Detection device and manipulator

Abstract

To provide a detector which can detect torsion and force in a turning direction of a movable arm in addition to inclination and force of the movable arm in a substantially perpendicular direction relative to a turning axis.SOLUTION: A detector 10 to which a movable arm 20 is connected comprises: a first member 11; a second member 12; a first elastic body which connects the first member 11 and the second member 12, and measures torque acting between the first member 11 and the second member 12 using a central axis of the first member 11 and the second member 12 as a turning axis; at least three or more distance sensors 14 arranged at different places to measure distances between predetermined sites on the first member 11 and predetermined sites on the second member 12; and a calculation unit 32 for calculating and detecting an inclination degree and a direction of the second member 12 in a substantially perpendicular direction with respect to the turning axis relative to the first member 11, on the basis of a difference between a distance measured by the distance sensor 14 and a reference value provided for each distance sensor 14.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a detection device and a manipulator. Background Art

[0002] Conventionally, detection devices that detect the inclination between two members, the force applied between two members, and the like have been known.

[0003] In this regard, Patent Document 1 discloses an attitude control device including a first object, a second object disposed opposite to the first object, and an inclination detection means provided on the second object side for detecting the inclination when the first object is inclined. Prior Art Documents Patent Documents

[0004] Patent Document 1 Japanese Patent Laid-Open Publication No. Sho 60-32143 Summary of the Invention Problems to be Solved by the Invention

[0005] However, the technology described in Patent Document 1 has a problem that it cannot detect the torsion and force of the second object relative to the first object in the rotational direction whose rotation axis is the axis passing through the first object and the second object.

[0006] The present invention has been made in view of such problems, and an object of the present invention is to provide a detection device capable of detecting torsion in the rotational direction of a movable arm in addition to the inclination and force of the movable arm in a direction substantially perpendicular to the rotational axis. Means for Solving the Problems

[0007] To solve the above problems, a detection device according to a first aspect of the present invention is a detection device to which a movable arm is connected, comprising: a first member; a second member; a first elastic body that connects the first member and the second member and measures the torque acting between the first member and the second member with the central axis of the first member or the second member as the axis of rotation; at least three or more distance sensors that are each placed at different locations on at least one of the first member and the second member and measure the distance between a predetermined location on the first member and a location on the second member opposite to the predetermined location; and a calculation unit that detects the magnitude and direction of the inclination of the second member relative to the first member in a direction substantially perpendicular to the axis of rotation, based on the difference between the distance measured by the distance sensor and a reference value provided for each distance sensor.

[0008] Furthermore, the detection device according to the second aspect of the present invention further comprises a second elastic body connecting the first member and the second member.

[0009] Furthermore, in the detection device according to the third aspect of the present invention, the first elastic body is composed of a torque sensor that measures non-rotating torque acting on the pivot shaft, and the calculation unit calculates the magnitude and direction of the force applied between the first member and the second member based on the magnitude of the inclination, the direction of the inclination, the elastic modulus of the torque sensor in a direction substantially perpendicular to the pivot shaft, and the elastic modulus of the second elastic body, and also detects the non-rotating torque measured by the first elastic body.

[0010] Furthermore, a manipulator according to a fourth aspect of the present invention comprises the detection device and the movable arm having at least one movable part connected to the first member or the second member. [Effects of the Invention]

[0011] According to the present invention, the detection device can detect not only the inclination and force of the movable arm in a direction substantially perpendicular to the rotation axis, but also the twist and force in the rotational direction of the movable arm. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view of a manipulator according to the first embodiment of the present invention. [Figure 2] Figure 1 is a perspective view of the detection device. [Figure 3] Figure 1 is a top view of the detection device. [Figure 4] This is a cross-sectional view of the detection device shown in Figure 1, along the line II-II in Figure 3. [Figure 5] This figure shows the circuit configuration of the detection device shown in Figure 1. [Figure 6] This is a cross-sectional view of the detection device at the same cutting position as Figure 3 according to the second embodiment of the present invention. [Figure 7] This figure shows the circuit configuration of the detection device shown in Figure 6. [Figure 8] This is a cross-sectional view of the detection device at the same cutting position as Figure 3, relating to a modified example of the first and second embodiments. [Figure 9] This is a cross-sectional view of the detection device at the same cutting position as Figure 3, relating to other modifications of the first and second embodiments. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments of the present invention (hereinafter referred to as "this embodiment") will be described with reference to the attached drawings. To facilitate understanding of the description, the same reference numerals are used for the same components and steps in each drawing whenever possible, and redundant explanations are omitted.

[0014] ---First Embodiment--- First, let me describe the first embodiment.

[0015] <Structure> Figure 1 is a perspective view of the manipulator 1 according to the first embodiment of the present invention.

[0016] As shown in FIG. 1, manipulator 1 is, for example, a collaborative robot, and is configured to include a detection device 10A, a movable arm 20, a processing device 30, and an input / output device 40 (see FIG. 5).

[0017] The detection device 10A is a device that detects the inclination of the manipulator 1 with respect to an installation surface and an external force applied to the manipulator 1. The detection device 10A includes, for example, a first member 11, a second member 12, a torque sensor 13 (see FIG. 4) configured of an elastic body (a first elastic body), at least three or more distance sensors 14 (see FIG. 4), and an elastic body 15 (see FIG. 4) that is an elastic body (a second elastic body) separate from the torque sensor 13. Details of these configurations included in the detection device 10A will be described later.

[0018] The movable arm 20 is a mechanism for performing a predetermined work on an object to be worked, and is connected to the detection device 10A. The movable arm 20 includes a work execution unit that executes a predetermined work on the object to be worked, and at least one or more (for example, six) movable units (none of which are illustrated) for moving the work execution unit to the position of the object to be worked.

[0019] The processing device 30 receives commands from an operator of the manipulator 1 via the input / output device 40 or receives commands from a predetermined program stored in a storage device (not illustrated), executes processing in accordance with the commands (for example, control of the movable arm 20), and transmits processing results to the input / output device 40. The processing device 30 also receives measurement results from the torque sensor 13 and the distance sensor 14, calculates information related to the inclination of the manipulator 1 with respect to the installation surface and information related to the external force applied to the manipulator 1 in accordance with the received measurement results, executes processing in accordance with further commands from a predetermined program based on the calculated information, and transmits the calculated information to the input / output device 40. The processing device 30 is mainly configured to include, for example, a control panel equipped with an MPU (Micro Processing Unit), a CPU (Central Processing Unit), an electric circuit, a memory, and the like.

[0020] The input / output device 40 receives input from the operator of the manipulator 1 or commands from a predetermined program stored in a storage device, and transmits the input to the processing device 30. The input / output device 40 also receives processing results from the processing device 30, as well as calculation results regarding the inclination of the manipulator 1 relative to the installation surface and the external forces applied, and transmits the processing results and calculation results to the operator. The input / output device 40 is composed of, for example, buttons, switches, levers, displays, monitors, alarms, touch panels, etc.

[0021] Figure 2 is a perspective view of the detection device 10A shown in Figure 1. Figure 3 is a top view of the detection device 10A shown in Figure 1. Figure 4 is a cross-sectional view of the detection device 10A shown in Figure 1 along the line II-II in Figure 3.

[0022] As shown in Figures 2 to 4, the first member 11 is, for example, a base that supports the entire manipulator 1, and is positioned in contact with and fixed to an installation surface (not shown) of the manipulator 1. The first member 11 is, for example, cylindrical and has a substantially circular recess 110 for connecting to the second member 12.

[0023] The second member 12 is, for example, a base that supports the movable arm 20 in the manipulator 1. The second member 12 is, for example, cylindrical and has a substantially circular protrusion 120 for connecting to the first member 11. The second member 12 is connected by the circular protrusion 120 being inserted into the circular recess 110 of the first member 11.

[0024] The torque sensor 13 measures the non-rotating torque acting between the first member 11 and the second member 12 in the rotation direction R, where the central axis of the convex portion 120 of the second member 12 is the pivot axis, and transmits the measurement result to the calculation unit 32. The non-rotating torque is the torque acting between the two objects in the rotation direction when the two objects are not rotating around the pivot axis. The torque sensor 13 is positioned at the bottom of the circular recess 110 of the first member 11, with one end connected to the recess 110 of the first member 11 and the other end connected to the end of the convex portion 120 of the second member 12, thereby connecting the first member 11 and the second member 12. The torque sensor 13 is made of an elastic body having a unique elastic modulus in a direction substantially perpendicular to the pivot axis. The value of the elastic modulus of the torque sensor 13 is stored in a storage device (such as memory, RAM, ROM, hard disk drive, or solid-state drive) not shown. Note that "approximately perpendicular" refers to angles such as 85° to 95°.

[0025] The distance sensor 14 is, for example, an optical sensor or a laser sensor, and measures the distance between a predetermined location on the first member 11 and a location on the second member 12 opposite to the predetermined location, and transmits the measurement result to the calculation unit 32. At least three distance sensors 14 are provided on the detection device 10A, each in a different location. In this embodiment, the distance sensors 14 are provided on the second member 12 at locations opposite to the surface of the cylindrical edge of the first member 11, but are not limited to this. The distance sensors 14 may, for example, be provided on the surface of the cylindrical edge of the first member 11.

[0026] The elastic body 15 is, for example, an annular bearing or rubber having an intrinsic elastic modulus in a direction substantially perpendicular to the pivot axis, and is fitted between the inside of the recess 110 of the first member 11 and the outside of the protrusion 120 of the second member 12, thereby connecting the inner circumference of the recess 110 of the first member 11 and the outer circumference of the protrusion 120 of the second member 12. The value of the elastic modulus of the elastic body 15 is stored in a storage device (not shown).

[0027] Figure 5 shows the circuit configuration of the detection device 10A shown in Figure 1. As shown in Figure 5, the processing device 30 is composed of a control unit 31 and a calculation unit 32.

[0028] The control unit 31 controls the movable arm 20 and the calculation unit 32 to perform predetermined processing in accordance with commands from the operator of the manipulator 1 transmitted via the input / output device 40, or commands from a predetermined program stored in a storage device (not shown). Here, predetermined processing includes predetermined tasks to be performed on the object to be worked on, calibration work for the manipulator 1, and the execution of various calculation processes by the calculation unit 32. The control unit 31 also receives each calculation result from the calculation unit 32 as a detection result, and executes processing in accordance with further commands from the predetermined program according to each received detection result, or transmits each detection result to the input / output device 40.

[0029] The calculation unit 32 detects the second member 12 relative to the first member 11 by calculating information on the second member 12 relative to the first member 11 according to the measurement results of the torque sensor 13 and the measurement results of each distance sensor 14, and transmits the detected results to the control unit 31 via the control unit 31. Here, the information on the second member 12 relative to the first member 11 refers to the torque acting on the rotation axis of the second member 12 relative to the first member 11, the magnitude and direction of the inclination perpendicular to the rotation axis, and the magnitude and direction of the force applied between the first member 11 and the second member 12 in a direction substantially perpendicular to the rotation axis.

[0030] Specifically, the calculation unit 32 calculates the difference between a reference value for the distance between the first member 11 and the second member 12, which is set for each distance sensor 14 and stored in a storage device (not shown), and the measurement result transmitted from each distance sensor 14. According to the calculated difference, the calculation unit 32 detects the magnitude and direction of the relative inclination of the second member 12 with respect to the first member 11 from the reference value, and transmits the detection result to the control unit 31. Furthermore, the calculation unit 32 multiplies the detected magnitude of the inclination of the second member 12 with respect to the first member 11 by the elastic modulus of the torque sensor 13 and the elastic body 15, which are determined by the elastic modulus of the torque sensor 13 and the elastic body 15, when the torque sensor 13 and the elastic body 15 are considered as a single object. As a result, the calculation unit 32 detects the magnitude of the force applied between the first member 11 and the second member 12 in a direction substantially perpendicular to the pivot axis, and also detects the direction of the inclination of the second member 12 relative to the first member 11 by converting it to the direction of the force, and transmits the detection result to the control unit 31.

[0031] Furthermore, the calculation unit 32 detects the twist of the first member 11 and the second member 12 when the central axis of the convex portion 120 of the second member 12, measured by the torque sensor 13, is used as the axis of rotation, as well as the non-rotating torque acting between the first member 11 and the second member 12 in the rotation direction R, and transmits the detection results to the control unit 31.

[0032] In this embodiment, the calculation unit 32 is implemented by a control panel provided separately from the detection device 10A, but the calculation unit 32 may also be included in the detection device 10A or the movable arm 20. In that case, the calculation unit 32 is implemented by a circuit board provided in a gap inside the detection device 10A or connected to the outside of the detection device 10A. Furthermore, the detection device 10A may include the control panel itself.

[0033] Furthermore, in this embodiment, the calculation unit 32 multiplies the magnitude of the inclination of the second member 12 relative to the first member 11 in a direction substantially perpendicular to the rotation axis by the elastic modulus of the torque sensor 13 and the elastic body 15, which are based on the elastic modulus of the torque sensor 13 and the elastic body 15, when the torque sensor 13 and the elastic body 15 are considered as a single object. However, the calculation unit 32 may multiply the magnitude of the inclination of the second member 12 relative to the first member 11 by either the elastic modulus of the torque sensor 13 or the elastic modulus of the elastic body 15.

[0034] <Effects> As described above, according to the configuration of this embodiment, the detection device 10A detects the magnitude and direction of a force applied between the first member 11 and the second member 12 in a direction substantially perpendicular to the pivot axis, based on the measurement results of at least three distance sensors 14 and the elastic modulus of the torque sensor 13. Since the distance sensors 14 are not connected to either the first member 11 or the second member 12, the detection device 10A is less susceptible to impact when an impact is applied to the detection device 10A, and therefore, it can detect the magnitude and direction of the force applied between the first member 11 and the second member 12 while achieving high impact resistance. In other words, the detection device 10A can detect the tilt and force of the movable arm 20 with greater accuracy. Furthermore, because the distance sensors 14 are resistant to impact, the detection device 10A can be easily calibrated even after it has been installed in the place of use. Furthermore, since the detection device 10A is equipped with a torque sensor 13, it can measure the torque in the rotational direction R acting between the first member 11 and the second member 12. In addition, since there are many inexpensive distance sensors 14 available for the detection device 10A, the cost of the detection device 10A itself can be kept down.

[0035] Furthermore, in this embodiment, the detection device 10A can achieve even higher impact resistance by providing an annular elastic body 15, such as a bearing, that connects the first member 11 and the second member 12.

[0036] Furthermore, in this embodiment, the calculation unit 32 calculates the magnitude and direction of the inclination of the second member 12 relative to the first member 11 in a direction substantially perpendicular to the rotation axis, based on the difference between each measurement result of the distance sensor 14 and a reference value provided for each distance sensor 14.

[0037] With this configuration, in addition to the distance sensor 14 being resistant to impact, the calculation unit 32 calculates the magnitude and direction of the inclination of the second member 12 relative to the first member 11 using a simple calculation method, making it easy to calibrate the detection device 10A.

[0038] In this embodiment, the calculation unit 32 calculates the magnitude and direction of the force applied between the first member 11 and the second member 12 based on the magnitude of the inclination, the direction of the inclination, the elastic modulus of the elastic body 15, and the elastic modulus of the torque sensor 13.

[0039] With this configuration, in addition to the distance sensor 14 being resistant to impact, the calculation unit 32 calculates the magnitude and direction of the force applied between the first member 11 and the second member 12 using a simple calculation method, making it easy to calibrate the detection device 10A.

[0040] Furthermore, in this embodiment, the manipulator 1 detects the magnitude and direction of the inclination of the second member 12 relative to the first member 11 according to the measurement results of at least three or more distance sensors 14. Therefore, when an impact is applied to the manipulator 1, the distance sensors 14 are less affected by the impact, and thus, the magnitude and direction of the force applied between the first member 11 and the second member 12 can be detected while achieving high impact resistance. In other words, the manipulator 1 can detect the movement of the movable arm 20 with greater accuracy. Also, because the distance sensors 14 are resistant to impact, the manipulator 1 can be easily calibrated even after it has been installed at the place of use. In addition, since the manipulator 1 is equipped with a torque sensor 13, it can measure the torque in the rotational direction R acting between the first member 11 and the second member 12. Furthermore, since there are many inexpensive distance sensors 14 available, the cost of the manipulator 1 itself can be suppressed.

[0041] ---Second Embodiment--- The first embodiment has been described above. Next, the second embodiment will be described. The detection device 10B of this embodiment differs from the detection device 10A of the first embodiment in that it uses a transmission 66 and a prime mover 67 instead of a torque sensor 13 and an elastic body 15. Therefore, the same components as in the first embodiment will not be described and the same reference numerals will be used.

[0042] <Structure> Figure 6 is a cross-sectional view of the detection device 10B at the same cutting position as in Figure 3 according to the second embodiment of the present invention.

[0043] The detection device 10B, like the detection device 10A of the first embodiment described above, is a device that detects the inclination of the manipulator 1 with respect to the mounting surface and the external force applied to the manipulator 1. The detection device 10B is composed of, for example, a first member 11, a second member 12, at least three or more distance sensors 14, an elastic transmission 66, and a prime mover 67.

[0044] The first member 11, the second member 12, and at least three distance sensors 14 are as described in the first embodiment, so their description will be omitted.

[0045] The transmission 66 is, for example, a reduction gear and is located inside the first member 11. The transmission 66 changes the rotational motion transmitted from the prime mover 67 (described later) at a predetermined gear ratio and transmits the changed rotational motion to the second member 12. The calculation unit 32 also calculates the rotational torque acting between the first member 11 and the second member 12 in the rotational direction R, assuming the central axis of the protrusion 120 of the second member 12 is the axis of rotation, based on the current value obtained by measuring the current of the prime mover 67 and information from an encoder provided on the prime mover 67. Rotational torque is the torque acting between two objects in the rotational direction when the two objects are rotating around a pivot axis. The transmission 66 also includes an outer wall connected to the inner circumference of the first member 11, a gear that changes the rotational motion transmitted from the prime mover 67 at a predetermined gear ratio, and a transmission member that transmits the changed rotational motion to the second member 12. The transmission 66 has an inherent elastic modulus in a direction substantially perpendicular to the pivot axis and is configured as an elastic body (first elastic body). The value of the elastic modulus of the transmission 66 is stored in a memory device (not shown).

[0046] The prime mover 67 is, for example, a motor and is located inside the second member 12. The prime mover 67 has a stator connected to the inner wall of the second member 12 and the outer wall of the transmission 66, a rotor that rotates around the central axis of the protrusion 120 of the second member 12 as its pivot axis, and a shaft which is the shaft body that transmits the rotation to the transmission 66. The prime mover 67 transmits the rotation of the rotor to the transmission 66 via the shaft.

[0047] Figure 7 shows the circuit configuration of the detection device 10B shown in Figure 6.

[0048] The control unit 31 controls the movable arm 20, the prime mover 67, and the calculation unit 32 to perform predetermined processing in accordance with commands from the operator of the manipulator 1 transmitted via the input / output device 40, or commands from a predetermined program stored in a storage device (not shown). Here, predetermined processing includes predetermined tasks to be performed on the object to be worked on, calibration work for the manipulator 1, and the execution of various calculation processes by the calculation unit 32. The control unit 31 also receives each calculation result from the calculation unit 32 as a detection result, and executes processing in accordance with further commands from the predetermined program according to each received detection result, or transmits each detection result to the input / output device 40.

[0049] The calculation unit 32 detects information relating to the second member 12 relative to the first member 11 by calculating it according to the measurement results of each distance sensor 14, and transmits the detected information to the control unit 31. Here, the information relating to the second member 12 relative to the first member 11 is the magnitude and direction of the inclination of the second member 12 relative to the first member 11, and the magnitude and direction of the force applied between the first member 11 and the second member 12.

[0050] Specifically, the calculation unit 32 calculates the difference between a reference value for the distance between the first member 11 and the second member 12, which is set for each distance sensor 14 and stored in a storage device (not shown), and the measurement result transmitted from each distance sensor 14. According to the calculated difference, the calculation unit 32 detects the magnitude and direction of the relative inclination of the second member 12 relative to the first member 11 from the reference value, and transmits the detected information to the control unit 31. Furthermore, the calculation unit 32 detects the magnitude of the force applied between the first member 11 and the second member 12 by multiplying the detected magnitude of the inclination of the second member 12 relative to the first member 11 by the elastic modulus of the transmission 66. The calculation unit 32 also detects the direction of the inclination of the second member 12 relative to the first member 11 by converting it to the direction of the force, and transmits the detection result to the control unit 31.

[0051] Furthermore, the calculation unit 32 detects the rotational torque acting between the first member 11 and the second member 12 in the rotational direction R, with the central axis of the protrusion 120 of the second member 12 being the axis of rotation, by calculating the current value obtained by measuring the current of the prime mover 67 and information from an encoder provided on the prime mover 67, and transmits the detection result to the control unit 31.

[0052] In this embodiment, the calculation unit 32 is implemented by a control panel provided separately from the detection device 10B, but the calculation unit 32 may be included in the detection device 10B. In that case, the calculation unit 32 is implemented by a circuit board provided in a gap inside the detection device 10B or connected to the outside of the detection device 10B. Furthermore, the detection device 10B may include the control panel itself.

[0053] <Effects> As described above, according to the configuration of this embodiment, the detection device 10B detects the magnitude and direction of the inclination of the second member 12 relative to the first member 11 according to the measurement results of at least three or more distance sensors 14. Therefore, when an impact is applied to the detection device 10B, the distance sensors 14 are less susceptible to the impact, and thus, the magnitude and direction of the force applied between the first member 11 and the second member 12 can be detected while achieving high impact resistance. In other words, the detection device 10B can detect the movement of the movable arm 20 with greater accuracy. Furthermore, because the distance sensors 14 of the detection device 10B are resistant to impact, calibration can be easily performed even after the detection device 10B has been installed at the place of use. In addition, since the detection device 10B is equipped with a transmission 66 and a prime mover 67, the magnitude and direction of the force applied between the first member 11 and the second member 12 can be detected even when the detection device 10B has a structure in which the second member 12 is rotatable relative to the first member 11. Furthermore, since there are many inexpensive distance sensors available for the detection device 10B, the cost of the detection device 10B itself can be kept down.

[0054] In this embodiment, the calculation unit 32 calculates the magnitude and direction of the inclination of the second member 12 relative to the first member 11 based on the difference between each measurement result of the distance sensor 14 and a reference value provided for each distance sensor 14.

[0055] With this configuration, in addition to the distance sensor 14 being resistant to impact, the calculation unit 32 calculates the magnitude and direction of the inclination of the second member 12 relative to the first member 11 using a simple calculation method, making it easy to calibrate the detection device 10B.

[0056] In this embodiment, the calculation unit 32 calculates the magnitude and direction of the force applied between the first member 11 and the second member 12 based on the magnitude of the inclination, the direction of the inclination, and the elastic modulus of the transmission 66.

[0057] With this configuration, in addition to the distance sensor 14 being resistant to impact, the calculation unit 32 calculates the magnitude and direction of the force applied between the first member 11 and the second member 12 using a simple calculation method, making it easy to calibrate the detection device 10B.

[0058] Furthermore, in this embodiment, the manipulator 1 detects the magnitude and direction of the force applied between the first member 11 and the second member 12 according to the measurement results of at least three or more distance sensors 14. Therefore, when an impact is applied to the manipulator 1, the distance sensors 14 are less affected by the impact, and thus, the magnitude and direction of the force applied between the first member 11 and the second member 12 can be detected while achieving high impact resistance. In other words, the manipulator 1 can detect the movement of the movable arm 20 with greater accuracy. Also, because the distance sensors 14 are resistant to impact, the manipulator 1 can be easily calibrated even after it has been installed in the place of use. In addition, since the manipulator 1 is equipped with a transmission 66 and a prime mover 67, the magnitude and direction of the force applied between the first member 11 and the second member 12 can be detected even when the detection device 10B is installed at a location where the second member 12 can rotate relative to the first member 11, such as the joint of the movable arm 20. Furthermore, since there are many inexpensive distance sensors available for the manipulator 1, the cost of the manipulator 1 itself can be kept down.

[0059] ---Revised Version--- It should be noted that the present invention is not limited to the embodiments described above. That is, any design modifications made to the above embodiments by those skilled in the art are also included within the scope of the present invention, as long as they retain the features of the present invention. Furthermore, the elements of the above embodiments and the modifications described later can be combined to the extent that it is technically possible, and any combination thereof is also included within the scope of the present invention, as long as it retains the features of the present invention.

[0060] For example, in the first and second embodiments described above, the detection device 10 was described as being composed of a first member 11 and a second member 12, but the detection device 10 may also be composed of a first member 11, a second member 12 and a third member 80. Here, a specific example of a detection device 10 composed of a first member 11, a second member 12 and a third member 80 will be described using Figures 8 and 9.

[0061] Figure 8 is a cross-sectional view of the detection device 10C at the same cutting position as in Figure 3, relating to modified versions of the first and second embodiments. As shown in Figure 8, the detection device 10C of this modified version differs from the detection device 10A of the first embodiment in that it further includes a third member 80, and the torque sensor 13 connects the first member 11 and the third member 80 instead of connecting the first member 11 and the second member 12. Therefore, the same configuration as in the first embodiment will not be described and the same reference numerals will be used.

[0062] As shown in Figure 8, the detection device 10C is composed of, for example, a first member 11, a second member 12, a torque sensor 13, at least three or more distance sensors 14, an elastic body 15, and a third member 80.

[0063] The third member 80 is, for example, a base that supports the movable arm 20 in the manipulator 1. The third member 80 is connected to the second member 12 by a torque sensor 13.

[0064] The torque sensor 13 measures the twist of the first member 11 and the third member 80 in the rotational direction R, when the central axis of the protrusion 120 of the second member 12 is the axis of rotation, and the torque acting between the first member 11 and the third member 80 in the rotational direction R, and transmits the measurement results to the calculation unit 32. The torque sensor 13 is positioned on the upper surface of the third member 80, and the first member 11 and the second member 12 are positioned on the upper surface of the torque sensor 13.

[0065] With this configuration, the detection device 10C can use the elastic modulus of the elastic body 15 to detect the direction and magnitude of the inclination of the second member 12 relative to the first member 11.

[0066] Figure 9 is a cross-sectional view of the detection device 10D at the same cutting position as Figure 3, relating to other modifications in the first and second embodiments. As shown in Figure 9, the detection device 10D of this embodiment differs from the detection device 10C in the shapes of the first member 11, the second member 12, and the elastic body 15. Therefore, the same components as those in the detection device 10C are omitted from description and the same reference numerals are used.

[0067] In this embodiment, the first member 11 and the second member 12 do not have a recess 110 and a protrusion 120, respectively, but they may have a recess 110 and a protrusion 120, as in other embodiments. The first member 11 and the second member 12 are connected by an elastic body 15.

[0068] The elastic body 15 is, for example, rubber or a thrust bearing having a unique elastic modulus, and is positioned between the upper surface of the first member 11 and the bottom surface of the second member 12 to connect the first member 11 and the second member 12. The value of the elastic modulus of the elastic body 15 is stored in a storage device (not shown).

[0069] With this configuration, the detection device 10D can use an elastic body 15 that is not annular in shape. Furthermore, the detection device 10D does not need the first member 11 to have a recess 110, nor does the second member 12 need to have a protrusion 120.

[0070] For example, in the first and second embodiments described above, the first member 11 is described as a base that supports the entire manipulator 1, but the second member 12 may be a base that supports the entire manipulator 1, and the movable arm 20 may be connected to the first member 11.

[0071] With this configuration, the detection device 10 can have the second member 12 serve as a base that supports the entire manipulator 1.

[0072] Furthermore, in the first and second embodiments described above, the case in which one side of the detection device 10 serves as a base supporting the entire manipulator 1 was explained, but the detection device 10 may also be provided at the joint of the movable arm 20.

[0073] With this configuration, the manipulator 1 can install the detection device 10 at the joint of the movable arm 20, so that the manipulator 1 can detect the magnitude and direction of the inclination of the second member 12 relative to the first member 11 at the joint, as well as the magnitude and direction of the force applied between the first member 11 and the second member 12 at the joint. [Explanation of symbols]

[0074] 1...Manipulator, 10A...Detection device, 10B...Detection device, 11...First component, 12...Second component, 13...Torque sensor (first elastic body), 14...Distance sensor, 15...Elastic body (second elastic body), 20...Movable arm, 32...Calculation unit, 66...Transmission (first elastic body), R...Rotating shaft

Claims

1. A detection device to which a movable arm is connected, The first component and The second component, A first elastic body connects the first member and the second member, and measures the torque acting between the first member and the second member, with the central axis of either the first member or the second member as the pivot axis, At least three distance sensors are positioned at different locations on at least one of the first member and the second member, and measure the distance between a predetermined location on the first member and a location on the second member opposite to the predetermined location. A calculation unit calculates the magnitude and direction of the inclination of the second member relative to the first member in a direction substantially perpendicular to the rotation axis, and the direction of the force in a direction substantially perpendicular to the rotation axis, based on the difference between the distance measured by the distance sensor and a reference value provided for each distance sensor, and calculates the magnitude of the force in a direction substantially perpendicular to the rotation axis by multiplying the detected magnitude of the inclination by the elastic modulus of the first elastic body, A detection device characterized by comprising the following features.

2. The detection device according to claim 1, further comprising a second elastic body connecting the first member and the second member.

3. The first elastic body is composed of a torque sensor that measures the non-rotating torque acting on the pivot shaft. The detection device according to claim 2, wherein the calculation unit calculates the magnitude and direction of the force applied between the first member and the second member based on the magnitude of the inclination, the direction of the inclination, the elastic modulus of the torque sensor in a direction substantially perpendicular to the rotation axis, and the elastic modulus of the second elastic body, and also detects the non-rotating torque measured by the first elastic body.

4. A manipulator comprising a detection device according to any one of claims 1 to 3, and a movable arm having at least one movable part connected to the first member or the second member.

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