JPS58132473A - Manual operating device for manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an articulated manipulator for operating and being operated, which is comprised of a operating manipulator that is controlled by an operator, and a operated manipulator that is operated by the operating manipulator. In particular, it relates to a manual operating device for a w/s-pulator.

Generally, inspection and repair work inside a nuclear reactor plant is subject to restrictions on the work area and work time due to the radiation exposure of workers. In this way, humans are restricted from directly going to the work site and working. Under such circumstances, it is useful to carry out work remotely to ensure worker safety.

Particularly in cases where the content of the work is varied and requires flexible treatment just like humans do, it is important to remoteize the work using manipulators for operating and being operated.

When an operator performs work using a manipulator, the most important requirement of the manipulator is that the control manipulator, which is directly controlled by the operator, be easy to operate. Therefore, the shape of the control frame, which the operator directly touches to control the manipulator, becomes an issue.

In general, a manipulator for controlling or being controlled has an object grasping part (hereinafter referred to as a gripper part) that opens and closes the fingers of the manipulator, and a multi-joint part that moves the gripper part to any position in the work space. It is composed of an arm having a By the way, these arm parts and joints are called wrist joints, forearm joints, elbow joints, upper arm joints, shoulder joints, etc. in correspondence with human hands and arms.

However, many of the conventional control manipulators
As shown in the figure, the operator holds the gripper section 1 and operates it, hereinafter K.

I will briefly explain how to operate it. That is, the opening/closing operation of the gripper section 5 is performed by placing the operator's thumb and index finger on the finger supports zA attached to the gripper section 1, respectively.

2B and move these fingers in the left and right direction (movement direction A).
This is done by moving K. On the other hand, gripper part 1
0 rotation movement (rotation direction B), 1iC movement up and down of the wrist (movement direction C) % Left and right movement of the wrist (movement direction D), the operator's remaining fingers (middle finger, ring finger, little finger) touch the gripper part. This is carried out by means of a rod attached to the machine. Although not shown in the figure, rotation of the elbow joint and shoulder joint is also performed by the grip rod 3.

When the steering manipulator is driven in this way, the steered -fx-burator, which has a substantially similar shape, is controlled to move in a similar manner. In addition, the reason why I received the similar shapes is because the shapes of the gripper parts are different. That is, tlt2
As shown in the figure, the gripper section 4 of the manipulated manipulator is arranged vertically and vertically with respect to the rotation center E of the gripper section 40.
The left and right sides are symmetrical. For this reason, the gripper s
When the gripper 4 is closed, the center thereof coincides with the rotation center E of the gripper part 40, and the structure is such that the gripper part 40 does not move when the gripper part 40 rotates. On the other hand, in the structure of the operating manipulator shown in FIG. 1, the gripping rod 3 used to rotate the gripper part 10 times is mounted below the rotation center E of the gripper part 1, so the operator who moves it There is an offset L between the wrist 50 rotation center F and the gripper part 10 rotation center E.
occurs. This rounding and rotation of the gripper part l requires the operator to swing his or her hand from side to side in an arc, which is different from the rotational movement of a human wrist, making it difficult to operate. It had

9. Gripper sl't - When rotating, the gripper part 1 is structured such that when the gripper part 1 rotates a predetermined amount, the part of one hand t5 comes into contact with the forearm 6. (Is it necessary to pick up the gripper s1 with the other hand from the opposite direction once it has rotated a certain amount?) However, it has the drawback that continuous rotation operation is extremely difficult.

SUMMARY OF THE INVENTION An object of the present invention is to provide a manual operating device for a manipulator that facilitates rotation of a gripper portion of a steering manipulator and improves the operability of the manipulator.

In order to achieve such an object, the present invention has provided that, among the members for grasping with the hand of an operator, the members used for opening and closing the fingers are placed so that the center of rotation of the object grasping section The structure is such that it is arranged so that it passes through.

Hereinafter, the present invention will be explained in detail using embodiments shown in the drawings.

FIG. 3 is a perspective view showing the overall configuration of the steering manipulator. The eight people in the torso are horizontally rotatably connected to a pedestal for seven people fixed to the floor. The shoulder joint for 9 people connects the tip of the torso 8A and the upper arm 10A.
The upper arm 10A is swung vertically by nine people at the shoulders and joints, and the elbow joint 11A is moved by the upper arm 1.
The forearm 12A of the 0 person is connected, and the vertical swing of the forearm of the 12 person is performed at this elbow joint 11A. Further, the wrist joint 13A connects the 12 forearms and the gripper section 14A, and the gripper ISI 4
The movements of A (up and down and left and right) are performed by 13 people at this wrist joint.

On the other hand, as shown in FIG. 4, the operated manipulator has a similar structure to the aforementioned operating manipulator, except for the gripper part 14B), cradle 7B, torso 8B, shoulder joint 9B, upper arm 1081. Elbow joint 11B, forearm 1
2B, a wrist joint 13B, and a gripper part 14B. The manipulated manibulator has a gripper part 14B and a wrist joint 13B, except that the gripper part 14B is in the opposite position around the central axis G of the horizontal swing.

The spatial arrangement of each part, such as the forearm 12B, is configured to be similar to the control manipulator. here,
The gripper portion 14A of the steering manipulator and the gripper portion 14B of the manipulated manipulator are arranged so that their relative positions with respect to the wrist left/right swing central axis GK are shifted by 1800 degrees and are nine phases. As a result, the direction of the fingers of the 14 operators operating the gripper sections and the direction of the gripper section 14B are configured to be in the same direction with respect to the central axis G of the wrist left-right swing.

Now, the gripper part 14A will be explained in more detail with reference to FIG.
It is coupled to A so as to be rotatable in the direction of the wrist swing p, with the operator's flat roof lateral swing p center axis G as the center of rotation. The support member 15A has one end connected to the flat-roofed left-right rotation shaft 15, and the other end connected to the gripper drive mechanism 1.
6. The gripper rotation shaft 17 has one end coupled to the gripper drive mechanism 16 so as to be rotatable in the gripper rotation direction B, and the other end coupled to the gripper portion 14A. In addition, finger members 18A, 18
B is connected to the 4 parts and 14 grits via the finger rotation shafts 19A and 19B, and is configured to be able to open and close in the gripper opening and closing direction.

The finger parts 20A, 20B are attached to the tips of the finger members 18A, 18B. The grip bar 21 has one end fixed to the gripper part 14A, and the other end is configured as a grip part 21A so as to be gripped by the operator's fingers. The center of these 21 gripping parts is configured to pass through the gripper rotation center E.

In addition, when the operator grasps the grip bar 21, the 15 supporting members correspond to the center axis G of the left and right swing of the operator's wrist with respect to the center axis G of the left and right swing of the operator's wrist. It is configured as follows.

The operator operates the gripper section 14A in the following manner. The gripper section 14A is opened and closed by inserting the thumb and index finger into the finger sections 20 and 20B and moving these fingers in the gripper opening and closing direction. In addition, the rotation of the gripper section 14 is performed because the rotation center of the operator's wrist and the rotation center E of the gripper section 14A are aligned.
This is done by the operator rotating one wrist that grips the grip portion 21A with the middle finger, ring finger, and little finger.

Next, we will explain the functions of one nipulator for steering and one for being steered.The one nipulator with zero strands not only controls the position of the steered manipulator in proportion to the movement of the steering manipulator, but also controls the position of the steered manipulator by external loads. It has the function of detecting the torque applied to the steering manipulator, feeding it back to the steering manipulator, and transmitting the magnitude of the external load to the operator in the form of a reaction force. In order to generate this reaction force, the steering manipulator also has a drive mechanism.

The control mechanism of the steering manipulator including this drive mechanism will be briefly explained. First, control of the rotational direction of the gripper section 14A will be explained using FIG. 3. The gripper rotation shaft 17 is guided to the gripper drive mechanism 16 and coupled to a motor (not shown) for generating a reaction force and a potentiometer (not shown) for position detection.

Although not shown, the gripper section 14B on the side of the operated manipulator is similarly equipped with a gripper rotation drive motor and a position detector. When the gripper section 14A is rotated and a positional deviation occurs between the gripper section 14B and the gripper section 14B, the gripper section 14 and the motor of the gripper section 14B are forced to adjust the magnitude of the deviation in the direction that the deviation becomes zero. A proportional signal is given. As a result, the controlled manipulator is controlled to move in a manner similar to the movement of the control manipulator.

When the gripper part 14B is gripping an object and its rotation is obstructed, the gripper part 1
In order to make the torque corresponding to the load torque related to 4B feel as a reaction force to the operation, this torque is applied to the gripper part 1.
It is controlled to generate a 4A motor. This mechanism is called a reaction force generating mechanism. This mechanism makes it difficult for the operator to feel the magnitude of the load. Further, the control mechanism for the opening and closing operations of the finger members 18A and 18B is also controlled in exactly the same way. For this purpose, a motor and a potentiometer are housed in the gripper drive mechanism 16. The same applies to the operated manipulator side.

Although a detailed explanation will be omitted here, the wrist, forearm, etc. are controlled in the same way.

Such a reaction force generation mechanism allows the operator to
In order to make the reaction force felt, the gripper drive mechanism 141 needs to have a built-in motor with a large output, which increases the size of the gripper drive mechanism 16.

For example, as in the conventional example shown in FIG. For example, when the position of the upper arm 10A is in the positional relationship shown in FIG. forearm 1
The operating range I of 2A is limited to the range shown in FIG. 7 because the gripper drive mechanism 16 becomes an obstacle.

On the other hand, according to this embodiment, since the gripper drive mechanism 16 is located at the tip of the manipulator, there is no risk of collision with the upper arm 10A, etc., and the gripper portion 1
For example, if the positional relationship of the upper arm 10A is the same as that shown in Fig. 7, the operating range H of the wrist vertical swing and the operating range of the forearm 12A are shown in Fig. 8. This has the advantage of being larger than the conventional example (FIG. 7).

FIG. 9 shows another embodiment of the present invention, which differs from FIG.
This is fixed at A. This increases the rigidity of the gripping rod 21 against twisting, etc., so that the base of the gripping rod 21 can be made thinner, and the weight can be reduced.

Furthermore, FIGS. 10 and 11 show still other embodiments of the present invention. FIG. 1O is a side view of 14 gripper members, and FIG. In this embodiment, the length of the finger members 20 and 20BO in the vertical direction (direction perpendicular to the plane created by the finger members 1i and 18B when opening and closing the gripper) is increased as shown in FIG. different from. Due to the breakage, when the gripper part 14A is rotated approximately 180', the operator who operates the gripper part 14A when operating the 1 nibilator is rotated approximately 80' in the opposite direction to the gripper part. If you change your hands so that it becomes K, it will be like a turtle. As a result, it is no longer necessary for the operator's wrist to be rotated nearly 180 degrees, and the operator can operate it in the state shown in FIG. 5.

As described in detail above, according to the present invention, the center of rotation of the object grasping part passes through the member used for opening and closing the fingers among the members for the operator to grasp with his/her hand on the plane that includes the member for opening and closing the body. By arranging the gripper, the offset that occurs between the center of rotation of the operator's wrist and the center of rotation of the gripper can be eliminated.
This allows the operator to rotate the gripper by simply grasping the gripping rod attached to the gripper of the manipulator and rotating the wrist, thus greatly improving the operability of the manipulator. It has an extremely excellent effect of improving performance.

[Brief explanation of drawings]

FIG. 1 is a partial perspective view of a conventional control manipulator, FIG. 2 is a partial perspective view of a conventional control manipulator, and FIG. 3 is a control manipulator according to an embodiment of the present invention. FIG. 4 is a perspective view showing the overall structure of the controlled manipulator corresponding to this one control nibilator, and FIG. 5 is a detailed view showing the main parts of the control manipulator in the neutralization shown in FIG. A perspective view, FIG. 6 is a partial perspective view showing the configuration of a conventional control manipulator, FIGS. 7 and 8 are explanatory views explaining the operating range of the conventional device and the device of the present invention,
FIG. 9 is a partial side view of a steering manipulator showing another embodiment of the invention, and FIGS. 10 and 3111 are a side view and a plan view of a steering manipulator showing still other embodiments of the invention. . 9A, 9B - Shoulder joint, IOA, IOB... upper arm, 1
1A, IIB-- elbow joint, 12A, 12B-- front sail. 13A, 13B--Wrist joint, 14A, 14B...
Gripper section, 16... Gripper drive mechanism, 18 people. 18B...Finger member, 20 people, 20B...Finger member, E.
...Gu48ka\ No. cI m Kaya /θl No. // 0 Continued from page 1 ■Applicant Tokyo Electric Power Co., Inc. 1-1-3 Uchisaiwai-cho, Chiyoda-ku, Tokyo ■Applicant Chubu Electric Power Co., Inc. Nagoya City Higashi Ichibanchi Higashishinmachi Ward @ Applicant Chugoku Electric Power Co., Ltd. 4-33 Komachi, Naka-ku, Hiroshima City @ Applicant Hitachi, Ltd. 5-1 Marunouchi-chome, Chiyoda-ku, Tokyo

Claims (1)

[Claims] L has a plurality of arms connected by joints, nine object grasping parts connected to the most distal arm of the arms, and a plurality of actuators that actuate the arms and the object grasping parts. It has two manipulators, one of which is connected to the other control device, and an operator grasps and operates a part of the object grasping part of the control manipulator with his/her hand, thereby controlling the movement of the controlled manipulator. Among the members for the operator to grasp by hand in the manipulator for control and to be controlled, which are controlled so as to be compatible with the electrodynamics of the control manipulator,
1. A manual operating device for a manibule, characterized in that a member used for opening and closing a finger is arranged so that the center of rotation of the object grasping section passes over a plane that includes the opening and closing member.