JPH0857779A - Remote operating device - Google Patents

Abstract

PURPOSE: To provide the structure of master hand mechanism without needing to constrain a hand to master hand mechanism and that with desirable operability in a master-slave system remote operating device. CONSTITUTION: Master hand mechanism is provided with a spherical body 20 rotatably around three mutually orthogonal axes, and a pair of sticks 21, 22 supported on the spherical body 20 in such a way as to be closably operated by the fingers of one hand. The rotating quantity of the spherical body 20 and the opening/closing operation quantity of a pair of sticks are detected, and the object grip action of slave hand mechanism is controlled on the basis of the detection.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a master-slave type remote control device for gripping an object by causing a slave hand mechanism having an object gripping function to operate following the operation of the master hand mechanism.

[0002]

2. Description of the Related Art In a master / slave type remote control device for gripping an object, a master hand mechanism having the same degree of freedom as the slave hand mechanism is constructed, and the master hand mechanism is operated to operate the slave hand mechanism. The operation is delicately controlled.

For example, in a master hand mechanism (Japanese Patent Publication No. 6-37035) shown in FIG. 18, an arm of an operator is operated as a base member (200) in order to operate a slave hand mechanism (not shown) by following the movement of an operator's hand. ), Insert each fingertip into the corresponding master fingertip piece (201) (202) (203), and move the movement of each master fingertip piece with the potentiometer (204) ~
It is detected by (212). In the master hand mechanism, the operator moves the arm to move the base member (20
By displacing 0) in the XYZ directions, the slave hand mechanism moves in the XYZ directions following this, and the object gripper is positioned.

Then, the operator keeps his arm still and moves his / her fingertip as if he / she is grasping an actual object, and the master fingertip pieces (201) (202) (203) are displaced to follow this. The object gripping portion of the slave hand mechanism performs a gripping operation to grip the object.

By the way, FIG. 17 shows a showcase vendor (100) proposed by the applicant. The showcase vendor (100) has a large number of products in a closed case (101).
(104) is stored and displayed, and a master / slave remote control device for taking out a desired product (104) is provided, and the product (104) is sold by the purchaser's own operation. is there. The remote control device comprises a slave (55) having an object gripping function at the tip of a robot arm (103) capable of positioning in the XYZ axes, and a master (1) operated to operate the slave (55). And a control circuit (not shown) for controlling the slave (55) and the master (1).

If the master hand mechanism shown in FIG. 18 is adopted as the master (1), the movement of the operator's hand can be delicately detected and reflected faithfully in the movement of the slave (55). Yes, it is possible to securely grasp the object.

[0007]

However, as shown in FIG.
The master hand mechanism shown in (1) has a problem of poor operability because it is necessary to move the arm or each fingertip in response to the object gripping operation of the slave while the arm or each fingertip is constrained by the master hand mechanism. Further, particularly in the showcase vendor (100) as shown in FIG. 17, the purchaser who is the operator performs the operation while switching, so the work of attaching and detaching the arm and fingertip to the master arm as shown in FIG. It becomes complicated and there are practical problems.

It is an object of the present invention to provide a master-hand mechanism which does not require a hand to be restrained by the master-hand mechanism in a master-slave type remote control device and has good operability.

[0009]

In a remote control device according to the present invention, a master hand mechanism includes a rotating member which is rotatably supported on an operation table about two axes or three axes orthogonal to each other. An operating member is supported on the rotating member so as to be opened and closed by a finger of one hand. The rotation amount of the rotating member around the plurality of axes is detected by the first sensor means, and the opening / closing operation amount of the operating member is detected by the second sensor means, and the detection signals of the first and second sensor means are detected. The object gripping operation of the slave hand mechanism is controlled based on the.

In a specific configuration, the rotating member is formed on a sphere (20) rotatably supported about two axes or three axes orthogonal to each other, and the operating member is provided on the surface of the sphere (20). Consists of a pair of sticks (21) (22) that are swingably supported inside the opened operation window (20a) and that should be opened and closed by inserting the thumb of the operating hand and at least one other finger. Has been done. The control circuit for controlling the slave hand mechanism and the master hand mechanism is configured to follow the rotation of the rotating member about the plurality of axes and rotate the wrist portion of the slave hand mechanism about the plurality of axes orthogonal to each other. Second means for opening and closing the object gripping part of the slave hand mechanism by following the opening and closing operations of the pair of sticks (21) and (22).
And control means.

In another remote control device according to the present invention,
The master hand mechanism includes a rotating member rotatably supported on the operation console about two axes or three axes orthogonal to each other.
An operating member is supported on the rotating member so as to be opened and closed by being held by both hands. The rotation amount of the rotating member around the plurality of axes is detected by the first sensor means, and the opening / closing operation amount of the operating member is detected by the second sensor means, and the detection signals of the first and second sensor means are detected. The object gripping operation of the slave hand mechanism is controlled based on the.

In a specific configuration, the operating member is supported immovably on the rotating member, and is swingably supported on the rotating member and the first operating rod to be grasped by one hand. And a second operating rod to be grasped by the other hand. Further, the control circuit follows the rotation of the rotating member around the plurality of axes, and rotates the wrist portion of the slave hand mechanism around the plurality of axes orthogonal to each other, and the first and second operating rods. Second opening and closing of the object gripping part of the slave hand mechanism by following the opening and closing operation of the second
And control means.

[0013]

In the above remote control device, the operator places the palm of one hand to be operated on the rotating member and engages the finger of the hand with the operating member. In this state, the hand is moved back and forth and left and right to rotate the rotating member about two axes or about three axes. For example, the wrist portion of the slave hand mechanism is rotated about two axes or about three axes, and the slave hand is rotated. The posture of the mechanism changes. Here, the object gripping part of the slave hand mechanism faces the target object, and the slave hand mechanism is moved to the posture immediately before the object gripping is possible. After that, by opening and closing the fingers of the operating hand, the object gripping portion of the slave hand mechanism is opened and closed to grip the object.

In a specific structure in which the rotating member is formed on the sphere (20), the thumb of the hand is operated on the surface of the sphere (20) while the palm of the hand to be operated is in contact with the surface of the sphere (20). Window (2
Insert one stick (21) from 0a) and insert another finger into the other stick (22) from the operation window (20a). In this state, the operating hand is moved to rotate the sphere (20), and the finger is further moved to open and close the pair of sticks (21) and (22), thereby operating the slave hand mechanism and grasping the object.

In a remote control device having another structure as described above,
The operator holds the operating member with both hands to operate. In this state, without moving both hands open and close,
By moving the rotary member about two axes or about three axes by moving it back and forth and left and right, for example, the wrist of the slave hand mechanism rotates about two axes or about three axes, and the orientation of the slave hand mechanism changes. . Here, the slave hand mechanism is operated until the posture immediately before the object can be gripped by the slave hand mechanism. After that, by opening and closing both hands, the object gripping portion of the slave hand mechanism is opened and closed to grip the object.

In a specific configuration in which the operating member is composed of two operating rods, the rotating member is biaxially moved by applying a force to the first operating rod which is immovably supported on the rotating member. It can be easily rotated around or about 3 axes. Further, by applying a force to the swingable second operating rod with the first operating rod as a fulcrum, both operating rods can be easily opened and closed.

[0017]

According to the remote control device of the present invention, the operating hand is placed on the rotating member and the fingers of the hand are engaged with the operating member, or both the operating hands are operated. Since it is possible to control the operation of the slave hand mechanism having at least three degrees of freedom while holding the member,
It is not necessary to bind the hand to the master hand mechanism as in the conventional case. However, since the operating hand is placed on the rotating member or the operating member is held by both hands to perform the operation, stable operation is possible and the operability is good.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Two examples in which the present invention is applied to the showcase vendor (100) of FIG. 17 will be described in detail below with reference to the drawings. In FIG. 17, the slave (55) is configured by attaching a known object gripping hand (slave hand mechanism) to the tip of the robot arm (103) capable of positioning in the XYZ axis directions. Object gripping hands are generally
As shown in FIG. 16, degrees of freedom C ₁ , C ₂ , and C ₃ around the three axes in the wrist and the first finger first joint in the object gripping portion
And freedom C ₄ in (55a), has a degree of freedom C ₅ in the second finger second joint (55c), a total of six degrees of freedom degrees of freedom C ₆ in the second finger first joint (55b) However, in practice, the degree of freedom may be reduced depending on the purpose of the operation.

In the following first embodiment, the second finger second joint (5
One of the degrees of freedom C ₅ in 5c) and the degree of freedom C ₆ in the second finger first joint (55b) is constrained to make a total of 5 degrees.
The target is a slave hand mechanism having a degree of freedom.
In the second embodiment, the degree of freedom C ₃ of the wrist and the degree of freedom C _{4 of} the first finger first joint (55a) are constrained, and a slave hand mechanism having a total of 4 degrees of freedom is targeted. There is.

First Embodiment In the master (1) shown in FIG. 1, a robot arm (103) constituting the slave (55) is mounted on an operation console (10) by an X-axis.
A first joystick (11) for moving and positioning in the axial direction and the Y-axis direction, and a second joystick (12) for moving and positioning in the Z-axis direction are provided.

Further, a master hand mechanism is provided on the operation console (10).
As (2), three axes A ₁ of the sphere (20) orthogonal to each other,
The sphere (20) is rotatably supported around A ₂ and A _3.
Inside the operation window (20a) opened on the surface, the first cylindrical stick (21) into which the thumb of the operating hand is to be inserted and the other first to four fingers are to be inserted. Second stick (22)
Are two axes A which are perpendicular to the A ₃ axis and parallel to each other.
_It is swingably supported around ₄ and A ₅ .

In the master hand mechanism (2), the rotation of the sphere (20) about the three axes A ₁ , A ₂ and A ₃ is the degree of freedom C about the three axes at the wrist of the slave (55) in FIG. ₁ , C ₂ ,
Corresponds to C ₃ . The swing of the first stick (21) about the axis A ₄ corresponds to the degree of freedom C ₄ of the first finger first joint (55a) in the object gripping portion of the slave (55) in FIG. The swing of (22) around the axis A ₅ is the second finger second joint (55c).
Degree of freedom C ₅ or degree of freedom C _{6 of} the second finger first joint (55b)
It corresponds to.

FIG. 2 shows a concrete structure of the master hand mechanism (2), in which an arc-shaped first part is provided on the support substrate (13).
A rotating arm (14) is pivotally supported about the A ₃ axis,
A circular arc-shaped second rotating arm (15) is erected on both ends of the rotating arm (14) and is pivotally supported about the A ₂ axis. Then, with respect to the second rotating arm (15), a sphere (2
0) is pivoted around the A ₁ axis. As a result, the sphere (20) is free to rotate around the three axes A ₁ , A ₂ , and A ₃ , and in the force feedback master / slave control described later, the drive around the A ₃ axis is performed by the first actuator (23 ), The drive about the A ₂ axis is performed by the second actuator (24), and the drive about the A ₁ axis is performed by the third actuator (25). Further, the driving of the first stick (21) around the A ₄ axis is performed by the fourth actuator (26), and the driving of the second stick (22) around the A ₅ axis is performed by the fifth actuator (2).
7).

The first to fifth actuators (23)
Each of (24), (25), (26) and (27) has a built-in rotary encoder for detecting a rotation angle and a force / torque sensor for detecting force or torque.

FIG. 3 shows another specific structure of the master hand mechanism (2), in which the upper end of the support arm (19) is
The frame body (16) is pivotally supported about the A ₁ axis through the rotating arm (17), and the sphere body (20) has a plurality of ball bearings (18) (18) arranged on the frame body (16). It is sandwiched between a pair of drive pieces (29) and (31) and is rotatably supported about the A ₂ axis and the A ₃ axis. As a result, the sphere (20) is free to rotate about the three axes A ₁ , A ₂ , and A ₃ , and in the force feedback master / slave control described later, the drive about the A ₁ axis is performed by the first actuator (32 ), Driving about the A ₂ axis is performed by the second actuator (28) and the third actuator (30).
(29) This is performed by rotating (31) in opposite directions. or,
Driving the sphere (20) around the A ₃ axis is the second actuator (28)
And both drive pieces (29) (31) by the third actuator (30)
Are rotated in the same direction as each other. The driving of the first stick (21) and the second stick (22) is similar to that of FIG.
(27).

The first through third actuators (3
2) In (28) and (30) respectively, a rotary encoder for detecting the rotation angle and a force / force for detecting the force or torque
It has a built-in torque sensor.

FIG. 4 shows a master control system (4) and a slave control system in a force feedback type master / slave control system.
It represents (5). In the master control system (4), the torque information of the slave supplied from the slave control system (5) is converted into the coordinate system of the master by the converter (43), and the converted torque information and the force / torque described above are converted. The deviation from the master torque information detected by the sensor (41) is calculated. The torque deviation and the position information detected by the position sensor (42) composed of the rotary encoder are supplied to the master controller (44) to create a speed command for the master (1).

On the other hand, in the slave control system (5), position information obtained from the position sensor (42) of the master control system (4) is converted into a slave coordinate system by a converter (53), and the converted position is converted. The deviation between the information and the position information detected by the slave position sensor (52) is calculated. Then, the position deviation and the torque information detected by the force / torque sensor (51) of the slave are supplied to the slave controller (54) to create a speed command for the slave (55).

Specifically, the master controller (44) is composed of a torque controller (46) and a speed servo controller (47) as shown in FIG. 5, and the torque controller (46) converts a torque deviation into a speed command. Further, the speed servo controller (47) controls the speed of the master (45) based on the deviation between the speed obtained from the temporal change of the actual position Pm and the speed command value.

Further, as shown in FIG. 6, the slave controller (54) is composed of a position servo controller (56), a speed servo controller (58) and an impedance controller (57). The position deviation is converted into a speed command by 56), and the speed of the slave (55) is further calculated by the speed servo controller (58) based on the deviation between the speed obtained from the time change of the actual position Ps and the speed command value. Control is performed. Here, the impedance controller (57) adds the mechanical impedance characteristic of the slave hand mechanism to the speed command based on the detection signals of the position sensor (52) and the force / torque sensor (51).

7 and 8 show an object grasping procedure using the master / slave method. First, in steps S1 and S2 of FIG. 7, the joystick is operated to position the slave hand mechanism in the XYZ axis directions, and in steps S3 and S4, the posture operation part, that is, the sphere (20) is rotated. , Adjust the posture of the wrist part of the slave hand mechanism.

Next, in steps S5 and S6, the gripping operation section, that is, the first and second sticks (21) and (22) are closed to hold the gripping force until the object gripping section of the slave hand mechanism comes into contact with the object. Adjust. Then, step S
In S7 and S8, the first and second sticks (21, 22) are further closed, and the reaction force is transmitted to both sticks until an appropriate gripping force is obtained.

Then, in step S9 of FIG. 8, the operation of lifting the grasped object with the joystick is started, and in steps S10 to S12, the force generated by the own weight of the grasped object is returned to the master control system to ensure stable grasping. The position, posture, and gripping force of the slave hand mechanism are changed until it becomes possible.

After stable gripping is possible, the lifting operation of the object is completed in step S13, and the robot arm is switched to the automatic carrying mode in step S14.

According to the master / slave type remote control device, one hand is simply the sphere of the master hand mechanism (2).
The object gripping operation of the slave hand mechanism can be remotely controlled by moving the hand forward, backward, leftward, and rightward while the surface of (20) is in contact with it, and by further opening and closing the finger of the hand. Therefore, the operator does not need to fix the arm to the master, and can perform stable operation in a free state.

Second Embodiment In the master (1) shown in FIGS. 9 to 11, the master hand mechanism (6) has a six-axis force / torque sensor on the operation console (60).
A wrist base (61) fixed via (7) is provided, and a first link (62) is rotatably installed on the wrist base (61) about an axis B ₁ to provide the wrist base (61). ) The rotation of the actuator composed of the DC servo motor (71) around the Y-axis, the rotary encoder (72) and the speed reducer (73) mounted on the above is transmitted to the first link (62) via the timing belt (67). There is.

The second link (63) is pivotally supported on the first link (62) about the axis B _2, and the DC servo motor (74) around the X-axis mounted on the first link (62), The rotation of the actuator composed of the rotary encoder (75) and the speed reducer (76) is transmitted to the second link (63).

On the second link (63), the first operating rod (66) is erected immovably, and the third link (64) is attached to the shaft B _3.
And a second operating rod (65) is pivotally supported on the third link (64) about an axis B ₄ . An actuator including a second joint DC servo motor (77), a rotary encoder (78) and a speed reducer (79) is attached to the second link (63), and the third link (64) is driven by the actuator. . Also, the third
An actuator including a first joint DC servo motor (80), a rotary encoder (81) and a speed reducer (82) is attached to the link (64), and the second operating rod (65) is driven by the actuator. A force / torque sensor is built in each of the above DC servo motors.

Furthermore, between the rotary shaft of the second link (63) and the rotary shaft of the third link (64), and between the rotary shaft of the third link (64) and the rotary shaft of the second operating rod (65). Each has a timing belt
(68) is stretched. In the master hand mechanism (6), the rotation of the first link (62) about the B ₁ axis and the rotation of the second link (63) about the B ₂ axis are respectively the wrist portion of the slave hand mechanism shown in FIG. This corresponds to the degrees of freedom C ₁ and C ₂ . Further, the rotation of the third link (64) around the B ₃ axis and the rotation of the second operation rod (65) around the B ₄ axis correspond to the degrees of freedom C ₅ and C ₆ of the object gripping portion of the slave hand mechanism, respectively. are doing.

In the operation of the master hand mechanism (6), with the first operating rod (66) and the second operating rod (65) held by both hands, first, the robot arm is moved in the XYZ axis directions. Since the slave hand mechanism is positioned and then the object is gripped by the slave hand mechanism,
It is necessary to switch the target of control by the master hand mechanism from the robot arm to the slave hand mechanism. Therefore, a hold switch (84) to be operated when moving the slave hand mechanism in the XYZ axes is attached to the upper end of the second operating rod (65), and the upper end of the first operating rod (66) is attached. A gripping completion switch (83) to be operated when gripping the object is attached to the.

FIG. 12 shows a master control system (40) and a slave control system in a force feedback type master / slave control system.
Represents (50). The control system basically has the same configuration as the control system of the first embodiment shown in FIGS. 4 to 6, but the first and second mode conversion switches (9
2) By (94), it is possible to switch and set between a positioning operation mode in which the target of control by the master hand mechanism is the robot arm and a gripping operation mode in which the target of control is the slave hand mechanism. The force / torque sensor (41) of the master control system (40) shown in FIG. 12 includes a plurality of force / torque sensors built in each of the above actuators and an operating console (6
0) It is a generic term for the 6-axis force / torque sensor (7) provided above.

The force / torque sensor (5) of the slave control system (50)
The torque information of the slave obtained from 1) is converted into the coordinate system of the master by the converter (43) and supplied to the master control system (40). Master control system (40), slave control system (50)
The deviation between the torque information obtained from the above and the torque information of the master detected by the force / torque sensor (41) of each actuator is calculated. The torque deviation and the position information detected by the position sensor (42) are supplied to the master controller (44) to create a speed command for the master (1).

The position information obtained from the position sensor (42) is coordinate-converted into the slave coordinate system by the converter (91) and then supplied to one input terminal of the first mode conversion switch (92). Together with the 6 axis force in the force / torque sensor (41)
The force information obtained from the torque sensor (7) is converted into position information by the force / position converter (9) and supplied to the other input terminal of the first mode conversion switch (92).

The first mode conversion switch (92) is switched by an operation signal from the hold switch (84). That is, in the positioning operation mode, the first mode conversion switch
(92) is switched to the force / position converter (9) side, and the force / torque sensor (41), that is, the 6-axis force / torque sensor shown in FIG.
The slave is controlled based on the detection signal of (7). In the gripping operation mode, the second mode conversion switch (92) is switched to the converter (91) side, and the control system exactly the same as that shown in FIG. 4 is configured.

The slave control system (50) calculates the deviation between the position information obtained from the mode conversion switch (92) of the master control system (40) and the position information detected by the position sensor (52). Then, the position deviation and the force of the slave /
The torque information detected by the torque sensor (51) is supplied to the slave controller (54) to create a speed command for the slave (55).

Specifically, the master controller (44) connects the output terminals of the torque controller (46) and the position servo controller (93) to the second mode conversion switch (9) as shown in FIG.
It is connected to both input terminals of 4) and supplies the output selected by the switch to the speed servo controller (47).

The above torque deviation is calculated by the torque controller (4
It is supplied to 6) and converted into a speed command. Also, the master controller when the hold switch (84) is operated
Hold value for position information of (44) and position sensor (4
The deviation from the position information obtained from 2) is supplied to the position servo controller (93) and converted into a speed command.

Here, the second mode conversion switch (94) is switched by an operation signal from the hold switch (84). That is, in the positioning operation mode, the second mode conversion switch (94) is switched to the position servo controller (93) side. As a result, the master hand mechanism (6) is fixed in the posture at the time when the hold switch (84) is operated. In the gripping operation mode, the second mode conversion switch (94) is switched to the torque controller (46) side, and the control system exactly the same as that shown in FIG. 5 is configured.

The output of the torque controller (46) or the position servo controller (93) selected by the second mode conversion switch (94) is supplied to the speed servo controller (47), whereby the output is obtained from the actual position Pm. The speed control of the master (45) is performed on the basis of the deviation between the speed and the speed command value.

Further, as shown in FIG. 14, the slave controller (54) is specifically a position servo controller (56),
Comprised of speed servo controller (58) and impedance controller (57), position servo controller (56)
The position deviation is converted into a speed command by the speed servo controller (58), and based on the deviation between the speed obtained from the actual position Ps and the speed command value, the slave (5
The speed control of 5) is performed. Here, the impedance controller (57) adds the mechanical impedance characteristic of the slave hand mechanism to the speed command based on the detection signals of the position sensor (52) and the force / torque sensor (51).

FIG. 15 shows an object grasping procedure using the master / slave method. First, step S1
After performing the necessary initial settings in step 1, step S12,
In S13, the positioning operation mode is set, the posture of the master hand mechanism (6) is held until the hold switch is turned off, and the robot arm is controlled based on the force detection of the 6-axis force / torque sensor (7). Position the slave hand mechanism.

When the hold switch is turned off, the process proceeds to step S14 and the grip operation mode is set. In the gripping operation mode, both operating rods (66) held by both hands
Tilt (65) forward, backward, leftward and rightward to rotate the wrist part of the slave hand mechanism, and then use the first operating rod (66) as the fulcrum for the second movement.
By opening and closing the operating rod (65), the object gripping part of the slave hand mechanism is opened and closed. As a result, the object is gripped. After that, in step S15, it is determined whether or not the hold switch is OFF. If the hold switch is ON, the operation returns to the positioning operation mode. Determine whether or not.

If the gripping completion switch is ON, the gripping state of the object is checked in step S17, and if the result is OK, the automatic transfer mode of step S18 is entered, and the automatic transfer is completed in step S19. The automatic transfer of the object by the robot arm is continued until is detected.

According to the above master / slave type remote control device, the X-axis of the slave hand mechanism by the robot arm is held with the two operation rods (66, 65) held by both hands.
Positioning in the YZ axis direction, posture adjustment of the wrist of the slave hand mechanism, and gripping operation by the object gripper can be remotely controlled. Therefore, the operator does not need to fix the arm to the master, and can perform stable operation in a free state.

The above description of the embodiments is for explaining the present invention and should not be construed as limiting the invention described in the claims or limiting the scope. The configuration of each part of the present invention is not limited to the above-mentioned embodiment, and it goes without saying that various modifications can be made within the technical scope described in the claims.

[Brief description of drawings]

FIG. 1 is a perspective view illustrating an appearance of a master hand mechanism according to a first embodiment.

FIG. 2 is a sectional view showing a specific structure of the master hand mechanism.

FIG. 3 is a sectional view showing another specific structure of the master hand mechanism.

FIG. 4 is a block diagram showing a master / slave control system for the master hand mechanism.

FIG. 5 is a block diagram of a master controller that constitutes the master / slave control system.

FIG. 6 is a block diagram of a slave controller that constitutes the master / slave control system.

FIG. 7 is a flowchart showing the first half of the object gripping procedure in the first embodiment.

FIG. 8 is a flowchart showing the latter half of the above.

FIG. 9 is a front view showing the structure of a master hand mechanism of the second embodiment.

FIG. 10 is a left side view of a second operating rod that constitutes the master hand mechanism.

FIG. 11 is a left side view of the master hand mechanism.

FIG. 12 is a block diagram showing a master / slave control system for the master hand mechanism.

FIG. 13 is a block diagram of a master controller that constitutes the master / slave control system.

FIG. 14 is a block diagram of a slave controller that constitutes the master / slave control system.

FIG. 15 is a flowchart showing an object gripping procedure in the second embodiment.

FIG. 16 is a diagram illustrating six degrees of freedom of the slave hand mechanism.

FIG. 17 is a perspective view of a showcase vendor in which the present invention should be implemented.

FIG. 18 is a perspective view of a conventional remote control device.

[Explanation of symbols]

 (1) Master (2) Master hand mechanism (20) Sphere (21) 1st stick (22) 2nd stick (6) Master hand mechanism (66) 1st operating rod (65) 2nd operating rod

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Daizo Takaoka 2-5-5 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd.

Claims (4)

[Claims] 1. A slave hand mechanism having an object gripping portion at a tip end portion of a robot arm via a wrist portion, a master hand mechanism to be operated to operate the slave hand mechanism, a slave hand mechanism and a master hand. In a remote control device including a control circuit for controlling the mechanism, the master hand mechanism is orthogonal to each other on the operation console.
The rotating member rotatably supported about an axis or about three axes, and an operation member supported on the rotating member so as to be capable of being opened and closed by a finger of one hand, the plurality of axes of the rotating member. The rotation amount of the rotation is detected by the first sensor means, and the opening / closing operation amount of the operation member is detected by the second sensor means. Based on the detection signals of the first and second sensor means, the slave hand mechanism. A remote control device, wherein the object gripping operation of the object is controlled. 2. The rotating member is formed on a sphere (20) rotatably supported about two axes or three axes orthogonal to each other, and the operating member is an operation provided on the surface of the sphere (20). window
(20a) is swingably supported and is composed of a pair of sticks (21) (22) that are to be opened and closed by inserting the thumb of the operating hand and at least one other finger, The control circuit follows the rotation of the rotating member about the plurality of axes to rotate the wrist portion of the slave hand mechanism about the plurality of axes orthogonal to each other, and a pair of sticks (2
2. The remote control device according to claim 1, further comprising: 1) second control means for opening and closing the object gripping portion of the slave hand mechanism in accordance with the opening / closing operation of (22). 3. A slave hand mechanism having an object gripping part at the tip of a robot arm via a wrist part, a master hand mechanism to be operated to operate the slave hand mechanism, a slave hand mechanism and a master hand. In a remote control device including a control circuit for controlling the mechanism, the master hand mechanism is orthogonal to each other on the operation console.
The rotating member is rotatably supported about an axis or about three axes, and the operation member is supported on the rotating member so as to be opened and closed by being held by both hands. The rotation amount about the axis is detected by the first sensor means, and the opening / closing operation amount of the operating member is detected by the second sensor means. Based on the detection signals of the first and second sensor means, the slave hand A remote control device characterized in that an object gripping operation of a mechanism is controlled. 4. The operation member is immovably supported on the rotating member, and the first operation rod is to be grasped by one hand, and the operation member is swingably supported on the rotating member, and the other. And a second operating rod to be gripped by the hand of the slave hand mechanism. The control circuit causes the wrist portion of the slave hand mechanism to rotate around a plurality of axes that are orthogonal to each other by following the rotation of the rotating member around the plurality of axes. The first control means for rotating the object gripping portion of the slave hand mechanism according to the opening / closing operation of the first and second operating rods, and the second control means for opening / closing the object gripping portion of the slave hand mechanism. Remote control device.