JPH07246578A - Master hand device - Google Patents

Abstract

PURPOSE:To improve the restoring efficiency even in the electric motor driving condition, and to make an excessive strength unnecessary, by restoring a master side to the original opening position by the initial instruction value of the master side, restoring a slave side also to the original opening position by receiving the initial instruction value at the master side, and making the initial instruction value zero together with the above restoration. CONSTITUTION:To the motor for driving a master hand, the instruction initial value of the torque instruction value is set to make a claw A9 and a claw B10 rotate in the direction (b) constantly. When an operator removes his fingers from the claw A9 and the claw B10, the claw A9 is rotated in the direction (b) until the angle to make the claw A9 in contact with a stopper 11. Then, the claw B10 is rotated also in the direction (b). generating torque operation unit of a driving motor receives the position signals of the condition opening the claw A9 and the claw B10, and detects that they are opened at specific angles. Depending on the detecting result, the instruction initial value is made zero. This rotating angle is regulated by the installing position of the stopper 11 on the upper surface of a base 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master / slave robot master device, and more particularly to a device for facilitating operation of a hand portion of a slave robot.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Laid-Open No. 1-97571, there is known a device in which a force sensed by a slave side is fed back to a master side to give a sense of reaction force to an operator. In this publication, in order to return the opening / closing operation on the slave side, a spring is provided on the slave side to mechanically restore the spring force, and a value obtained by subtracting the restoring force of the spring is fed back to the master side. . However, the drive on the slave side is a hydraulic servo.

[0003]

However, in the above technique, when an electric motor is used to drive the slave side,
An extra electric motor power is needed to overcome the spring force of the spring, resulting in a large size and excessive power consumption, which is uneconomical. Also, since the spring force of the spring always works, extra strength is required in terms of mechanical structure. Therefore, the present invention is
It is an object of the present invention to provide a device that can be efficiently restored even when the slave side is driven by an electric motor and does not require extra strength.

[0004]

In order to solve the above-mentioned problems, a first invention of the present invention is to provide a force sensor at the tip of a slave side chuck claw for gripping an object by opening / closing operation and to output the force signal from the master lever. In a master hand device for returning a reaction force to a master lever to generate a torque command for inputting the force signal to generate a torque command to an electric motor that applies a reaction force to the master lever, A constant initial torque command value is issued until the force signal reaches the target gripping force, a torque command value proportional to the force signal is issued after the force signal reaches the target gripping force, and the slave side chuck jaws are fully opened. When the above state is detected, a device for zero-clearing the constant initial torque command value is provided.

A second aspect of the present invention is characterized by the specific structure of the first aspect of the invention. The position / posture of the slave manipulator and the position for controlling the opening width of the chuck claw at the tip of the slave manipulator. In a master hand device including a drive unit with a detector, a hollow cylindrical grip portion 1, a drive motor 2 including a position detector housed in the hollow portion, and a shaft portion of the drive motor 2 are released. And a base 3 for fixing the upper surface flange of the driving motor 2 and the upper surface of the grip 1 of the hollow cylinder, and the base 3
A gear 4 arranged on the upper end of the drive motor 2 shaft end, and a two-stage gear A7 in which a small gear is rotatably connected to the gear 4 by a pin A5 vertically attached from the upper surface of the base 3;
A gear B8 that is rotatably connected to a large gear of a two-stage gear A7 and a gear B8 that is rotatably connected to a pin B8 that is vertically installed symmetrically with respect to the pin A5 from the upper surface of the base 3 with the gear 4 as a center.
7 and the gear B8, the claw A9 and the claw B10 rotatably mounted on the upper surface of the pin A5 and the pin B6, respectively, and the base so that the claw A9 comes into contact with the rotation operation area of the base upper surface of the rotating claw A9. 3 Stopper 11 mounted on the upper surface
A stay A12 and a stay B13 that are vertically attached to the outside of the operation area of the claws A9 and B10 on the upper surface of the base 3, and the pin A.
5 and the upper surface of the pin B6 to contact the stay A12 and the stay B1.
3, the pressing plate 14 fixed by 3, the switch base 15 fixed by the stay A12 in the tip direction of both claws, the trigger 17 rotatably attached to the switch base 15 by the pin 16, and the tips respectively. A torsion coil spring 18 which is fixed to the trigger 17 and the switch base 15 and is arranged around the pin 16;
It is fixed to the switch base 15 and the trigger 17 is pin 16
It is characterized in that a switch 19 that comes into contact with the trigger 17 when it is rotated in the direction of the grip portion 1 is provided at the center.

[0006]

According to the first aspect of the invention, the master side is restored to the initial open position by the master side initial command value, and the slave side is restored to the initial open position accordingly. When restored, the initial command value becomes 0, so no extra force is applied to the master side and slave side, and no more than necessary strength is required.

According to the second aspect of the invention, the slave side gripper is opened and closed by rotating the claw A and the claw B around the rotation center of the pin A and the pin B with the operator's finger, and the rotation angle and rotation at that time. Depending on the speed, the opening width and opening / closing speed of the gripper can be controlled. Further, when the gripper on the slave side grips the work, a load is applied during the rotating operation of the claw A and the claw B to make the operator recognize the grip of the work and its gripping force.

[0008]

The present invention will be described with reference to the embodiments shown in the drawings.
1 is a side view showing an embodiment of the present invention, FIG. 2 is a front view showing an embodiment of the present invention, FIG. 3 is a top view showing an embodiment of the present invention, and FIG. 4 is a sectional view taken along line AA of FIG. FIG. 5 is a sectional view taken along FIG.
It is sectional drawing which follows the BB cross section of FIG. A drive motor 2 with a position detector is mounted in the hollow portion of the hollow cylindrical grip portion 1 with the tip of the shaft facing the upper surface of the grip portion 1 so that the upper surface of the grip portion 1 and the shaft portion of the drive motor are escaped by a base 3. . In addition, a small gear rotatably connected to a gear 4 arranged on the shaft end of the drive motor 2 on the upper surface of the base 3 and a pin A5 vertically attached to the gear 4 from the upper surface of the base 3 so as to be rotatable. The gear A7, a gear B8 that is rotatably connected to the large gear of the two-stage gear A7, and a pin B6 that is vertically mounted from the top surface of the base 3 symmetrically with the pin A5 about the gear 4 and its two-stage gear. Pins A5 and B6 are rotatably provided on the upper surfaces of A7 and gear B8, respectively.
And a nail B10 are attached. Further, a stopper 11 is attached within the rotation region of the upper surface of the base 3 of the claw A7 rotating about the pin A7 so as to come into contact with the claw A7. Also,
A stay A12 and a stay B13 vertically attached to the outside of the rotation area of the claws A9 and B10 on the upper surface of the base, and a pin A7.
And the upper surface of the pin B8 to contact the stay A12 and stay B13.
The pressing plate 14 is attached to the upper surface of the. In addition, the switch base 1 is provided by the stay A12 in the tip direction of both the claws.
5 is attached, and pin 1 is attached to the switch base 15.
A trigger 17 is rotatably attached by means of 6.
Further, the tip is fixed to the trigger 17 and the switch base 15, and the torsion coil spring 18 is arranged around the pin.
A switch 19 is attached to the switch base 15 so as to come into contact with the trigger 17 when the trigger 17 rotates around the pin 16 toward the grip portion.

FIG. 6 is a perspective view showing a usage example in which a magnetic sensor is arranged on the upper surface of the stay 21 of the master hand device of the present invention,
FIG. 7 shows a stay 2 of the master hand device with force sense according to the present invention.
8 is a perspective view showing an example of use when a magnetic sensor is arranged on the upper surface and a slave side manipulator and a gripper are operated.
FIG. 3 is a perspective view showing an embodiment in which a master arm is attached to a flange 211 of the master hand device of the present invention. FIG. 9 is a block diagram showing the present invention and a control unit for controlling the operation of the slave side gripper, and FIG. 10 is a pressure sense output after the pressure sensor 38 of the chuck claw 42 of the slave side gripper contacts the work 27. It is a figure which shows the signal g and the torque command h for generating torque in the drive motor of this invention.

When the operator uses the master hand to operate the gripper on the slave side, as shown in FIGS. 6 and 8, the thumb and forefinger are along the outer side surfaces of the nail A9 and the nail B10, respectively, and the middle finger is the trigger. Along 17, the grip part 1 is grasped by the ring finger and the little finger. The master hand device with force sense is activated by pulling the trigger 17 toward you, and the large gear and the gear B8 of the two-stage gear A7 are rotated by rotating the nail A9 and the nail B10 with the thumb and forefinger in the arrow a direction. The gear 4 connected to the small gear of the two-stage gear A7 rotates to rotate the drive motor 2, and the master side position detector 31 attached to the drive motor 2 calculates the position command f to calculate the target position of the slave side gripper. Input to the position control circuit 33 of the slave side gripper control unit, the moving mechanism target set speed signal d is added as a command to the driver circuit 34 in the subsequent stage, and the slave side power e ′ within the preset range is output. Then, the drive mechanism 35 of the slave gripper moves the transmission mechanism 36 'to drive the chuck claws in the closing direction. Further, when the slave gripper grips the work 27, the gripping force is detected by the pressure sensor 38 of the chuck claw 42, and the pressure signal g is passed through the torque generator 39 of the drive motor to generate the force sensed master hand. In addition to the torque command h as the torque command h, the master side power e is output to drive the drive motor 30 in the direction in which the claw A9 and the claw B10 rotate in the b direction. The operator has a nail A9
It is possible to recognize that the chuck claw 42 grips the work 27 from the increase of the rotation load while rotating the claw B10 in the direction a.

When the claws A9 and B10 are further rotated in the direction a, the position command f from the master side position detector 31 is input to the position control circuit 33 of the slave side gripper device unit through the calculator 32 of the slave side target position. Then, the chuck claw 42 is driven in the closing direction. However, work 27
When the chuck claw 42 cannot be driven in the closing direction by the above, a position error occurs between the target setting position signal c and the moving mechanism position signal f. The position error is amplified by the position control circuit 33, added to the driver circuit 34 in the subsequent stage as the moving mechanism target set speed signal d, and the slave side power e ′ is output up to the power value within the preset range. Increase gripping force of gripper. Along with that, the pressure signal g from the pressure sensor 38 also increases, and accordingly,
The torque command increases as shown in FIG. 10, and the increased master side power e is output from the current control circuit 29, and the torque of the drive motor 30 increases. Thereby, the rotational load of the claw A9 and the claw B10 of the master hand device is further increased. The operator can recognize the increase in the gripping force from the further increase in the rotational load.

Further, a command initial value of the torque command value shown in FIG. 10 is set in the drive motor of the master hand so that the claw A9 and the claw B10 always rotate in the b direction.
When the operator is releasing the fingers from the outer side surfaces of the nail A9 and the nail B10, the angle b at which the nail A9 contacts the stopper 11 is b.
Rotate in the direction. Further, the generated torque calculator 39 of the drive motor stores and monitors the position signal of the state in which the claw A and the claw B are opened to the angle θ by the moving mechanism position signal f from the master side position detector 31, and Fig. 10 when opened to the angle θ
The control circuit for setting the command initial value of 0 to 0 is provided, and the drive of the drive motor 2 is stopped.

The rotation angle θ of the claw A9 and the claw B10 can be adjusted by the mounting position of the stopper 11 on the upper surface of the base 3. The present invention is used not only as a single unit but also as a position sensor such as a magnetic sensor for operating a manipulator as shown in FIGS. 7 and 8 and a device such as a master arm. The drive of the drive motor 2 with the position detector is not limited to the rotary drive, but includes linear drive devices such as a linear motor and an electromagnetic solenoid. Claw A9 and Claw B10
Includes not only a rotating mechanism around a pin but also a parallel moving mechanism that requires a guide and a bush.

[0014]

As described above, according to the present invention, the master side is restored to the first opened position by the initial command value on the master side, and the slave side is restored to the first opened position accordingly. Since the initial command value becomes 0 when restored, no extra force is applied to the master side and the slave side, so that the size of the device is not increased and unnecessary strength is not required. Further, opening and closing of the slave side gripper device is performed by pin A and pin B.
The claw A and the claw B are closed by rotating the claw A and the claw B in the direction of the arrow a with the operator's finger, and when the fingers are released from the claw A and the claw B, the claw A and the claw B are rotated and opened in the direction of the arrow b at a constant speed. Depending on the rotation angle and rotation speed at that time, the opening width of the gripper device on the slave side
You can control the opening and closing speed. Further, when the gripper on the slave side grips the work, the operator is informed by force that the load is applied during the rotating operation of the claw A and the claw B and the work is gripped. By this, the gripper on the slave side,
Since it can be opened and closed with any opening width, opening and closing speed, and gripping force of the operator, it greatly contributes to the improvement of operability.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a front view showing an embodiment of the present invention.

FIG. 3 is a top view showing an embodiment of the present invention.

4 is a cross-sectional view taken along the line AA shown in FIG.

5 is a cross-sectional view taken along the line BB shown in FIG.

FIG. 6 is a perspective view showing another embodiment of the present invention.

FIG. 7 is a perspective view showing another embodiment of the present invention.

FIG. 8 is a perspective view showing another embodiment of the present invention.

FIG. 9 is a control block diagram showing an example of the present invention.

FIG. 10 is a generated torque calculator 3 for the drive motor shown in FIG.
It is operation explanatory drawing figure of 9.

[Explanation of symbols]

1 grip part, 2 drive motor, 3 base, 4
Gear, 5 pin A, 6 pin B, 7 2nd gear A, 8 gear B, 9 claw A, 10 claw B, 11 stopper, 12
Stay A, 13 Stay B, 14 Holding plate, 15 switch base, 16 pin, 17 trigger, 18 torsion coil spring, 19 switch, 20 magnetic sensor, 2
1 stay, 211 flange, 22 operator's right hand,
23 magnetic sensor source, 24 operator, 25 manipulator, 26 gripper, 27 work, 28 master arm, 29 current control circuit, 30 drive motor,
31 master side position detector, 31 'slave side position detector, 32 target position calculator of slave side gripper,
33 position control circuit, 34 driver circuit, 35 drive unit, 36 master side transmission mechanism, 36 'slave side transmission mechanism, 37 chuck claw opening / closing, 38 pressure sensor, 39
Torque generator for driving motor, 40 claw rotation in b direction, 41 claw rotation in a direction, 42 chuck claws,
100 master hand, c target setting position signal, d moving mechanism target setting speed signal, e master side power, e'slave side power, f moving mechanism position signal, g pressure signal, h torque command, i load applied to finger, j Finger load

Claims (3)

[Claims] 1. A master hand device for providing a force sensor at the tip of a slave side chuck claw for gripping an object by opening and closing, and returning the force signal to the master lever to generate a reaction force at the master lever. A torque calculator that inputs a signal and generates a torque command to an electric motor that applies a reaction force to the master lever, and outputs a constant initial torque command value until the force signal reaches a target gripping force, After the force signal reaches the target gripping force, a torque command value that is proportional to the force signal is emitted, and a device that zero-clears the constant initial torque command value when the state where the slave chuck jaws are fully opened is detected is provided. A master hand device characterized in that 2. A master hand device having a position detector-equipped drive unit for controlling the position / orientation of a slave manipulator and the opening width of a chuck claw at the tip of the slave manipulator. A drive motor 2 provided with a position detector housed in a hollow portion, and a base 3 for fixing the drive motor 2 upper surface flange and the hollow cylindrical grip portion 1 upper surface by allowing the shaft portion of the drive motor 2 to escape. , A gear 4 arranged at the shaft end of the drive motor 2 on the upper surface of the base 3, and a pin A vertically attached to the gear 4 from the upper surface of the base 3.
Two-stage gear A in which a small gear is rotatably connected by 5
7, a gear B8 that is rotatably connected to the large gear of the two-stage gear A7 to a pin B8 that is vertically installed symmetrically with the pin A5 from the upper surface of the base 3 and the two-stage gear A7. And pin A5 on top of each gear B8
Claw A9 and Claw B1 rotatably mounted around the pin and pin B6
0, and the claw A9 is placed in the rotation operation area on the upper surface of the base of the rotating claw A9.
The stopper 11 mounted on the upper surface of the base 3 so as to be in contact with the base 3 at the time of rotation, the stay A12 and stay B13 mounted vertically outside the operating area of the claws A9 and B10 on the upper surface of the base 3, and the upper surfaces of the pins A5 and B6. A pressing plate 14 that comes into contact with each other and is fixed by stays A12 and B13, a switch base 15 that is fixed by stays A12 in the tip direction of both pawls, and a trigger rotatably attached to the switch base 15 by pins 16. 17, a torsion coil spring 18 fixed to the outer periphery of the pin 16 with the tip fixed to the trigger 17 and the switch base 15, and the trigger 17 fixed to the switch base 15 to the pin 16
A master hand device comprising a switch 19 that comes into contact with the trigger 17 when the grip unit 1 rotates in the direction of the center. 3. The pressing plate 14 has a stay 21 for mounting a position sensor such as a magnetic sensor for operating the slave side manipulator on its upper surface,
3. The master hand device according to claim 2, wherein a flange 211 for attaching the master arm is arranged on the lower portion of the grip portion.