Sensor and robot

Patent metadata

Field	Value
Publication number	US-11060890-B2
Application number	US-201816190492-A
Country	US
Kind code	B2
Filing date	Nov 14, 2018
Priority date	Nov 15, 2017
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

A robot includes a sensor including an electrode portion of a sensor for detecting approach of or contact with another object is formed on an outer surface or an inner surface of an exterior member, and in which a drive unit of the robot main body is controlled so as to avoid approach between the robot body and the other object based on an output signal of the sensor.

First claim

What is claimed is:

1. A robot comprising:
a robot main body;
a sensor configured to detect approach of or contact with an object, the sensor being disposed on an exterior of the robot main body; and
a controller configured to control a driver of the robot main body based on an output signal of the sensor,
wherein the sensor includes
a detection electrode configured to detect approach of or contact with the object;
a detection circuit configured to detect output changes in accordance with approach or contact between the detection electrode and the object; and
a connector configured to electrically connect the detection electrode and the detection circuit,
wherein the detection electrode is disposed on the exterior of the robot main body, and
a relative position of the connector with respect to the detection electrode and a relative position of the detection circuit with respect to the connector do not change.

2. The robot according to claim 1 ,
wherein the outer surface of the robot main body has a curved surface, and
the detection electrode includes a curved surface fixed on the curved surface of the outer surface of the robot main body, the curved surface of the detection electrode corresponding with the curved surface of the outer surface of the robot main body.

3. The robot according claim 1 ,
wherein the sensor is an electrostatic capacitance sensor configured to detect contact or approach of the object according to a change in electrostatic capacitance of the detection electrode.

4. The robot according to claim 3 ,
wherein the sensor is a mutual-capacitive electrostatic capacitance sensor including the detection electrode and a drive electrode.

5. The robot according to claim 1 ,
wherein the controller is configured to control the driver of the robot main body so as to avoid approach between the robot main body and the object based on the output signal of the sensor.

6. The robot according to claim 1 ,
wherein the robot main body includes a force detection system, and
the controller is configured to control the driver of the robot main body based on the output signal of the sensor and an output signal of the force detection system.

7. The robot according to claim 6 ,
wherein force control of a target is performed based on the output signal of the force detection system, and
approach between the robot main body and the object is avoided based on the output signal of the sensor.

8. The robot according to claim 6 ,
wherein approach between the robot main body and the object is avoided based on the output signal of the sensor, and
contact between any one of the robot main body, an end effector, the target, and the object is avoided based on the output signal of the force detection system.

9. The robot according to claim 1 ,
wherein the detection electrode is curved along a longitudinal axis of the detection electrode and includes comb teeth extending along the longitudinal axis, and
wherein the longitudinal axis of the detection electrode extends parallel to a longitudinal axis of the robot arm.

10. The robot according to claim 1 , further comprising
a drive electrode,
wherein the detection electrode includes comb teeth,
wherein the drive electrode includes comb teeth, and
wherein the comb teeth of the detection electrode are electrically engaged with the comb teeth of the drive electrode.

11. A robot comprising:
a robot main body;
a sensor configured to detect approach of or contact with an object, the sensor being disposed on an interior surface of the robot main body; and
a controller configured to control a driver of the robot main body based on an output signal of the sensor,
wherein the sensor includes
a detection electrode configured to detect approach of or contact with the object;
a detection circuit configured to detect output changes in accordance with approach or contact between the detection electrode and the object; and
a connector configured to electrically connect the detection electrode and the detection circuit,
wherein the detection electrode is disposed on the interior surface of the robot main body, and
a relative position of the connector with respect to the detection electrode and a relative position of the detection circuit with respect to the connector do not change.

12. The robot according to claim 11 ,
wherein the interior surface of the robot main body has a curved surface, and
the detection electrode includes a curved surface shape fixed on the curved surface of the interior surface of the robot main body, the curved surface of the detection electrode corresponding with the curved surface of the interior surface of the robot main body.

13. The robot according claim 11 ,
wherein the sensor is an electrostatic capacitance sensor configured to detect contact or approach of the object according to a change in electrostatic capacitance of the detection electrode.

14. The robot according to claim 13 , wherein the sensor is a mutual-capacitive electrostatic capacitance sensor including the detection electrode and a drive electrode.

15. The robot according to claim 11 ,
wherein the detection electrode is curved along a longitudinal axis of the detection electrode and has comb teeth extending along the longitudinal axis, and
wherein the longitudinal axis of the detection electrode extends parallel to a longitudinal axis of the robot arm.

16. The robot according to claim 11 , further comprising:
a drive electrode,
wherein the detection electrode includes comb teeth,
wherein the drive electrode includes comb teeth, and
wherein the comb teeth of the detection electrode are electrically engaged with the comb teeth of the drive electrode.

Assignees

• Seiko Epson Corp

Inventors

• Kamiya Toshiyuki
• Shimojima Toshioki
• Oka Hideaki
• Yamamura Mitsuhiro
• Kobayashi Hajime

Classifications

• B25J9/1694 Primary

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/40614

  Whole arm proximity sensor WHAP · CPC title

• G05B2219/37284

  Capacitive 3-D proximity sensor · CPC title

• G05B2219/40544

  Detect proximity of object · CPC title

• B25J13/086

  Proximity sensors · CPC title