JPH07246578A - Master hand device - Google Patents
Master hand deviceInfo
- Publication number
- JPH07246578A JPH07246578A JP6774894A JP6774894A JPH07246578A JP H07246578 A JPH07246578 A JP H07246578A JP 6774894 A JP6774894 A JP 6774894A JP 6774894 A JP6774894 A JP 6774894A JP H07246578 A JPH07246578 A JP H07246578A
- Authority
- JP
- Japan
- Prior art keywords
- claw
- base
- pin
- master
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、マスター・スレーブ式
ロボットの、マスタ装置に関し、特にスレーブロボット
のハンド部の操作を容易にする装置に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master / slave robot master device, and more particularly to a device for facilitating operation of a hand portion of a slave robot.
【0002】[0002]
【従来の技術】従来、特開平1−97571号公報に示
されるように、スレーブ側で関知した力をマスタ側にフ
ィードバックし、オペレータへ反力の感覚を与えるよう
にしたものは公知である。この前記公報では、スレーブ
側の開閉動作の戻しのために、スレーブ側にスプリング
を設けバネ力により機械的に復元させるようにし、この
スプリングの復元力を差し引いた値をマスタ側へフィー
ドバックしている。ただし、スレーブ側の駆動は油圧サ
ーボである。2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Laid-Open No. 1-97571, there is known a device in which a force sensed by a slave side is fed back to a master side to give a sense of reaction force to an operator. In this publication, in order to return the opening / closing operation on the slave side, a spring is provided on the slave side to mechanically restore the spring force, and a value obtained by subtracting the restoring force of the spring is fed back to the master side. . However, the drive on the slave side is a hydraulic servo.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、上記技
術では、スレーブ側の駆動を電動機で行おうとすると、
スプリングのバネ力に打ち勝つだけの電動機パワーが余
分に必要となり、大型化、電力の過剰消費を招き不経済
である。また、スプリングのバネ力が常時働くので機械
構造上も余分な強度が必要になる。そこで、本発明は、
スレーブ側の駆動を電動機で行う場合も、効率よく復元
でき、余分な強度が不要な装置を提供することを目的と
するものである。However, in the above technique, when an electric motor is used to drive the slave side,
An extra electric motor power is needed to overcome the spring force of the spring, resulting in a large size and excessive power consumption, which is uneconomical. Also, since the spring force of the spring always works, extra strength is required in terms of mechanical structure. Therefore, the present invention is
It is an object of the present invention to provide a device that can be efficiently restored even when the slave side is driven by an electric motor and does not require extra strength.
【0004】[0004]
【課題を解決するための手段】上記課題を解決するた
め、本発明の第1発明は、開閉動作により対象物を把持
するスレーブ側チャック爪の先端に力センサを設け、そ
の力信号をマスタレバーに帰還させてマスタレバーに反
力を発生させるマスターハンド装置において、前記力信
号を入力し、前記マスタレバーへの反力を付与する電動
機へのトルク指令を発生するトルク演算器であって、前
記力信号が目標把持力に達するまでは一定の初期トルク
指令値を発し、前記力信号が目標把持力に達した後は力
信号に比例するトルク指令値を発し、かつスレーブ側チ
ャック爪が開ききった状態を検知すると前記一定の初期
トルク指令値をゼロクリアするものを設けたことを特徴
とするものである。In order to solve the above-mentioned problems, a first invention of the present invention is to provide a force sensor at the tip of a slave side chuck claw for gripping an object by opening / closing operation and to output the force signal from the master lever. In a master hand device for returning a reaction force to a master lever to generate a torque command for inputting the force signal to generate a torque command to an electric motor that applies a reaction force to the master lever, A constant initial torque command value is issued until the force signal reaches the target gripping force, a torque command value proportional to the force signal is issued after the force signal reaches the target gripping force, and the slave side chuck jaws are fully opened. When the above state is detected, a device for zero-clearing the constant initial torque command value is provided.
【0005】本発明の第2発明は、前記第1発明の具体
的構造に特徴があるものであり、スレーブマニピュレー
タの位置・姿勢および、スレーブマニピュレータ先端の
チャック爪の開口幅を制御するための位置検出器付き駆
動部を備えたマスターハンド装置において、中空円筒の
グリップ部1と、その中空部に納められた位置検出器を
備えた駆動用モーター2と、その駆動用モータ2の軸部
を逃がして駆動用モータ2上面フランジと中空円筒のグ
リップ部1上面とを固定するベース3と、そのベース3
上面の駆動用モータ2軸端に配されたギヤ4と、そのギ
ヤ4にベース3上面から垂直に取付られたピンA5によ
って回転可能に小ギヤが連結している2段ギヤA7と、
ベース3上面からギヤ4を中心にピンA5と対称に垂直
に取り付けられているピンB8に2段ギヤA7の大ギヤ
と回転可能に連結しているギヤB8と、その2段ギヤA
7とギヤB8それぞれの上面にピンA5とピンB6を軸
に回転可能に取付られた爪A9と爪B10と、回転する
爪A9のベース上面の回転動作領域内に爪A9回転時に
接触するようベース3上面に取付られたストッパ11
と、ベース3上面の爪A9と爪B10の動作領域外に垂
直に取付られたステーA12とステーB13と、ピンA
5とピンB6の上面に接触しステーA12とステーB1
3によって固定されている押さえ板14と、両爪の先端
方向にステーA12によって固定されているスイッチベ
ース15と、そのスイッチベース15にピン16によっ
て回転可能に取り付けられたトリガー17と、先端それ
ぞれをトリガー17とスイッチベース15とで固定され
ピン16外周に配されているねじりコイルバネ18と、
スイッチベース15に固定されトリガー17がピン16
中心にグリップ部1方向に回転した際トリガー17と接
触するスイッチ19とを備えたことを特徴とするもので
ある。A second aspect of the present invention is characterized by the specific structure of the first aspect of the invention. The position / posture of the slave manipulator and the position for controlling the opening width of the chuck claw at the tip of the slave manipulator. In a master hand device including a drive unit with a detector, a hollow cylindrical grip portion 1, a drive motor 2 including a position detector housed in the hollow portion, and a shaft portion of the drive motor 2 are released. And a base 3 for fixing the upper surface flange of the driving motor 2 and the upper surface of the grip 1 of the hollow cylinder, and the base 3
A gear 4 arranged on the upper end of the drive motor 2 shaft end, and a two-stage gear A7 in which a small gear is rotatably connected to the gear 4 by a pin A5 vertically attached from the upper surface of the base 3;
A gear B8 that is rotatably connected to a large gear of a two-stage gear A7 and a gear B8 that is rotatably connected to a pin B8 that is vertically installed symmetrically with respect to the pin A5 from the upper surface of the base 3 with the gear 4 as a center.
7 and the gear B8, the claw A9 and the claw B10 rotatably mounted on the upper surface of the pin A5 and the pin B6, respectively, and the base so that the claw A9 comes into contact with the rotation operation area of the base upper surface of the rotating claw A9. 3 Stopper 11 mounted on the upper surface
A stay A12 and a stay B13 that are vertically attached to the outside of the operation area of the claws A9 and B10 on the upper surface of the base 3, and the pin A.
5 and the upper surface of the pin B6 to contact the stay A12 and the stay B1.
3, the pressing plate 14 fixed by 3, the switch base 15 fixed by the stay A12 in the tip direction of both claws, the trigger 17 rotatably attached to the switch base 15 by the pin 16, and the tips respectively. A torsion coil spring 18 which is fixed to the trigger 17 and the switch base 15 and is arranged around the pin 16;
It is fixed to the switch base 15 and the trigger 17 is pin 16
It is characterized in that a switch 19 that comes into contact with the trigger 17 when it is rotated in the direction of the grip portion 1 is provided at the center.
【0006】[0006]
【作用】上記第1発明により、マスタ側の初期指令値に
よりマスタ側が最初の開いた位置に復元され、これを受
けてスレーブ側も最初の開いた位置に復元される。復元
するとその初期指令値は0になるので、マスタ側、スレ
ーブ側にも余分な力はかからず必要以上の強度は必要な
い。According to the first aspect of the invention, the master side is restored to the initial open position by the master side initial command value, and the slave side is restored to the initial open position accordingly. When restored, the initial command value becomes 0, so no extra force is applied to the master side and slave side, and no more than necessary strength is required.
【0007】上記第2発明により、スレーブ側グリッパ
の開閉は、ピンAとピンBを回転中心に爪Aと爪Bを操
作者の指で回転動作させることにより開閉し、その時の
回転角・回転速度により、グリッパの開口幅・開閉速度
を操作できる。また、スレーブ側のグリッパがワークを
把持した時には、爪Aと爪Bの回転動作中に負荷がかか
りワークの把持とその把持力を操作者に認識させる。According to the second aspect of the invention, the slave side gripper is opened and closed by rotating the claw A and the claw B around the rotation center of the pin A and the pin B with the operator's finger, and the rotation angle and rotation at that time. Depending on the speed, the opening width and opening / closing speed of the gripper can be controlled. Further, when the gripper on the slave side grips the work, a load is applied during the rotating operation of the claw A and the claw B to make the operator recognize the grip of the work and its gripping force.
【0008】[0008]
【実施例】本発明を図に示す実施例によって説明する。
図1は本発明の実施例を示す側面図、図2は本発明の実
施例を示す正面図、図3は本発明の実施例を示す上面
図、図4は図1のA−A断面に沿う断面図、図5は図2
のB−B断面に沿う断面図である。中空円筒のグリップ
部1の中空部内に位置検出器付き駆動用モータ2が軸先
端をグリップ部1上面にむけてベース3によってグリッ
プ部1の上面と駆動用モータの軸部を逃がして取り付け
てある。また、このベース3上面の駆動用モータ2の軸
端に配されたギヤ4と、そのギヤ4にベース3上面から
垂直に取り付けられたピンA5よって回転可能に小ギヤ
が連結している2段ギヤA7と、ベース3上面からギヤ
4を中心にピンA5と対称に垂直に取り付けられている
ピンB6に2段ギヤA7の大ギヤと回転可能に連結して
いるギヤB8と、その2段ギヤA7とギヤB8のそれぞ
れの上面にピンA5とピンB6を軸に回転可能に爪A9
と爪B10を取り付けてある。またピンA7を軸として
回転する爪A7のベース3上面の回転領域内に爪A7と
接触するようにストッパ11を取り付けてある。また、
ベース上面の爪A9と爪B10の回転領域外に垂直に取
り付けられたステーA12とステーB13と、ピンA7
とピンB8の上面に接触しステーA12とステーB13
の上面に押さえ板14が取り付けられている。また、両
爪の先端方向にステーA12によってスイッチベース1
5が取り付けてあり、そのスイッチベース15にピン1
6によってトリガー17が回転可能に取り付けてある。
また、先端をトリガー17とスイッチベース15それぞ
れに固定されピン外周にねじりコイルバネ18を配し、
トリガー17がピン16中心にグリップ部方向に回転し
た際トリガー17と接触するスイッチ19をスイッチベ
ース15に取り付けてある。The present invention will be described with reference to the embodiments shown in the drawings.
1 is a side view showing an embodiment of the present invention, FIG. 2 is a front view showing an embodiment of the present invention, FIG. 3 is a top view showing an embodiment of the present invention, and FIG. 4 is a sectional view taken along line AA of FIG. FIG. 5 is a sectional view taken along FIG.
It is sectional drawing which follows the BB cross section of FIG. A drive motor 2 with a position detector is mounted in the hollow portion of the hollow cylindrical grip portion 1 with the tip of the shaft facing the upper surface of the grip portion 1 so that the upper surface of the grip portion 1 and the shaft portion of the drive motor are escaped by a base 3. . In addition, a small gear rotatably connected to a gear 4 arranged on the shaft end of the drive motor 2 on the upper surface of the base 3 and a pin A5 vertically attached to the gear 4 from the upper surface of the base 3 so as to be rotatable. The gear A7, a gear B8 that is rotatably connected to the large gear of the two-stage gear A7, and a pin B6 that is vertically mounted from the top surface of the base 3 symmetrically with the pin A5 about the gear 4 and its two-stage gear. Pins A5 and B6 are rotatably provided on the upper surfaces of A7 and gear B8, respectively.
And a nail B10 are attached. Further, a stopper 11 is attached within the rotation region of the upper surface of the base 3 of the claw A7 rotating about the pin A7 so as to come into contact with the claw A7. Also,
A stay A12 and a stay B13 vertically attached to the outside of the rotation area of the claws A9 and B10 on the upper surface of the base, and a pin A7.
And the upper surface of the pin B8 to contact the stay A12 and stay B13.
The pressing plate 14 is attached to the upper surface of the. In addition, the switch base 1 is provided by the stay A12 in the tip direction of both the claws.
5 is attached, and pin 1 is attached to the switch base 15.
A trigger 17 is rotatably attached by means of 6.
Further, the tip is fixed to the trigger 17 and the switch base 15, and the torsion coil spring 18 is arranged around the pin.
A switch 19 is attached to the switch base 15 so as to come into contact with the trigger 17 when the trigger 17 rotates around the pin 16 toward the grip portion.
【0009】図6は本発明のマスターハンド装置のステ
ー21上面に磁気センサを配した使用例を示す斜視図、
図7は本発明の力覚付きマスターハンド装置のステー2
1上面に磁気センサを配して、スレーブ側マニピュレー
タとグリッパを操作した際の使用例を示す斜視図、図8
は本発明のマスターハンド装置のフランジ211にマス
ターアームを取り付けた実施例を示す斜視図である。図
9は本発明とスレーブ側グリッパの動作を制御するため
の制御部を示すブロック図、図10はスレーブ側グリッ
パのチャック爪42部の圧覚センサ38がワーク27に
当接してから出力される圧覚信号gと、本発明の駆動用
モータにトルクを発生させるためのトルク指令hを示す
図である。FIG. 6 is a perspective view showing a usage example in which a magnetic sensor is arranged on the upper surface of the stay 21 of the master hand device of the present invention,
FIG. 7 shows a stay 2 of the master hand device with force sense according to the present invention.
8 is a perspective view showing an example of use when a magnetic sensor is arranged on the upper surface and a slave side manipulator and a gripper are operated.
FIG. 3 is a perspective view showing an embodiment in which a master arm is attached to a flange 211 of the master hand device of the present invention. FIG. 9 is a block diagram showing the present invention and a control unit for controlling the operation of the slave side gripper, and FIG. 10 is a pressure sense output after the pressure sensor 38 of the chuck claw 42 of the slave side gripper contacts the work 27. It is a figure which shows the signal g and the torque command h for generating torque in the drive motor of this invention.
【0010】操作者がマスターハンドを使用してスレー
ブ側グリッパの操作を行う時は、図6と図8に示すよう
に親指と人差し指をそれぞれ爪A9と爪B10の外側側
面に沿え、中指はトリガー17に沿え、薬指と小指でグ
リップ部1を把持する。トリガー17を手前に引くこと
で力覚付きマスタハンド装置を有効にし、親指と人差し
指で爪A9と爪B10を矢印a方向に回転させることに
より2段ギヤA7の大ギヤとギヤB8が回転し、2段ギ
ヤA7の小ギヤと連結しているギヤ4が回転し駆動用モ
ータ2を回転させ、駆動用モータ2付属のマスター側位
置検出器31より位置指令fをスレーブ側グリッパの目
標位置の演算器32を通してスレーブ側グリッパ制御部
の位置制御回路33に入力し、移動機構目標設定速度信
号dは後段のドライバー回路34へ指令として加えら
れ、予め設定された範囲内のスレーブ側パワーe′を出
力し、スレーブ側グリッパの駆動部35によって伝達機
構36´をへて、チャック爪を閉じる方向へ駆動させ
る。また、スレーブ側グリッパがワーク27を把持した
際、チャック爪42部の圧覚センサ38によって把持力
を検出し、その圧覚信号gを駆動用モータの発生トルク
演算器39を通して、力覚付きマスターハンドの電流制
御回路29へトルク指令hとして加え、マスター側パワ
ーeを出力し、駆動用モータ30を爪A9と爪B10が
b方向に回転する方向へ駆動させる。操作者は、爪A9
と爪B10をa方向へ回転中に回転負荷の増加からチャ
ック爪42がワーク27を把持したことを認識すること
が可能である。When the operator uses the master hand to operate the gripper on the slave side, as shown in FIGS. 6 and 8, the thumb and forefinger are along the outer side surfaces of the nail A9 and the nail B10, respectively, and the middle finger is the trigger. Along 17, the grip part 1 is grasped by the ring finger and the little finger. The master hand device with force sense is activated by pulling the trigger 17 toward you, and the large gear and the gear B8 of the two-stage gear A7 are rotated by rotating the nail A9 and the nail B10 with the thumb and forefinger in the arrow a direction. The gear 4 connected to the small gear of the two-stage gear A7 rotates to rotate the drive motor 2, and the master side position detector 31 attached to the drive motor 2 calculates the position command f to calculate the target position of the slave side gripper. Input to the position control circuit 33 of the slave side gripper control unit, the moving mechanism target set speed signal d is added as a command to the driver circuit 34 in the subsequent stage, and the slave side power e ′ within the preset range is output. Then, the drive mechanism 35 of the slave gripper moves the transmission mechanism 36 'to drive the chuck claws in the closing direction. Further, when the slave gripper grips the work 27, the gripping force is detected by the pressure sensor 38 of the chuck claw 42, and the pressure signal g is passed through the torque generator 39 of the drive motor to generate the force sensed master hand. In addition to the torque command h as the torque command h, the master side power e is output to drive the drive motor 30 in the direction in which the claw A9 and the claw B10 rotate in the b direction. The operator has a nail A9
It is possible to recognize that the chuck claw 42 grips the work 27 from the increase of the rotation load while rotating the claw B10 in the direction a.
【0011】さらに爪A9と爪B10をa方向へ回転さ
せるとマスター側位置検出器31からの位置指令fがス
レーブ側の目標位置の演算器32を通してスレーブ側グ
リッパ装置部の位置制御回路33に入力され、チャック
爪42を閉じる方向へ駆動させる。しかし、ワーク27
によってチャック爪42が閉じる方向に駆動できない場
合、目標設定位置信号cと移動機構位置信号fとに位置
誤差が生じる。その位置誤差は位置制御回路33によっ
て増幅され、後段のドライバー回路34へ移動機構目標
設定速度信号dとして加えられ、予め設定された範囲内
のパワー値までスレーブ側パワーe′を出力し、スレー
ブ側グリッパの把持力を増加させる。それに伴い、圧覚
センサ38からの圧覚信号gも増加し、それに伴って、
トルク指令が図10に示すように増加し、電流制御回路
29よりさらに増加したマスター側パワーeが出力さ
れ、駆動用モータ30のトルクが増加する。それによっ
て、マスターハンド装置の爪A9と爪B10の回転負荷
もさらに増加する。操作者は回転負荷のさらなる増加か
ら把持力増加を認識することができる。When the claws A9 and B10 are further rotated in the direction a, the position command f from the master side position detector 31 is input to the position control circuit 33 of the slave side gripper device unit through the calculator 32 of the slave side target position. Then, the chuck claw 42 is driven in the closing direction. However, work 27
When the chuck claw 42 cannot be driven in the closing direction by the above, a position error occurs between the target setting position signal c and the moving mechanism position signal f. The position error is amplified by the position control circuit 33, added to the driver circuit 34 in the subsequent stage as the moving mechanism target set speed signal d, and the slave side power e ′ is output up to the power value within the preset range. Increase gripping force of gripper. Along with that, the pressure signal g from the pressure sensor 38 also increases, and accordingly,
The torque command increases as shown in FIG. 10, and the increased master side power e is output from the current control circuit 29, and the torque of the drive motor 30 increases. Thereby, the rotational load of the claw A9 and the claw B10 of the master hand device is further increased. The operator can recognize the increase in the gripping force from the further increase in the rotational load.
【0012】また、マスターハンドの駆動用モータに
は、爪A9と爪B10が常にb方向へ回転するように図
10に示すトルク指令値の指令初期値を設定しておき、
操作者が爪A9と爪B10の外側側面から指を放してい
る時は、爪A9がストッパ11と接触する角度θまでb
方向へ回転する。また、駆動用モータの発生トルク演算
器39は、爪Aと爪Bが角度θまで開いた状態の位置信
号をマスター側位置検出器31からの移動機構位置信号
fによって記憶・監視し、爪が角度θまで開くと図10
の指令初期値を0にする制御回路を備え、駆動用モータ
2の駆動を停止させる。Further, a command initial value of the torque command value shown in FIG. 10 is set in the drive motor of the master hand so that the claw A9 and the claw B10 always rotate in the b direction.
When the operator is releasing the fingers from the outer side surfaces of the nail A9 and the nail B10, the angle b at which the nail A9 contacts the stopper 11 is b.
Rotate in the direction. Further, the generated torque calculator 39 of the drive motor stores and monitors the position signal of the state in which the claw A and the claw B are opened to the angle θ by the moving mechanism position signal f from the master side position detector 31, and Fig. 10 when opened to the angle θ
The control circuit for setting the command initial value of 0 to 0 is provided, and the drive of the drive motor 2 is stopped.
【0013】また、爪A9と爪B10の回転角度θはス
トッパ11のベース3上面への取り付け位置によって調
節可能になっている。本発明は単体のみならず、図7 や
図8に示すようなマニピュレータを操作するための磁気
センサなどの位置センサやマスターアームなどの機器を
配して使用するものである。位置検出器付き駆動用モー
タ2の駆動は回転駆動に限らず、リニアモータや電磁ソ
レノイドなどの直線駆動機器も含む。爪A9と爪B10
はピンを中心とする回転機構のみならず、ガイドとブッ
シュを要した平行移動する機構も含む。The rotation angle θ of the claw A9 and the claw B10 can be adjusted by the mounting position of the stopper 11 on the upper surface of the base 3. The present invention is used not only as a single unit but also as a position sensor such as a magnetic sensor for operating a manipulator as shown in FIGS. 7 and 8 and a device such as a master arm. The drive of the drive motor 2 with the position detector is not limited to the rotary drive, but includes linear drive devices such as a linear motor and an electromagnetic solenoid. Claw A9 and Claw B10
Includes not only a rotating mechanism around a pin but also a parallel moving mechanism that requires a guide and a bush.
【0014】[0014]
【発明の効果】以上述べたように、本発明によれば、マ
スタ側の初期指令値によりマスタ側が最初の開いた位置
に復元され、これを受けてスレーブ側も最初の開いた位
置に復元される、復元するとその初期指令値は0になる
ので、マスタ側、スレーブ側にも余分な力はかからない
ので装置の大型化・必要以上の強度を必要としない。ま
た、スレーブ側グリッパ装置の開閉は、ピンAとピンB
を回転中心に爪Aと爪Bを操作者の指で矢印a方向に回
転動作させることにより閉じ、爪Aと爪Bから指を放す
と矢印b方向に一定速度で回転し開く。その時の回転角
・回転速度により、スレーブ側グリッパ装置の開口幅・
開閉速度を操作できる。また、スレーブ側のグリッパが
ワークを把持した時には、爪Aと爪Bの回転動作中に負
荷がかかりワークを把持したことを力覚によって操作者
に知らせる。これによって、スレーブ側のグリッパを、
操作者任意の開口幅・開閉速度・把持力で開閉可能にし
たので操作性の向上に大きく貢献するものである。As described above, according to the present invention, the master side is restored to the first opened position by the initial command value on the master side, and the slave side is restored to the first opened position accordingly. Since the initial command value becomes 0 when restored, no extra force is applied to the master side and the slave side, so that the size of the device is not increased and unnecessary strength is not required. Further, opening and closing of the slave side gripper device is performed by pin A and pin B.
The claw A and the claw B are closed by rotating the claw A and the claw B in the direction of the arrow a with the operator's finger, and when the fingers are released from the claw A and the claw B, the claw A and the claw B are rotated and opened in the direction of the arrow b at a constant speed. Depending on the rotation angle and rotation speed at that time, the opening width of the gripper device on the slave side
You can control the opening and closing speed. Further, when the gripper on the slave side grips the work, the operator is informed by force that the load is applied during the rotating operation of the claw A and the claw B and the work is gripped. By this, the gripper on the slave side,
Since it can be opened and closed with any opening width, opening and closing speed, and gripping force of the operator, it greatly contributes to the improvement of operability.
【図1】 本発明の実施例を示す側面図である。FIG. 1 is a side view showing an embodiment of the present invention.
【図2】 本発明の実施例を示す正面図である。FIG. 2 is a front view showing an embodiment of the present invention.
【図3】 本発明の実施例を示す上面図である。FIG. 3 is a top view showing an embodiment of the present invention.
【図4】 図1に示すA−A断面に沿う断面図である。4 is a cross-sectional view taken along the line AA shown in FIG.
【図5】 図2に示すB−B断面に沿う断面図である。5 is a cross-sectional view taken along the line BB shown in FIG.
【図6】 本発明の他の実施例を示す斜視図である。FIG. 6 is a perspective view showing another embodiment of the present invention.
【図7】 本発明の他の実施例を示す斜視図である。FIG. 7 is a perspective view showing another embodiment of the present invention.
【図8】 本発明の他の実施例を示す斜視図である。FIG. 8 is a perspective view showing another embodiment of the present invention.
【図9】 本発明の一例を示す制御ブロック図である。FIG. 9 is a control block diagram showing an example of the present invention.
【図10】 図9の駆動用モータの発生トルク演算器3
9の動作説明図図である。FIG. 10 is a generated torque calculator 3 for the drive motor shown in FIG.
It is operation explanatory drawing figure of 9.
1 グリップ部、2 駆動用モータ、3 ベース、4
ギヤ、5 ピンA、6ピンB、7 2段ギヤA、8 ギ
ヤB、9 爪A、10 爪B、11 ストッパ、12
ステーA、13 ステーB、14 押さえ板、15 ス
イッチベース、16 ピン、17 トリガー、18 ね
じりコイルバネ、19 スイッチ、20磁気センサ、2
1 ステー、211 フランジ、22 操作者の右手、
23磁気センサソース、24 操作者、25 マニュピ
レータ、26 グリッパ、27 ワーク、28 マスタ
ーアーム、29 電流制御回路、30 駆動用モータ、
31 マスター側位置検出器、31′スレーブ側位置検
出器、32 スレーブ側グリッパの目標位置の演算器、
33 位置制御回路、34 ドライバー回路、35 駆
動部、36 マスター側伝達機構、36′スレーブ側伝
達機構、37チャック爪開閉、38 圧覚センサ、39
駆動用モータの発生トルク演算器、40 爪のb方向
の回転、41 爪のa方向の回転、42 チャック爪、
100マスターハンド、c 目標設定位置信号、d 移
動機構目標設定速度信号、eマスター側パワー、e′ス
レーブ側パワー、f 移動機構位置信号、g 圧覚信
号、h トルク指令、i 指に与える負荷、j 指によ
る負荷1 grip part, 2 drive motor, 3 base, 4
Gear, 5 pin A, 6 pin B, 7 2nd gear A, 8 gear B, 9 claw A, 10 claw B, 11 stopper, 12
Stay A, 13 Stay B, 14 Holding plate, 15 switch base, 16 pin, 17 trigger, 18 torsion coil spring, 19 switch, 20 magnetic sensor, 2
1 stay, 211 flange, 22 operator's right hand,
23 magnetic sensor source, 24 operator, 25 manipulator, 26 gripper, 27 work, 28 master arm, 29 current control circuit, 30 drive motor,
31 master side position detector, 31 'slave side position detector, 32 target position calculator of slave side gripper,
33 position control circuit, 34 driver circuit, 35 drive unit, 36 master side transmission mechanism, 36 'slave side transmission mechanism, 37 chuck claw opening / closing, 38 pressure sensor, 39
Torque generator for driving motor, 40 claw rotation in b direction, 41 claw rotation in a direction, 42 chuck claws,
100 master hand, c target setting position signal, d moving mechanism target setting speed signal, e master side power, e'slave side power, f moving mechanism position signal, g pressure signal, h torque command, i load applied to finger, j Finger load
Claims (3)
ブ側チャック爪の先端に力センサを設け、その力信号を
マスタレバーに帰還させてマスタレバーに反力を発生さ
せるマスターハンド装置において、 前記力信号を入力し、前記マスタレバーへの反力を付与
する電動機へのトルク指令を発生するトルク演算器であ
って、前記力信号が目標把持力に達するまでは一定の初
期トルク指令値を発し、前記力信号が目標把持力に達し
た後は力信号に比例するトルク指令値を発し、かつスレ
ーブ側チャック爪が開ききった状態を検知すると前記一
定の初期トルク指令値をゼロクリアするものを設けたこ
とを特徴とするマスターハンド装置。1. A master hand device for providing a force sensor at the tip of a slave side chuck claw for gripping an object by opening and closing, and returning the force signal to the master lever to generate a reaction force at the master lever. A torque calculator that inputs a signal and generates a torque command to an electric motor that applies a reaction force to the master lever, and outputs a constant initial torque command value until the force signal reaches a target gripping force, After the force signal reaches the target gripping force, a torque command value that is proportional to the force signal is emitted, and a device that zero-clears the constant initial torque command value when the state where the slave chuck jaws are fully opened is detected is provided. A master hand device characterized in that
よび、スレーブマニピュレータ先端のチャック爪の開口
幅を制御するための位置検出器付き駆動部を備えたマス
ターハンド装置において、 中空円筒のグリップ部1と、 その中空部に納められた位置検出器を備えた駆動用モー
ター2と、 その駆動用モータ2の軸部を逃がして駆動用モータ2上
面フランジと中空円筒のグリップ部1上面とを固定する
ベース3と、 そのベース3上面の駆動用モータ2軸端に配されたギヤ
4と、 そのギヤ4にベース3上面から垂直に取付られたピンA
5によって回転可能に小ギヤが連結している2段ギヤA
7と、 ベース3上面からギヤ4を中心にピンA5と対称に垂直
に取り付けられているピンB8に2段ギヤA7の大ギヤ
と回転可能に連結しているギヤB8と、 その2段ギヤA7とギヤB8それぞれの上面にピンA5
とピンB6を軸に回転可能に取付られた爪A9と爪B1
0と、 回転する爪A9のベース上面の回転動作領域内に爪A9
回転時に接触するようベース3上面に取付られたストッ
パ11と、 ベース3上面の爪A9と爪B10の動作領域外に垂直に
取付られたステーA12とステーB13と、 ピンA5とピンB6の上面に接触しステーA12とステ
ーB13によって固定されている押さえ板14と、 両爪の先端方向にステーA12によって固定されている
スイッチベース15と、 そのスイッチベース15にピン16によって回転可能に
取り付けられたトリガー17と、 先端それぞれをトリガー17とスイッチベース15とで
固定されピン16外周に配されているねじりコイルバネ
18と、 スイッチベース15に固定されトリガー17がピン16
中心にグリップ部1方向に回転した際トリガー17と接
触するスイッチ19とを備えたことを特徴とするマスタ
ーハンド装置。2. A master hand device having a position detector-equipped drive unit for controlling the position / orientation of a slave manipulator and the opening width of a chuck claw at the tip of the slave manipulator. A drive motor 2 provided with a position detector housed in a hollow portion, and a base 3 for fixing the drive motor 2 upper surface flange and the hollow cylindrical grip portion 1 upper surface by allowing the shaft portion of the drive motor 2 to escape. , A gear 4 arranged at the shaft end of the drive motor 2 on the upper surface of the base 3, and a pin A vertically attached to the gear 4 from the upper surface of the base 3.
Two-stage gear A in which a small gear is rotatably connected by 5
7, a gear B8 that is rotatably connected to the large gear of the two-stage gear A7 to a pin B8 that is vertically installed symmetrically with the pin A5 from the upper surface of the base 3 and the two-stage gear A7. And pin A5 on top of each gear B8
Claw A9 and Claw B1 rotatably mounted around the pin and pin B6
0, and the claw A9 is placed in the rotation operation area on the upper surface of the base of the rotating claw A9.
The stopper 11 mounted on the upper surface of the base 3 so as to be in contact with the base 3 at the time of rotation, the stay A12 and stay B13 mounted vertically outside the operating area of the claws A9 and B10 on the upper surface of the base 3, and the upper surfaces of the pins A5 and B6. A pressing plate 14 that comes into contact with each other and is fixed by stays A12 and B13, a switch base 15 that is fixed by stays A12 in the tip direction of both pawls, and a trigger rotatably attached to the switch base 15 by pins 16. 17, a torsion coil spring 18 fixed to the outer periphery of the pin 16 with the tip fixed to the trigger 17 and the switch base 15, and the trigger 17 fixed to the switch base 15 to the pin 16
A master hand device comprising a switch 19 that comes into contact with the trigger 17 when the grip unit 1 rotates in the direction of the center.
ュレータを操作するための磁気センサなどの位置センサ
を取り付けるためのステー21を上面に配しているか、
またはグリップ部下部にマスターアーム取り付け用のフ
ランジ211を配したことを特徴とする請求項2に記載
のマスターハンド装置。3. The pressing plate 14 has a stay 21 for mounting a position sensor such as a magnetic sensor for operating the slave side manipulator on its upper surface,
3. The master hand device according to claim 2, wherein a flange 211 for attaching the master arm is arranged on the lower portion of the grip portion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6774894A JPH07246578A (en) | 1994-03-11 | 1994-03-11 | Master hand device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6774894A JPH07246578A (en) | 1994-03-11 | 1994-03-11 | Master hand device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH07246578A true JPH07246578A (en) | 1995-09-26 |
Family
ID=13353881
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6774894A Pending JPH07246578A (en) | 1994-03-11 | 1994-03-11 | Master hand device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH07246578A (en) |
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