JPH0637904Y2 - Grip of master arm in manipulator - Google Patents

Description

[Detailed Description of the Invention] A. Field of Industrial Application The present invention relates to a grip of a master arm in a manipulator.

B. Outline of the Invention In the present invention, the grip of the master arm in the manipulator is swingably provided on the base part provided at the tip of the lower arm part of the master arm, and the grip can be operated outside the grip case. A protruding trigger, a switch for turning on and off the signal of the master arm when the grip is held or released by the hand, and a master arm and a slave arm that can be operated from the outside of the grip case. In addition to providing a push button switch, the swinging motion of the grip is transmitted to the power unit on the slave side as an operation signal of the rotary motion of the hand part on the slave side, and the operation force of the trigger is the gripping motion of the hand part on the slave side. The grip has a degree of freedom in the operation range, good positional accuracy, and high operability reliability.

C. Conventional Technology In general, where nuclear materials such as nuclear facilities are used,
Operations are performed indirectly using mobile robots and manipulators, and humans are not directly involved.

On the other hand, the manipulator is composed of a master arm and a slave arm, the slave arm side operates proportionally by operating the master arm side, and the hand part of the slave arm performs a predetermined operation by grasping and rotating operation. It is a thing. The hand portion is operated by a grip provided on the hand portion of the master arm.

By the way, heretofore, as an operating device for gripping and rotating the hand portion on the slave arm side, for example, Japanese Patent Laid-Open No. 57-1
As disclosed in Japanese Laid-Open Patent Publication No. 63094, one arm is inserted to hold a grip portion, and a large push button switch on the grip portion is operated to grasp a slave operation on a monitor. There is.

D. Problems to be Solved by the Invention However, the above-mentioned conventional operation device is for operating the control rod provided on the operation panel of the manipulator while watching the manipulator displayed on the monitor / TV,
Since the grip of the hand is opened / closed by turning on / off a small switch provided on the grip of the handle, it is difficult to intuitively grasp the open / closed state of the grip. Is equipped with a large push button switch, which releases the electromagnetic brake provided on each movable joint shaft of the control rod when the grip is gripped, and when released, the brake operates and disables the control rod. Therefore, if the driver holds the steering wheel in an unstable position, the large push button may be pressed and the brake may be released, and the steering wheel may be inadvertently moved in that state.
The slave manipulator may move unintentionally and cause problems, so it must be operated carefully.

In consideration of the above points, the present invention prevents the arm on the slave side from moving just by grasping the grip by the operator, and, if necessary, enables the movement of the master arm to be operated separately from the slave arm. This is to increase the degree of freedom of operation.

E. Means for Solving the Problems Means for solving the above problems in the present invention include a shoulder portion, an elbow portion, and a hand portion connected to the elbow portion via a lower arm portion, A grip is provided at the tip of the section, and the movement of this grip is transmitted to the power unit provided on the shoulder through the gear train in the hand and elbow, and a signal of force proportional to this movement is transmitted to the power unit on the slave side. In the manipulator in which the hand portion on the slave side is rotated and grasped, the grip is swingably attached to the base portion provided at the tip end portion of the lower arm, and the grip is attached to the grip portion. A trigger that is projected so that it can be operated outside the case, and a signal on / off switch that turns on and off the signal of the force sent from the master arm to the slave side when the grip is held or released by the hand,
A push button switch that can be operated from the outside of the grip case to operate the master arm and the slave arm is provided, and the swing motion of the grip is the rotary motion of the hand part on the slave side, and the operation force of the trigger is the slave. It is transmitted to the power unit on the slave side as an operation signal of the grasping motion of the hand part on the side.

F. Action Since the present invention is configured as described above, when the grip is gripped, the signal input / off switch is turned on and the signal of the master arm can be input to the slave arm side.

However, in this state, since the master arm and the slave arm are not in operation unless the push button switch is turned on, the master side arm and the slave side arm do not move even if an inadvertent force acts on the grip.

In this state, when the operator adjusts the posture and turns on the push button switch, the master arm and the slave arm can operate. In this state, when the grip is rotated, the hand of the slave arm is rotated, and when the trigger is operated, the hand of the slave arm is grasped.

Further, if the signal on / off switch is turned off, the exchange of signals between the master side and the slave side is cut off. Therefore, even if the push button switch is turned on and the master is operated in this state, the slave arm does not follow. Therefore, with both switches turned on,
For example, turn the grip to turn the slave's hand part by a certain angle, turn off the signal on / off switch to return the grip to its original position, and then turn on the signal on / off switch again. If the grip is rotated in the same direction as the tip, the hand portion on the slave side is further rotated by adding to the predetermined angle. By repeating this operation, the rotation angle can be further increased. The same applies to the grasping operation. By appropriately operating both switches, the one-to-one relationship between the master side and the slave side is eliminated, the degree of freedom in operation is increased, and the operation range is expanded.

G. Embodiments The present invention will be described below with reference to illustrated embodiments.

1 to 3 are partial sectional side views showing an embodiment of the present invention, FIGS. 4 and 5 are side views and front views showing the entire master arm, and FIG. 6 is a master arm and a slave arm. It is a drive circuit diagram.

In FIGS. 4 and 5, 1 is a shoulder portion, 2 is an elbow portion, 3 is a hand portion, and a power unit 4 having a plurality of motors for driving arms and joints is centrally arranged on the shoulder portion 1. ing. A grip 5 for a person to operate is provided at the tip of the hand portion 3. The grip 5 is attached to a base portion 9 which is swingable to the left and right through a vertical axis portion 7 and vertically swingable through a horizontal axis 8 at a tip portion of a lower arm portion 6b. Reference numeral 10 is a balance weight that reduces the movement of the lower arm portion 6b in the elbow portion 2. The lower arm portion 6b and the upper arm portion 6a respectively have a multi-layered concentric tube body having bevel gears at both ends, and the elbow portion 2 accommodates an intermediate transmission gear that engages with a part of the bevel gears.

The grip 5 will be described in detail with reference to FIG. The grip 5 is swingably attached to the base portion 9, and the base portion 9 is rotatable about the vertical axis 7 and the horizontal axis 8 at the tip of the lower arm portion 6b. Shaft 11 in base 9
Is rotatably arranged concentrically with the cylinder shaft 12, and
A bevel gear 13 is attached to 11 and a bevel gear 14 is attached to the cylinder shaft 12. A shaft 16 including a bevel gear 15 that engages with the bevel gear 13 extends outwardly from the base portion 9 via a cylindrical shaft 17 and enters the grip case 5a. The cylindrical shaft 17 is the bevel gear
It has a bevel gear 18 that engages with 14, and is integrally fixed to the lid portion 5b of the grip 5 with a screw 19. On the other hand, the shaft 16 has a bevel gear 20 in the grip case 5a. A bevel gear 21 is engaged with the bevel gear 20, and the bevel gear 21 is fixed to the lower end of a transmission rod 22 extending in the longitudinal direction of the grip case 5a. A bevel gear 23 is fixed to the upper end of the transmission rod 22,
A bevel gear 24 is engaged with the bevel gear 23, and the bevel gear 24
A bevel gear 25 is integrally formed with the bevel gear 25, and a bevel gear 26 is engaged with the bevel gear 25. At the center of the bevel gear 26, a trigger 27 extending outward of the grip case 5a is provided.

Incidentally, 28 is a push button switch for operating the master arm and the slave arm, and 29 is a switch for turning on / off the signal of the master arm, which is an optical switch in this example. A through hole 5c is formed in the grip case 5a so as to face the optical switch 29.

The grip 5 is held by a person with a hand, and when the push button switch 28 is pressed with the thumb, the master arm and the slave arm can be operated, and when the grip 5 is gripped, the through hole 5c is shielded and the optical switch 29 is turned on. , The master arm signal is ready to enter. Then pull the trigger 27 with your index finger,
When the bevel gear 26 rotates a fraction, the rotational force is bevel gear 24 → bevel gear 23 → transmission rod 22 → bevel gear 21 → bevel gear 20 → shaft 16
→ bevel gear 15 → bevel gear 13 → shaft 11 is transmitted to the lower arm via a multi-axis and multi-layer gear train (not shown) provided in the vertical axis 7 and the horizontal axis 8 via the base 9. It is transmitted to part 6b → elbow 2 → upper arm 6a → shoulder 1 → power unit 4, and a force signal proportional to this movement is sent to the power unit on the slave side,
The gripping motion of the tong-shaped hand portion forming the hand portion on the slave side is formed. On the other hand, when the grip 5 is rotated to the left or right around the shaft 16, the rotational force is transmitted to the cylindrical shaft 12 via the cylindrical shaft 17 and the bevel gear 18, and is transmitted to the cylindrical shaft 12, so that the base 9 The movement of the cylinder shaft 12 is transmitted to the lower arm portion 6b → elbow portion 2 → upper arm portion 6a → shoulder 1 through the vertical axis 7 of the base portion 9 by the gear train (not shown), and from the power unit 4 in the shoulder portion 1. An operation signal is sent to the power unit on the slave side, the tong-shaped hand unit rotates proportionally, and one-to-one control is performed.

Further, if the signal on / off switch is turned off, the exchange of signals between the master side and the slave side is cut off. Therefore, even if the push button switch is turned on and the master is operated in this state, the slave arm does not follow. Therefore, with both switches turned on,
For example, turn the grip to turn the slave's hand part by a certain angle, turn off the signal on / off switch to return the grip to its original position, and then turn on the signal on / off switch again. If the grip is rotated in the same direction as the tip, the hand portion on the slave side is further rotated by adding to the predetermined angle. By repeating this operation, the rotation angle can be further increased. The same applies to the grasping operation. By appropriately selecting both of these switches, the one-to-one relationship between the master side and the slave side is lost, the degree of freedom in operation is increased, and the operation range is expanded.

2 and 3 show another embodiment of the grip 5. In the structure of FIG. 2, a transmission rod 32 is swingably provided on a shaft 31 of a bevel gear 30 that engages with the bevel gear 20. A rack 33 is formed with its upper end in an arc shape, and the pinion 34 is engaged with the rack 33. A trigger 35 is attached to the shaft center of the pinion 34, and the trigger 35 is the grip case 5a.
The structure is provided so as to project to the outside. Therefore, pulling the trigger 35 causes the pinion 34 to rotate a fraction of the time, and the rack 33
The transmission rod 32 is rotated via this, and thereafter, a gripping movement is performed in the hand portion on the slave side in the same manner as in the above embodiment.
In addition, the rotary movement of the hand part on the slave side is caused by the grip 5
It is also the same as in the above-mentioned embodiment that it is made by swinging to the left and right. Next, in the structure of FIG. 3, in the horizontal direction (arrow)
A pinion that engages with the rack 36 when the rack 36 moves.
The transmission rod 30 having the upper end 35 is rockable. In this case, the transmission rod 30 constitutes a part of a circular gear centered on the shaft 31. Therefore, when the rack 36 is triggered to project to the outside of the grip case 5a, the transmission rod 30 is swung by applying a horizontal motion to the trigger 27.

Means are then provided for compensating for the friction of the gear train of the grip 5. As shown in FIG. 6, this means is provided with position sensors 41 and 42 on the opposite sides of the motors 39 and 40 on the master arm 37 side and the slave arm 38 side, respectively, and electrically connected by the wiring shown in the figure. Has been done. That is, by this, the movement of each degree of freedom when operating the operation portion of the master arm 37 is detected by the position sensor 41 on the side opposite to the direct connection of the motor 39, and the position deviation signal and the motor 40 on the side of the slave arm 38 are detected.
Alignment circuit 43 with position deviation signal from position sensor 42 of
And output the signals to the master side and slave side motors 39 and 40 via the amplifiers 44 and 45, respectively, and by the so-called feedback system, the same force as when humans handle objects with their own hands. It is possible to operate the master side of the manipulator with feeling and operate the slave side in synchronization.

However, as described above, the position sensors 41 and 42 provided on the opposite side of the motors 39 and 40 are provided with position deviations due to the change in the joint angle of the manipulator, but in the case of the manipulator with a large reduction ratio, the friction resistance is increased. In some cases, it is difficult to give an accurate position deviation. However, in such a case, by disposing the force sensor 46 on the master arm 37, it is possible to correct the above-mentioned defect of the position sensor 41. That is, the force generated in the joint by the operation of the operation unit on the master arm 37 side is transmitted to the force sensor 46. This force sensor
The force signal of 46 causes the motor 39 to generate a torque balanced with the load of the manipulator. The force sensor 46 is incorporated in the control circuit, and the master arm 37 side and the slave arm 38
The matching signals from the position sensors 41, 42 on the side and the signals from the force sensor 46 are matched in the matching circuit 47, and the motor 39 on the master arm 37 side is controlled by the matching signal. Therefore, the position sensor
The force sensor 46 can compensate for the initial friction when actuating the master arm 37, which is a drawback of 41 and 42.
Note that during normal operation, the position sensors 41 and 42 cause the master arm 37 side and the slave arm 38 side to operate in synchronization.

H. Effect of the Invention According to the present invention described above, the switch for operating the master arm and the slave arm and the switch for transmitting and receiving the signal between them are separately provided, so that the grip Both arms do not move just by grasping, and the arm can be operated only after the push button switch that operates the arm is turned on, so even if the operator carelessly grips the grip, both arms do not move. . Therefore, the operator only has to hold the grip, adjust the posture, and then press the push button switch to operate both arms, which prevents an unintended movement (malfunction) in the initial operation,
The operator can operate with peace of mind.

Also, by turning off the signal input / output switch, the one-to-one control relationship between the master arm and the slave arm can be cut off, and only the master arm side can be operated, so the degree of freedom in operation is increased. By appropriately turning on and off both of this switch and the push button switch, the operation range can be expanded, which is an excellent effect.

[Brief description of drawings]

FIG. 1 is a partial sectional side view showing an embodiment of the present invention, FIGS. 2 and 3 are main portion sectional side views showing another embodiment of the present invention, and FIGS. 4 and 5 show a master arm. FIG. 6 is a side view and a front view showing the whole, and FIG. 6 is a drive circuit diagram of a master arm and a slave arm. 3 ... Hand part, 5 ... Grip, 5a ... Grip case, 6b ... Lower arm part, 9 ... Base part, 11,16 ... Shaft, 12,17 ...
… Cylinder shaft, 13,14,15,20 …… Bevel gear, 22,30,32 …… Transmission rod, 27,35,36 …… Trigger, 28 …… Push button switch, 29 ……
Optical switch for signal on / off, T _s …… Force sensor.

Claims (1)

[Scope of utility model registration request] 1. A shoulder portion, an elbow portion, and a hand portion connected to the elbow portion via a lower arm portion, and a grip is provided at a tip end portion of the hand portion so that movement of the grip is controlled by the hand portion and the elbow. It is transmitted to the power unit provided on the shoulder through the gear train inside the unit, and a signal of force proportional to this movement is sent to the power unit on the slave side to rotate and grasp the hand part on the slave side. In the manipulator described above, the grip is swingably provided on a base portion provided at a tip end portion of the lower arm portion, and the grip is manually provided with a trigger projecting so as to be operated outside the grip case. A signal ON / OFF switch that turns ON / OFF the signal of the force sent from the master arm to the slave side when gripped or released.
A push button switch that can be operated from the outside of the grip case to operate the master arm and the slave arm is provided, and the swinging motion of the grip is the rotational motion of the hand part on the slave side and the operating force of the trigger on the slave side. A grip for a master arm in a manipulator, characterized in that it is transmitted to a power unit on a slave side as an operation signal of a gripping motion of a hand portion.