JPH0658239B2 - Slip sensor - Google Patents
Slip sensorInfo
- Publication number
- JPH0658239B2 JPH0658239B2 JP59072318A JP7231884A JPH0658239B2 JP H0658239 B2 JPH0658239 B2 JP H0658239B2 JP 59072318 A JP59072318 A JP 59072318A JP 7231884 A JP7231884 A JP 7231884A JP H0658239 B2 JPH0658239 B2 JP H0658239B2
- Authority
- JP
- Japan
- Prior art keywords
- pair
- conductive
- slip
- detector
- sheets
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 6
- 239000011810 insulating material Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims description 3
- 230000035807 sensation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
【発明の詳細な説明】 本発明は、すべり覚センサに関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a slip sensor.
例えば、ロボットでその指にコップ等のこわれ易い物体
を握らせて持上げるには、その指における握持力をコッ
プがすべり落ちることがなく且つ潰れる虞れのない適当
な大きさに設定する必要がある。このためには、先ず、
指とコップとの間にすべりが存在するか否かを知得する
ことが非常に重要な課題となる。特に、ロボットの指に
おいては、それと物体との間のすべりを知覚するための
感覚をすべり覚として重要な感覚の一つとして挙げてい
る。For example, in order for a robot to hold a fragile object such as a cup with its finger and lift it up, it is necessary to set the gripping force of the finger to an appropriate size so that the cup does not slip off and there is no risk of crushing. There is. To do this, first
It is a very important task to know whether or not there is a slip between the finger and the cup. Especially, in the finger of the robot, the sense for perceiving the slip between the robot and the object is mentioned as one of the important senses as the slip sensation.
本発明は、上記すべりの存在を検出するための簡単な構
成のすべり覚センサを提供しようとするものである。The present invention is intended to provide a slip sensor having a simple structure for detecting the presence of the slip.
かかる目的を達成するため、本発明のすべり覚センサ
は、導電性の高い可撓性物質からなる一対の導電性シー
ト間に、それらのシートを部分的に直接対向させる多数
の孔を備えた弾性変形可能な絶縁材を挟むことによって
検出器を構成し、一方の導電性シートにおける１対の対
辺、及び他方の導電性シートにおける他の１対の対辺に
設けた電極に、両導電性シート間における電流密度の重
心位置を求める重心位置検出回路を介して、上記重心位
置の時間時変化から検出器と物体との間のすべりを検出
する変動検出回路を接続したことを特徴とするものであ
る。In order to achieve such an object, the slip sensor of the present invention is an elastic body having a large number of holes between a pair of electrically conductive sheets made of a highly conductive flexible material and partially directly facing the electrically conductive sheets. The detector is configured by sandwiching a deformable insulating material, and the electrodes provided on one pair of opposite sides of one conductive sheet and the other pair of opposite sides of the other conductive sheet are provided between the conductive sheets. Is connected to a variation detection circuit for detecting a slip between the detector and the object from the temporal change of the position of the center of gravity through a center of gravity position detection circuit for obtaining the position of the center of gravity of the current density. .
以下、図面を参照して本発明の実施例について詳細に説
明する。Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
第１図は、本発明のすべり覚センサにおける検出器の構
成を示すもので、この検出器１は、導電性の高い可撓性
物質からなる一対の導電性シート2,3の間に、弾性変形
可能な絶縁材からなる絶縁性シート４を挟み、この絶縁
性シート４に多数の孔5,5,・・を規則的に、例えば第３
図(a)(b)に示すようにマトリックス状に切設することに
より、上記一対の導電性シート2,3における各部分を直
接的に対向させ、さらに一方の導電性シート２における
Ｘ方向の一対の対辺に電極6,7を設けると共に、他方の
導電性シート３におけるＹ方向の一対の対辺に電極8,9
を設けている。FIG. 1 shows the structure of a detector in the slip sensor of the present invention. The detector 1 has elastic properties between a pair of conductive sheets 2 and 3 made of a flexible material having high conductivity. An insulating sheet 4 made of a deformable insulating material is sandwiched, and a large number of holes 5, 5, ...
By cutting in a matrix as shown in FIGS. (A) and (b), the respective portions of the pair of conductive sheets 2 and 3 are directly opposed to each other, and further, one of the conductive sheets 2 in the X direction The electrodes 6 and 7 are provided on the pair of opposite sides, and the electrodes 8 and 9 are provided on the pair of opposite sides of the other conductive sheet 3 in the Y direction.
Is provided.
上記構成の検出器１は、第３図(a)(b)に示す無圧状態に
おいては、一対の導電性シート2,3が絶縁性シート４に
よって分離、離間した状態にあり、第４図(a)(b)に示す
ように、検出面である一方の導電性シート２に物体（図
示せず）を接触させると、導電性シート２及び絶縁性シ
ート４が弾性変形し、導電性シート2,3の孔5,5,・・を
挟む部分同士が接触し、その接触部分11，11，・・の面
積は物体と検出器１と接触圧に応じた大きさになる。こ
れにより、１対の導電性シート2,3間の電気抵抗値は上
記接触圧に応じて減少することになり、従って予め一対
のシート2,3間に電圧を加えておけば、それらに接触圧
に応じた電流密度分布を生じさせることができる。In the pressureless state shown in FIGS. 3 (a) and 3 (b), the detector 1 having the above configuration has a pair of conductive sheets 2 and 3 separated and separated by the insulating sheet 4, and FIG. As shown in (a) and (b), when an object (not shown) is brought into contact with one conductive sheet 2 which is the detection surface, the conductive sheet 2 and the insulating sheet 4 are elastically deformed, and the conductive sheet 2 The portions sandwiching the holes 5, 5, ... Of the two and three are in contact with each other, and the area of the contact portions 11, 11, ... Is the size corresponding to the object, the detector 1 and the contact pressure. As a result, the electric resistance value between the pair of conductive sheets 2 and 3 is reduced according to the contact pressure. Therefore, if a voltage is applied between the pair of conductive sheets 2 and 3 in advance, they contact each other. A current density distribution depending on the pressure can be generated.
而して、上記検出器１は、一方の導電性シート２の両端
の電極6,7にそれぞれ抵抗Ｒを介して正の電圧＋ａを印
加すると共に、他方の導電性シート３の両端の電極8,9
にそれぞれ抵抗Ｒを介して負の電圧−ａを印加するよう
に接続した状態で使用され、この検出器１上に物体の接
触による力が作用したときの各電極６〜９の電圧は、そ
れぞれ電圧VA，VB，VC，VDとして取出される。Thus, the detector 1 applies a positive voltage + a to the electrodes 6 and 7 at both ends of the one conductive sheet 2 through the resistance R, and the electrodes 8 at both ends of the other conductive sheet 3 respectively. , 9
Are connected to each other via a resistor R so as to apply a negative voltage −a, and the voltage of each electrode 6 to 9 when a force due to contact of an object acts on the detector 1 is Extracted as voltages V A , V B , V C , and V D.
第２図は上記各電極の電圧に基づき、物体の接触による
面圧力によって生じた電流密度分布の重心位置の座標
（，）における座標値を求めるための重心位置検
出回路の構成を示し、上記座標値を、 （但し、K1は定数） の演算によって求めるように構成している。FIG. 2 shows the configuration of the center of gravity position detection circuit for obtaining the coordinate value at the coordinates (,) of the center of gravity position of the current density distribution generated by the surface pressure due to the contact of the object based on the voltage of each electrode. The value, (However, K 1 is a constant).
また、他の座標値についても、上記第２図と実質的に
同一の回路構成により、 （但し、K2は定数） の演算で求められる。Also, for other coordinate values, the circuit configuration substantially the same as that in FIG. (However, K 2 is a constant)
このようにして求めた面圧力による電流密度分布の重心
位置（，）の座標値は、変動検出回路においてその
時間的変化を検出することにより、検出器１とそれに接
触している物体との間にすべりが生じているか否かを知
得することができる。即ち、それらの間にすべりが生じ
ていない場合には上記座標値が時間に拘わらず不変であ
り、またすべりが生じている場合には時間と共に座標値
が変化し、その変化からすべりの方向、距離及び速度等
を知得することができる。The coordinate value of the barycentric position (,) of the current density distribution due to the surface pressure thus obtained is detected between the detector 1 and the object in contact with it by detecting the temporal change in the fluctuation detection circuit. It is possible to know whether or not slippage has occurred. That is, when there is no slip between them, the coordinate value is unchanged regardless of time, and when slip occurs, the coordinate value changes with time, and the direction of the slip from that change, The distance, speed, etc. can be known.
以上に詳述したところから明らかなように、本発明のす
べり覚センサによれば、簡単な装置によりすべりの検出
を容易且つ信頼性良く行うことができ、しかも検出器と
して一対の導電性シート間に、多数の孔を有する弾性絶
縁材を挟着したものを用いたので、例えば導電性ゴム板
等を利用する場合に比して検出値をヒステリシスのない
高信頼のものとして得ることができる。而して、上記検
出器をロボットの指の内側等に取付け、その検出器を介
して物体を握持させるようにすれば、ロボットの指にす
べり覚をもたせることができる。As is clear from the above detailed description, according to the slip sensor of the present invention, slip detection can be performed easily and reliably by a simple device, and moreover, as a detector, a gap between a pair of conductive sheets is used. Since the elastic insulating material having a large number of holes is sandwiched between them, the detection value can be obtained as a highly reliable one without hysteresis as compared with the case of using a conductive rubber plate or the like. By attaching the detector to the inside of the finger of the robot and holding the object through the detector, the finger of the robot can have a slip sensation.
第１図は本発明に使用する検出器の斜視図、第２図はそ
れに接続する重心位置検出回路の構成図、第３図(a)(b)
及び第４図(a)(b)は上記検出器の無圧時及び加圧時の断
面図と上面側導電性シートを除去した状態の平面図であ
る。 １……検出器、2,3……導電性シート、 ５……孔、６〜９……電極。FIG. 1 is a perspective view of a detector used in the present invention, FIG. 2 is a configuration diagram of a center-of-gravity position detection circuit connected thereto, and FIGS. 3 (a) (b).
4 (a) and 4 (b) are a cross-sectional view of the detector when no pressure is applied and when pressure is applied, and a plan view in which the upper conductive sheet is removed. 1 ... Detector, 2, 3 ... Conductive sheet, 5 ... Hole, 6-9 ... Electrode.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭58−17330（ＪＰ，Ａ) 特開 昭55−50918（ＪＰ，Ａ) 特開 昭56−147003（ＪＰ，Ａ) 実公 昭58−3230（ＪＰ，Ｙ２) 実公 昭57−19278（ＪＰ，Ｙ２) ─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP 58-17330 (JP, A) JP 55-50918 (JP, A) JP 56-147003 (JP, A) JP 58- 3230 (JP, Y2) Showa 57-19278 (JP, Y2)
Claims (1)
電性シート間に、それらのシートを部分的に直接対向さ
せる多数の孔を備えた弾性変形可能な絶縁材を挟むこと
によって検出器を構成し、一方の導電性シートにおける
１対の対辺、及び他方の導電性シートにおける他の１対
の対辺に設けた電極に、両導電性シート間における電流
密度の重心位置を求める重心位置検出回路を介して、上
記重心位置の時間的変化から検出器と物体との間のすべ
りを検出する変動検出回路を接続したことを特徴とする
すべり覚センサ。1. A pair of conductive sheets made of a highly conductive flexible material is sandwiched between a pair of conductive sheets, and an elastically deformable insulating material having a large number of holes for directly facing the sheets is sandwiched between the conductive sheets. Center position for determining the barycentric position of the current density between the two conductive sheets on the electrodes provided on one pair of the opposite sides of the one conductive sheet and on the other pair of the opposite sides of the other conductive sheet A slip sensor that is connected to a variation detection circuit for detecting slip between a detector and an object from the temporal change of the position of the center of gravity via a detection circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59072318A JPH0658239B2 (en) | 1984-04-11 | 1984-04-11 | Slip sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59072318A JPH0658239B2 (en) | 1984-04-11 | 1984-04-11 | Slip sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60216221A JPS60216221A (en) | 1985-10-29 |
| JPH0658239B2 true JPH0658239B2 (en) | 1994-08-03 |
Family
ID=13485806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59072318A Expired - Lifetime JPH0658239B2 (en) | 1984-04-11 | 1984-04-11 | Slip sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0658239B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112008003884T5 (en) | 2008-05-29 | 2011-06-22 | Harmonic Drive Systems Inc. | Complex sensor and robot hand |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5340148B2 (en) * | 1974-03-14 | 1978-10-25 | ||
| JPS5719278U (en) * | 1980-07-07 | 1982-02-01 | ||
| JPS583230U (en) * | 1981-07-01 | 1983-01-10 | 三菱重工業株式会社 | Shaping unit for large tires |
| JPS6035602B2 (en) * | 1981-07-22 | 1985-08-15 | 工業技術院長 | How to detect surface pressure data |
-
1984
- 1984-04-11 JP JP59072318A patent/JPH0658239B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112008003884T5 (en) | 2008-05-29 | 2011-06-22 | Harmonic Drive Systems Inc. | Complex sensor and robot hand |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60216221A (en) | 1985-10-29 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |