JPS6171984A - General-purpose master operating section for steering type manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a general-purpose master operating section of a piloted manipulator, which has a simple structure and has seven degrees of freedom.

<Prior art> This technology is used not only on land but also at sea, for work in adverse environments, work with hazardous materials, work in narrow spaces where workers cannot directly enter, and cases where the same work is repeated. Various types of manipulators are used even in outer space, and are used to perform fine, precise work and even complex work.

As an example of remotely controlling such a manipulator, if we consider operating a multi-degree-of-freedom manipulator using a manual lever, etc., with a conventional control lever, one device can only operate two to three degrees of freedom. do not have. Moreover, as shown in FIG. 2, for example, even with a joystick having three degrees of freedom, rotation operations around the respective axes of X+y+z have generally been performed.

<Problems to be Solved by the Invention> When manipulator operation with multiple degrees of freedom is performed using conventional operating levers, etc. due to the above-mentioned prior art, it is necessary to perform the operation while switching between holding two or more operating levers, or to operate the manipulator with multiple degrees of freedom. It is necessary to perform the operation by switching the function each time using a manual operating lever, which makes it difficult to realize simultaneous operation of a manipulator with multiple degrees of freedom. Furthermore, even if, for example, the Sanji Mountain degree is sufficient, the operation around the vertical axis (Z-axis) is limited only by the amount of rotation of the wrist, as shown in Figure 2, and the intuitive operation by moving the Z-axis in parallel is not possible. It's impossible.

In view of the above-mentioned drawbacks, the present invention has been developed to enable simultaneous operation of seven degrees of freedom without the need to change the grip of the operating lever or switch functions, etc., and to facilitate reliable and easy operation of the manipulator by making it easy to grasp the operation intuitively. The purpose of this invention is to provide a general-purpose master operation unit for a control type manipulator that realizes the following.

<Means for Solving the Problems> The present invention achieves the above object by adding an opening/closing operation mechanism and twisting, up/down, left/right rotation operation mechanisms to the clamping lever of the wrist operation section. A rotation operating mechanism about two horizontal axes and a reciprocating operating mechanism in the lower axial direction are added to the operating lever of the arm operating section to be connected, and each operating mechanism of the arm operating section It is characterized in that a clutch is provided for rotation around the axis in the axial direction and for movement in the up and down axial direction.

<Example> Here, an example of the present invention will be described with reference to FIGS. 1, 3 to 5.

FIG. 1 shows an embodiment of the general-purpose 77 and arm operating section according to the present invention, FIG. 3 shows the wrist operating section of FIG. 1, and FIG. 4 shows the arm operating section of FIG. 1.

1 and 3 show a wrist operating section A of a master manipulator of a master-slave type robot manipulator.

The gripping lever 1 is a part into which the operator puts his/her hand, and has an opening/closing operation mechanism that allows opening and closing operations to be performed using the fingertips, for example, by placing the thumb on the left lever 1a in the figure and the index or middle finger on the right lever 1b.

At the same time, by placing your fingertips on this clamping lever 1 and moving it, you can use the entire wrist operating section A to swing the wrist up and down (arrow P
), it has a rotational operation mechanism for twisting the wrist (arrow R) and swinging the wrist left and right (arrow Y). This operation is performed by moving the clamping lever 1 up and down, twisting it, and swinging it left and right.

A position detector 2 is attached to the side surface of the clamping lever 1 in the opening/closing direction, and can detect the degree of opening/closing. Furthermore, rotation angle detectors 4 are attached to both sides in the opening and closing direction of the casing 3 surrounding the clamping lever 1, and a rotation angle detector 5 is also attached to the lower surface of the casing 3. The above-mentioned ten king swinging motion P and twisting motion R are performed by the rotation angle detector 4.
Since the rotation angles of each of the rotation angles 5 change, the operation amount can be detected from the rotation angles. Further, the left/right swing motion can be detected by the rotation angle detector 5 in the same manner.

A rotating shaft 6 is attached to the lower end of the casing 3 so as to be freely rotatable relative to the casing 3.

This rotating shaft 6 is connected to an operating lever of an arm operating section B shown in Figure 4 through a fixed end.

On the other hand, the lower end of the operating lever 7 of the arm operating section B is a gimbal 8, and this gimbal 8 is configured to rotate the operating lever 7 around two horizontal axes, that is, the Y-axis and the Y-axis. It has an operating mechanism. Rotation detectors 9 and 10 are installed on the Y-axis and the Y-axis, respectively. The axial length of the operation lever 7 can be changed by a vertical slide mechanism (reciprocating operation mechanism) 11.
It is movable along the Z axis. A position detector 12 is installed within the shaft of the operating lever 7.

Each operating mechanism of the arm operating section B includes clutches 13 and 14.
．． 15 are provided. This clutch 13, 14.1
Reference numeral 5 indicates an arm operating portion B, which is provided to make the force required for operating the operating lever 7 variable. In other words, if only the wrist operation is performed using the wrist operation section A, the operability will not be good if the arm operation section B also moves with this operation.
In the case of wrist operation only, only the wrist operation section A is moved and the arm operation section B is not moved.

In this way, by connecting the wrist operating section A shown in FIG. 3 to the upper end of the arm operating section B shown in FIG. 4 and forming the structure shown in FIG. 1, the wrist operating section A has four degrees of freedom. Simultaneous upper shaft control with three-dimensional control is possible with the arm operating part B, and a clutch is provided to make the operating force relative to the position of the wrist variable. This eliminates erroneous operations such as movement of the operating lever and movement of the position of the wrist, and furthermore, the correspondence between the movement of the wrist and the intuition of the arm and the movement of the manipulator is smooth and easy to grasp intuitively.

It should be noted that the present invention can also be applied to a structure in which the positional relationship between the reciprocating mechanism 11 and the gimbal 8 is reversed in FIG. 4, whereas the fixed end is connected to the operating lever as shown in FIG.

The gripping lever 1 of the wrist operating section A is further equipped with a touch plate 16, and this touch plate 16 is conductive and turns on and off the circuit shown in FIG. 5 by touching it with the hand. be. The circuit shown in FIG. 5 shows the entire touch sensor including the touch plate 16, and is used to turn on/off terminals a or b and terminal C via a switch section 17. Then, when the touch plate 16 is touched, the terminal a,
The terminal between c is on and the terminal is connected. The terminal between c is off and when the hand is away, the terminal between a and 0 is off and the terminal is connected.
The part between c is turned on. If there is continuity between terminals a and c, it means that the operator is operating and an operation command is output. If there is continuity between O, B, and 0, the operation command will be a zero output. By installing this touch sensor, an output signal is output only when the clamping lever l is pressed, and the output is zero otherwise, which is effective in terms of safety. In addition, when the general-purpose master operation section has a plurality of output signals, it is preferable to provide the switch sections 17 for the number of output signals.

<Effects of the Invention> As explained above, according to the present invention, seven degrees of freedom can be operated at the same time, and a reliable and easy manipulator operation that can be easily grasped intuitively without any errors in operation can be realized.

[Brief explanation of the drawing]

FIG. 1 is a simplified configuration diagram of an example of the general-purpose master operating section of the present invention, FIG. 2 is a simplified operational diagram of a conventional lever having three degrees of freedom, and FIG. 3 is a perspective view of an example of the wrist operating section of FIG. 1. 4 is a perspective view of an example of the arm operating section of FIG. 1, and FIG. 5 is a block diagram of an example of a touch sensor. In the figure, A is the wrist operating section, B is the arm operating section, 1 is the clamping lever, 2.12 is the position detector, 4.5, 9.10 is the rotation angle detector, 7 is the operating lever, 11 is the reciprocating movement Mechanism, 13.14.15 is a clutch.

Claims (1)

[Claims] An opening/closing operation mechanism and a twisting, up/down, left/right rotation operation mechanism are added to the clamping lever of the wrist operation section, and the operation lever of the arm operation section connected to the wrist operation section is provided with an opening/closing operation mechanism and a twisting, up/down, left/right rotation operation mechanism. A rotation operation mechanism and a reciprocating operation mechanism in the up and down axial directions are added, and each operation mechanism of the arm operation section is provided with a clutch for rotation around the axis in the two horizontal axes directions and movement in the up and down axial directions. A general-purpose master operation unit for the control type manipulator.