JPH03208586A - Exchange method for terminal effector of manipulator - Google Patents

Abstract

PURPOSE:To exchange a terminal effector p quickly, by starting the action of an effecotor detaching device, after moving the tip of a manipulator to a holdable position with a holding mechanism and also changing over the control state of the manipulator in a freely movable control by the external force, while under actioning of the effector detaching device. CONSTITUTION:In the case of the exchange of a terminal effector, a worker performs the operation of moving the tip of a manipulator 1 to a holdable approximate position by holding mechanisms 26a, 26b. In this state, an effector detaching device 10 is subjected to action starting and also the control state of the manipulator 1 is changed over to a freely movable control by the external force while under actioning of the effector detaching device 10. As a result, the manipulator 1 becomes to move by following up the movement of effector detaching device 10. On the other hand, the effector detaching device 10 operates the tip of the manipulator according to a preset program, without being disturbed by the control system of the manipulator 1 to perform the fitting and removal of the terminal effector p.

Description

DETAILED DESCRIPTION OF THE INVENTION [Objective of the Invention (Industrial Application Field) The present invention relates to a method for exchanging a hand effector attached to the tip of a manipulator.

(Conventional technology) Manibulators, for example in nuclear equipment,
It is widely used to perform work on behalf of humans in environments where humans cannot enter. Some manipulators have improved operability by arranging similar manipulators on the operation side and the work side, and others that are operated using a joystick or the like.

By the way, in order to perform work with such a manipulator, it is desirable to use a hand that corresponds to the content of the work, that is, a hand effector that matches the content of the work. To use such a hand effector, it is necessary to replace the hand effector every time the work content changes. This replacement is often performed manually by an operator. However, if the manipulator is attached to the tip of a telescoping boom, it will take a thousand hours of work for the operator to replace it.
Each time the hand effector is replaced, the boom must be retracted to lower the manipulator close to the ground, which poses a problem in that it takes a long time to replace the hand effector.

Therefore, recently, in order to solve the above-mentioned problems, an effect device attaching/detaching device that can automatically replace the hand effect device attached to the tip of the manipulator has been considered. This effect device attachment/detachment device is operated by the operator or a manipulator.
The hand effector is attached and detached when the tip of the manipulator is accurately positioned in a predetermined relationship with respect to the effector attachment and detachment H i&.

However, when using such an effect device attachment/detachment device, if the manipulator has a structure that has low rigidity and is easily shaken, or if the manipulator shakes due to external disturbances such as wind, the tip of the manipulator should be removed from the effect device attachment/detachment device. It becomes difficult to position accurately. For this reason, not only does it require a high degree of skill to operate the manipulator, but there is also a risk that the hand effector may fall due to a connection error.

(Problem to be solved by the invention) As mentioned above, the conventional method is safe, easy to operate,
Moreover, it was difficult to replace the hand effector in a short period of time.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for replacing a hand effector of a manipulator, which can eliminate the above-mentioned problems and reduce the mental burden on the operator.

[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, in the method of the present invention, when replacing the hand effector of the manipulator, a gripper that can grip at least the tip of the manipulator is provided. A device for attaching and detaching an effect device, comprising a mechanism, a guide means for guiding the tip of the manipulator by moving a second gripping mechanism, and an effect device attaching and detaching device for attaching and detaching the hand effector to the tip of the guided manipulator. After preparing the device and moving the tip of the manipulator to a position where it can be gripped by the gripper oval, the effector attachment/detaching device is started to operate, and while the effector attachment/detachment device is in operation, It is characterized in that the control mode of the manipulator is switched to a control mode that allows the manipulator to move freely by external force.

(Function) When replacing the hand effector, the operator performs an operation to move the tip of the manipulator to an approximate position where it can be gripped by the gripping mechanism. In this state, the effector attachment/detachment device is started to operate, and while the effector attachment/detachment device is in operation, the control form of the manipulator is switched to a control mode that allows the manipulator to move freely by external force. As a result, the manipulator moves in accordance with the movement of the effector attachment/detachment device. on the other hand,
The effect device attachment/detachment device is Manibi. To remove or attach a hand effector while freely moving the tip of the manipulator to a form required for replacement according to a predetermined program without being disturbed by the control system of the manipulator. Therefore, reliable replacement can be performed in a short time.

Furthermore, the operator does not need to be skilled because the operator only needs to move the tip of the manipulator to an approximate position where it can be gripped by the gripping mechanism.

(Example) Examples will be described below with reference to the drawings.

The first flash shows a schematic configuration of a manipulator system for carrying out the method of the present invention.

In the figure, 1 indicates a working manipulator. This manipulator 1 has its proximal end fixed to a base 2. A connecting portion 4 is provided at the tip of the tip arm 3 of the manipulator 1 for detachably attaching a hand effector depending on the content of the work. Each joint of the manipulator 1 is controlled by the output of the manipulator controller 5. For example, in the case of a master-slave manipulator, the controller 5 normally controls the manipulator 1 in a so-called normal control mode in which it performs operations corresponding to a mask manipulator (not shown). However, while the signal S1 is being introduced, the control mode is switched to a control mode in which the manipulator 1 is moved in accordance with the external force applied to the manipulator 1.

On the other hand, numeral 10 in the figure indicates an effect device attachment/detachment device installed on the same base as the base 2 or on a different base. This effect device attachment/detachment device 10 is roughly divided into a position detection device 11, an attachment/detachment device main body 12 disposed behind the position detection device 11, and a controller 1 for controlling the attachment/detached device main body 12.
It is composed of 3.

The position detection device 11 includes a column 14 having appropriate flexibility protruding from the upper surface of the base 2, and an independent small contact sensor 15 on one side of the column 14 as shown in FIG. A plurality of them are attached in three rows in the vertical direction. That is, this position detection device 11
As shown by the two-dot chain line in the figure, when the tip arm 3 of the manipulator 1 touches the sensor mounting surface, the contact sensor 15 that touched the tip arm 3 sends out an output, and this output causes the tip arm 3 to be positioned. It is possible to detect. The output of each contact sensor 15 is then output to the controller 1.
3 and will be analyzed.

The attachment/detachment device main body 12 includes a support 16 and a first
A drive device 18 that moves in the direction indicated by a solid line arrow 17 in the figure and a direction perpendicular to the plane of the paper, an attachment/detachment mechanism 20 supported by the support column 16 so as to be movable in the direction indicated by one solid line arrow in the figure, and this attachment/detachment mechanism 20 It is composed of a drive mechanism (not shown) that drives the.

The attachment/detachment mechanism 20 is configured as schematically shown in FIG. 3. That is, a frame 21 is attached to the support column 16 so as to be movable in the direction shown by the solid arrow 19 with the opening facing the position detection device 11 side, and a holding mechanism 22a. 22b, and a conical position detector 23 for alignment arranged between the effector P and the open end of the frame 21 with the small diameter side positioned on the effector P side.
and a pair of gripping mechanisms 26a., which are attached to the frame 21 so as to be movable in the directions indicated by solid line arrows 24 and 25 in the figure and in the direction orthogonal to the plane of the paper. 26b.

Retention mechanism 22a. 22b is of a plunger type, for example, and when a holding command is given from the controller 13, the effector P is held between the plungers by protruding in a direction in which the plungers approach each other. When the supply of the holding command is stopped, the plungers are configured to move backward and stop the supporting operation. In addition, the effector P has a holding mechanism 2.
2a. 22b, the connecting portion Q is located on the side of the alignment position detector 23, and the axis of the connecting portion Q is aligned with the axis of the alignment position detector 23. Retained.

As schematically shown in FIG. 4, the alignment position detector 23 has a plurality of small contact sensors 27 arranged on the inner surface of a truncated conical cylinder in both the circumferential direction and the axial direction. These contact sensors 27 that are adjacent to each other in the axial direction are supported by a common support plate (not shown). That is, a contact sensor support surface having a truncated conical shape is formed by the plurality of support plates. The end portion of each support plate located on the large diameter side is rotatably supported by the frame 21 via a hinge 28 (see FIG. 3).

Further, the end of each support plate located on the small diameter side is a free end. An intermediate position of each support plate is connected to an actuator 29 provided in a one-to-one relationship. Each of the two actuators is formed of an electromagnetic plunger, a shape memory alloy, or the like, and applies an inward force to the middle portion of each support plate when not in operation. By applying this force, each support plate rotates inward using the hinge 28 as a fulcrum, and as a result, as shown in FIG. A configuration in which a plurality of them are arranged is formed. Each two actuators also apply an outward force to the intermediate portion of each support plate during operation. By applying this force, each support plate rotates outward with the hinge 28 as a fulcrum, and as a result, as shown in FIG. . Each actuator 29 is controlled in accordance with a command from the controller 13. Further, the output of each contact sensor 27 is guided to the controller 13 and analyzed.

Grasping mechanism 26a. As shown in FIG. 6, gripping portions 31a and 3lb are provided at the tip of 26b. Contact sensor groups 33 are attached to the packing surfaces 32 of the packing sections 31a and 31b, respectively. Each packing part 31a,
An engagement pin 34 is mounted in the interior of the pin 31b so as to be freely accessible. The movement of these engaging pins 34 is controlled by actuators 35 built into the gripping parts 31a and 31b, respectively. Each actuator 35 is controlled by the output of the controller 13. This example deals with a case where a locking recess 36 is formed in opposing sides of the distal arm 3. The controller 13 controls the movement of the gripping parts 31a and 31b in the direction of approaching each other, and when the contact sensor group 33 touches the side surface of the tip arm 3 by this control,
Detecting the position of the sister part 36 from the output of the contact sensor group 33,
After moving the gripping mechanisms 26a and 26b to a position where the engagement pin 34 can engage with the recess 36, each actuator 3
5 to move the engagement pin 34 into the recess 3 as shown in FIG.
6.

That is, in this example, the gripping mechanism 26a is
, 26b is made more reliable.

While receiving the signal S from the controller 13, the manipulator controller 5 switches the manipulator 1 to a control mode in which the manipulator 1 can be freely moved by an external force. This control is the 8th
This is done by the control system shown in the figure. This figure shows only the control system for any one arm. That is, the position signal R1 obtained by the position sensor 41 attached to the joint of the arm and the position signal group R2 obtained by the position sensor group 42 attached to the joint of another arm are sent to the gravity compensation calculation unit 43. It has been introduced. Gravity compensation calculation unit 43
calculates the attitude angle of the arm based on these human power IA, and calculates gravity and self-weight using this attitude angle and the physical constants of the arm known in advance, that is, the weight, link length, and center of gravity length. The calculated gravity signal R, is introduced into one input terminal of the adder 44. A force signal R5 obtained by a force sensor 45 attached to the arm is introduced into the other end of the adder 44. The adder 44 outputs a signal obtained by subtracting the gravity signal R from the force signal R5, that is, an external force signal R0. This external force signal R6 is introduced into one input terminal of an adder 47 via a PID regulator 46. On the other hand, the dead weight signal R4 calculated by the gravity compensation calculating section 43 is introduced into the other input terminal of the adder 47. Then, in the adder 47, the external force signal Rb and the self-weight signal R4 are added, and this added signal R7 is given as a drive command to the driver 47. Therefore, when an external force is applied to the arm, the position of the arm is controlled according to this external force.

Next, an example of attaching the hand effector P to the connecting portion 4 of the manipulator 1 in the manipulator system configured as described above will be described with reference to FIGS. 9 and 12 as appropriate.

First, in a steady state, the manipulator controller 5 is in a normal control mode, that is, in a form that controls the manipulator 1 according to the master manipulator or joystick. In this state, for example, the master manipulator is operated to bring the side surface of the tip arm 3 of the manipulator 1 into contact with the contact sensor 15 of the position detection device 11, as shown in FIG.

When the side surface of the tip arm 3 of the manipulator 1 touches one of the contact sensors 15 provided in the position detection device 11, an output S2 is sent from the contact sensor 15, and this output S2 is introduced into the controller 13. The controller 13 moves the tip arm 3 from the position of the contact sensor 15 that sent out the output S2.
The current position of the device is analyzed and a drive command is given to the attachment/detachment device main body 12.

At the same time, a signal S1 is raised and this signal S1 is applied to the manipulator controller 5.

When the manipulator controller 5 is given the signal SI,
The normal control mode is switched to a control mode in which the manibulator 1 is operated freely according to external force, that is, a control mode using the control system shown in FIG. 8.

On the other hand, the controller [C] controls the loading/unloading device main body 12 as follows. That is, first, the attaching/detaching mechanism 20 is moved so that the axial center line of the attaching/detaching mechanism 20 is located in front of the tip arm 3, and then the attaching/detaching mechanism 20 is advanced a certain distance, and then the gripping mechanisms 26a and 26b are moved to the position detection device. 1], move it forward to a certain distance. Next, the packing parts 31a and 31b are moved in a direction in which they approach each other, and as shown in FIG. 10, the tip arm 3 is held between the gripping parts 31a and 31b.

This clamping operation is performed so as to satisfy the conditions shown in FIG.

Next, the controller 13 controls the attachment/detachment mechanism 20 to move in a direction that moves the distal end arm 3 a certain distance away from the position detection device 11 . At this time, the manipulator controller 5
It has switched to a control mode that moves the manipulator in response to external forces. Therefore, the manibulator 1 moves following the movement of the attachment/detachment machine lateral 20. Next, the controller 13 grips lm 6W 2 6 a , 2
6 Control so that b is on the rear side. In this way, when the gripper ellipses 26a and 26b are retreated, the tip arm 3 gradually approaches the frame 21, and finally the connecting portion 4 enters into the alignment position detector 23. At this time, effector P
When the axial center line and the axial center line of the distal end arm 3 do not match, the connecting portion 4 contacts one of the contact sensors 27 constituting the position detector 23 for alignment. Controller 13
detects the amount of axis deviation of the tip arm 3 from the position of the contact sensor 27 that sent out the output, and further controls the gripping mechanisms 26a, 26b while controlling the positions of the gripping mechanisms 26a, 26b so as to make the amount of axis deviation zero. make them retreat.

By this backward guidance control, the connecting portion 4 of the distal arm 3 is finally connected to the connecting portion Q of the effector P, as shown in FIG. When the controller 13 receives a signal indicating that the connecting portion 4 is connected to the connecting portion Q of the effector P, the controller 13 moves the holding mechanism 22a. 2') The plunger b is controlled to be retracted, and each actuator 29 is controlled to be in an operating state. When each actuator 29 operates, each support plate supporting the contact sensor 27 of the alignment position detector 23 rotates from a cylindrical shape to a nearly cylindrical shape as shown in FIG. Form a road for effector P.

In this state, the controller 13 again controls the gripper sides 26a, 26b.
advance. By this forward movement, the distal arm 3 to which the effector P is attached moves from the area surrounded by the frame 21 to the outside. And gripping mechanisms 26a, 26b
When the controller 13 moves forward a certain distance, the controller 13 moves the gripper side 26a. 26b to stop the gripping operation, a signal to move the attachment/detachment mechanism 20 a certain distance in a direction perpendicular to the plane of the paper in FIG. Therefore, the installation of the effector P is completed at this point, and the manibulator 1 will be controlled in the normal control mode from now on.

Note that when the effector P is removed, the operations of the alignment position detector 23 and the holding machines 2, 22b are reverse to those described above, and the other operations are the same.

In this way, when attaching and detaching the effector P to the tip of the manipulator 1 using the effector attaching and detaching device 10, the tip of the manipulator 1 is moved to a position where it can be gripped by the gripping mechanisms 26a and 26b of the effector attaching and detaching device 10. After moving, the effector attaching/detaching device 10 is started to operate, and the control form of the manipulator 1 is switched to a control mode that allows the manipulator 1 to move freely by external force while the effector attaching/detaching device 10 is operating. Therefore, when replacing the effector P, the operator must insert the tip of the manipulator 1 into the effector
It is only necessary to perform an operation to move it to a position where it can be gripped by the gripping mechanisms 26a and 26b of O.

Thereafter, the effector attaching/detaching device 10 automatically replaces the effector P without any interference with the control system of the manipulator 1. Therefore, the work of the operator can be greatly facilitated, and replacement can be performed safely and quickly.

Note that the present invention is not limited to the above embodiments.

That is, the structure of the effect device attachment/detachment device is not limited to the structure of the embodiment, and may be any device that can be automatically attached/detached.

In addition, the position detection device 11 and the alignment position detector 23
is not limited to the contact sensor type, but may also be an optical type.

[Effects of the Invention] As described above, according to the present invention, it is possible to provide a method for replacing a hand effector of a manipulator, which allows the hand effector to be replaced safely and quickly with only a simple operation that does not require skill.

[Brief explanation of drawings]

Fig. 1 is a schematic configuration diagram of a manipulator system to which the replacement method of the present invention is applied, Fig. 2 is a diagram for explaining the configuration of a position detection device incorporated in the effect device attaching/detaching device of the same system, and Fig. 3 is the same. A configuration explanatory diagram of the attaching/detaching mechanism incorporated in the effect device attaching/detaching device, FIG. 4 is a perspective view schematically showing the axial alignment position detector incorporated in the effect device attaching/detaching device, and FIG. 5 shows the coaxial alignment position. A perspective view when the detector is retracted, FIG. 6 is a diagram showing the configuration of a weak part of the gripping mechanism incorporated in the effect device attachment/detaching device, and FIG. 7 is a diagram showing the operating state of the same part. , Fig. 8 is a diagram showing a schematic configuration of the control system when the manipulator controller is switched to a mode in which it is operated in accordance with an external force, and Figs. 9 to 12 are diagrams showing the installation operation of the effector in order. be. DESCRIPTION OF SYMBOLS 1... Manipulator, 2... Base, 3... Tip arm, 4... Connection part, 5... Manipulator controller, 10... Effect device attachment/detaching device, 11... Position detection device , 12... attachment/detachment device main body, 13... controller, 1
5.27... Contact sensor, 20... Stone removal mechanism, 22
a, 22b... Holding mechanism, 23... Axis alignment position detector, 26a, 26b... Gripping mechanism, 29... Actuator, 31a, 3lb... Gripping portion, 41...
Position sensor, 43...Gravity compensation unit, 45...Motor sensor, 47...Driver, P...Effect device, Q...
・Connection part.

Claims (2)

[Claims] (1) When replacing the hand effect device of the manipulator,
A gripping mechanism capable of gripping at least the tip of the manipulator, a guiding means for moving the gripping mechanism to guide the tip of the manipulator, and an effector attaching/detaching device for attaching and detaching the hand effector to the guided tip of the manipulator. an effector attachment/detachment device is prepared, and after moving the tip of the manipulator to a position where it can be gripped by the gripping mechanism, the effector attachment/detachment device is started to operate, and the effector attachment/detachment device is activated. A method for replacing a hand effector of a manipulator, characterized in that the control mode of the manipulator is switched to a control mode that allows the manipulator to move freely by an external force while the manipulator is in operation. (2) The method for replacing a hand effector of a manipulator according to claim 1, wherein the control to allow free movement by external force is performed using the output of a force sensor that detects a load torque applied to each axis of the manipulator.