JPH0630378Y2 - Master manipulator - Google Patents

Description

Detailed Description of the Invention A. TECHNICAL FIELD The present invention relates to a master manipulator in a master / slave manipulator.

B. SUMMARY OF THE INVENTION This invention is a master-slave manipulator in which a slave manipulator operates in a manner similar to that of the master manipulator when an operator operates the master manipulator. The rotation axis of the rotating member is made to intersect at one point, and a detection means for detecting the rotation angle of each rotating member is provided, so that the bending, tilting and twisting of the wrist of the operator can be prevented. The operation is exactly performed by the master manipulator and transmitted to the slave manipulator.

C. 2. Description of the Related Art Manipulators are used when working in places where people cannot enter, such as nuclear facilities. Manipulators include master / slave manipulators in which when a manipulator operates a master manipulator outside a radioactive atmosphere, a slave manipulator in the radioactive atmosphere operates in a manner similar to that of the master manipulator.

A conventional master manipulator is shown in FIG. As shown in the drawing, an intermediate member 51 which is rotatable around the x axis is provided at the tip of the arm 50, and a hand 52 which is rotatable around the y axis perpendicular to the paper surface is attached to the intermediate member 51. A grip 53 is attached to the hand 52 so as to be rotatable around the z axis. The operator fixes the arm 54 to the arm 50 via the holding members 55a and 55b, and after gripping the grip 53 with the hand 56, bends the wrist, tilts in a direction perpendicular to the bending, twists around the wrist, and so on. Then, the hand 52 rotates about the x axis, rotates about the y axis, and the grip 53 rotates about the z axis. These rotation angles around the x, y, and z axes are detected by a sensor (not shown), and the detection signal is sent to the slave manipulator, whereby the slave manipulator operates similarly to the master manipulator.

D. The problem to be solved by the invention is that the bending part, the tilting part, and the twisting part, which constitute the three degrees of freedom, are provided in a distributed manner. Bends, tilts, and twists about the three axes that pass through, while the master manipulator performs bending, tilts, and twists about the x, y, and z axes that do not intersect at one point. become.
For this reason, for example, when bending around the x-axis, all the parts including the intermediate member 51 beyond the hand 52 are rotated, and the weight of the rotated part is heavy, and the inertial force in operation is large. The operability is poor because the movement that matches the movement of the operator's hand cannot be obtained.

Then, this invention aims at providing the master manipulator which solved such a fault.

E. Means for Solving the Problems In order to achieve such an object, the structure of the present invention is such that the bending axis of the operator's wrist, the tilt axis, and the torsion axis are sequentially set at the reference point of the operator's wrist. Assuming x, y, and z axes that are orthogonal to each other, a hand that is rotatable about both the x axis and the y axis is connected to the tip of the arm that moves in response to the movement of the operator's arm. At the same time, a grip to be gripped by the operator's hand is attached to the hand rotatably around the z-axis via a torsion shaft, while it is provided at the tip of the arm and serves as a position for replacing the bending and tilting motions at the reference point. X ', y', which are orthogonal to each other at the substitution point and are parallel to the x, y, z axes,
Assuming z ′, an interlocking member provided on the z ′ axis is attached to the tip of the arm rotatably around the x ′ axis and the y ′ axis around the displacement point, and the center line of the hand and the interlocking member are attached. The tip of the interlocking member and the hand are connected by the connecting member via a pin that is substantially perpendicular to the plane including the center line of the hand and the center line of the connecting member so that the center line forms two opposite sides of the parallelogram. The arm has first and second detecting means for detecting the rotation angle of the interlocking member around the x'-axis and the y'-axis, and the rotation angle of the torsion shaft around the z-axis. It is characterized in that the arm is equipped with a third detecting means for detecting and the torsion shaft and the third detecting means are interlocked and coupled through a rotation transmitting means provided over the interlocking member and the connecting member.

F. When the operator grips the grip and bends the wrist, the hand
Simultaneously with the rotation around the axis, the interlocking member interlocks with the hand and pivots around the x'axis, and the detection means detects the rotational angle and rotational torque of the interlocking member, that is, the rotational angle of the hand. Also, when the wrist is tilted in the direction perpendicular to the bending direction, the hand rotates about the y-axis, and at the same time, the interlocking member rotates about the y'axis in conjunction with the hand, and the rotation is performed in the same manner as described above. The angle and the like are detected. Further, when the grip is gripped and the wrist is twisted, the grip rotates about the z-axis and the twisting angle or the like is detected by the detecting means. The rotation of the hand or grip around these x, y, and z axes is independent of each other. Since the x, y, and z axes pass through the intersections of the bending, tilting, and twisting axes of the human hand, the operator It is possible to accurately transmit the movement of the hand of the robot to the slave manipulator as it is.

G. Embodiment Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings.

In this device, each of the three degrees of freedom of bending, tilting, and twisting of the wrist in the human hand has one axis (hereinafter referred to as a reference point).
Therefore, the axis of the master manipulator having three degrees of freedom also intersects at the reference point.

A person's wrist can be bent, tilted, and twisted, and the twist is made closer to the elbow than the wrist, but the manipulator fingers typically have a limited degree of grasping freedom. Since it is necessary to rotate the fingers while bending the wrist, the twisting mechanism is generally provided in a portion closer to the fingertip than the wrist.

1 to 4 show an embodiment of the master manipulator according to the present invention.

In the figure, when the bending axis of the operator's wrist is the x axis, the tilt axis is the y axis, and the twist axis is the z axis, x,
The y and z axes are orthogonal to each other at one point (reference point P).

In the figure, 1 is an arm, and the arm 1 is provided on the instep side of the operator's arm 2a substantially parallel to the arm 2a. Then, the hand 3 is attached to the tip end portion of the arm 1 in a state of being rotatable about the x-axis and the y-axis when the operator's arm 2a is placed. That is, an L-shaped member 5 rotatable about the y-axis is attached to one side of the arm 1 via the auxiliary member 4,
An L-shaped hand 3 is attached to the L-shaped member 5 and is rotatable about the x-axis.

The hand 3 has a grip 6 which is rotatable about the z-axis.
Is attached. That is, a cylindrical portion 7 for reinforcement is formed at the tip of the hand 3, and a torsion shaft 9 integral with the grip 6 is rotatably inserted into a hole 8 in the cylindrical portion 7. The grip 6 has a mouth shape having a grip portion 6a so that the operator's hand 2b can be gripped, and the switch lever 1 for issuing various operation commands to the slave manipulator.
0 and a switch button 11 are provided.

On the other hand, an interlocking member 12 that operates in a similar manner in conjunction with the hand 3 is provided at the substitution point Q at the tip of the arm 1. In this way, the interlocking member 12 is provided so that the rotation of the hand 3 which rotates about the reference point P which is the position of the wrist of the operator apart from the arm 1 is interlocked with the substitution point Q on the hand 3 as it is. This is for replacing the rotation of the member 12. In this way, the rotation at the reference point P is replaced with the rotation at the replacement point Q in order to reduce the weight of the hand 3 by attaching it to the arm 1 without attaching a control unit such as a torque sensor described later to the hand 3. Is. X.
y. Assuming x ′, y, z ′ axes parallel to the z axis (in this embodiment, the y ′ axis corresponds to the y axis), the interlocking member 12 arranged on the z ′ axis is centered on the substitution point Q. x'axis and y
It is attached to the tip of the arm 1 so as to be rotatable around an axis. That is, the intermediate member 13 is attached to the tip of the arm 1 so as to be rotatable about the x ′ axis, and the interlocking member 12 is attached to the intermediate member 13 so as to be rotatable about the y axis. The interlocking member 12 includes a rotating portion 12a extending along the z'axis and
It is composed of a circular arc portion 12b forming a substantially / 4 circle and a shaft portion 12c, and the shaft portion 12c having the y-axis as an axis is rotatably fitted in the intermediate member 13. This interlocking member 1
The tip of the hand 2 and the tip of the hand 3 are connected via the connecting member 15. That is, the tip portion of the interlocking member 12 and the above-mentioned cylindrical portion 7 have a total of four pins 14 (second
(See FIGS. 3A and 3B) and is connected by the connecting member 15. As a result, the X-axis, X'-axis, pin 1 in FIG.
4, the pin 14 forms a parallelogram.

The arm 1 is provided with a first controller 16, a second controller 17, and a third controller 18.

The first control unit 16 has a built-in first detection unit or the like for detecting the bending angle of the hand 3 and the like, and is integrally formed with the pulley 19 attached to the rotation shaft of the first control unit 16 and the intermediate member 13. The belt 21 is wound around the formed pulley 13a.

In addition, the second control unit 17 has a second detection unit or the like for detecting the tilt angle of the hand 3 and the like built therein, and the rotational movement of the interlocking member 12 around the shaft portion 12c is the second control unit 17. It is supposed to be transmitted to. As shown in FIG. 3, a transmission gear 22 having a bevel gear 22a and a pulley 22b is rotatably provided around the x'axis as an axis, and the bevel gear 22a is a shaft portion 1
It meshes with a bevel gear 12d that is integral with 2c. On the other hand, pulley 2
The belt 24 is wound around the 2b and the pulley 23 attached to the rotating shaft of the second control unit 17.

The third control unit 18 has a third detection unit or the like for detecting the rotation angle of the grip 6 and the like built therein, and is linked to the torsion shaft 9 via the rotation transmission unit. In this way, the third control unit 18 is provided in the arm 1 so that the torsion shaft 9 and the third control unit 1 are provided.
8 and 8 are interlockingly connected via a rotation transmission means,
The reason is the same as that of the second control units 16 and 17, and when attached to the hand 6, the hand 6 becomes heavy. The rotation transmission means will be described below. Rotating part 12 of interlocking member 12
A shaft 25 having a bevel gear 25a is rotatably provided in a, while a transmission gear 26 having bevel gears 26a and 26b is rotatably provided in the shaft portion 12c.
Rotational motion of the shaft 25 is transmitted to the transmission gear 26 via bevel gears 27 and 28 rotatably provided in 2b. The bevel gear 26b meshes with the bevel gear 29a of the transmission gear 29 that is rotatably provided around the x ′ axis.
Then, the belt 31 is wound around the pulley 29b integrated with the bevel gear 29a and the pulley 30 attached to the rotation shaft of the third controller 18. On the other hand, the torsion shaft 9 and the shaft 25
The upper parts of and are connected to the lower ends of a pair of shafts 33, which are rotatably provided in the connecting member 15 and have pulleys 32, via universal joints 34, respectively.
A belt 35 is wound between the two. In addition,
A sprocket and a chain may be used instead of the pulley and the belt.

The first control unit 16, the second control unit 17, the third control unit 18
The inside of the has the following structure. That is, the pulley 1
A motor is connected to each of the rotating shafts of 9, 23, and 30 through a speed reducer, and a rotating shaft of the motor has a position sensor for detecting a rotation angle of the rotating shaft and a rotation of the rotating shaft. A torque sensor for detecting torque is provided. The bending angle of the hand 3 and the like can be detected by detecting the rotation angle of the rotation shaft by each position sensor. Further, the bending torque of the hand 3 and the like can be detected by detecting the rotation torque of the rotary shaft by the respective torque sensors. The master-slave manipulator of the present embodiment is of a bilateral control type that detects the rotation angle and the rotation torque around each axis of the master manipulator and the slave manipulator, compares the data of both, and drives the respective motors. Moreover, the force feedback type is configured to transmit the force in the direction of reducing the torque difference between the master side and the slave side.

Next, the operation of the master manipulator will be described.
In addition, when the operator's wrist is bent around the x-axis,
When tilted around the y-axis and when twisted around the z-axis, they are divided into two parts.

When the operator bends the wrist around the x-axis while gripping the grip portion 6a, the hand 3 rotates around the x-axis, and at the same time, the interlocking member 12 connected by the connecting member 15 moves the hand 3 around the x'axis. Rotate in the same direction as. In this embodiment, the x-axis and the universal joints 34, 34, x'-axis form a parallelogram, so that the interlocking member 12 rotates in the same direction as the hand 3 by the same angle. At this time, since the intermediate member 13 also rotates around the x ′ axis, the intermediate member 13
The pulley 13a, which is integral with, rotates, and the rotational movement of the pulley 13a is transmitted to the first controller 16 via the belt 21 and the pulley 19. Then, the position sensor and the torque sensor as the first detection means in the first controller 16 detect the bending angle and the torque of the hand 3.

When the operator tilts the wrist while holding the grip portion 6a,
At the same time when the hand 3 rotates about the y-axis, the connecting member 15
The interlocking member 12 connected via the shaft rotates in the same direction as the hand 3 around the shaft portion 12c. In this case as well, the interlocking member 12 rotates together with the hand 3,
Since is attached to the arm 1 via the intermediate member 13, it can be rotated about the x'axis and about the shaft portion 12c. The interlocking member 12 is the shaft portion 1.
When the bevel gear 12d integrated with the interlocking member 12 is rotated when the bevel gear 12d is rotated around 2c, the bevel gear 12d is rotated by the bevel gear 22d.
It is transmitted to the second controller 17 via a, the pulley 22b, the belt 24, and the pulley 23. Then, the position sensor and the torque sensor as the second detection means in the second controller 17 detect the tilt angle and the torque of the hand 3.

When the operator twists the wrist while gripping the grip portion 6a, the grip 6 rotates about the z-axis, and the grip 6 rotates by twisting the shaft 9, the universal joint 34, and the shaft 3.
3, transmitted to the shaft 25 via the pulley 32, the belt 35, the pulley 32, the shaft 33, and the universal joint 34. Since the shaft 33 and the torsion shaft 9 and the shaft 33 and the shaft 25 are connected by the universal joint 34, the rotary motion can be transmitted smoothly even if the angle formed by the shaft 33 and the torsion shaft 9 or between the shaft 33 and the shaft 25 changes. it can. The bevel gears 25a, 27, 28, 26a, 26b, 29 rotate the shaft 25.
It is transmitted to the third control unit 18 via a, the pulley 29b, the belt 31, and the pulley 30. Then, the position sensor and the torque sensor as the third detection means in the third controller 18 detect the twist angle and the torque of the grip 6.

Since the movements of the master manipulator with respect to the bending, tilting and twisting of the wrist described above are independent and independent, it is possible to combine these movements to make the same complicated movement as the operator's hand. The torque can be detected by each detecting means, and a command based on the detected value can be sent to a slave manipulator (not shown) to be driven by an electric servo or the like. Further, the reaction force can be transmitted to the operator by sending the reaction force when the slave manipulator performs the work to the master manipulator and rotating the motors in the respective control units (bilateral control method).

In this embodiment, the bending of the wrist is shown to correspond to the rotation of the hand 3 around the x-axis, but the bending of the wrist can also correspond to the rotation around the y-axis. That is, in FIG. 1, the back of the operator's hand 2b can be used with the back side facing away from the paper surface. Besides, since the rotation transmitting means is provided inside the connecting member and the interlocking member, the movement of each member does not hinder the rotational movement.

H. Effects of the Invention According to the present invention as described above, the operator can freely rotate about the x, y, and z axes that are orthogonal to each other at one point (reference point) as the bending, tilting, and twisting axis of the wrist of the operator. A hand and a grip are provided on the tip of the arm that moves in response to the movement of the operator's arm, and the detection means for detecting the angle of bending, tilting, twisting, etc. The bending angle of the wrist can be accurately detected by directly following the master manipulator. That is, the directions, angles, and torques of the wrist bending, tilting, and twisting are the same as the bending, tilting, twisting directions, angles, and torques of the wrist of the master manipulator, and extremely intuitive operation is possible.
Further, since the arm is not provided with a detecting means for detecting the angle of bending, tilting, twisting, etc.
The inertia in operating the master manipulator is small,
Operability is good.

[Brief description of drawings]

1 to 4 relate to an embodiment of a master manipulator according to the present invention, and FIG. 1 is a partially cutaway structural view, FIG.
The drawing is a view taken along the arrow I-I of FIG. 1, FIG. 3 is a view taken along the line II-II of FIG. 1 showing a partially tilted state of the wrist, and FIG. FIG. 5 is a sectional view taken along the line III-III in FIG. 5, and FIG. 5 is a structural diagram of a conventional master manipulator. 1 ... Arm, 2a ... Arm, 3 ... Hand, 4 ... Auxiliary member, 6 ... Grip, 9 ... Torsional shaft, 12 ... Interlocking member, 13 ... Intermediate member, 15 ... Connecting member, 16 ……
First control unit, 17 ... Second control unit, 18 ... Third control unit, 25 ... Shaft, 25a, 27, 28, 26a ... Bevel gear, 26 ... Transmission gear, 32 ... Pulley, 34 …… Universal joint, 35 …… Belt.

Claims (1)

[Scope of utility model registration request] 1. An operator's wrist bending axis, tilting axis,
It is assumed that the axis of torsion is the x, y, and z axes that are orthogonal to each other at the reference point of the operator's wrist in order, and the tip of the arm that moves in response to the movement of the operator's arm is A hand that is also rotatable with respect to the y-axis is attached, and a grip that is held by the operator's hand is rotatably attached to the hand around the z-axis via a torsion axis, while it is provided at the tip of the arm. Bending at the reference point,
Assuming x ′, y ′, z ′ which are orthogonal to each other and are parallel to the x, y, z axes at the substitution point as a position for replacing the tilting movement, the interlocking member provided on the z ′ axis is the replacement point. Is attached to the tip of the arm so as to be rotatable around the x ′ axis and the y ′ axis, and the center line of the hand and the center line of the interlocking member form two opposite sides of the parallelogram. The tip of the interlocking member and the tip of the hand are connected by a connecting member via a pin that is substantially perpendicular to the plane including the centerline of the hand and the centerline of the connecting member, and interlocking around the x'axis and the y'axis. The arm has first and second detecting means for detecting the turning angle of the member, and the arm has third detecting means for detecting the turning angle of the torsion shaft around the z-axis. The torsion shaft and the third detection means via the rotation transmission means provided over the Master manipulator, characterized in that in conjunction linking.