JP2000246679A - Manipulator for three-dimensional input - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize a manipulator for three-dimensional input by supporting an operation grip with a first operation input means in the condition that the operation can be changed at least specified degree of freedom, and supporting the operation grip with a second operation input means in the condition that operation can be changed at least specified degree of freedom. SOLUTION: An operation grip 1 is supported by a first operation input means 2 in the condition that the operation can be changed in five or more, for example, six-degree of freedom, and supported by a second operation input means 2A in the condition the operation can be changed in six or more, for example, six-degree of freedom. With this structure, relative displacement of any one of the operation input means in relation to the other thereof to be generated by change of posture of the operation grip 11 goes in a range of a spherical surface having a radius corresponding to a distance between two constant points on the operation grip 11 supported by the operation input means 2, 2A. Range of the relative change of the operation input means 2, 2A can be reduced, and the device can be miniaturized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional input manipulator suitable for inputting information to a higher-level device such as a computer or for use in a simulation or the like using such a higher-level device.

[0002]

2. Description of the Related Art Conventional three-dimensional input manipulator 11
00 is schematically shown in FIG. The three-dimensional input manipulator 1100 inputs position information of the virtual pointer, for example, when moving a virtual pointer indicating the tip of a virtual human hand in a three-dimensional direction in a virtual space displayed on a display. Used to do.

The three-dimensional input manipulator 1100
Is a single rod-shaped operation grip 1110 that is manually moved to an arbitrary position within a certain range of a work space to perform input.
And a first operation input means 1120 for supporting one end of the operation grip 1110 in a state in which the state change of six degrees of freedom can be freely performed, and a state change of six degrees of freedom for the other end of the operation grip 1110. A second operation input unit 1130 supported in a freely movable state, and a grip displacement amount detection unit (not shown) for detecting a change in the position and orientation of the operation grip 1110 are provided.

Each of the operation input means 1120 and 1130 has a plurality of link members and six joints for rotatably connecting the link members. With this configuration, the state of the operation grip 1110 in six degrees of freedom (operation change). Grip 1110
Position change and posture change).

A change in the state of the operation grip 1110 is detected by a grip displacement amount detecting means by detecting a change in the rotation angle of each joint caused by moving or changing the direction of the operation grip 1110, and comprehensively detecting these changes. It is calculated by calculation.

[0006]

However, in the above-mentioned conventional example, the movable range of at least one of the operation input means must be increased, and therefore, there is an inconvenience that the size of the apparatus must be increased. Was. This is because the conventional three-dimensional input manipulator, as described above,
This is because two operation input means individually support both ends of the rod-shaped operation grip.

[0007] That is, when an operation is normally performed on a rod-shaped operation grip, the operator holds an intermediate portion of the operation grip in his hand and moves one end of the operation grip toward a target position. An operation such as changing the inclination angle of the operation grip is performed. When the change in the attitude of the operation grip (change in the inclination angle) is input, the operation grip is attached to the other end or both ends of the operation grip with one end as the center or the part being held as the center. A position change occurs.

At this time, the other end of the operation grip relatively moves at least along the spherical surface having a radius equal to or longer than the operation grip. It must have a movable range that can cope with the movement, and as a result, the operation input means becomes large.

[0009]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional input manipulator which can improve the disadvantages of the prior art, and is particularly suitable for miniaturization.

[0010]

According to the first aspect of the present invention,
A three-dimensional input manipulator that is connected to a higher-level device and performs three-dimensional coordinate input, a single operation grip that moves to an arbitrary position in a predetermined range of three-dimensional space and performs input, and a single operation grip. A first operation input means for supporting the grip in a state in which the state can be freely changed in at least five degrees of freedom, and an operation in which the operation grip can be freely changed in the state in at least six or more degrees of freedom. There is provided second operation input means for supporting the grip at a position different from the first operation input means, and grip displacement amount detection means for detecting a change in the position and orientation of the operation grip.

The operating grip is set to have a rod shape, and one end of the operating grip is used as a grip for applying an external force, and is located near the other end of the operating grip and at a distance from the other end. In two different positions, the first operation input means and the second operation input means respectively support the operation grip.

In the above configuration, the operator holds the operation grip and moves the operation grip in any of a plurality of degrees of freedom. At this time, since the first operation input means has five degrees of freedom or more and the second operation input means has six degrees of freedom or more, the operation grip can change the state at least five degrees of freedom or more. Therefore, for example, the operation grip 3
It is possible to perform a movement in a three-dimensional space and a posture changing movement in which the longitudinal direction is inclined in all directions.

[0013] With the input operation by the operation grip, the amount of movement displacement is detected by the grip displacement amount detecting means. Then, a detection signal corresponding to the moving displacement amount is output from the grip displacement amount detecting means to the host device, and the host device calculates three-dimensional position coordinates of the operation grip as input position coordinate data based on the detection signal. .

At this time, since the operation grip supports any of the operation input means in a range near the other end, excluding the range constituting the grip portion, the movement or posture of the operation grip is controlled. When performing the change operation, the relative movement of the grip support side end of each of the first operation input means and the second operation input means is a spherical movement having a radius of the separation distance between the respective grip support positions. Done in a range.

Here, it is desirable that the grip portion of the operation grip is set to at least half of the length of the operation grip in the longitudinal direction. As a result, each operation input means supports the operation grip in a range of not more than half the length of the operation grip in the longitudinal direction. Reduced into a sphere with a radius less than half the length of the grip.

Further, each of the operation input means may be configured to be capable of freely changing the state with six degrees of freedom and to support the operation grip (a third aspect of the invention). In this case, for example, the operation grip can perform movement in a three-dimensional space, free tilting in the longitudinal direction, and rotational movement about the longitudinal direction, and input of these elements can be performed freely. .

According to a fourth aspect of the present invention, there is provided the same configuration as the first, second or third aspect of the present invention, and each operation input means is capable of moving an operation grip to an arbitrary position in a three-dimensional space. It has an input position support mechanism for supporting, and a state variable support mechanism for supporting the operation grip by freely changing the direction of the operation grip at an arbitrary position.

In the case of the above configuration, the same operation as each of the above-described configurations is performed, and each operation input means can be freely moved to an arbitrary position on the three-dimensional space of the support tip by the input position support mechanism. Movement is ensured, and the state-variable support mechanism ensures a free change operation (for example, tilt, rotation, etc.) of the posture of the operation grip.

Furthermore, each of the operation input means may have the same number of joints that allow a plurality of degrees of freedom to change the state (the configuration according to claim 5). In this case, the joint is connected to one member by a direct-acting joint in which the other member moves relatively along a predetermined linear direction with respect to one member connected by the joint. A rotary joint in which the longitudinal direction of the other member and the rotation axis thereof are substantially perpendicular to each other, and a rotary type in which the longitudinal direction of the other member connected to one member by the joint is parallel to the rotation axis. Joints. It is desirable to use these joints in an appropriate combination in order to enable a state change of each degree of freedom.

The above-mentioned grip displacement amount detecting means includes a sensor for detecting the above-mentioned joint state change amount.
A configuration may be adopted in which each operation input means is provided with the number of individuals corresponding to the total number of joints (the configuration according to claim 6). In this case, it is not necessary to provide sensors for all the joints, but if the number of joints increases, the number of sensors required increases.

The invention according to claim 7 has the same configuration as the invention according to claim 4, and the input position support mechanism of each operation input means can freely change the state with three degrees of freedom. Each of the state variable support mechanisms of the means has a configuration in which the state of the three degrees of freedom can be freely changed and the operation grip is supported.

According to the seventh aspect of the present invention, the same operation as that of the fourth aspect of the present invention is performed, and each input position support mechanism has three degrees of freedom. Since free movement to any position is ensured and the state variable support mechanism has three degrees of freedom, a freely changing operation (for example, tilting and rotation, etc.) of the posture of the operation grip is ensured.

In the invention according to claim 8, the input position support mechanism and the state variable support mechanism of each operation input means have the same number of joints as the degrees of freedom for freely changing the state of the degrees of freedom, and the amount of grip displacement. The configuration is adopted in which the detection means includes six sensors that respectively detect the state change amounts of all the joints of each input position support mechanism.

That is, in this configuration, the input position support mechanism of each operation input means has three joints, and the joints of the joints position the support tip at an arbitrary position in the three-dimensional space. You can do that freely. Since sensors are individually provided corresponding to all the joints of the input position support mechanisms of the first and second operation input means, any position input by each operation input means can be specified by each sensor output. It becomes possible. As a result, the positions of the respective support distal ends of the first and second operation input means are specified, and the posture (inclination direction) of the operation grip is specified from the relative positional relationship.

According to a ninth aspect of the present invention, in addition to the same configuration as the above-mentioned inventions, a base for holding each operation input means is provided, and each operation input means has an operation grip at one end. And a rotatable joint at the other end. Then, the base and each operation input means are connected via a rotation axis of the joint at the other end of each operation input means, and when each of these rotation axes is installed on a horizontal surface, The base is set and installed in the vertical direction.

In such a configuration, it is assumed that the base is installed on a horizontal plane. In this case, as described above, the rotation axis of the joint on the base side of each operation input means extends along the vertical direction. State. In this operation input means, the rotation axis supports all the weight of the operation input means, but since the rotation axis is oriented vertically,
Almost all loads due to the gravity of the operation input means are compressive or tensile loads in the longitudinal direction of the shaft. Since the strength of the shaft in this direction is generally higher than the bending load from the lateral direction, the influence of the own weight of the operation input means is reduced. Here, the joint is desirably the above-mentioned rotary joint.

According to a tenth aspect of the present invention, each of the operation input means has an arrangement similar to that of each of the above-described arrangements and responds to an output from a higher-level device in a direction corresponding to one of a plurality of degrees of freedom. A configuration is employed in which a plurality of driving force generating means for urging a large driving force to the operation grip are provided.

In the above configuration, the current position of the operation grip moved by the operator is output to the host device as three-dimensional input position coordinate data. In response to this, the host device calculates the reaction force data corresponding to the input position coordinate data and outputs it to the three-dimensional input manipulator side. Upon receiving this reaction force data, the driving force generation means drives so as to generate a corresponding reaction force (for example, a force directed in a direction different from the moving force applied to the operation grip by the operator). As a result, a feeling as if a reaction or opposition to the operation of the operation grip is generated is transmitted to the operator.

According to the eleventh aspect of the present invention, in addition to the same configuration as the eighth aspect of the present invention, each operation input means is provided with a direction corresponding to each degree of freedom of each input position support mechanism from the host device. Is provided with three driving force generating means for individually biasing a driving force of a magnitude corresponding to the output of the operating grip to the operation grip.

In the above configuration, a driving force (for example, a virtual reaction force) corresponding to the input position of the operation grip is urged to the operation grip as in the tenth aspect. At this time, the driving force is urged to move the respective positions on the operation grips supported by the first operation input means and the second operation input means. Not only for the movement in the direction, but also for the tilting operation of the operation grip, a driving force (for example, a virtual reaction force) corresponding to the tilt direction is urged.

The present invention is intended to solve the above-mentioned disadvantages by the above-mentioned respective constitutions.

[0032]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. FIG. 1 illustrates a third embodiment.
3D input manipulator 1 for inputting 3D coordinates
0 shows a three-dimensional input system 1000 equipped with a zero.

The three-dimensional input system 1000 includes a three-dimensional input manipulator 10 and an arithmetic processing unit 1010 which is a higher-level device of the three-dimensional input manipulator 10.
And a display 1001 for displaying an image based on the output data of the arithmetic processing unit 1010.

FIG. 2 is a perspective view of the three-dimensional input manipulator 10 described above. In the three-dimensional input manipulator 10, a plurality of link members are connected via a rotatable or rotatable joint, and the operation grip 11 is provided at the rotation end of the link member at the extreme end. The movement of the operation grip 11 in a plurality of degrees of freedom is realized.

That is, the three-dimensional input manipulator 1
Reference numeral 0 denotes a single operation grip 11 that moves to an arbitrary position in a three-dimensional space within a certain range and performs input, and a second operation grip 11 that supports the operation grip 11 in a state where six degrees of freedom can be freely changed. One operation input means 2 and the operation grip 11
The second operation input means 2A which supports the state change with six degrees of freedom freely, the base 12 which holds these operation input means 2 and 2A simultaneously, and the change of the position and the direction of the operation grip 11 are described. A grip displacement amount detecting means 5 (not shown in FIG. 2) for detecting, and a driving force having a magnitude corresponding to an output from the arithmetic processing unit 1010 are applied to the operation grip 11 as a virtual reaction force when the operation grip 11 is operated. A plurality of energizing driving force generating means 6 (a driving force generating means 6 described later)
1, 61, 62, 62, 63, and 63 are indicated by reference numeral 6), and control means 3 (not shown in FIG. 2) for controlling the operation of each unit.

The components will be described below. First, the base 12 includes a flat bottom plate 121, a support 122 erected on the bottom plate 121,
And a flat support plate 123 provided with the operation input means 2 and 2A provided at the upper end of the support column 122. The base 12 has a U-shape as viewed from the right side in FIG. 2, and is supported by the columns 122 such that when the bottom plate 121 is placed on a horizontal plane, the lower surface of the support plate 123 is simultaneously parallel to the horizontal plane. Are linked. On the lower surface side of the support plate 123, the operation input means 2 and 2A described above are vertically provided.

Next, the first operation input means 2 and the second operation input means 2A will be described. Here, the first operation input means 2 and the second operation input means 2A are different from each other in the arrangement on the base 12, as shown in FIG.
Since these members are formed from substantially the same members, the same members will be denoted by the same reference numerals, and redundant description will be omitted.

Each of the operation input means 2 and 2A has an input position support mechanism 21 for movably supporting the operation grip 11 at an arbitrary position in a three-dimensional space, and the direction of the operation grip 11 can be changed at the arbitrary position. As the operation grip 11
And a state variable support mechanism 22 for supporting the Each of the input position support mechanism 21 and the state variable support mechanism 22 can freely change the state with three degrees of freedom.

Further, the input position support mechanism 21 and the state variable support mechanism 22 have three joints respectively corresponding to the respective degrees of freedom, thereby enabling a state change of three degrees of freedom. Encoders 51, 51, 52 as six sensors for individually detecting the state change amount are provided on a total of six joints of the input position support mechanism 21 of the first operation input means 2 and the second operation input means 2A. , 52, 53,
53, and the six encoders 51,
51, 52, 52, 53, and 53 and another encoder 54 described later constitute the grip displacement amount detecting means 5 described above.

The driving force generating means 6 for generating a driving force in the direction of state change based on each degree of freedom of each input position supporting mechanism 21 has a total of six driving force generating means 6 corresponding to each joint of the input position supporting mechanism 21. Equipped.

The above-described configuration of the first operation input means 2 and the second operation input means 2A will be described in more detail with reference to FIGS.

FIG. 3 is a side view of the first operation input means 2 as viewed from the left side in FIG. 2, and shows a state in which the first operation input means 2 is rotated clockwise by about 45 degrees from the state in FIG. The second operation input means 2A is not shown). Also, FIG.
FIG. 4 is a front view of the first operation input means 2 as viewed from the right side in FIG. 3, with some parts omitted and some parts cut away.

The input position support mechanism 21 described above includes a first joint 211 and a first link member 21 connected to the support plate 123 of the base 12 via the first joint 211.
2, a second joint 213, a second link member 214 connected to the first link member 212 via the second joint 213, a third joint 215, and the third joint 215. And a third link member 216 connected to the second link member 214 via the second link member 215.

The first joint 211 has a rotating shaft 211a vertically penetrating the support plate 123 and a bearing 211b for rotatably supporting the rotary shaft 211a with respect to the support plate 123. Have. With this arrangement, when the base 21 is installed on a horizontal plane, the rotation shaft 2
11a will be in the vertical direction.

Further, the upper end of the rotating shaft 211a is engaged with first driving force generating means 61 described later, and the lower end is fixedly connected to a first link member 212. Accordingly, the first link member 212 can freely rotate together with the rotation shaft 211a around a direction perpendicular to the support plate 123. The first operation input means 2 (second operation input means 2A) is entirely connected to the base 12 only by the rotating shaft 211a.

FIG. 5 is a plan view of the first link member 212. FIG. The first link member 212 holds therein drive motors 621 and 631 of second and third drive force generation means 62 and 63 described later and encoders 52 and 53 which are grip displacement amount detection means described later. This is a substantially flat casing. The lower portion has a support projection 212a that supports the rotation shaft 213a of the second joint 213.

The second joint 213 is connected to the support projection 21 described above.
The rotating shaft 213a is provided so as to penetrate in a horizontal direction (when the base 12 is installed on a horizontal plane) with respect to the rotating shaft 213a, and a bearing 213b for rotatably supporting the rotating shaft 213a.

The second link member 214 is formed in a long rod shape, and one end of the second link member 214 has a rotation shaft 213 of the second joint 213.
a and the other end is connected to the third joint 2
15 and is connected to the third link member 216. Therefore, the other end of the second link member 214 is
The first link member 212 is rotatable about a horizontal direction.

The third joint 215 is connected to the rotation shaft 213 a of the second joint 213 with respect to the second link member 214.
And a bearing for rotatably supporting the rotating shaft 215a relative to the other end of the second link member 214 about the direction in which the rotating shaft 215a is disposed. 215b.

The third link member 216 is formed in the shape of a long rod, and the third link member 216 is located near the middle portion in the longitudinal direction.
5 is fixedly connected to the rotation shaft 215a, and one end thereof is connected to the state variable support mechanism 22 (the second operation input means 2A).
Is equipped with a state variable support mechanism 22A) and supports the operation grip 11 via the state variable support mechanism 22 (22A). Therefore, both ends of the third link member 216 are rotatable with respect to the second link member 214 about a direction parallel to the rotation axis 215 a of the third joint 215. In addition, the third link member 216 uses the state variable support mechanism 22 provided at one end thereof with the support plate 123 of the base 12 by the cooperation of the first to third joints 211, 213 and 215. , Can be freely moved to any position in three-dimensional space,
State change of three degrees of freedom is possible.

The other end of the third link member 216 is engaged with third driving force generating means 63 described later.

With this configuration, the input position support mechanism 21
Then, the state variable support mechanism 22 (22A) can be moved in the three-degree-of-freedom movement direction within the rotatable range of the second and third link members 214 and 216 around the second joint 213. .

Next, the state variable support mechanism 22 (22A) will be described. FIG. 6 is a view of the state variable support mechanism 22 (22A) viewed from above in FIG. This state variable support mechanism 22 (22A)
A fourth link member 222 (222A) connected to the other end of the second link 16 at one end thereof, and a third link member 216 and a fourth link member 222 (222A) interposed therebetween. And a fourth joint 221 that allows relative rotation between the other and the other end of the fourth link member 222 (222A), which is connected at one end to the operation grip 11 at the other end. Fifth link member 224 (224A)
And a fifth joint 223 interposed between the fourth link member 222 (222A) and the fifth link member 224 (224A) to allow relative rotation between them.
And a sixth joint 225 inserted between the fifth link member 224 (224A) and the operation grip 11.

First, the fourth joint 221 connects a support shaft 221a protruding from the other end of the third link member 216 along the longitudinal direction of the third link member 216, and a support shaft 221a. A rotatable bearing 221b is provided at the center.

The fourth link member 222 (222A)
One end of the bearing 221b holds the bearing 221b, thereby enabling the third link member 216 to freely rotate about the longitudinal direction of the third link member 216. Further, the other end of the fourth link member 222 (222A) is connected to the fifth link member 2 via the fifth joint 223.
24 (224A).

The length from the one end to the other end of the fourth link member 222A of the variable state support mechanism 22A is set longer than the fourth link member 222 of the variable state support mechanism 22. .

The fifth joint 223 is connected to the fifth link member 2.
24 (224A) has a support shaft 223a protruding from one end thereof.
And a bearing 223 rotatable about the support shaft 223a.
b. The shaft 223 of the fifth joint 223
a and the support shaft 221a of the fourth joint 221 described above,
By the fourth link member 222 (222A), the both support shafts 221a and 223a are held so as to be orthogonal to each other on an extension line thereof.

The fifth link member 224 (224A)
At the other end, the operation grip 11 is rotatably held via a bearing serving as the sixth joint 225. The operation grip 11 is rod-shaped, and has a sixth joint 225.
Is rotatable around the longitudinal direction of the operation grip 11 with respect to the fifth link member 224 (224A). The center axis of the rotation of the operation grip 11 is set to be orthogonal to the rotation axis of the fifth joint 223.

The rotation axis of the operation grip 11 by the sixth joint 225 is different from the fourth joint 221 and the fifth joint 22.
The operation grip 11 is held by the fifth link member 224 (224A) so that the third rotation axis passes through a point orthogonal to the rotation axis. For this reason, the operation grip 11 freely tilts in all directions with respect to the input position support mechanism 21 around a point where the rotation axis of the fourth joint 221 and the fifth joint 223 is orthogonal, and The operation grip 11
Can be freely rotated around the longitudinal direction of the
The state can be freely changed with three degrees of freedom.

As shown in FIG. 3, the fifth link member 224 of the state variable support mechanism 2 holds an encoder 54, which is one of the grip displacement amount detecting means 5, at its lower part. The encoder 54 detects the rotation angle of the operation grip 11 rotated by the sixth joint 225 with respect to the fifth link member 224.

Here, as shown in FIG. 3, the first operation input means 2 holds the operation grip 11 at a substantially lower end portion of the operation grip 11 by the fifth link member 224. Further, the second operation input means 2A holds the operation grip 11 near the lower end of the operation grip 11 and slightly above the fifth link member 224 by the fifth link member 224A.

On the other hand, the operation grip 11 is
More than half of the entire length (approximately 70% of the entire length) is a grip portion 111 for the operator to hold by hand. Then, each fifth link member 224, 224A
Are set closer to the lower end than the grip portion 111.

Reference numeral 112 denotes a push-type switch, which is used to input a preset instruction.

Next, a description will be given of the driving force generating means 6 and the grip displacement amount detecting means 5 provided alongside the operation input means 2 and 2A.

Each of the operation input means 2 and 2A is provided with a first driving force generating means 61, a second driving force generating means 62 and a third driving force generating means 63, which are the same. Therefore, only the first operation input means 2 will be described.

First, the first driving force generating means 61 applies a rotational torque to the first link member 212 which rotates freely with respect to the support plate 123 by the first joint 211. The first driving force generating means 61 includes a driving motor 611 fixedly mounted on the indication plate 123 of the base 12.
And a driven pulley 612 mounted on the drive shaft of the drive motor 611, a driven pulley 613 fixedly mounted on the upper end of the rotating shaft 211a of the first joint 211, and the torque of the driven pulley 612 to the driven pulley 613. And a transmission belt 614 for transmitting. Since the rotating shaft 211a and the first link member 212 are fixedly connected, the torque output from the drive motor 611 is urged to the first link member 212 via the rotating shaft 211a.

The drive motor 611 is provided with an encoder 51 which is one of the grip displacement amount detection means 5 and detects the rotation amount of the drive shaft of the drive motor 611. That is, a rotational angular displacement proportional to the amount of rotation of the first link member 212 caused by the manual operation of the operation grip 11 occurs on the drive shaft of the drive motor 611 via the driven pulley 613, the transmission belt 614, and the driven pulley 612. Therefore, when the encoder 51 detects this,
As a result, the first link member 212 to the support plate 123
Can be calculated.

Next, the second driving force generating means 62 will be described with reference to FIGS. FIG.
It is sectional drawing along X-ray. As shown in these figures, the second driving force generating means 62 urges the second link member 214 that freely rotates with respect to the first link member 212 by the second joint 213 to apply a rotating torque. Things.
The second driving force generating means 62 includes a driving motor 621 fixedly mounted on the first link member 212 and a driving pulley 622 mounted on a driving shaft of the driving motor 621.
And a driven pulley 623 fixedly mounted on the left end of the rotation shaft 213a of the second joint 213, and a transmission belt 624 for transmitting the torque of the driven pulley 622 to the driven pulley 623. Rotation shaft 213a and second link member 21
4, the torque output from the drive motor 621 is urged to the second link member 214 via the rotating shaft 213a.

Further, the drive motor 621 is provided with an encoder 52 which is one of the grip displacement amount detecting means 5, and detects the rotation amount of the drive shaft of the drive motor 621. That is, the rotation angle displacement proportional to the rotation amount of the second link member 214 caused by the manual operation of the operation grip 11 is applied to the drive shaft of the drive motor 621 via the driven pulley 623, the transmission belt 624, and the driven pulley 622. Because the encoder 52 detects this,
As a result, the rotation angle displacement of the second link member 214 with respect to the first link member 212 can be calculated.

Next, the third driving force generating means 63 will be described with reference to FIGS. 3, 4, 7, 8 and 9. The third driving force generating means 63 urges the third link member 216 that can freely rotate with respect to the second link member 214 by the third joint 215 to apply a rotating torque.

The third driving force generating means 63 corresponds to FIG.
As shown in FIG. 7, a drive motor 631 fixed to the first link member 212 and a drive motor 631
4, a driven pulley 633 rotatably mounted on the right end of the rotation shaft 213 a of the second joint 213 in FIG. 4, and a driven pulley 632.
Transmission belt 63 for transmitting the torque of driven roller 633 to driven pulley 633
4, a cam member 635 rotatably mounted at the center of the rotary shaft 213a and interlocking with the driven pulley 633, and rotating the cam member 635 at the other end of the third link member 216 (the state variable support mechanism 22). And a transmission member 636 for transmitting the transmission member 636 to the end (the end portion not provided with).

FIG. 8 shows a part of the cam member 635 and the transmission member 636. FIG. 8A is a diagram of the cam member 635 viewed from the right side in FIG. 4, and FIG. 8B is a diagram of FIG.
Is a cross-sectional view taken along line YY of FIG. This cam member 635
Has an insertion hole 635a in the center through which the rotation shaft 213a is inserted via a bearing. One end of the transmission member 636 is rotatable around a direction parallel to the rotation shaft 213a at a position separated by a predetermined distance therefrom. Are connected.

The other end of the transmission member 636 is connected to the third joint 2
The third link member 216 is connected to the other end of the third link member 216 so as to be rotatable about a direction parallel to the 15 rotation shafts 215a (see FIG. 3). The distance from the rotation shaft 213a of the cam member 635 to the rotation center of one end of the transmission member 636 and the distance from the rotation shaft 215a of the third link member 216 to the rotation center of the other end of the transmission member 636 are as follows. , And at the same time, the length of the transmission member 636 and the length of the second link member 214 (more precisely, the distance between the rotation center axes at both ends of each member) are set to be equal.

For this reason, the rotation angle of the cam member 635 and the third link member 216 with respect to the second link member 214
Can be shifted equally.

With this configuration, when the driving motor 631 of the third driving force generating means 63 is driven, the cam member 6 is driven irrespective of the rotation of the center shaft 213a of the second joint 213.
35 can be energized with a rotational torque,
6, the rotation torque of the second link member 214 can be transmitted to the third link member 216.

The drive motor 631 is provided with an encoder 53, which is one of the grip displacement amount detection means 5, and detects the amount of rotation of the drive shaft of the drive motor 631. For example, as shown in FIG. 9, when the third link member 216 rotates with respect to the second link member 214 due to the manual operation of the operation grip 11, the transmission member 636 rotates the third link member 216. The rotational movement of the cam member 635 is urged at an angle equal to the dynamic transition angle, and the rotational angular displacement proportional to the rotational angle of the cam member 635 causes the rotation of the drive motor 631 via the driven pulley 633, the transmission belt 634, and the driven pulley 632. Since this occurs on the drive shaft, the encoder 53 detects this, and as a result, the rotation angle displacement of the third link member 216 with respect to the second link member 214 can be calculated.

Here, the input means moving urging mechanism 4 and the encoders provided at each of the rotary joints of the operation input means 2 described above generate pulses in a number of times proportional to the rotation or rotation angle between the link members. It is assumed that each of these encoders is provided with a counter (not shown) for counting and outputting pulses.

The input means moving urging mechanism 4 and the drive motors provided at the rotary joints of the operation input means 2 convert the operation command signal or the drive command signal from the control means 3 into analog signals, respectively. A D / A converter for converting;
It is assumed that a current amplification amplifier for amplifying a signal from the D / A converter and a speed reducer (both not shown) for adjusting the rotation speed of the drive motor are provided.

Next, the control means 3 will be described. As shown in FIG. 10, the control means 3 calculates input position coordinate data of the operation grip 11 based on detection angle signals (movement displacement amounts) detected by the encoders 221, 231, 241 of the operation input means 2. Upon receiving an input coordinate calculating unit 31 that outputs to the arithmetic processing unit 1010 and reaction force data corresponding to the input position coordinate data output from the arithmetic processing unit 1010, a drive command signal based on the reaction force data is input to the operation input unit 2. And a reaction force generation control unit 33 that outputs a signal to each of the drive motors 222, 232, and 242.

On the other hand, the arithmetic processing unit 1010
As shown in FIG. 7, a shape data storage unit 1011 for storing shape data of a predefined virtual object 1051 and a virtual pointer 1050, a virtual space is set, and a virtual object 1051 and a virtual object based on the shape data described above are set in the virtual space. The pointer 100 and the display 100
1 is provided with a display control unit 1012 for controlling the output.

The shape data stored in the shape data storage unit 1011 may be of any format as long as it can calculate a tangent plane of a virtual object defined in advance. Here, a shape definition using a parametric function and a definition shape using a distribution function are used.

The display control unit 1012 positions the virtual pointer 1050 in the virtual space based on the input position coordinate data output from the input coordinate calculation unit 31 of the three-dimensional input manipulator 10, and the virtual object 1051 and the virtual pointer Reaction force calculation function 1 for calculating the magnitude and direction of a virtual reaction force received from an object when it comes into contact with 1050
013. The reaction force data calculated by the reaction force calculation function 1013 is output to the reaction force generation control unit 33 of the three-dimensional input manipulator 10 as described above.

The reaction force generation control unit 33 calculates each drive motor 222, 232, 242 of the operation input means 2 from the reaction force data.
And outputs a drive command signal based on the output torque.

First, in the input coordinate calculating section 31, the detection angles of the encoders 51, 52, 53 provided in the operation input means 2, 2A constituting the grip displacement amount detecting means 5,
The coordinates of the tip position of each of the operation input means 2 and 2A are calculated from the length of each link member. Then, since two fixed points on the operation grip 11 are specified from these, input position coordinate data and attitude data of the operation grip 11 are specified.

When the input position coordinate data and the posture data of the operation grip 11 are specified, the arithmetic processing unit 10
It is output to ten display control units 1012. The display control unit 1012 of the arithmetic processing device 1010 maps the current position coordinates of the operation grip 11 based on the input position coordinate data to a coordinate system in the virtual space, and uses the converted new current position coordinates of the virtual pointer 1050 as the virtual pointer 1050. The virtual pointer 1050 is arranged in the virtual space as the tip position coordinates and displayed on the display 1001.

In the display control unit 1012, the reaction force calculation function 1013 calculates reaction force data based on the relationship between the coordinates of the tip position of the virtual pointer 1050 and the coordinates of the surface position of the virtual object 1051. Such reaction force data includes:
A reaction force in the x, y, and z-axis directions and a moment around each axis are included, and are output to the three-dimensional input manipulator 10.

The reaction force generation control section 33 of the control means 3 calculates the output torque of the drive motor of each of the power generation means 61, 62, 63 provided in each of the operation input means 2, 2A from the above-mentioned reaction force data. Is done. And the reaction force generation control unit 33
Outputs a drive command signal corresponding to each drive torque to each drive motor.

The control means 3 and the arithmetic processing unit 1010 control the operation based on each of the above methods.

Next, the operation of the three-dimensional input system 1000 having the above configuration will be described with reference to FIGS. FIG. 11 is a flowchart showing the operation flow of the three-dimensional input system 1000.

In this embodiment, at the time of operation input, the operator holds the operation grip 11 in his hand, and
1 is moved in arbitrary plural degrees of freedom. At this time, since both the first operation input unit 2 and the second operation input unit 2A have six degrees of freedom, the operation grip 11 can change the state with six degrees of freedom. Accordingly, a movement of the operation grip 11 in a three-dimensional space, a tilting operation for tilting the longitudinal direction in all directions, and a posture changing motion such as a rotating operation about the longitudinal direction are performed.

Then, in accordance with the input operation by the operation grip 11, each of the encoders 51, 52, 53, 54 provided in each of the input position support mechanisms 21 detects the amount of angular displacement (step S1).

Then, the input position coordinate data and the posture data of the operation grip 11 are calculated in the input coordinate calculation section 31 of the control means 3 from the detected angle shift amounts (step S2). Then, these are output to the display control unit 1012 of the arithmetic processing unit 1010 (Step S
3).

The display control unit 1012 controls the display 1
The virtual pointer 1050 is arranged at a position corresponding to the input position coordinate data on the virtual space displayed at 001 (step S4). Then, the reaction force calculation function 1013 determines from the relative positions of the virtual object 1051 and the virtual pointer 1050 whether they interfere with each other (step S5).

In the above determination, when it is determined that there is no interference, the input position coordinates are detected for the continued movement of the operation grip 11, and the same operation (steps S1 to S4) is repeated. It is.

On the other hand, if it is determined in the above determination that interference occurs, a reaction force calculation is performed. Then, the calculated reaction force data is output to the reaction force generation control unit 33 of the three-dimensional input manipulator 10 (step S6).

In the reaction force generation control section 33, the driving force generation means 61 of the operation input means 2 and 2A based on the reaction force data.
The drive torque of each of the drive motors 611, 612, and 613 is calculated, and drive control of each of the drive motors 611, 612, and 613 is performed so that an output based on the drive torque is generated (step S7). Thus, when the virtual pointer 1050 displayed on the display 1001 and the virtual object 1051 come into contact with each other while watching the display 1001, the operator virtually feels the feeling of receiving the reaction force from the virtual object.

Then, the operation grip 11 continued again.
Is detected, the input position coordinates are detected, and the same operation (steps S1 to S7) is repeated.

In the present embodiment, the grip portion 111 extends from one end of the operation grip 11 to at least a half of the range, and each of the operation input means 2 and 2A is in the range near the other end excluding the grip portion 111. Operating grip 1 with two different fixed points in
1 is supported.

For this reason, the relative change of one of the operation input means with respect to one of the operation input means caused by the change of the attitude of the operation grip 11 is caused on the operation grip 11 supported by the respective operation input means 2 and 2A. It will fall within the range of the spherical surface whose radius is the separation distance between the two fixed points. Therefore, as compared with the conventional case where both ends of the operation grip are supported, the range of relative displacement of the support tip of each operation input means can be reduced, and the operation area of the operation grip 11 can be reduced. When set within the same range as above, it is possible to reduce the size of each of the operation input means 2 and 2A and the weight associated with it. Accordingly, the size and weight of the entire three-dimensional input manipulator 10 can be reduced accordingly.

Each of the operation input means 2 and 2A is
2 is arranged on a horizontal plane, and is supported by the support plate 123 of the base 12 by the rotation shaft 211a of the first joint 211 mounted vertically on the support plate 123. The weight added to the rotating shaft 211a connecting the support plate 123 of the table 12 and each of the operation input means 2 and 2A is generated along the longitudinal direction of the rotating shaft 211a, and the weight is increased as compared with the case where bending stress is applied. The load on each rotating shaft 211a can be reduced, and the life of the device can be extended.

Furthermore, since the driving motors 611, 621 and 631 of the operation input means 2 and 2A allow the operator to feel the reaction force based on the reaction force data, the three-dimensional input manipulator 10 is connected to the three-dimensional input system 1000.
The operator can receive more accurate reaction force in use in a work environment receiving pseudo reaction force feedback, that is, thereby, can experience a more realistic pseudo feeling.

In the above-described embodiment, the control unit 3 of the three-dimensional input manipulator 10 may be configured to also serve as the arithmetic processing unit 1010 as a higher-level device. Alternatively, the control means 2 for the three-dimensional input manipulator 10
However, a configuration in which the display control unit 211 performs all the functions of the arithmetic processing device 210 may be adopted. The same applies to other embodiments described below.

Although the present embodiment exemplifies the pointer and the virtual object as shown in FIG. 1, the present invention is not particularly limited thereto. For example, assuming a simulation of a surgery for treating a body, setting a pointer and a virtual object as necessary, such as setting a pointer to a surgical scalpel and setting a virtual object to be a part of a body to be treated. By doing so, it is possible to suitably cope with various simulations.

[0104]

According to the present invention, the first operation input means for supporting the operation grip has at least 5 degrees of freedom, and the second operation input means has at least 6 degrees of freedom. The above state changes are possible. Thus, for example, a movement of the operation grip in a three-dimensional space and a posture changing movement for tilting the longitudinal direction in all directions are performed, and input of such position information and posture information becomes possible.

Further, in the present invention, one end side of the operation grip is set as the grip portion, and each operation input means supports the operation grip at two different positions within a range near the other end portion excluding the grip portion. Therefore, the relative movement of the other operation input means with respect to one of the operation input means caused by changing the attitude of the operation grip as described above can be controlled by the operation grips supported by the respective operation input means. It will fall within the range of a spherical surface whose radius is the distance between the above two positions.

Therefore, as compared with the conventional case where both ends of the operation grip are supported, the range of relative displacement of the support tip of each operation input means can be reduced.
When the operation area of the operation grip is set within the same range as that of the related art, it is possible to reduce the size and weight of each operation input means. Accordingly, the size and weight of the entire three-dimensional input manipulator can be reduced accordingly.

In other words, by setting each operation input means to the same size as the conventional one, the working range of the operation grip can be expanded.

In particular, by setting the grip portion of the operation grip to at least half of the length of the operation grip in the longitudinal direction, each operation input means can have a length range of less than half of the length of the operation grip. To support the operation grip, and the relative movement range of the distal end supporting the operation input means is reduced to a spherical surface having a radius less than half the length of the operation grip.

[0109] Further, a configuration having a base for holding each operation input means is provided, and when the base is arranged on a horizontal plane, any operation input means is supported by a rotation axis of a joint pointing vertically. By doing so, the weight added to the rotating shaft connecting the base and the operation input means is generated along the longitudinal direction of the rotating shaft, and the load on each rotating shaft is compared with the case where bending stress is applied. , And the life of the device can be extended.

Further, a driving force of a magnitude corresponding to an output from a higher-level device is applied to each operation input means in a direction corresponding to any one of a plurality of degrees of freedom or a state change direction by each joint of the input position support mechanism. By providing a plurality of driving force generating means for biasing the operation grip, it is possible to generate a resistance due to the driving force in a direction different from the intention of the operation when inputting the operation grip. Therefore, it is possible to provide a three-dimensional input manipulator suitable for operation input in various simulations, such as a case where a higher-level device is set so that a reaction force corresponding to an operation input position is generated when an operation grip is operated. It is possible.

Since the present invention is constructed and functions as described above, it is possible to provide an excellent three-dimensional input system which has not been achieved conventionally.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.

FIG. 2 is a perspective view showing the overall configuration of the three-dimensional input manipulator disclosed in FIG.

FIG. 3 is a left side view of an operation input unit of the three-dimensional input manipulator disclosed in FIG. 2;

4 is a front view in which a part of the operation input means disclosed in FIG. 3 is omitted and a part is cut away.

FIG. 5 is a plan view of a first link member of the input position support mechanism of the operation input unit disclosed in FIG. 3;

FIG. 6 is a plan view showing a state variable support mechanism of the operation input means disclosed in FIG. 3;

FIG. 7 is a sectional view taken along line XX of FIG. 4;

8A and 8B show a cam member of the third driving force generating means disclosed in FIG. 3, FIG. 8A shows a front view, and FIG. 8B shows a cam member taken along line YY in FIG. 8A. It is sectional drawing along.

FIG. 9 is an explanatory diagram illustrating the operation of the second and third driving force generating means disclosed in FIG. 3;

FIG. 10 is a block diagram showing the three-dimensional input system of FIG. 1;

FIG. 11 is a flowchart showing an operation of the first embodiment.

FIG. 12 is a schematic configuration diagram showing a conventional example.

[Explanation of symbols]

 Reference Signs List 2 first operation input means 2A second operation input means 21 input position support mechanism 22, 22A state variable support mechanism 5 grip displacement amount detection means 51, 52, 53, 54 encoder (sensor) 6 driving force generation means 61 One driving force generating means 62 Second driving force generating means 63 Third driving force generating means 10 Manipulator for three-dimensional input 11 Operating grip 111 Gripping part 12 Base 211 First joint 213 Second joint 215 Third Joint 221 Fourth joint 223 Fifth joint 225 Sixth joint 1010 Arithmetic processing unit (upper device)

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Akio Ikemoto 2-1 Sakuranamiki, Tsuzuki-ku, Yokohama-shi, Kanagawa Prefecture F-term in the Suzuki R & D Center (reference) 3F059 AA10 BA02 BA05 BC03 BC04 BC09 DA08 DD01 FA01 FA07 FC03

Claims (11)

[Claims] 1. A three-dimensional input manipulator which is connected to a higher-level device and performs three-dimensional coordinate input, wherein a single operation of inputting by moving to an arbitrary position in a predetermined range of three-dimensional space A grip, first operation input means for supporting the operation grip in a state in which the state of at least 5 degrees of freedom can be freely changed, and a state change of the operation grip in at least 6 degrees of freedom. A second operation input unit that supports the operation grip, and a grip displacement amount detection unit that detects a change in the position and orientation of the operation grip. One end side of the grip as a grip portion for applying an external force, near the other end of the operation grip and at two different distances from the other end, the first operation input means and Three-dimensional input manipulator, characterized in that the second operation input means for supporting said operation grip respectively. 2. The three-dimensional input manipulator according to claim 1, wherein the grip portion of the operation grip is set to at least a half of a length of the operation grip in a longitudinal direction. 3. The three-dimensional input manipulator according to claim 1, wherein each of the operation input means supports the operation grip so as to freely change a state with six degrees of freedom. 4. Each of the operation input means includes an input position support mechanism for movably supporting the operation grip at an arbitrary position in a three-dimensional space, and a variable direction of the operation grip at the arbitrary position. 2. A variable state support mechanism for supporting the operation grip.
The three-dimensional input manipulator according to 2 or 3. 5. The three-dimensional apparatus according to claim 1, wherein each of the operation input means has the same number of joints that allow a plurality of the degrees of freedom to change the state. Input manipulator. 6. The operation input means is provided with a sensor for detecting a state change amount of the joint as the grip displacement amount detecting means, the number of which corresponds to the total number of the joints. The three-dimensional input manipulator according to claim 5. 7. The input position support mechanism of each of the operation input means can freely change the state with three degrees of freedom, and the variable state support mechanism of each of the operation input means can freely change the state with three degrees of freedom. The three-dimensional input manipulator according to claim 4, wherein the operation grip is supported. 8. The input position support mechanism and the state variable support mechanism of each of the operation input means have the same number of joints as the degrees of freedom for freely changing the state of the degrees of freedom. 8. The three-dimensional input manipulator according to claim 7, wherein said input position support mechanism includes six sensors for respectively detecting state change amounts of all joints. 9. A base for holding the operation input means, wherein each of the operation input means supports the operation grip at one end and has a rotatable joint at the other end. And connecting the base and each of the operation input means via a rotation shaft of a joint at the other end of each of the operation input means, and each of these rotation axes moves the base on a horizontal plane. 9. The apparatus according to claim 1, wherein said base is set on said base in a vertical direction when installed.
The three-dimensional input manipulator according to claim 1. 10. A plurality of driving forces for urging the operation grip to apply a driving force of a magnitude corresponding to an output from the host device in a direction corresponding to any of the degrees of freedom to the operation input means. A generating means is provided.
Or the three-dimensional input manipulator according to 9. 11. A driving force having a magnitude corresponding to an output from the host device in a direction corresponding to the degree of freedom of each of the input position support mechanisms is individually applied to the operation grip. 9. The three-dimensional input manipulator according to claim 8, further comprising three driving force generating means for urging the manipulator.