JPS62235615A - Six-axial control steering device - Google Patents

Abstract

PURPOSE:To improve detection accuracy with simple constitution by providing force detectors to six leg parts provided between a pedestal and an operation board, and detecting compressive force to those leg parts. CONSTITUTION:A six-axial control steering device is equipped with the regularly triangular operation board 2 where a knob 1 is fixed at its center part and the pedestal 5 which is in the same shape and of the same size with the operation board 2 and fixed on a floor part 6, and both of them are arranged in parallel to each other. The leg parts 3a-3f to which the force detectors 4a-4f are provided additionally are interposed between opposite bodies at fulcra 2a-2f of the operation board 2 and fulcrums 5a-5f of the pedestal 5. Then when a pilot operates the knob 1 to apply a force and a couple of forces, they re dispersed to the six leg parts 3a-3f and outputted as leg part expansion/ contraction force signals from the force detectors 4a-4f corresponding to the respective leg parts 3a-3f. Consequently, the force and couple of forces applied to the knob 1 by the pilot are detected by a simple mechanism.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to a six-axis control system, particularly for a three-dimensional aerial vehicle such as an aircraft. This invention relates to a 6-axis control control device that can vertically control the r large six 2, the small eye 1bn six high, and the small six 1y".

[Conventional technology]

This type of conventional multi-axis control maneuvering device directly detects the force or force couple in the direction of the coordinate axes set in the three-dimensional space where the object exists, and performs the required maneuvering control based on the detection result. It is what is done.

[Problem that the invention seeks to solve]

Conventional multi-axis control steering devices are at most four-axis control types, and although their configurations are complex, the detection accuracy of forces and force couples is low, and the control is performed in a desired direction. The problem was that it was inadequate.

[Means for solving problems]

The 6-axis control operating device according to the present invention includes: a pedestal; an operating table having a fixed knob and placed at a predetermined distance from the pedestal; six fulcrums set at appropriate positions on the pedestal; It consists of six legs that are connected to each of the six legs set at appropriate locations on the operating table, and each of the six legs is equipped with a force detector. It is provided.

[For production]

According to this invention, by detecting the expansion and contraction forces on the six legs, the force or couple applied to the knob in a six-dimensional space is detected.

〔Example〕

FIG. 1 is a schematic diagram of a six-axis control operating device that is an embodiment of the present invention. In FIG. It has an equilateral triangular shape, and its apex is formed into two elastic tongues, each of which is provided with fulcrums (2a) to (2f). The pedestal (5), which is fixed to the floor (6), is an operating table (
2) with the same shape and dimensions as these pedestals (
5) and the operating table (2) are arranged in parallel and in opposite directions. Between the supporting points (2a) to (2f) on the operation console (2) and the corresponding supporting points (5a) to (5f) on the pedestal (5),
Legs each having force detectors (4a) to (4f) attached (
3a) to (3f) are inserted. The bifurcated tongues of the operating table (2) are made of an elastic material because the legs (3a) to (3f) are bent by the bending that occurs when force is applied to the knob (1). This is to prevent a couple from occurring.

Now, in the six-axis control control device of the above embodiment, when the pilot applies a force and couple for the required operation of the knob (1), this causes the six legs (3a) to (3f) to The force detectors (4a) to (4a) are distributed to correspond to each leg.
4f) are output as leg stretching force signals (Sa) to (Sf).

FIG. 2 shows the processing of the leg extension/contraction force signal from the 6-axis control operating device which is an embodiment of the present invention shown in FIG.
FIG. 2 is a block diagram of a signal processing unit that outputs a required calculation result. In this signal processing section, force detectors (4a) to (
The leg extension/contraction force signals (E+a) to (Sf) from 4f) are input to the converter (7) and processed according to the following equation (1).

Note that in this calculation formula, errors due to deflection of the target structure are ignored.

Here, T11 to T66 are certain predetermined constants, and Px-, , Mψ are force signals and force couple signals in coordinate axes appropriately defined with respect to the three-dimensional space.

The converter (7) for performing such calculations is realized, for example, as described later, and in this way, the force and couple applied by the pilot to the knob can be simplified. It can be detected by a suitable mechanism.

FIG. 2A is a schematic configuration diagram showing a specific example of the converter (7) in FIG.
1) to (76) are voltage division adder circuits, respectively. Taking the partial pressure addition circuit (71) in this as an example, the stiffness 4 is the partial pressure H (71a) ~ /71f) J-r h Q /A
It consists of an adder (71g) that accepts the input signal from the AG unit and outputs the required addition result.

Taking the voltage divider (71a) among the six voltage dividers as an example, the leg stretching force signal (Sa) is directly applied to one end of the variable resistor that constitutes this voltage divider (71a). and a polarity inverter (70a) at the other end.
A leg extension/contraction force signal (-5a) with inverted polarity is applied via the terminal. Other voltage dividers (711:+) ~ (71f
) for each of the polarity inverters (70b) to (70
f) are arranged in a correspondence similar to that of the voltage divider (71a) described above, and the voltage divider (71b)
Leg stretching force signals (Sb) corresponding to each of ~(71f)
~(Sf) is added.

Here, the operation of the voltage division adder circuit (71) will be explained again by taking it as an example. The partial pressure ratios of the voltage dividers (71a) to (71f) are set in advance as T11 r T12 + T[+
"14 * TI5 and TI6 are set, and the leg extension/contraction force signals (SeL) to (Sf) input corresponding to the voltage dividers (71a) to (71f) have the required partial pressure, respectively. are performed and then summed to obtain the desired force signal (Fx) in the X-axis direction as follows.

Fx=T7. ×Sa+T, 2×Sb+T, 3×S.

+T+4 xsd+T, 5 xSo+T, 6XSf(2
) Force signals and couple signals other than the above, i.e. force signal in the Y-axis direction (Fy), force signal in the z-axis direction (Fz), couple signal around the X-axis (Mφ), couple signal around the Y-axis (MO) and the couple signal (Mψ) around the X-axis are similarly changed into predetermined addition results by the respective corresponding partial voltage addition circuits (72) to (76).

Then, based on an addition formula similar to the above-mentioned equation (2) related to these results, Mad I is calculated as in the above-mentioned equation (1).
The arithmetic expressions marked with J marks will be changed.

FIG. 3 shows a modification of the present invention, and in FIG. 6, a rectangular operating table (1
02) is arranged parallel to the base (107) at a certain predetermined distance. Pedestal (107)
Six pillars (1o8) to (110) are provided at appropriate locations, and among them, for example, pillar (108), the fulcrum (106f) on the pedestal side at the top and the fulcrum on the operation console side are connected. A leg (104
f) is inserted so as to be parallel to the pedestal (107). Regarding the different supports (109) and (110), the former is arranged in the same way as above with the leg (104e), and the latter with the leg (104d). . Next, looking at the legs (104a) to (104), for example, the leg (104c), the fulcrum (tonC) at the even angle part on the operation console side and the fulcrum (tonC) on the pedestal side (
A leg (104C) equipped with a leg expansion/contraction force detector (to5c) is inserted between the base (107) and the base (107).

The different leg portions (104a) and (1041)) are also arranged in the same manner as above. Note that each of the fulcrums is in the form of a universal joint that can move freely with respect to bending and rotation of related parts.

Now, in the 6-axis control steering device of the above-mentioned modification,
When the pilot applies force and couple to perform the required operation of the knob (101), this causes the six legs (104a) to
Leg stretching force detectors (105a) to (1off) distributed in (104f) and attached corresponding to each leg
) is detected as a leg stretching force signal. Then, the leg extension/contraction force signal extracted in this way is processed in the same manner as explained in FIG. 2 and FIG. 2A, and the force and couple applied to the knob are changed. .

FIG. 4 shows another modification of the present invention. In FIG. 4, a pillar (206) whose top surface is square and has a trapezoidal shape as a whole is fixed to a pedestal (207). A spherical knob (201), which has a through hole in its lower surface and is hollow inside, is disposed to cover the pillar (206). In addition, the legs (2oxa) to (2oxa)
For example, looking at the leg (zosa) in 03f),
This is equipped with a leg extension/contraction force detector (204a), whose blade end is the fulcrum (2o2a) on the knob (201) side.
The knob (
201) and the support column (206). The same applies to the other leg parts (205b) to (205f).

The operation of this different modification is the same as that of the modification shown in FIG. 6, so a detailed explanation thereof will be omitted.

〔Effect of the invention〕

As explained above, the 6-axis control operating device according to the present invention includes a pedestal, a control table having a fixed knob and placed at a predetermined distance from the pedestal, and a control table set at a suitable position on the pedestal. It consists of six legs that connect the six supporting points set at appropriate locations on the operating table and the corresponding ones of the six supporting points set at appropriate positions on the operating table, and each of the six legs has a force applied to it. A detector is provided, and by detecting the expansion and contraction force on the six legs, the force and couple forces applied to the knob within the six-dimensional intermediate area can be accurately detected with a relatively simple configuration. The effect is produced.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram of a 6-axis control maneuvering device which is an embodiment of the present invention, FIG. 2 is a block diagram of a signal processing section for the above embodiment, and FIG. FIG. 3 is a schematic diagram of a modified example of the present invention, and FIG. 4 is a schematic diagram of another modified example of the present invention. (1) is the knob, (2) is the operation console, (2a) to (2f) are the fulcrums (on the operation console side), (5a) to (3f) are the legs, (4
a) - (4f) are force detectors, (5) are pedestals, (5a)
-(5f) are two support points (on the pedestal side), and (6) is the floor. Patent applicant: Mitsubishi Precision Co., Ltd. t) Floor section Figure 2 SO-Sf: Leg extension/contraction force signal F of leg detectors 40-4f
×: Force signal in the ×-axis direction FY: Force signal in the Y-axis direction Fz: Force signal in the Z-axis direction Mφ′ α around the X-axis Horsepower signal Mθ; Crystallized signal Figure 3 1ot Knob 102 operation 4F 103a - 103f Operation color fulcrum 104a ~I
○4f: 110g15105a-105f: R
HfAN4 Jinjin 49den 21106a -106f
Fulcrum of pedestal 107, pedestal 108-110 Husband 1 Fig. 4 201 Knob 202a-202f Nip fulcrum 203a 203f It! 09152040~
204f: If Orozaki Shinji Chao Extractor 2050-205f
'The fulcrum of the four kings 206° The fulcrum of the four kings 207: Pedestal

Claims (1)

[Claims] a pedestal, a control table to which a knob is fixed and placed at a predetermined distance from the pedestal, six fulcrums set at appropriate positions on the pedestal, and six fulcrums set at appropriate positions on the operation table. A six-axis control operating device comprising six legs that connect corresponding ones of the fulcrums, wherein each of the six legs is provided with a force detector, and the six legs are each provided with a force detector. A six-axis control steering device configured to detect the required force and force couple applied to the knob in three-dimensional space by detecting the expansion and contraction force applied to each leg.