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Detection method and robot

A detection method and robot technology, applied in the direction of instruments, manipulators, program-controlled manipulators, etc., can solve problems such as false detection by proximity sensors

Active Publication Date: 2021-02-02
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, in the robot of this structure, due to the influence of the posture of the second arm relative to the first arm, the proximity sensor provided on the first arm and the proximity sensor provided on the second arm may be too close to interfere with each other. As a result, false detections by the proximity sensor

Method used

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no. 1 approach

[0027] figure 1 It is an overall view showing the robot according to the first embodiment of the present invention. figure 2 is a side view showing the arrangement of the proximity sensor. image 3 is a diagram showing a proximity sensor. Figure 4 It is a plan view showing detection electrodes and drive electrodes included in the proximity sensor. Figure 5 It is a block diagram of the proximity sensor control unit. Figure 6 is a graph showing the driving voltage. Figure 7 to Figure 9 Each is a model diagram showing electric power lines generated in the proximity sensor. Figure 10 It is a diagram showing an example of correction voltage information stored in the proximity sensor control unit. Figure 11 is a diagram showing a modified example of the correction voltage.

[0028] figure 1 The shown robot 1 is capable of performing operations such as feeding, removing, conveying, and assembling precision equipment and parts constituting it. The robot 1 has: a robot m...

no. 2 approach

[0065] Figure 12 It is a block diagram of the proximity sensor control part concerning 2nd Embodiment of this invention. Figure 13 It is a diagram showing an example of capacitance information stored in the proximity sensor control unit. Figure 14 to Figure 16 It is a model diagram which respectively shows the electric force line which arises in a proximity sensor.

[0066] This embodiment is the same as the aforementioned first embodiment except that the configuration of the correction circuit 92 is different. Therefore, in the following description, this embodiment will be described focusing on points of difference from the above-mentioned embodiment, and descriptions of the same matters will be omitted. In addition, in Figure 12 to Figure 16 In , the same reference numerals are assigned to the same structures as those in the aforementioned embodiment.

[0067] Such as Figure 12 As shown, the correction circuit 92 of this embodiment has: a variable capacitor 923 as...

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Abstract

The invention provides a detection method with high detection precision and a robot. The detection method by a robot having a robot arm and a capacitance proximity sensor placed on the robot arm of detecting an object located around the robot, includes applying a drive voltage to a drive electrode of the proximity sensor, generating a corrected detection signal by correcting a detection signal output from a detection electrode of the proximity sensor based on a posture of the robot arm, and detecting the object located around the robot based on the corrected detection signal.

Description

technical field [0001] The invention relates to a detection method and a robot. Background technique [0002] The robot described in Patent Document 1 has a first arm, a second arm, and a third arm, wherein the second arm is connected to the first arm so as to be rotatable relative to the first arm, and the third arm is rotatably connected to the second arm. Linked to the second arm, proximity sensors are respectively provided on the first arm and the second arm. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2018-149673 [0004] However, in the robot of this structure, affected by the attitude of the second arm relative to the first arm, the proximity sensor provided on the first arm and the proximity sensor provided on the second arm may be too close to interfere with each other. As a result, false detection by the proximity sensor occurs. Contents of the invention [0005] The detection method of the present invention is characterized in that it is a detec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02B25J19/06
CPCB25J19/02B25J19/06B25J13/086B25J19/027G05B2219/37284B25J9/1664B25J9/042G05B19/401
Inventor 山村光宏
Owner SEIKO EPSON CORP