JP2003136453A - Operation device for manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation device for a manipulator capable of improving operation environment by reducing load and fatigue of an operator when operating the manipulator having multiple freedom. SOLUTION: For the manipulator equipped with an attachment main body for work movable in a three-dimensional space and an action mechanism 15, attached to the attachment main body and provided with at least a freedom, the operation device for the manipulator has an operation means 1 for performing at least one of the freedoms about a standard coordinate for specifying the three-dimensional space and a freedom of the action mechanism 15, a detection means 3 for detecting operation quantity about the freedom to work by operation of the operation means 1 and a control means 2 for driving an actuator 4 corresponding to the attachment main body and the action mechanism 15 based on the signal detected by the detection means 3. The operation means 3 has at least 2 systems of operation terminals 6, 7 for having at least two freedoms and independent of each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for operating a multi-degree-of-freedom manipulator provided in a civil engineering construction machine, a cargo handling machine, and the like.

[0002]

2. Description of the Related Art In a conventional multi-degree-of-freedom manipulator, that is, in a multi-degree-of-freedom manipulator provided in various machines such as civil engineering construction machines and cargo handling machines, a technique relating to an operating device for operating the manipulator is as follows. The number of levers can be increased according to the number of degrees of freedom, and Japanese Patent Publication No. 2552
As a known technique described in Japanese Patent No. 977, one lever is provided with multiple degrees of freedom (six degrees of freedom in the publication) collectively.

[0003]

When operating a civil engineering construction machine, a cargo handling machine, or the like with the above-described multi-degree-of-freedom manipulator, an operating lever having one or two degrees of freedom is generally used. Considering the case of a hydraulic excavator, for example, two sets of two-degree-of-freedom cross levers are used for turning the upper swing body, operating the front attachment boom, arm, and bucket in a total of four degrees of freedom.

However, in the operation of a machine having more complicated degrees of freedom and a complicated manipulator, such as a machine having an expanded degree of freedom of an option, in order to perform the operation of all the degrees of freedom, a lever or a pedal is further added. , Switches are often added. However, in this case, the operation becomes complicated, and simultaneous operation using two or more sets of levers is practically impossible. In addition, even a standard four-degree-of-freedom machine is designed to perform independent lever operations, which requires a great deal of skill to operate complex operations.

There is also a means for solving the above problems by using a multi-degree-of-freedom lever which can be operated by one lever as in the above-mentioned known art. However, for example, in the case of a 6-DOF lever that allows simultaneous input of position and orientation, it covers all degrees of freedom for a general manipulator and can be operated intuitively, but a human arm has 7 DOF. (shoulder:
2 degrees of freedom, elbow: 2 degrees of freedom, hand: 3 degrees of freedom), there is only one degree of redundancy for lever operation, and the other 6 degrees of freedom are immediately reflected in lever operation. The operation of holding the lever itself in a stable state, such as holding the state, not only applies a load to the arm itself, but also causes a great deal of fatigue because it is in a fixed state without being able to move with a margin. There's a problem.

The present invention has been made in order to solve such problems, and an object of the present invention is to reduce the load and fatigue on the operator when operating a manipulator having multiple degrees of freedom. An object of the present invention is to provide an operating device for a manipulator capable of improving the operating environment.

[0007]

The present invention has the following constitution in order to achieve the above object. That is, the invention of claim 1 according to the present invention relates to a manipulator provided with a work attachment main body movable in a three-dimensional space and an operation mechanism attached to the attachment main body having at least one degree of freedom, An operating unit that operates at least one of the degrees of freedom regarding the reference coordinates that define the three-dimensional space and the degree of freedom of the operating mechanism, and a detection unit that detects an operation amount regarding the degree of freedom that is operated by the operation of the operating unit. And a control means for driving the corresponding actuator of the attachment body and the operating mechanism based on the signal detected by the detection means, wherein the operation means has at least two degrees of freedom, and At least 2 independent
An operating device for a manipulator, which has an operating end portion of a system.

According to a second aspect of the present invention, at least two operating ends are constituted by two systems mechanically linked to each other, and both operating arms are provided. It is characterized in that it is configured to be operable.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

FIG. 1 is an elevational view showing a dismantling machine as a manipulator according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram showing a working mode of the dismantling machine. With reference to both drawings, this dismantling machine has a structure in which a nibler 15 and a clamp arm 16 are extended and attached to a general-purpose hydraulic excavator, and a work attachment main body serves as a traveling / rotating body. A lower part 11 and an upper part 12, a boom 13, and an arm 14, which are provided with a nibler 15 and a clamp arm 16 as an operating mechanism.
Is attached. In both figures, 17 is a boom cylinder,
Reference numeral 18 is an arm cylinder, and 19 is a bucket cylinder.

The nibler 15 is attached to the tip of the arm 14 in place of a bucket (not shown) as a standard operating mechanism, and has more two degrees of freedom of rotation and grip than a bucket. On the other hand, the clamp arms 16 are attached to the front end portion of the lower portion 11 in a pair of left and right, and have two degrees of freedom of vertical movement and gripping. Therefore, in the entire dismantling machine, 5
There are a total of 7 degrees of freedom in terms of the degrees of freedom (revolving, boom, arm, nibble rotation and nibble gripping) and 2 degrees of freedom of the clamp arm portion.

As shown in FIG. 2, such a dismantling machine has a symmetric object 20 by means of the clamp arm 16 during operation.
Press the to the left, right, up and down to fix
At 5, the dismantling work is performed while gripping each part of the symmetrical object 20.

FIG. 3 shows a schematic structure of an operating lever 1 as an operating means in an operating device according to an embodiment of the present invention, in which (a) is a front view, (b) is a side view, and (c) is a plan view. In each of the figures, and in FIG. 4, the operating lever 1 is shown.
The mechanism of is outlined in a skeleton diagram. Referring to both figures,
As in the case of the conventional hydraulic excavator, the operating lever 1 is erected upright in front of the driver's seat in the traveling / rotating body, and can be grasped and operated by both right and left arms.

The operating lever 1 includes a vertical rod 5 which is provided upright from a floor plate portion of the traveling / rotating body, a first operating rod 6 which is horizontally provided so as to be connected to an upper end portion of the vertical rod 5. It is configured to include a second operation rod 7 which is connected to the middle portion of the body of the rod 5 and is horizontally provided horizontally in the left-right direction. The vertical rod 5 is pivotally supported by two horizontal support shafts whose lower ends cross each other at right angles, and is provided so as to be tiltable in two directions of a left-right direction and a front-back direction with the vertical standing state as a neutral position. A sensor 10A for detecting the amount of tilt operation in the left-right direction and a sensor 10B for detecting the amount of tilt operation in the front-rear direction are attached.

The first operating rod 6 includes a horizontal rod 6A whose lower surface near the front end is supported horizontally by the upper end of the vertical rod 5 and is horizontally laid horizontally in the front-rear direction, and an upper end portion of the end of the horizontal rod 6A. It is composed of a grip rod 6B which is supported upright and is provided upright, and the horizontal rod 6A is
It is pivotally supported by a horizontal support shaft and a vertical support shaft at the support point and can rotate about its own axis with the horizontal state extending in the front-rear direction as a neutral position, and the front part can swing horizontally to swing in the left-right direction. A sensor 10C for detecting the rotational operation amount and a sensor 10D for detecting the horizontal rocking operation amount are attached to the pivot portion. On the other hand, the grip rod 6B has its lower end fixed to the horizontal rod 6A and is erected.
An operation button 8 similar to a toggle switch is attached to a portion of the trunk which the operator holds, and a sensor 10E which is associated with the operation button 8 and detects the pressing operation amount is provided.

The second operating rod 7 has a right end portion pivotally supported by a middle portion of the vertical rod 5 so as to be rotatable about its own axis, and extends horizontally from the vertical rod 5 to the left. At the place where the operator in the middle of the torso holds it, a toggle switch-like operation button 9
A sensor 10F for detecting a rotational operation amount is attached to the pivot portion, and a sensor 10G for detecting a pushing operation amount is provided in association with the operation button 9.

Referring to FIG. 3, the operating lever 1 has a portion A having the first operating rod 6 as an element for the front attachment, and a portion B having the second operating rod 7 as an element for the clamp arm. In part A, the right forearm of the operator is placed on the horizontal rod 6A and the gripping rod 6B is gripped and grasped by the right hand tip, while in part B, the operator's left tip is held by the left hand tip. The operation operation of the dismantling machine is performed by gripping and gripping the two-operation rod 7. In this case, in the section A, the vertical rod 5 is tilted in the left-right direction to perform the traveling / rotating body turning operation, and similarly, the tilting operation is performed in the front-rear direction to perform the boom-elevation operation of the boom 13. The rod 6 is rotated to raise and lower the arm 14, and the arm 14 is also horizontally swung to operate the nibler 15.
Rotation operation is performed, and further, the operation button 8 is pushed in to perform nipping operation of the nibler 15. From the above, operation with five degrees of freedom is possible by operation with the right arm. It is needless to say that the movement of 5 is surely detected by the five sensors 10A to 10E.

On the other hand, at the portion B, the second operation rod 7 is rotated to move the clamp arm 16 up and down, and the operation button 9 is pushed to operate the clamp arm 16 in the same manner.
The gripping motion of FIG. 2 is performed, and the driving operation with two degrees of freedom is possible by the operation with the left arm, and these movements are surely detected by the two sensors 10F and 10G. The operating lever 1 corresponds to operating means for operating the degrees of freedom of the work attachment body and the operating mechanism, and the seven sensors 10A to 10G relate to the degree of freedom of operating by operating the operating means. It constitutes a detection means for detecting the manipulated variable.
In addition, the first operating rod 6 and the second operating rod 7 constitute an operating end portion of two systems which are mechanically linked to each other.

5 and 6 show aspects of the system configuration and control block circuit of the operating device according to the embodiment of the present invention. As will be apparent with reference to both figures, the embodiment of the present invention is the operating means realized by the operating lever 1, the detecting means 3 realized by the seven sensors 10A to 10G, and the detecting means 3 The attachment bodies 11 to 14 and the operating mechanisms 15 and 1 based on the detection signal of
The manipulator operating device is constituted by the control means 2 realized by a controller for driving the corresponding actuator 4 (hydraulic drive mechanism including the hydraulic pump P, the control valve V, and the hydraulic cylinder S) of 6.

In the present embodiment as described above, the first operating rod 6 and the second operating rod 7 which are mechanically linked are grasped and operated by both right and left arms. In the conventional device, which is operated only by one arm (right arm), it is difficult to hold the posture immobile and the operation is unstable. In contrast, in the present embodiment, when the one arm is operated, the other arm is operated. Since it can play an auxiliary role for posture stabilization, it is extremely excellent in operational stability, and therefore, it is possible to send an accurate input to the controller.

In FIGS. 4 and 5, as a typical sensor, a potentiometer or the like for detecting an angle can be mentioned, but an encoder or the like for detecting the rotation speed may be used. In the present invention, the control algorithm between the control signal and the actuator is not an essential part, so a detailed description will not be given. However, for example, the operation of one actuator is controlled only by operating one part of the operating means. As described above, one-to-one correspondence may be made, or it is of course possible to make a many-to-many correspondence so that a plurality of actuators are operated by a plurality of signals. Also,
In the figure, the actuator has a system with only one hydraulic cylinder that is typically used in construction machinery for simplification, but the hydraulic cylinder may be a hydraulic motor or the like, or multiple systems may be used. It may be connected. Further, the system itself is not limited to the hydraulic system, and may be an electric system including an electric motor or the like.

Further, as the system configuration, not only the operation signal but also the state of the actuator, for example, in the hydraulic system, the control may be performed by using the pressure and flow rate of each part, or the position signal and speed signal of the actuator. This control algorithm is not an essential part, so its explanation is omitted.

FIG. 7 shows a schematic structure of an operating lever 1 in an operating device according to another embodiment of the present invention, with (a) being a front view and (b) being a plan view. Further, FIG. 8 shows a schematic structure of an operation lever 1 in an operation device according to another embodiment of the present invention in (a) a front view and (b) a side view.

The embodiment shown in FIG. 7 has the same structure as the second operating rod 7 of the B portion of the operating lever 1 shown in FIG.
An operating rod 7B having the same structure as the second operating rod 7A arranged is symmetrically provided on the vertical rod 5 as a C portion on the opposite side. In the operation lever 1 shown in FIG. 3, the A part is operated by the right hand and the B part is operated by the left hand.
In the present embodiment, when the A part is operated with the left hand, the C part can be operated with the right hand. In addition, part B and C
This is an example in which there is no functional difference in the section, but it is of course possible to use a different one in which the degree of freedom associated with the actuator is different.

On the other hand, in another embodiment shown in FIG.
A plurality of, for example, two operation rods 7B and 7C having the same structure are added to the operation rod 7A having the same structure and arrangement as the second operation rod 7 of the section B in FIG. Division, B-2
By arranging the parts as the B part and the B-3 part, it is possible to cope with an increase in the number of actuators.
It is of course possible to change the correspondence of the degrees of freedom in the B-1, B-2, and B-3 units to add a function.

[0026]

The present invention is carried out in the form as described above, and has the following effects. That is, in the case of operating a manipulator having multiple degrees of freedom according to the present invention, it is possible to perform simultaneous operations with relations to all degrees of freedom, and to provide a lot of redundancy with an operational margin at that time. As a result, it is possible to reduce the load on the operator.

Further, according to the present invention, the arrangement of the operation end portion in the operation means can be freely set so as to facilitate the operation while corresponding to the operation mode of the operation mechanism while mechanically connecting each other. Therefore, it is possible to achieve the improvement that matches the operating environment.

[Brief description of drawings]

FIG. 1 is an elevation view of a dismantling machine as a manipulator according to an embodiment of the present invention.

FIG. 2 is a conceptual work diagram of the dismantling machine shown in FIG.

FIG. 3 shows a schematic structure of an operating lever 1 in an operating device according to an embodiment of the present invention, (a) is a front view, and (b) is.
Is a side view and (c) is a plan view.

FIG. 4 is a skeleton diagram schematically showing the mechanism of the operation lever 1 shown in FIG.

FIG. 5 is a system configuration diagram of the operating device according to the embodiment of the present invention.

FIG. 6 is a control block circuit diagram corresponding to FIG.

FIG. 7 shows a schematic structure of an operating lever 1 in an operating device according to another embodiment of the present invention, (a) being a front view,
(B) is a plan view.

FIG. 8 shows a schematic structure of an operating lever 1 in an operating device according to another embodiment of the present invention, (a) is a front view,
(B) is a side view.

[Explanation of symbols]

1 ... Operating lever 2 ... Controller 3
... Sensor 4 ... Actuator 5 ... Vertical rod 6
… First operating rod 6A… Horizontal rod 6B… Grip rod
7 ... 2nd operation rod 8 ... Operation button 9 ... Operation button 10A
... Sensor 10B ... Sensor 10C ... Sensor 1
0D ... Sensor 10E ... Sensor 10F ... Sensor 1
0G ... Sensor 11 ... Lower part 12 ... Upper part 1
3 ... Boom 14 ... Arm 15 ... Nibula 1
6 ... Clamp arm 17 ... Boom cylinder 18 ... Arm cylinder 1
9 ... Bucket cylinder 20 ... Object

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Claims (2)

[Claims] 1. A standard for defining a three-dimensional space for a manipulator comprising a work attachment main body movable in the three-dimensional space and an operation mechanism attached to the attachment main body having at least one degree of freedom. At least one of the degrees of freedom regarding the coordinates and the operating means for operating the degree of freedom of the operating mechanism, a detecting means for detecting an operation amount regarding the degree of freedom operated by the operation of the operating means, and the detecting means Control means for driving the attachment body and the corresponding actuator of the operation mechanism based on the signal, the operation means has at least two degrees of freedom, and at least two independent systems of operation are provided. An operating device for a manipulator, which has an end portion. 2. The operation end portion of at least two systems is composed of two systems mechanically linked to each other, and is formed to be operable by both arms of an operator. Manipulator operating device.