JPS61293780A - Master/slave type robot - 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 [Technical Field of the Invention] The present invention relates to a master-slave type robot, such as a nursing assistance robot or an extreme work robot.

[Technical background of the invention and its problems] Robot technology has developed in recent years, and master-slave type robots are used in nursing care robots, extreme work robots, etc., in which an operator attaches a master arm and the operator's arm is moved. The movement is picked up and the slave robot is made to perform the same movements as the master arm.

In such master-slave type robots, there are individual differences among operators, and when multiple operators take turns operating the master arm, there is a problem in that the movements of the slave robot may differ slightly depending on the operator. For this purpose, it is necessary to create correction data for each operator, operate the slave robot according to a program that takes into account the correction data, and make sure that the slave robot performs almost the same operation even if the operator is different.

However, if the correction data for each operator is stored in the storage means built into the main control section, the capacity of the storage means will be extremely large if a large number of operators take turns performing operations. However, there is a problem in that the overall size of the device increases.

[Object of the Invention] The present invention has been made in view of the above-mentioned conventional problems, and provides an external storage means for storing all or part of the input data for the program of the main control unit. Even when multiple operators take turns performing operations, each operator can store the necessary correction data in their external storage means.
The purpose of the present invention is to provide a master-slave type robot that uses an external storage means in which the operator's correction data is stored during operation, and makes corrections for each operator so that there are no individual differences in the movement of the slave arm. do.

[Structure of the Invention] The present invention is a master-slave type robot comprising external storage means for input data for a program of a main control section.

[Embodiment of the Invention] FIG. 2 shows an entire embodiment of a master-slave type nursing assistance robot, and the slave robot 1 is as follows:
Left and right slave arms 7.9 are attached to the robot main body 5 installed on a trolley 3 that can run in all directions so as to be able to be driven up and down, and the slave arms 7.9 are driven until IO on the same trolley 3; It is a one-piece structure with IJ Ogunbu 11 installed.

In addition, the master arm 13 is the left and right arms 17 of the operator 15.
The movement of the arm 17 of the operator 15 is detected by the degree of rotation of the joint, and the signal is sent to the control unit 11 of the slave robot 1 to control the slave arm 7.
．． 9 to make the same movement as the movement of the arm 17 of the operator 15.

FIG. 3 shows the entire slave robot 1. As shown in FIG.

Left and right slave arms 7.9 are attached to the robot body 5 via brackets 19. These slave arms 7.9 have built-in servo motors in each of the shoulder joint 21, elbow joint 23, and wrist joint 25, and realize joint motion similar to the movement of a human arm, and independently move the left and right joints. Pick up, open, rotate, and perform wrist exercises.

The trolley 3 of this slave robot 1 is capable of turning and freely moving in any desired direction, front, back, left, or right.

The control unit 11 processes information from the master arm 13 and controls the operation of the slave arm 7.9.

The master arm 13 shown in FIG. 4 is attached to the left and right arms 17 of the operator 15, detects the movement of the left and right arms, and causes the slave arms 7.9 of the slave robot 1 to follow the movement. The left and right master arms 13 have respective joints 21, 23.25 of the slave arm 7.9, respectively.
An encoder is provided at a position corresponding to the arm 17.
The degree of movement of each joint is detected. Then, the servo motor of the corresponding joint 21.23.25 of the slave arm 7.9 is controlled by the detection signal of the encoder.
The slave arm 7 follows the movement of the master arm 13.
9 works.

In the master-slave type robot having the above configuration, when the operator 15 is changed, the length of the master arm 13 must be adjusted according to the physique of the operator. At the same time, since there are individual differences in the movement of the arm of the operator 15, the motion support data must also be corrected in accordance with the individuality of the operator 15.

In other words, even if one operator intends to move the wrist up and down by 45 degrees, another operator may intend to move the wrist up and down by 45 degrees.
5°±α. However, for the slave arm 7.9, it is necessary to realize a wrist movement of +45° no matter which operator operates it.

For that reason, I get +45 @ for each operator.

-45 degrees, two basic postures, and the position of the wrist of master arm 13 at that time is the position of slave arm 7.
．． Correction is made so that the angles are +45° and -45° for the wrist of No. 9. Such correction data is stored in an external storage means held for each operator.

FIG. 1 shows the data flow of this master-slave type robot, which includes a main control section 27 provided in the control section 11, a position section 29, a control box section 31, an external storage device 33, etc. , the operation control between master arm 13 and slave arm 7.9 is performed as follows.

The operator gives basic operation instructions to the main control section 27 through the control box 31.

Position signals of each joint of the master arm 13 are given to the position section 29 and input to the main control section 27 as position data and status data.

Further, a control signal from the operation switch of the master arm 13 is input to the main control section 27. In addition, the position signal from the slave arm 7.9 is also sent to the main 1 via the position section 29.
The data is input to the 1N11 section 27 as position data and status data.

The main control unit 27 calculates position data and status data from these master arm 13 and slave arm 7.9,
A drive signal for the joints necessary for the slave arm 7.9 is given to the position unit 29 as command data, and the servo amplifier 35 of each servo motor corresponding to the position unit 29
Give the speed command voltage to. The servo amplifier 35 responds to this applied voltage and drives the servo motor of the corresponding joint. Further, the position data from this servo motor is fed back to control the servo amplifier 35 in feedback, and the slave arm 7.9 is connected to the master arm 13.
control to take a posture that matches the posture of.

The external storage device 33 is, for example, a magnetic card, bubble memory,
It is possible to use various storage means such as a ROM back, and the correction data is stored for each operator, and the correction data is provided to the main control section 27.

Therefore Lord! The QI 11 section 27 takes in the position data and status data from the master arm 13 and slave arm 7.9 as well as the correction data from the external storage device 33, performs correction calculations, and calculates accurate movement for the slave arm 7.9. It outputs command data. When the operator is replaced, the external storage device @33 inserted into the control unit 11 is used to store correction data for the individual operator. By doing so, even when the operator is replaced, it is possible to command the slave arm 7.9 to operate without individual differences.

Furthermore, if this external storage device [33] stores not only master/slave correction data but also operator identification data such as voice recognition data and passwords, problems such as unqualified persons operating the robot can be prevented. I can do it.

[Effects of the Invention] Since this invention is equipped with an external storage means for input data to the program of the main control section, correction data for each operator is stored in this external storage means,
By inserting the external storage means into the main control section during operation, there is an advantage that individual differences between operators can be eliminated and any operator can ideally operate the slave robot.

[Brief explanation of drawings]

FIG. 1 is a data flow chart of an embodiment of this invention.
FIG. 2 is an overall view showing the operation of the above embodiment, and FIG. 3 is a diagonal Hi! of the slave robot of the above embodiment. FIG. 4 is a perspective view of the master arm of the above embodiment. 1...Slave robot 3...Dolly 5...Robot body 7.9
...Slave arm 11...Control unit 13...Master arm 15
... Operator 27 ... Main control section 29 ... Position section 31 ... Control box 33 ... External storage device 35 ... Servo amplifier 37
...Servo motor Fig. 2 Fig. 3

Claims (1)

[Claims] A master-slave type robot that is equipped with external storage means for input data for the program of the main control unit.