JP2003315010A - Proximity detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a proximity detector which surely detects proximity of an object to be detected using a transmission-type photoelectric sensor having an optical path length which is shorter when compared to the object. <P>SOLUTION: The detector comprises a projector means 11, a light receiving means 12 which receives the light projected from the projector means, and a detecting means which detects proximity of the object based on the reception state of the light with the light receiving means. At least, especially, a part of a light path 13 formed between the projector means and the light receiving means forms a prescribed tilt angle against a specified surface of the object 14. The projector means and the light receiving means are so positioned that it is shielded by advancement from a corner of the object being continuous to the specified surface. The projector means and the light receiving means are non-coaxially arranged to face each other, with a region where a projection angle range comprising a prescribed expansion angle of the projector means overlaps with a light receiving angle range comprising a prescribed sight field angle of the light receiving means, as a light path. <P>COPYRIGHT: (C)2004,JPO

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【発明の属する技術分野】本発明は、例えばロボットハ
ンドに組み込まれて該ロボットハンドと被検出物体との
近接を検出するに好適な近接検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a proximity detection device suitable for being incorporated in, for example, a robot hand to detect the proximity of the robot hand and an object to be detected.

【０００２】[0002]

【関連する背景技術】例えば図８に示すように、ベルト
コンベア１上を搬送されるワーク２をロボットハンド３
により拾い上げるような場合、専ら、図９に例示するよ
うに、図中Ａ点近傍に動作領域を有する限定反射形の光
電センサ４をロボットハンド３に組み込んでワーク（被
検出物体）２の近接を検出している。具体的にはロボッ
トハンド３にてワーク２の取っ手部２ａを把持すると
き、上記取っ手部２ａの下面が上記Ａ点近傍の動作領域
に入ったとき、ロボットハンド３に埋設した光電センサ
４の投光部から発した光が上記取っ手部２ａの下面にて
反射し、その反射光が上記光電センサ４の受光部により
受光されることを利用して該ロボットハンド３により把
持すべき取っ手部２ａの存在を確認している。Related Background Art For example, as shown in FIG. 8, a work 2 conveyed on a belt conveyor 1 is attached to a robot hand 3
In the case of picking up by the above, the limited reflection type photoelectric sensor 4 having an operation area in the vicinity of point A in the figure is incorporated in the robot hand 3 as shown in FIG. It is detecting. Specifically, when the grip portion 2a of the work 2 is gripped by the robot hand 3, when the lower surface of the grip portion 2a enters the operation area near the point A, the photoelectric sensor 4 embedded in the robot hand 3 is projected. The light emitted from the light portion is reflected on the lower surface of the handle portion 2a, and the reflected light is received by the light receiving portion of the photoelectric sensor 4 to utilize the handle portion 2a to be gripped by the robot hand 3. I have confirmed its existence.

【０００３】[0003]

【発明が解決しようとする課題】しかしながら限定反射
形の光電センサ４においては、ワーク（被検出物体）２
の表面性状（色や質等）によってその検出性能が左右さ
れ易く、例えばワーク２の種類に応じてその検出感度を
調整することが必要となる。これに対してワーク２の表
面性状の影響を受け難いものとして透過形の光電センサ
がある。この種の透過形光電センサは、一般的に投光部
と受光部とを対向配置した構造を有し、これらの投光部
と受光部との隙間に入り込んだ被検出体によりその光路
が遮られことを利用して、上記被検出体（ワーク２）の
近接を検出する。しかし投光部と受光部との間の光路長
を被検出体（ワーク２）の大きさ以上に大きく設定して
おく必要がある。However, in the photoelectric sensor 4 of the limited reflection type, the work (object to be detected) 2
The detection performance thereof is easily influenced by the surface properties (color, quality, etc.) of, and it is necessary to adjust the detection sensitivity according to the type of the work 2, for example. On the other hand, a transmission type photoelectric sensor is one that is not easily affected by the surface properties of the work 2. This type of transmissive photoelectric sensor generally has a structure in which a light projecting section and a light receiving section are arranged to face each other, and the optical path is blocked by a detected object that has entered the gap between the light projecting section and the light receiving section. Utilizing this, the proximity of the detected object (workpiece 2) is detected. However, it is necessary to set the optical path length between the light projecting section and the light receiving section to be larger than the size of the detected object (workpiece 2).

【０００４】この点、上記投光部と受光部とをコ字状の
小型の筐体に対向させて組み込み、投光部と受光部とが
対峙する微小な隙間（溝内）に遮光体（遮光板）が入り
込むことで該遮光体、ひいては遮光体が設けられた被検
出体を検出するようにした、いわゆる溝形の透過形光電
センサがある。尚、前述した限定反射形光電センサや透
過型光電センサ等の光電センサ一般に関する周知技術に
ついては、日本電気制御機器工業会１９８９年１０月発
行の「制御機器の正しい使い方，検出スイッチ編」改訂
版の「光電スイッチ」の章に詳述される。In this respect, the light projecting portion and the light receiving portion are assembled in a U-shaped small-sized casing so as to face each other, and a light shield ( There is a so-called groove-shaped transmissive photoelectric sensor in which a light-shielding plate) is inserted to detect the light-shielding body and, in turn, the detected body provided with the light-shielding body. Regarding the well-known technology regarding photoelectric sensors in general such as the limited reflection type photoelectric sensor and the transmission type photoelectric sensor described above, a revised version of "Correct use of control equipment, detection switch edition" issued by the Japan Electrical Control Equipment Manufacturers Association in October 1989. "Photoelectric Switch" section of.

【０００５】この種の光路長の短い小型の溝形透過形光
電センサを前述したロボットハンド３に組み込で使用す
ることが想定される。しかしこの場合には、例えば図１
０に示すようにワーク２の取っ手部２ａに上記光電セン
サ５の溝部に入り込む遮光体２ｂを突設する必要が生じ
る。すると取っ手部２ａから突出する遮光体２ｂが、ロ
ボットハンド３によるワーク２（取っ手部２ａ）の把持
の邪魔になることが否めない。しかも上記遮光体２ｂが
光電センサ５の溝部に確実に入り込むようにするには、
精度の高い位置合わせが必要となる等の新たな問題が生
じる。It is assumed that this type of small groove type transmission type photoelectric sensor having a short optical path length is incorporated in the above-mentioned robot hand 3 and used. However, in this case, for example, in FIG.
As shown in FIG. 0, it is necessary to project a light shielding body 2b into the groove portion of the photoelectric sensor 5 on the handle portion 2a of the work 2. Then, it cannot be denied that the light shielding body 2b protruding from the handle portion 2a interferes with the grip of the work 2 (handle portion 2a) by the robot hand 3. In addition, in order to ensure that the light shield 2b is inserted into the groove of the photoelectric sensor 5,
New problems such as the need for highly accurate alignment arise.

【０００６】本発明はこのような事情を考慮してなされ
たもので、その目的は、被検出体に突起物を設けること
なく、被検出体の大きさに比較して短い光路長を持つ透
過形の光電センサを用いて上記被検出体の近接を確実に
検出することができ、更にはその小型化を図ることので
きる近接検出装置を提供することにある。The present invention has been made in consideration of such circumstances, and an object thereof is to provide a transmission having a short optical path length as compared with the size of the object to be detected without providing a projection on the object to be detected. An object of the present invention is to provide a proximity detection device that can reliably detect the proximity of the object to be detected using a photoelectric sensor of the shape, and can further reduce its size.

【０００７】[0007]

【課題を解決するための手段】上述した目的を達成する
べく本発明に係る近接検出装置は、投光手段と、この投
光手段から発せられた光を受光する受光手段と、この受
光手段による上記光の受光状態から被検出物体の近接を
検出する検出手段とを備えたものであって、特に前記投
光手段と受光手段との間に形成される光路の少なくとも
一部が、前記被検出体の特定の面に対して所定の傾斜角
をなし、上記特定の面に連なる前記被検出体の隅部から
の進入により妨げられるように前記投光手段および前記
受光手段の設置位置を定めたことを特徴としている。In order to achieve the above-mentioned object, a proximity detecting device according to the present invention comprises a light projecting means, a light receiving means for receiving the light emitted from the light projecting means, and the light receiving means. A detecting means for detecting the proximity of the object to be detected from the light receiving state, and in particular, at least a part of an optical path formed between the light projecting means and the light receiving means is the detected object. A predetermined inclination angle is formed with respect to a specific surface of the body, and the installation positions of the light projecting means and the light receiving means are determined so as to be obstructed by the entrance from the corner of the object to be detected connected to the specific surface. It is characterized by that.

【０００８】即ち、本発明に係る近接検出装置は、図１
にその概略構成を示すように、投光手段１１と、この投
光手段１１から発せられた光を受光する受光手段１２と
の間に形成される光路１３が、被検出体１４の特定の面
１４ａ（１４ｂ）に対して所定の傾斜角θをなすように
上記投光手段１１と受光手段１２の位置を設定する。そ
して被検出体１４が、上記特定の面１４ａ（１４ｂ）に
連なる隅部１４ｃから前記光路１３内に進入したとき、
上記特定の面１４ａ（１４ｂ）によって光路１３が遮ら
れるようにし、上記受光遮断１２による受光量を電気信
号に変換して、例えば演算回路からなる検出手段（図示
せず）に入力することで受光の有無を検出するようにし
たことを特徴としている。That is, the proximity detection device according to the present invention is shown in FIG.
As shown in the schematic configuration thereof, an optical path 13 formed between the light projecting means 11 and the light receiving means 12 for receiving the light emitted from the light projecting means 11 has a specific surface of the detected body 14. The positions of the light projecting means 11 and the light receiving means 12 are set so as to form a predetermined inclination angle θ with respect to 14a (14b). Then, when the detected body 14 enters the optical path 13 from the corner portion 14c connected to the specific surface 14a (14b),
The optical path 13 is blocked by the specific surface 14a (14b), the amount of light received by the light receiving block 12 is converted into an electric signal, and the electric signal is input to detection means (not shown) including, for example, an arithmetic circuit to receive light. The feature is that the presence or absence of is detected.

【０００９】このように前記投光手段および前記受光手
段の設置位置を定めてその光路を設定すれば、その光路
内に被検出体の隅部が入り込むことで該被検出体の近接
を確実に検出することができる。しかもその光路長を被
検出体の大きさに比較して短くすることができ、また被
検出体に遮光体等の突起物を設ける必要がないので、例
えばロボットハンドに組み込むに好適である。By thus setting the installation positions of the light projecting means and the light receiving means and setting the optical path thereof, the corners of the object to be detected enter the optical path to ensure the proximity of the object to be detected. Can be detected. Moreover, the optical path length can be made shorter than the size of the object to be detected, and since it is not necessary to provide a projection such as a light shield on the object to be detected, it is suitable for incorporation into, for example, a robot hand.

【００１０】本発明の好ましい態様は、前記投光手段お
よび受光手段は、前記投光手段の所定の拡がり角を有す
る投光角度範囲と、前記受光手段の所定の視野角を有す
る受光角度範囲とが重なる領域を光路として、非同軸に
対向配置される。このような構造であれば、投光手段お
よび受光手段の配置（設置）に要する空間を少なくする
ことができるので、その小型化を図るに好適である。In a preferred aspect of the present invention, the light projecting means and the light receiving means include a light projecting angle range having a predetermined spread angle of the light projecting means and a light receiving angle range having a predetermined viewing angle of the light receiving means. Are arranged so as to be non-coaxially opposed to each other with an area where they overlap as an optical path. With such a structure, it is possible to reduce the space required for the arrangement (installation) of the light projecting means and the light receiving means, and it is suitable for downsizing.

【００１１】更に本発明の好ましい態様は、前記投光手
段および受光手段は、その途中に光の反射手段を介して
対向配置される。このような構造とすれば光路設定の自
由度が増し、例えば投光手段および受光手段を、反射手
段にそれぞれ対向させて並べて配置することが可能とな
る。従って光ファイバを介して投光手段に光を導き、ま
た受光手段にて受光した光を光ファイバを介して検出す
るような場合、その小型化を図る上で好都合である。Further, in a preferred aspect of the present invention, the light projecting means and the light receiving means are arranged to face each other with a light reflecting means interposed therebetween. With such a structure, the degree of freedom in setting the optical path is increased, and for example, the light projecting means and the light receiving means can be arranged side by side facing the reflecting means. Therefore, when the light is guided to the light projecting means through the optical fiber and the light received by the light receiving means is detected through the optical fiber, it is convenient for downsizing.

【００１２】[0012]

【発明の実施の形態】以下、図面を参照して本発明の実
施形態に係る近接検出装置について、この近接検出装置
を前述したロボットハンド３に組み込み、被検出体であ
るワーク２の取っ手部２ａを検出する場合を例に説明す
る。但し、ここでは各構成手段を結ぶ電気信号用や給電
用の配線、更には光伝送路をなす光ファイバ等について
は、徒に図面が複雑化することを避けるべく省略してい
る。BEST MODE FOR CARRYING OUT THE INVENTION A proximity detecting device according to an embodiment of the present invention will be described below with reference to the drawings. The proximity detecting device is incorporated into the above-mentioned robot hand 3 and a handle portion 2a of a work 2 which is a detected object. An example will be described for the case of detecting. However, here, wirings for electric signals and power supply connecting the respective constituent means, and further, an optical fiber forming an optical transmission path and the like are omitted for the sake of simplicity.

【００１３】尚、ロボットハンド３は、下部把持体３ａ
に対して上部把持体３ｂを上下方向に回動自在に設け、
これらの把持体３ａ,３ｂとの間にワーク２の取っ手部
２ａ（被検出体）を把持するものからなる。特にこのロ
ボットハンド３は、所定の位置・姿勢制御の下で移動駆
動されて、例えば前述したベルトコンベア１上のワーク
２を把持し、該ベルトコンベア１上から他の部位に移動
させる役割を担う。この際、ロボットハンド３は、その
下部把持体３ａをワーク２の取っ手部２ａ（被検出体１
４）の下面側にその先端部から挿入し、取っ手部２ａ
（被検出体１４）の存在が確認されたとき、前記上部把
持体３ｂを下部把持体３ａ側に向けて回動させることで
上記取っ手部２ａ（被検出体）を把持するように制御さ
れる。The robot hand 3 has a lower grip body 3a.
The upper gripping body 3b is provided so as to be vertically rotatable with respect to
It is configured to grip the grip portion 2a (object to be detected) of the work 2 between these gripping bodies 3a and 3b. In particular, the robot hand 3 is driven to move under a predetermined position / posture control, and has a role of gripping the work 2 on the belt conveyor 1 and moving it from the belt conveyor 1 to another part, for example. . At this time, the robot hand 3 uses the lower grip body 3a to handle the workpiece 2a (the object to be detected 1).
4) Insert from the tip to the lower surface side of the handle 2a
When the presence of the (detected body 14) is confirmed, the upper gripping body 3b is rotated toward the lower gripping body 3a side so that the handle portion 2a (detected body) is controlled to be gripped. .

【００１４】本発明に係る近接検出装置は、このような
ロボットハンド３に組み込まれて、該ロボットハンド３
の下部把持体３ａを前記取っ手部２ａ（被検出体）の下
面側にその先端部から挿入した際、該下部把持体３ａが
取っ手部２ａ（被検出体）を把持し得る位置まで挿入さ
れたか否か、換言すれば下部把持体３ａの上面の所定位
置に前記取っ手部２ａ（被検出体）が位置付けられたか
否かを検出する役割を担う。The proximity detecting device according to the present invention is incorporated in such a robot hand 3 and
When the lower gripping body 3a is inserted into the lower surface side of the handle portion 2a (detected body) from its tip, has the lower gripping body 3a been inserted to a position where the grip portion 2a (detected body) can be gripped? In other words, it plays a role of detecting whether or not the handle portion 2a (object to be detected) is positioned at a predetermined position on the upper surface of the lower grip body 3a.

【００１５】図２はこのような近接検出装置の第１の実
施形態を示す要部概略構成図であって、１５はロボット
ハンド３に組み込まれた透過形光電センサである。この
光電センサ１５は、コ字状の筐体（溝形のケース）１６
の互いに対向する一対の片部１６ａ,１６ｂに発光ダイ
オードやレーザダイオード等の投光手段（発光器）１１
と、フォトトランジスタ等の受光手段（受光器）１２と
を互いに対峙させて設け、これらの投光手段（発光器）
１１と受光手段（受光器）１２との間に所定の長さの光
路１３を形成した溝形構造を有する。尚、図示しない演
算回路（検出手段）は、その他の電気回路と共に上記コ
字状の筐体（溝形のケース）１６の内部に設けられてい
る。FIG. 2 is a schematic configuration diagram of a main part showing a first embodiment of such a proximity detecting device, and 15 is a transmission type photoelectric sensor incorporated in the robot hand 3. This photoelectric sensor 15 has a U-shaped casing (groove-shaped case) 16
The light emitting means (light emitter) 11 such as a light emitting diode or a laser diode is provided on a pair of pieces 16a, 16b facing each other
And a light receiving means (light receiver) 12 such as a phototransistor are provided so as to face each other, and these light emitting means (light emitter)
It has a grooved structure in which an optical path 13 having a predetermined length is formed between the light receiving means 11 and the light receiving means 12. An arithmetic circuit (detection means) not shown is provided inside the U-shaped casing (groove-shaped case) 16 together with other electric circuits.

【００１６】上記溝形構造を有する光電センサ１５は、
前記ロボットハンド３の下側把持体３ａの上面奥部に、
その奥部から手前側下方に向かう略４５°の傾斜した光
路１３を設定して斜めに組み込まれる。具体的には光電
センサ１５は、前記一対の片部１６ａ,１６ｂ間に光路
１３を形成した溝部（凹部）を上側に向け、その投光手
段（発光器）１１または受光手段（受光器）１２の一方
を下側把持体３ａの上面奥部に突出させると共に、他方
を下側把持体３ａに埋設して前記下側把持体３ａに斜め
に傾斜させて装着される。そして前記下部把持体３ａを
その先端側から前記取っ手部２ａ（被検出体）の下面側
に挿入した際、該取っ手部２ａ（被検出体）の隅部が前
記光電センサ１５の溝部（凹部）に入り込むように設定
されている。The photoelectric sensor 15 having the groove structure is
In the inner part of the upper surface of the lower grip body 3a of the robot hand 3,
The optical path 13 is inclined at an angle of about 45 ° from its inner part to the lower part on the front side and is obliquely incorporated. Specifically, the photoelectric sensor 15 has a groove (recess) in which an optical path 13 is formed between the pair of pieces 16a and 16b is directed upward, and its light projecting means (light emitter) 11 or light receiving means (light receiver) 12 is provided. One of them is projected into a deep part of the upper surface of the lower gripping body 3a, and the other is embedded in the lower gripping body 3a and is obliquely attached to the lower gripping body 3a. When the lower gripping body 3a is inserted from the tip side to the lower surface side of the handle portion 2a (detected body), the corner portion of the handle portion 2a (detected body) is a groove (recess) of the photoelectric sensor 15. It is set to go in.

【００１７】かくしてこのようにロボットハンド３の奥
部に光電センサ１５を斜めに組み込んだ近接検出装置に
よれば、光電センサ１５の光路１３が取っ手部２ａ（被
検出体）の下面および端面に対して斜めに傾斜して設定
され、その光路１３内に上記取っ手部２ａ（被検出体）
がその隅部から進入するだけで上記光路１３が確実に遮
られる。従って前記取っ手部２ａ（被検出体）に遮蔽板
等の突起物を設けなくても、該取っ手部２ａが持つ形
状、特にその隅部の外観形状をそのまま有効に活用して
その存在を確実に検出することが可能となる。また光電
センサ１５については、下側把持体３ａに対して斜めに
傾斜させて装着し、その光路１３を斜めに設定するだけ
でよいので、その構成が簡単である等の効果が奏せられ
る。特に光電センサ１５をロボットハンド３（下側把持
体３ａ）の奥部に組み込むことで、ロボットハンド３に
よる取っ手部２ａ（被検出体）の把持に支障を来すこと
なく光電センサ１５を組み込むことができる。Thus, according to the proximity detecting device in which the photoelectric sensor 15 is obliquely incorporated in the inner part of the robot hand 3 as described above, the optical path 13 of the photoelectric sensor 15 is located on the lower surface and the end surface of the handle portion 2a (object to be detected). The handle portion 2a (object to be detected) is set in the optical path 13 so as to be obliquely inclined.
The optical path 13 is surely blocked only by entering from the corner. Therefore, even if a protrusion such as a shielding plate is not provided on the handle portion 2a (object to be detected), the shape of the handle portion 2a, in particular, the outer shape of the corner is effectively utilized as it is to ensure its existence. It becomes possible to detect. Further, the photoelectric sensor 15 only needs to be mounted so as to be obliquely inclined with respect to the lower grip body 3a and the optical path 13 thereof is set obliquely, so that an effect such as a simple configuration can be obtained. In particular, by incorporating the photoelectric sensor 15 in the inner part of the robot hand 3 (lower grip body 3a), the photoelectric sensor 15 is incorporated without hindering the grip of the handle portion 2a (object to be detected) by the robot hand 3. You can

【００１８】ところで上述した実施形態は、投光手段
（発光器）１１と受光手段（受光器）１２とを一体に備
えた溝形の光電センサ１５を用いたが、投光手段（発光
器）１１と受光手段（受光器）１２とが別部品からなる
光電センサをロボットハンド３に組み込むようにしても
良い。この第２の実施形態について説明すると、例えば
図３にその概略構成を示すように投光手段（発光器）１
１および受光手段（受光器）１２の一方をロボットハン
ド３の奥部壁面３ｃに装着し、他方を該ロボットハンド
３の下側把持体３ａに装着して、該ロボットハンド３の
奥部から先端下方側に向かう斜めの光路１３を設定す
る。特に前記下側把持体３ａの上面に溝を設け、この溝
内に投光手段（発光器）１１または受光手段（受光器）
１２を組み込むようにすれば良い。By the way, in the above-described embodiment, the groove-shaped photoelectric sensor 15 provided integrally with the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 is used, but the light projecting means (light emitter) is used. The robot hand 3 may be equipped with a photoelectric sensor in which 11 and the light receiving means (light receiver) 12 are separate components. The second embodiment will be described. For example, as shown in the schematic configuration of FIG.
1 and one of the light receiving means (light receiver) 12 are mounted on the back wall surface 3c of the robot hand 3, and the other is mounted on the lower gripping body 3a of the robot hand 3 so that the robot hand 3 has a tip from the back. An oblique optical path 13 directed downward is set. In particular, a groove is provided on the upper surface of the lower grip body 3a, and a light projecting means (light emitter) 11 or a light receiving means (light receiver) is provided in this groove.
12 may be incorporated.

【００１９】このような構造としても、ロボットハンド
３に組み込んだ投光手段（発光器）１１および受光手段
（受光器）１２が、該ロボットハンド３による取っ手部
２ａ（被検出体）の把持を妨げることがなく、また取っ
手部２ａ（被検出体）の隅部がその光路１３を斜めに遮
ることになるので、先の実施形態と同様な効果が奏せら
れる。Even with such a structure, the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 incorporated in the robot hand 3 hold the grip portion 2a (object to be detected) by the robot hand 3. There is no obstruction, and the corners of the handle 2a (object to be detected) obstruct the optical path 13 obliquely, so that the same effect as in the previous embodiment can be obtained.

【００２０】ところで上述した投光手段（発光器）１１
が、所定の拡がり角を有して光を射出し、また受光手段
（受光器）１２が所定の視野角を有して光を受光するよ
うな場合、例えば図４に示すように投光手段（発光器）
１１の投光角度範囲と、受光手段（受光器）１２の受光
角度範囲とが互いに重なるように、これらの投光手段
（発光器）１１と受光手段（受光器）１２とを対峙させ
れば十分である。即ち、上記投光角度範囲と受光角度範
囲とが互いに重なる条件を満たして、図４に示すように
投光手段（発光器）１１の光軸と受光手段（受光器）１
２の光軸とを非同軸に配置しても良い。By the way, the above-mentioned light projecting means (light emitter) 11
However, when the light is emitted with a predetermined divergence angle and the light receiving means (light receiver) 12 receives the light with a predetermined viewing angle, for example, as shown in FIG. (Light emitter)
If the light emitting angle range of 11 and the light receiving angle range of the light receiving means (light receiving device) 12 overlap each other, these light projecting means (light emitting device) 11 and light receiving means (light receiving device) 12 face each other. It is enough. That is, the condition that the light emitting angle range and the light receiving angle range overlap with each other is satisfied, and as shown in FIG.
The two optical axes may be arranged non-coaxially.

【００２１】この場合、上述した条件を満たしながら前
記投光手段（発光器）１１と受光手段（受光器）１２と
の光軸が互いに平行となるように設けることも可能であ
る。具体的には、例えば図５に示すように前記投光手段
（発光器）１１および受光手段（受光器）１２が、それ
ぞれその長手方向に或る程度の長さを有するような場
合、これらの投光手段（発光器）１１および受光手段
（受光器）１２を、その光軸をずらして平行に配置す
る。このような配置とすれば上記投光手段（発光器）１
１と受光手段（受光器）１２との間に形成される光路１
３の延長線上に上記投光手段（発光器）１１および受光
手段（受光器）１２の後端部（尾部）が突出することが
ないので、これらの投光手段（発光器）１１および受光
手段（受光器）１２の組み込みに要するスペースを十分
に薄く抑えることができる。従って、例えば前述した下
側把持体３ａの長手方向に沿って投光手段（発光器）１
１および受光手段（受光器）１２を設けることができる
ので、ロボットハンド３にコンパクトに組み込むに好適
である。更には上述した条件を満たすならば、前記投光
手段１１の光軸と受光手段の光軸とを非平行に設けるこ
とも勿論可能である。In this case, it is possible to provide the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 such that the optical axes thereof are parallel to each other while satisfying the above-mentioned conditions. Specifically, for example, when the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 each have a certain length in the longitudinal direction as shown in FIG. The light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 are arranged parallel to each other with their optical axes shifted. With such an arrangement, the above light projecting means (light emitter) 1
1 and an optical path 1 formed between the light receiving means (light receiver) 12
Since the rear end portion (tail portion) of the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 does not project on the extension line of 3, the light projecting means (light emitter) 11 and the light receiving means are provided. The space required for assembling the (light receiver) 12 can be sufficiently reduced. Therefore, for example, the light projecting means (light emitter) 1 is provided along the longitudinal direction of the lower grip body 3a described above.
Since 1 and the light receiving means (light receiver) 12 can be provided, it is suitable for compactly incorporating in the robot hand 3. Further, it is of course possible to dispose the optical axis of the light projecting means 11 and the optical axis of the light receiving means in non-parallel if the above-mentioned conditions are satisfied.

【００２２】ところで遠隔部に設けられた図示しない発
光器からの光を光ファイバ２１を介して導いて、該光フ
ァィバ２１の先端部から所定の拡がり角度（光ファイバ
の開口角ＮＡ）で射出するようし、また光ファィバ２２
の先端部にて所定の受光角度（光ファイバの開口角Ｎ
Ａ）で受光した光を該光ファイバ２２を介して遠隔部に
設けられた図示しない光検出部に導くようにしても良
い。この場合、これらの光ファイバ２１,２２を平行に
配設し、一方の光ファイバ２１（２２）の端部を１８０
°曲折させるだけで良いので、その構造の簡素化とコン
パクト化を図ることができる。ちなみにこの場合には、
光ファイバ２１の先端部が投光手段１１として機能し、
光ファィバ２２の先端部が受光手段１２として機能する
ことになる。By the way, light from a light emitter (not shown) provided at a remote portion is guided through the optical fiber 21 and emitted from the tip of the optical fiber 21 at a predetermined spread angle (opening angle NA of the optical fiber). Yes, again optical fiber 22
Light receiving angle (opening angle N of optical fiber
The light received in A) may be guided through the optical fiber 22 to a photodetection unit (not shown) provided at a remote portion. In this case, these optical fibers 21 and 22 are arranged in parallel, and one end of one optical fiber 21 (22) is
° Since it is only necessary to bend it, the structure can be simplified and made compact. By the way, in this case,
The tip of the optical fiber 21 functions as the light projecting means 11,
The tip of the optical fiber 22 functions as the light receiving means 12.

【００２３】尚、図６に例示するように投光手段１１お
よび受光手段１２をそれぞれなす２本の光ファイバ２
１,２２を、その端部を揃えて平行に並べて設け、これ
らの各端部に対向する位置に反射体（反射鏡）２３を設
けることで、上記投光手段（発光器）１１と受光手段
（受光器）１２とを結ぶ光路１３を上記反射体（反射
鏡）２３を介して折り曲げて形成することも可能であ
る。この場合、投光手段（発光器）１１または受光手段
（受光器）１２の一方と前記反射体（反射鏡）２３とを
結ぶ光路１３が、その光軸に対して斜めによるように設
定すれば良い。即ち、特許請求の範囲の請求項１におけ
る「光路の少なくとも一部」なる記述は、このような反
射体によって光路１３を折り曲げて形成する場合を含む
ものである。As illustrated in FIG. 6, two optical fibers 2 forming the light projecting means 11 and the light receiving means 12, respectively.
1, 22 are arranged in parallel with their ends aligned, and a reflector (reflecting mirror) 23 is provided at a position facing each of these ends, whereby the light projecting means (light emitter) 11 and the light receiving means are provided. It is also possible to bend and form the optical path 13 connecting to the (light receiver) 12 via the reflector (reflecting mirror) 23. In this case, if the optical path 13 connecting one of the light projecting means (light emitter) 11 or the light receiving means (light receiver) 12 and the reflector (reflecting mirror) 23 is set to be oblique with respect to the optical axis. good. That is, the description "at least a part of the optical path" in claim 1 includes the case where the optical path 13 is bent by such a reflector.

【００２４】このような配置構造の光電センサをロボッ
トハンド３に組み込む場合には、例えば図７に示すよう
に投光手段（発光器）１１または受光手段（受光器）１
２の一方と前記反射体（反射鏡）２３とを下側把持体３
ａの長手方向に沿って設け、上記投光手段（発光器）１
１または受光手段（受光器）１２の他方をロボットハン
ド３の奥部壁面３ｃに設ける。そしてこのロボットハン
ド３の奥部壁面３ｃに設けられた投光手段（発光器）１
１または受光手段（受光器）１２と前記反射体（反射
鏡）２３との間に形成される斜めに傾斜した光路１３を
前記取っ手部２ａ（被検出体）の隅部が遮るようにすれ
ば良い。このように構成された近接検出装置であって
も、前述した各実施形態と同様な効果が奏せられる。When the photoelectric sensor having such an arrangement structure is incorporated in the robot hand 3, for example, as shown in FIG. 7, a light projecting means (light emitter) 11 or a light receiving means (light receiver) 1 is used.
2 and one of the reflectors (reflecting mirror) 23 on the lower gripping body 3
The light projecting means (light emitter) 1 is provided along the longitudinal direction of a.
1 or the other of the light receiving means (light receiver) 12 is provided on the inner wall surface 3 c of the robot hand 3. The light projecting means (light emitter) 1 provided on the inner wall surface 3c of the robot hand 3
1 or if the obliquely inclined optical path 13 formed between the light receiving means (light receiver) 12 and the reflector (reflecting mirror) 23 is blocked by the corner of the handle 2a (object to be detected). good. Even the proximity detection device configured in this manner has the same effects as those of the above-described embodiments.

【００２５】ところで図５に示す実施形態においては、
光ファイバ２１を１８０°折り曲げる必要がある。しか
し光ファイバは所定の半径以下の曲率で曲げることがで
きないので、近接検出装置の小型化を図るには限度があ
る。この点、図６に示す実施形態によれば、反射体２３
が必要となるが、光ファイバ２１を曲げる必要がなくな
るので、その小型化を図る上で好適である。但し、ここ
に例示する反射体２３としては、平面鏡等のように鏡面
反射を生じるもののみならず、白色物体のように乱反射
を生じるものであっても良い。更にはリフレクタ形光電
センサに必須のコーナキューブの集合体であるリフレッ
クスリフレクタである必要もない。要は投光手段１１か
ら射出された光の一部を受光手段１２に向けて反射する
ものであれば十分である。By the way, in the embodiment shown in FIG.
It is necessary to bend the optical fiber 21 by 180 °. However, since the optical fiber cannot be bent with a curvature of a predetermined radius or less, there is a limit to downsizing the proximity detection device. In this regard, according to the embodiment shown in FIG. 6, the reflector 23
However, since it is not necessary to bend the optical fiber 21, it is suitable for downsizing. However, the reflector 23 exemplified here is not limited to one that causes specular reflection such as a plane mirror, but may be one that causes irregular reflection such as a white object. Furthermore, it is not necessary for the reflector type photoelectric sensor to be a reflex reflector which is an assembly of corner cubes. The point is that it is sufficient to reflect a part of the light emitted from the light projecting means 11 toward the light receiving means 12.

【００２６】尚、本発明は上述した各実施形態に限定さ
れるものでない。例えば投光手段（発光器）１１と受光
手段（受光器）１２との間で送受する光は、赤外光のみ
ならずレーザ光であっても良く、要は被検出体２にてそ
の光路１３が妨げられるものであれば良い。また被検出
体２は、半透明体のように吸収によって上記光路１３を
通過する光を妨げるものであっても良い、更には光を屈
折させることでその光路１３を妨げるものであっても良
い。即ち、投光手段１１から投光された光に作用して、
受光手段１２が受光する光量に大きな変化をもたらすこ
とを、ここでは「妨げる」と定義しており、その具体的
手段は特に限定されない。The present invention is not limited to the above embodiments. For example, the light transmitted and received between the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 may be not only infrared light but also laser light. Anything that interferes with 13 may be used. Further, the detected body 2 may be a semi-transparent body that blocks the light passing through the optical path 13 by absorption, or may further refract the light to block the optical path 13. . That is, it acts on the light projected from the light projecting means 11,
A large change in the amount of light received by the light receiving means 12 is defined as “interfering” here, and its specific means is not particularly limited.

【００２７】更には投光手段（発光器）１１と受光手段
（受光器）１２との間の光路長、或いは反射体（反射
鏡）２３との間の光路長は、被検出物２の隅部の大きさ
やその形状に応じて定めれば良いものである。その他、
本発明はその要旨を逸脱しない範囲で種々変形して実施
することができる。Furthermore, the optical path length between the light projecting means (light emitter) 11 and the light receiving means (light receiver) 12 or the optical path length between the reflector (reflecting mirror) 23 is the corner of the object 2 to be detected. It may be determined according to the size and shape of the part. Other,
The present invention can be variously modified and implemented without departing from the scope of the invention.

【００２８】[0028]

【発明の効果】以上説明したように本発明によれば、被
検出物の検出面に対して傾斜する光路を有し、この光路
への被検出体の隅部の進入から該被検出体の近接（存
在）を検出するので、被検出物にわざわざ遮光板等の突
起を設けることなく、その存在を簡易にして確実に検出
することができる。しかもロボットハンドに組み込む場
合であっても、該ロボットハンドによる被検出物の把持
を妨げることがない等の実用上多大なる効果が奏せられ
る。As described above, according to the present invention, there is an optical path inclined with respect to the detection surface of the object to be detected, and the optical path of the object to be detected is introduced from the entrance of the corner of the object to be detected into this optical path. Since the proximity (presence) is detected, it is possible to detect the presence simply and surely without providing a protrusion such as a light shielding plate on the object to be detected. Moreover, even when the robot hand is incorporated into the robot hand, a great effect in practical use can be obtained, such as not hindering the grasping of an object to be detected by the robot hand.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明に係る近接検出装置の概略構成とその検
出作用を示す図。FIG. 1 is a diagram showing a schematic configuration of a proximity detection device according to the present invention and a detection operation thereof.

【図２】本発明に係る近接検出装置をロボットハンドに
組み込む場合の第１の実施形態を示す要部概略構成図。FIG. 2 is a schematic configuration diagram of a main part showing a first embodiment when a proximity detection device according to the present invention is incorporated in a robot hand.

【図３】本発明に係る近接検出装置をロボットハンドに
組み込む場合の第２の実施形態を示す要部概略構成図。FIG. 3 is a schematic configuration diagram of essential parts showing a second embodiment when the proximity detection device according to the present invention is incorporated in a robot hand.

【図４】本発明に係る近接検出装置の投光手段（発光
器）と受光手段（受光器）との位置関係を示す図。FIG. 4 is a diagram showing a positional relationship between light projecting means (light emitter) and light receiving means (light receiver) of the proximity detection device according to the present invention.

【図５】投光手段（発光器）１１と受光手段（受光器）
１２とを対向させたときの具体的な位置関係を示す図。FIG. 5: Light projecting means (light emitter) 11 and light receiving means (light receiver)
The figure which shows the concrete positional relationship when 12 and 12 are made to oppose.

【図６】投光手段（発光器）１１と受光手段（受光器）
１２とを平行に並べて設けたときの位置関係を示す図。FIG. 6 is a light projecting means (light emitter) 11 and a light receiving means (light receiver).
The figure which shows the positional relationship when 12 and 12 are provided in parallel and provided.

【図７】本発明に係る近接検出装置をロボットハンドに
組み込む場合の第３の実施形態を示す要部概略構成図。FIG. 7 is a schematic configuration diagram of a main part showing a third embodiment when the proximity detection device according to the present invention is incorporated in a robot hand.

【図８】ロボットハンドによるワークの把持の形態を示
す図。FIG. 8 is a view showing a form of gripping a work by a robot hand.

【図９】ロボットハンドに組み込まれる従来一般的な近
接検出装置の例を示す図。FIG. 9 is a diagram showing an example of a conventional general proximity detection device incorporated in a robot hand.

【図１０】溝形の光電センサをロボットハンドに組み込
んだ場合の問題点を説明する為の図。FIG. 10 is a diagram for explaining a problem when a groove-shaped photoelectric sensor is incorporated in a robot hand.

【符号の説明】[Explanation of symbols]

２ ワーク ２ａ 取っ手部（被検出体） ３ ロボットハンド ３ａ 下側把持体 ３ｂ 上側把持体 ３ｃ 基部 １１ 投光手段（発光器） １２ 受光手段（受光器） １３ 光路 １４ 被検出体 １５ 溝形の透過形光電センサ ２１,２２ 光ファイバ ２３ 反射体（反射鏡） 2 work 2a Handle part (object to be detected) 3 robot hand 3a Lower gripping body 3b Upper gripping body 3c base 11 Light emitting means (light emitter) 12 Light receiving means (light receiver) 13 optical path 14 Object to be detected 15 Groove-shaped transmission photoelectric sensor 21,22 optical fiber 23 Reflector (Reflector)

───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 2F065 AA02 AA07 AA12 BB15 BB24 FF02 GG06 GG07 HH02 JJ08 JJ18 LL02 LL12 LL17 PP01 PP22 UU01 UU02 UU07 5J050 AA37 AA49 BB16 BB22 CC00 DD03 FF04 FF06 FF11    ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F065 AA02 AA07 AA12 BB15 BB24                       FF02 GG06 GG07 HH02 JJ08                       JJ18 LL02 LL12 LL17 PP01                       PP22 UU01 UU02 UU07                 5J050 AA37 AA49 BB16 BB22 CC00                       DD03 FF04 FF06 FF11

Claims (3)

【特許請求の範囲】[Claims] 【請求項１】 投光手段と、この投光手段から発せられ
た光を受光する受光手段と、この受光手段による上記光
の受光状態から被検出物体の近接を検出する検出手段と
を備えた近接検出装置であって、 前記投光手段と前記受光手段との間に形成される光路の
少なくとも一部が、前記被検出体の特定の面に対して所
定の傾斜角をなし、上記特定の面に連なる前記被検出体
の隅部の進入により妨げられるように前記投光手段およ
び前記受光手段の設置位置を定めたことを特徴とする近
接検出装置。1. A light projecting means, a light receiving means for receiving the light emitted from the light projecting means, and a detecting means for detecting the proximity of an object to be detected from the light receiving state of the light by the light receiving means. In the proximity detection device, at least a part of an optical path formed between the light projecting unit and the light receiving unit forms a predetermined tilt angle with respect to a specific surface of the detected object, A proximity detection device characterized in that the installation positions of the light projecting means and the light receiving means are determined so as to be obstructed by the entry of the corners of the object to be detected which are continuous with the surface. 【請求項２】 前記投光手段および受光手段は、前記投
光手段の所定の拡がり角を有する投光角度範囲と、前記
受光手段の所定の視野角を有する受光角度範囲とが重な
る領域を光路として、非同軸に対向配置されるものであ
る請求項１に記載の近接検出装置。2. The light projecting means and the light receiving means have an optical path in a region where a light projecting angle range having a predetermined spread angle of the light projecting means and a light receiving angle range having a predetermined viewing angle of the light receiving means overlap each other. The proximity detection device according to claim 1, wherein the proximity detection device is non-coaxially opposed. 【請求項３】 前記投光手段および受光手段は、その途
中に光の反射手段を介して対向配置されるものである請
求項１または２に記載の近接検出装置。3. The proximity detection device according to claim 1, wherein the light projecting means and the light receiving means are arranged opposite to each other with a light reflecting means interposed therebetween.