robot

Abstract

This invention provides a robot that can improve the visibility of indicator lights while suppressing a decrease in the detection accuracy of capacitive sensors. [Solution] A robot equipped with a capacitive sensor 22, comprising: a housing constituting an arm; an indicator light 21 provided on the housing; a detection electrode 26 of the sensor 22 provided so as to cover the indicator light 21 and having a hole 27 that allows visible light emitted from the indicator light 21 to pass through; and a cover 23 provided so as to cover the detection electrode 26, which transmits a portion of the visible light that has passed through the hole 27 and reflects a portion of the visible light that has passed through the hole 27 back to the electrode surface of the detection electrode 26.

Description

Technical Field

[0001] The present invention relates to a robot equipped with a capacitive sensor.

Background Art

[0002] There are cases where a human and a robot cooperate to perform work on a workpiece. A robot used in such a case is called a collaborative robot. For example, in a collaborative robot, a capacitive sensor may be mounted.

[0003] Also, in Patent Document 1, it is described that for an operation button switch, the sensor electrode of the capacitive sensor may be provided with through holes so as not to inhibit light irradiation and light reception.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a robot, an indicator light may be provided to indicate an operating state or the like. Particularly in the case of a collaborative robot, the installation of an indicator light is essential. When an indicator light is provided on a robot, depending on the position of the indicator light, there is a possibility that the indicator light may be hidden by the capacitive sensor and the visibility of the indicator light may decrease. In such a case, for example, even if through holes are provided in the electrodes as in Patent Document 1, it is assumed that the range of the light of the indicator light is limited and it is difficult to ensure the visibility of the indicator light. On the other hand, if the through holes are enlarged to ensure visibility, there is a possibility that the detection accuracy of the capacitive sensor may decrease.

[0006] In view of the above issues, the present invention aims to provide a robot that can improve the visibility of indicator lights while suppressing a decrease in the detection accuracy of capacitive sensors. [Means for solving the problem]

[0007] To solve the above problems, the robot according to the present invention is a robot equipped with a capacitive sensor, comprising: a housing that constitutes an arm; an indicator light provided on the housing; a detection electrode for the capacitive sensor provided so as to cover the indicator light and having a hole that allows visible light emitted from the indicator light to pass through; and a cover provided so as to cover the detection electrode, which transmits a portion of the visible light that has passed through the hole and reflects a portion of the visible light that has passed through the hole to the electrode surface of the detection electrode.

[0008] Furthermore, in the robot, the cover has a curved shape on the surface facing the hole of the detection electrode.

[0009] Furthermore, in the robot, the hole is a cross-shaped slit.

[0010] Furthermore, in the robot, the cover has an ellipsoidal shape on the surface facing the hole of the detection electrode, and has a first focal point and a second focal point that is closer to the surface facing the hole than the first focal point, the indicator light is provided corresponding to the position of the first focal point, and the hole of the detection electrode is provided corresponding to the position of the second focal point. [Effects of the Invention]

[0011] According to the robot of the present invention, it is possible to improve the visibility of the display by the indicator light while suppressing a decrease in the detection accuracy of the capacitive sensor. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic perspective view showing an example of the overall configuration of a robot according to an embodiment of the present invention. [Figure 2]Figure 1 is a perspective view showing an example of a specific configuration of the third arm. [Figure 3] Figure 2 is an exploded view showing an example of the configuration of the indicator light, sensor, and cover in the third arm. [Figure 4] This figure shows an example of the positional relationship between the indicator light, sensor, and cover in the third arm of Figure 2. [Modes for carrying out the invention]

[0013] Embodiments of the present invention will be described below with reference to the attached drawings. In order to facilitate understanding of the explanation, the same reference numerals are used for identical components in each drawing whenever possible, and redundant explanations are omitted as appropriate.

[0014] ===Implementation Method=== <Overall Structure> Figure 1 is a schematic perspective view showing an example of the overall configuration of robot 1 according to one embodiment of the present invention.

[0015] Robot 1 is an industrial robot that performs tasks on a workpiece, such as processing and transporting. Furthermore, Robot 1 is a collaborative robot that works in the same space as a human, for example.

[0016] As shown in Figure 1, robot 1 is a multi-joint robot and has multiple arms and multiple joints. Specifically, robot 1 comprises a base 3, a first arm A1, a second arm A2, a third arm A3, and a fourth arm A4.

[0017] The base 3 is the base of the robot 1. The base 3 is fixed to the floor surface or the wall surface and supports the entire robot 1. The first arm A1 is connected to the base 3 via a rotating shaft. And the first arm A1 rotates around the rotating shaft with respect to the base 3 by a motor (not shown). The second arm A2, the third arm A3, and the fourth arm A4 rotate around the rotating shaft by respective motors (not shown) in the same manner as the first arm A1. And a tool is provided at the tip of the fourth arm A4. By the movement of each joint, the robot 1 performs a predetermined operation. Note that the number of arms provided in the robot 1 is not limited.

[0018] FIG. 2 is a perspective view showing an example of the specific configuration of the third arm A3 of the robot 1. As shown in FIG. 2, the robot 1 has an indicator light 21, a sensor 22, and a cover 23. FIG. 3 shows an example of an exploded view of the indicator light 21, the sensor 22, and the cover 23 in the third arm A3 of FIG. 2.

[0019] The indicator light 21 indicates the operating state of the robot 1. The indicator light 21 is composed of a light source. Preferably, the light source uses, for example, an LED with high directivity. Specifically, the indicator light 21 indicates the stop state and the operating state of the robot 1 separately. Also, the indicator light 21 may indicate the effective state and the invalid state of object detection by the sensor 22 described later separately. In particular, when the robot 1 is a collaborative robot, the indicator light 21 needs to indicate whether it is a collaborative mode corresponding to the case where the robot 1 works in cooperation with a person or a non - collaborative mode not corresponding to the case where the robot 1 works in cooperation with a person. The indicator light 21 emits visible light and notifies the surrounding workers of the operating state of the robot 1.

[0020] The indicator light 21 is provided on the arm of the robot 1. In the present embodiment, the case where the indicator light 21 is provided on the third arm A3 of the robot 1 is described as an example, but the installation position is not limited to the third arm A3. The indicator light 21 is provided with respect to the housing 25 constituting the third arm A3. Note that the housing 25 is composed of a metal member and is connected to the reference potential (for example, ground) of the robot 1.

[0021] The sensor 22 is a capacitive sensor that detects an object such as a person. In this embodiment, an "object" is a broad concept that includes an object such as a human or a workpiece. Specifically, the sensor 22 detects the proximity of an object. Note that the sensor 22 may detect the displacement of an object.

[0022] The sensor 22 is provided on the arm of the robot 1. In this embodiment, the case where the sensor 22 is provided on the third arm A3 of the robot 1 will be described as an example, but the installation position is not limited to the third arm A3. The sensor 22 is provided with respect to the housing 25 constituting the third arm A3. In this embodiment, the sensor 22 is provided so as to cover the indicator light 21. Specifically, the detection electrode 26 of the sensor 22 described later is provided so as to cover the indicator light 21. That is, the sensor 22 is provided outside the indicator light 21 in the third arm A3. Thus, even when the sensor 22 is provided so as to cover the indicator light 21, the visibility of the display of the indicator light 21 is suppressed from being reduced by the hole 27 of the detection electrode 26 described later.

[0023] The sensor 22 is configured using the detection electrode 26 and generates an electric field in a predetermined direction from the detection electrode 26. Specifically, the sensor 22 generates an electric field around the robot 1. Then, the detection electrode 26 of the sensor 22 forms a capacitance with a nearby object. The capacitance changes according to the distance between the detection electrode 26 and the object. The sensor 22 outputs an output corresponding to the capacitance formed between the detection electrode 26 and the object as a sensor value. A shield electrode, an active shield electrode, or the like may be provided on the side opposite to the direction in which the electric field is generated with respect to the detection electrode 26 (the main body side of the robot 1).

[0024] In this way, the sensor 22 outputs a sensor value corresponding to the capacitance (i.e., distance) formed between it and the object. For example, the sensor value is used to determine whether or not an object is in close proximity to the robot 1, and if it is determined that an object is in close proximity to the robot 1, the robot 1 stops moving. The robot 1 stops moving even if it is in the middle of a predetermined operation. Thus, the sensor value of the sensor 22 is used for stopping the robot 1. However, this is not limited to stopping the robot 1's movement; it may also be used to slow down the robot 1's movement or to cause the robot 1 to perform an action to avoid the object.

[0025] The shape of the detection electrode 26 of the sensor 22 is designed to match, for example, the outer shape of the arm, and is not limited to a specific shape. The detection electrode 26 is made of a copper material (for example, copper foil). It is preferable that the detection electrode 26 be made of a metal material (especially copper) because using a transparent material or a mesh-like material may reduce its sensitivity.

[0026] Furthermore, the detection electrode 26 has a hole 27. The hole 27 is a through-hole formed in the detection electrode 26. The hole 27 allows visible light emitted from the indicator light 21 to pass through. In this embodiment, the hole 27 is a slit with a cross shape in plan view. The center of the hole 27, i.e., the center of the cross shape, is positioned to coincide with the position of the light source of the indicator light 21. Therefore, the visible light emitted from the indicator light 21 passes through the hole 27 in the detection electrode 26 that covers the indicator light 21 and travels straight outwards from the detection electrode 26.

[0027] The cover 23, together with the housing 25, forms the exterior of the third arm A3. The cover 23 also protects the indicator light 21 and the detection electrode 26.

[0028] The cover 23 is provided on the arm of the robot 1. In this embodiment, the case in which the cover 23 is provided on the third arm A3 of the robot 1 is described as an example, but the installation position is not limited to the third arm A3. The cover 23 is provided on the housing 25 that constitutes the third arm A3. Specifically, the cover 23 is provided so as to cover the detection electrode 26 of the sensor 22. That is, the cover 23 is provided on the third arm A3 outside the indicator light 21 and the detection electrode 26.

[0029] The cover 23 is formed from a resin insulating material. As a result, the electric field generated by the internal sensing electrode 26 passes through the cover 23 and extends to the outside of the robot 1.

[0030] The cover 23 is made of a milky white (white translucent) material. As a result, the light emitted from the indicator light 21 passes through the cover 23, making the light from the indicator light 21 visible from the outside.

[0031] Furthermore, the cover 23 is designed with a curved shape. Specifically, the surface of the cover 23 facing the hole 27 of the detection electrode 26 is curved (concave). That is, the inner surface of the cover 23 is curved. In this embodiment, the surface of the cover 23 facing the hole 27 of the detection electrode 26 is ellipsoidal. That is, the visible light emitted from the indicator light 21 passes through the hole 27 of the detection electrode 26 and travels in a straight line to the ellipsoidal shape formed on the surface of the cover 23.

[0032] <Specific examples of spatial relationships> Next, an example of the positional relationship between the indicator light 21, the sensor 22, and the cover 23 will be explained.

[0033] Figure 4 shows an example of the positional relationship between the indicator light 21, the sensor 22, and the cover 23. As described above, the surface of the cover 23 facing the hole 27 of the detection electrode 26 is ellipsoidal. Therefore, the cover 23 functions as an ellipsoidal reflecting surface due to the ellipsoidal shape (ellipsoid) of its inner surface and has two focal points. These two focal points are the first focal point P1 and the second focal point P2. The second focal point P2 is closer to the inner surface of the cover 23 than the first focal point P1.

[0034] As shown in Figure 4, when an ellipsoidal shape is formed on the surface of the cover 23, an indicator light 21 is provided corresponding to the position of the first focal point P1. Then, a hole 27 for the detection electrode 26 is provided corresponding to the position of the second focal point P2. Preferably, the center of the indicator light 21, the center of the hole 27 for the detection electrode 26, and the center of the curved surface shape (ellipsoidal shape) on the inner surface of the cover 23 are aligned in a straight line.

[0035] In this way, the indicator light 21, the sensor 22, and the cover 23 are positioned to match the curved shape of the surface of the cover 23 that faces the hole 27 of the detection electrode 26.

[0036] <Specific examples of the paths of visible light> Next, we will explain an example of the path of visible light emitted from the indicator light 21.

[0037] As shown in Figure 4, the visible light emitted from the indicator light 21 passes through the hole 27 of the detection electrode 26, for example, as shown in path R1. After passing through the hole 27, the visible light travels straight towards the cover 23.

[0038] Then, as shown in path R1, the visible light that passes from the indicator light 21 through the hole 27 reaches the cover 23. The cover 23 transmits a portion of the visible light, which is shown as path R2. The transmitted visible light becomes visible from outside the cover 23.

[0039] Furthermore, the cover 23 reflects a portion of the visible light, which is shown as path R3. The reflected visible light travels in a straight line to the electrode surface of the detection electrode 26. Because the inner surface of the cover 23 is curved, paths R1 and R3 are not parallel, and the reflected visible light is prevented from returning along path R1 and passing through the hole 27, instead traveling in a straight line onto the electrode surface around the hole 27.

[0040] In the above example, a portion of the visible light passing through the hole 27 from the indicator light 21 is shown to be transmitted and a portion of the visible light is reflected. However, a portion of the visible light passing through the hole 27 may be absorbed by the cover 23.

[0041] As shown in path R3, the visible light reflected from the cover 23 reaches the electrode surface of the detection electrode 26. The electrode surface of the detection electrode 26 is made of copper. Therefore, the detection electrode 26 reflects the visible light as shown in path R4. The reflected visible light travels straight back to the cover 23.

[0042] Then, as shown in path R4, the visible light reflected by the detection electrode 26 reaches the cover 23, where some of the visible light is transmitted as shown in path R5, and some of the visible light is reflected as shown in path R6. The visible light transmitted as shown in path R5 becomes visible from outside the cover 23. The visible light reflected as shown in path R6 travels straight to the electrode surface of the detection electrode 26.

[0043] In this way, continuous reflection of visible light occurs between the detection electrode 26 and the cover 23. As a result, visible light is diffused between the detection electrode 26 and the cover 23. Specifically, the visible light that passes through the hole 27 is diffused away from the hole 27 by reflection. This causes the visible light emitted from the indicator light 21 to spread not only within the area of ​​the hole 27 but also around the hole 27, making the visible light from the indicator light 21 easier to see from the outside. In particular, because the cover 23 is made of a milky white material, visible light can be diffused efficiently, making it possible to improve the visibility of the display by the indicator light 21.

[0044] <Effects and Effects> In this embodiment, a detection electrode 26 is provided so as to cover the indicator light 21, and a cover 23 is provided so as to cover the detection electrode 26. The detection electrode 26 has a hole 27, and the cover 23 transmits and reflects a portion of the visible light. As a result, the visible light emitted from the indicator light 21 that passes through the hole 27 of the detection electrode 26 is reflected between the detection electrode 26 and the cover 23. This reflection diffuses the visible light, making it possible to improve the visibility of the display by the indicator light 21. In other words, workers can easily distinguish the display by the indicator light 21. Furthermore, because visible light can be diffused between the detection electrode 26 and the cover 23, the hole 27 of the detection electrode 26 does not need to be designed to be large, and a decrease in the detection accuracy of the sensor 22 is suppressed. In other words, it is possible to improve the visibility of the display by the indicator light 21 while suppressing a decrease in the detection accuracy of the sensor 22.

[0045] Furthermore, because the surface of the cover 23 facing the hole 27 of the detection electrode 26 is curved, visible light can be effectively diffused between the detection electrode 26 and the cover 23, thereby improving the visibility of the display by the indicator light 21.

[0046] Furthermore, because the hole 27 is a cross-shaped slit, the reduction in the area of ​​the detection electrode 26 can be suppressed. This makes it easier to detect distant objects using the detection electrode 26. In other words, it efficiently passes the visible light of the indicator light 21 while suppressing a decrease in the detection accuracy of the sensor 22.

[0047] Furthermore, because the cover 23 is made of a milky white material, visible light that has passed through the holes 27 of the detection electrode 26 can be effectively reflected back to the detection electrode 26. As a result, visible light can be efficiently diffused between the detection electrode 26 and the cover 23, improving the visibility of the display by the indicator light 21.

[0048] Furthermore, the surface of the cover 23 is ellipsoidal in shape, with an indicator light 21 provided corresponding to the position of the first focal point P1, and a hole 27 for the detection electrode 26 provided corresponding to the position of the second focal point P2. As a result, the visible light reflected by the cover 23 is prevented from passing through the hole 27 of the detection electrode 26 and returning to the indicator light 21 side. In other words, visible light can be efficiently diffused between the detection electrode 26 and the cover 23, making it possible to improve the visibility of the display by the indicator light 21.

[0049] ===Unique Text=== This disclosure is not limited to the embodiments described above. In other words, any design modifications made to the above-described examples by those skilled in the art are also included within the scope of this disclosure, as long as they retain the features of this disclosure. Furthermore, the elements of the above embodiments and the following modifications can be combined to the extent that it is technically possible, and any combination thereof is also included within the scope of this disclosure, as long as it retains the features of this disclosure.

[0050] Furthermore, in the above embodiment, the case in which the hole 27 of the detection electrode 26 is a cross-shaped slit was given as an example, but the shape of the hole 27 is not limited. The hole 27 may be, for example, round. Also, in the above embodiment, the case in which the detection electrode 26 is provided with one hole 27 was given as an example, but the number of holes 27 is not limited. For example, the detection electrode 26 may be provided with multiple holes 27.

[0051] Furthermore, while the above embodiment uses the case where the inner surface of the cover 23 is ellipsoidal as an example, the curved shape of the inner surface of the cover 23 is not limited to an ellipsoidal shape. For example, the inner surface of the cover 23 may be a spherical or aspherical (paraboloid, hyperboloid, or polynomial) curved surface. Also, when the inner surface of the cover 23 is ellipsoidal, the indicator light 21 and detection electrode 26 are not limited to being positioned in accordance with the positions of the first focal point P1 and the second focal point P2.

[0052] Furthermore, in the above embodiment, visible light that has passed through the holes 27 is reflected on the inner surface of the cover 23. For this reason, the inner surface of the cover 23 may be processed to facilitate the reflection of visible light. For example, the area on the inner surface of the cover 23 facing the holes 27 may be processed to enhance the reflection of visible light. In addition, the inner surface of the cover 23 may be given an uneven shape to reflect the visible light that has passed through the holes 27 in various directions.

[0053] Furthermore, in the above embodiment, the visible light reflected from the cover 23 is further reflected by the electrode surface of the detection electrode 26. For this reason, the electrode surface of the detection electrode 26 may be processed to make it easier to reflect visible light. For example, the electrode surface of the detection electrode 26 may be processed to enhance the reflection of visible light. In addition, the electrode surface of the detection electrode 26 may be given an uneven shape to allow the visible light reflected by the cover 23 to be reflected in various directions.

[0054] Furthermore, in the above embodiment, the case in which the cover 23 is made of a milky white (white translucent) material was given as an example, but the color of the cover 23 is not limited. The specific color of the cover 23 is not limited as long as it has the function of transmitting and reflecting visible light. [Explanation of symbols]

[0055] 1: Robot 21: Indicator light 22: Sensor (Capacitive Sensor) 23: Cover 25: Cabinet 26: Detection electrode 27: Hole A1: First arm (arm) A2: Second arm (arm) A3: Third arm (arm) A4: Fourth arm (arm) P1: 1st focal point P2 :Second focal point

Claims

1. A robot equipped with a capacitive sensor, The housing that makes up the arm, An indicator light provided on the aforementioned housing, The detection electrode of the capacitive sensor is provided so as to cover the indicator light and has a hole that allows visible light emitted from the indicator light to pass through, A cover is provided to cover the detection electrode, which transmits a portion of the visible light that has passed through the hole and reflects a portion of the visible light that has passed through the hole back to the electrode surface of the detection electrode, A robot characterized by being equipped with the following features.

2. The robot according to claim 1, characterized in that the cover has a curved shape on the surface facing the hole of the detection electrode.

3. The robot according to claim 1 or 2, characterized in that the hole is a cross-shaped slit.

4. The cover has an ellipsoidal shape on the surface facing the hole of the detection electrode, and has a first focal point and a second focal point that is closer to the surface facing the hole than the first focal point. The indicator light is provided corresponding to the position of the first focal point, The robot according to claim 1 or 2, characterized in that the hole in the detection electrode is provided corresponding to the position of the second focal point.

Images