JPS58146910A - Remote controller - Google Patents

Abstract

PURPOSE:To improve maneuverability and to prevent damages due to impact by braking a slave side when the slave side actuates a rink of the master side at the excess speed which can not be followed in a master/slave type remote controller. CONSTITUTION:While following up the rotation of arms 11, 12 of the master side around shafts 14, 15, arms 1, 2 of the slave side make a manual means move around shafts 4, 5. The shaft 5 is driven by a motor M and the rotational angle thetaf is detected by Ps. The rotational angle thetar of the arm 15 is detected. Both angles thetaf, thetar are compared to each other by a comparator 7 and the deviation (e) is amplified by a servo amplifier 6 to control the motor M so that the deviation (e) is reduced. An angular speed (v) is found out by a speed detector 8 from the rotational angle thetarand inputted to a PWM generator 9 and a brake B is braked by a brake driver 10 in accordance with the maximum speed of the motor M on the slave side. When necessary, the brake B fixes the rotation of arms 11, 12. Thus the maneuvering is easily performed and damages due to impact are prevented.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a mask-slave type remote controller for controlling manipulators used underwater or in nuclear reactors, human-operated manipulators in factories, etc. This relates to a control device.

[Technical background of the invention]

Conventional methods for manipulating multi-degree-of-freedom joint mechanisms include driving each joint individually with signals such as switches, driving with a dial, and using an input device with a similar shape to the joint mechanism. There is a method of steering a lever by making the movement of the joint mechanism proportional. Among these remote control methods, the third method is called the mask slave method, and is the easiest to operate and the most advanced method.

In this mask-slave system, the movable part of the joint mechanism on the slave side is driven following the movement of the movable part on the mask side. Then, the movement of the joints on the mask side is measured, and this measured value is given as an input signal to the server device that drives the joints on the slave side, thereby controlling the displacement of the joints of the movable parts on the slave side. It is something to do. By performing such control, the slave side is driven to follow the movement of the master.

[Problems with background technology]

However, with this type of device, if the mask side moves too fast, the slave side device may not be able to follow it, and even though the mask side has stopped, the slave side may still continue to operate due to a delay in response. Maneuverability is poor, and in the worst case scenario, the slave side may collide with an object or obstacle and be damaged as a result of moving the mask side more than necessary, or conversely, the object or obstacle may be damaged and an accident may occur. Occasionally this occurred.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and has a structure that allows the slave side to reliably follow the operation of the mask side, has a simple configuration, is inexpensive, and aims to make remote control work safer and more efficient. The purpose is to provide a remote control device that can! be.

[Summary of the invention]

That is, the present invention provides a remote control device that generates a position input signal by activating the master side and controls the position of the slave side in response to this input signal, which includes: a brake that brakes the operation of the mask side; A speed detector that detects the operating speed of the mask side, and a pulse width variable 1i1 that operates the brake for a certain period of time in response to a signal given from the speed detector when the operating speed exceeds a predetermined limit.
(hereinafter referred to as "quasi") is equipped with an arm pulse generator that outputs a signal. If the slave side operator operates the mask side at a speed higher than the follow-up speed of the device, the brake is applied to prevent the operation, thereby making it possible for the mask side to reliably follow the slave side.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of the device of the present invention. In the figure, reference numeral 1.2 is an 11th and second arm forming a movable part on the slave side, and a manipulator is attached to the tip of the second arm 2. The hand mechanism is attached to the seat. The first position of the hand mechanism 3 is changed and the shaft 5 that supports the shaft 1.2 is rotated. It is possible to control the rotation angle of the second arm 1.2.

Now, let us consider the case where the movement of the second arm 2 is controlled.

The second arm 2 has one end attached to the arm 1 of the tsl with a shaft 5.
It is driven by a motor M attached to the arm 1 of #Il with this shaft 5 as the center of rotation. This operation is performed by controlling the motor M based on the torque command given from the sir I amplifier 6, and the second arm 2
The angle of rotation of the joint part around the axis five times is detected by an angle detector P. 11 and 12 are the first and second links forming the movable part on the mask side, and the first link 11 is the shaft 1 on the rotation side.
4th and 9th, the links 12 of II2 are rotatably attached to the rotations of the shafts 15 of the first links 11, respectively. Also, these #11, second link 11. Ijl is configured to maintain a geometrically similar relationship with the first and second arms 1.2 on the slave side. The rotation angle of the axis 15 times 9 of the second link 12 on the mask side is determined by the angle detector P.
detected by.

Here, the handle 1 at the tip of the second link 12 on the mask side
3 is moved by the driver 16, the first and second irises link 11.
12 moves, and the movement of the second link 12 at this time is output from the angle detector Pm as an input angle signal θ1. This input angle signal Or is compared with the actual output angle signal of of the arm 2 given as the detection output of the angle detector P on the slave side in the comparator 7, and the output angle signal from the comparator 7 with respect to the input angle signal θF is The difference between the signals 0f, ie, the control deviation, is output. This control deviation is given to the amplifier 6, and this output is converted into a command to drive the shimotor M to move the second arm 2 in the direction of reducing the control deviation. Therefore, when the driver 16 moves the knob IJ, the second arm 2 on the slave side moves relative to the first arm IK following the movement. On the other hand, an electric brake B is attached to the axis 1j of the joint on the mask side in addition to an angle detector P that electrically records the rotation angle of the second link 12. Accordingly, the second link for the first link 11
The 120 rotations of the link are braked so that it can be fixed. In other words, the input angle 'lL signal -1 output from the angle detector P on the mask side is the speed detection signal s along with the ratio - and Figure 7.
8 is converted into a unit time change in angle, that is, an angular velocity signal, and is sent to an m generator 9. The m generator 9 is controlled according to the maximum speed of the slave motor M, and an upper limit level L and a lower limit level Lbt are set. Then, when the angular velocity signal -f- becomes larger than the upper limit level Lt, the circular M signal P is outputted to the brake driver 10, which becomes the level @1'', and when it becomes smaller than the lower limit level L, the circular M signal P becomes the level @0''. )・The operation switch 17 built into the driver 16 and installed so that it can be operated by the driver 16 is
6 is the second link]j fixed to the first link 11 and then operated to output a fixed signal S of level ``1''. The brake driver 10 supplies an exciting current i to the electric brake B when the range signal P is at level 111 and when the fixed signal 8 is at level 11''. Assume that the person operates the nozzle 13 and pulls up the second link 124c on the mask side upward in the figure.As a result, the second link 1
2 rotates, and its considerable change in angle is detected by the angle detector P, and becomes the input angle signal 0r of the slave side sensor I device. This signal 0r is then applied to the sir I amplifier sb via the comparator 1, and the motor M is rotated by this output. As a result, the second arm 2 rotates, and this movement is detected by the angle detector P1 and outputs an angle signal of
It is input to comparator 1 as The comparator 1 compares the input angle signal 0r and the output angle signal 0f, and the difference is given to the amplifier 6 as a control deviation, and the motor M is rotated so that the control deviation becomes zero. As a result, the second arm 2 is controlled to always move similarly to the second link 12 on the mask side.

In such an operation, as shown in the waveform diagram showing the relationship between the time T and the angular velocity signal of the speed detector 80 shown in FIG. If you make it faster, the arm on the slave side will not be able to follow it due to the limit of the tracking performance of the slave side, and the slave side will not be able to operate at its maximum speed, even though the mask side is stopped. An uncontrollable state occurs in which the slave side continues to operate. However, in the above embodiment, the speed detector 8 detects the angular velocity 1iv- of the movement of the second arm 12 from the input angle signal Or from the angle detector Pm.

Consequently, when this angular velocity becomes higher than the upper limit level L set in the PWM generator 9, the threshold signal P (Fig. 2 I
+) is at level 11"9. Accordingly, an excitation electric fit is applied to the electric brake B via the brake driver 10 to operate it, and the rotation of the second link 12 with respect to the first O-link 11 is controlled. The operating temperature of the link 12 rapidly decreases as shown in Figure 1. When the lower limit level L-] of the TFT angular velocity signal set in the field M generator 9 also decreases,
The field M signal P is at level 10'' and releases the brake drive 619 electric brake B.

As a result, the operating speed of the second link 12 is as shown in the figure. , the level rises again to the upper limit level L, and the same operation is repeated thereafter. Therefore, if the driver 16 attempts to move the mask-side/handle IS at a speed that exceeds the operating speed that the slave-side #I2 arm 2 can follow, the second
The movement of the link 12 becomes heavy because it is braked by the electric brake B. As a result, if the nozzle 11 is moved with the same force, its operating speed will be limited, and the upper limit level L of the four-cylinder generator will be limited.
, and the lower limit level L, can be set appropriately to create the second link 1.
It is possible to move the second arm 2 at almost the same speed as the movement of the second arm 2.If the arm 13 is stopped, the movement of the second arm 2 on the slave side is also stopped, which prevents overshooting due to movement delay. The phenomenon will also disappear. Note that when the master side is moved below the upper limit level L of the PWM generator 9, the electric brake B does not operate, and the slave side device does not reach its operating limit, so it is not possible to follow the movement of the mask side as it is. Of course. In addition, the fixed signal S (
By applying FIG. 2b) to the brake driver 10, the link 12 at 812 can be fixed in the desired position relative to the first link 11.

Note that the present invention is not limited to the above embodiments,
However, the Fi field generator 9 has an upper limit level L that corresponds to the maximum speed of the slave motor M.

By setting a lower limit level L and a lower limit level L, the PWM signal signal is generated to operate the electric brake B within this range, but only the upper limit level Lt is set, and when the angular velocity signal M exceeds this, a constant pulse is generated. The operation on the mask side may be braked by using a PWM signal ratio of the width.

Further, in the above embodiment, an electric brake B is used, but an electromagnetic brake or a brake may also be used, as long as it can brake the rotational movement of the link 120.

Furthermore, the functions according to the present invention may be performed by a microcomputer 20 as shown in FIG. 3, for example.

That is, the input angle signal -1 is converted into a digital signal by the converter 21, and the amount of change is checked by the arithmetic unit 2; The upper limit level L.

Output if greater than / -) from 25 to level @l
” is applied to the brake driver 10 to brake the operation on the mask side.Next, when the amount of change becomes smaller than the lower limit level -, the output level @01 is output to release the brake. Note that if the amount of change in the digital signal does not reach the upper limit level L, the field M signal P will be at level @O.
” remains the same.

As described above, within the scope of the gist of the present invention,
It goes without saying that various configurations are possible.

〔Effect of the invention〕

As described in detail above, in the operation of the remote control device according to the present invention, if the link on the mask side is moved at an excessive speed that the slave side cannot follow, the movement of this link is braked. Therefore, it is possible to prevent the master link from moving faster than the follow-up speed of the slave side arm.
As a result, the slave side can be operated to reliably follow the mask side. Therefore, the delay phenomenon in which the slave 1 side continues to operate even though the mask side has stopped due to the response delay of the slave side I device does not occur, and maneuverability can be significantly improved. It is possible to reliably prevent serious accidents such as damage to the arm itself or the other side of the arm due to collision with obstacles.

In addition, the main issue 1! If the AFi master side link mechanism has a brake mechanism in the ninth position to maintain the operated positional relationship, the mask side and slave side can be connected by simply installing a speed detector and a PWM generator without adding any new mechanism. It has the feature of being extremely practical as it allows the movements of both sides to be synchronized.

[Brief explanation of drawings]

Figure 1 is a diagram showing one embodiment of the present invention, Figure 2 is a waveform diagram showing the operation of the above embodiment, and Figure 3 is a diagram showing another embodiment of the invention. be. 1.2... Slay 1 side arm, 11.12... Mask side link, 6... Therme amplifier, 7... Comparator,
8... Speed detector, 9... Field M generator, 1o...
Brake driver, M...Motor, B...Electric brake, P, P...Angle detector. S va Applicant's agent Patent attorney Takehiko Suzue! Figure 11 Figure 2 Figure 93

Claims (3)

[Claims] (1) In a mask-slave remote control device that generates an input signal by activating the mask side and controls the position of the slave side in response to this input signal, the operation of the movable part on the mask side is braked. The brake, the speed detector that detects the operating speed of the mask side, and this speed detection 4! ! A brake driver that operates the brake according to a signal given from the O detection signal when the operating speed of the mask side exceeds a set value corresponding to the limit of the speed that the slave side can follow. (2) Apply the detection signal of the speed detector to the pulse width modulation signal generator and compare it with the upper limit level at which braking is performed and the lower limit level at which braking is released during play, which is set according to the maximum operation experience on the slave side. 2. The remote control device according to claim 1, wherein the brake driver is controlled by applying a notarus train corresponding to the operating speed lLK of the mask side to the brake driver. (3) The operation of the mask side is braked by a brake for a predetermined time every time the detection signal of the speed detector reaches an upper limit level set according to the maximum operation speed of the slave side. remote control device.