JPS61164735A - Body assembling device with tactile sensor - Google Patents
Body assembling device with tactile sensorInfo
- Publication number
- JPS61164735A JPS61164735A JP60003815A JP381585A JPS61164735A JP S61164735 A JPS61164735 A JP S61164735A JP 60003815 A JP60003815 A JP 60003815A JP 381585 A JP381585 A JP 381585A JP S61164735 A JPS61164735 A JP S61164735A
- Authority
- JP
- Japan
- Prior art keywords
- tactile elements
- lateral load
- load
- lateral
- pressure
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕本発明は触覚センサーを備えた物体組立
装置の改良に関するものである。物体を組立てるとき、
例えば円筒形の物体を円筒形の穴に挿入する作業が行な
われるとき、物体と挿入孔との位置合わせをする必要が
ある。触覚センサーは物体にか＼る横方向（せん断方向
）の荷重を検出して物体と挿入孔との位置のづれを演算
し、物体を把持する把持子を移動するととによって位置
合わせが行表われるのである。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] The present invention relates to an improvement in an object assembly device equipped with a tactile sensor. When assembling objects,
For example, when inserting a cylindrical object into a cylindrical hole, it is necessary to align the object and the insertion hole. The tactile sensor detects the load in the lateral direction (shear direction) on the object, calculates the positional deviation between the object and the insertion hole, and aligns the object by moving the gripper that grips the object. It is.
第２図は従来のこの種の装置の構成を示す図で、ｌは物
体、２ａ、 ２ｂ、 ２ｅは感圧センサー、３ａ１３ｂ
、３ｃは感圧センサー２ａ％２ｂ％２ｃを物体ｌに適当
な接触圧で圧接する触指を兼ねた把持子で、物体ｌを１
２０°の間隔をおいて８方向から保持している。４は物
体１の挿入孔である。いま、物体ｌを挿入孔４に挿入す
るために把持子３ａ。FIG. 2 is a diagram showing the configuration of a conventional device of this type, where l is an object, 2a, 2b, 2e are pressure-sensitive sensors, and 3a and 13b are
, 3c is a gripper that also serves as a touch finger that presses the pressure sensor 2a%2b%2c against the object l with an appropriate contact pressure.
It is held from 8 directions at 20° intervals. 4 is an insertion hole for the object 1. Now, the gripper 3a is used to insert the object l into the insertion hole 4.
８ｂ、 ８ｃ を降下させたとき、物体ｌの先端が挿
“入孔４のガイド壁５に当接すると、物体１には横方
向（せん断方向）の荷重がか＼るので感圧センサー２ａ
、 ｇｂ％ｚｃはこれを検出して物体ｌの挿入孔今に対
する位置のずれを演算し、触指を兼ねた把持子８ｈ、
ｆ３ｂ、 ８ｃの位置を移動させるのである。When 8b and 8c are lowered, the tip of object l is inserted.
“When the object 1 comes into contact with the guide wall 5 of the entrance hole 4, a load is applied to the object 1 in the lateral direction (shear direction), so the pressure sensor 2a
, gb%zc detects this and calculates the positional deviation of the object l with respect to the insertion hole, and the gripper 8h, which also serves as a touch finger,
The positions of f3b and f8c are moved.
ところで上記従来の構造においては、物体１に横方向（
せん断方向）の荷重がか＼ったとき、把持部においては
荷重の反力と同時に曲げのモーメントを受けるため、荷
重の方向および大きさを正確に検出することが困難であ
る。本発明はこのような欠点のない触覚センサー付物体
組立装置を提供することを目的とするものである。By the way, in the above-mentioned conventional structure, the object 1 has a horizontal direction (
When a load is applied (in the shear direction), the gripping portion receives a bending moment as well as a reaction force of the load, making it difficult to accurately detect the direction and magnitude of the load. It is an object of the present invention to provide an object assembly device with a tactile sensor that does not have such drawbacks.
〔発明の構成〕本発明の触覚センサー付物体組立装置は
、組み立てられる物体を等間隔の８方向から把持する８
個の把持子と、この８個の把持子の下方に前記物体に対
して感圧センサーを所定の圧力で圧接する８個の触指を
設け、前記物体に加えられる横方向の荷重を前記感圧セ
ンサーが検出演算して前記物体の位置を検出することを
特徴とする。[Structure of the Invention] The object assembly device with a tactile sensor of the present invention grips an object to be assembled from eight equally spaced directions.
A pressure-sensitive sensor is provided below the eight grippers with eight touch fingers that press a pressure-sensitive sensor against the object at a predetermined pressure, and the lateral load applied to the object is measured by the sensor. The present invention is characterized in that a pressure sensor performs a detection calculation to detect the position of the object.
本発明の実施例を第１図について説明する。An embodiment of the invention will be described with reference to FIG.
ｌは物体、２ａ、 ２ｂ、 ｇｃは感圧センサー、８ｍ
。l is the object, 2a, 2b, gc is the pressure sensor, 8m
.
３ｂ、 ８ｃは触指、４は物体ｌの挿入孔、５紘ガイド
壁、Ｑａ、 Ｑｂ、 Ｑｃは物体ｌの把持子である。3b and 8c are touch fingers, 4 is an insertion hole for object l, 5 is a guide wall, and Qa, Qb, and Qc are grippers for object l.
第２図の従来の装置においては触指３ａ、 ３ｂ、３ｃ
が物体ｌの把持子を兼ねていたが本発明の装置において
は、触指８ａ％８ｂ、 Ｂｅとは別個に、これと一定の
距離をおいてその上方に把持子（５ａ。In the conventional device shown in FIG. 2, touch fingers 3a, 3b, 3c
However, in the device of the present invention, a gripper (5a) is placed above the touch fingers 8a, 8b, and Be at a certain distance apart from the touch fingers 8a, 8b, and Be.
ｆ３ｂ、 ６ｃを設けて物体ｌを１２０°の間隔をおい
て８方向から保持している。f3b and 6c are provided to hold the object l from eight directions at intervals of 120°.
次にその作用を説明する。触指３ａ、 ３ｂ、 ３ｃ拡
感圧センサー’ｊ、＆、 ｇｂ％２ｃが十分に動作し、
触指自体の変形が無視できる程度の圧力で物体ｌに感圧
センサー２ａ、 Ｂｂ、 Ｂｃを圧接している。Next, its effect will be explained. The touch fingers 3a, 3b, 3c sensitive pressure sensors 'j, & gb%2c are fully operational,
The pressure-sensitive sensors 2a, Bb, and Bc are pressed against the object 1 with such pressure that deformation of the touch fingers themselves can be ignored.
いま、物体ｌを挿入孔４に挿入するとき、物体ｌの先端
が挿入孔４のガイド壁５に当接して物体ｌの先端に横荷
重が加えられたとする。このとき、把持子６ＪＬ、 ６
ｂ、 ６ｃにはこの加えられた横荷重に応じ九横方向の
力と曲げモーメントを受けるが触指８ａ、 ３ｂ％８Ｃ
は横荷重に比例した横方向の力を受けるだけで曲げモー
メントは受けない。Now, suppose that when inserting the object l into the insertion hole 4, the tip of the object l comes into contact with the guide wall 5 of the insertion hole 4, and a lateral load is applied to the tip of the object l. At this time, grippers 6JL, 6
b, 6c receive a 9 lateral force and bending moment in response to this applied lateral load, but the tentacles 8a, 3b%8C
is only subjected to a lateral force proportional to the lateral load, but not a bending moment.
触指８ｈｓ ８ｂｓ ８Ｃに加えられる力の変化は感圧
センサーｚ＆１，２．ｂ１ｚＣによって検出することが
できる。感圧センサー２ａ％９ｂ、 ２Ｃの出力の変化
をそれぞれＡ％Ｂ％Ｃとすれば、加えられた横荷重のＸ
方向の分力Ｆｘおよびｙ方向の分力Ｆ、は、
Ｆｘ＝Ｄ／１３（２Ａ−Ｂ−Ｃ） −・−・−・（１
）Ｆｙ＝Ｄ／／８（Ｃ−Ｂ） ・・・・・・・・
・（２）たＮｌ、、Ｄは横荷重のか＼る位置とセンサー
の感度とによって定まる比例定数、
となシ、加えられた荷重の大きさと方向とを求めること
ができる。Changes in the force applied to the touch fingers 8hs 8bs 8C are measured by pressure-sensitive sensors z & 1, 2. b1zC. If the changes in the output of pressure sensitive sensors 2a%9b and 2C are respectively A%B%C, then the applied lateral load is
The component force Fx in the direction and the component force F in the y direction are as follows: Fx=D/13(2A-B-C) -・-・-・(1
)Fy=D//8(C-B)・・・・・・・・・
・(2) Nl and D are proportional constants determined by the position of the lateral load and the sensitivity of the sensor, and the magnitude and direction of the applied load can be determined.
〔発明の効果〕以上述べたように本発明の装置は物体を
把持する部分（把持子）を物体に加えられる横荷重を検
出する部分（触指）と分離することによシ物体に横荷重
が加えられたときに作用する曲げモーメントを把持子Ｑ
ａ、 （５ｂ、 Ｑｃによって吸収し、感圧センサー３
ａ、 ｇｂ、 ＳＯを支持する触指３ａ、３ｂ、 ３ｅ
には曲げモーメントが作用しないように構成されている
ので、第２図の従来の装置のもつ欠点を解消し、発明の
目的を達成する効果を有する。セして触指を等間隔に８
個設けることによって物体の半径方向の誤差を相殺する
ことができること、径の異なる物体にも対応することが
できること、温度変化などによる物体の径方向の変化に
も対応できること、さらに、触指の物体に対する接触圧
が加えられる横荷重の圧力よシかなシ大きくても微小な
変化を検出することが可能であるなどのいく九のすぐれ
た利点を有する。[Effects of the Invention] As described above, the device of the present invention reduces the lateral load on the object by separating the part that grips the object (grasper) from the part that detects the lateral load applied to the object (tactile fingers). The bending moment that acts when is applied to the gripper Q
a, (5b, absorbed by Qc, pressure sensitive sensor 3
a, gb, tentacles 3a, 3b, 3e supporting SO
Since the structure is such that no bending moment is applied to the device, the disadvantages of the conventional device shown in FIG. 2 can be overcome, and the object of the invention can be achieved. Set the touch finger evenly spaced 8
It is possible to cancel out the error in the radial direction of the object by providing two pieces, it is possible to correspond to objects with different diameters, it is possible to correspond to changes in the radial direction of the object due to temperature changes, etc. It has nine excellent advantages, such as being able to detect even large but minute changes in the contact pressure applied to the lateral load.
第１図：本発明の装置の実施例を示す図で、（イ）は側
面図（口のＬ−Ｍ断面図）（ロ）は平面図（イのＰ−Ｑ
断面図）である。
第２図：従来の装置を示す図で、（イ）は側面図（口の
Ｌ−Ｍ断面図）（ロ）は平面図（イのＰ−Ｑ断面図）で
ある。
ｌ・・・物体、２１Ｌ、３ｂ、 ９ｃ・・・感圧センサ
ー、３ａ、 ３ｂ、 ３ｅ・・・触指、４・−挿入孔、
５・・・ガイド壁、６ａ、 ５ｂ、 ６（！ ・・−把
持子第１図
第２図
（ロ）Figure 1: A diagram showing an embodiment of the device of the present invention, (A) is a side view (L-M sectional view of the mouth) (B) is a plan view (P-Q
sectional view). FIG. 2: A diagram showing a conventional device, in which (A) is a side view (L-M sectional view of the mouth) and (B) is a plan view (P-Q sectional view of A). l...Object, 21L, 3b, 9c...Pressure sensitive sensor, 3a, 3b, 3e...Touch finger, 4...Insertion hole,
5...Guide wall, 6a, 5b, 6(!...-Gripper Fig. 1 Fig. 2 (b)
Claims (1)
の把持子と、この８個の把持子の下方に前記物体に対し
て感圧センサーを所定の圧力で圧接する３個の触指を設
け、前記物体に加えられる横方向の荷重を前記感圧セン
サーが検出演算して前記物体の位置を検出することを特
徴とする触覚センサー付物体組立装置There are three grippers that grip the object to be assembled from eight equally spaced directions, and three touch fingers that press the pressure sensor against the object with a predetermined pressure below the eight grippers. , an object assembly device with a tactile sensor, wherein the pressure-sensitive sensor detects and calculates a lateral load applied to the object to detect the position of the object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60003815A JPS61164735A (en) | 1985-01-11 | 1985-01-11 | Body assembling device with tactile sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60003815A JPS61164735A (en) | 1985-01-11 | 1985-01-11 | Body assembling device with tactile sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61164735A true JPS61164735A (en) | 1986-07-25 |
Family
ID=11567681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60003815A Pending JPS61164735A (en) | 1985-01-11 | 1985-01-11 | Body assembling device with tactile sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61164735A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020066063A1 (en) * | 2018-09-26 | 2020-04-02 | オムロン株式会社 | End effector device |
| DE102022129518A1 (en) | 2022-11-08 | 2024-05-08 | ESSERT GmbH | Syringe plunger rod assembly |
-
1985
- 1985-01-11 JP JP60003815A patent/JPS61164735A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020066063A1 (en) * | 2018-09-26 | 2020-04-02 | オムロン株式会社 | End effector device |
| JP2020049582A (en) * | 2018-09-26 | 2020-04-02 | オムロン株式会社 | End effector device |
| CN112654474A (en) * | 2018-09-26 | 2021-04-13 | 欧姆龙株式会社 | End effector device |
| EP3831549A4 (en) * | 2018-09-26 | 2022-05-18 | OMRON Corporation | End effector device |
| US11931887B2 (en) | 2018-09-26 | 2024-03-19 | Omron Corporation | End effector device |
| DE102022129518A1 (en) | 2022-11-08 | 2024-05-08 | ESSERT GmbH | Syringe plunger rod assembly |
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