JPS60200312A - Automatic device for graphic practice or the like - Google Patents

Abstract

PURPOSE:To enable an operator to perform learning according to a program by maintaining an active state only when a mobile part is held in a teaching mode and then starting an automatic device in response to the position signal sent from a memory in a playback mode. CONSTITUTION:In a teaching mode, an operator holds a grip 6 to start an operation. Thus potentiometers 36-39 of drive motors 3, 5, 7 and 8 have changes, and the data on these changes are stored successively in a memory 21 synchronously with signals sent from the clocks within a switch device 22. In this case, the operations explained to a microphone 26 are recorded on a tape recorder 25. Then the operator holds the grip 6 and sets an operation switch 24 under a playback mode. Thus the positions of drive motors 32-35 are detected by potentiometers 36-39 with movement of the operator's hands. These detected positions are sent to a comparator 27 through a feedback processor 40 and compared with a command given from the memory 21 to receive the feedback control in order to secure a paired form at all times.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is directed to the invention, in which a person holds a part of an automatic device such as a robot that operates according to a program given in advance by teaching, and imitates its movement. This relates to an automatic device that allows forcible repeated practice of creation, etc.

[Background of the invention]

Generally, a robot device stores a motion program in its memory in advance by an operator, and when a motion command is input, the robot device starts the memory playback operation, reads out the program stored in the memory, and operates as an automatic machine.As a result, Products were produced by moving processed products and performing various operations.

Furthermore, although powered manipulators are known, in kneading, a position signal is generated by a human motion, and this serves as an operation signal for the powered manipulator to move the manipulator. In other words, whether it is a robot or a manipulator, it must always perform the role of providing motion signals that humans can use as a model for the @ position, and the time required for the operation and data input is enormous. there were.

Furthermore, there was no way for humans to learn repetitive movements using the movements of robots.

[Purpose of the invention]

The purpose of the present invention is to create an automatic system that makes use of the movements of automatic devices such as general robots and manipulators so that operators can learn how to move according to programs stored in the automatic devices. The goal is to provide equipment.

[Summary of the invention]

Before explaining the present invention in detail, the gist thereof will be described.

In order for operators to avoid freezing and learn the movements from automatic equipment, they must receive advance notice of when, where, and how they will move immediately before they operate. 1. The automatic device must be engineered for the operator so as not to interfere with the operating parts of the operator, and be constructed so that it can be attached to a part of the operator so as to make it easier for the operator to feel the movement. It is.

Further, it does not need to operate when the operator is not ready, but is configured to operate only when the operator is holding the automatic device.

Further, the driving force of the drive device in the automatic device of the present invention is not strong enough to resist the force from the operator, and if the operator moves in a manner that deviates from the operation based on the memory of the automatic device of the present invention. The key is to create a configuration that makes this possible. The reason for this is, for example, when a hand-impaired operator holds and moves an automatic device, his or her movements differ from those based on the memory contents at the initial stage, and as the operator improves through practice, the movements gradually become based on the memory contents. This is because it is desirable to follow.

The present invention satisfies all of these aspects,
The feature is that the operation program when the operator grasps and moves the long end of the arm connected in multiple stages is stored in memory over time, and the program is converted into an operation signal and input to the control circuit. This is an automatic device that reads an operating program stored in a memory and reproduces the operation by doing so, and can operate only when the operator holds the moving part of the automatic device in either the teaching thread mode or the playback mode. In addition, when reproducing the operation, it is configured to automatically operate based on the position signal read from the memory.

[Embodiments of the invention]

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. 1st
FIG. 2 is a plan view and a side view of the tip of a positioning training machine such as a C type automatic device. In the figure, reference numeral 1 denotes a fixed arm for supporting a moving body. 2 is a first arm, 3 is a drive motor for the first arm 2, and these are fixed to a fixed 1lli11. A second arm 4 is supported by the first arm 2 via a bearing. 5 is a drive motor for the second arm 4. Reference numeral 6 is a grip that can be held by a human hand, and reference numeral 7 is a drive motor for vertically bending the grip 6. 8 is a horizontal rotation axis motor of the grip 6;
A third arm 9 supports the grip 6 and is driven by a drive motor 7. 10 is a band for holding the human wrist.

11 is a hollow hole for inserting a writing instrument.

The 3rd N is shown in Figure 1.1. This figure shows a person holding and using the positioning training machine explained with reference to FIG. 2.

In FIG. 1, a second prisoner's band 10 holds a human wrist 12, allowing smooth vertical bending of the human wrist 12 and allowing the arm to receive the driving force from the drive motor 3.5. This is a configuration that can reduce fatigue on human fingers. Reference numeral 13 indicates a rod inserted into the hollow hole 11, and the rod 12 is lightly held by a human finger.

The thus assembled jig is attached to the human wrist and used in the following manner. That is,
When in use, the brush 16 is positioned in a horizontal plane by the drive motors 3 and 5, and rotated by the drive motor 7.8. In addition, 14 is a desk, 15 is a take-up reel, 16
is paper.

Next, the circuit configuration for driving and controlling the placement training machine shown in FIGS. 1 to 3 will be explained according to the fourth section. In the fourth quotient, 20 is the CPU, which forms the core of the control device. Reference numeral 21 denotes a memory, which is used to store the motion when a person holds and moves an object having the structure shown in FIGS. 1 and 2 as shown in FIG. 3. Reference numeral 22 denotes a switching device for switching between a teaching mode in which the trajectory of the placement training aircraft is stored in the memory 21 and a playback mode in which the placement training aircraft is reversely moved based on the data in the memory 21. It is. Reference numeral 23 denotes a gate circuit, which provides timing to the memory 21 during storage and also performs automatic forwarding of the memory area.

Reference numeral 24 denotes an operation switch provided on the grip 6 shown in FIGS. 1 and 2, which is used to issue commands for teaching mode and playback mode, and a starting command to the CPU 20. 25 is a tape recorder, and 26 is a microphone. 27 is a comparator that compares the signal in the memory 21 with the feedback signal and outputs the difference. 28.29 and 50.31 are the drive motors shown in FIGS. It is a servo amplifier.

32. 33, 5A, and 35 are drive motors shown in FIG. 1 and FIG. 2, respectively. 36. 37. 38°39
are drive motors 32., respectively. 33. 31°350
It is a potentiometer that detects the position.

A feedback data processor 40 is used to send information from the encoder of each drive motor to the gate 23 and the comparator 27 for each axis.

41 is an earphone of the tape recorder 25.

Next, operations in the teaching mode and playback mode will be explained together with the circuit shown in FIG.

First, grasp the grip 6 shown in Fig. 1 with your hand and press the operating switch 2.
When 4 is activated, 0PU20 is activated. In the teaching mode, a signal is input to the switching device 22 by switching the operation switch 24 to the teaching mode, the gate 23 is opened by the output signal from the built-in clock circuit, and the data of the feedback data processor 40 is transferred to the memory. 21. When data is stored in memory 21, switching device 22 generates an advance signal and memory 21 advances to the next memory area.

At this time, if a person grasps and moves the grip 6 shown in Figure 1,
Each drive motor3. 5. 7. 8 potentiometers! 16, 37, 38, and 39, and the data is stored one after another in the memory 211C in synchronization with the signal from the clock within the switching device 22. Furthermore, at this time, if a person describes the movement into the microphone 26, it is recorded on the tape recorder 25. A clock signal is also recorded on the tape recorder 25 at the same time.

Next, a control method in playback mode will be explained. As described above, when the grip 6 is gripped by hand and the operation switch 24 is set to play bank mode, a position signal is sent from the memory 21 to the comparator 27 under the control of the 0PU 20 along with the start signal, and the servo amplifiers 28, 29, 3
Drive motor 32.33.31.35 by 0.31
works. As a result, the device shown in FIGS. 1 and 2 moves the human hand and drives the drive motors 32, 33.3i1. 35
The position of is the potentiometer 56, 57°38 in Fig. 4.
．． 39, and is sent to the comparator 27 through the feedback processor 40, where it is compared with the command from the memory 21. In this way, feedback control is performed so that the command from the memory 21 and the position of the drive motor 52, 55°34.55 always match.

With the above control method, in the teaching mode, the memory 21
The actions stored in the pen are transmitted to a person's hand in playback mode, and can be taught to a person in the same way as a calligraphy teacher would teach a student.

In such a playback mode, the servo amplifiers 2B, 29 . The servo gain can be adjusted to 50°31. This servo gain is determined by the signal input current from the comparator 27 and the drive motor 32. 33. 34. 35, and if the gain is increased, the drive motors 32, 56, 54 .
The output torque of 35 is increased so that the signal input from comparator 27 tracks more accurately. This gain adjustment function allows beginners to lower the gain when learning calligraphy and practice without getting too caught up in the details, and as they improve, they can increase the gain to pay more attention to the details and improve their skills. Used in particular.

Furthermore, in playback □ mode, OF'U20
is linked to the tape recorder 25 and records the movement pK of the grip 6.
In addition, for example, instructions can be given to a person by voice from the earphones 41.

This voice contains detailed instructions for the shape of the letters, such as 6 quickly, ``strongly,'' 6 large (in an arc,'' and ``gradually thinner.'')

As explained above, according to this embodiment, unlike conventional robots, the working tip does not move independently of humans, but
It can be subordinate to people, work with people, and even move people's bodies. Furthermore, the device allows people to adjust their movements to be more forceful or weaker, and can also predict the movement of the child in advance based on audio information.

Unlike conventional manipulators, which do not operate in synchronization with the operator's movements, they are stored in memory once and operate at a location and time independent of the location and time at which the operator made the motion. Mainly, a person other than the operator can master the operator's movements.

In addition to being useful for practicing calligraphy, the basic forms of Japanese painting, shorthand letters, and reverse letters, the same-position practice machine can also be used to effectively practice hand movements for rehabilitation.

Furthermore, as shown in Figure 3, when combined with a paper winding device, characters can always be written in the same position, leading to the miniaturization of the entire device.

It is effective to use a grip that is elastic so that it fits comfortably in your hand.

By using the automatic placement practice machine shown in the above embodiment, for example, instead of a calligraphy teacher teaching students by hand, students can learn calligraphy anytime and anywhere as long as they have the memorized data. You can practice. Further, in the embodiment, a training machine for hand movements is shown, but it can also be used as a training machine for practicing legs, that is, walking practice or sports. Also, although audio has been explained as an example of a means for allowing a person to predict the operation of an automatic device, it is possible to deceive people by using a television image or using light such as a LIICD to achieve the same effect. Note that the drive motor of the automatic device shown in the embodiment only needs to be used to assist the movement of the device by a person, so a small horsepower is sufficient.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, a person practicing programmed movements holds the operating tip of an automatic device such as a robot that operates according to a program that has been taught and input into a memory in advance. Since it is designed to imitate and repeatedly practice, it has the advantage of being able to repeatedly practice the placement of letters and figures through constant movement using an automatic device, and expanding the range of applications for robots, manipulators, etc. be.

[Brief explanation of the drawing]

The attached drawings are diagrams for explaining one embodiment of the present invention, in which the first figure is a plan view of the writing practice machine, the second reason is the side wall of the machine,
FIG. 3 is a diagram explaining the usage state, and FIG. 4 is a configuration diagram of the control circuit. 1... fixed arm, 2. 4. 9...arm, 3. 5.
7. 8... Drive motor, 10... Band, 11
...Hollow hole, 12...Wrist, 13...Brush, 2o.
...CPU, 21...memory, 22...switching device,
23...Gate, 24...Operation switch, 25...
・Tape recorder, 26... Microbon, 27...
・Comparator, 4o... Feedback data ripe egg, 41
...Earphone book IE] f Figure 2 Figure 3

Claims (1)

[Claims] The operation program for when an operator grips and operates the long end of an arm made up of multiple arms connected is stored in memory over time, and the memory is converted into an operation signal and input to the control circuit. This is an automatic device that reads out an operation program stored in a computer and reproduces the operation, and in a teaching mode in which the operator is taught the movement according to the operation program, this applies only when the moving part of the automatic device is held. A graphic exercise, etc., characterized in that #IC is used to maintain the operating state of the automatic device and to operate the automatic device according to the position signal read from the memory in a playback mode in which the operator operates according to the operation program. automatic equipment.