JPH0736205U - Simple operating device for articulated arms - Google Patents

Abstract

(57) [Abstract] [Purpose] Unlike a conventional lever operation, a simple operation device for an articulated arm that has the effect of enabling sensuous driving and not requiring a particularly high level of skill For the purpose of provision. [Structure] A multi-joint arm with an angle detector attached to each joint, a scale model of the multi-joint arm attached to the operation room, and a signal to detect and follow the difference in joint angle corresponding to each by a computer Is configured to deliver.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a simple operating device for an articulated arm that can simplify the operation of an articulated arm that requires advanced and skilled technology.

[0002]

[Prior art]

 Conventionally, articulated arms are operated by operating devices such as levers and switches for each arm.

[0003]

[Problems to be solved by the device]

 The conventional techniques described above have the following problems. The conventional operation of an articulated arm has many parts that are incompatible with the sense of the operator, and it requires a high level of skill and skill, which is a cause of work difficulty and a shortage of operators.

The present application has been made in view of such problems of the conventional technique, and an object of the present application is to provide the following things. A multi-joint arm that has an angle detector attached to each joint, a scale model of the multi-joint arm that is also attached to the operation room, and a signal to detect and follow the difference in joint angle corresponding to each by a computer. Is configured to deliver.

[0005]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention is as follows. That is, in the case of the present application, the computer operates the scale model of the multi-joint arm mounted in the operation room to operate the multi-joint arm so that the computer can detect the difference between the scale model of the multi-joint arm and the rotary encoder, etc. It is a simple operating device for an articulated arm configured to send a signal so as to cause the articulated arm side to follow the scale model side of the articulated arm, which is detected by the angle detector.

[0006]

【Example】

 Examples will be described with reference to the drawings. Reference numeral 1 denotes a simple operating device for an articulated arm, which is similar to the articulated arm 2A of a known mower 2 and the articulated arm arranged in an operation room 2E of the mower 2. The scale model 3 of the joint arm. Therefore, the articulated arm 2A includes a boom 2A2 that is connected to the mowing vehicle 2 by a first pin 2A1 that is parallel to the traveling direction of the mowing vehicle, and a second pin 2A3 that is parallel to the first pin at the tip of the boom. It is composed of a connected arm 2A4 and a known mowing device 2A6 connected to the tip of this arm by a third pin 2A5 parallel to the second pin.

Further, a first hydraulic cylinder 2B is provided between the mowing vehicle 2 and the boom 2A2, and a second hydraulic cylinder 2C is provided between the boom 2A2 and the arm 2A4, and the arm 2A4 and the mowing device 2A6 are provided. The third hydraulic cylinders 2D are respectively disposed between them. The first pin 2A1, the second pin 2A3, and the third pin 2A5 are provided with angle detectors 2A11, 2A31, 2A51 such as first, second, and third rotary encoders that detect the angle difference of the joints. ing.

On the other hand, the scale model 3 of the articulated arm has a boom-corresponding rod 3C connected to a first pin 3B planted in the left corner of a base 3A having a predetermined size, and a first rod at the tip of the boom-corresponding rod 3C. It is composed of an arm-corresponding rod 3E connected by a second pin 3D parallel to the 1st pin, and a mowing device-corresponding rod 3G connected to the tip of the arm-corresponding rod by a third pin 3F parallel to the second pin. The first pin 3B, the second pin 3D, and the third pin 3F are provided with angle detectors 3B1, 3D1, and 3F1 such as first, second, and third rotary encoders that detect the angle difference of the joints. There is. In the figure, 3D11 is a coupling, 3D12 is a limiter fixed to the shaft, 3D13 is a limiting pin fixed to the arm-corresponding rod, and 3D14 is a shaft fixed to the boom-corresponding rod.

Further, the scale model of the multi-joint arm is configured to have a mechanism that can be freely moved by an external force. Furthermore, regarding the relationship between the articulated arm 2A and the scale model 3 of the articulated arm, when the scale model 3 of the articulated arm is operated, the computer 4 causes the articulated arm 2A and the scale model 3 of the articulated arm to move. The difference is detected by an angle detector such as a rotary encoder, and a signal is sent to the hydraulic valve 5 of the multi-joint arm 2A to operate so that the multi-joint arm 2A side follows the scale model 3 side of the multi-joint arm. Has been done.

FIG. 10 is a control program flow chart for an articulated arm using a mower as an example. In this case, the cylinder is a return cylinder, and the hydraulic (electromagnetic) valve is stopped by an electric signal, and the forward, reverse, and forward directions are used. The precondition is to use a directional control valve that can switch between.

The present invention operates as follows. When the scale model 3 of the articulated arm (supporting the rod 3G corresponding to the mowing device) is operated in the operation room, the computer 4 is always attached to each joint of the articulated arm 2A and the scale model 3 of the articulated arm. An angle detector such as a rotary encoder detects the angle difference between the corresponding joints, and sends a signal to the hydraulic valve of the multi-joint arm 2A so as to eliminate the difference from the scale model 3 of the multi-joint arm. .

[0012]

[Effect of device]

 Since the present invention is configured as described above, it has the following effects. For the operation of the multi-joint arm, the operator can move the scale model of the multi-joint arm installed in the operation room so that the multi-joint arm can follow the movement of the scale model. As a result, unlike the conventional lever operation, it is possible to drive with a sensation, and it is possible to eliminate the troublesomeness of work and the shortage of operators without requiring any special skill.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing an example of use of the present invention.

FIG. 2 is a perspective view of a scale model of an articulated arm.

FIG. 3 is a front view in which a part of the above is cut away.

FIG. 4 is an exploded perspective view of a main part in FIG.

FIG. 5 is a schematic plan view illustrating a usage state of a scale model of an articulated arm.

FIG. 6 is a schematic front view for explaining the operation of the multi-joint arm corresponding to the above.

FIG. 7 is a schematic plan view illustrating a usage state of a scale model of an articulated arm.

FIG. 8 is a schematic front view for explaining the operation of the multi-joint arm corresponding to the above.

FIG. 9 is a block diagram of the present invention.

FIG. 10 is a flow chart of a control program for an articulated arm using a mower as an example.

[Explanation of symbols]

 1 Simple operation device for multi-joint arm 2 Mower 2A Multi-joint arm 2A11, 2A31, 2A51 Angle detector 3 Scale model of multi-joint arm 3B1, 3D1, 3F1 Angle detector 4 Computer 5 Hydraulic valve

Claims (1)

[Scope of utility model registration request] 1. The computer operates a scale model of the multi-joint arm mounted in the operation room to operate the multi-joint arm so that the computer detects the difference between the multi-joint arm and the scale model of the multi-joint arm by a rotary encoder or the like. A simple operation device for an articulated arm, which is configured to be operated by sending a signal detected by an angle detector so that the articulated arm side follows the scale model side of the articulated arm.