JP2016224813A - Wearable input operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a hand to be set free when requiring a hand work, and to enable a quick retraction of the hand when requiring a remote operation.SOLUTION: A grip controller 1 is configured to comprise: a main body part 2 that is attached to a wrist with a glove 3; a rotation drive unit 4 in the main body part 2; a rotating arm 5 that is coupled to the rotation drive unit 4, and is rotatable in an in-plane orthogonal to a back of a hand beside a small finger side of the wrist; and a columnar grip 6 that is attached to a tip end of the rotating arm 5 in a direction crossing the rotating arm 5, and is movable to a position facing a palm of the hand and at a position facing an inner side of a forearm accompanied by rotating of the rotating arm 5. In the glove 3, a switch 7 is provided that rotates the rotating arm 5 via the rotation drive unit 4. In the grip 6, first to third push buttons 8 to 10, and the like are provided that enable an input operation by the finger. In the main body part 2, a transmission unit 12 is provided that transmits a signal in accordance with the input operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wearable (body-worn type) input operation device that can be used for remote operation of industrial machines including construction machines and cargo handling machines.

  Conventionally, in the construction industry, pendant switches and joystick controllers are used for remote control of various machines including cranes and carts.

  Patent Document 1 discloses an input operation device that grips a U-shaped grip as an input operation device that is operated during a driving operation of a vehicle and performs various operations using a driver's hand and forearm. .

JP 2006-155228 A

However, pendant switches and joystick controllers have the following problems.
When the operator also performs assistance (manual work) such as slinging the luggage, the pendant switch etc. must be temporarily placed somewhere, and the operation must be performed after confirming the switch position. Don't be. Moreover, it may be lowered from the shoulder or neck, but it is difficult to handle because it is large and heavy.

  Moreover, since the input operation device described in Patent Document 1 is for driving a vehicle and is mounted on the vehicle, it is not suitable for work in the field.

  In view of such a situation, the present invention is a wearable input operation that allows a hand to be freed when manual operation is required (other than during remote operation) and can be immediately taken into the hand when remote operation is required. It is an object to provide an apparatus.

In order to solve the above-described problem, a wearable input operation device according to the present invention includes:
A main body having an attachment to the wrist of the operator;
A rotation drive unit provided in the main body unit and operated by an operator's switch operation;
A rotation arm connected to the rotation drive unit and capable of rotating in a plane orthogonal to the back of the hand on the side of the wrist on the little finger side;
A columnar shape that is attached to the tip of the pivot arm in a direction crossing the pivot arm and is movable to a position facing the palm and a position facing the inner side of the forearm as the pivot arm pivots. The grip of
An input operation unit arranged on the grip and capable of an input operation with a finger;
A transmitter for transmitting a signal corresponding to an input operation at the input operation unit;
It is comprised including.
Moreover, it may be configured to further include a voice input device, and the transmission unit may transmit a signal corresponding to an operation input from the input operation unit and a voice input from the voice input device.

  According to the present invention, when manual work is required, the grip can be kept on the inner side of the forearm, both hands can be freed, and both hands can be assisted. Further, at the time of remote operation, the grip can be moved to a position facing the palm of the hand and grasped, and the remote operation can be performed by operating the input operation unit with a finger.

The top view and side view of the wearable input operation device (grip controller) which show one Embodiment of this invention Cross section of grip Enlarged sectional view of the first pushbutton switch Diagram showing an example system configuration Figure showing usage example

Hereinafter, embodiments of the present invention will be described in detail.
1A and 1B show an embodiment of a wearable input operation device (grip controller) according to the present invention, where FIG. 1A is a plan view and FIG. 1B is a side view. The illustrated grip controller is for the right hand.

The grip controller 1 is used by attaching the main body 2 to the wrist of the operator.
Therefore, the main body 2 has an attachment portion to the operator's wrist, and in this embodiment, a fingertipless glove (glove) 3 is used as the attachment portion to the operator's wrist. And the case-like main-body part 2 is integrally attached to the inner part of the wrist of the glove 3. Thereby, when the operator wears the glove 3, the main body 2 is disposed inside the wrist.

  The main body 2 is in a case shape, and the rotation driving unit 4 and the transmission unit 12 are accommodated therein. In addition, batteries and the like are also stored.

  As the rotation drive unit 4, a motor and a speed reduction mechanism are provided, and an output shaft thereof is arranged in a direction protruding from the case side part on the little finger side of the main body part 2. The rotation arm 5 (the rotation center shaft portion 5a) is connected to the output shaft.

Both ends of the rotating arm 5 are bent at right angles in the same direction, and one (base end side) forms the rotation center shaft portion 5a, and the other (tip end side) forms the grip attachment shaft portion 5b.
The rotation center shaft portion 5 a of the rotation arm 5 is connected to the output shaft of the rotation drive unit 4. Therefore, the rotation arm 5 is connected to the output shaft of the rotation drive unit 4 at the rotation center shaft portion 5a, and can rotate in a plane perpendicular to the back of the hand on the side of the wrist on the little finger side.

A columnar (cylindrical) grip 6 is attached to the grip attachment shaft portion 5 b of the rotating arm 5.
Accordingly, the grip 6 is attached to the tip of the rotating arm 5 in a direction intersecting the rotating arm 5, and the position facing the palm (grip position) and the forearm (wrist) as the rotating arm 5 rotates. It is possible to move to a position (a retreat position) opposite to the inside (between the arm and the elbow).
The grip 6 is basically cylindrical (cylindrical), but it is not a simple shape. As shown in FIG. 2, the part where the index finger is placed and the part where the middle finger is placed are respectively recessed, For example, a ridge line portion 6c that forms a boundary is provided so that it is easy to grip and fits into the hand.

The rotation drive unit 4 is operated by an operator's switch operation. For this reason, the switch 7 (ES) is disposed as a switch for instructing the operation of the rotation driving unit 4 at a portion corresponding to the side of the index finger of the glove 3. This switch 7 can be operated with a thumb.
The wiring from the switch 7 is drawn into the glove 3 and connected to the rotation drive unit (motor) 4 in the main body 2. Accordingly, the switch 7 becomes a switch (grip moving switch) for moving the grip 6 by instructing the operation of the rotation driving unit 4. The switch 7 should be turned on by pressing it for about 2 seconds in order to prevent erroneous operation.

For example, when the grip movement switch 7 is pressed long, the rotation drive unit (motor) 4 rotates in the forward direction, and the rotating arm 5 and the grip 6 rotate around the rotation center shaft portion 5a in the clockwise direction in FIG. The grip 6 moves to a grip position opposite to the palm and stops. At this time, each switch described later provided on the grip 6 can be operated.
When the grip moving switch 7 is pressed again for a long time, the rotation drive unit (motor) 4 is reversed, and the rotation arm 5 and the grip 6 are rotated counterclockwise in FIG. 1B around the rotation center shaft portion 5a. Then, the grip 6 moves to a retracted position facing the inner side of the forearm and stops. At this time, each switch described later provided on the grip 6 becomes inoperable.
Note that a forward switch and a reverse switch may be provided separately. The movement to the grip position may be performed by a motor, and the movement to the retracted position may be performed by a return spring.

As shown in FIG. 2, the grip 6 is provided with first to third push button switches 8 to 10 as input operation units capable of performing an input operation with a finger.
The first push button switch 8 (AS) is disposed on the end surface of the grip 6 on the thumb side and can be pushed by the thumb.
The second push button switch 9 (BS) is disposed on the peripheral surface of the grip 6 and can be pushed by an index finger.
The third push button switch 10 (CS) is disposed on the peripheral surface of the grip 6 and can be pushed by the middle finger.

The first push button switch 8 is an analog switch that becomes a preparation position when a certain amount of depression is performed, and outputs a signal corresponding to the depression amount when further depressed from the preparation position.
The second and third pushbutton switches 9 and 10 are analog switches that output a signal corresponding to the push amount.
Here, it is configured so that actual output of the second and third pushbutton switches 9 and 10 (and voice recognition from a voice input device to be described later) can be performed above the preparation position of the first pushbutton switch 8. Is done.
Further, these push button switches 8 to 10 are all of an automatic return type, and return instantly (in several tens of milliseconds) when a finger or the like is released, and all operation contents are cancelled.

A specific configuration of the first pushbutton switch 8 will be described with reference to FIG.
The first pushbutton switch 8 includes a bottomed cylindrical main body case 21 and a movable portion (pushbutton portion) whose base end portion is slidably inserted into the main body case 21 and whose distal end protrudes from the opening of the main body case 21. ) 22 and a spring 23 housed in the main body case 21 and biasing the movable portion 22 in the protruding direction.

  Here, the outer peripheral surface of the movable portion 22 is provided with a concave groove (guide groove) 24 extending in the sliding direction at one position in the circumferential direction, and also having a convex shape extending in the sliding direction at other positions. Article 25 is provided.

For the concave groove 24, a lock ball 27 is provided on the inner periphery of the opening of the main body case 21 so as to protrude and urge in the radial direction by a spring 26. The lock ball 27 is fitted in the concave groove 24 as a guide groove, and regulates the sliding direction of the movable portion 22.
Further, a hemispherical engagement recess 28 deeper than that is formed in the middle of the recess 24, and as shown in FIG. 3, when the movable part 22 is pushed in a certain amount, the lock ball 27 is engaged with the engagement recess 28. 28 is engaged and locked. This position is a preparation position.
When the movable part 22 is pushed from the preparation position with a stronger force, the lock is released and the movable part 22 can be further stroked.

  A detection switch 29 is provided in the main body case 21 for the ridge 25. This detection switch 29 is turned on when the movable portion 22 is pushed in a certain amount and is in the preparation position, and the convex strip 25 is in contact with the detection switch 29, and even if the movable portion 22 is further pushed in, the detection switch 29 is kept on. Maintain state.

The body case 21 is also provided with a slide type variable resistor 30. A contact 31 is provided on the movable portion 22 side, and the contact 31 moves while sliding on the variable resistor 30 as the movable portion 22 moves.
Accordingly, when the movable portion 22 is further pushed from the preparation position, the position of the contact 31 on the variable resistor 30 changes according to the push amount, and the voltage (potentiometer output) taken out from the contact 31 by the change in the resistance value. ) Will change.

  Therefore, the first pushbutton switch 8 has a first function that outputs an ON signal when pressed more than a certain amount, and a second function that outputs a signal that changes linearly according to the amount of pressing. ing. The first function can be used as a main switch of the input operation device, thereby determining a preparation position that allows further operation of the input operation device. The second function can be used for controlling a predetermined operation for the operation target machine or an operation selected by a voice input device described later.

  Although specific examples of the second and third pushbutton switches 9 and 10 are omitted, the configuration is the same as that of the variable resistor 30 and the contact 31 in FIG. It suffices to provide a function of outputting a signal that changes to the above.

The grip 6 is configured to be rotatable around its central axis.
Further, as shown in FIG. 2, the grip 6 has a rotary switch (rotary switch) that allows an input operation by rotating the grip 6 itself around its central axis (grip mounting shaft portion 5b) as shown in FIG. Dynamic operation switch) 11 is provided.
The rotary switch 11 (DS) is an analog switch that outputs a signal corresponding to the rotation operation (and the rotation operation amount) of the grip 6.

A specific configuration of the rotary switch 11 will be described with reference to FIG.
The grip 6 (frame members 6a and 6b constituting the grip 6) is rotatably supported by the grip mounting shaft portion 5b of the rotating arm 5, and a fixture 41 and a frame fixed to the grip mounting shaft portion 5b. A torsion spring 42 interposed between the member 6a and the member 6a is urged to an initial position (neutral position). Therefore, the grip 6 can be gripped by hand and can be rotated both forward and backward against the urging force of the torsion spring 42.

The grip attachment shaft portion 5b is also provided with a cam-shaped detected member 43 having a high portion and a low portion. A grip rotation direction detection switch 44 that is fixed to the frame member 6 b and is opposed to the detected member 43 is provided. The detection switch 44 can detect the forward rotation and the rear rotation of the grip 6.
Further, the relative rotation of the grip attachment shaft portion 5 b is transmitted to the variable resistor 46 by the gear 45. When the grip 6 is rotated, the resistance value of the variable resistor 46 is changed according to the rotation amount, and the voltage (potentiometer output) output from the variable resistor 46 is changed. Accordingly, this functions as the rotary switch 11.

  Wirings from the first to third push button switches 8 to 10 and the rotary switch 11 provided on the grip 6 are led from the grip 6 to the hollow portion of the rotating arm 5 to reach the main body 2, and the transmitter 12. Connected to. However, near field communication such as Bluetooth (registered trademark) may be used from the grip 6 side to the main body 2 side.

  The transmission unit 12 transmits a signal corresponding to an input operation at the input operation unit (the first to third push button switches 8 to 10 and the rotation operation switch 11) of the grip 6, and transmits various machines including a crane and a carriage. Manipulate. Alternatively, a signal corresponding to an input operation is transmitted to the main unit 200 described later, and various machines are operated indirectly via the main unit 200.

Next, the usage method of the grip controller 1 of the said embodiment is demonstrated.
The operator wears the glove 3 to attach the main body 2 to the inside of the wrist. When not in use, the rotating arm 5 and the grip 6 are rotated counterclockwise in FIG. 1B, and the grip 6 is placed on the inner side of the forearm. This allows manual work.
When used, the rotation arm 5 and the grip 6 are rotated clockwise in FIG. 1B by the operation of the grip movement switch 7, and the grip 6 is made to face the palm. Thereby, operation of various machines becomes possible by gripping and operating the grip 6.

For example, the first push button switch 8 for the thumb is in a preparation position when it is pushed in a certain amount, so that the other switches 9, 10, 11 can be substantially operated. Further, the speed of a predetermined operation for the operation target machine or an operation selected by a voice input device to be described later, for example, a winding operation (or a lowering operation) of a wire such as a crane, depending on the pushing amount from the preparation position. A control is possible.
Further, the second push button switch 9 for the index finger can be used, for example, for the left travel of the crawler, and the speed control of the left travel according to the pushing amount can be performed.
Moreover, the third push button switch 10 for the middle finger can be used, for example, for the right traveling of the crawler, and the speed control of the right traveling according to the pressing amount can be performed.
The rotary switch 11 can be used, for example, for raising and lowering a boom such as a crane, and by turning forward (or turning later), speed control of an operation such as lowering (or raising) a boom such as a crane can be performed. .

In addition to the right hand shown in FIG. 1, the grip controller 1 of the above embodiment has a left hand. When both are attached, when the user is assisting, the grip of the free hand is held. It becomes more convenient to operate using the controller.
In this case, the right-hand device and the left-hand device that are first moved to the grip position have priority, and do not become the grip position at the same time.
The device for the left hand is symmetrical to the device for the right hand, but in the case of the right hand, if the index finger switch is for left travel and the middle finger switch is for right travel, The index finger switch is for right travel and the middle finger switch is for left travel. This is to enable a more intuitive operation.

Next, the case where the right hand and left hand grip controllers are used in combination with the voice input device and the main unit will be described with reference to FIGS.
The operator wears and uses both the grip controller 1 for the right hand and the grip controller 1 'for the left hand. As a voice input device, a voice input headset 100 having a bone conduction microphone 101 set on the cheek or throat is worn on the head. At the same time, the main unit 200 with a belt or sandwiched between the belts is worn on the waist and used.

  Signals from the grip controllers 1, 1 ′ (signals from the switches 8 to 11 transmitted from the transmission unit 12) are input to the main unit 200 wirelessly (or wired).

Headset 100 is provided to enable voice operation. For this reason, as voice input, for example, “up”, “down” or the like, which means winding or lowering, can be taught, and these can be recognized after teaching. Information recognized by the headset 100 is input to the main unit 200 wirelessly (or by wire).
In order to prevent erroneous operation, only when the first push button switch 8 is in the preparation position, voice input is possible, and the operation is selected by the voice input. At this time, the vibrator 47 (see FIG. 2) of the grip 6 may be operated to express that the operation has been selected.

  The main unit 200 includes a transmission unit 201, and various machines including a crane and a carriage in response to an operation input from the right-hand grip controller 1 or the left-hand grip controller 1 ′ and a voice input from the headset 100. An operation signal is transmitted to.

  By using the voice input device (headset 100) in combination as described above, it is possible to instruct “lifting” and “lowering” by voice input at the preparation position of the first push button switch 8 for the thumb. At this time, the vibrator 47 (see FIG. 2) of the grip 6 is operated in order to confirm that the “winding” or “winding” instruction has been recognized. It is also effective to display “winding” or “lowering” on the construction machine side. When the first pushbutton switch 8 is further depressed after the instruction, the speed control of the operation (winding / lowering) selected by voice input becomes possible.

By using the main unit 200, the right-hand grip controller 1 and the left-hand grip controller 1 'can be cooperatively controlled without causing interference.
Further, by providing the main unit 200 with a spare switch, for example, a backward switch, a more complicated operation can be performed.

The grip controllers 1, 1 ′ and the voice input device (headset 100) can also be suitably set to perform crane operations such as truck cranes and jib cranes as follows.
The first pushbutton switch 8 is used as a main switch for each operation, and is used for speed control of a hoisting / lowering operation by voice input. That is, the other switches can be operated at the preparation position by pressing a certain amount, and the speed of the operation selected by voice input can be varied by the subsequent pressing.
The second pushbutton switch 9 is used for turning the crane to the left and can be increased in speed by being pushed deeply.
The third push button switch 10 is used for turning the crane to the right, and can be increased in speed by being pushed deeply.
The rotary switch 11 is used for raising and lowering the crane boom (when it is turned to the back, it is raised when it is turned to the front), and speed control is performed at an angle.
Voice input by the headset 100 is used to select crane lifting or lowering.

According to the present embodiment, since the grip controller 1 can be easily released or returned to the hand, it is easy to assist the load with the hand, and the work using the machine can be performed efficiently.
In addition, it can be used for a wide range of machines, which enables mechanization of on-site lateral movement and small transportation (transportation by means of carts such as wallboard boards and distribution of rebars by human power), which previously relied on human power. It can contribute to productivity improvement.
At present, there is a demand for mechanization and productivity improvement of repetitive work on site, and it is considered to be an important tool for this purpose. In particular, this can improve the treatment of the construction industry and, in turn, secure young workers and enter female workers.

  Therefore, the wearable input operation device according to the present invention can be suitably used for remote operation of construction machines and cargo handling machines in the construction industry, but the demand is not only at the construction site but also in all fields including factories and outdoors. It can be used for remote control of industrial machines in general. In addition, it can be used in a wide range of applications such as entertainment as well as narrowly defined industries.

In the above embodiment, the glove 3 is used as the attachment portion of the main body 2 of the grip controller 1 to the operator's wrist. However, a band that is wound around the wrist and fixed like a watch band may be used. Good.
Moreover, the switch which instruct | indicates operation | movement of the rotation drive part 4 is not restricted to the type of switch (switch 7 in FIG. 1) arrange | positioned at the glove 3, Various types of switches can be used.

  As described above, the illustrated embodiment is merely an example of the present invention, and the present invention is not limited to the embodiment described directly, and various modifications made by those skilled in the art within the scope of the claims. Needless to say, this includes improvements and changes.

1 Grip controller (for right hand)
1 'grip controller (for left hand)
2 Body part 3 Gloves 4 Rotation drive part 5 Rotating arm 5a Rotation center shaft part 5b Grip attachment shaft part 6 Grip 6a, 6b Frame member 6c Edge line part 7 Grip movement switch (ES)
8 First push button switch (AS)
9 Second push button switch (BS)
10 Third push button switch (CS)
11 Rotary switch (DS)
12 Transmitter 21 Body Case 22 Movable Part 23 Spring 24 Groove (Guide Groove)
25 Projection 26 Spring 27 Lock ball 28 Engaging recess 29 Detection switch 30 Variable resistance 31 Contact 41 Fixing tool 42 Torsion spring 43 Cam-shaped detected member 44 Grip rotation direction detection switch 45 Gear 46 Variable resistance 47 Vibrator 100 Head Set 101 Bone conduction microphone 200 Main unit 201 Transmitter

Claims (7)

A main body having an attachment to the wrist of the operator;
A rotation drive unit provided in the main body unit and operated by an operator's switch operation;
A rotation arm connected to the rotation drive unit and capable of rotating in a plane orthogonal to the back of the hand on the side of the wrist on the little finger side;
A columnar shape that is attached to the tip of the pivot arm in a direction crossing the pivot arm and is movable to a position facing the palm and a position facing the inner side of the forearm as the pivot arm pivots. The grip of
An input operation unit arranged on the grip and capable of an input operation with a finger;
A transmitter for transmitting a signal corresponding to an input operation at the input operation unit;
A wearable input operating device, comprising:   The wearable input operation device according to claim 1, wherein the attachment portion is a glove. It is arranged at a part corresponding to the side of the index finger of the glove and comprises a switch operable by the thumb,
The wearable input operation device according to claim 2, wherein the switch is a switch for instructing an operation of the rotation driving unit for driving the rotating arm.   The input operation unit includes a first push button switch disposed on an end face of the grip and capable of an input operation with a thumb, and a second push button switch disposed on a peripheral surface of the grip and capable of an input operation with an index finger and a middle finger. The wearable input operation device according to claim 1, comprising a third pushbutton switch. The grip is configured to be rotatable around its central axis,
The wearable input operation device according to claim 4, wherein the input operation unit further includes a rotary switch capable of performing an input operation by rotating the grip. Further comprising a voice input device,
The said transmission part transmits the signal according to the operation input from the said input operation part, and the audio | voice input from the said audio | voice input apparatus, It is any one of Claims 1-5 characterized by the above-mentioned. Wearable input operation device.   The wearable input operation device according to any one of claims 1 to 6, wherein the transmission unit transmits an operation signal to an industrial machine including a construction machine and a cargo handling machine.