JPH07195279A - Master arm - Google Patents

Abstract

PURPOSE:To secure a master arm equipped with a wrist operating member that is excellent in operability and, what is more, there is no erroneous motion in a manipulator. CONSTITUTION:Since a knob 80 is of spherical form, an operator is simply holdable from every direction, conductive to an improvement in operability. In addition, a turning angle and a turning direction around an axis L1 of a second arm 78 of this knob 80 are judged by both symmetrical reversible two- way turning patterns and also a turning angle and a turning direction around an axis L2 orthogonal with the axis of the second arm 78 by two-way turning patterns to the same direction of two potensiometers 98 and 100, respectively. Likewise, since only two axial movements of a wrist of the operator are outputted to a controller as an operating signal, such a possibility that a manipulator might do its erroneous motion and thereby its upper arm part is shifted will in no case occur.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master arm for manipulating a manipulator.

[0002]

2. Description of the Related Art As shown in FIGS. 6 and 7, one of the operations for manipulator 14 is a master arm 110 that follows the movement of an operator O's arm. The master arm 110 operates in response to movements of the upper arm 112, which operates in response to movement of the upper arm 112 of the operator O, forearm operation member 118 which operates in response to movement of the forearm 116, and wrist 120. The wrist operation member 122 is provided, and the operation signal of each operation member is output to the controller to control the manipulator 14 that moves like a human arm.

By the way, the wrist portion 1 of the manipulator 14
When it is desired to turn the upper part 24 upward, the wrist 120 of the operator O
Is twisted upward to turn the wrist operating member 122 of the master arm 110 upward, but the elbow E simultaneously moves backward as a human muscle characteristic (indicated by a chain double-dashed line). Along with this, the upper arm operating member 114 also moves rearward, causing an error motion that the upper arm 126 of the manipulator 14 also moves rearward (indicated by a two-dot chain line).

In order to deal with this, as shown in FIG. 8, the grip portion 128 held by the operator O is supported by a semicircular guide frame 130, and the guide frame 130 is supported by the forearm operating member 118 (FIG. 6). Strut 1 extending downward from
A wrist operating member 134 rotatably attached to 32 is also proposed.

With this wrist operating member 134, the operator O
Since the movement of the elbow E of the robot is not transmitted to the support column 132, and only the operation signal corresponding to the twist of the wrist 120 is output to the controller, the manipulator 14 does not move due to an error, but the manipulator 14 does not move to the guide frame 130 one by one. The grip portion 128 must be gripped through the through hole, and workability is not so good. Further, it is conceivable to wear an operating glove or the like that accurately follows the movement of the operator, but it is troublesome to wear it during work.

[0006]

SUMMARY OF THE INVENTION In consideration of the above facts, it is an object of the present invention to provide a master arm having a wrist manipulating member which has good workability and does not cause an error motion in a manipulator.

[0007]

A master arm according to the present invention is a master arm for operating a manipulator that moves like a human arm, and is a first arm attached to a tip of an arm for operating an arm portion of the manipulator. Bevel gears, a pair of second bevel gears arranged so that the center of rotation is orthogonal to the axis of the arm, and meshing with the first bevel gear, and a holder for rotatably holding the second bevel gear. Section, an angle detection sensor disposed on the holding section and having a rotation shaft connected to the shaft section of the second bevel gear, and the first section connected to the holding section.
A hollow spherical wrist operating body for accommodating the bevel gear and the second bevel gear, and an elongated hole formed in the wrist operating body for allowing the wrist operating body to rotate with respect to an axis orthogonal to the axis of the arm. It is characterized by having.

[0008]

In the master arm having the above structure, since the wrist operation body is spherical, the operator can easily grasp it from any direction and the workability is improved. The wrist operating body is rotatable about the axis of the arm, and the elongated hole is rotatable about the axis orthogonal to the axis of the arm without interference with the arm. By operating such a spherical wrist operating body, the operator's wrist
Since only the movement in the axial direction is output to the controller as an operation signal, the manipulator does not move in error and the upper arm does not move.

When the wrist operating body is rotated about the axis of the arm, the second bevel gears meshing with the first bevel gears rotate in opposite directions. The angle detection sensor detects the rotation angle of the wrist operating body and two types of rotation patterns based on the rotation direction opposite to the rotation angle of the second bevel gear, and outputs the rotation pattern to the controller.

When the wrist operating body is rotated about an axis orthogonal to the axis of the arm, the pair of second bevel gears rotatably held by the holding portion try to rotate in the same direction. The second bevel gear does not rotate because it meshes with the first bevel gear. Therefore, the rotation shaft of the angle detection sensor fixed to the second bevel gear does not rotate, and the main body of the angle detection sensor fixed to the holding unit rotates in the same direction as the wrist operating body.

That is, the angle detection sensor detects the rotation angle of the wrist operating body and two identical rotation directions and outputs the same to the controller.

In this manner, it is possible to detect the rotation angle of the wrist operating body and the four rotation directions.

[0013]

【Example】

(Outline of Master Arm) FIGS. 1 and 2 show a master arm 10 provided with a brake mechanism according to this embodiment.

The master arm 10 is an operating device having a joint function capable of following the movement of a human arm, and outputs its operation signal to the controller 12. The controller 12 moves the manipulator 14 that moves like a human arm by air pressure to perform work in a special work environment.

A frame 1 protruding from a mount (not shown)
A U-shaped plate 18 is attached to the tip of 6. A shaft 20 is vertically pierced and supported by the plate 18 in the vertical direction. A disc 22 is fixed to the upper end of the shaft 20. This disc 22
Is a disc brake 2 arranged on the upper surface of the plate 18.
It is sandwiched by 4 and brakes the rotation of the shaft 20.

Further, the gear 2 is provided at an intermediate portion of the shaft 20.
6 is attached. The gear 26 meshes with a gear 30 fixed to the shaft of the first potentiometer 28. As a result, the rotation angle and the rotation direction of the shaft 20 on the horizontal plane are output to the controller 12. Further, a damper gear 32 meshes with the gear 26 to regulate the rotation speed of the shaft 20.

On the other hand, at the lower end of the shaft 20, there is a bearing 3
4 is fixed. One end of a shaft 36 extending in the horizontal direction is connected to the bearing 34. The shaft 36 rotatably supports a substantially middle portion of the first arm 38 corresponding to the movement of the upper arm portion of the operator. A gripper 42 is attached to a mounting bracket 40 that projects from the first arm 38. This gripper 42
By operating the operation panel 44 or the foot switch 46 (see FIG. 2), the outer peripheral surface of the inserted shaft 36 is gripped, and the rotation of the first arm 38 is stopped.

A gear 48 is fixed to the end of the shaft 36 penetrating the first arm 38. The gear 48 meshes with a gear 52 fixed to the shaft of the second potentiometer 50. As a result, the rotation angle and the rotation direction of the first arm 38 on the vertical plane are controlled by the controller 1.
It is designed to be output to 2. Further, a damper gear 54 meshes with the gear 48 to regulate the rotation speed of the first arm 38.

At the upper and lower ends of the first arm 38, the shaft 5
6, 58 penetrate and are axially supported. One end of the upper link member 60 is rotatably supported on the shaft 56, and one end of the lower link member 62 is rotatably supported on the shaft 58.

A gear 64 is fixed to one end of the shaft 56, and an arm 66 projects from the shaft portion of the gear 64 at right angles to the axis of the gear 64. This arm 66
A weight 68 is attached to the tip of the. Also,
The gear 64 meshes with a gear 72 fixed to the shaft of the third potentiometer 70. As a result, the movement amount and the movement direction of the link plate 74, which will be described later, are output to the controller 12. In addition, gear 6
4, a damper gear 76 meshes with the link plate 7
The moving speed of 4 is regulated.

On the other hand, both ends of a long plate-like link plate 74 are rotatably connected to the other ends of the upper link member 60 and the lower link member 62. A second arm 78 corresponding to the movement of the operator's forearm is fixed to the other end of the lower link member 62.

The second arm 78 is composed of a rigid pipe bent so that it does not come into contact with the forearm of the operator, and a hollow spherical grip ball 80 is attached to the lower end thereof. If you pull down or lift this grip ball 80,
The link plate 74 that constitutes the link mechanism moves up and down, and the operation is performed by the third potentiometer 70.
It is output to the controller 12. At this time, the weight 68 interlocked with the movement of the upper link member 60 causes the ball 8
The balance with 0 is maintained, the operator is not burdened, and the second
The arm 78 can be operated. Also, the second
A disc brake 82 is attached to a substantially middle portion of the arm so that the link plate 74 can be sandwiched from both sides. (Gripping ball) As shown in FIGS. 3 to 5, the gripping ball 80 is a hollow sphere, and an elongated hole 84 along the spherical surface is opened in the upper part, and the tip of the second arm 78 is inserted into the elongated hole 84. Has been inserted.

A first bevel gear 86 is fixed to the tip of the second arm 78. To the left and right of the first bevel gear 86,
The second bevel gears 88 and 90 mesh with each other. The second bevel gears 88 and 90 are rotatably attached via a bearing 96 to a bracket 94 that is erected from a substantially hemispherical block 92 that is fixed to the bottom portion of the grip ball 80. Further, a retainer 138 accommodating the potentiometers 98 and 100 is fixed to the bracket 94. The rotary shafts 140 and 142 of the potentiometers 98 and 100 are connected to the shaft portions of the second bevel gears 88 and 90, respectively. Thereby, the rotation direction and the rotation angle of the second bevel gears 88 and 90 are detected.

The tip ends of the rotary shafts 140, 142 of the potentiometers 98, 100 are rotatably supported by a housing 144 arranged at the core of the grip ball 80 via a bearing 146. The housing 144 is rotatably supported by an air pipe 148 extending from the second arm 78 via a bearing 150. A picker 152 (elastic expander) is attached to the tip of the air pipe 148, and is located in a long groove-like brake groove 154 formed along the inner peripheral surface of the grip ball 80 at the center of the block 92. ing. The picker 152 is expanded by the compressed air introduced into the air pipe 148 and is pressed against the groove wall of the brake groove 154.

On the other hand, parallel pins 156 project horizontally from the housing 144 on both sides, and as shown in FIG. 5, arcuate guide holes formed around the shafts of the second bevel gears 88 and 90. It has been inserted into 158. As a result, the range of rotation of the grip ball 80 around the axis of the second arm 78 is restricted.

A part of the outer peripheral portion of the second bevel gears 88 and 90 is cut out, and a stopper pin 160 is screwed into the cut end. This stopper pin 16
Retainer 138 to bracket 94 so that
The tip of the bolt 162 fixed to is protruding.

The operation of the grip ball 80 will now be described. Since the grip ball 80 has a spherical shape, the operator can easily grip it from any direction. For example, the ball 80
When the arm is rotated in the direction of arrow A about the axis L1 of the arm, the second bevel gear 88 meshing with the first bevel gear 86 is on the opposite side of the page (normal rotation), and the second bevel gear 90 is on the front side of the page. Rotate (reverse). The rotation angle and rotation direction of the second bevel gear 88 are detected by the potentiometer 98, and the rotation angle and rotation direction of the second bevel gear 90 are detected by the potentiometer 100. In other words, the rotation angle of the grip ball 80 is detected by the potentiometers 98 and 100, and
The direction of rotation of the ball 80 is the potentiometers 98, 10
It is determined by a combination of forward and reverse rotation directions of the rotation axes 140 and 142 of 0. As a result, the rotation angle and the rotation direction are output to the controller 12, and the manipulator 1
The wrist portion 124 of No. 4 turns around the forearm portion 162 in response to the movement of the wrist of the operator.

At this time, in the operation of twisting the grip ball 80, since the center of rotation is on the axis L1 of the second arm 78, the second arm 78 (see FIG. 2) is not moved in the horizontal direction. Therefore, the upper arm 126 of the manipulator 14 does not move due to an error.

Further, when the grip ball 80 is rotated in the direction of arrow B about the axis L2 which is orthogonal to the axis of the second arm, the second bevel gears 88, 9 are pivotally supported by the bracket 94.
0 tries to rotate in the same direction, but the first bevel gear 86
, The second bevel gears 88 and 90 do not rotate. Therefore, the rotary shaft 14 of the potentiometer 98, 100 fixed to the second bevel gear 88, 90 is fixed.
No. 0 and 142 do not rotate, but the main bodies of the potentiometers 98 and 100 fixed to the retainer 138 rotate in the same direction.

In this way, the potentiometers 98, 10
0 is the rotation angle of the grip ball 80, the front side of the paper (normal rotation),
Two rotation directions to the opposite side (reverse rotation) of the paper are detected.
As a result, the rotation angle and the rotation direction are determined by the controller 12
The wrist portion 124 of the manipulator 14 swings in the vertical direction in response to the movement of the wrist of the operator.

Further, in the operation of twisting the grip ball 80, since the center of rotation is on the axis L2 orthogonal to the axis of the second arm 78, the second arm 78 is not rocked in the horizontal direction. Therefore, the upper arm 126 of the manipulator 14 does not move due to an error.

Regarding the rotation range of the grip ball 80 around the axis of the second arm 78, the parallel pin 156 inserted into the guide hole 158 and the rotation range around the axis orthogonal to the axis of the second arm 78. For the stopper pin 1
60 is regulated by being interfered with the tip of the bolt 162.

Further, when compressed air is introduced into the picker 152 from a compressor (not shown), the picker 152 expands and the brake groove 154 as shown in FIG.
It is crimped, and the grip ball 80 is braked.

[0034]

EFFECTS OF THE INVENTION Since the present invention has the above-described structure, it has good workability and does not cause operational mistakes based on human muscle functions.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing a master arm according to the present embodiment.

FIG. 2 is a conceptual diagram showing a master arm and a manipulator.

FIG. 3 is a cross-sectional view showing a grip ball of the manipulator according to the present embodiment.

FIG. 4 is a cross-sectional view showing a state where a brake is applied to a grip ball of the manipulator according to the present embodiment.

5 is a cross-sectional view showing only a main part taken along section line 5-5 in FIG.

FIG. 6 is a conceptual diagram showing a conventional master arm.

FIG. 7 is a side view showing a manipulator that has moved in response to the operation of a conventional master arm.

FIG. 8 is a side view showing an improved type of a wrist operating member of a conventional master arm.

[Explanation of symbols]

 80 grip ball (wrist operation body) 84 long hole 86 first bevel gear 88 second bevel gear 90 second bevel gear 94 bracket (holding part) 98 potentiometer (angle detection sensor) 100 potentiometer (angle detection sensor) 138 Retainer (holding part)

Claims (1)

[Claims] 1. A master arm for operating a manipulator that moves like a human arm, comprising: a first bevel gear attached to a tip of an arm for operating an arm of the manipulator; and a rotation center of the arm. And a pair of second bevel gears that are arranged so as to be orthogonal to the first bevel gear and mesh with the first bevel gear, a holding portion that rotatably holds the second bevel gear, and a rotation shaft that is provided in the holding portion. An angle detection sensor connected to a shaft portion of the second bevel gear, a hollow spherical wrist operating body that is connected to the holding portion and accommodates the first bevel gear and the second bevel gear, and the wrist A master arm, comprising: an elongated hole formed in the operating body to allow the wrist operating body to rotate about an axis orthogonal to the axis of the arm.