JP5213166B2 - Mobile device - Google Patents

Description

  The present invention relates to a moving device capable of controlling the movement of a moving table that supports an arm or an object.

  In neurosurgery, a doctor performs a manual operation using a scalpel or the like while observing a fine surgical site with a surgical microscope, and therefore requires a very precise operation. In addition, such an operation often requires a long time. Since there is a risk that a tissue other than the surgical site may be damaged by a slight hand tremor during the operation, the doctor performs the operation using a moving device (support device) that supports and fixes the arm.

  The moving device used in this way needs not only to support the arm, but also to be able to adjust the height, orientation, inclination, etc. of the hand according to the position of the surgical site. As an example of such a moving device, Patent Document 1 discloses a fine work support.

  In the support tool for fine work disclosed in Patent Document 1, an arm base that supports an arm is supported by a base, a support shaft, and a link member so as to be vertically movable, rotatable, and swingable. The arm base is positioned high by the urging force of the spring, and when the upper limb is placed on the arm base and weight is added, the arm base is appropriately lowered due to the balance with the urging force. Further, the arm base is biased so as to tilt forward by another spring, and when an upward or downward force is applied to the arm base, the arm base tilts forward or downward.

  The doctor operates the fixing switch with a foot, knee, or the like when the armrest has a desired inclination, height, and orientation. Thereby, the armrest is fixed.

  Further, such an arm stand can be used not only for surgery but also for performing fine manual work, thereby preventing arm tremors and the like.

Japanese Patent No. 3653546

  In the fine work support (moving device) described in Patent Document 1, when the doctor wants to move the direction and position of the hand during surgery, the switch is operated to move the arm table (moving table). The fixed state is released, the movable base is moved to a position such as a desired tilt and height, and the arm base is fixed by operating the switch again. However, since the moving table is biased upward and upward, the biasing force may be released at a moment when the fixed state is released, and may move greatly upwards against the doctor's intention. On the other hand, when a force is applied to the moving table with a force larger than the urging force, there is a case where it moves greatly downwards against the doctor's intention. Thus, it is difficult to move the moving table as desired during the operation, and it is particularly difficult to finely adjust the position of the moving table.

  In order to solve this problem, an active moving device that can move and adjust the position of the moving table by driving an electric motor or the like is also conceivable. However, in an active device, there is a risk to the patient due to an erroneous operation of an operation lever for operating the position of the moving table or a malfunction of the device. In order to prevent erroneous operation, sufficient skill in device operation is required. In order to minimize the interruption of the operation, when the operation lever is operated with the foot, the operation becomes more difficult than the operation with the hand.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a moving device that can safely adjust a moving table to a desired position without risk of erroneous operation of equipment. And

The moving device according to claim 1, which has been made to achieve the above object, includes a moving table and a plurality of movable parts that movably support the moving table by an external force acting on the moving table. A moving mechanism having a plurality of urging mechanisms attached to the moving mechanism to urge each movable part to have a predetermined initial posture, and a movement for each movable part attached to the moving mechanism. A plurality of electric control brakes capable of controlling a braking amount for braking, a plurality of operation amount sensors attached to the moving mechanism for detecting an operation amount for each movable part, and attached to the moving table or the moving mechanism. A force sensor for detecting a force and / or torque acting on the moving table, a mode selection means for selecting an operation mode, a mode selected by the operation mode selection means, and an operation amount sensor and / or Or from the force sensor A control unit that controls the amount of braking of each of the plurality of electric control brakes based on the detected value of the plurality of electric control brakes , wherein the mode selecting means includes a detected value of the force sensor, a predetermined threshold value, And a mode is selected .

  This braking amount is a concept including braking force and braking torque.

  According to a second aspect of the present invention, there is provided the moving apparatus according to the first aspect, wherein the moving base is an arm base that supports an arm of an operator.

  According to a third aspect of the present invention, there is provided the moving device according to the first or second aspect, wherein the mode selection means determines whether the moving base should move at a fine moving speed, or the moving base is moved from the fine moving speed. The coarse movement mode to move at the fastest coarse movement speed, the standby position mode to move to the standby position of the moving table, or the fixed mode to fix the moving table, and the control unit The plurality of electric braking brakes are controlled by a braking amount corresponding to each mode.

  According to a fourth aspect of the present invention, there is provided the moving device according to the third aspect, wherein the control unit is configured to apply an external force acting on the moving table based on a detection value of the force sensor in the fine movement mode. The amount of braking of the plurality of electric control brakes is controlled such that the moving table moves in a direction at a speed corresponding to an external force.

  This velocity amount is a concept including velocity and angular velocity.

  According to a fifth aspect of the present invention, there is provided the moving device according to the third aspect, wherein the control unit is configured to apply an external force acting on the moving table based on a detection value of the force sensor in the fine movement mode. The amount of braking of the plurality of electric control brakes is controlled so that the moving table moves in a direction at a constant speed amount.

  This velocity amount is a concept including velocity and angular velocity.

  A moving device according to a sixth aspect is the moving device according to the third aspect, wherein the control unit acts on the moving table based on a detection value of the force sensor in the coarse movement mode. The braking amounts of the plurality of electric control brakes are controlled such that the moving base moves in a direction of external force at a constant speed amount faster than the speed amount in the fine movement mode.

  According to a seventh aspect of the present invention, there is provided the moving device according to the third aspect, wherein the control unit controls the plurality of movable units based on a detection value of the operation amount sensor in the standby position mode. The braking amounts of the plurality of electric control brakes are controlled so as to be in the initial posture at a predetermined speed amount.

  The movement device according to an eighth aspect is the movement device according to the seventh aspect, in which the control unit is configured to control the plurality of electric control brakes so that the plurality of movable units are in the initial posture one by one in order. The braking amount is controlled.

  The moving device according to a ninth aspect is the apparatus according to the eighth aspect, wherein the control unit moves the plurality of movable units to the initial posture in order from a side closer to the moving table. It is characterized by controlling the braking amount of the electric control brake.

A moving apparatus according to a tenth aspect is the moving apparatus according to the third aspect , wherein the control unit makes a determination based on a first threshold value and a second threshold value as the threshold value, and determines a predetermined value of the moving table. The coarse movement mode is determined when the magnitude of the external force acting in the direction exceeds a first threshold, and the fine movement mode is determined when the magnitude is equal to or greater than a second threshold greater than the first threshold. .

According to an eleventh aspect of the present invention, there is provided the moving apparatus according to the first or second aspect, wherein the mode selection means includes an operation switch.

According to a twelfth aspect of the present invention, there is provided the moving device according to the eleventh aspect , wherein the control unit determines whether or not the operation mode is the fixed mode based on a contact state of the operation switch.

According to a thirteenth aspect of the present invention, there is provided the mobile device according to the first or second aspect, wherein the mode selection means includes a microphone and a voice recognition circuit.

A moving device according to a fourteenth aspect is the moving device according to the first or second aspect, wherein the moving mechanism is configured by a multi-joint arm in which the movable portion is a joint.

A moving device according to a fifteenth aspect is the moving device according to the first or second aspect, wherein a plurality of non-excitation operating brakes that operate when no power is supplied to the moving mechanism to fix each of the plurality of movable parts. It is characterized by being attached.

According to a sixteenth aspect of the present invention, there is provided the moving device according to the fifteenth aspect , wherein an emergency stop switch for stopping supply of power to the plurality of non-excitation brakes is attached.

A moving device according to claim 17 is the moving device according to claim 1 or 2, wherein the electric control brake is any one of a powder brake, a hysteresis brake, an electrorheological fluid brake, and a magnetic fluid brake. Features.

A moving device according to an eighteenth aspect is the moving device according to the first or second aspect, wherein the operation amount sensor is an encoder or a potentiometer.

According to a nineteenth aspect of the present invention, there is provided the moving device according to the first or second aspect, wherein the force sensor is a six-axis force torque sensor or a three-axis force sensor.

The moving device according to claim 20 is the moving device according to claim 1 or 2, wherein the biasing mechanism includes a constant load spring, a coil spring, a torsion coil spring, a leaf spring, rubber, or a counterweight. It is characterized by being energized.

  The moving device of the present invention brakes the movement of a movable part attached to a moving mechanism having a plurality of movable parts that movably supports the movable table urged by the urging mechanism with an external force acting on the movable table. The control unit controls the braking amounts of the plurality of electric control brakes based on the mode selected by the mode selection unit and the detection values of the operation amount sensor and / or the force sensor. For this reason, the movement of the moving table is braked, and the moving table is prevented from moving much faster than intended by the biasing force or external force, so that it can be adjusted safely and securely to the desired position even during work. it can. Furthermore, since the position of the moving table is adjusted by an external force such as the force of the operator's arm, for example, there is no risk of erroneous operation as compared with a device that is actively moved by an electric motor or the like.

  In the moving device, the position of the arm can be adjusted stably and reliably because the moving base is an arm base that supports the arm of the operator.

  The moving device is selected by the mode selection means as to whether the moving table is in the fine movement mode, coarse movement mode, standby position mode, or fixed mode, and the control unit performs the electric braking brake with a braking amount corresponding to each mode. To control. Accordingly, the moving table can be quickly moved to the work location in the coarse motion mode, and can be slowly and surely adjusted to a desired position in the fine motion mode near the work location. A slight position change can be reliably adjusted to a desired position in the fine movement mode. Furthermore, by providing the standby position mode, it is possible to return the moving table to the standby position automatically by the urging force of the urging mechanism and at a safe speed. Furthermore, by providing the fixing mode, the position-adjusted movable table can be fixed securely.

  When the control unit is in the fine movement mode, the moving device has a plurality of electric control brakes such that the moving table moves in the direction of the external force acting on the moving table at a speed amount corresponding to the external force based on the detection value of the force sensor. The amount of braking is controlled. As a result, the moving table moves only in the direction desired by the operator, and the speed of the moving table changes depending on the degree of external force applied by the operator. Can be reliably adjusted.

  When the moving device is in the fine movement mode, the control unit brakes a plurality of electric control brakes so that the moving table moves at a constant speed amount in the direction of the external force acting on the moving table based on the detection value of the force sensor. Control the amount. As a result, it moves at a constant speed regardless of the magnitude of the external force applied to the operator's moving platform, so that the position adjustment can be performed reliably.

  When the moving device is in the coarse motion mode, the control unit has a constant speed amount that is faster than the speed amount in the fine motion mode in the direction of the external force acting on the moving base, based on the detection value of the force sensor. The amount of braking of the plurality of electric control brakes is controlled so as to move. Thus, the operator can quickly adjust the position of the movable table in a desired direction.

  When the moving device is in the standby position mode, the control unit sets the braking amounts of the plurality of electric control brakes so that the plurality of movable units are in an initial posture at a predetermined speed amount based on the detection value of the operation amount sensor. Control. In this case, it is safe by setting the speed amount to a speed without danger.

  In the moving device, the control unit controls the braking amounts of the plurality of electric control brakes so that the plurality of movable units are in the initial posture one by one in order. Thereby, since the movable part does not move all at once, it is safer.

  In the moving device, the control unit controls the braking amounts of the plurality of electric control brakes so that the control unit assumes the initial posture in order from the side closer to the moving table. As a result, contact and collision with the operator are surely prevented, which is safer.

  In the mobile device, the mode can be quickly changed without interrupting the operation by selecting the mode depending on whether or not the detection value of the force sensor exceeds a predetermined threshold.

  In the moving device, the coarse motion mode is determined when the magnitude of the external force acting in the predetermined direction of the moving table exceeds the first threshold value based on the first threshold value and the second threshold value. When the value is equal to or greater than a second threshold value greater than that, the fine movement mode is determined. Thereby, for example, the mode can be switched more quickly than when the operation switch is operated, and the mode can be switched while the posture is being worked.

  In the mobile device, the mode selection means includes an operation switch, so that mode selection can be performed reliably.

  In the mobile device, the control unit determines whether the operation mode is the fixed mode based on the contact state of the operation switch, so that the mobile platform can be securely fixed by operating the operation switch, which is safe.

  In the mobile device, the mode selection means includes a microphone and a voice recognition circuit, so that the mode can be switched by voice without interruption of work or change in posture.

  The moving device can move the arm base smoothly with a plurality of degrees of freedom because the moving mechanism is configured by a multi-joint arm having a movable part as a joint.

  In the mobile device, even if the supply of power is stopped due to a power failure or the like, the moving mechanism is provided with a plurality of non-excitation operating brakes that operate when no power is supplied and fix each of the plurality of movable parts. Since the armrest is fixed, it is safe.

  The mobile device is equipped with an emergency stop switch that stops the supply of power to multiple non-excitation brakes, so that even if a device malfunctions, the mobile platform can be fixed immediately by operating the emergency stop switch. To be safe.

  In the mobile device, the electric control brake is either a powder brake, a hysteresis brake, an electrorheological fluid brake, or a magnetic fluid brake, so that the braking amount can be varied stably and surely and smoothly. The position can be adjusted smoothly.

  In the moving device, since the operation amount sensor is an encoder or a potentiometer, the control unit can accurately detect the operation amount of the movable unit, so that the position of the moving table can be adjusted smoothly.

  In the moving device, since the force sensor is a six-axis force torque sensor or a three-axis force sensor, the external force acting on the moving table can be precisely detected in all directions, so that the position can be accurately adjusted to a desired position. .

  In the moving device, the urging mechanism includes a constant load spring, a coil spring, a torsion coil spring, a leaf spring, rubber, or a counterweight, and can be urged to have a simple structure.

Preferred form for carrying out the invention

  Hereinafter, preferred embodiments of the present invention will be described in detail, but the scope of the present invention is not limited to these embodiments.

  FIG. 1 shows a perspective view of an arm support device, which is an embodiment of the moving device of the present invention, mounted on a chair. As an example, the arm support device 1 is used by a doctor who performs surgery to support and fix an arm during neurosurgery or brain surgery. 2 is a side view of the arm support device 1 observed from the right side (outside of the chair in FIG. 1), and FIG. 3 is a side view of the arm support device 1 observed from the left side (inside of the chair in FIG. 1). 4 and 4 are top views of the arm support device 1. FIG. 2 to 3, the chair is not shown. In addition, when describing directions, such as right, left, front, back, in this specification, it describes with the direction at the time of seeing from the doctor who sat on the chair 30. FIG.

  As shown in FIG. 1, the arm support device 1 is attached to a mounting base 32 a that protrudes to the right hand side from the rear side rear part of the seat surface 31 of the chair 30. In addition, although the left-right symmetrical type of the arm support device 1 is mounted on the mounting base 32b protruding from the rear side rear side of the seat surface of the chair 30 to the left hand side, it is the same except that it is left-right symmetrical. Therefore, illustration and description are omitted.

  The arm support device 1 includes an articulated arm 2, an armrest 3, a foot switch 4, an emergency stop switch 5, and a control box 6.

  The multi-joint arm 2 is a moving mechanism having a plurality of movable parts that movably support the arm base 3 by an external force acting on the arm base 3, and in this example, the five joints 11, 12, 13, 14, 15 are configured with 5 degrees of freedom. The joints 11 to 15 are rotary joints, and the articulated arm 2 is connected to the support portion 16, the shoulder portion 17, the first arm portion 18, the second arm portion 19, the third arm portion 20, and the tip portion 21. Has been. Hereinafter, it demonstrates concretely, referring FIGS. 1-4.

  The support portion 16 includes a rotary handle that can adjust the height up to the upper portion thereof, and is fixed to the chair 30. A shoulder portion 17 is rotatably connected to the upper portion of the support portion 16 via the joint 11. The rotation axis of the joint 11 is directed in the vertical direction, and the shoulder portion 17 swings and swings as shown by a thick arrow in FIG.

  The support portion 16 has a powder brake 11a for braking the rotation of the joint 11, an encoder 11b for detecting the amount of rotation of the joint 11, and a non-excitation operation for fixing the rotation of the joint 11 when there is no power. A brake 11c is attached. A constant load spring 11d that urges the movement of the joint 11 to a predetermined initial posture is attached to the lower portion of the shoulder portion 17. As an example, the initial posture of the joint 11 is a posture in which the first arm portion 18 connected to the shoulder portion 17 is opened at an angle of 30 degrees with respect to the side surface of the chair. The joint 11 rotates within the range from the initial posture (the chair 30 side) using the initial posture as a movable limit.

  As an example, the end of the first arm 18 having a length of about 35 cm is rotatably connected to the shoulder 17 via the joint 12. The rotation axis of the joint 12 is directed in the horizontal direction, and the first arm portion 18 reciprocates in the vertical direction with the joint 12 as a fulcrum, as indicated by a thick arrow in FIG. The first arm portion 18 is constituted by a parallel link.

  The shoulder 17 includes a powder brake 12a that brakes the rotation of the joint 12, an encoder 12b that detects the amount of rotation of the joint 12, a non-excitation brake 12c that fixes the rotation of the joint 12 when there is no power, and A constant load spring 12d that urges the movement of the joint 12 to a predetermined initial posture is attached. As an example, the initial posture of the joint 12 is a posture in which the distal end side of the first arm portion 18 is lowered downward at an angle of 30 degrees with respect to the horizontal plane. The joint 12 rotates in a range below the initial posture with the initial posture as a movable limit.

  As an example, an end of the second arm 19 having a length of about 35 cm is rotatably connected to the tip of the first arm 18 via the joint 13. The rotation axis of the joint 13 is oriented in the horizontal direction, and the second arm portion 19 reciprocates in the vertical direction with the joint 13 as a fulcrum, as indicated by a thick arrow in FIG. The second arm portion 19 is constituted by a parallel link. Further, a support rod 19a is connected to the second arm portion 19 near the joint 13 so as to suspend and support the second arm portion 19 and hold the movement of the second arm portion 19 movably. The other end of the support rod 19a is connected to a second arm support portion 19b provided on the shoulder portion 17.

  The second arm support portion 19b of the shoulder 17 includes a powder brake 13a that brakes the rotation of the joint 13, an encoder 13b that detects the amount of rotation of the joint 13, and a rotation that fixes the rotation of the joint 13 when there is no power. An excitation operation brake 13c and a constant load spring 13d that urges the movement of the joint 13 to a predetermined initial posture are attached. The braking force and the urging force by these are transmitted to the 2nd arm part 19 by the support rod 19a. The initial posture of the joint 13 is, for example, a position at an angle of 90 degrees with respect to the first arm portion 18. The joint 13 rotates within a range in which the opening is an angle larger than that of the initial posture, with the initial posture as a movable limit.

  A third arm portion 20 is rotatably connected to the tip of the second arm portion 19 through a joint 14. The rotation axis of the joint 14 is oriented in the horizontal direction, and the third arm portion 20 rotates in the front-rear direction with the joint 14 as a fulcrum, as indicated by a thick arrow in FIG. The rotation axes of the joints 12 to 14 are provided substantially in parallel. A support rod 20 a that supports the third arm portion 20 and regulates its movement is connected to the third arm portion 20 near the joint 14. The other end of the support rod 20a is connected to a third arm support portion 20b provided near the joint 13.

  The 3rd arm support part 20b is supporting the support rod 20a so that a movement is possible. The third arm support portion 20b includes a powder brake 14a that brakes the rotation of the joint 14, an encoder 14b that detects the amount of rotation of the joint 14, and a non-excitation brake that fixes the rotation of the joint 14 when there is no power. 14c and a constant load spring 14d that urges the movement of the joint 14 to a predetermined initial posture. The braking force and the urging force by these are transmitted to the 3rd arm part 20 by the support rod 20a. As an example, the initial posture of the joint 14 is set such that the angle of a post 3d of the armrest 3 to be described later is 90 degrees with respect to the second arm portion 19. The joint 14 rotates within a range in which the opening is an angle larger than the initial posture with the initial posture as a movable limit.

  A distal end portion 21 is rotatably connected to the third arm portion 20 via a joint 15. The rotation axis of the joint 15 is orthogonal to the rotation axis of the joint 14, and the distal end portion 21 swings and swings as indicated by a thick arrow in FIG. 2.

  The tip 21 has a powder brake 15a for braking the rotation of the joint 15, an encoder 15b for detecting the amount of rotation of the joint 15, a non-excitation actuating brake 15c for fixing the rotation of the joint 15 when there is no power, and A constant load spring 15d for biasing the movement of the joint 15 to a predetermined initial posture is attached. As an example, the initial posture of the joint 15 is a position where a support bar 3c of the arm base 3 described later is parallel to a surface along the first arm portion 18. The joint 15 rotates within a range in which a hand support 3b, which will be described later, comes closer to the inner side (the chair 30 side) than the initial posture with the initial posture as a movable limit.

  A support post 3 d that supports the armrest 3 is attached to the distal end portion 21 via a six-axis force torque sensor 8. The six-axis force torque sensor 8 is an example of a force sensor, and detects a force in the three-axis direction and a torque around the three axes. This 6-axis force torque sensor 8 also functions as a mode selection means.

  The above-described powder brakes 11a to 15a are examples of electric control brakes, and use a magnetic powder (powder) as a brake transmission medium to generate a braking torque (an example of a braking amount) proportional to a control current. Yes, the braking torque can be adjusted stably and surely and smoothly. Further, the powder brakes 11a to 15a have a braking torque for stopping and fixing (locking) the joints 11 to 15.

  The encoders 11b to 15b are examples of actuation amount sensors, and output digital pulse signals based on the amount of movement such as the rotational displacement amount or the rotational angular displacement amount of the joints 11 to 15. In this case, a rotary encoder is used.

  The non-excitation actuating brakes 11c to 15c rotate freely without braking when power is supplied, but have braking torque that stops and fixes the rotation of the joints 11 to 15 while exhibiting braking torque when there is no power. It is.

  The constant load springs 11d to 15d are an example of an urging mechanism and are springs in which the load and torque are substantially constant even when the rotational position of the joint changes. By using a constant load spring, a simple device can be obtained, and the angular velocity of rotation of each joint 11 to 15 can be easily controlled.

  The arm table 3 is an example of a moving table, and can support the arm of a doctor who is an operator, and includes a forearm support table 3a and a hand support table 3b. The forearm support base 3a is formed in a shallow, substantially U-shape with resin so as to fit and support the doctor's forearm. The forearm support 3 a is fixed to the upper part of a support 3 d attached to the 6-axis force torque sensor 8. The hand support 3b is smaller in size than the forearm support 3a and is formed in a substantially U-shape that is shallow upward with resin so that the side of the palm is placed and supported. As shown in FIGS. 2 and 3, the hand support 3b is fixed to the tip of a metal support bar 3c extending forward from the lower part of the forearm support 3a. The support bar 3c is attached to a column 3d for fixing the forearm support base 3a with two wing nuts so that the position of the hand support base 3b in the front-rear direction can be adjusted.

  The pedestal 3 is urged toward the standby position by being urged so that the joints 11 to 15 have their predetermined initial postures. This urging force moves the arm base 3 to the standby position when nothing is placed on the arm base 3, and supports and balances the force applied from the arm when the arm base 3 is used. This is an urging force capable of easily adjusting the position of the armrest 3 while being applied. As an example, when the doctor sits on the chair 30, the arm stand 3 is positioned above the chair 30 on the upper rear side with respect to the doctor's operative field, and does not use the arm support device 1. It is a position that sometimes does not interfere with the doctor, and is a position that can be used easily without difficulty when it is used again.

  The foot switch 4 is an example of an operation switch serving as a mode selection unit. As shown in FIG. 1, the foot switch 4 is provided on the footrest 33 of the chair 30 to change the operation mode of the arm support device 1 to a fixed mode or other mode. The mode is switched by foot. The foot switch 4 is switched ON / OFF (contact state) every time it is depressed.

  As an example, the emergency stop switch 5 is a push button switch provided on the doctor side of the support 3d of the armrest 3 and functions as a switch for urgently fixing the armrest 3.

  As shown in FIG. 1, the control box 6 is arranged on the pedestal portion of the chair 30 and incorporates a control unit that controls the operation of the arm support device 1. The foot switch 4, the emergency stop switch 5, the 6-axis force torque sensor 8, the powder brakes 11a to 15a, the encoders 11b to 15b, and the non-excitation operating brakes 11c to 15c are each connected to the control box 6 by electric wiring (not shown). It is connected to the.

  FIG. 5 shows an electrical system diagram. The control box 6 includes a control unit 9, a power supply unit 40, D / A converters 11e to 15e, drivers 11f to 15f, counters 11g to 15g, an A / D converter 41, and an amplifier 42.

  The control unit 9 includes a central processing unit, a ROM that stores operation programs and control variables, a RAM that is used for arithmetic processing, an interface circuit with an external device, and a crystal oscillator that generates a reference clock signal (both non- Etc.) to control the operation of the arm support device 1.

  As shown in FIG. 5, the foot switch 4 is connected to the control unit 9 and an ON / OFF signal of the foot switch 4 is input. Further, the detection signal detected by the six-axis force torque sensor 8 is amplified by the amplifier 42 and further analog / digital converted by the A / D converter 41 and input to the control unit 9. The control unit 9 outputs five braking control signals to be output, and the braking control signals are digital / analog converted by the D / A converters 11e to 15e, and are further converted to drive signals by the drivers 11f to 15f. Thus, the powder brakes 11a to 15a are independently controlled. Furthermore, pulse signals output by the encoders 11b to 15b are counted by the counters 11g to 15g and input as detection signals to the control unit 9. Based on this detection signal, the control unit 9 can determine the angular velocity, rotation angle, and rotation position of the joints 11 to 15.

  The power supply unit 40 is connected to a commercial 100 V AC power supply (not shown) and supplies power to each unit of the arm support device 1. Power is supplied from the power source 40 to the non-excitation brakes 11c to 15c. Furthermore, the emergency stop switch 5 is connected to the power supply unit 40. The power supply unit 40 is configured to be able to immediately stop power supply to the non-excitation operation brakes 11c to 15c when the emergency stop switch 5 is pressed. For this reason, in the arm support 1, when the power supply is stopped due to a power failure or when the emergency stop switch 5 is pressed, the power supply unit 40 performs the non-excitation operation regardless of the processing by the control unit 9. The power supply to the brakes 11c to 15c is immediately stopped, and the movements of the joints 11 to 15 are immediately fixed. Thereby, the movement of the armrest 3 is fixed and safe.

  Next, an example of the operation and control method of the arm support device 1 will be described with reference to the flowchart shown in FIG.

  As shown in the flowchart of FIG. 6, when the control unit 9 starts operation, first, the central processing unit performs initialization such as reading an operation program from the ROM (step 61). Subsequently, loop processing is started (step 62). In this loop process, the control unit 9 determines whether the foot switch 4 is ON or OFF (step 63), and if it is ON, starts the fixed mode process in which the movement of the armrest 3 should be fixed (step 64). In this case, the control unit 9 controls the braking torque to fix all the powder brakes 11a to 15a (step 65). Thereby, the movement of the joints 11-15 is fixed, and the armrest 3 is fixed.

  In step 63, when the foot switch 4 is not turned ON, the control unit 9 reads the detection value of the six-axis force torque sensor 8 (step 66).

  Based on the detected value of the 6-axis force torque sensor 8 that has been read, the control unit 9 determines whether or not the arm position 3 is in the standby position mode in which the arm base 3 should be moved to the standby position (step 67). The standby position mode is a mode in which the armrest 3 is automatically moved to the standby position. The determination condition for setting the standby position mode is, for example, when an external force is not applied to the armrest 3 for a predetermined time, that is, the arm is not placed on the armrest 3 for a predetermined time, and the armrest is detected by the 6-axis force torque sensor 8. Suppose that only the weight of 3 is detected. The controller 9 starts the standby position mode process when it is determined as the standby position mode (step 68).

  In this case, the control unit 9 performs a braking amount determination process A1 for determining the braking torque of the powder brakes 11a to 15a (step 69). The control unit 9 controls the powder brakes 11a to 15a to the braking torque determined in the braking amount determination process A1 (step 70), maintains the state, and returns to step 62. The braking amount determination process A1 will be described later.

  When it is determined in step 67 that the control unit 9 is not in the standby position mode, the control unit 9 determines whether or not the coarse movement mode is set (step 71). The coarse movement mode is a mode in which the arm 3 is quickly moved and the position is roughly adjusted to the vicinity of the surgical site. It should be noted that the speed / angular speed at which the arm 3 is moved in the coarse motion mode is also referred to as coarse motion speed. The determination condition for the coarse movement mode is that the magnitude of the force acting on the arm base 3 in a predetermined direction exceeds the first threshold value. As an example, the predetermined direction is the axial direction of the support 3d that supports the forearm support 3a of the arm 3 and the direction is the direction from the forearm support 3a to the support 3d. In addition, the first threshold value is, for example, a value that can determine whether an arm is placed on the armrest 3. That is, when the forearm support 3a is pushed in the direction of the column 3d with a light force, the coarse movement mode is set.

  The controller 9 starts the coarse movement mode process when it is determined that the coarse movement mode is set (step 72). In this case, the control unit 9 performs a braking amount determination process A2 for determining the braking torque of the powder brakes 11a to 15a (step 73). The control unit 9 controls the powder brakes 11a to 15a to the braking torque determined in the braking amount determination process A2 (step 74), maintains the state, and returns to step 62. The braking amount determination process A2 will be described later.

  When it is determined at step 71 that the mode is not the coarse motion mode, the control unit 9 determines whether or not the mode is the fine motion mode (step 75). The fine movement mode is a mode in which the arm base 3 is moved slowly to finely adjust its position. It should be noted that the speed / angular speed of moving the armrest 3 in the fine movement mode is also referred to as a fine movement speed. The determination condition for the fine movement mode is that the magnitude of the force acting on the armrest 3 in the predetermined direction is equal to or greater than the second threshold value. The second threshold value is larger than the first threshold value. As an example, the second threshold is a force slightly larger than the force in the drooping direction of the force applied to the forearm support 3a when the doctor performs an operation. That is, when the forearm support 3a is pushed in the direction of the column 3d with a predetermined strong force, the fine movement mode is set.

  The controller 9 starts the fine movement mode process when it is determined as the fine movement mode (step 76). In this case, the control unit 9 performs a braking amount determination process A3 for determining the braking torque of the powder brakes 11a to 15a (step 77). The control unit 9 controls the powder brakes 11a to 15a with the braking torque determined in the braking amount determination process A3 (step 78), maintains the state, and returns to step 62. The braking amount determination process A3 will be described later.

  When it is determined in step 75 that the mode is not the fine movement mode, the controller 9 determines that an error has occurred (step 79) and returns to step 62.

  The control unit 9 repeatedly executes the loop from step 62 to step 80 at the end of the loop at short time intervals.

  Next, the braking amount determination process A1 in the standby position mode will be described with reference to the flowchart shown in FIG.

  In the braking amount determination process A1, first, the control unit 9 determines whether or not the joint 15 is in the initial posture based on the detection value of the encoder 15b (step 101). When the control unit 9 determines that the joint 15 is not in the initial posture, the control unit 9 calculates the current angular velocity of the joint 15 from the detection value of the encoder 11b, and the difference from the target angular velocity that is the stored velocity stored in the ROM. Is calculated (step 102). This target angular velocity is a safe and slow angular velocity that does not pose a danger for the armrest 3 to automatically move and return to the standby position when the doctor removes his / her hand from the armrest 3, and is set in the ROM in advance. deep.

  Subsequently, based on the calculated difference, the control unit 9 calculates a braking torque such that the joint 15 reaches the target angular velocity, determines the braking torque of the powder brake 15a, and also determines the braking torque of the powder brakes 11a to 14a. Is determined as a braking torque for fixing the joints 11 to 14 (step 103).

  When it is determined in step 101 that the joint 15 is in the initial posture, the control unit 9 determines whether or not the joint 14 is in the initial posture based on the detection value of the encoder 14b (step 104). When it is determined that the joint 14 is not in the initial posture, the control unit 9 calculates the current angular velocity of the joint 14 from the detection value of the encoder 14b, and calculates a difference from the target angular velocity (step 105). Subsequently, based on the calculated difference, the control unit 9 calculates a braking torque such that the joint 14 reaches the target angular velocity, determines the braking torque of the powder brake 14a, and the powder brakes 11a to 13a ˜13 is determined as a fixed braking torque (step 106). The powder brake 15a of the joint 15 already in the initial posture is not braked (step 106). In the following steps 109, 112, 115, and 116, the powder brake of the joint that is already in the initial posture is set to no braking. When it is determined in step 104 that the joint 15 is in the initial posture, the control unit 9 determines whether or not the joint 13 is in the initial posture (step 107).

  Similarly, when it is determined in step 107 that the joint 13 is not in the initial posture, the control unit 9 calculates the difference between the target angular velocity and the current angular velocity of the joint 13 in step 108, and in step 109. The braking torque for the joint 13 to be the target angular velocity is calculated, and the braking torque for the powder brake 13a is determined. In step 109, the braking torque of the powder brakes 11a and 12a is determined as the braking torque for fixing the joints 11 and 12 (step 109). If it is determined in step 107 that the joint 13 is in the initial posture, step 110 is executed.

  Further, when the joint 12 is not in the initial posture (step 110), the control unit 9 determines the braking torque of the powder brake 12a so as to set the joint 12 to the target angular velocity in steps 111 and 112, and brakes the powder brake 12a. The torque is determined as a braking torque at which the joint 12 is fixed. When the joint 12 is in the initial posture in step 110, the control unit 9 executes step 113. Further, when the joint 11 is not in the initial posture (step 113), the control unit 9 determines the braking torque of the powder brake 11a so as to set the joint 11 to the target angular velocity in steps 114 and 115. When the control unit 9 determines in step 113 that the joint 11 is in the initial posture, the control unit 9 ends the standby position mode (step 116).

  By determining the braking torque in this way, in the standby position mode, the articulated arm 2 moves safely at a slow storage speed without danger. In addition, since it returns to the initial posture one by one in order from the joint close to the surgical site, that is, in the order of joint 15, joint 14, joint 13, joint 12, and joint 11, contact and collision with the doctor are prevented. It is safe. In addition, there is no impact of equipment due to movement.

  Next, the braking amount determination process A2 in the coarse movement mode will be described with reference to the flowchart shown in FIG.

  In the description, as shown in FIG. 10, the force component detection values in the X, Y, and Z axis directions of the six-axis force torque sensor 8 are Fx, Fy, and Fz, and the moment components around the X, Y, and Z axes. The detected values of Mx, My, and Mz are defined as Mx, My, and Mz. Further, as shown in the figure, the velocity components in the X, Y, and Z axis directions of the tip of the hand support base 3b are Vx, Vy, and Vz, and the angular velocity components around the X, Y, and Z axes are ωx, Let ωy and ωz. In addition, the front-end | tip part of the hand support stand 3b is also only called the arm stand 3 front-end | tip part.

  In the braking amount determination process A2, the control unit 9 determines whether or not the Z-axis component force Fz of the detected value of the six-axis force torque sensor 8 is greater than zero (step 120). When the force component Fz is larger than 0, that is, when a force is applied downward from the armrest 3, the control unit 9 calculates the 6-axis by the equation (1) from the detection value of the 6-axis force torque sensor 8. Conversion is made into a direction vector Funit of force torque (step 121). By this conversion, a vector Funit indicating only the direction is obtained.

  Next, the control unit 9 calculates the armrest tip velocity / angular velocity vector V by equation (2) (step 122).

式（２）のＣ^−１は、次の式（３）で示される粘性マトリクスＣの逆行列である。

C ^{−1 in the} equation (2) is an inverse matrix of the viscosity matrix C expressed by the following equation (3).

式（３）のＣｐｏｓ１は軸方向、Ｃｒｏｔ１は軸回りの腕台３の動きの粘性を規定する固定値であって、予め実験等で決定された値である。この場合、制御部９がパウダブレーキ１１ａ〜１５ａを作動させつつ、腕台３を一定の力で動かすことのできる最大の速度・角速度となるような値に決定する。

In Formula (3), Cpos1 is an axial direction, and Crot1 is a fixed value that defines the viscosity of the movement of the armrest 3 around the axis, and is a value determined in advance through experiments or the like. In this case, the control unit 9 determines values that are the maximum speed and angular speed at which the armrest 3 can be moved with a constant force while operating the powder brakes 11a to 15a.

  The armrest tip velocity / angular velocity vector V is expressed by the following equation (4).

  Subsequently, the control unit 9 calculates the joint velocity vectors S of the joints 11 to 15 from Expression (5), which is an inverse kinematic calculation using a Jacobian matrix, and calculates the target angular velocities of the joints 11 to 15 (step) 123).

式（５）のＪ_ｖ ^−１は、多関節アーム２のヤコビ逆行列である。

J _v ^{−1 in} equation (5) is the Jacobian inverse matrix of the articulated arm 2.

  Next, the control unit 9 determines the braking torque of the powder brakes 11a to 15a from each target angular velocity (step 124), and ends the braking amount determination process A2.

  When the control unit 9 determines in step 120 that the force component Fz is not greater than 0, that is, when it is determined that the arm base 3 is not weighted from the arm, the arm base 3 is moved upward. For this purpose, the arm tip speed / angular velocity vector V is set to a fixed value of the following equation (6) (step 125).

式（６）のＣＯＮＳＴ１は、速いが安全な速度であって実験的に決められる。この腕台先端速度・角速度ベクトルＶは、腕台３先端部がＣＯＮＳＴ１の速度で上方に移動することを意味している。

CONST1 in equation (6) is a fast but safe speed and is determined experimentally. This arm support tip speed / angular velocity vector V means that the tip of the arm support 3 moves upward at the speed of CONST1.

  Subsequently, the control unit 9 determines a braking torque in Step 124 and ends the braking amount determination process A2.

  By determining the braking torque in this way, the armrest 3 can be moved quickly with a constant force in any direction in the coarse movement mode. If no force is applied to the armrest 3, it moves upward at the speed of CONST1. At this time, by setting the moving speed of the armrest 3 so as to move at a speed / angular speed faster than the fine movement speed, the doctor can quickly adjust the position of the armrest 3 in a desired direction. .

  Next, the braking amount determination process A3 in the fine movement mode will be described with reference to the flowchart shown in FIG.

  In the braking amount determination process A3, the control unit 9 determines whether or not the Z-axis component force Fz of the detected value of the six-axis force torque sensor 8 is greater than zero (step 130). When the force Fz is greater than 0, that is, when a force is applied downward from the armrest 3, the control unit 9 sets the detected value of the 6-axis force torque sensor 8 to the 6-axis of the equation (7). The force torque F is set (step 131). The six-axis force torque F includes the magnitude and direction of force and torque.

  Next, the control unit 9 calculates the armrest tip velocity / angular velocity vector V by using the viscosity matrix C represented by the following equation (8) and calculating Funit in the above equation (2) with F. (Step 132).

式（８）のＣｐｏｓ２は軸方向、Ｃｒｏｔ２は軸回りの腕台３の動きの粘性を規定する固定値であって、予め実験等で決定された値である。この場合、粗動モードで腕台３が動く速度・角速度もゆっくりと動くような値に設定する。

In formula (8), Cpos2 is the axial direction, and Crot2 is a fixed value that defines the viscosity of the movement of the armrest 3 around the axis, and is a value determined in advance through experiments or the like. In this case, the speed and angular velocity at which the armrest 3 moves in the coarse motion mode are set to values that move slowly.

  Subsequently, the control unit 9 calculates each joint velocity vector S of the joints 11 to 15 from the above-described equation (5) and sets it as the target angular velocity (step 133).

  Next, the control unit 9 determines the braking torque of the powder brakes 11a to 15a from the respective target angular velocities (step 134), and the braking amount determination process A2 ends.

  In step 130, when the control unit 9 determines that the force component Fz is not larger than 0, that is, when it is determined that the arm base 3 is not heavy from the arm, the arm base 3 is moved upward. For this purpose, the arm tip speed / angular velocity vector V is set to a fixed value of the following equation (9) (step 135).

式（９）のＣＯＮＳＴ２は、ＣＯＮＳＴ１の速度よりも遅い速度であって実験的に決められる。

CONST2 in equation (9) is a speed lower than the speed of CONST1 and is determined experimentally.

  Subsequently, the control unit 9 determines a braking torque in Step 134 and ends the braking amount determination process A3.

  By processing in this way, in the fine movement mode, the moving base moves only in the direction desired by the doctor, and further, the moving speed of the moving base changes depending on the force applied by the doctor's arm. Thus, the position adjustment of the armrest 3 can be reliably performed at a fine movement speed reflecting the details of the movement. If no force is applied to the armrest 3, the position can be adjusted reliably by moving slowly upward at the speed of CONST2.

  As described above, in the arm support device 1, the arm support 3 can be used by switching the fixed mode, the standby position mode, the coarse motion mode, and the fine motion mode. In any mode, indirect 11 to 15 are braked with a controlled braking torque, so the movement of the armrest 3 is restricted, and the armrest 3 is prevented from moving much faster than intended by the biasing force or external force. Thus, even during work, it can be adjusted securely to a desired position. Furthermore, since the position of the armrest 3 is adjusted by the force of the doctor's arm, for example, there is no risk of erroneous operation and it is safe compared with a device that is actively moved by an electric motor or the like. Further, since the constant weight springs 11d to 15d are provided, not only the weight of the multi-joint arm 2 is supported, but also the arm base 3 can be moved to the standby position without depending on the external force. The reaction force can be presented. Since a reaction force is applied to the arm, the doctor can operate stably.

  In the arm support device 1, the moving table can be quickly moved in the coarse motion mode to the vicinity of the surgical site, and can be slowly and surely adjusted to the desired position in the fine motion mode near the surgical site. A slight position change can be reliably adjusted to a desired position in the fine movement mode. Furthermore, by providing the standby position mode, the armrest 3 can be returned automatically to the standby position at a safe speed by the urging force of the constant load springs 11d to 15d. Furthermore, by providing the fixing mode, the armrest 3 after the position adjustment can be reliably fixed.

  The above-described arm support 1 includes a foot switch 4 as a mode selection means for selecting a fixed mode, and a 6-axis force torque sensor for selecting a fine movement mode, a coarse movement mode, and a standby position mode. In the above example, two additional switches similar to the foot switch 4 are provided, and the added one foot switch corresponds to the fine movement mode and the other added foot switch corresponds to the coarse movement mode. Depending on which foot switch is turned on, the control unit 9 may perform switching control between the fixed mode, the fine movement mode, and the coarse movement mode. Further, it is also possible to add one foot switch and switch to the standby position mode with this additional foot switch.

  As mode selection means, as shown by a broken line in FIG. 5, the microphone 45 and the voice recognition circuit 46 are connected to the control unit 9, and the voice recognition circuit 46 detects the content of the voice instruction from the doctor to the microphone 45. And the control part 9 can also be set as the structure which switches each mode with the content of the audio | voice instruction | indication. Further, the fixed mode may be selected by the foot switch 4 and the microphone 45 and the voice recognition circuit 46 may be combined to select the fine movement mode, the coarse movement mode, and the standby position mode.

  Further, the example in which the arm support device 1 includes the six-axis force torque sensor 8 has been described. However, the arm support device 1 may be replaced with a three-axis force sensor or a plurality of one-axis force sensors depending on the number of movable parts and the accuracy of movement control. You can also. For example, when a three-axis force sensor is provided, the position is controlled only by the force component.

  Further, although the example in which the arm support device 1 includes the multi-joint arm 2 having 5 degrees of freedom has been described, the degree of freedom can be changed to an arbitrary one. In addition, a linear motion joint can be used instead of the rotary joint. In the case of a linear joint, the control unit controls the braking force (an example of the braking amount) of the electric control brake so that the armrest 3 moves at a speed (an example of the speed amount) corresponding to the external force.

  In the above description, an example in which the arm support device 1 includes the powder brakes 11a to 15a has been described. However, instead of this, a deviation between the magnetic field generated by energization of the electromagnetic coil and the direction of the internal magnetic flux of the hysteresis material. Hysteresis brakes that generate braking torque due to pressure, electrorheological fluid brakes (ER brakes) that use electrorheological fluids (ER fluids) as brake torque transmission media, and magnetic fluids (MR fluids) as brake torque transmission media A magnetic fluid brake (MR brake) may be provided. Here, the electrorheological fluid is one that causes a change in viscosity by application of an electric field, and the magnetic fluid is one that causes a change in viscosity by application of a magnetic field.

  Moreover, although the arm support apparatus 1 demonstrated the example provided with encoder 11b-15b, the potentiometer of an analog output can also be used. Moreover, although the example which provided the constant load springs 11d-15d and urged | biased was demonstrated, it can replace with this and can also be provided with a coil spring, a torsion coil spring, a leaf | plate spring, rubber | gum, or a counterweight. These also make it possible to provide a device having a simple structure.

  Moreover, although the example in which the emergency stop switch 5 is provided on the column 3d of the armrest 3 has been described, the position can be provided at any position as long as the position is easy to operate.

  In addition, as an example of the moving device of the present invention, the arm supporting device 1 used by a doctor to support the arm during neurosurgery has been described. However, the present invention supports the arm when performing fine manual work. The present invention can be applied to an arm stand, and can also be applied to a moving device that supports and moves a chin or a leg. Furthermore, the moving device of the present invention can be applied to a moving device that supports the tip of another robot arm and assists its movement, and the object to be moved is not particularly limited.

  Furthermore, although the example which mounted | wore the chair with the moving apparatus of this invention was demonstrated, the object to mount | wear is not limited to a chair, You may mount | wear to a bed and may fix to a floor. Moreover, you may mount | wear only on either the right or left side of a chair. Moreover, you may integrate with the chair.

  Further, an example in which the five modes of the fixed mode, the standby position mode, the coarse motion mode, and the fine motion mode can be switched has been described. However, it is not necessary to provide all the modes, and it is only necessary to provide the modes as necessary. For example, only two modes, a fixed mode and a fine movement mode, may be provided.

  Further, in the standby position mode, the example in which the joints return to the initial posture one by one in order from the joint close to the surgical site has been described, but the return order can be arbitrarily changed.

  In the coarse motion mode, the example in which the braking torque is determined by the braking amount determination processing A2 has been described. However, this is an example, and if the braking amount can be determined so that the armrest 3 can be moved quickly, the braking amount can be determined by different processing. Can be determined.

  In the fine movement mode, the example in which the braking torque is determined by the braking amount determination processing A3 has been described. However, this is an example, and if the braking amount can be determined so that the armrest 3 can be moved at a slow speed, the processing is different. The amount of braking can be determined. Further, in the fine movement mode, the arm 3 may be controlled to move at a slow and constant velocity / angular velocity. In this way, when moving at a constant speed / angular speed, the direction vector Funit is calculated using equation (1) instead of obtaining the six-axis force torque F in step 131 of the braking amount determination process A3. Can be used.

It is a perspective view which shows the state with which the arm support apparatus which is one Embodiment of the moving apparatus to which this invention is applied was mounted | worn with the chair. It is a side view of the right side of the arm support apparatus which is one Embodiment of the moving apparatus to which this invention is applied. It is a left side view of an arm support device which is one embodiment of a moving device to which the present invention is applied. It is a top view of an arm support device which is one embodiment of a moving device to which the present invention is applied. It is an electrical distribution diagram of the arm support device which is one embodiment of the moving device to which the present invention is applied. It is a flowchart which shows the control method of the control part 9 to which this invention is applied. It is a flowchart which shows the braking amount determination process A1 of the control part 9 to which this invention is applied. It is a flowchart which shows the braking amount determination process A2 of the control part 9 to which this invention is applied. It is a flowchart which shows the braking amount determination process A3 of the control part 9 to which this invention is applied. It is explanatory drawing which shows each axis | shaft component of the force and torque of the 6-axis force torque sensor 8, and the speed and angular velocity of the armrest 3 tip part.

Explanation of symbols

  1 is an arm support device, 2 is an articulated arm, 3 is an arm base, 3a is a forearm support base, 3b is a hand support base, 3c is a support bar, 3d is a support column, 4 is a foot switch, 5 is an emergency stop switch, 6 Is a control box, 8 is a 6-axis force torque sensor, 11, 12, 13, 14 and 15 are joints, 11a, 12a, 13a, 14a and 15a are powder brakes, 11b, 12b, 13b, 14b and 15b are encoders, 11c , 12c, 13c, 14c, 15c are non-excitation brakes, 11d, 12d, 13d, 14d, 15d are constant load springs, 11e, 12e, 13e, 14e, 15e are D / A converters, 11f, 12f, 13f, 14f and 15f are drivers, 11g, 12g, 13g, 14g and 15g are counters, 16 is a support part, 17 is a shoulder part, 18 is a first arm part, 19 is a second arm part, 19a is a support rod, and 19b is a first part. Two-arm support part, 20 is the third Part, 20a is a support rod, 20b is a third arm support part, 21 is a tip part, 30 is a chair, 31 is a seat surface, 32a and 32b are mounting bases, 33 is a footrest, 40 is a power supply part, 41 is an A / A D converter, 42 is an amplifier, 61 to 80, 101 to 116, 120 to 125, 130 to 135 are steps in the flowchart, A1, A2, and A3 are braking amount determination processes, Fx, Fy, and Fz are force components, Mx, My and Mz are moment components, V is an arm tip speed / angular velocity vector, Vx, Vy and Vz are velocity components, X, Y and Z are axes, and ωx, ωy and ωz are angular velocity components.

Claims (20)

A moving mechanism having a moving table, a plurality of moving parts that movably support the moving table by an external force acting on the moving table, and each moving part attached to the moving mechanism has a predetermined initial posture. A plurality of biasing mechanisms for biasing, a plurality of electric control brakes attached to the moving mechanism and capable of controlling a braking amount for braking the movement of each movable part, and a movable mechanism attached to the movable mechanism A plurality of operation amount sensors for detecting the operation amount for each part, a force sensor attached to the moving table or the moving mechanism to detect force and / or torque acting on the moving table, and an operation mode are selected. A braking amount of each of the plurality of electric control brakes is controlled based on a mode selection unit, a mode selected by the operation mode selection unit, and a detection value from the operation amount sensor and / or the force sensor. A control unit for A obtain a mobile device,
The mode selection means compares the detection value of the force sensor with a predetermined threshold value, and selects a mode, The moving apparatus characterized by the above-mentioned.   The moving device according to claim 1, wherein the moving table is an arm table that supports an arm of an operator.   The mode selection means moves the moving base to a fine movement mode in which the moving base should be moved at a fine movement speed, or a coarse movement mode in which the moving base should be moved at a coarse movement speed higher than the fine movement speed, or moved to a standby position of the moving base. The control unit is configured to control the plurality of electric braking brakes with a braking amount corresponding to each mode by selecting a standby position mode to be performed or a fixed mode in which the moving base is to be fixed. The moving apparatus according to claim 1 or 2.   In the fine movement mode, the control unit is configured to move the moving table in a direction of an external force acting on the moving table at a speed amount corresponding to an external force based on a detection value of the force sensor. The moving device according to claim 3, wherein a braking amount of the electric control brake is controlled.   In the fine movement mode, the controller controls the plurality of electric controls so that the moving table moves at a constant speed amount in the direction of an external force acting on the moving table based on a detection value of the force sensor. The moving device according to claim 3, wherein a braking amount of the brake is controlled.   In the coarse motion mode, the control unit has a constant speed higher than the speed amount in the fine motion mode in the direction of the external force acting on the movable base based on the detection value of the force sensor. The moving device according to claim 3, wherein braking amounts of the plurality of electric control brakes are controlled so as to move at a speed amount.   In the standby position mode, the controller controls the plurality of electric control brakes so that the plurality of movable parts are each set to the initial posture at a predetermined speed amount based on a detection value of the operation amount sensor. The moving device according to claim 3, wherein a braking amount is controlled.   The moving device according to claim 7, wherein the control unit controls a braking amount of the plurality of electric control brakes so that the plurality of movable units are sequentially in the initial posture one by one.   9. The control unit according to claim 8, wherein the control unit controls the braking amounts of the plurality of electric control brakes so that the movable units assume the initial posture in order from a side closer to the moving table. Mobile equipment. The control unit determines based on the first threshold value and the second threshold value as the threshold value, and when the magnitude of an external force acting in a predetermined direction of the moving base exceeds the first threshold value, The moving apparatus according to claim 3 , wherein the fine movement mode is determined when the movement mode is equal to or greater than a second threshold value that is greater than the first threshold value.   The mobile device according to claim 1, wherein the mode selection unit includes an operation switch. The moving device according to claim 11 , wherein the control unit determines whether or not the fixed mode is set based on a contact state of the operation switch.   The mobile device according to claim 1, wherein the mode selection unit includes a microphone and a voice recognition circuit.   The moving device according to claim 1, wherein the moving mechanism is configured by a multi-joint arm in which the movable portion is a joint.   The moving device according to claim 1, wherein the moving mechanism is provided with a plurality of non-excitation brakes that operate when no power is supplied and fix each of the plurality of movable parts. The moving device according to claim 15 , further comprising an emergency stop switch that stops supply of power to the plurality of non-excitation brakes.   The moving device according to claim 1 or 2, wherein the electric control brake is any one of a powder brake, a hysteresis brake, an electrorheological fluid brake, and a magnetic fluid brake.   The moving device according to claim 1, wherein the operation amount sensor is an encoder or a potentiometer.   The moving device according to claim 1, wherein the force sensor is a six-axis force torque sensor or a three-axis force sensor.   The moving device according to claim 1 or 2, wherein the biasing mechanism includes a constant load spring, a coil spring, a torsion coil spring, a leaf spring, rubber, or a counterweight.

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