Detection system and robot including detection system

Abstract

To provide a detection system capable of improving detection performance per unit area of a detection object.SOLUTION: A detection system (1) includes detection electrodes (22A) that are formed in a planar shape in which one plate-shaped member is bent or curved and arranged so as not to overlap in a plan view, and in which first terminals (221) are provided at one end and second terminals (222) are provided at the other end different from the one end. The detection system further includes a signal generation circuit (21) that generates a detection signal and transmits the generated detection signal to the first terminal and the second terminal, and a detection circuit (23) that detects a detection object from a potential difference between the first terminal and the second terminal.SELECTED DRAWING: Figure 3A

Description

[Technical Field]

[0001] The present invention relates to a detection system for detecting an object and a robot equipped with the detection system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, detection systems for detecting objects and robots equipped with detection systems have been known.

[0003] In this regard, Patent Document 1 discloses a proximity sensor device (detection system) that includes a pair of detection electrodes and a detection circuit that detects the difference between the output signal of one of the pair of detection electrodes and the output signal of the other of the pair of detection electrodes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Re-tabled publication No. 2010-53013 Summary of the Invention [Problem to be solved by the invention]

[0005] Detection systems are often required to be miniaturized when mounted on robots, and detection performance per unit area is important. However, the technology described in Patent Document 1 requires at least one pair of detection electrodes, which increases the area occupied by the detection electrodes, making it difficult to achieve miniaturization while maintaining detection performance. In other words, the technology described in Patent Document 1 has the problem of reduced detection performance per unit area.

[0006] The present invention has been made in view of the above problems, and its object is to provide a detection system and a robot equipped with the detection system that can improve the detection performance of an object per unit area. [Means for solving the problem]

[0007] In order to solve the above problems, the detection system of the present invention comprises a detection electrode in which a plate-like member is bent or curved and formed into a plane so as not to overlap when viewed in a plane, the detection electrode having a first terminal at one end and a second terminal at the other end different from the one end, a signal generation circuit that generates a detection signal and transmits the generated detection signal to the first terminal and the second terminal, and a detection circuit that detects a detected object from the potential difference between the first terminal and the second terminal.

[0008] The detection electrode is formed in a shape that spreads out in a planar form from the center, with one end being provided on the outer edge of the detection electrode and the other end being provided in the center of the detection electrode.

[0009] In addition, the detection electrode is provided within a detection area that is formed in a rectangular shape that covers the outer peripheral edge of the detection electrode when viewed in a plane, and is formed in a snake-like shape that repeatedly bends clockwise or counterclockwise from the boundary of the detection area toward near the center of the detection area.

[0010] The robot of the present invention also includes a detection system having a detection electrode in the form of a single plate-like member that is bent or curved and arranged in a plane so as not to overlap when viewed from above, the detection electrode having a first terminal at one end and a second terminal at the other end different from the one end, a signal generation circuit that generates a detection signal and transmits the generated detection signal to the first terminal and the second terminal, and a detection circuit that detects an object from the potential difference between the first terminal and the second terminal, a movable arm unit on which the detection system is provided, and a wrist unit that is connected to the arm unit and performs work on a workpiece. [Effects of the Invention]

[0011] According to the present invention, the detection system and the robot equipped with the detection system can improve the detection performance per unit area of ​​the detected object. [Brief explanation of the drawings]

[0012] [Figure 1]1 is a diagram showing a configuration of a robot equipped with a detection system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing details of the configuration of the detection system shown in FIG. [Figure 3A] 3 is a diagram showing a first example of the detection electrodes shown in FIG. 2. FIG. [Figure 3B] FIG. 3B is a side view of the detection electrode shown in FIG. 3A. [Figure 4A] 3 is a diagram showing a second example of the detection electrodes shown in FIG. 2. FIG. [Figure 4B] 2. FIG. 4 is a diagram showing a third example of the detection electrode shown in FIG. [Figure 4C] 2. FIG. 4 is a diagram showing a fourth example of the detection electrode shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention (hereinafter referred to as "the present embodiment") will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components and steps in each drawing will be designated by the same reference numerals as much as possible, and redundant description will be omitted.

[0014] FIG. 1 is a diagram illustrating the configuration of a robot system 1 including a detection system 20 according to this embodiment. As shown in FIG. 1, the robot system 1 includes, for example, a robot 10 and a control device 30. Here, the robot 10 is an industrial device having a movable part that can move within a space within a predetermined distance from the robot 10, such as a robot with an articulated arm, a machine tool, or a tester. In this embodiment, a case will be described in which the robot 10 is a robot with an articulated arm. The robot 10 includes, for example, an arm unit 11, a wrist unit 12, a base unit 13, and a detection system 20. In FIG. 1, the normal direction of one side surface of the arm at the tip of the arm unit 11 is defined as direction D1. In FIG. 1, the normal direction of another side surface adjacent to the one side surface so as to be perpendicular to the one side surface is defined as direction D2. In FIG. 1, the axial direction of the wrist unit 12 is defined as direction D3. The directions D1 to D3 are orthogonal to each other.

[0015] The arm unit 11 is, for example, a multi-jointed movable arm, and its main part is made up of multiple arms and multiple drive units. The base end of the arm unit 11 is connected to a base unit 13, and the tip end is connected to a wrist unit 12. The arm unit 11 is also provided with a detection system 20 on the surface of the arm at or near the tip end.

[0016] The base unit 13 is a base for supporting the arm unit 11, and is installed so as to be in contact with an installation surface (not shown) of the robot 10. The base unit 13 is connected to the arm unit 11. The base unit 13 is also connected to the control device 30 so as to be able to communicate with it.

[0017] The wrist 12 is connected to the tip of the arm 11 and performs various operations on a workpiece (not shown). The various operations include X-ray irradiation, gripping, transporting, rotating, attaching to other workpieces, injecting or applying substances, polishing, screwing, heating, etc.

[0018] The detection system 20 detects the presence or absence of an object in the space near the detection system 20 using, for example, a capacitance-type proximity sensor. Specifically, the detection system 20 detects a change in capacitance in the space near the detection system 20 using a detection electrode arranged on the surface of the arm unit 11. The detection system 20 detects the presence or absence of an object in the space according to the detected change in capacitance. The detection system 20 is provided on the tip of the arm unit 11 or on the surface of the arm near the tip.

[0019] The control device 30 is configured to be able to communicate with the base unit 13 and transmits control commands to the base unit 13 to control operation. The control device 30 may transmit control commands directly to the detection system 20, arm unit 11, and wrist unit 12 without going through the base unit 13. The control device 30 also acquires various information related to the detection system 20, arm unit 11, and wrist unit 12 from the base unit 13 and stores the acquired information. The control device 30 reflects the stored information in controlling the operation of the arm unit 11 and wrist unit 12, and notifies the administrator or user of the robot system 1 by screen display, audio output, etc.

[0020] The configuration of the robot system 1 has been described above. Next, the detection system 20 will be described with reference to Fig. 2. Fig. 2 is a diagram showing the details of the configuration of the detection system 20 shown in Fig. 1. As shown in Fig. 2, the main part of the detection system 20 includes, for example, a signal generating circuit 21, a detection electrode 22A, and a detection circuit 23.

[0021] The signal generating circuit 21 is, for example, an AC signal source or an arbitrary waveform generator. The signal generating circuit 21 generates a detection signal S and transmits the generated detection signal S to the first terminal 221 and the second terminal 222 of the detection electrode 22A.

[0022] The detection electrode 22A is an electrode made of a metal such as copper. The detection electrode 22A detects the capacitance of a space near the detection system 20 using a detection signal S transmitted from the signal generating circuit 21, and transmits the detected capacitance to the detection circuit 23 as an electric signal. Here, the structure of the detection electrode 22A will be described in detail with reference to FIGS. 3A and 3B. FIG. 3A is a diagram showing a first example of the detection electrode 22A shown in FIG. 2. In FIG. 3A, the front direction is direction D1. In FIG. 3A, the left direction is direction D3. In FIG. 3A, the upper direction is direction D2. In FIG. 3B, the front direction is direction D3. In FIG. 3B, the left direction is direction D2. In FIG. 3B, the upper direction is direction D1.

[0023] As shown in FIGS. 3A and 3B, the detection electrode 22A is formed by bending or curving a single plate-like member and is formed in a planar shape so as not to overlap in a planar view. Specifically, the detection electrode 22A is provided so as not to overlap in a planar view with the detection area A1, which is formed in a rectangular shape covering the outer periphery in a planar view, and is formed in a lightning-wave shape that repeatedly bends clockwise from the boundary of the detection area A1 toward the center of the detection area A1. The detection electrode 22A may also be formed in a lightning-wave shape that repeatedly bends counterclockwise from the boundary of the detection area A1 toward the center of the detection area A1. The detection electrode 22A is formed in a planar shape that spreads from the center, and a first terminal 221 is provided on the bottom side of one end provided on the outer edge, and a second terminal 222 is provided on the bottom side of the other end provided in the center, different from the one end. The distance from the first terminal 221 to the second terminal 222 along the center line of the plate-shaped member of the detection electrode 22A is length d2, which is longer than the straight-line distance between the first terminal 221 and the second terminal 222, d1.

[0024] The detection electrode 22A is formed in a shape such that the area of ​​the detection electrode 22A and the path length d2 from one end to the other end or the distance d1 between the one end and the other end satisfy a predetermined relationship. The predetermined relationship is, for example, that the ratio of the path length d2 to the area of ​​the detection electrode 22A is equal to or less than a predetermined value. Another predetermined relationship is, for example, that the difference between the path length d2 and the area of ​​the detection electrode 22A is equal to or less than a predetermined value. Another predetermined relationship is, for example, that the ratio of the distance d1 to the area of ​​the detection electrode 22A is equal to or less than a predetermined value. Another predetermined relationship is, for example, that the difference between the distance d1 and the area of ​​the detection electrode 22A is equal to or less than a predetermined value. Another predetermined relationship is, for example, that the difference between the distance d1 and the area of ​​the detection electrode 22A is equal to or less than a predetermined value. Another predetermined relationship is, for example, that the combination of any or all of the above-described predetermined relationships is a logical AND or OR.

[0025] The first terminal 221 and the second terminal 222 are differential terminals. The first terminal 221 and the second terminal 222 are excited by a detection signal S transmitted from the signal generating circuit 21. The first terminal 221 detects a capacitance Cx in the space near the detection system 20 at the position of the first terminal 221 and transmits the detected capacitance Cx as an electrical signal to a non-inverting input terminal + of a differential amplifier circuit 24 in the detection circuit 23. The second terminal 222 detects a capacitance Cy in the space near the detection system 20 at the position of the second terminal 222 and transmits the detected capacitance Cy as an electrical signal to an inverting input terminal − of the differential amplifier circuit 24 in the detection circuit 23.

[0026] 2, detection circuit 23 detects object 2 from the potential difference between first terminal 221 and second terminal 222 of detection electrode 22A. Detection circuit 23 transmits a signal including the detection result of object 2 to control device 30. The main part of detection circuit 23 includes, for example, a differential amplifier circuit 24 and a calculation circuit 25.

[0027] The differential amplifier circuit 24 is, for example, an instrumentation amplifier or an operational amplifier. The differential amplifier circuit 24 amplifies the potential difference between the non-inverting input terminal + and the inverting input terminal − by a predetermined magnification and transmits a signal having the amplified potential to the calculation circuit 25. The predetermined magnification is, for example, 1, 2, or 10, and is set to a unique value in advance or is set variably. The differential amplifier circuit 24 has a non-inverting input terminal + connected to a first terminal 221 of the detection electrode 22A and an inverting input terminal − connected to a second terminal 222 of the detection electrode 22A. Alternatively, the differential amplifier circuit 24 may have a non-inverting input terminal + connected to the second terminal 222 of the detection electrode 22A and an inverting input terminal − connected to the first terminal 221 of the detection electrode 22A.

[0028] The calculation circuit 25 determines whether or not the object 2 is present in the space near the detection system 20 from a signal including information about the potential difference between the first terminal 221 and the second terminal 222 transmitted from the differential amplifier circuit 24. For example, if the potential of the signal transmitted from the differential amplifier circuit 24 is equal to or higher than a predetermined potential, the calculation circuit 25 determines that the object 2 is present in the space near the detection system 20. On the other hand, if the potential of the signal transmitted from the differential amplifier circuit 24 is less than the predetermined potential, the calculation circuit 25 determines that the object 2 is not present in the space near the detection system 20. The calculation circuit 25 transmits a signal including the determination result to the control device 30. Note that the calculation circuit 25 may extract, for example, a component in the frequency band of the detection signal S from the signal transmitted from the differential amplifier circuit 24 and perform the above-described determination on the potential of the extracted signal.

[0029] In the detection system 20 configured as described above, first, the signal generating circuit 21 generates a detection signal S, which is transmitted to the first terminal 221 and the second terminal 222 of the detection electrode 22A. The first terminal 221 and the second terminal 222 are excited by the detection signal S. Because the first terminal 221 and the second terminal 222 are provided on the same detection electrode 22A, the capacitance Cx detected by the first terminal 221 is approximately the same value as the capacitance Cy detected by the second terminal 222 when the object 2 is not present in the space. In contrast, in the detection system 20, for example, when the object 2 approaches the space near the detection system 20 from the direction D2, the potential of the first terminal 221, which is closer to the object 2 than the second terminal 222, rises before the potential of the second terminal 222. The detection system 20 calculates the potential difference between the first terminal 221 and the second terminal 222 using the detection circuit 23, and detects the object 2 from the calculation result. Subsequently, in the detection system 20, the potential of the second terminal 222 rises at a timing later than that of the first terminal 221 due to the approach of the object 2 to be detected.

[0030] As a result, detection system 20 calculates the potential difference between first terminal 221 and second terminal 222, eliminating the effect on the detection of spatial capacitance caused by noise due to environmental changes in the temperature, humidity, air pressure, magnetic field, electric field, and the like in the space near detection system 20. Note that detection electrode 22A has higher performance as the value of distance d1 between first terminal 221 and second terminal 222 relative to the value of its area. Furthermore, detection electrode 22A has higher performance as the length d2 of the path from first terminal 221 to second terminal 222 via detection electrode 22A relative to the value of area. Furthermore, detection electrode 22A has higher performance as the length d2 of the path from first terminal 221 to second terminal 222 via detection electrode 22A relative to the value of distance d1 between first terminal 221 and second terminal 222.

[0031] <Effects> As described above, in this embodiment, the detection system 20 includes a detection electrode 22A in which a single plate-like member is bent or curved and formed into a plane shape so as not to overlap in a planar view, and which has a first terminal 221 provided at one end and a second terminal 222 provided at the other end. Therefore, the detection system 20 can improve the detection performance per unit area.

[0032] Furthermore, in this embodiment, detection system 20 has detection electrode 22A formed in a shape that spreads out in a plane from the center, with one end provided on the outer edge of detection electrode 22A and the other end provided in the center of detection electrode 22A. Therefore, since detection system 20 has one end on the outer edge and the other end in the center, the distance d2 from one end to the other is necessarily long, which can further improve detection performance per unit area.

[0033] In this embodiment, the detection electrode 22A is formed in a shape such that the area of ​​the detection electrode 22A and the length d2 of the path from one end to the other end or the distance d1 between the one end and the other end satisfy a predetermined relationship. Therefore, the detection performance per unit area of ​​the detection system 20 can be further improved.

[0034] In this embodiment, the detection electrode 22A is provided in the detection area A1, which is formed in a rectangular shape covering the outer periphery of the detection electrode 22A in a plan view, and is formed in a snake-like shape that repeatedly bends clockwise or counterclockwise from the boundary of the detection area A1 toward the center of the detection area A1. Therefore, the detection system 20 can form the detection electrode 22A through the simple process of forming slits in a rectangular shape. Furthermore, the rectangular outer shape of the detection system 20 improves layout efficiency when arranging the detection electrode 22A. Therefore, the detection system 20 can improve detection performance per unit area while suppressing manufacturing costs and the space required for arrangement.

[0035] <Modification> The present invention is not limited to the above-described embodiments. In other words, variations of the above-described embodiments, which are appropriately modified by a person skilled in the art, are also included within the scope of the present invention as long as they include the features of the present invention. Furthermore, the elements of the above-described embodiments and the modifications described below can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they include the features of the present invention.

[0036] For example, in this embodiment, the detection electrode 22A is provided in the detection area A1, which is formed in a rectangular shape, and is formed in a snake-like shape, but this is not limited to this. The detection electrode 22A may have any shape as long as it is formed into a plane shape by bending or curving a single plate-like member. Here, other examples of the detection electrode 22A will be described with reference to Figures 4A to 4C.

[0037] FIG. 4A is a diagram illustrating a second example of the detection electrode 22A shown in FIG. 2. As shown in FIG. 4A, the detection electrode 22B is provided on the detection area A1 and is formed so as to be zigzag. Furthermore, the detection electrode 22B has one end provided near a corner of the detection area A1 and the other end provided at a corner diagonally opposite the corner of the detection area A1 where the first end is provided. With this configuration, the detection system 20 increases both the distance d1 and the path d2 between the first terminal 221 and the second terminal 222. Furthermore, the detection system 20 has a simple shape in which slits are formed alternately left and right or up and down in a rectangular electrode, and is easy to manufacture. Therefore, the detection system 20 can improve detection performance per unit area while suppressing manufacturing costs.

[0038] Although the detection electrodes 22A and 22B described above are formed to extend while bending in a direction perpendicular or parallel to the outer periphery of the rectangular detection area A1, this is not limiting. FIG. 4B illustrates a third example of the detection electrode 22A shown in FIG. 2. As shown in FIG. 4B, the detection electrode 22C is provided on the detection area A1 and is formed to extend while bending in an oblique direction that is neither perpendicular nor parallel to the outer periphery of the detection area A1. Furthermore, the detection electrode 22C is formed such that the thickness of a single plate-like member varies depending on the position along the path from the first terminal 221 to the second terminal 222. With this configuration, the detection system 20 includes paths in which the detection electrode 22C extends not only vertically and horizontally but also diagonally from the first terminal 221 to the second terminal 222, thereby increasing the variety of paths of the detection electrode 22C and improving the detection performance per unit area.

[0039] Although the detection electrodes 22A to 22C described above are formed as a surface formed by bending a single plate-like member into the rectangular detection area A1, this is not limiting. The detection area A1 does not have to be rectangular. Furthermore, the detection electrode 22A does not have to be bent. FIG. 4C is a diagram illustrating a fourth example of the detection electrode 22A shown in FIG. 2. As shown in FIG. 4C, the detection electrode 22D is provided on the circular detection area A2 and is formed in a spiral shape that repeatedly curves clockwise from the boundary of the detection area A2 toward the center of the detection area A2. The detection electrode 22D may be formed in a spiral shape that repeatedly curves counterclockwise, or may be formed on a single plate-like member that curves clockwise and counterclockwise from the first terminal 221 to the second terminal 222. Furthermore, the detection area A2 may be formed in an elliptical shape. According to this configuration, in the detection system 20, the detection electrode 22D is formed into a planar shape by curving a single plate-like member, and therefore the detection performance per unit area can be improved while increasing the variety of shapes of the detection electrode 22C.

[0040] The detection area A1 may have a shape other than a rectangle, a circle, or an ellipse, such as an L-shape, a U-shape, a cross shape, or a polygonal shape. Furthermore, the detection electrode 22A may be formed into a planar shape by repeatedly bending and curving a single plate-like member. This configuration allows the detection system 20 to increase the variety of shapes of the detection electrode 22A while improving the detection performance per unit area.

[0041] Furthermore, detection electrode 22A does not have to be formed so as to fill detection area A1. Detection electrode 22A may be formed on detection area A1 so as to form a rectangular, circular, elliptical, L-shaped, U-shaped, cross-shaped, polygonal, or other shaped gap within detection area A1. Specifically, detection electrode 22A may be formed on detection area A1 so as to form a rectangular gap near the other end where second terminal 222 is provided, for example. With this configuration, detection electrode 22A is formed on detection area A1 so as to form a gap within detection area A1, thereby improving detection performance per unit area even when a component other than detection electrode 22A is provided within detection area A1.

[0042] Furthermore, in this embodiment, the detection system 20 is provided on the robot 10, but this is not limiting. The detection system 20 may be provided on a moving part of any machine (for example, industrial machine) as long as the machine has a moving part exposed to the outside. With this configuration, the industrial machine can detect the object 2 around the industrial machine while improving the detection performance per unit area using the detection system 20. [Explanation of symbols]

[0043] 2...detected object, 10...robot, 11...arm portion, 12...wrist portion, 20...detection system, 21...signal generating circuit, 22A...detection electrode, 22B...detection electrode, 22C...detection electrode, 22D...detection electrode, 23...detection circuit, 221...first terminal, 222...second terminal, A1...detection area, A2...detection area

Claims

1. a detection electrode formed of a single plate-like member that is bent or curved and has a planar shape that is arranged so as not to overlap in a plan view, the detection electrode having a first terminal at one end and a second terminal at the other end different from the one end; a signal generating circuit that generates a detection signal and transmits the generated detection signal to the first terminal and the second terminal; a detection circuit that detects an object to be detected based on a potential difference between the first terminal and the second terminal; A detection system comprising:

2. The detection electrode is formed in a shape that spreads out from the center in a planar shape, the one end is provided on an outer edge of the detection electrode, The detection system according to claim 1 , wherein the other end is provided at the center of the detection electrode.

3. 3. The detection system according to claim 1, wherein the detection electrode is provided within a detection area that is formed in a rectangular shape that covers the outer peripheral edge of the detection electrode in a planar view, and is formed in a zigzag shape that repeatedly bends clockwise or counterclockwise from the boundary of the detection area toward the vicinity of the center of the detection area.

4. a detection system including: a detection electrode in which a plate-like member is bent or curved and formed into a plane shape arranged so as not to overlap in a planar view, the detection electrode having a first terminal at one end and a second terminal at the other end different from the one end; a signal generation circuit that generates a detection signal and transmits the generated detection signal to the first terminal and the second terminal; and a detection circuit that detects a detection object based on a potential difference between the first terminal and the second terminal; a movable arm on which the detection system is mounted; a wrist portion connected to the arm portion and performing work on a workpiece; A robot equipped with:

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