JP6539016B2 - Control device - Google Patents

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JP6539016B2
JP6539016B2 JP2013258661A JP2013258661A JP6539016B2 JP 6539016 B2 JP6539016 B2 JP 6539016B2 JP 2013258661 A JP2013258661 A JP 2013258661A JP 2013258661 A JP2013258661 A JP 2013258661A JP 6539016 B2 JP6539016 B2 JP 6539016B2
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unit
command value
means
head position
operation
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JP2015112430A (en
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玉井 博文
博文 玉井
智 玉井
智 玉井
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マッスル株式会社
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Description

  The present invention relates to a control device. More specifically, the present invention relates to a control device of a care robot used when transferring a care recipient who is lying in bed to a wheelchair.

  2. Description of the Related Art Conventionally, life support for elderly people and disabled people (hereinafter, referred to as a care recipient) is provided by a caregiver such as a care helper. In life support by a carer, transfer to a wheelchair from a bed or transfer from a wheelchair to a bed is performed at the time of restroom assistance or bathing assistance of a care recipient.

  However, since such transfer was performed by one carer, it resulted in a great burden on the carer. Therefore, there are many carers who hurt their back. Under these circumstances, back pain has come to be regarded as an occupational disease of the carer.

  In view of such circumstances, transfer is being carried out by two people, but with the arrival of a rapidly aging society, it has become difficult to secure caregivers. For this reason, there is a need for a care robot that can reduce the number of personnel required for transfer from a care worker. In addition to that, there is also a strong desire for a control device mounted on a care robot to enable easy and safe operation of the care robot.

  In addition, although the proposal of the carrier for care is made | formed to patent document 1, since the structure is complicated, there exists a problem that operativity has a problem.

JP 2002-136549 A

  The present invention has been made in view of the problems of the prior art, and it is an object of the present invention to provide a control device which is mounted on a care robot and enables easy and safe operation of the care robot.

The control device of the present invention is a control device of a robot, and
The robot comprises: a tilt unit having a tilt member which is tilted by a pair of swingable elevating shafts; one operation instructing means for generating an operation command for one of the elevating shafts; The other operation instruction means for generating an operation command, and a head position instruction means for instructing whether the head is the right side or the left side of the robot .
The tilting unit has an acceleration detecting means,
The control device includes a signal input unit, an input signal processing unit, an arithmetic processing unit, a current command value generation unit, a signal output unit, and a storage unit.
The signal input unit is configured to output the signals input from the operation instruction unit, the head position instruction unit, and the acceleration detection unit to the input signal processing unit and the storage unit.
The input signal processing unit has a polarity determination unit that determines the polarity of the operation command, a comparison unit that compares the magnitudes of the operation command, and a head position determination unit that determines the head position .
The polarity determination means determines the polarity of the plurality of operation command signals from the signal input unit and outputs the result as an increase command or a decrease command to the arithmetic processing unit.
The comparison means compares the absolute value of the operation command value for one of the elevating shafts with the operation command value for the other of the elevating shafts, and outputs a smaller value as the operation command value.
The head position determination means determines the head position based on the signal from the head position indication means and outputs the determination result.
The arithmetic processing unit has a tilting processing section,
The tilting process section is configured to use an elevation command or a descent command indicating the polarity of the operation command input from the input signal processing unit , the operation command value, the determination result of the head position, and data stored in the storage unit. Based on the calculated elevation speed command value of each axis of the pair of elevation axes, the result is output as the axis elevation speed instruction value of the pair of elevation axes to the current command value generation unit.
The current command value generation unit generates each axis current command value of the pair of elevator shafts based on each axis lifting / lowering speed command value input from the arithmetic processing unit, and outputs it to the signal output unit. ,
The signal output unit is configured to output each axis current command value from the current command value generation unit to each axis of the pair of elevator shafts.

Further, in the control device according to the present invention, the tilt processing section has limit processing means, and the limit processing means calculates a tilt angle from the acceleration detected by the acceleration detection means , and the calculated tilt angle is a tilt range. It is preferable that the limit processing is performed in the case of exceeding .

  Since the present invention is configured as described above, it is an excellent effect that tilting of the tilting portion in the care robot can be easily and safely used when transferring a care recipient who is sleeping in a bed to a wheelchair Play.

It is the schematic of a robot. It is the schematic of the state which made the robot tilt. It is a block diagram of a control device concerning one embodiment of the present invention. It is a circuit diagram of the embodiment. It is the plane schematic of an operation panel. It is a block diagram of an input signal processing part. It is a block diagram of an arithmetic processing part.

  Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to such an embodiment.

In order to facilitate understanding of the control of the control device of the present invention, the configuration of the robot R controlled by the control device will be briefly described. In the following description, the left and right sides mean the left and right sides when viewed from the back of the robot R.
FIG. 1 schematically shows the robot R, and FIG. 2 shows the robot R tilted.

  As shown in FIG. 1 and FIG. 2, the robot R tilts the tilting unit 2 on the runable base 1 and is provided with an elevating shaft 3 for moving the tilting unit 2 up and down. . Further, in the base 1, a battery B that constitutes a power supply of the control device 100 and a power supply of the elevating shaft 3 is also disposed.

  The elevating shaft 3 is disposed adjacent to the central elevating shaft 3C disposed at the center, the right elevating shaft 3R disposed adjacent to the right side of the central elevating shaft 3C, and the left side of the central elevating shaft 3C. And the left side lifting shaft 3L. Here, the right elevating shaft 3R and the left elevating shaft 3L are drive shafts, and the central elevating shaft 3C is a driven shaft driven by the drive shaft. The drive shaft is screw driven and its position is held when stopped, and proximity sensors (not shown) are built in each of the upper limit position and the lower limit position, and the upper limit position and the lower limit position It is supposed to stop automatically.

  The tilting movement of the tilting unit 2 is, as shown in FIG. 1, a sun gear (not shown) disposed at the upper end of the central elevating shaft 3C and a right planetary gear disposed at the upper end of the right elevating shaft 3R (illustrated The tilting member 2a of the tilting unit 2 is tilted by the tilting mechanism centering on the planetary gear mechanism 4 constituted by the left planetary gear (not shown) disposed at the upper end of the left lifting shaft 3L. It is done by The elevating unit 2 is moved up and down by synchronizing the right elevating shaft 3R and the left elevating shaft 3L and elevating the tilting member 2a of the tilting unit 2.

  In the present embodiment, the operating range of the tilting unit 2 by the elevating shaft 3 is such that raising and lowering is in the range of 750 mm to 1150 mm, and the tilting angle of the tilting unit 2 is in the range of 45 degrees upward from the horizontal side of the head side It is being done. However, the elevation range and the range of the tilt angle are not limited to the above, and the range of the tilt angle can be appropriately set within a range not exceeding 90 degrees.

  FIG. 3 shows the control device 100 of the present invention in a block diagram.

  Control device 100, as shown in FIG. 3, includes signal input unit 110, input signal processing unit 120, storage unit 130, operation processing unit 140, current command value generation unit 150, and signal output unit 160. It shall be provided as the main part. The control device 100 configured as described above is mainly configured of a microcomputer in which a program for realizing a function to be described later is stored. Also, FIG. 4 shows a circuit.

  The signal input unit 110 receives a signal from the operation command knob (operation instruction means) 5 for the elevation shaft 3 provided in the robot R, a switch and an acceleration sensor (acceleration detection means) 7, and then the input signal Are output to the input signal processing unit 120 and the storage unit 130.

  Here, the acceleration sensor 7 is a three-dimensional acceleration sensor. However, the acceleration sensor 7 is not limited to the three-dimensional acceleration sensor, and it is sufficient that at least the tilt angle of the tilt portion can be calculated from the acceleration.

  As shown in FIG. 2, the operation command knob 5 includes a right knob 5R disposed on the top of the right operation lever LR and a left knob 5L disposed on the top of the left operation lever LL. The operation command for each elevator shaft 3 is to be generated.

  Here, an example of the operation command signal from the right side knob 5R and the left side knob 5L will be schematically described.

  When the right side knob 5R and the left side knob 5L are simultaneously turned in the opposite direction (upward), a rise command signal proportional to the amount of rotation with respect to the right side lifting shaft 3R and the left side lifting shaft 3L is generated. That is, a rise command signal to the right and left lifting shafts 3R and 3L is generated such that the rising speed becomes faster as the amount of rotation increases. Conversely, when the right side knob 5R and the left side knob 5L are simultaneously turned in the forward direction (downward), a lowering command signal proportional to the amount of rotation with respect to the right side elevation shaft 3R and the left side elevation shaft 3L is generated. That is, a lowering command signal to the right and left lifting shafts 3R and 3L is generated such that the lowering speed becomes faster as the amount of rotation is larger. When stopping the lifting, return the right knob and the left knob to the zero point. Here, the return to the zero point is automatically performed by a spring incorporated in the knob.

  In addition, the process in case the amount which the right side knob 5R and the left side knob 5L turn does not correspond is mentioned later.

  Also, with the head turned to the right, while turning the right knob 5R in the opposite direction (upward) while turning the left knob 5L in the forward direction (downward), the right elevating shaft so that the right is up While a rising command signal proportional to the amount of rotation for 3R is generated, a falling signal proportional to the amount of rotation for the left elevation shaft 3L is generated so that the left side is down. In the opposite case, a reverse command signal is generated. When stopping tilting, the right knob 5R and the left knob 5L are returned to the zero point.

  In addition, the process in case the absolute value of the quantity which the right side knob 5R and the left side knob 5L turned does not correspond is mentioned later.

  As shown in FIG. 5, the switch includes a head position indication switch (head position indication means) 8 for indicating the position of the head disposed on the operation panel P. The head position designating switch 8 includes a right designating switch 8R indicating that the position of the head is on the right and a left designating switch 8L indicating that the position of the head is on the left. The circuit is configured such that when one of the right instruction switch 8R and the left instruction switch 8L is on, the other is off.

  Although not shown, the acceleration sensor (three-dimensional acceleration sensor) 7 is disposed on the upper central surface of the main tilting member 2 a.

  The operation panel P also has a head position indication lamp 9 for displaying the position of the head, as shown in FIG. The head position indication lamp 9 indicates that the position of the head is on the right, that is, the right indication lamp 9R lights up when the right indication switch 8R is on, and indicates that the position of the head is on the left, that is, the left The instruction switch 8L is turned on, and the left instruction lamp 9L is turned on.

  The operation panel P is also provided with an emergency stop switch ES for interrupting the power supplied to the robot R in an emergency.

  The input signal processing unit 120 processes the input signal input from the signal input unit 110 and outputs the processed signal to the arithmetic processing unit 140. As shown in FIG. 6, the polarity determination to determine the polarity of the operation command signal The means 122 comprises comparison means 124 for comparing the absolute value of the movement command to determine the movement command to be output to the arithmetic processing unit 140, and a head position determination means 126 for determining the position of the head.

  The polarity determination means 122 determines the polarity of the operation command signal from the right side knob 5R and the left side knob 5L, determines the ascent or descent of the right side elevation shaft 3R and the left side elevation shaft 3L, and outputs it to the arithmetic processing unit 140. Be done.

  For example, if the polarities of the operation command signals from the right side knob 5R and the left side knob 5L are both positive, a rise command for the right side elevation shaft 3R and the left side elevation shaft 3L is output. Conversely, if the polarities of the operation command signals from the right side knob 5R and the left side knob 5L are both negative, the lowering instruction for the right side elevation shaft 3R and the left side elevation shaft 3L is output.

  Also, if the polarity of the operation command signal from the right side knob 5R is positive and the polarity of the operation command signal from the left side knob 5L is negative, the up command to the right up and down axis 3R is output, while the down command to the left up and down axis 3L Output In the opposite case, the descent command to the right side lifting shaft 3R is output, and the rising command to the left side lifting shaft 3L is output.

  The comparison means 124 compares the absolute values of the operation command signal from the right knob 5R and the operation command signal from the left knob 5L, and outputs a smaller value as an operation command value (decision operation command value). . Therefore, when the operation command signal from the right side knob 5R or the left side knob 5L is not input, the determined operation command value becomes zero, and the elevation or tilting is not performed, and the security is secured.

  The head position determination means 126 determines whether the position of the head is on the right side or the left side based on the signal from the head position indication switch 8 and outputs the result to the arithmetic processing unit 140. Ru. That is, an instruction that the head position is on the right side is output to the arithmetic processing unit 140 based on the input signal from the right instruction switch 8R, and the head position is on the left side based on the input signal from the left instruction switch 8L. And the instruction to the arithmetic processing unit 140.

  The storage unit 130 stores signals from the signal input unit 110 and also stores data on the operation range of the tilting unit 2 and the like.

  The arithmetic processing unit 140 performs arithmetic processing based on the signal input from the input signal processing unit 120 and the data stored in the storage unit 130 and outputs the result to the current command value generation unit 150 as, for example, a speed command value. It is supposed to be output.

  Hereinafter, the arithmetic processing unit 140 will be specifically described with reference to FIG.

  The arithmetic processing unit 140 includes a tilting process section 142, and outputs the calculated elevation speed to the current command value generation unit 150 as, for example, a speed command value.

  The tilting process section 142 includes a tilting speed command generating unit (tilting command value generating unit) 144 and a limit processing unit 145, and performs the following arithmetic processing.

In the case where the head is at the right side and the head is raised Tilting speed command generating means 144 has a positive polarity of the motion command signal from right knob 5R and a negative polarity of the motion command signal from left knob 5L. When it is determined, that is, when a lift command is issued to the lift shaft 3 on the side with the head, the speed command value corresponding to the determined operation command value is changed to the right lift shaft 3R (rise) and the left lift shaft 3L (drop) Generate for

  The limit processing means 145 performs limit processing on the speed command value generated by the tilting speed command generation means 144 as follows.

  First, a signal from the acceleration sensor 7 is arithmetically processed to calculate an increase angle, and then it is determined whether the calculated angle falls within the tilt range. If it is determined that the tilt range is exceeded, limit processing is performed on the speed command value. That is, part of the speed command value is cut, and processing is performed so that the tilt angle does not exceed the tilt range by the increase angle. However, even within the tilting range, the tilting is stopped if the rise of the right elevation shaft 3R reaches the upper limit position.

  When the head is on the left side, the process opposite to the above is performed.

In the case of lowering the head when the head is on the right side, the tilting speed command generation unit 144 determines that the polarity of the operation command signal from the right side knob 5R is minus and the polarity of the action command signal from the left side knob is plus In this case, that is, when a lowering command is issued to the lifting shaft 3 on the side with the head, the speed command value corresponding to the determined operation command value is set to the right lifting shaft 3R (falling) and the left lifting shaft 3L (raising). Generate against.

  The limit processing means 145 performs limit processing on the speed command value generated by the tilting speed command generation means as follows.

  First, a signal from the acceleration sensor 7 is arithmetically processed to calculate a decrease angle, and then it is determined whether the calculated angle falls within the tilt range. If it is determined that the tilt range is exceeded, limit processing is performed on the speed command value. That is, a part of the speed command value is cut and processing is performed so that the tilt angle does not exceed the tilt range by the decrease angle. However, even within the tilting range, the tilting is stopped if the lowering of the right elevation shaft 3R reaches the lower limit position.

  When the head is on the left side, the process opposite to the above is performed.

  The current command value generation unit 150 generates current command values of the elevation shafts 3R and 3L based on the speed command value input from the arithmetic processing unit 140, and outputs the current command values to the signal output unit 160. The generation of the current command value is performed by a known method using data necessary for generating the current command value stored in the storage unit 130.

Thus, according to this embodiment, the operating levers LR, knob 5R arranged on top of the LL, since it is Rukoto to tilt the tilting portion 2 by a simple operation of turning the 5L, the robot R The operation of can easily be done.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited only to this embodiment, A various change is possible.

  For example, the operation instruction means for the elevating shaft 3 is not limited to the example shown in the present embodiment, and various modifications are possible. For example, the present invention is not limited to the knobs 5 at the tops of the control levers LR and LL as shown in the present embodiment, and various shapes can be made, and the position can be made appropriate. Furthermore, a combination with a force sensor is also possible.

  The invention can be applied to the robot industry and the care industry of the present invention.

R Robot B Battery P Operation panel ES Emergency stop switch LR Right control lever LL Left control lever 1 Base 2 Tilt unit 2a Tilt member 3 Lifting shaft 3C Center lifting shaft 3R Right lifting shaft 3L Left lifting shaft 4 Planetary gear mechanism 5 For motion command Knob 5R Right knob 5L Left knob 7 Acceleration sensor 8 Head position indication switch 8R Right indication switch 8L Right indication switch 9 Head position indication lamp 9R Right indication lamp 9L Left indication lamp 100 Control device 110 Signal input unit 120 Input signal processing unit 122 Polarity determination means 124 Comparison means 126 Head position determination means 130 Storage unit 140 Arithmetic processing unit 142 Tilting processing section 144 Tilting speed command generation means 145 Limit processing means 150 Current command value generation part 160 Signal output part

Claims (2)

  1. A control device of a robot,
    The robot comprises: a tilt unit having a tilt member which is tilted by a pair of swingable elevating shafts; one operation instructing means for generating an operation command for one of the elevating shafts; The other operation instruction means for generating an operation command, and a head position instruction means for instructing whether the head is the right side or the left side of the robot .
    The tilting unit has an acceleration detecting means,
    The control device includes a signal input unit, an input signal processing unit, an arithmetic processing unit, a current command value generation unit, a signal output unit, and a storage unit.
    The signal input unit is configured to output the signals input from the operation instruction unit, the head position instruction unit, and the acceleration detection unit to the input signal processing unit and the storage unit.
    The input signal processing unit has a polarity determination unit that determines the polarity of the operation command, a comparison unit that compares the magnitudes of the operation command, and a head position determination unit that determines the head position .
    The polarity determination means determines the polarity of the plurality of operation command signals from the signal input unit and outputs the result as an increase command or a decrease command to the arithmetic processing unit.
    The comparison means compares the absolute value of the operation command value for one of the elevating shafts with the operation command value for the other of the elevating shafts, and outputs a smaller value as the operation command value.
    The head position determination means determines the head position based on the signal from the head position indication means and outputs the determination result.
    The arithmetic processing unit has a tilting processing section,
    The tilting process section is configured to use an elevation command or a descent command indicating the polarity of the operation command input from the input signal processing unit , the operation command value, the determination result of the head position, and data stored in the storage unit. Based on the calculated elevation speed command value of each axis of the pair of elevation axes, the result is output as the axis elevation speed instruction value of the pair of elevation axes to the current command value generation unit.
    The current command value generation unit generates each axis current command value of the pair of elevator shafts based on each axis lifting / lowering speed command value input from the arithmetic processing unit, and outputs it to the signal output unit. ,
    The control device, wherein the signal output unit is configured to output each axis current command value from the current command value generation unit to each axis of the pair of elevator shafts.
  2.   The tilt processing section has limit processing means, and the limit processing means calculates a tilt angle from the acceleration detected by the acceleration detection means, and performs limit processing when the calculated tilt angle exceeds the tilt range. The control device according to claim 1, wherein
JP2013258661A 2013-12-13 2013-12-13 Control device Active JP6539016B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2013258661A JP6539016B2 (en) 2013-12-13 2013-12-13 Control device

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
JP2013258661A JP6539016B2 (en) 2013-12-13 2013-12-13 Control device
KR1020167007684A KR20160072098A (en) 2013-10-18 2014-03-14 Robot
PCT/JP2014/057950 WO2015056460A1 (en) 2013-10-18 2014-03-14 Robot
CN201480056908.2A CN105636567B (en) 2013-10-18 2014-03-14 Robot
AU2014335557A AU2014335557B2 (en) 2013-10-18 2014-03-14 Robot
EP14854784.7A EP3058921B1 (en) 2013-10-18 2014-03-14 Robot for transferring a care receiver
CA2920283A CA2920283A1 (en) 2013-10-18 2014-03-14 Robot for transferring a patient
US15/021,721 US10045898B2 (en) 2013-10-18 2014-03-14 Robot

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Publication Number Publication Date
JP2015112430A JP2015112430A (en) 2015-06-22
JP6539016B2 true JP6539016B2 (en) 2019-07-03

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