JPH11333764A - Remotely operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operability of a master-slave type robot arm remotely operating device. SOLUTION: In a remotely operating device, a variable power transmission device 13 is interposed between a power source 11 for indicating the force of a master arm 1 and an arm link 14, and when a slave arm is not brought into contact with the environment, the variable power transmission device is shut off to insulate the arm link 14 from the power source. The master arm 1 can be smoothly operated by shutting off the inertia force of the power source or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device used by a human to operate a robot, and more particularly to a master-slave type remote control device.

[0002]

2. Description of the Related Art In recent years, the field of use of robots has expanded, and not only automation of factories, but also robots in environments outside factories such as construction and civil engineering, in hazardous environments such as in nuclear reactors, and in coexisting human environments such as welfare support. The use of is being considered. Under these circumstances, conventional technology cannot handle autonomous driving.
Many tasks require human operation of the robot. When a robot performs a task by contacting an object, it is often impossible for a human to operate the robot and perform an accurate task without acquiring force information and tactile information as well as position information of the robot. In such a case, a master arm or a joystick having a force presenting function is used as a control means of the robot.

For example, in a remote-controlled robot controlled by a master-slave method, a master arm having a size about the size of a human arm is used, and a human grasps and moves the tip of the master arm, and operates the slave arm according to the movement. Steer by letting it go. When the slave arm comes into contact with something, the force and the sense of contact are transmitted to the human through the master arm, so that the driver can recognize the situation where the slave arm is in contact.

[0004] A motor is connected to a master arm or a joystick (hereinafter referred to as a master arm) in order to present to the operator a force when the slave arm comes into contact with the object, and the robot is received by the force presenting motor. A driving force corresponding to the force is generated. The operator can feel the contact sensation of the slave arm through the resistance force received from the master arm. It is not preferable for a human being to exert a force against this presenting force when a large force is presented, because the fatigue becomes large. further,
If the force-presenting motor is too large, it is dangerous to run away at any time. On the other hand, if the presented force is too small, there is no danger to the pilot, but a large force is controlled depending on a slight change in force, and accurate control cannot be performed.

[0005] Therefore, an appropriate force range for a man operating the vehicle is naturally determined. However, the magnitude of the force required for the slave arm varies depending on the object and work content. The reduction gear is interposed so as to fall within an appropriate force range. In order to prevent danger to the operator, it is preferable to use a low-output force presenting motor. Even when a strong slave arm is targeted, it is preferable to apply a high reduction gear with a high reduction ratio to a small output force presenting motor to output a large torque. However, when a speed reducer having a high reduction ratio is used, the inertial force of the motor is greatly amplified by the speed reducer, and a large force is required when a human grasps and controls the master arm. Also, when the reduction ratio is large, there is a problem that the movement speed of the master arm is reduced due to inertia, and the response of the slave arm operation is reduced.

[0006]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a force presenting device using a low-output motor and a speed reducer having a high reduction ratio, by further improving the maneuverability of a slave arm. Another object of the present invention is to provide a highly safe remote control device in which the range of presenting the force reduces the load on humans and becomes an appropriate range.

[0007]

In order to solve the above-mentioned problems, a remote control device according to the present invention controls a robot arm provided with a force sensor for detecting a reaction force by using a control stick. A motor that generates a driving force corresponding to the force to be presented and a speed reducer that transmits the motor output to the control shaft rotation axis while adjusting the rotation axis and range of the control stick,
Furthermore, a power transmission variable device is provided between the control rod rotation shaft and the reduction gear rotation shaft, and when power is presented by the power transmission variable device, the power of the speed reducer is transmitted to the control rod rotation shaft, and no force presentation is required. Sometimes, power is not transmitted between them. The mode switching of the power transmission variable device can be performed based on a contact detection signal generated when the robot arm contacts an object.

[0008] The operation of the robot arm is divided into a step of moving the arm spatially to approach a target position and a step of working on an object. Work on an object involves gripping and lifting the object or pressing and pressing a tool to grind or cut.It is necessary to know the force exerted by the arm on the object and control this force. is there. For this reason, the reaction force measured by the arm is fed back to the force presenting motor of the master arm to give a resistance corresponding to the measured reaction force to the movement of the master arm so that the pilot can operate while recognizing the force. It is configured.

On the other hand, in the step of moving the arm spatially, it is only necessary to be able to indicate the movement trajectory of the robot arm. Therefore, it is desired that the movement of the master arm be as light as possible. However, the feedback of the measured reaction force is performed via some force multiplication mechanism or force reduction mechanism so that the range of the force generated by the robot arm and the range of the force to be controlled by the operator match. Normally, a motor having a small output is used as a force presenting motor so that a person operating the master arm has no danger, and a high-magnification speed reducer is used.

Since the inertial force has the property of being proportional to the square of the reduction ratio, the movement of the master arm is restricted due to the inertia generated by the intervening high-speed reduction gear, and it is necessary for the operator to move with force. It was difficult to move a certain upper slave arm at high speed. However, in the remote control device of the present invention, the power transmission between the force presenting mechanism including the speed reducer and the master arm is cut off when a force transmission variable device is interposed, and when the force presentation such as movement of the slave arm is not necessary. There is no restriction on the movement of the arm, and the movement of the slave arm can be controlled easily.

Since the state in which the operator must receive the force presentation starts when the slave arm comes into contact with the object, the switching of the disconnection / connection mode of the power transmission variable device is performed when the robot arm comes into contact with the object. Automatically on the basis of the contact detection signal issued to the user.
In addition, contact detection methods include touch sensors such as stylus and pressure sensitive pad, load change detection by force sensor, CCD
Various methods such as processing of an image signal acquired by a camera or virtual recognition based on spatial information stored in advance can be used.

A second remote control device according to the present invention controls a robot arm provided with a contact sensor for detecting contact with a control stick, and includes a power source having a predetermined output, and a power source and a control device. A power transmission variable device is provided between the rod rotation shafts, so that power is not transmitted from the power source to the control rod rotation shaft until the contact sensor detects contact by the power transmission variable device, and the contact sensor detects contact In this case, the power of the power source may be transmitted to the control stick rotating shaft when the power is turned off. It is needless to say that a simple constant output motor can be used as a power source, but a flywheel having a simpler mechanism may be used.

[0013] Some robot operations are possible without accurately knowing the forces during the operation. Even in this case, while moving in space, it is important to approach the object as soon as possible so that there is no danger to the surroundings, whereas the purpose is when working in contact with the object Operate the slave arm with great care to get the job done properly.

According to the second remote control device of the present invention, the power transmission variable device is operated based on the detection signal of the contact detection sensor to supply power to the control stick. Can give a sense of resistance to the hand that is being operated, and can feel that it touches the object. Note that the power source may simply be one that gives a sense of resistance to the control stick, so that a flywheel or the like having a simple structure can be used to more easily and economically configure the power source.

Further, as the power transmission variable device in each of the remote control devices according to the present invention, a clutch device capable of selectively selecting interruption and connection of power transmission can be used. Further, it is more preferable that the power transmission efficiency is reduced when a torque equal to or greater than a predetermined value is applied between the devices connected to the variable power transmission device.

When controlling the power transmission from the drive shaft to the driven shaft, a structure such as a gear or a friction wheel may be used.
The use of a clutch that transmits or disconnects power using fluid or mechanical contact makes it possible to achieve a simpler configuration.
In particular, mechanical clutches that use mechanical contact are simple, and their transmission parts are of the meshing type and friction type, and there are mechanical and electromagnetic operating types, but any type can be used. it can. When an excessive force is applied, the transmission efficiency is reduced.For example, when a clutch or the like is used in which friction materials slide on each other when a predetermined force or more is applied using a friction plate, the slave arm may be used. Even if a large force is generated, an excessive force is not directly applied to the operator, which is preferable for safety.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on embodiments with reference to the drawings. FIG. 1 is a configuration diagram showing one embodiment of a remote control device according to the present invention, FIG. 2 is a partial cross-sectional view for explaining the operation of a clutch in the present embodiment, FIG. FIG. 4 is a block diagram showing a state of information transmission in this embodiment, and FIG. 5 is a block diagram showing an operation of the clutch unit.

[0018]

Embodiment 1 The remote control device of this embodiment is a master-slave type robot arm control device. When a human grasps and operates a grip portion of the master arm, the slave arm performs the same operation as the master arm. It has become.
In this embodiment, a single-axis control device is used for simplicity. However, it is clear that a multi-axis steering device having an increased degree of freedom can be easily configured by using a similar mechanism for each axis. When the slave arm abuts on the target object or the environment and performs work or performs an avoiding action, it is necessary to adjust the force exerted on the environment by the slave arm. Therefore, the slave arm is provided with a force sensor. Is measured and the degree of force acting on the environment by the slave arm is fed back to the operator holding the master arm.

Referring to FIGS. 1 and 3, a master arm 1 includes a servo motor 11, a speed reducer 12, a clutch 13,
It is composed of an arm link 14. Servo motor 1
1 generates a torque corresponding to a measurement output of a force sensor provided on the slave arm 2. The speed reducer 12 converts the torque generated by the servo motor 11 to, for example, 1 to 3 kg.
The force is changed to an appropriate force range for human operation such as f.

The output shaft 15 of the speed reducer 12 is a drive shaft of the clutch 13, and the output shaft 16 of the clutch 13 is a rotation shaft of the arm link 14. A grip 17 is provided at the end of the arm link 14. When the human operator 3 grips the grip 17 and moves the arm link 14, the slave arm 2 is moved by a robot controller (not shown). It moves following the movement of 14. The clutch 13 is interlocked with a contact sensor provided at the tip of the slave arm 2 and cuts off or connects the power connection between the drive shaft 15 and the output shaft 16.

Further, the operation of the master-slave type robot remote control device of the present embodiment will be described with reference to the block diagrams of FIGS. The master arm 1 of the present embodiment is a device in which a human 3 operates an arm link to control a remotely existing slave arm 2. The arm link corresponds to the force information sent from the slave arm 2 and, depending on the control method, corresponds to one or both of the force information and the position information, around the axis connected to the motor that generates the driving force. It is designed to rotate. Since the motor is provided with a speed reducer, the inertia force of the motor and the frictional force of the speed reducer gear act on the rotating shaft, which acts as a resistance when the human 3 operates the arm link. This resistance also feeds back the acting force of the slave arm.

The human 3 accurately performs the operation of the robot arm based on the result of observing the situation of the slave arm 2 acting on the environment 4 through his / her eyes and the imaging device and the resistance force returned to the arm link. Can be performed. However, when the slave arm is not acting on the object 4, the inertia force of the reduction gear and the friction force of the gear are applied to the shaft of the arm link despite the fact that there is no reaction force and no feedback torque is generated in the motor. This slows down the movement of the arm link and reduces maneuverability.

In this embodiment, a variable power transmission device such as a clutch is interposed between the speed reducer and the arm link.
Power transmission between the two can be intermittent. Then, the intermittent control is configured to be automatically performed by the contact sensor of the slave arm 2 so that when the force needs to be presented, the two are connected to each other, and during the free operation period in which no force feedback is required, the two are connected. The arm link is insulated to separate the inertia force of the reduction gear and the like so that the arm link can be operated lightly.

That is, the system is provided with a force determination unit, and it is determined whether or not there is a contact based on the output of the contact detection device in the slave control system. When the slave arm 2 and the environment 4 are not in contact with each other, the slave arm only needs to control the movement trajectory. Therefore, the master arm is a free operation mode in which the slave arm can be freely operated without applying force.
If both are in contact, it is determined that the force is present in the force presenting mode in which the force of the slave arm is presented to the pilot 3 and operated.

Further, the system is provided with a clutch state judging section for judging the state of the power transmission variable device of the master control system, and performing control suitable for the judgment of the force judging section. That is, in the free operation mode, the clutch needs to be disconnected, and in the force presentation mode, the clutch needs to be connected. In this way, the output of the servomotor whose output is controlled in accordance with the force presentation from the force detection device of the slave control system is transmitted to or cut off from the rotation shaft of the arm link as necessary.

Specifically, when the slave arm is in contact with the object or the environment 4, as shown in FIG. 2 (b), the driving friction plate 18 and the driven friction plate 19 in the clutch 13 are moved. By pressing, the mechanical connection between the drive shaft 15 and the output shaft 16 is secured. The reaction force generated by the contact of the slave arm with the object 4 is generated with the operation of the robot arm 2, and the presence / absence and strength thereof are important factors that affect the safety of the operation and the operation result. Therefore, it is preferable that the operator 3 can operate the robot arm while observing the contact force.

Since the servo motor 11 generates a torque corresponding to the measurement output of the force sensor provided on the slave arm, the force of the servo motor 11 acts on the arm link 14 by operating the clutch 13 and the master arm 1
Gives the human 3 who controls the robot a sense of resistance corresponding to the contact force between the slave arm and the environment 4, and performs accurate robot control with the feeling of working with the object while touching the object with his own hand. it can. The feeling felt by the human 3 when manipulating the master arm 1 is not the actual force exerted on the environment 4 by the slave arm 2 but converted into a range that can be easily handled by the human 3 via the speed reducer 12. become.

On the other hand, when the slave arm is not in contact with the object or the environment 4, the servomotor 11 does not generate a driving force because there is no measurement output from the force sensor, but the arm link 14 is connected to the speed reducer 12. If left, the inertia proportional to the square of the reduction ratio accompanies the resistance of the human 3 when moving the arm link 14, and it becomes difficult to operate the slave arm with good responsiveness. In particular, when trying to ensure the safety of the operator 3 by using a small servomotor 11, the inertia force tends to increase because the reduction ratio of the reduction gear 12 must be selected to a sufficiently large value.

In this embodiment, when the contact sensor provided at the tip of the slave arm detects that it is not in contact with the environment 4, as shown in FIG.
Of the output shaft 1 of the speed reducer 12 by separating the driven side friction plate 19.
Since the mechanical connection between the shaft 5 and the rotating shaft 16 of the arm link 14 is cut off, the human 3 can operate the master arm lightly without the inertia force of the speed reducer 12 and the fatigue is reduced. In addition, when the power transmission variable device is connected to shift from the unconstrained state to the force presentation state, the inertia force of the motor is suddenly applied, so the operating person can clearly feel that the robot arm has touched anyone. You can receive it.

The contact sensor provided at the tip of the slave arm is such that contact is detected when the measured output of the force sensor is equal to or greater than a predetermined value, and non-contact is detected when the measured output is equal to or less than the predetermined value. In this case, it is necessary to provide a comparison circuit, but it is not necessary to add a special sensor. In addition, a sensor having a proximity switch or a contact needle, or a method of providing an image pickup device to perform image processing of an output signal to detect a contact, and furthermore, use a prediction based on virtual technology by inputting the surrounding situation and the robot arm in advance as spatial information. Needless to say, the method can be applied arbitrarily.

Further, if a variable power transmission device is used that reduces the power transmission efficiency due to slippage when a torque greater than a predetermined value is applied, an excessive force is applied to the operator. This is preferable since the safety is improved by preventing the above. Although not shown in the drawings, the master arm 1 has a gravity balance mechanism such as a counter balance for canceling the gravity of the arm link 14 itself. With such a mechanism, the operator can smoothly operate the slave arm without feeling the burden on the weight of the arm link itself.

[0032]

Embodiment 2 The remote control device according to the second embodiment includes a power source for constantly supplying power, a power transmission variable device between the master arm and the rotating shaft, and a robot arm. This is a master-slave type robot arm control device that controls connection and disconnection of power based on the output of a contact sensor. As compared with the remote control device of the first embodiment, a simple power source is provided instead of the force presenting motor and the speed reducer, so that the illustration is omitted.

The present embodiment is applied to a robot operation that does not need to know the force during the operation accurately, so that when moving in a space, the object is approached as soon as possible to make contact with the object. Upon detection, a human can immediately sense it through the sense of resistance of the arm link, and can switch the movement of the slave arm to the intended operation and steer it. In this case, it is only necessary to give resistance to the arm link when the robot comes into contact with the target object so that humans can feel it, so use a simple flywheel etc. instead of the servo motor and reduction gear linked to the force sensor Thus, the configuration can be simplified.

[0034]

As described above, the remote control device according to the present invention makes it possible to control the robot arm with excellent responsiveness by making the control of the master arm light during periods when no force is required. . In particular, in a force presenting device using a low-output motor and a speed reducer having a high reduction ratio, the maneuverability and safety of the slave arm during the free operation period can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of a remote control device of the present invention.

FIG. 2 is a partial cross-sectional view illustrating movement of a clutch in the embodiment.

FIG. 3 is a schematic diagram illustrating a use state of the present embodiment.

FIG. 4 is a block diagram showing a state of information transmission in the embodiment.

FIG. 5 is a block diagram showing an operation of a clutch unit in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Master arm 11 Servo motor 12 Reduction gear 13 Clutch 14 Arm link 15 Drive shaft 16 Rotating shaft 17 Grasping part 18 Drive side friction plate 19 Follower side friction plate 2 Slave arm 3 Human (operator) 4 Environment (object)

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[Procedure amendment]

[Submission date] May 27, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

2. A group on the relative position of the robot arm and the object
A remote control device that controls a robot arm equipped with a contact sensor for detecting contact based on a control rod, comprising a power source that generates a predetermined power, between the power source and the rotation axis of the control rod. A power transmission variable device is provided so that power is not transmitted from the power source to the control column rotating shaft until the contact sensor detects a contact by the power transmission variable device, and when the contact sensor detects a contact, The power of the power source is transmitted to the control stick rotating shaft ,
A remote control device characterized by giving a change .

3. The remote control device according to claim 2, wherein said power source is a flywheel.

4. A remote control apparatus according to any one of claims 1 to 3, wherein said power transmission variable device is a clutch device capable of selecting a connection with the interruption of power transmission.

5. The method according to claim 1, wherein when a torque equal to or greater than a predetermined value is applied between the devices connected to the variable power transmission device, the power transmission efficiency is reduced so that excessive torque is not transmitted. The remote control device according to any one of claims 1 to 4 , wherein:

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction contents]

[0007]

[Means for Solving the Problems]

In order to solve the above-mentioned problems, a remote control device according to the present invention controls a robot arm provided with a force sensor for detecting a reaction force by using a control stick. A motor that generates a driving force corresponding to the force to be presented and a speed reducer that transmits the motor output to the control shaft rotation axis while adjusting the rotation axis and range of the control stick,
In addition , contact based on the relative position of the robot arm and the object
A contact sensor that determines the presence or absence of touch and issues a contact detection signal
If, includes a power transmission variator between the rotation axis of the control stick rotary shaft and the reduction gear, the force Hisage robot arm comes into contact with the object
The power transmission device connects the speed reducer to the joystick rotating shaft when the power is displayed, and does not transmit power between the two in the free operation mode where no force is required to be presented without contact. And In addition, power transmission variable equipment
The power supply shuts off power transmission according to an external control signal and
One that enters the Lee operation mode and connects to the force presentation mode
The force presentation mode and free operation in the variable power transmission
Mode switching work mode, dividing line based on the contact detection signal emanating when the robot arm is brought into contact with the object.

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Toshiyuki Idoko 118 Futatsuka Noda City, Chiba Prefecture Kawasaki Heavy Industries Noda Plant Co., Ltd. (72) Inventor Katsumi Kanda 118 Futatsuka Noda City Chiba Prefecture Kawasaki Heavy Industries Noda Plant (72) Inventor Masao Takatori 118 Futatsuka, Noda City, Chiba Prefecture Kawasaki Heavy Industries Noda Plant Co., Ltd. (72) Inventor Yasuyoshi Yokokoji 82-2 Kawashima Arisugawacho, Nishikyo-ku, Kyoto, Kyoto, Japan

Claims (6)

[Claims] 1. A remote control device for controlling a robot arm provided with a force sensor for detecting a reaction force by a control stick, comprising: a motor for generating a driving force corresponding to a force presented by the force sensor; A speed reducer that adjusts a range of force, a rotation axis of the control stick, and a power transmission variable device between the control rod rotation axis and the rotation axis of the speed reducer; A remote control device, wherein the power of the speed reducer is transmitted to the control stick rotating shaft when the force is presented, and the power is not transmitted between the two when the force presentation is unnecessary. 2. The remote control device according to claim 1, wherein the mode of the variable power transmission device is switched based on a contact detection signal generated when the robot arm contacts an object. 3. A remote control device for controlling a robot arm provided with a contact sensor for detecting contact with a control stick, comprising a power source for generating a predetermined power, and a rotary shaft of the power source and the control rod. Between the power source and the control column rotating shaft until the contact sensor detects a contact by the power transmission variable device, and the contact sensor detects a contact. Wherein the motive power of the power source is transmitted to the joystick rotating shaft when the joystick is operated. 4. The remote control device according to claim 3, wherein said power source is a flywheel. 5. The remote control device according to claim 1, wherein the power transmission variable device is a clutch device capable of selecting between disconnection and connection of power transmission. 6. The power transmission efficiency according to claim 1, wherein a power transmission efficiency is reduced when a torque equal to or greater than a predetermined value is applied between devices connected to the power transmission variable device. The remote control device according to any one of the above.