Emergency stop pressure sensor, safety device, and safety system
Emergency stop pressure sensors 17 are installed on both side surfaces of a movable link 11 of a robot arm 14 of an assembly robot. When a worker S unintentionally walks in a swing range Ra of the robot arm 14 and contacts the emergency stop pressure sensor 17 , a detection signal is transmitted to a control unit 19 , and the control unit 19 shuts power transmission to a driving source swinging the robot arm. The emergency stop pressure sensor 17 has a first electrode and a second electrode constituting a pair of electrodes and an intermediate layer formed of rubber or a rubber composition, which is disposed between the pair of electrodes, the intermediate layer generating power upon deformation caused by contact with a contacted body (the worker). A side of the intermediate layer in a laminate direction undergoes surface modification treatment and/or inactivation treatment. With this treatment, the one side and the other side of the intermediate layer have different degrees of deformation to the same deformation adding force.
1. A pressure sensor suitable for being installed in a moving body and suitable for being used with a control unit operative to shut power transmission to a driving source to the moving body in response to a detection signal from the sensor, the pressure sensor comprising:
a pair of electrodes; and
an intermediate layer disposed between the pair of electrodes, the intermediate layer comprising silicone or silicone rubber compound, the intermediate layer not having initial surface potential being configured to cause charging to occur between the intermediate layer and the electrodes and generate power when deformed by contact with a target object, wherein
a proportion of Si-O bonds is increased by surface treatment of the intermediate layer, and
the silicone rubber compound has siloxane linkage and has a concentration profile in which an oxygen content is increased from a side having a smaller degree of deformation, of the first side and the second side, toward an inside, to have a maximal value inside the intermediate layer, and a carbon content is decreased from the side having a smaller degree of deformation toward the inside, to have a minimal value inside the intermediate layer.
2. The pressure sensor according to claim 1 , wherein the emergency stop pressure sensor has a laminate structure in which both sides of the intermediate layer in a thickness direction are sandwiched by the pair of electrodes.
3. The pressure sensor according to claim 2 , wherein degrees of deformation to the same deformation adding force are different between a first side and a second side of the intermediate layer in a laminate direction.
4. The pressure sensor according to claim 3 , wherein a side having a smaller degree of deformation, of the first side and the second side of the intermediate layer, and an electrode facing the side are provided such that triboelectric charging or separating charging occurs during the deformation.
5. A safety device comprising:
the pressure sensor according to claim 1 ; and
a control unit configured to control movement of the moving body in response to a detection signal from the emergency stop pressure sensor.
6. A safety system comprising:
the safety device according to claim 5 ; and
the moving body.