, thereby detecting. It is possible to flexibly arrange the area according to the size and shape of the area, and the degree of freedom in layout can be increased. As a result, the versatility of the sensor device can be improved and the cost can be reduced. In this case, since it is sufficient to prepare one housing as the housing of the sensor unit, only one type of mold is required, and the cost can be significantly reduced. On the other hand, in the conventional structure in which a plurality of sensors are arranged inside one housing, if the size or shape of the detection area changes, the housing is recreated each time according to the detection area. It is necessary and the cost is high.
しかも、本実施例によれば、各筐体101C、102C、103C、104C、105Cがチューブt1、t2、t3、t4で連結されていることで各筐体101C、102C、103C、104C、105C間の位置関係が保たれており、これにより、各筐体つまり各センサユニットを設置面に取り付ける際に各センサユニットの位置を一つずつ定めていく必要がなくなり、取付作業を容易に行えるようになる。その一方、各チューブt1、t2、t3、t4が可撓性を有していることにより、各チューブt1、t2、t3、t4は湾曲や屈曲等の変形が可能であり、そのため、同じチューブt1、t2、t3、t4を用いて、各筐体101C、102C、103C、104C、105Cを直線状に配置することも、円弧状やU字状等に配置することも可能である。すなわち、本実施例においては、各筐体間の位置関係が調節可能になっている。また、各センサユニットがそれぞれ筐体に収容されているので、個々のセンサユニットが防水性、防滴性および防油性を有している。さらに、リード線251b、252b、253b、254bがそれぞれチューブt1、t2、t3、t4の内部に収容されていることにより、センサ装置全体として筐体構造を有しており、これにより、装置全体の剛性をアップできるとともに、装置全体として耐環境性を向上できる。
Moreover, according to this embodiment, the housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C are connected by tubes t 1 , t 2 , t 3 , and t 4 . The positional relationship between each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C is maintained, so that when each housing, that is, each sensor unit is mounted on the installation surface, It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed. On the other hand, since each tube t 1 , t 2 , t 3 , and t 4 has flexibility, each tube t 1 , t 2 , t 3 , and t 4 can be deformed by bending or bending. Therefore, using the same tubes t 1 , t 2 , t 3 , and t 4 , each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are arranged in a straight line. It is also possible to arrange them in an arc shape, a U shape, or the like. That is, in this embodiment, the positional relationship between the housings can be adjusted. Further, since each sensor unit is housed in a housing, each sensor unit has waterproof, drip-proof, and oil-proof properties. Furthermore, by lead wires 25 1 b, 25 2 b, 25 3 b, 25 4 b is accommodated in the interior of the tube t 1, t 2, t 3 , t 4 , respectively, the housing structure as a whole sensor device As a result, the rigidity of the entire device can be increased, and the environmental resistance of the device as a whole can be improved.
〔第1の変形例〕
前記実施例では、各センサユニット101、102、103、104、105がいずれも一つのセンサ投受光部101S、102S、103S、104S、105Sを内蔵している場合を例にとって説明したが、各センサユニットが内蔵するセンサ投受光部の数は2つまたはそれ以上でもよく、また各センサユニットが内蔵するセンサ投受光部の数は、センサユニットによって異なっていてもよい。 [First modification]
In the above embodiment, each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is one sensor light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S. Although the case where is built-in is described as an example, the number of sensor light-receiving parts built in each sensor unit may be two or more, and the number of sensor light-receiving parts built in each sensor unit is a sensor. It may vary from unit to unit.
前記実施例では、各センサユニット101、102、103、104、105がいずれも一つのセンサ投受光部101S、102S、103S、104S、105Sを内蔵している場合を例にとって説明したが、各センサユニットが内蔵するセンサ投受光部の数は2つまたはそれ以上でもよく、また各センサユニットが内蔵するセンサ投受光部の数は、センサユニットによって異なっていてもよい。 [First modification]
In the above embodiment, each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is one sensor light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S. Although the case where is built-in is described as an example, the number of sensor light-receiving parts built in each sensor unit may be two or more, and the number of sensor light-receiving parts built in each sensor unit is a sensor. It may vary from unit to unit.
〔第2の変形例〕
前記実施例では、連結部材として、中空の樹脂製部材からなるチューブtを用いた例を示したが、本発明の適用はこれに限定されない。連結部材として、中実の樹脂製部材を採用するようにしてもよい。また、樹脂製部材にかぎらず、硬質ラバーから構成するようにしてもよい。さらには、チューブtとして、可撓性や伸縮性の乏しい、たとえば金属製の中実の棒材または中空のパイプ等を採用するようにしてもよい。 [Second modification]
In the above-described embodiment, an example in which a tube t made of a hollow resin member is used as the connecting member is shown, but the application of the present invention is not limited to this. As the connecting member, a solid resin member may be adopted. Further, the member is not limited to the resin member, and may be made of a hard rubber. Further, as the tube t, for example, a solid metal rod or a hollow pipe having poor flexibility or elasticity may be adopted.
前記実施例では、連結部材として、中空の樹脂製部材からなるチューブtを用いた例を示したが、本発明の適用はこれに限定されない。連結部材として、中実の樹脂製部材を採用するようにしてもよい。また、樹脂製部材にかぎらず、硬質ラバーから構成するようにしてもよい。さらには、チューブtとして、可撓性や伸縮性の乏しい、たとえば金属製の中実の棒材または中空のパイプ等を採用するようにしてもよい。 [Second modification]
In the above-described embodiment, an example in which a tube t made of a hollow resin member is used as the connecting member is shown, but the application of the present invention is not limited to this. As the connecting member, a solid resin member may be adopted. Further, the member is not limited to the resin member, and may be made of a hard rubber. Further, as the tube t, for example, a solid metal rod or a hollow pipe having poor flexibility or elasticity may be adopted.
〔第3の変形例〕
前記実施例では、円周上に5個のセンサユニット101、102、103、104、105を配置した例を示したが、本発明の適用はこれに限定されない。センサ装置を構成するセンサユニットの個数は、5個より多くても少なくてもよく、治工具のサイズや侵入体の大きさ等によって定まる検出領域の大きさに応じて適宜決定される。図14は、円周上に12個のセンサユニット101、102、103、104、105、106、107、108、109、1010、1011、1012を配置した例を示しているが(同図では、図示の便宜上、各センサユニットを連結するチューブを省略)、この場合、同じ円周上であっても、侵入体が人の胴体であれば、各センサユニットの配列ピッチは相対的に大きめにしてもよく、また侵入体が人の手指であれば、各センサユニットの配列ピッチは相対的に小さめにしてもよい。本発明によるセンサ装置1は、各センサユニットの各筐体を連結部材で連結するという構成を採用しているので、センサユニットの数量変更にも柔軟に対応することができる。 [Third variant]
In the above embodiment, five sensor units 10 1 , 10 2 , 10 3 , 10 4 and 10 5 are arranged on the circumference, but the application of the present invention is not limited to this. The number of sensor units constituting the sensor device may be more than or less than 5, and is appropriately determined according to the size of the detection area determined by the size of the jig and tool, the size of the intruder, and the like. In FIG. 14, 12 sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 7 , 10 8 10, 9 9 , 10 10 10 , 11 10 12 are arranged on the circumference. (In the figure, the tube connecting each sensor unit is omitted for convenience of illustration), but in this case, even if they are on the same circumference, if the intruder is a human torso, each The array pitch of the sensor units may be relatively large, and if the intruder is a human finger, the array pitch of each sensor unit may be relatively small. Since thesensor device 1 according to the present invention adopts a configuration in which each housing of each sensor unit is connected by a connecting member, it is possible to flexibly respond to a change in the number of sensor units.
前記実施例では、円周上に5個のセンサユニット101、102、103、104、105を配置した例を示したが、本発明の適用はこれに限定されない。センサ装置を構成するセンサユニットの個数は、5個より多くても少なくてもよく、治工具のサイズや侵入体の大きさ等によって定まる検出領域の大きさに応じて適宜決定される。図14は、円周上に12個のセンサユニット101、102、103、104、105、106、107、108、109、1010、1011、1012を配置した例を示しているが(同図では、図示の便宜上、各センサユニットを連結するチューブを省略)、この場合、同じ円周上であっても、侵入体が人の胴体であれば、各センサユニットの配列ピッチは相対的に大きめにしてもよく、また侵入体が人の手指であれば、各センサユニットの配列ピッチは相対的に小さめにしてもよい。本発明によるセンサ装置1は、各センサユニットの各筐体を連結部材で連結するという構成を採用しているので、センサユニットの数量変更にも柔軟に対応することができる。 [Third variant]
In the above embodiment, five sensor units 10 1 , 10 2 , 10 3 , 10 4 and 10 5 are arranged on the circumference, but the application of the present invention is not limited to this. The number of sensor units constituting the sensor device may be more than or less than 5, and is appropriately determined according to the size of the detection area determined by the size of the jig and tool, the size of the intruder, and the like. In FIG. 14, 12 sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 7 , 10 8 10, 9 9 , 10 10 10 , 11 10 12 are arranged on the circumference. (In the figure, the tube connecting each sensor unit is omitted for convenience of illustration), but in this case, even if they are on the same circumference, if the intruder is a human torso, each The array pitch of the sensor units may be relatively large, and if the intruder is a human finger, the array pitch of each sensor unit may be relatively small. Since the
〔第4の変形例〕
前記実施例では、各センサユニットを円周上に配置した例を示したが、本発明の適用はこれに限定されない。本発明によるセンサユニットは、検出領域に応じて、矩形状、コの字状、U字状、V字状、L字状、馬蹄形状、楕円状、長円状、オーバル状等の種々の形状に沿って配置するようにしてもよい。図15は、センサユニット101、102、103、104、105、106、107、108、109をU字状に配置した例を示している。なお、図15では、各センサユニットを連結するチューブを省略して示している。 [Fourth variant]
In the above-described embodiment, an example in which each sensor unit is arranged on the circumference is shown, but the application of the present invention is not limited to this. The sensor unit according to the present invention has various shapes such as rectangular, U-shaped, U-shaped, V-shaped, L-shaped, horseshoe-shaped, oval-shaped, oval-shaped, and oval-shaped, depending on the detection region. It may be arranged along. FIG. 15 shows an example in which the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 10, 8 and 10 9 are arranged in a U shape. In FIG. 15, the tube connecting each sensor unit is omitted.
前記実施例では、各センサユニットを円周上に配置した例を示したが、本発明の適用はこれに限定されない。本発明によるセンサユニットは、検出領域に応じて、矩形状、コの字状、U字状、V字状、L字状、馬蹄形状、楕円状、長円状、オーバル状等の種々の形状に沿って配置するようにしてもよい。図15は、センサユニット101、102、103、104、105、106、107、108、109をU字状に配置した例を示している。なお、図15では、各センサユニットを連結するチューブを省略して示している。 [Fourth variant]
In the above-described embodiment, an example in which each sensor unit is arranged on the circumference is shown, but the application of the present invention is not limited to this. The sensor unit according to the present invention has various shapes such as rectangular, U-shaped, U-shaped, V-shaped, L-shaped, horseshoe-shaped, oval-shaped, oval-shaped, and oval-shaped, depending on the detection region. It may be arranged along. FIG. 15 shows an example in which the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 10, 8 and 10 9 are arranged in a U shape. In FIG. 15, the tube connecting each sensor unit is omitted.
〔第5の変形例〕
前記実施例では、周方向に隣り合う各センサユニット101、102、103、104、105を連結する各チューブt1、t2、t3、t4が一定の長さを有している例を示したが、これらのチューブは樹脂製部材であって切断可能なので、その長さを自由に変えることが可能である。そのため、チューブの長さを長くすることにより、各センサユニットの配列ピッチを大きくして疎に配置でき、これとは逆に、チューブの長さを短くすることにより、各センサユニットの配列ピッチを小さくして密に配置できる。このように、連結部材として樹脂製のチューブを用いることにより、各センサユニット間(または各筐体間)の位置関係が調節可能になっている。 [Fifth variant]
In the above embodiment, the tubes t 1 , t 2 , t 3 , and t 4 connecting the sensor units 10 1 , 10 2 , 10 3 , 10 4 , and 10 5 adjacent to each other in the circumferential direction have a constant length. Although these tubes are made of resin and can be cut, their lengths can be freely changed. Therefore, by increasing the length of the tube, the arrangement pitch of each sensor unit can be increased and sparsely arranged. On the contrary, by shortening the length of the tube, the arrangement pitch of each sensor unit can be increased. It can be made small and densely arranged. As described above, by using the resin tube as the connecting member, the positional relationship between the sensor units (or between the housings) can be adjusted.
前記実施例では、周方向に隣り合う各センサユニット101、102、103、104、105を連結する各チューブt1、t2、t3、t4が一定の長さを有している例を示したが、これらのチューブは樹脂製部材であって切断可能なので、その長さを自由に変えることが可能である。そのため、チューブの長さを長くすることにより、各センサユニットの配列ピッチを大きくして疎に配置でき、これとは逆に、チューブの長さを短くすることにより、各センサユニットの配列ピッチを小さくして密に配置できる。このように、連結部材として樹脂製のチューブを用いることにより、各センサユニット間(または各筐体間)の位置関係が調節可能になっている。 [Fifth variant]
In the above embodiment, the tubes t 1 , t 2 , t 3 , and t 4 connecting the sensor units 10 1 , 10 2 , 10 3 , 10 4 , and 10 5 adjacent to each other in the circumferential direction have a constant length. Although these tubes are made of resin and can be cut, their lengths can be freely changed. Therefore, by increasing the length of the tube, the arrangement pitch of each sensor unit can be increased and sparsely arranged. On the contrary, by shortening the length of the tube, the arrangement pitch of each sensor unit can be increased. It can be made small and densely arranged. As described above, by using the resin tube as the connecting member, the positional relationship between the sensor units (or between the housings) can be adjusted.
〔第6の変形例〕
前記実施例では、連結部材として樹脂製のチューブを用いた例を示したが、本発明の適用はこれに限定されない。連結部材として、伸縮性を有する部材を採用するようにしてもよい。たとえば、径の異なる複数の筒状部材を用意してこれらを入れ子状に組み合わせることにより、テレスコピック構造の伸縮可能な連結部材を構成するようにしてもよい。あるいは、連結部材として蛇腹状の部材を用いるようにしてもよい。これらいずれの場合においても、連結部材が伸縮性を有していることにより、前記実施例のように連結部材を切断することなく、各センサユニット間(または各筐体間)の位置関係が調節可能になっている。 [Sixth variant]
In the above-described embodiment, an example in which a resin tube is used as the connecting member is shown, but the application of the present invention is not limited to this. As the connecting member, a member having elasticity may be adopted. For example, a plurality of tubular members having different diameters may be prepared and combined in a nested manner to form a telescopic connecting member having a telescopic structure. Alternatively, a bellows-shaped member may be used as the connecting member. In any of these cases, since the connecting member has elasticity, the positional relationship between the sensor units (or between the housings) can be adjusted without cutting the connecting member as in the above embodiment. It is possible.
前記実施例では、連結部材として樹脂製のチューブを用いた例を示したが、本発明の適用はこれに限定されない。連結部材として、伸縮性を有する部材を採用するようにしてもよい。たとえば、径の異なる複数の筒状部材を用意してこれらを入れ子状に組み合わせることにより、テレスコピック構造の伸縮可能な連結部材を構成するようにしてもよい。あるいは、連結部材として蛇腹状の部材を用いるようにしてもよい。これらいずれの場合においても、連結部材が伸縮性を有していることにより、前記実施例のように連結部材を切断することなく、各センサユニット間(または各筐体間)の位置関係が調節可能になっている。 [Sixth variant]
In the above-described embodiment, an example in which a resin tube is used as the connecting member is shown, but the application of the present invention is not limited to this. As the connecting member, a member having elasticity may be adopted. For example, a plurality of tubular members having different diameters may be prepared and combined in a nested manner to form a telescopic connecting member having a telescopic structure. Alternatively, a bellows-shaped member may be used as the connecting member. In any of these cases, since the connecting member has elasticity, the positional relationship between the sensor units (or between the housings) can be adjusted without cutting the connecting member as in the above embodiment. It is possible.
〔第7の変形例〕
前記実施例では、各センサユニット101、102、103、104、105の被連結部101a、101b;102a、102b;103a、103b;104a、104b;105a、105bが、各センサユニット101、102、103、104、105の筐体101C、102C、103C、104C、105Cの各本体部に一体に設けられて固定されている例を示した(図5において筐体101Cの中心線CLに対して各被連結部101a、101bの各中心線CaL、CbLは直交している)が、本発明の適用はこれに限定されない。被連結部101a、101b;102a、102b;103a、103b;104a、104b;105a、105bの各基端部を、各センサユニット101、102、103、104、105の筐体101C、102C、103C、104C、105Cの各本体部に対してボールジョイント連結することにより、被連結部が本体部に対して任意の方向に傾動可能に構成されていてもよい(このとき、図5中の各被連結部101a、101bの各中心線CaL、CbLが筐体101Cの中心線CLに対してなす角度は変化し得る)。この場合には、隣り合う各センサユニット間をチューブで連結する際に被連結部が傾動するので、チューブに無理な力がかかることなく、チューブによる連結を円滑に行える。 [7th variant]
In the above embodiment, the connected portions 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 ; 10 4 a, 10 4 b; 10 5 a, 10 5 b are the housings of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 10 1 C, 10 2 C, 10 3 C, 10 An example is shown in which the main bodies of 4 C, 10 and 5 C are integrally provided and fixed (in FIG. 5, each connected portion 10 1 a, 10 1 with respect to the center line CL of the housing 10 1 C). The center lines CaL and CbL of b are orthogonal to each other), but the application of the present invention is not limited to this. Each base end of the connected portion 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; 10 4 a, 10 4 b; 10 5 a, 10 5 b, respectively. Ball joint connection to each main body of the sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C. Therefore, the connected portion may be configured to be tiltable in any direction with respect to the main body portion (at this time, the center lines CaL and CbL of the connected portions 10 1 a and 10 1 b in FIG. 5). There angle formed with respect to the center line CL of the casing 10 1 C can vary). In this case, since the connected portion tilts when connecting the adjacent sensor units with the tube, the tube can be smoothly connected without applying an excessive force to the tube.
前記実施例では、各センサユニット101、102、103、104、105の被連結部101a、101b;102a、102b;103a、103b;104a、104b;105a、105bが、各センサユニット101、102、103、104、105の筐体101C、102C、103C、104C、105Cの各本体部に一体に設けられて固定されている例を示した(図5において筐体101Cの中心線CLに対して各被連結部101a、101bの各中心線CaL、CbLは直交している)が、本発明の適用はこれに限定されない。被連結部101a、101b;102a、102b;103a、103b;104a、104b;105a、105bの各基端部を、各センサユニット101、102、103、104、105の筐体101C、102C、103C、104C、105Cの各本体部に対してボールジョイント連結することにより、被連結部が本体部に対して任意の方向に傾動可能に構成されていてもよい(このとき、図5中の各被連結部101a、101bの各中心線CaL、CbLが筐体101Cの中心線CLに対してなす角度は変化し得る)。この場合には、隣り合う各センサユニット間をチューブで連結する際に被連結部が傾動するので、チューブに無理な力がかかることなく、チューブによる連結を円滑に行える。 [7th variant]
In the above embodiment, the connected portions 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 ; 10 4 a, 10 4 b; 10 5 a, 10 5 b are the housings of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 10 1 C, 10 2 C, 10 3 C, 10 An example is shown in which the main bodies of 4 C, 10 and 5 C are integrally provided and fixed (in FIG. 5, each connected portion 10 1 a, 10 1 with respect to the center line CL of the housing 10 1 C). The center lines CaL and CbL of b are orthogonal to each other), but the application of the present invention is not limited to this. Each base end of the connected portion 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; 10 4 a, 10 4 b; 10 5 a, 10 5 b, respectively. Ball joint connection to each main body of the sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C. Therefore, the connected portion may be configured to be tiltable in any direction with respect to the main body portion (at this time, the center lines CaL and CbL of the connected portions 10 1 a and 10 1 b in FIG. 5). There angle formed with respect to the center line CL of the casing 10 1 C can vary). In this case, since the connected portion tilts when connecting the adjacent sensor units with the tube, the tube can be smoothly connected without applying an excessive force to the tube.
〔その他の変形例〕
上述した実施例および各変形例はあらゆる点で本発明の単なる例示としてのみみなされるべきものであって、限定的なものではない。本発明が関連する分野の当業者は、本明細書中に明示の記載はなくても、上述の教示内容を考慮するとき、本発明の精神および本質的な特徴部分から外れることなく、本発明の原理を採用する種々の変形例やその他の実施例を構築し得る。 [Other variants]
The above-mentioned examples and each modification should be regarded in all respects merely as an example of the present invention, and are not limited. Those skilled in the art in the field to which the present invention is related will not deviate from the spirit and essential features of the present invention when considering the above teaching contents, even if not explicitly stated in the present specification. Various variants and other embodiments that employ the principle of can be constructed.
上述した実施例および各変形例はあらゆる点で本発明の単なる例示としてのみみなされるべきものであって、限定的なものではない。本発明が関連する分野の当業者は、本明細書中に明示の記載はなくても、上述の教示内容を考慮するとき、本発明の精神および本質的な特徴部分から外れることなく、本発明の原理を採用する種々の変形例やその他の実施例を構築し得る。 [Other variants]
The above-mentioned examples and each modification should be regarded in all respects merely as an example of the present invention, and are not limited. Those skilled in the art in the field to which the present invention is related will not deviate from the spirit and essential features of the present invention when considering the above teaching contents, even if not explicitly stated in the present specification. Various variants and other embodiments that employ the principle of can be constructed.
〔他の適用例〕
前記実施例では、本発明によるセンサ装置がロボットアームRAのナットランナーNRに適用された例を示したが、本発明の適用はこれに限定されない。本発明はナットランナーNR以外の治工具にも適用可能である。また、本発明の適用はロボットアームの治工具に限らず、本発明は治工具以外のエンドエフェクタにも適用でき、またロボットアーム以外の機械や装置にも同様に適用可能である。 [Other application examples]
In the above-described embodiment, the sensor device according to the present invention is applied to the nut runner NR of the robot arm RA, but the application of the present invention is not limited to this. The present invention is also applicable to jigs and tools other than the nut runner NR. Further, the application of the present invention is not limited to the jig and tool of the robot arm, and the present invention can be applied to end effectors other than the jig and tool, and can be similarly applied to machines and devices other than the robot arm.
前記実施例では、本発明によるセンサ装置がロボットアームRAのナットランナーNRに適用された例を示したが、本発明の適用はこれに限定されない。本発明はナットランナーNR以外の治工具にも適用可能である。また、本発明の適用はロボットアームの治工具に限らず、本発明は治工具以外のエンドエフェクタにも適用でき、またロボットアーム以外の機械や装置にも同様に適用可能である。 [Other application examples]
In the above-described embodiment, the sensor device according to the present invention is applied to the nut runner NR of the robot arm RA, but the application of the present invention is not limited to this. The present invention is also applicable to jigs and tools other than the nut runner NR. Further, the application of the present invention is not limited to the jig and tool of the robot arm, and the present invention can be applied to end effectors other than the jig and tool, and can be similarly applied to machines and devices other than the robot arm.
本発明は、検出領域に応じた柔軟な配置をすることができ、しかも設置面への取付けを容易に行えるセンサ装置およびセンサシステムに有用である。
The present invention is useful for sensor devices and sensor systems that can be flexibly arranged according to the detection area and can be easily mounted on the installation surface.
1: センサ装置
101、102、103、104、105: センサユニット
101a、101b;102a、102b;103a、103b: 被連結部
104a、104b;105a、105b: 被連結部
101C、102C、103C、104C、105C: 筐体
K1、K2、K3、K4、K5: センサ
t、t1、t2、t3、t4: チューブ(連結部材)
RA: ロボットアーム
NR: ナットランナー(治工具) 1: Sensor device
10 1 , 10 2 , 10 3 , 10 4 , 10 5 : Sensor unit 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b: Connected part 10 4 a, 10 4 b; 10 5 a, 10 5 b: Connected part 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C: Housing K 1 , K 2 , K 3 , K 4 , K 5 : Sensor
t, t 1 , t 2 , t 3 , t 4 : Tube (connecting member)
RA: Robot arm NR: Nut runner (jig tool)
101、102、103、104、105: センサユニット
101a、101b;102a、102b;103a、103b: 被連結部
104a、104b;105a、105b: 被連結部
101C、102C、103C、104C、105C: 筐体
K1、K2、K3、K4、K5: センサ
t、t1、t2、t3、t4: チューブ(連結部材)
RA: ロボットアーム
NR: ナットランナー(治工具) 1: Sensor device
10 1 , 10 2 , 10 3 , 10 4 , 10 5 : Sensor unit 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b: Connected part 10 4 a, 10 4 b; 10 5 a, 10 5 b: Connected part 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C: Housing K 1 , K 2 , K 3 , K 4 , K 5 : Sensor
t, t 1 , t 2 , t 3 , t 4 : Tube (connecting member)
RA: Robot arm NR: Nut runner (jig tool)
Claims (4)
- センサ装置であって、
各々センサを内蔵することによりそれぞれがセンサユニットを構成する複数の筐体と、
前記各筐体を連結するための連結部材とを備え、
前記各筐体が前記連結部材で連結されていることにより、前記各筐体間の位置関係が保たれている、
ことを特徴とするセンサ装置。 It is a sensor device
A plurality of housings, each of which constitutes a sensor unit by incorporating a sensor,
It is provided with a connecting member for connecting each of the housings.
Since each of the housings is connected by the connecting member, the positional relationship between the housings is maintained.
A sensor device characterized by this. - 請求項1において、
前記連結部材が、前記各筐体間の前記位置関係を調節可能に設けられている、
ことを特徴とするセンサ装置。 In claim 1,
The connecting member is provided so that the positional relationship between the housings can be adjusted.
A sensor device characterized by this. - 請求項1において、
前記連結部材が中空部材であって、前記各筐体は、前記連結部材の端部が着脱可能に連結される被連結部を有している、
ことを特徴とするセンサ装置。 In claim 1,
The connecting member is a hollow member, and each housing has a connected portion to which an end portion of the connecting member is detachably connected.
A sensor device characterized by this. - 請求項1に記載の前記各センサユニットが、ロボットアームに設けられる治工具またはワークへの人の接近を検知するように配置されている、
ことを特徴とするセンサシステム。 Each of the sensor units according to claim 1 is arranged so as to detect the approach of a person to a jig or a workpiece provided on the robot arm.
A sensor system characterized by that.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019-103283 | 2019-05-31 | ||
JP2019103283A JP2020196083A (en) | 2019-05-31 | 2019-05-31 | Sensor device and sensor system |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020241124A1 true WO2020241124A1 (en) | 2020-12-03 |
Family
ID=73553988
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/017247 WO2020241124A1 (en) | 2019-05-31 | 2020-04-21 | Sensor device and sensor system |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP2020196083A (en) |
WO (1) | WO2020241124A1 (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH112392A (en) * | 1997-06-12 | 1999-01-06 | Itaya Seisakusho:Kk | Safety device |
JP2013082071A (en) * | 2013-02-12 | 2013-05-09 | Toyota Motor East Japan Inc | Work assist system |
US20170168475A1 (en) * | 2015-12-10 | 2017-06-15 | Hyundai Motor Company | Smart loader apparatus for trunk lid hinge |
JP2017517098A (en) * | 2014-04-28 | 2017-06-22 | エムケイエス インストゥルメンツ, インコーポレイテッド | Streamlined heater assembly with front and middle daisy chain power injection, shielding and water resistance |
WO2017170305A1 (en) * | 2016-03-29 | 2017-10-05 | ライフロボティクス株式会社 | Proximity sensor device and robot arm mechanism |
JP2018103345A (en) * | 2016-12-28 | 2018-07-05 | 川崎重工業株式会社 | Robot system |
JP2018149673A (en) * | 2017-03-10 | 2018-09-27 | Idec株式会社 | Non-contact sensor device and machine provided with the non-contact sensor device |
-
2019
- 2019-05-31 JP JP2019103283A patent/JP2020196083A/en active Pending
-
2020
- 2020-04-21 WO PCT/JP2020/017247 patent/WO2020241124A1/en active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH112392A (en) * | 1997-06-12 | 1999-01-06 | Itaya Seisakusho:Kk | Safety device |
JP2013082071A (en) * | 2013-02-12 | 2013-05-09 | Toyota Motor East Japan Inc | Work assist system |
JP2017517098A (en) * | 2014-04-28 | 2017-06-22 | エムケイエス インストゥルメンツ, インコーポレイテッド | Streamlined heater assembly with front and middle daisy chain power injection, shielding and water resistance |
US20170168475A1 (en) * | 2015-12-10 | 2017-06-15 | Hyundai Motor Company | Smart loader apparatus for trunk lid hinge |
WO2017170305A1 (en) * | 2016-03-29 | 2017-10-05 | ライフロボティクス株式会社 | Proximity sensor device and robot arm mechanism |
JP2018103345A (en) * | 2016-12-28 | 2018-07-05 | 川崎重工業株式会社 | Robot system |
JP2018149673A (en) * | 2017-03-10 | 2018-09-27 | Idec株式会社 | Non-contact sensor device and machine provided with the non-contact sensor device |
Also Published As
Publication number | Publication date |
---|---|
JP2020196083A (en) | 2020-12-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10209152B2 (en) | Force sensor unit and robot arm including a wire cable routed from inside a casing to outside of the casing | |
US5239855A (en) | Positional calibration of robotic arm joints relative to the gravity vector | |
CN110248778B (en) | Multi-joint welding robot | |
JP5187182B2 (en) | Articulated robot | |
US9452529B2 (en) | Robot, robot control device, and robot system | |
US10821613B2 (en) | Robot | |
WO2017170305A1 (en) | Proximity sensor device and robot arm mechanism | |
JP2014508050A (en) | Device, system and method for robotic cell calibration | |
JP6354122B2 (en) | robot | |
JP2017056521A (en) | Robot, control device and robot system | |
KR102076907B1 (en) | Robot manipulator | |
WO2020241124A1 (en) | Sensor device and sensor system | |
JP7343349B2 (en) | How to determine the position of the robot, measurement jig, and tool tip | |
JP2023514222A (en) | bolting device | |
CN108196309B (en) | Proximity sensor | |
JP2006297559A (en) | Calibration system and robot's calibration method | |
US10744639B2 (en) | Parallel link robot and operation apparatus | |
EP0997239A2 (en) | Structure of cable and/or pipe arrangement applied in parallel link mechanism | |
JP5319271B2 (en) | ROBOT TOOL POSITION DETECTING METHOD, ROBOT AND OBJECT RELATIVE POSITION DETECTING METHOD AND DEVICE | |
JP7364776B2 (en) | robot arm mechanism | |
JP7147290B2 (en) | Robots and robotic systems | |
JP7135448B2 (en) | robot | |
JP6638327B2 (en) | robot | |
JP2022059951A (en) | Industrial robot | |
WO2020155040A1 (en) | Multi-degree-of-freedom parallel mechanism |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20812789 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20812789 Country of ref document: EP Kind code of ref document: A1 |