JP2000246680A - Manipulator for three-dimensional input - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize an operation input means by providing a first and a second operation input means for simultaneously supporting an operation grip in the condition that the operation can be changed in plural degrees of freedom. SOLUTION: An operation grip 11 is supported by a first and a second operation input means 2, 2A at the same time in the condition that the operation can be freely changed in six-degree of freedom. With this structure, since one end of the operation grip 11 is fixed to a grip part and each operation input means 2, 2A supports the operation grip 11 at two different positions within a range near the other end of the grip 11 except for the grip part, relative displacement of one of the operation input means in relation to the other thereof to be generated by a posture change of the operation grip 11 goes in a range of a spherical surface having a radius corresponding to a distance between the two positions on the operation grip 11, at which the operation grip is supported by the operation input means 2, 2A. Range of the relative displacement of a supporting tip of each operation input means 2, 2A can be reduced, and the operation input means 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 prior art, the movable range of at least one of the operation input means must be increased, so that the entire apparatus is larger than the movable range of the operation grip. There was an inconvenience. This is because, in the conventional three-dimensional input manipulator, as described above, 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.

For the above-mentioned reason, in order to expand the movable range of the operation grip, each link member must be excessively designed, and it is inevitable that the mass of each link member becomes large. Was. When a large moving operation is applied to the operation grip in such a configuration, a large inertia force acts on the weight of each operation input means itself, and the operability is reduced due to the influence of the inertia force, and fine positioning or the like is performed. In addition, there is an inconvenience that deviations are likely to occur, and a burden on the operator due to the operation is likely to occur.

[0010]

SUMMARY OF THE INVENTION It is an object of the present invention to improve the disadvantages of the prior art and to reduce the size of the operation input means.
It is an object of the present invention to provide a three-dimensional input manipulator that effectively suppresses generation of an inertial force even when the operation range of an operation grip is large and its input operation is large.

[0011]

According to the first aspect of the present invention, in a three-dimensional input manipulator that is connected to a higher-level device and performs three-dimensional position coordinate input, a three-dimensional input manipulator is provided at an arbitrary position within a certain range of a work space. A single operation grip for moving and inputting, first and second operation input means for simultaneously supporting the operation grip in a state where a plurality of degrees of freedom can be freely changed, and a state change occurring in the operation grip Grip displacement amount detecting means for detecting the amount from each operation input means,
Each operation input means is integrally held in a state where the state change of a plurality of degrees of freedom can be freely performed, and each operation input means is
A moving urging mechanism that freely conveys in a three-dimensional space, a holding position displacement amount detecting unit that detects a state change amount occurring at a holding position of each operation input unit from the moving urging mechanism, and a control that controls operation of each unit. Means.

The operating grip is set in 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. At two different positions, the first operation input means and the second operation input means respectively support the operation grip.

Further, the control means calculates an input position coordinate data and an attitude data of the operation grip based on the outputs of the grip displacement amount detection means and the holding position displacement amount detection means, and an input of the operation grip. A holding position calculating unit that determines the destinations of the first and second operation input units based on the position coordinate data, and controls the operation of the movement urging mechanism that transports each operation input unit to the destination determined by this. And a work space expansion unit for performing the operation.

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, the state of the operation grip can be changed according to the degree of freedom of each operation input means.

Further, since the operation grip supports any of the operation input means within a range near the other end, excluding the range constituting the grip portion, the operation grip can be moved or changed in posture. When performing the operation of, the relative movement of the grip support side end of each of the first operation input means and the second operation input means, the range of the spherical surface having the radius of the separation distance of each grip support position Done in

With the input operation by the operation grip, the amount of state displacement of the operation input means at the holding position is detected by the holding position displacement detecting means, and the amount of state displacement of the operation grip from the holding position is detected by the grip. It is detected by the displacement amount detecting means.

Based on these detection signals, the input coordinate calculator calculates input position coordinate data and attitude data of the operation grip. Then, in the grip position holding unit, when the calculated position coordinate data exceeds a predetermined range, the transfer destination to follow the movement of the operation grip is determined, and further, by the work space expansion unit, the transfer destination is determined. The movement urging mechanism is operated so that each operation input means moves.

According to a second aspect of the present invention, each of the operation input means is provided with a driving force generating means for causing a displacement of the position of the operation grip, and the control means is provided with the same configuration as the first aspect of the present invention. When the movement urging mechanism is operated, a grip position holding unit that performs operation control for maintaining the operation grip at a position immediately before the operation to the driving force generation unit is provided.

In this configuration, in the operation of the first aspect, at the same time that each operation input means is transported by the moving urging mechanism, the absolute position of the operation grip is not changed by the transport. Then, the driving force generating means causes a relative displacement with respect to the moving urging mechanism with the same displacement in the direction opposite to the transport direction by the moving urging mechanism.

According to the third aspect of the present invention, the first or second aspect is provided.
In addition to having the same configuration as the described invention, the control means,
The configuration is such that a reaction force generation control unit is provided which receives an input of reaction force data corresponding to the input position coordinate data from the host device and outputs a drive command signal based on the reaction force data to the driving force generation means.

In the above configuration, the current position of the operation grip moved by the operator is output to the higher-level device by the input coordinate calculator 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. The reaction force generation control unit
In response to this reaction force data, the corresponding reaction force (for example,
The driving force generating means is driven so as to generate 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.

Further, in each of the above configurations, it is possible that any of the first operation input means, the second operation input means, and the moving urging mechanism can freely change the state with at least four degrees of freedom. desirable.

In particular, regarding the first operation input means,
It is desirable to support the operation grip in a state in which the state can be freely changed to a degree of freedom or more. Similarly, it is desirable that the second operation input means supports the operation grip in a state in which the state can be freely changed with six degrees of freedom or more (the configuration according to claim 5). In addition, it is desirable that the movement urging mechanism supports each operation input means in a state where the state can be changed more than six degrees of freedom.

Thus, the operation grip can be freely moved in space, and at the same time, its posture can be freely changed.

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

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. In this embodiment, the three-dimensional input manipulator 10 for performing three-dimensional coordinate input is
The figure shows a case where the apparatus is provided in the dimension input system 1000.

This three-dimensional input system 1000 is similar to that shown in FIG.
As shown in FIG. 1, a three-dimensional input manipulator 10 and a graphic workstation 1 as an arithmetic processing device which is a higher-level device of the three-dimensional input manipulator 10
010 and the graphic workstation 101
Display 1 that displays video based on output data of 0
001 and 001.

The three-dimensional input manipulator 10 includes:
As shown in FIGS. 1 and 2, a single operation grip 1 for inputting by moving to an arbitrary position within a certain range of a work space.
1 and the first and second operation input means 2 and 2A which simultaneously support the operation grip 11 in a state where the state of freedom is changed in six degrees of freedom (in FIG. ), A grip displacement amount detecting means 5 (not shown in FIG. 13) for detecting a state change amount generated in the operation grip 11 from each of the operation input means 2 and 2A, and an output from the graphic workstation 1010. Driving force generating means 6 (driving force generating means 61, 61, 6 to be described later) for urging the operating grip 11 with a driving force of a magnitude as a virtual reaction force when the operating grip 11 is operated.
2, 62, 63, and 63 are generally indicated by reference numeral 6), and each operation input means 2,
A movement urging mechanism 4 for holding the operation input means 2 and 2A freely in a three-dimensional space while holding the operation input means 2 and 2A integrally, and a state change amount generated at a holding position of each operation input means 2 and 2A. From the movement urging mechanism 4 and a control means 3 for controlling the operation of each part.

The components will be described below. Reference numeral 123 denotes a flat support plate provided with each of the operation input means 2 and 2A. The support plate 123 is fixedly mounted on the support distal end of the moving urging mechanism 4, and the moving urging mechanism 4 supports each of the operation input means 2 and 2A via the supporting plate 123.

Next, the first operation input means 2 and the second operation input means 2A will be described. Here, as shown in FIG. 2, the first operation input means 2 and the second operation input means 2A are formed from substantially the same member except that the arrangement on the support plate 123 is different. Therefore, the same members will be denoted by the same reference numerals, and redundant description will be omitted.

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

Further, the input position support mechanism 21 and the state variable support mechanisms 22 and 22A have three joints respectively corresponding to the respective degrees of freedom, so that the state can be freely changed in three degrees of freedom. I have. 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. , 5
2, 53, 53, and the six encoders 51, 51, 52, 52, 53, 53 and another encoder 54 described later constitute the grip displacement amount detecting means 5 described above. I have.

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 support mechanism 21 includes a total of six driving force generating means 6 corresponding to each joint of the input position support mechanism 21. Equipped.

The 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 the operation input means 2 is rotated approximately 45 degrees clockwise about the vertical direction from the state in FIG. (The second operation input means 2A is not shown). FIG. 4 is a front view of the first operation input means 2 as viewed from the right side in FIG.
Some have been omitted and some have been cut out.

The input position support mechanism 21 includes a first joint 211, a first link member 212 connected to the support plate 123 via the first joint 211, and a second joint 213. The second link member 21 connected to the first link member 212 via the second joint 213
4, a third joint 215, and a third link member 216 connected to the second link member 214 via the third joint 215.

The first joint 211 includes a rotating shaft 211a vertically penetrating the support plate 123 and a bearing 211b for rotatably supporting the rotating shaft 211a with respect to the support plate 123. Have.

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 support plate 123 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 rotation shaft 211 described above.
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.

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 rotating shaft 215a disposed along a direction parallel to the axis of rotation. The rotating shaft 215a is rotatably supported by the other end of the second link member 214 about the direction in which the rotating shaft 215a is disposed. And a bearing 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. Further, the third link member 216 includes a state variable support mechanism 22 (22A) provided at one end thereof, and the first to third joints 211, 213,
With the cooperation of 215, the support plate 123 can be freely moved to any position in the 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 projecting 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 that of 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 line of the rotation of the operation grip 11 is set to be orthogonal to the rotation center lines of both the fourth joint 221 and the fifth joint 223.

The rotation center line of the operation grip 11 by the sixth joint 225 passes through a point where the rotation center lines of the fourth joint 221 and the fifth joint 223 are orthogonal to each other. 11 is the fifth link member 224
(224A). For this reason, the operation grip 11 freely tilts in all directions with respect to the input position support mechanism 21 about the point where the mutual rotation center lines of the fourth joint 221 and the fifth joint 223 are orthogonal to each other, In addition, the operation grip 11 can be freely rotated around the longitudinal direction, so that 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 supports the operation grip 11 at a substantially lower end portion of the operation grip 11 by a fifth link member 224. Further, the second operation input means 2A supports 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 in the respective 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 and a driving pulley 612 mounted on a driving shaft of the driving motor 611.
A driven pulley 613 fixed to the upper end of the rotating shaft 211a of the first joint 211; and a transmission belt 614 for transmitting the torque of the driven pulley 612 to the driven pulley 613. Rotation shaft 211a and first link member 21
2 is fixedly connected, the torque output from the drive motor 611 is urged to the first link member 212 via the rotating shaft 211a.

Further, the drive motor 611 is provided with the encoder 51 which is one of the grip displacement amount detecting 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. 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 is provided in 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.

On the other hand, the movement urging mechanism 4 is
In the same manner as described above, a plurality of link members are connected via a rotary joint, and the operation input means 2 is provided at the connection end thereof, thereby realizing the movement of the operation input means 2 in a plurality of degrees of freedom. .

More specifically, as shown in FIG. 10, the moving urging mechanism 4 is placed on a horizontal plane and supports the entire base 4.
1 and a first rotating joint 401 having a vertical axis on the base 41 and a second rotating joint 40 having a horizontal axis.
2, a third rotating joint 403 whose axis is in the direction along the link 42 at the tip of the link member 42, and whose axis is in a direction orthogonal to the link member 42. A link member 43 connected via a fourth rotating joint 404 and a link connected to a distal end of the link member 43 via a fifth rotating joint 405 whose axis is in a direction along the link 43. A member 44, a sixth rotating joint provided at the distal end of the link member 44 and having an axis in a direction perpendicular to the link member 44, and a sixth rotating joint 406 provided at the distal end of the link member 44. A seventh rotary joint 407 whose axis is in a direction perpendicular to the rotation axis.

Further, the seventh rotary joint 407 supports the first and second operation input means 2 and 2A via the support plate 123. Here, the above-mentioned "rotating joint" means that the two members are connected between the two members arranged in parallel, and the other member is connected to one member with the direction in which the two members are arranged as an axis. Refers to a joint that allows the members to rotate freely, and a “rotating joint” refers to a direction in which the two members are connected between two parallel members and the two members are arranged side by side A joint (joint) that allows the other member to rotate freely with respect to one member about a direction perpendicular to the axis.

Further, an encoder (not shown) as a holding position displacement amount detecting means for detecting the rotation or rotation angle of each of the rotation or rotation joints 401 to 407 is provided.
And a drive motor (not shown) for urging rotation or rotation thereof
And is equipped with.

In this configuration, by driving each drive motor, the movement urging mechanism 4 causes the first and second operation input means 2 and 2A to change the total length of each link member 42, 43 and 44 to a radius. It is possible to convey almost the entire area of the inner space of the hemisphere centered on the base 41 and to support (tilt and rotate in all directions) in any posture at such a conveyance position.

Here, each encoder mounted on each rotary joint of the movement urging mechanism 4 and the operation input means 2 transmits a pulse 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.

Further, each of the drive motors provided for the moving urging mechanism 4 and each of the rotary joints of the operation input means 2 converts an operation command signal or a drive command signal from the control means 3 into an analog signal. A D / A converter and this D / A
It is assumed that a current amplification amplifier for amplifying a signal from the 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 with reference to FIG. The control means 3 includes a CPU, a ROM, an A /
A program for executing an operation control, which will be described later, is configured by an arithmetic device including a D converter.

As shown in FIG. 2, the control means 3 includes a force control CPU 31 for controlling the operation of the first and second operation input means 2 and 2A, and a position control for controlling the operation of the movement urging mechanism 4. A CPU 32 and a system CPU 33 connected to the graphic workstation;
1, 32 and 33 share each data on the VME bus 34.

First, the force control CPU 31 first detects the detection angle signals detected by the encoders 51, 52, 53, 54 provided in the first and second operation input means 2, 2A and the encoder of the moving urging mechanism 4. Operating grip 11 based on
It functions as an input coordinate calculation unit that calculates the input position coordinate data and the posture data of the graphic work station 1010 and outputs the calculated data to the graphic workstation 1010.

That is, from the outputs of the encoders 51, 52, 53 provided in the operation input means 2, 2A and the length of each link member, an arbitrary point on the support plate 123 (hereinafter referred to as each operation input means 2, 2A). , 2A) can be calculated with respect to the support position of the operation grip 11 by each of the first operation input means 2 and the second operation input means 2A. Then, by specifying the support positions of these two points, the coordinates of an arbitrary point on the operation grip 11 (for example, the coordinates of the tip of the operation grip 11) are specified as the input position coordinate data.

Further, by specifying the two support positions of the operation grip 11, the inclination of the operation grip 11 can be specified. Further, when the operation grip 11 is rotated around its longitudinal direction, the rotation angle is detected by the output of the encoder 54. Therefore, the rotation angle and the inclination of the operation grip 11 correspond to the posture data. Specified as

The system CPU 33 outputs the above-described input position coordinate data and attitude data to the graphic workstation 1010, and receives reaction force data calculated based on these data from the graphic workstation 1010.

The force control CPU 31 includes a system CPU 33
Also functions as a reaction force generation control unit that outputs a drive command signal based on the reaction force data received by the servo driver 35 to the servo driver 35.
That is, the output torque of each of the drive motors 611, 621, and 631 provided in each of the operation input means 2 and 2A is calculated according to which direction the reaction force based on the reaction force data is generated and in what direction. It outputs to the servo driver 35 as a command signal.

The servo driver 35 drives the respective drive motors 611, 621 and 631 mounted on the respective operation input means 2 and 2A with the output and the amount of rotational displacement according to the drive command signal. Thereby, when operating the operation grip 11,
The operator can experience a virtual reaction force corresponding to the input position, input posture, or input direction of the operation grip 11.

On the other hand, the position control CPU 32
Based on the input position coordinate data calculated in U31, it functions as a holding position calculation unit that determines the transport destination of each of the operation input units 2 and 2A.

That is, in the position control CPU 32, the operation range (work space) of the operation grip 11 is determined by the operation grip 1
It is preset in a space within a certain distance range from 1 and
When the operation grip 11 comes to the outside from such a space, a new work space is set around the current position of the operation grip 11 at that time. At this time, the transport destination of each of the operation input means 2 and 2A is determined so as to be equal to the direction and the distance from the original work space to the updated work space.

The position control CPU 32 sends a drive command signal for moving the maintaining front end (the support position of the support plate 123) of the movement urging mechanism 4 to such a destination by the servo driver 3.
6 also functions as a work space extension unit that outputs the data to the work space 6. That is,
The rotation angle of each drive motor provided in the movement urging mechanism 4 is calculated according to the movement direction and the distance, and is output to the servo driver 36 as a drive command signal.

The servo driver 36 drives each drive motor of the moving urging mechanism 4 at a rotation angle according to the drive command signal.

On the other hand, graphic workstation 1
Reference numeral 010 denotes a shape data storage unit 1011 that stores shape data of a predefined virtual object 1051 and a virtual pointer 1050 (see FIG. 1), a virtual space is set, and a virtual object based on the shape data described above is stored in the virtual space. 1051
And a display control unit 1012 that arranges a virtual pointer 1050 and controls output to the display 1001.

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 controller 1012 positions the virtual pointer 1050 in the virtual space based on the input position coordinate data output from the system CPU 33 of the three-dimensional input manipulator 10, and the virtual object 1051 and the virtual pointer 1050 Reaction force calculation function 1 for calculating the magnitude and direction of a virtual reaction force received from an object when touched
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.

Next, the operation of the three-dimensional input system 1000 having the above configuration will be described with reference to FIG. 1 and FIGS. FIG. 12 shows a three-dimensional input system 10.
14 is a flowchart showing the flow of the operation of the operation 00.

Prior to the start of the operation input by the operator, the three-dimensional input manipulator 10 has the operation input means 2 and 2A and the moving urging mechanism 4 as shown in FIG. Posture is taken. The basic posture is not limited as shown in the figure, but it is preferable that the basic posture is such that the operation grip 11 can be moved in all directions around it.

When each of the operation input means 2 and 2A and the movement urging mechanism 4 take the basic posture, the position control CPU 32 develops a spatial coordinate system centered on the distal end portion 11a of the operation grip 11, and this coordinate system is used. Is a working space A.

Then, the operator starts moving the operation grip 11 from this state. By such a moving operation, the encoders 51 and 5 of the operation input means 2 and 2A are provided.
2, 53 and 54 output detection angle signals, and force control C
The PU 31 calculates input position coordinate data and attitude data based on these. (Step S1).

The position control CPU 32 calculates the operation grip 1 based on the calculated input position coordinate data and posture data.
It is determined whether or not the front end 11a is inside the work space A (step S2).

When the attitude detecting section 51 is determined to be outside the work space A, the drive motor of the moving urging mechanism 4 is driven by the position control CPU 32, and at the same time, the force control CPU
31, each drive motor 61 of each operation input means 2, 2 A
1, 621 and 631 are driven. FIG. 13 shows the operation at this time.

FIG. 13A shows a state before the operation of the operation grip 11 as described above. In such a state, each of the operation input means 2, 2A and the moving urging mechanism 4 is in the basic posture, and in this basic posture,
The distal end 11a of the operation grip 11 holds a certain positional relationship with the support plate 123.

When the distal end 11a of the operation grip 11 is moved out of the input range A by the operation of the operator from this state (FIG. 13B), a movement is performed based on the current position coordinates of the distal end 11a. Each drive motor of the biasing mechanism 4 is driven to move each operation input means 2, 2A.

That is, in the moving urging mechanism 4, the drive motors 422, 424, 432, and 442 are controlled so that the support plate is in the original positional relationship with the distal end 11a of the operation grip 11. 123 is conveyed. At this time, the drive motors 6 of the operation input means 2 and 2A are simultaneously driven.
The drive control is performed on 11, 621, 631 such that the operation input means 2, 2A is in the basic posture.

Therefore, as shown in FIG. 13 (C), even if the movement urging mechanism 4 changes the posture, each of the operation input means 2, 2A
Returns to the basic position, and the tip 11a of the operation grip 11
Can maintain the current position. Then, in the force control CPU 31, the distal end portion 11a of the operation grip 11 is set.
A work space A centering on the current position is newly set (step S3).

The calculated input position coordinate data and attitude data are stored in the graphic workstation 1010.
Is output to the display control unit 1012 of the display control unit 1012 (step S4).

In the display control unit 1012, the display 1
The tip position of the virtual pointer 1050 is moved to a position corresponding to the input position coordinate data in the virtual space displayed in 001, and the virtual pointer 1050 is changed to a posture based on the posture data (step S5). Then, the reaction force calculation function 1013 determines whether or not the virtual object 1051 and the virtual pointer 1050 interfere with each other based on the relative positions of the fingertip positions (step S6).

In the above determination, when it is determined that there is no interference, the processing of the input information from the operation grip 11 and the attitude detecting section 51 is continued (return to step S1).

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 system CPU 33 of the control means 3 (step S7).

In the force control CPU 31, each drive motor 611, 6 of each operation input means 2, 2A is based on the reaction force data.
21 and 631 are calculated, and the servo driver 3
5 performs drive control of each drive motor 611, 621, 631 so as to generate an output based on each calculated drive torque (step S8). 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.
Regarding the movement operation of the posture detection unit 51, the input position coordinates are detected, and the same operation is repeated (return to step S1).

In this embodiment, one end of the operation grip 11 is set on the grip 111, and the operation input means 2, 2A
Is configured to support the operation grip 11 at two different positions in a range near the other end excluding the grip portion 111, so that one of the operation input means generated by a change in the posture of the operation grip 11 is the other. The relative displacement of the operation input means falls within the range of a spherical surface whose radius is the distance between two positions on the operation grip 11 supported by each operation input means.

Therefore, as compared with the conventional case where both ends of the operation grip 11 are supported, the range of relative displacement of the support tip of each of the operation input means 2 and 2A can be reduced. When the operation area of the grip 11 is set within the same range as that of the related art, it is possible to reduce the size and weight of each of the operation input means 2 and 2A.

Therefore, even if a large movement operation is applied to the operation grip 11, the inertial force generated by the weight of each operation input means 2, 2A can be reduced.

Further, in the three-dimensional input manipulator 10, since the operation urging mechanism 4 moves the operation input means 2 and 2A in accordance with the position of the operation grip 11, the operation range of the operation grip 11 is expanded. On the other hand, even if the operation range becomes large, the operation input means 2, 2A itself can follow the operation direction, and this effectively reduces the inertial force of the entire apparatus generated at the time of operation. It is possible to reduce. Further, as described above, since the weight of each of the operation input means 2 and 2A is reduced, the inertial force at the time of the operation can be further reduced.

By reducing the inertial force, the operability of the operation grip 11 can be improved.
For example, it is possible to accurately perform positioning even on a minute target position in operation, and at the same time, it is possible to reduce a burden on an arm due to operation, and to effectively cope with long-time input work by an operator. It also has

Further, driving force generating means 61, 62 and 63 are provided in each of the operation input means 2 and 2A, and the reaction force based on the reaction force data from the graphic workstation 1010 is felt by the operator. Combined with the effect of effectively reducing the inertial force of the entire three-dimensional input manipulator 10, the reaction force based on the reaction force data can be accurately transmitted to the operator without being interfered by the inertia force.

Therefore, the three-dimensional input manipulator 10
Is equipped in the three-dimensional input system 1000 and used in a work environment receiving pseudo reaction force feedback.
The operator can receive a more accurate reaction force, that is, the operator can experience a more realistic simulated sensation. Similarly, it is possible to perform an input operation with higher accuracy and operability.

Each of the operation input means 2, 2A is provided with driving force generating means 61, 62, 63, and the force control C
In the case where the current position of the operation grip 11 is held by the PU 31 when the movement urging mechanism 4 is operated, the operation input means 2, 2 for the input operation of the operation grip 11 is provided.
It is possible to eliminate the influence of the transfer operation of A, and to perform high operability and high-precision positioning.

Further, since both the first operation input means 2 and the second operation input means 2A can freely change the state with six degrees of freedom, the movement of the operation grip 11 in the three-dimensional space and its longitudinal direction can be achieved. Can be freely tilted in any direction or can be freely moved in a posture changing manner so as to be rotatable about its longitudinal direction, and information input with six degrees of freedom is possible.

Further, since the moving urging mechanism 4 is also capable of freely changing the state with six or more degrees of freedom, each operation input means 2, 2
These can be transported easily in response to the state change of A.

In the first embodiment, the control unit 3 of the three-dimensional input manipulator 10 may be configured so that the arithmetic processing unit 1010 as a higher-level device also serves as the control unit. Alternatively, the control unit 2 of the three-dimensional input manipulator 10 controls the function of the arithmetic processing device 210 by the display control unit 21.
1 may be all performed. The same applies to other embodiments described below.

[0119]

According to the present invention, one end of the operation grip is set to the grip, and each operation input means supports the operation grip at two different positions in the range near the other end excluding the grip. The relative displacement of one of the operation input means with respect to one of the operation input means caused by a change in the posture of the operation grip causes a separation between two positions on the operation grips supported by the respective operation input means. It will fall within the range of the spherical surface whose radius is the distance.

Therefore, as compared with the conventional case in which 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.

Further, according to the present invention, since the operation urging mechanism moves each operation input means in accordance with the position of the operation grip, the operation range of the operation grip can be expanded, while the operation range can be increased. As the range grows,
Each operation input means itself can follow the operation direction, and therefore, it is possible to effectively reduce the inertial force of the entire apparatus generated at the time of operation. Further, as described above, since the weight of each operation input unit is reduced, the inertial force at the time of operation can be further reduced.

Therefore, according to the present invention, the influence of the inertial force can be effectively reduced, the operability of the operation grip can be improved, and, for example, positioning can be accurately performed even at a fine target position in the operation. At the same time, the burden on the arm due to the operation can be reduced, and there is an effect that the operator can effectively cope with a long-time input operation by the operator.

In the case where driving force generating means is provided for each operation input means and the position of the operation grip is held by the grip position holding portion of the control means when the moving urging mechanism is operated, the operation grip may be moved. It is possible to eliminate the influence of the transport operation of each operation input unit on the input operation, and to perform high operability and high precision positioning.

Further, a reaction force generation control section is provided in the control means so that the operator can feel the reaction force based on the reaction force data corresponding to the input position coordinate data input from the host device by driving the driving force generation means. In this case, the reaction force based on the reaction force data is accurately transmitted to the operator without being interfered by the inertia force, in combination with the effect of effectively reducing the inertia force of the entire three-dimensional input manipulator generated at the time of operation. It becomes possible. Therefore, according to the present invention, it is possible to provide a three-dimensional input manipulator suitable for use in a simulation that receives pseudo reaction force feedback.

Further, the first operation input means, the second operation input means, or both of them can freely change the state with six or more degrees of freedom, so that the operation grip can be moved in three-dimensional space or its longitudinal direction. The posture can be freely changed in such a manner that the direction can be tilted in any direction or the direction can be freely rotated around the longitudinal direction, so that information can be input with a high degree of freedom.

When the movable urging mechanism can freely change the state with six or more degrees of freedom, each operation input means can be supported so as to freely change the state with at least six degrees of freedom. This makes it possible to convey each of the operation input means in response to a change in posture.

Since the present invention is constructed and functions as described above, it is possible to provide a superior three-dimensional input manipulator 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 an overall configuration of each operation input unit disclosed in FIG.

FIG. 3 is a left side view of the operation input unit 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 perspective view showing the movement urging mechanism disclosed in FIG. 1;

FIG. 11 is a block diagram showing the three-dimensional input system of FIG. 1;

FIG. 12 is a flowchart illustrating the operation of the embodiment.

13A and 13B are operation explanatory diagrams showing the relationship between the operation space of the operation grip and the operation of the movement urging mechanism. FIG. 13A shows a state in which the operation grip is in the work space, and FIG.
Shows the moment when the operation grip moves out of the work space, and FIG. 13C shows that the movement urging mechanism conveys each operation input means.
This shows a state where a new work space centered on the operation grip is set.

FIG. 14 is a schematic configuration diagram showing a conventional example.

[Explanation of symbols]

2 First operation input means 2A Second operation input means 3 Control means 31 Force control CPU 32 Position control CPU 33 System CPU 51, 52, 53, 54 Encoder (sensor) 61 First drive force transmission means 62 Second Driving force transmitting means 63 third driving force transmitting means 10 three-dimensional input manipulator 11 operating grip 111 gripping part 1010 graphic workstation (upper device)

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Yoshihiro Kumano 2-1, Sakuranamiki, Tsuzuki-ku, Yokohama-shi, Kanagawa Prefecture S-Zuki Co., Ltd. Research Institute F-term (reference) 3F059 BA02 BA05 BC03 BC04 BC09 CA06 DA08 DD01 FA01 FA07 FC03

Claims (6)

[Claims] 1. A three-dimensional input manipulator connected to a host device for inputting three-dimensional position coordinates, comprising: a single operation grip for moving to an arbitrary position within a fixed range of a work space and inputting the data; First and second operation input means for simultaneously supporting the operation grip in a state where a plurality of degrees of freedom can be freely changed, and a grip for detecting a state change amount occurring in the operation grip from each of the operation input means. A displacement amount detecting means, and a moving bias for holding the operation input means integrally in a state in which the state of the plurality of degrees of freedom can be freely changed, and for freely transporting the operation input means in a three-dimensional space. A mechanism; a holding position displacement amount detecting means for detecting, from the moving urging mechanism, a state change amount occurring at a holding position of each of the operation input means; and a control means for controlling the operation of each section. The shape of the operation grip is set to a rod shape, and one end of the operation grip is used as a grip for applying an external force. In the position, the first operation input unit and the second operation input unit respectively support the operation grip, and the control unit is configured to output the grip displacement amount and the holding position displacement amount based on the output of the grip displacement amount detection unit and the holding position displacement amount detection unit. An input coordinate calculation unit that calculates input position coordinate data and attitude data of the operation grip, and a holding position that determines a transport destination of the first and second operation input means based on the input position coordinate data of the operation grip. A calculation unit, and a work space expansion unit that controls the operation of the movement urging mechanism that conveys each of the operation input units to the conveyance destination determined by the calculation unit. Three-dimensional input manipulator to butterflies. 2. The apparatus according to claim 1, further comprising: a driving force generating means for causing a displacement of a position of the operation grip, provided in each of the operation input means, wherein the control means operates the movement urging mechanism at a position immediately before the operation. The three-dimensional input manipulator according to claim 1, further comprising: a grip position holding unit that performs operation control for maintaining the operation grip on the driving force generation unit. 3. The control means receives a reaction force data corresponding to the input position coordinate data from the host device and outputs a drive command signal based on the reaction force data to the drive force generation means. The three-dimensional input manipulator according to claim 1 or 2, further comprising a force generation control unit. 4. The three-dimensional input device according to claim 1, wherein said first operation input means supports said operation grip in a state in which a state change of 6 degrees of freedom or more can be freely performed. Manipulator. 5. The operation device according to claim 1, wherein the second operation input means supports the operation grip in a state in which a state change of six degrees of freedom or more can be freely performed. Manipulator for dimension input. 6. The three-dimensional input manipulator according to claim 4, wherein the movement urging mechanism supports each of the operation input means in a state in which the state can be changed more than six degrees of freedom. .