JPH0219854Y2 - - Google Patents

Description

[Detailed description of the invention] [Technical field of the invention] This invention is a three-axis input lever used for the operation lever of a manual manipulator, the teaching lever of a playback robot, the operation lever of a positioning table of a machine tool, etc. It is related to the device.

[Background of the idea]

As a three-axis input lever device for controlling the above-mentioned controlled object in three-axis directions, for example, position control, devices as shown in FIGS. 6 to 8 have been proposed.

6 to 8, the lever pedestal 1 is provided with a horizontal position input device main body 2 constructed of, for example, a potentiometer type. The input device main body 2 is located on a horizontal plane HP defined by the X and Y axes.
X-axis direction and Y-axis to control the position of the controlled object within
Generates two axial position control signals. The input device main body 2 is provided with a horizontal position input lever 3 that is tiltable at least in the X-axis and Y-axis directions.
are connected. The lever pedestal 1 has a reference plane 1a on its upper surface that is parallel to the horizontal plane HP, and the input lever 3 is always biased to be perpendicular to the reference plane 1a.

A cylindrical grip 4 having an axis in the X-axis direction parallel to the reference plane 1a is provided at the free end of the input lever 3, and a cylindrical grip 4 having an axis perpendicular to the horizontal plane HP and defined by the Y-axis and the Z-axis is provided on the end surface. A vertical position input lever 5 is provided to control the position of the controlled object within the vertical plane VP. This lever 5 can be operated at least in the Z-axis direction, and a vertical position input device main body 6 is provided within the grip 4 for generating a position control signal in the Z-axis direction when the lever is operated. That is, positions in three axes can be input by operating the input levers 3 and 5, and in order to move the controlled object in the X-axis direction, move the lever 3 to the right in FIG. 6 as shown by the dashed line in FIG. In order to tilt and move the controlled object in the Y-axis direction, it is necessary to tilt the lever 3 forward in FIG. 6 as shown by the dashed line in FIG. Furthermore, in order to drive the controlled object in the Z-axis direction, it is necessary to operate the input lever 5 in the Z-axis direction with the thumb as shown in FIG.

However, in order to maintain the position shown by the dashed-dotted line in FIG. In this case, it becomes difficult to perform delicate operations, and there is a risk that fine operations such as slightly displacing the controlled object may not be possible, and there is also a possibility of erroneous operation, which is not preferable. Furthermore, in the neutral state, the input lever 5 has the Z-axis as its reference axis, but when the input lever 3 is tilted in the X-axis direction by an angle θ1, the Z-axis serving as its reference axis rotates by the angle θ1. , it is difficult for the operator to know in which direction the reference axis Z is located, leading to erroneous operations.

Furthermore, when the input lever 3 is tilted in the Y-axis direction as shown in FIG. 8, the following problem occurs.

The neutral position of the input lever 3 is the position shown by the solid line in FIG.
It has an axis. However, when the input lever 3 is tilted by the angle θ2 as shown, the reference Y-axis and Z-axis given to the input lever 5 rotate by the angle θ2 in the neutral position. Therefore, when operating the input lever 5 while grasping the grip 4 in the neutral position, the reference Y-axis and Z-axis
You can grasp the direction of the axis, but if you change grip 4, you will no longer know the direction, and input lever 5
Even if it is intended to be operated along the Z-axis, the controlled object may perform complex movements not intended by the operator, or may easily induce erroneous operation, which is undesirable. This tendency is particularly noticeable when the input lever 5 can control not only the Z-axis position but also the Y-axis position.

Furthermore, even if the grip 4 is not changed, the operating posture is unreasonable, making fine manipulation difficult and making it easy to make erroneous operations, which is not preferable.

[Purpose of invention]

The purpose of this invention is to solve these problems and
To provide a three-axis input lever device in which a reference axis of an input lever for controlling at least one axis in a vertical plane does not rotate even when an input lever for controlling two axes in a horizontal plane is tilted in two-axis directions. be.

[Summary of the idea]

The present invention has a first part for controlling the horizontal plane on the fixed member side.
A second input device body for vertical plane control is held by a movable member parallel to the fixed member, and at least two parallel input levers parallel to the first input lever for horizontal plane control are provided. One end of the link lever is rotatably connected to the fixed member, the other end is rotatably connected to the movable member, and the free end of the first input lever is rotatably attached to the movable member and parallel to the movable member. It is characterized by a link mechanism.

〔Example〕

1 to 5 show an embodiment of the present invention, and a three-axis input lever device 100 shown here is for position control used, for example, in manipulator operation. The three-axis input lever device 100 is a horizontal position input lever (hereinafter referred to as
It has a horizontal input lever) 11. One end of the horizontal input lever 11 is connected to a horizontal position input device main body (hereinafter referred to as the horizontal input device main body) 15 supported by a lever pedestal 13, and the horizontal input device main body 15
At least the X axis and Y axis centered on the connection point with
It is designed to be able to tilt in the axial direction. and,
The horizontal input device main body 15 outputs an electric signal according to the amount of operation of the horizontal input lever 11 tilted in this manner. Here, the horizontal input device main body 15 has, for example, two potentiometers (not shown), and the rotation angles of the two potentiometers are controlled according to the operation of the horizontal input lever 11, so that the rotation angles of the two potentiometers are controlled in the X-axis direction and the Y-axis direction. Two position control signals are configured to be output from the potentiometer.

The lever pedestal 13 is a reference plane 1 parallel to the horizontal plane HP.
3a, and the above-mentioned horizontal input lever 11 is always held perpendicular to its reference surface 13a. Also, on the reference surface 13a, ball joints 17a and 17 are provided as universal joints.
Two parallel link levers 19a and 19b are attached perpendicularly to the reference plane 13a via b.

The other ends of the three levers 11, 19a and 19b, which are thus provided perpendicularly to the reference plane 13a, are connected to the grip base 23 via the universal joints 21a, 21b and 21c. It is supported parallel to the reference plane 13a.

Here, the lever pedestal 13, which is a fixed member, the universal joints 17a and 17b, the horizontal input lever 11, the parallel link levers 19a and 19b, and the universal joint 2
1a to 21c, and a grip base 2 which is a movable member.
3 constitute a parallel link mechanism, and the grip pedestal 23, which is a movable member, can be displaced parallel to the lever pedestal 13, which is a fixed member.

A stay 25 is erected on the grip base 23,
A cylindrical grip 2 having an axis extending in the X-axis direction parallel to the horizontal plane HP is attached to the other end of the stay 25.
7 is provided, and the end surface of the grip 27 has a vertical plane defined by the Y axis and the Z axis, that is, a horizontal plane.
A vertical position input lever (hereinafter referred to as vertical input lever) 29 is provided for giving a target position to a controlled object within a plane VP perpendicular to HP. The vertical input lever 29 is connected to a vertical position input device main body (hereinafter referred to as the vertical input device main body) 31 supported within the grip 27, and is moved at least in the Z-axis direction around the connection point with the vertical input device main body 31. It is now operational. The vertical input device main body 31 has a piezoelectric element (not shown), and the pressing force of the piezoelectric element is controlled according to the operating force of the vertical input lever 29, so that position control signals in the Z-axis and Y-axis directions are transmitted to the piezoelectric element. It is configured to be output from the element.

A vertical input lever device 200 comprising such an input lever 29 and an input device main body 31
is constructed, for example, as shown in FIGS. 2a and 2b. In the figure, an input lever 203 having a constriction 202 is installed on the bottom surface of the device housing 201, and four piezoelectric elements 204 are installed at the open end of the housing 201 with a slight gap from the peripheral surface of the input lever 203. ~2
07 is installed. Here, the input lever 20
3 corresponds to the above-mentioned vertical input lever 29, and when the lever 203 is operated in a certain direction, an electric signal can be obtained from at least one of the piezoelectric elements 204 to 207 accordingly.

Further, this vertical input lever device 200 is shown in FIG.
It is also possible to configure as shown in ~c. In the figure, the same reference numerals are given to the same parts as in FIGS. It is set up. A support shaft 208 is provided above the piezoelectric elements 204 to 207 across the housing 201, and an input lever 210 is held on the support shaft 208. The input lever 210 is connected to the operating section 211
and a disc-shaped member 212 provided on its lower end surface.From the lower surface of the disc-shaped member 212, there are four piezoelectric elements 204-207, pressing parts 213-216 arranged facing each other, and a holding lever 210. Section 217,
218 is provided in a protruding manner, and by fitting the support shaft 208 between the two holding parts 217 and 218, the operating part 211 can be operated in the Z-axis direction. And the support shaft 208 and the holding part 2
A pin 219 is inserted through the holes drilled in the holes 17 and 218, so that the operating section 211 can be operated in the Y-axis direction. Note that the piezoelectric element may be provided only in the Z-axis direction.

Position control lever device 10 configured in this way
The effect of 0 will be explained below.

As shown in FIG. 4, when an operating force is applied to the grip 27 in the X-axis direction, under the action of the parallel link mechanism, the grip pedestal 23 and the grip 27 move to the reference plane of the lever pedestal 13, as shown by the dashed line. 13
a, thereby tilting the input lever 11 in the X-axis direction, and the displacement of this input lever 11 is converted into an electric signal by the potentiometer of the horizontal input device main body 15, thereby controlling the X-axis position. A signal is output.

In this way, when the grip 27 is operated in the X-axis direction and held in that position, it is sufficient to apply a force F directed from above to below to the grip 27, which makes it easy to hold the entire lever device, and the vertical input lever 29 becomes easier to operate. Further, the direction of the Z axis, which is a reference axis preset on the vertical input lever 29, is always constant regardless of the operation of the grip 27, thereby preventing erroneous operation.

In addition, as shown in FIG.
When an operating force in the axial direction is applied, the grip pedestal 23 moves parallel to the reference surface 13a of the lever pedestal 13 together with the grip 27 due to the action of the parallel link mechanism as described above, as shown by the dashed line.
This causes the horizontal input lever 11 to tilt in the Y-axis direction.

As can be clearly seen from FIG. 5, when the horizontal input lever 11 is in the neutral position, the Y-axis and Z-axis, which are the reference axes given to the vertical input lever 29, rotate even if the grip 27 is displaced as shown by the dashed line. Therefore, even if the operator changes hands at the position indicated by the dashed-dotted line, the directions of the Y-axis and Z-axis of the vertical input lever 29 can be immediately determined, eliminating the risk of erroneous operation.

In this way, in this embodiment, the two parallel link levers 19a and 19b and the horizontal input lever 11
are arranged so as to constitute the vertices of a triangle, and no matter which direction the grip 27 is operated in the horizontal plane, two of the levers are always connected to the grip pedestal 23, which is a movable member, and the lever, which is a fixed member. Since a parallel link mechanism is formed with the pedestal 13, the grip pedestal 23 is displaced while always remaining parallel to the reference plane 13a of the lever pedestal 13.

In the above, two parallel link levers were attached to the horizontal input lever to configure a parallel link mechanism, but 3
One or more parallel link levers may be used. Further, although a flat grip base is used as the movable member, any shape may be used as long as it is a rigid body that connects the parallel link lever and the horizontal input lever to the grip via a universal joint. In addition, although the parallel link lever is set upright from the horizontal reference plane of the lever pedestal, which is a fixed member, the mounting part of the parallel link lever is not limited to the horizontal plane.The mounting part of the parallel link lever may be an inclined surface, a convex surface, or a concave surface. It is sufficient that the tilting centers of the horizontal input levers are located on the same horizontal plane.

Furthermore, the vertical position input lever may be used to input not only the Z-axis position but also the Y-axis position.
Furthermore, in addition to the piezoelectric element, the main body of the horizontal position input device
It includes any type, such as a potentiometer type, as long as it outputs a signal according to the amount of operation, and is not limited to an electric type, but may also be a hydraulic type or a pneumatic type.

Furthermore, although the lever device for controlling the position of a controlled object has been described above, the present invention can also be applied as is to a lever device for controlling the speed.

[Effect of idea]

The present invention is a first method for controlling a controlled object in a horizontal plane.
When the input lever is tilted, the direction of the reference axis of the second input lever that controls the controlled object at least in the vertical direction within the vertical plane does not change, so the operability of the second input lever is improved. This makes it easier to perform fine operations, and eliminates the possibility of erroneous operations due to changes in the direction of the reference axis.

In addition, if the controlled object is configured to be driven in the X-, Y-, and Z-axis directions based on the X-, Y-, and Z-axis control signals output from each lever device, the operating direction of the operating lever can be changed. The driving direction of the controlled object coincides with the driving direction of the controlled object, so that it is possible to provide a control device with extremely excellent operability.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of the lever device according to this invention, Figs. 2 a, b, and 3 a to c.
2A and 3B are diagrams showing two embodiments of the vertical input lever device, FIGS. 2A and 3A are plan views, and FIG.
is a vertical sectional view of Fig. 2a, Fig. 3b is a longitudinal cross-sectional view of Fig. 3a, Fig. 3b
-b sectional view, Figure 3c is also a cc line sectional view, Figure 4 is a front view of Figure 1 viewed from the direction of the arrow, Figure 5 is its right side view, and Figure 6 is an existing proposal. FIG. 7 is a front view as seen from the direction of the arrow in FIG. 6, and FIG. 8 is a right side view thereof. 11: Horizontal position input lever (first input lever), 13: Lever pedestal (fixing member), 13a: Reference plane, 15: Horizontal position input device main body (first input device main body), 17a, 17b, 21~ 21c: Universal joint, 19a, 19: Parallel link lever, 2
3: Grip pedestal (movable member), 27: Grip,
29: Vertical position input lever (second input lever),
31: Vertical position input device main body (second input device main body), 100: 3-axis input lever device, 200: Vertical input lever device.

Claims (1)

[Claims for Utility Model Registration] A first input lever that controls a controlled object in a horizontal plane and is operated in at least two axial directions within the horizontal plane; a first input lever that controls a controlled object in a plane perpendicular to the horizontal plane;
a second input lever that is operated in one axis direction at least within its vertical plane; and a first input device main body that is connected to the first input lever and outputs a two-axis control signal in accordance with the operation of the lever. , a second input device main body connected to the second input lever and outputting at least one axis control signal in response to the operation of the lever; a fixing member provided with the first input device main body; and the second input device main body. a movable member provided with an input device main body and arranged parallel to the fixed member; one end rotatably connected to the fixed member and the other end rotatably connected to the movable member; a first input lever and two or more parallel link levers parallel to each other; a free end of the first input lever is rotatably connected to the movable member to form a parallel link mechanism with each of the elements; A 3-axis input lever device that is characterized by: