JP2023070256A - Force detection device, force detection program, force detection method, and clothes processing device - Google Patents

Abstract

To improve the accuracy of detecting force.SOLUTION: A force detection device 40 includes: a movable portion that is placed by force applied from outside; a displacement sensor that detects a displacement amount of the movable portion; a relationship acquisition section 58 that acquires a relationship between the magnitude of the force applied from the outside and the displacement amount detected by the sensor on the basis of the displacement amount of the movable portion detected by the displacement sensor when quantitative force is applied from the outside; and a force calculation section 56 that calculates the magnitude of the force applied from the outside from the displacement amount of the movable portion detected by the displacement sensor on the basis of the relationship acquired by the relationship acquisition section 58.SELECTED DRAWING: Figure 14

Description

The present disclosure relates to a force sensing device for sensing force, a force sensing program, a force sensing method, and a clothing processing apparatus that can utilize the force sensing device.

A technique for detecting force by detecting elastic displacement of an elastic body is used. For example, in Patent Document 1, in order to detect the body pressure applied to the massaging balls that are driven to push and retract in the direction of pressing the user, it is arranged between the massaging balls and a driving source that drives the massaging balls. A technique is disclosed in which body pressure is detected by providing an elastic body in a transmission mechanism provided and detecting elastic displacement of the elastic body.

JP 2004-357944 A

The inventors of the present invention have recognized that the technology described in Patent Document 1 has a problem that the force detection accuracy may decrease due to variations in manufacturing, deterioration over time, environmental changes, etc., and the technology of the present disclosure. came to mind.

The present disclosure provides techniques for improving force detection accuracy.

The force detection device of the present disclosure includes a movable object that is displaced by an externally applied force, a sensor that detects the amount of displacement of the movable object, and a force detected by the sensor when a quantitative force is applied from the outside. A relationship acquisition unit that acquires the relationship between the magnitude of the externally applied force and the displacement detected by the sensor based on the amount of displacement of the animal, and detection by the sensor based on the relationship acquired by the relationship acquisition unit. and a force calculator that calculates the magnitude of the externally applied force from the displacement amount of the movable object.

The force detection device of the present disclosure includes a movable object that is displaced by an externally applied force, a sensor that detects the amount of displacement of the movable object, and a force that is detected before detecting the magnitude of the externally applied force. a preliminary motion control unit that applies a force in a direction opposite to the direction of to the movable object; a force calculation unit that calculates the magnitude of the externally applied force from the amount of displacement of the movable object detected by the sensor; Prepare.

The force detection method of the present disclosure is based on the amount of displacement of a movable object detected by a sensor that detects the amount of displacement of a movable object that is displaced by an externally applied force when a quantitative force is applied from the outside. obtaining a relationship between the magnitude of an externally applied force and the amount of displacement detected by the sensor; and calculating the magnitude of the applied force.

The force detection method of the present disclosure applies a force in a direction opposite to the direction of the force to be detected to the movable object that is displaced by the force applied from the outside before detecting the magnitude of the force applied from the outside. and calculating the magnitude of the externally applied force from the amount of displacement of the movable object detected by a sensor that detects the amount of displacement of the movable object.

The laundry processing apparatus of the present disclosure includes a holding device for holding an object to be processed, a movable object that is displaced when a force is applied to the holding device, and a force that detects the magnitude of the force applied to the holding device. and a sensing device. The force detection device includes a sensor that detects the amount of displacement of a movable object, and an amount of force applied from the outside based on the displacement amount of the movable object detected by the sensor when a quantitative force is applied from the outside. a relationship acquisition unit that acquires the relationship between the displacement amount detected by the sensor and the displacement amount of the movable object detected by the sensor based on the relationship acquired by the relationship acquisition unit; and a force calculation unit that calculates the magnitude.

The laundry processing apparatus of the present disclosure includes a holding device for holding an object to be processed, a movable object that is displaced when a force is applied to the holding device, and a force that detects the magnitude of the force applied to the holding device. and a sensing device. The force detection device includes a sensor for detecting the amount of displacement of the movable object and a preliminary sensor for applying a force in the direction opposite to the direction of the force to be detected to the movable object before detecting the magnitude of the force applied from the outside. An operation control unit and a force calculation unit that calculates the magnitude of the externally applied force from the amount of displacement of the movable object detected by the sensor are provided.

It should be noted that any combination of the above-described components and expressions of the present disclosure converted between methods, devices, systems, recording media, computer programs, etc. are also effective as aspects of the present disclosure.

According to the technology of the present disclosure, it is possible to improve the force detection accuracy.

1 is a perspective view of the clothes processing apparatus according to Embodiment 1 Schematic front configuration diagram of the clothes processing apparatus according to Embodiment 1 Schematic side view of the clothes processing apparatus according to Embodiment 1 Schematic configuration diagram of a force detection device according to Embodiment 1 Worm gear perspective view Front view and side view of leaf spring Schematic horizontal sectional view of contact area between flange and leaf spring A diagram schematically showing the state of the flange and leaf spring when the movable part is displaced. A diagram schematically showing the state of the flange and leaf spring when the movable part is displaced. A diagram schematically showing the state of the flange and leaf spring when the movable part is displaced. The figure which shows the relationship between the displacement amount of a movable part, and the external force applied to the movable part. FIG. 4 is a diagram schematically showing the relationship between the amount of displacement of the movable portion and the external force applied to the movable portion; Diagram showing the state in which the arm is rotated Diagram showing the method of preliminary operation Diagram showing the method of preliminary operation A diagram showing an example of a configuration for performing a preliminary operation Functional configuration diagram of the force detection device according to the first embodiment Diagram showing the method of preliminary operation Diagram showing the method of preliminary operation

(Knowledge, etc. on which this disclosure is based)
A clothing processing apparatus according to the present disclosure includes a holding section that holds an object to be processed such as clothing. The movement of the holding part is controlled by a movement mechanism. When the object to be processed is being gripped and pulled by the holding part, it is necessary to detect the force acting on the object to be processed quickly and accurately and appropriately control the holding part. In addition, if the holder contacts another part while it is being moved, the external force applied to the holder is quickly and accurately detected, and an abnormality in the holder or another part is accurately detected. There is a need to.

The inventors have discovered such a problem and have come to constitute the subject matter of the present disclosure in order to solve the problem. A clothes processing apparatus and a force detection apparatus according to the present disclosure include a movable object that is displaced by an externally applied force, a sensor that detects the amount of displacement of the movable object, and a sensor that detects when a quantitative force is applied from the outside. a relationship acquisition unit for acquiring the relationship between the magnitude of the externally applied force and the displacement amount detected by the sensor based on the displacement amount of the movable object detected by the relationship acquisition unit; and based on the relationship acquired by the relationship acquisition unit and a force calculator that calculates the magnitude of the externally applied force from the amount of displacement of the movable object detected by the sensor. Further, the clothes processing apparatus and the force detection apparatus according to the present disclosure include a movable object that is displaced by an externally applied force, a sensor that detects the amount of displacement of the movable object, and a sensor that detects the magnitude of the externally applied force. A pre-operation control unit that applies a force in the direction opposite to the direction of the force to be detected to the movable object, and a displacement amount of the movable object detected by the sensor is used to determine the magnitude of the externally applied force. and a force calculation unit for calculating. Thereby, the force detection accuracy can be improved.

Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially the same configurations may be omitted.

It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

(Embodiment 1)
Embodiment 1 will be described below with reference to FIGS. 1 to 15B. Regarding the three directions of the clothes processing apparatus 1, when viewed from the front, the left and right width directions are indicated by arrows in the X direction (left direction X1 and right direction X2), and the front and rear depth directions are indicated by arrows in the Y direction (forward direction). Y1, backward direction Y2), and vertical height directions are described as Z directions (upward direction Z1, downward direction Z2) indicated by arrows.

[1-1. composition]
[1-1-1. Overall configuration of clothes processing apparatus]
The clothes processing apparatus 1 is a device that holds, recognizes, folds, and stores an object T to be processed, which is a deformable thin object. As shown in FIG. 1, the clothes processing apparatus 1 includes a housing 100, and a receiving section 200, a holding device 300, a work plate device 400, an imaging device 500, and a housing 100. It includes a support section 600 , a storage device 700 and a control device 900 . In addition, the receiving unit 200 and the processing space above it are configured in one housing, and the storage device 700 and the like are configured in another housing, and the respective housings are connected to be integrated. good too.

The processing object T is a deformable thin object typified by, for example, fabrics such as clothes and towels, films, paper, sheets, and the like. The shape may be rectangular like towels, or substantially rectangular like T-shirts, running shirts, long-sleeved shirts, and trousers.

The housing 100 includes a frame 110 forming a rectangular parallelepiped frame and an outer shell 120 provided on a predetermined surface of the rectangular parallelepiped. The frame 110 and the shell 120 may be integrally formed.

The receiving part 200 is a receiving part that receives the processing target T from the outside. As shown in FIGS. 1 to 3, the receiving portion 200 has a box-like shape with an open top. The receiving part 200 is arranged at the bottom of the clothes processing apparatus 1 so as to be easily accessible by the user, and is arranged so that it can be taken in and out in the depth direction (Y direction). For example, the receiving portion 200 is provided with a guide rail 210 at its lower portion and is pulled forward in the Y1 direction. The object to be processed T is put into the pulled-out receiving section 200 from above. The receiving part 200 is returned in the rearward direction Y2 along the guide rails 210 and housed in the housing 100 when the processing object T is put therein.

The holding device 300 is a device that holds a processing object T in order to process the processing object T. As shown in FIG. The holding device 300 includes a holding section 310 that holds the processing target T, and a moving mechanism that moves the holding section 310 in three directions: width direction (X direction), depth direction (Y direction), and height direction (Z direction). 320 and. A plurality of holding devices 300 are provided, and hold and lift the processing object T placed in the receiving part 200, and cooperate with the work plate device 400 on which the processing object T can be placed temporarily to perform processing. Unfolding and folding are performed while changing the grip of the object T.

As shown in FIGS. 1 to 3, the clothes processing apparatus 1 includes two holding devices 300A and 300B as holding devices 300. As shown in FIGS. The holding device 300A has one holding portion 310A as the holding portion 310, and a moving mechanism 320A for moving the holding portion 310A in three directions. The holding device 300B has two holding portions 310B and 311B as the holding portion 310, and a moving mechanism 320B for moving the holding portions 310B and 311B in three directions.

The holding portions 310A, 310B, and 311B are relatively movable in the width direction, the depth direction, and the height direction with respect to a work plate 410 of a work plate device 400, which will be described later. For example, the moving mechanisms 320A, 320B can be positioned such that the retainers 310A, 310B, 311B are aligned along the edge of the working plate 410. FIG.

The holding devices 300A and 300B are communicably connected to a control device 900, which will be described later, by wire or wirelessly. The controller 900 controls the operations of the holding units 310A, 310B, 311B and the moving mechanisms 320A, 320B.

Moving mechanisms 320A and 320B used in holding devices 300A and 300B will be described using the configuration of moving mechanism 320A of holding device 300A. The configuration of the moving mechanism 320B of the holding device 300B is basically the same as that of the holding device 300A except for the number of holding portions. Therefore, for the holding device 300B, the reference numeral "A" in the reference numeral for the holding device 300A is replaced with "B", and the description thereof is omitted.

The movement mechanism 320A, as shown in FIG. 2, includes a width direction movement mechanism 330A, a height direction movement mechanism 340A, and a depth direction movement mechanism 350A.

The width direction moving mechanism 330A moves the holding portion 310A in the width direction (X direction). The width direction moving mechanism 330A has a width direction driving portion 332A that serves as a driving force source for moving the holding portion 310A, and an X guide 334A that serves as a movement guide. Although not shown in detail, the width direction driving section 332A is a motor capable of forward and reverse rotation and has a pinion gear. The X guide 334A is a rack gear and a rail to which the power of the width direction driving portion 332A is transmitted via a pinion gear, and is arranged such that its longitudinal direction is along the width direction. The width direction driving portion 332A slides along the X guide 334A when energized. When the width direction driving portion 332A moves in the width direction along the X guide 334A, the holding portion 310A fixed to the width direction driving portion 332A also moves in the width direction.

The height direction moving mechanism 340A moves the holding portion 310A in the height direction (Z direction) together with the width direction moving mechanism 330A. The height direction moving mechanism 340A has a height direction driving portion 342A that serves as a driving force source for moving the width direction moving mechanism 330A, and a Z guide 344A that serves as a movement guide. The height direction drive unit 342A is a motor capable of forward and reverse rotation. Although not shown in detail, the height direction driving portion 342A has a transmission shaft that is fixed to the left end of the frame of the width direction movement mechanism 330A and transmits driving force to the right end. The two left and right Z guides 344A include a rack and pinion and are arranged such that their longitudinal direction extends along the height direction. The two left and right Z guides 344A are connected at their upper ends and configured in an arch shape. By energizing the height direction driving portion 342A, the width direction moving mechanism 330A moves along the height direction.

The depth direction moving mechanism 350A moves the entire holding device 300A (the height direction moving mechanism 340A, the width direction moving mechanism 330A and the holding section 310A) in the depth direction (Y direction). The depth direction moving mechanism 350A has a depth direction driving section 352A that serves as a power source for moving the height direction moving mechanism 340A, and a plurality of Y guides 354 that serve as movement guides. Although not shown in detail, the depth direction driving section 352A is a motor capable of forward and reverse rotation and has a pinion gear. The depth direction driving portion 352A is fixed to the left end of the connecting portion on the top of the frame of the height direction moving mechanism 340A, and has a transmission shaft that transmits driving force to the right end. The Y guides 354 are rack gears and rails to which the power of the depth direction driving portion 352A is transmitted, and are arranged at the upper and lower ends of the left and right Z guides 344A so that the longitudinal direction of the Y guides 354 extends along the depth direction.

Regarding transmission of driving force to the Y guide 354, the power of the depth direction driving portion 352A is transmitted to the upper Y guide 354 through the transmission shaft, as described above. Driving force is transmitted to the lower Y guide 354 from a transmission shaft provided in the upper portion via a gear belt provided in the frame body of the height direction movement mechanism 340A. By energizing the depth direction driving portion 352A, the arch-shaped height direction moving mechanism 340A moves parallel along the depth direction, and the width direction moving mechanism 330A and the holding portion 310A also move.

In the present embodiment, the two holding devices 300A and 300B share four vertical and horizontal Y guides 354 in order to move in the depth direction (Y direction). Therefore, the holding device 300A is always located behind the holding device 300B. In addition, in the holding device 300B, the two holding portions 310B and 311B share the X guide 334B in order to move in the width direction (X direction). Therefore, the holding portion 310B is always located on the left side of the holding portion 311B.

In the present embodiment, the moving mechanism is of a rack and pinion type, and the motor of the drive unit is also moved, but the present invention is not limited to this. For example, a configuration in which a ball screw is used and the motor does not move may be used.

The work plate device 400 is a device that rotates and moves a work plate 410 on which the processing object T is placed during recognition processing and folding processing. The work plate device 400 has a moving mechanism similar to the moving mechanism 320 . The working plate 410 is, as shown in FIG. 2, a substantially rectangular plate with chamfered corners on the working plane. Since the working plate 410 is formed so as to have no corners, it is possible to suppress the problem that the processing target T such as cloth is caught. The working plate 410 is fixed to the rotating shaft so that the longitudinal direction of the working plate 410, that is, the two edges of the long sides are parallel to the rotating shaft.

The imaging device 500 is a device that detects end points and the like of the processing target T when the processing target T is received and then subjected to gripping processing, recognition processing, and folding processing. As shown in FIGS. 2 and 3 , imaging device 500 includes first imaging section 510 , second imaging section 520 , and third imaging section 530 . For example, a digital still camera is used for the first imaging unit 510 and the second imaging unit 520, and used for end point detection, discrimination of the type of the processing object T, and the like. The third imaging unit 530 uses, for example, a stereo camera, and is used to measure the distance in the depth direction and the width of the processing object T for edge point detection. Both imaging units are provided on the frame on the front inner wall side, and the orientation of the lens is the rearward direction Y2.

The support part 600 is a wall surface that supports the object T to be processed, such as holding down the folding line and smoothing wrinkles of the object T when the object T is folded. For example, the support part 600 includes at least one of a front side support part 610 provided in front of the working plate 410 and a rear side support part 620 provided in the rear thereof.

The storage device 700 receives and stores the processed processing object T from the holding device 300 . The storage device 700 includes a plurality of storage units 710, as shown in FIGS. Storage device 700 may include a transporter for receiving and storing workpieces T in respective storages 710 . The storage device 700 is arranged adjacent to the processing space in which the receiving part 200 and the holding device 300 are stored. .

The control device 900 supervises the control of each section in the clothing processing apparatus 1 . The control device 900 is mainly composed of a ROM, a RAM, an arithmetic unit, and an input/output interface. The ROM stores an operating system, a control program for controlling each part of the clothes processing apparatus 1, and data necessary for executing the control program. Further, the arithmetic unit is provided for loading the control program stored in the ROM into the RAM or executing it directly from the ROM. In other words, the control device 900 can control the clothes processing device 1 by the execution of the control program by the arithmetic device. The data processed by the arithmetic device is transmitted to each part (holding device 300, work plate device 400, etc.) of the clothes processing apparatus 1 via the input/output interface. Data required for processing by the arithmetic unit is received from each unit (such as the imaging device 500) of the clothing processing apparatus 1 via an input/output interface.

[1-1-2. Details of Force Detector]
A technique for detecting the magnitude of the force applied to the holding portion 310 or the like in the above-described clothes processing apparatus 1 will be described.

FIG. 4 schematically shows the configuration of the force detection device according to the first embodiment. The holding section 310 includes a hand section 315 for gripping the processing target T and an arm section 318 for controlling the attitude of the hand section 315 . The force detection device 40 is provided on a posture axis for rotating the arm portion 318 and detects that an external force is applied to the holding portion 310 . In the example shown in FIG. 4, the force detection device 40 is provided in a mechanism for rotating the arm portion 318 around the horizontal X-axis (Pitch axis) or Y-axis (Yaw axis). The force detection device 40 may be provided in a mechanism for rotating the arm portion 318 around the vertical Z-axis (Roll axis), or may be provided in a drive shaft for moving the holding portion 310 horizontally or vertically. It may be provided in a worm speed reducer or the like.

Worm gear 41 includes a worm 42 and a worm wheel 43 . 5 shows a perspective view of the worm gear 41. FIG. When the worm 42 is rotated by a motor or the like, the teeth of the worm wheel 43 are fed and the worm wheel 43 rotates. This causes the arm portion 318 and the hand portion 315 to rotate about the horizontal axis.

The worm 42 is rotatably supported about the axis of rotation by two rolling bearings 44 on the shafts on both outer sides of the threaded portion. A flange 46 is provided on the outside of each rolling bearing 44 . The sliding bearing 45 supports the worm 42 , the worm wheel 43 , the rolling bearing 44 and the flange 46 so as to be slidable in the direction parallel to the rotation axis of the worm 42 . When an external force is applied to the rotating worm wheel 43 and torque is applied to the worm wheel 43 , the worm wheel 43 becomes difficult to rotate, and the reaction force causes the worm 42 , the rolling bearing 44 and the flange 46 to move to the sliding bearing 45 . It slides integrally against the When an external force is applied to the stopped worm wheel 43 and torque is applied to the worm wheel 43 , the worm wheel 43 rotates slightly, and the worm 42 , the rolling bearing 44 and the flange 46 are integrated with the sliding bearing 45 . slides. Thus, when an external force is applied to holding portion 310 , the external force is transmitted to the movable portion including worm 42 , rolling bearing 44 and flange 46 .

The force sensing device 40 has a leaf spring 47 and a displacement sensor 48 . The plate spring 47 urges the movable portion in a direction to suppress the displacement when an external force is applied to the movable portion including the worm 42, the rolling bearing 44, and the flange 46 that slide integrally and the movable portion is displaced. It is an example of an elastic body. A conical spring or the like may be used instead of the leaf spring 47 .

A displacement sensor 48 detects the amount of displacement of the movable portion. In this embodiment, the displacement sensor 48 detects the distance between the worm 42 and the shaft. The magnitude of the external force applied to the movable portion can be calculated from the amount of displacement of the movable portion detected by the displacement sensor 48 and the spring constant of the leaf spring 47 that biases the movable portion.

6 shows a front view and a side view of the leaf spring 47. FIG. The leaf spring 47 includes a mounting hole 49 , a weak spring portion 50 , a strong spring portion 51 and a contact portion 52 . The weak spring portion 50 is configured to have a smaller spring constant than the strong spring portion 51 . The strong spring portion 51 is configured to have a spring constant greater than that of the weak spring portion 50 . That is, the leaf spring 47 has a plurality of portions with different rigidity. The contact portion 52 contacts the flange 46 when the movable portion is displaced. The contact portion 52 has a shape protruding toward the flange 46 so that the portion other than the contact portion 52 does not come into contact with the flange 46 . In the present embodiment, one leaf spring is provided with a plurality of portions having different spring constants, so the manufacturing cost can be reduced. Moreover, since it can be made thin in the displacement direction, the size can be reduced.

FIG. 7 schematically shows a horizontal cross-section of the contact portion 52 between the flange 46 and the leaf spring 47 . FIG. 7 shows a state in which no external force is applied to the movable portion. The flange 46 has a distance d1 between a portion 53 with which the weak spring portion 50 abuts and the contact portion 52 of the weak spring portion 50, and a distance d1 between a portion 54 with which the strong spring portion 51 abuts and the contact portion 52 of the strong spring portion 51. are configured to be different from the distance d2 between them. Thereby, when the movable portion is displaced, the portion of the leaf spring 47 that biases the movable portion changes, and the spring constant of the leaf spring 47 can be changed. The flange 46 is configured such that a portion 53 that abuts the contact portion 52 of the weak spring portion 50 and a portion 54 that abuts the contact portion 52 of the strong spring portion 51 when the movable portion is displaced have a step. As a result, there is no need to provide a step between the weak spring portion 50 and the strong spring portion 51, so manufacturing costs and variations can be suppressed. Note that the weak spring portion 50 may be configured to contact the flange 46 even when no external force is applied to the movable portion. Thereby, rattling between the flange 46 and the plate spring 47 can be suppressed.

8A, 8B, and 8C schematically show the state of the flange 46 and leaf spring 47 when the movable portion is displaced. As shown in FIG. 8A, when neither the weak spring portion 50 nor the strong spring portion 51 is in contact with the flange 46, neither the weak spring portion 50 nor the strong spring portion 51 biases the movable portion. Since the flange 46 is configured so that the distance d1 is shorter than the distance d2, as shown in FIG. 8B, only the weak spring portion 50 contacts the flange 46 first in the range where the displacement amount of the movable portion is small. to energize the moving part. When the amount of displacement of the movable portion increases, as shown in FIG. 8C, not only the weak spring portion 50 but also the strong spring portion 51 come into contact with the flange 46, and both the weak spring portion 50 and the strong spring portion 51 attach the movable portion. force.

FIG. 9 shows the relationship between the amount of displacement of the movable portion and the external force applied to the movable portion. In the range where the displacement amount x of the movable portion is x1 or less, only the weak spring portion 50 contacts the flange 46 and biases the movable portion. At this time, if the spring constant of the weak spring portion 50 is k1, the magnitude of the external force F applied to the movable portion is represented by F=k1×x. Thus, in the range where the external force is k1x1 or less, the detection resolution can be increased by reducing the spring constant of the leaf spring 47 . In the range where the displacement amount x of the movable portion is x1 or more, the strong spring portion 51 in addition to the weak spring portion 50 abuts against the flange 46 to bias the movable portion. At this time, if the overall spring constant of the weak spring portion 50 and the strong spring portion 51 is k2 (≈k1+spring constant of the strong spring portion 51), the magnitude of the external force F applied to the movable portion is F=k2 xx+(k1-k2)x1. As described above, the detection range of the external force can be widened by increasing the spring constant of the leaf spring 47 in the range where the external force is k1x1 or more. In addition, even when a large external force is applied, the movable part can be biased to suppress the amount of displacement. parts can be prevented from being damaged. In another example, only the strong spring portion 51 may contact the flange 46 to bias the movable portion within a range where the external force is k1x1 or more.

FIG. 10 schematically shows the relationship between the amount of displacement of the movable portion and the external force applied to the movable portion. FIG. 9 illustrates the relationship between the amount of displacement of the movable portion and the external force in an ideal case without hysteresis. Even if it is applied, due to the static frictional force of the movable part, etc., the movable part is not displaced until the external force exceeds a predetermined value. When the external force exceeds a predetermined value, the amount of displacement increases as the external force increases, as indicated by the solid arrow in FIG. No displacement. Thus, hysteresis as shown in FIG. 10 occurs in the relationship between the amount of displacement of the movable portion and the external force. Since the relationship between the amount of displacement of the movable portion and the external force can change with changes in the surface state of the movable portion, there is a possibility that the magnitude of the force cannot be detected accurately.

In order to solve such a problem, the force detection device 40 according to Embodiment 1 acquires and calibrates the relationship between the displacement amount of the movable portion and the external force as needed. Specifically, the force detection device 40 detects the magnitude of the externally applied force and the displacement sensor based on the amount of displacement of the movable portion detected by the displacement sensor 48 when a quantitative force is applied from the outside. A relationship with the amount of displacement sensed by 48 is obtained. Then, based on the acquired relationship, the magnitude of the externally applied force is calculated from the displacement amount of the movable portion detected by the displacement sensor 48 . As a result, the effects of variations in manufacturing, aging of components, and changes in the environment around the force detection device 40 can be suppressed, and the force applied to the movable portion can be detected more accurately.

When acquiring the relationship between the amount of displacement of the movable part and the external force, it is necessary to be able to grasp the magnitude quantitatively and to apply a variable force to the movable part within the detection range. In Embodiment 1, force detection device 40 is provided in a mechanism for rotating arm portion 318 of holding portion 310, but the magnitude of the force applied to worm wheel 43 by the weight of holding portion 310 is , changes by rotating the arm portion 318 around the horizontal axis, and can be calculated from the angle of the arm portion 318 and the weight of the holding portion 310 . Therefore, when acquiring the relationship between the amount of displacement of the movable portion and the external force, the self weight of the holding portion 310 is used to apply a variable force to the movable portion. As a result, the force detection device 40 can be calibrated without adding a configuration, so the number of parts of the force detection device 40 can be suppressed, and the inexpensive and compact force detection device 40 can be realized.

FIG. 11 shows a state in which the arm portion 318 is rotated. The magnitude of the force applied to the worm wheel 43 by the weight of the holding portion 310 changes by rotating the arm portion 318 . The magnitude of the force applied to the movable portion can be calculated from the rotation angle of arm portion 318 . The magnitude of the force applied to the movable portion may be calculated from the current value of the motor for rotating the arm portion 318, or the like. In Embodiment 1, a variable force is applied using the holding part 310 rotatable around a horizontal axis, but a rotating object that can rotate around an axis at any angle other than the vertical direction is used. to apply a variable force.

When detecting a force greater than the self weight of the holding part 310, the above calibration may be performed after gripping a known load with the hand part 315 of the holding part 310. FIG. As a result, a force greater than the weight of the holding portion 310 can be applied to the movable portion, so even a greater force can be accurately detected by the force detection device 40 .

As shown in FIG. 10, the external force cannot be detected in a range (dead zone) in which the movable portion does not displace even when an external force is applied to the movable portion. In order to solve such a problem, in the force detection device 40 according to Embodiment 1, before detecting the magnitude of the force applied to the movable object, as a preliminary operation, the direction of the force to be detected is opposite to the direction of the force to be detected. A force in the direction of is applied to the movable object.

For example, before detecting the magnitude of the external force in the positive direction, as shown in FIG. 12A, an external force is once applied in the negative direction, the movable portion is displaced in the negative direction, and then the external force is returned to zero and waited. . At this time, an external force is applied in the negative direction in advance so that the movable portion escapes from the dead zone before the external force becomes zero and the movable portion is displaced in the positive direction. As a result, when the external force to be detected is applied in the positive direction, the movable portion can be displaced according to the magnitude of the external force without creating a dead zone, so even minute external forces can be accurately detected. can be done. Also, before detecting the magnitude of the external force in the negative direction, as shown in FIG. 12B, an external force is once applied in the positive direction, the movable portion is displaced in the positive direction, and then the external force is returned to zero and waited. . At this time, an external force is applied in advance in the positive direction so that the movable portion escapes from the dead zone before the external force becomes zero and the movable portion is displaced in the negative direction. As a result, when the external force to be detected is applied in the negative direction, the movable portion can be displaced according to the magnitude of the external force without creating a dead zone, so even minute external forces can be accurately detected. can be done. As described above, according to the force detection device 40 of the first embodiment, it is possible to detect force without depending on the dead zone, so that it is possible to reduce the influence of aging of components.

In a preliminary motion, a variable force may be applied to the movable object using a known load. For example, a variable force may be applied to the movable object by rotating the arm portion 318, similar to when calibrating the force sensing device 40. FIG. As a result, the number of components of the force detection device 40 can be reduced, and the force detection device 40 can be inexpensive and small. When it is necessary to apply a force larger than the weight of the holding part 310, such as when the width of the dead zone is large, the hand part 315 of the holding part 310 holds a known load and then applies a force in the opposite direction to the movable object. may be applied. Thereby, a force greater than the weight of the holding part 310 can be applied to the movable part.

In the preliminary operation, a variable force is applied to the movable part using a torque limiter provided on the worm wheel 43 for rotating the holding part 310, a stopper for stopping the rotation of the holding part 310, or the like. good too. For example, as shown in FIG. 13, by pressing the holding portion 310 against the stopper 65, a force in the opposite direction may be applied to the movable portion. The force applied to the movable portion may be changed by changing the speed at which the holding portion 310 is pressed against the stopper 65 . By pressing the holding part 310 against the stopper 65 until the torque limiter provided on the worm wheel 43 is activated, a constant force can be applied to the movable part in each preliminary operation. As a result, even if it is difficult to apply force to the movable portion using the weight of the constituent parts, it is possible to apply force to the movable portion to perform the preliminary operation.

FIG. 14 shows the functional configuration of the force detection device 40 according to the first embodiment. The control device 900 is provided with the configuration for calculating the magnitude of the external force applied to the holding portion 310 and the like in the force detection device 40 . The force detection device 40 includes a displacement amount acquisition section 55 , a force calculation section 56 , a detection result output section 57 , a relationship acquisition section 58 and a preliminary movement control section 59 .

The displacement amount acquisition unit 55 acquires the displacement amount of the movable portion detected by the displacement sensor 48 . The force calculator 56 calculates the magnitude of the external force from the displacement amount of the movable portion acquired by the displacement amount acquirer 55 based on the relationship between the displacement amount of the movable portion and the external force. A detection result output unit 57 outputs the magnitude of the external force calculated by the force calculation unit 56 .

The relationship acquisition unit 58 detects the magnitude of the externally applied force and the displacement sensor 48 based on the amount of displacement of the movable portion detected by the displacement sensor 48 when a quantitative force is applied from the outside. Get the relationship with the amount of displacement. The relationship acquisition unit 58 may acquire the relationship between the displacement amount of the movable portion and the external force each time the external force is detected, or may acquire the relationship between the displacement amount of the movable portion and the external force at predetermined intervals or at predetermined times of detection. You can get the relationship of

Before detecting the magnitude of the force applied to the movable object, the preliminary operation control section 59 applies force to the movable object in a direction opposite to the direction of the force to be detected as a preliminary operation.

The force detection device 40 may perform only the calibration of the relationship between the displacement amount of the movable portion and the external force, or may perform only the preliminary operation. In the former case, the force detection device 40 does not have to include the preliminary motion controller 59 . In the latter case, the force detection device 40 does not have to include the relationship acquisition section 58 . Furthermore, the former and the latter may be combined. In that case, as shown in FIGS. 15A and 15B, the minimum force required to be applied in the opposite direction in order to get out of the dead zone in the preliminary operation from the calibration result of the relationship between the displacement amount of the movable portion and the external force Since the size can be grasped, there is an effect that it is not necessary to apply excessive force. In addition, it is possible to prevent a situation in which the force applied in the opposite direction in the preliminary operation is too small to get out of the dead zone.

[1-2. motion]
The operation and function of the clothes processing apparatus 1 configured as described above will be described below.

The control device 900 controls the holding unit 310 to advance processing such as unfolding and folding of the processing target T. FIG. The force detection device 40 detects an external force applied to the holding portion 310 . When an external force is applied to the holding portion 310, torque is applied to the worm wheel 43 provided in the moving mechanism of the holding portion 310, displacing the movable portion. The displacement amount acquisition unit 55 acquires the displacement amount of the movable portion detected by the displacement sensor 48 . The force calculator 56 calculates the magnitude of the external force from the displacement amount of the movable portion acquired by the displacement amount acquirer 55 based on the relationship between the displacement amount of the movable portion and the external force. A detection result output unit 57 outputs the magnitude of the external force calculated by the force calculation unit 56 . The relationship acquiring unit 58 acquires the relationship between the displacement amount of the movable part and the external force as necessary. The preliminary operation control unit 59 performs preliminary operations as necessary.

For example, the control device 900 detects the force when the holding unit 310 grips the processing object T and performs an operation such as holding the processing object T and controls the force adjustment, or controls other components while the holding unit 310 is in operation. For example, the force of contact is detected, and it is determined that an abnormality has occurred, and the holding portion 310 is stopped. As a result, it is possible to prevent the processing object T from being stretched or broken due to excessive pulling of the processing object T, and to prevent an abnormal force from being applied to the holding part 310 .

In addition, as described above, even when an external force is applied such as another holding portion 310 in operation coming into contact with the holding portion 310 in motion, the external force applied to the holding portion 310 can be detected. Control device 900 can also detect the occurrence of an abnormality from holding unit 310 that is stopped.

Thus, the force detection device 40 detects the force generated on the worm wheel 43 . As a result, the clothes processing apparatus 1 can operate safely without damaging the processing target T or breaking the mechanism such as the holding section 310 .

[1-3. effects, etc.]
As described above, in the present embodiment, the force detection device 40 includes a movable portion that is displaced by an externally applied force, a displacement sensor 48 that detects the amount of displacement of the movable portion, and an external quantitative force. a relationship acquiring unit 58 that acquires the relationship between the magnitude of the externally applied force and the amount of displacement detected by the sensor based on the amount of displacement of the movable portion detected by the displacement sensor 48 when the force is applied; A force calculation unit 56 that calculates the magnitude of the externally applied force from the displacement amount of the movable portion detected by the displacement sensor 48 based on the relationship acquired by the acquisition unit 58 . As a result, the effects of variations in manufacturing, aging of components, and changes in the environment around the force detection device 40 can be suppressed, and the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, as a quantitative force, a force that is varied using a known load is transmitted to the movable portion. Thereby, the force applied to the movable portion can be detected more accurately.

In addition, in the present embodiment, a force that is varied by rotating a known load that is rotatable around an axis in a direction other than the vertical direction is transmitted to the movable portion. As a result, the force detection device 40 can be calibrated without adding a configuration, so the number of parts of the force detection device 40 can be suppressed, and the inexpensive and compact force detection device 40 can be realized.

Further, in the present embodiment, a variable force is transmitted to the movable portion by holding a known load in a structure capable of transmitting force to the movable portion or the movable portion. As a result, the force detection device 40 can be calibrated to a larger force range, so that the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, the force detection device 40 includes a movable portion that is displaced by an externally applied force, a displacement sensor 48 that detects the amount of displacement of the movable portion, and a sensor that detects the magnitude of the externally applied force. Before detection, the externally applied force is determined from the displacement amount of the movable portion detected by the preliminary operation control unit 59 and the displacement sensor 48, which applies a force in the direction opposite to the direction of the force to be detected to the movable portion. and a force calculation unit 56 that calculates the magnitude of Accordingly, when an external force is applied, the movable portion can be displaced according to the magnitude of the external force without depending on the dead zone, so the force applied to the movable portion can be detected more accurately.

Further, in this embodiment, as the force in the opposite direction, a force that is varied using a known load is transmitted to the movable portion. Thereby, the force applied to the movable portion can be detected more accurately.

In addition, in the present embodiment, a force that is varied by rotating a known load that is rotatable around an axis in a direction other than the vertical direction is transmitted to the movable portion. As a result, the force detection device 40 can be calibrated without adding a configuration, so the number of parts of the force detection device 40 can be suppressed, and the inexpensive and compact force detection device 40 can be realized.

Further, in the present embodiment, a variable force is transmitted to the movable portion by holding a known load in a structure capable of transmitting force to the movable portion or the movable portion. As a result, it is possible to apply a force larger than the self weight of the holding part 310 to the movable part to perform the preliminary operation.

In addition, in the present embodiment, the movable part includes a mechanism for rotating the rotating object, and when the rotating object is rotated, a certain force is movable by operating a torque limiter provided on the rotating object. is communicated to the department. As a result, even if it is difficult to apply force to the movable portion using the weight of the constituent parts, it is possible to apply force to the movable portion to perform the preliminary operation.

Further, in the present embodiment, the movable part includes a mechanism for rotating the rotating object, and when the rotating object is being rotated, a force is applied to the movable part by activating the stopper 65 that stops the rotation of the rotating object. transmitted. As a result, even if it is difficult to apply force to the movable portion using the weight of the constituent parts, it is possible to apply force to the movable portion to perform the preliminary operation.

Further, in the present embodiment, the force detection program causes the computer to detect, when a quantitative force is applied from the outside, a displacement amount of a movable portion that is displaced by the force applied from the outside. a relationship acquisition unit that acquires the relationship between the magnitude of the externally applied force and the displacement amount detected by the sensor based on the displacement amount of the movable unit; and a force calculation unit that calculates the magnitude of the externally applied force from the amount of displacement of the movable portion detected by . As a result, the effects of variations in manufacturing, aging of components, and changes in the environment around the force detection device 40 can be suppressed, and the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, the force detection program causes the computer, before detecting the magnitude of the force applied from the outside, to detect the direction of the force to be detected and the direction of the force to be detected. calculates the magnitude of the externally applied force from the amount of displacement of the movable portion detected by the preliminary operation controller 59 that applies force in the opposite direction and the displacement sensor 48 that detects the amount of displacement of the movable portion. It functions as the force calculation unit 56 . Accordingly, when an external force is applied, the movable portion can be displaced according to the magnitude of the external force without depending on the dead zone, so the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, the force detection method is such that when a quantitative force is applied from the outside, the displacement sensor 48 detects the amount of displacement of the movable portion that is displaced by the force applied from the outside. acquiring a relationship between the magnitude of the externally applied force and the displacement detected by the displacement sensor 48 based on the displacement of the movable portion; and calculating the magnitude of the externally applied force from the displacement amount of the movable portion. As a result, the effects of variations in manufacturing, aging of components, and changes in the environment around the force detection device 40 can be suppressed, and the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, before the magnitude of the externally applied force is detected, a force in the direction opposite to the direction of the force to be detected is applied to the movable portion that is displaced by the externally applied force. and calculating the magnitude of the externally applied force from the amount of displacement of the movable portion detected by a displacement sensor 48 that detects the amount of displacement of the movable portion. Accordingly, when an external force is applied, the movable portion can be displaced according to the magnitude of the external force without depending on the dead zone, so the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, the laundry processing apparatus 1 includes the holding portion 310 for holding the processing target T, the movable portion that is displaced when a force is applied to the holding portion 310, and the force applied to the holding portion 310. and a force detection device 40 for detecting the magnitude of the applied force. The force detection device 40 includes a displacement sensor 48 for detecting the amount of displacement of the movable portion, and a displacement when a quantitative force is applied from the outside. a relationship acquiring unit 58 that acquires the relationship between the magnitude of the externally applied force and the displacement amount detected by the displacement sensor 48 based on the displacement amount of the movable portion detected by the sensor 48; A force calculator 56 that calculates the magnitude of the externally applied force from the displacement amount of the movable portion detected by the displacement sensor 48 based on the acquired relationship. As a result, the effects of variations in manufacturing, aging of components, and changes in the environment around the force detection device 40 can be suppressed, and the force applied to the movable portion can be detected more accurately.

Further, in the present embodiment, the laundry processing apparatus 1 includes the holding portion 310 for holding the processing target T, the movable portion that is displaced when a force is applied to the holding portion 310, and the force applied to the holding portion 310. and a force detection device 40 for detecting the magnitude of the applied force. Secondly, the magnitude of the externally applied force is determined from the amount of displacement of the movable portion detected by the preliminary operation control portion 59 and the displacement sensor 48, which applies a force in the direction opposite to the direction of the force to be detected. and a force calculation unit 56 that calculates . Accordingly, when an external force is applied, the movable portion can be displaced according to the magnitude of the external force without depending on the dead zone, so the force applied to the movable portion can be detected more accurately.

As described above, Embodiment 1 has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments with modifications, replacements, additions, omissions, and the like. Also, it is possible to combine the constituent elements described in the first embodiment to form a new embodiment.

For example, the technique of Embodiment 1 can be used to detect force applied to any movable object.

Note that the above-described embodiment is for illustrating the technology in the present disclosure, and various changes, replacements, additions, omissions, etc. can be made within the scope of the claims or equivalents thereof.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to force sensing devices that sense force.

Reference Signs List 1 clothes processing device T object to be processed 40 force detection device 41 worm gear 42 worm 43 worm wheel 44 rolling bearing 45 slide bearing 46 flange 47 leaf spring 48 displacement sensor 49 mounting hole 50 weak spring portion 51 strong spring portion 52 contact portion 53 portion 54 Part 55 Displacement amount acquisition unit 56 Force calculation unit 57 Detection result output unit 58 Relationship acquisition unit 59 Preliminary operation control unit 65 Stopper 100 Housing 110 Frame 120 Outer shell 200 Receiving unit 210 Guide rail 300, 300A, 300B Holding device 310, 310A, 310B, 311B Holding parts 320, 320A, 320B Moving mechanisms 330, 330A, 330B Width direction moving mechanisms 332A, 332B Width direction driving parts 334A, 334B X guides 340A, 340B Height direction moving mechanisms 342A, 342B Height direction driving part 344A , 344B Z guide 350A, 350B Depth direction moving mechanism 352A, 352B Depth direction driving unit 354A, 354B Y guide 400 Work plate device 410 Work plate 500 Imaging device 510 First imaging unit 520 Second imaging unit 530 Third imaging unit 600 Support Part 610 Front side support part 620 Back side support part 700 Storage device 710 Storage part 900 Control device X1 Left direction X2 Right direction Y1 Forward direction Y2 Rear direction Z1 Upward direction Z2 Downward direction

Claims (16)

a movable object that is displaced by an externally applied force;
a sensor that detects the amount of displacement of the movable object;
Acquiring the relationship between the magnitude of the externally applied force and the amount of displacement detected by the sensor based on the amount of displacement of the movable object detected by the sensor when a quantitative force is applied from the outside. a relationship acquisition unit that
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by the sensor, based on the relationship acquired by the relationship acquisition unit;
A force sensing device comprising: 2. The force detection device according to claim 1, wherein the quantitative force is a force that is varied using a known load and is transmitted to the movable object. 3. A force sensing device according to claim 2, wherein a variable force is transmitted to said movable object by rotating a known rotatable load about an axis in a direction other than vertical. 3. The force sensing device according to claim 2, wherein a variable force is transmitted to said movable object by holding a known load in said movable object or a configuration capable of transmitting force to said movable object. a movable object that is displaced by an externally applied force;
a sensor that detects the amount of displacement of the movable object;
a preliminary operation control unit that applies a force in a direction opposite to the direction of the force to be detected to the movable object before detecting the magnitude of the force applied from the outside;
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by the sensor;
A force sensing device comprising: 6. The force detection device according to claim 5, wherein a force that is varied using a known load is transmitted to the movable object as the force in the opposite direction. 7. A force sensing device according to claim 6, wherein a variable force is transmitted to said movable object by rotating a known rotatable load about an axis in a direction other than vertical. 7. The force sensing device according to claim 6, wherein a variable force is transmitted to said movable object by holding a known load in said movable object or in a configuration capable of transmitting force to said movable object. The movable object includes a mechanism for rotating the rotating object,
6. A force detection device according to claim 5, wherein a constant force is transmitted to said movable object by operating a torque limiter provided on said rotating object while said rotating object is being rotated. The movable object includes a mechanism for rotating the rotating object,
6. A force detection device according to claim 5, wherein force is transmitted to said movable object by operating a mechanism for stopping rotation of said rotating object while said rotating object is being rotated. the computer,
When a quantitative force is applied from the outside, the amount of displacement of the movable object that is displaced by the externally applied force is detected by a sensor that detects the amount of displacement of the movable object. a relationship acquisition unit that acquires the relationship between the magnitude of the force and the amount of displacement detected by the sensor;
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by the sensor, based on the relationship acquired by the relationship acquisition unit;
Force detection program to function as the computer,
a preliminary operation control unit that applies a force in a direction opposite to the direction of the force to be detected to the movable object that is displaced by the force applied from the outside before the magnitude of the force applied from the outside is detected;
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by a sensor that detects the amount of displacement of the movable object;
Force detection program to function as When a quantitative force is applied from the outside, the amount of displacement of the movable object that is displaced by the externally applied force is detected by a sensor that detects the amount of displacement of the movable object. obtaining a relationship between the magnitude of the force and the amount of displacement detected by the sensor;
calculating the magnitude of the externally applied force from the amount of displacement of the movable object detected by the sensor, based on the obtained relationship;
A force sensing method comprising: applying a force in a direction opposite to the direction of the force to be detected to the movable object that is displaced by the force applied from the outside before detecting the magnitude of the force applied from the outside;
calculating the magnitude of the externally applied force from the amount of displacement of the movable object detected by a sensor that detects the amount of displacement of the movable object;
A force sensing method comprising: a holding device for holding an object to be processed;
a movable object that is displaced when a force is applied to the holding device;
a force sensing device that senses the magnitude of the force applied to the holding device;
with
The force sensing device is
a sensor that detects the amount of displacement of the movable object;
Acquiring the relationship between the magnitude of the externally applied force and the amount of displacement detected by the sensor based on the amount of displacement of the movable object detected by the sensor when a quantitative force is applied from the outside. a relationship acquisition unit that
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by the sensor, based on the relationship acquired by the relationship acquisition unit;
A clothes processing apparatus comprising: a holding device for holding an object to be processed;
a movable object that is displaced when a force is applied to the holding device;
a force sensing device that senses the magnitude of the force applied to the holding device;
with
The force sensing device is
a sensor that detects the amount of displacement of the movable object;
a preliminary operation control unit that applies a force in a direction opposite to the direction of the force to be detected to the movable object before detecting the magnitude of the force applied from the outside;
a force calculation unit that calculates the magnitude of an externally applied force from the amount of displacement of the movable object detected by the sensor;
A clothes processing apparatus comprising:

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