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Pressure sensor, gripping device, and robot

A pressure-sensitive sensor and gripper technology, which can be used in measurement devices, measurement of the force of nature of piezoelectric devices, instruments, etc., and can solve problems such as high cost and need for power supply.

Active Publication Date: 2018-11-23
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] A pressure sensitive sensor with such a configuration requires a power source and is inevitably costly

Method used

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  • Pressure sensor, gripping device, and robot
  • Pressure sensor, gripping device, and robot
  • Pressure sensor, gripping device, and robot

Examples

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Embodiment Construction

[0032] Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0033] will be based on Figure 1 to Figure 6 The first embodiment will be described. figure 1 A robot according to the present embodiment is shown. The robot 2 is, for example, an assembly robot used in a production line.

[0034] The robot 2 includes a base 6 on which a part 4 as an object to be grasped (target object) is placed; a main shaft 8 fixed on the base 6; a fixed link 10 fixed on the main shaft 8; a movable link 12, 14, 16, and a grabbing device 18 arranged at the front end of the movable link 16.

[0035] The main shaft 8, the fixed link 10, the movable links 12, 14, 16 and the grabbing device 18 constitute the robot arm.

[0036] The component 4 grasped by the gripping device 18 is transferred to the assembly position by a displacement movement of the robot arm.

[0037] The gripping device 18 comprises a pair of grippers 20 , 22 capable of open...

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Abstract

A gripping device 18 is provided at the tip of an arm of an assembly robot 2. The gripping device 18 has a pair of gripping parts 20, 22 which can be opened and closed. A pressure sensor 24 is provided on the side of each of the gripping parts 20, 20 that comes into contact with a component 4. The pressure sensors 24 have a first electrode and a second electrode constituting a pair of electrodes,and an intermediate layer formed of rubber or a rubber composition and provided between the pair of electrodes, the intermediate layer generating power through being deformed by contact with an object(the component 4). The side of the intermediate layer that comes into contact with the object is surface-modification-treated, and has a higher hardness than the opposite side.

Description

technical field [0001] The invention relates to a pressure sensitive sensor, a gripping device and a robot. Background technique [0002] For example, a grasping device provided in a robot hand is provided with a pressure sensitive sensor to grasp objects to be grasped (target objects) having different characteristics such as shape, hardness, surface characteristics, and weight without destroying the objects to be grasped. [0003] The grasping status is detected in real time from the output signal of the pressure sensitive sensor to control the grasping force (contact pressure), moving speed, etc. In recent years, in order to accurately handle various objects to be grasped, there is a need for sensitivity as a tactile sensor that can provide sensations (such as a sense of pressure and a sense of sliding) comparable to human fingertips. [0004] For example, there is known a pressure-sensitive sensor in which conductive particles such as carbon are dispersed in a rubber mat...

Claims

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Application Information

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IPC IPC(8): G01L1/16B25J15/08B25J19/02G01L5/00
CPCG01L1/16G01L5/226G01L1/005B25J13/082B25J15/08B25J19/02G01L5/00
Inventor 近藤玄章菅原智明有住夕子荒海麻由佳小田切瑞树名取润一郎北村惠今井崇寻宫泽秀之中岛牧人
Owner RICOH KK
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