JPS62278614A - Steering device with six degrees of freedom - Google Patents

Abstract

PURPOSE:To detect the displacement and angle when a knob is operated within three-dimensional space by detecting the expansion/contraction displacements of six legs. CONSTITUTION:When a pilot turns a knob 1 with displacement in a desired direction, the six legs expand and contract and the leg expansion/contraction displacement signals Sa-Sf are delivered from the expansion/contraction displacement detectors 4a-4f set at those six legs. Then the signals Sa-Sf are supplied to a converter 7 via a signal processing part and processed based on an approximate equation obtained when the expansion/contraction displacement value is extremely small compared with the lengths of those legs. Here the errors caused by the flexion of a control stage 2 and a 5 are neglected. In such a way, both the displacement and angle can be detected in a simple way when the pilot operates the knob 1.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Industrial Field of Application] This invention relates to a six-degree-of-freedom control device, and in particular, it is capable of controlling an object existing in three-dimensional space in all directions. The present invention relates to a six-degree-of-freedom control device that allows an operator to intuitively control an object using only one hand, and is preferably used in the following fields: It is something that can be done.

(1) CCV (Control CoJ Igur), which is a rotary-wing aircraft and next-generation aircraft that requires multi-axis control
edVel+1cle Ideal for the control stick of the mobility-prioritized type 1).

(2) Three-dimensional image control device C A D currently being introduced in the design departments of various companies
(Co theory puter A 1ded D esi
It is used to control the position and orientation of a three-dimensional image by an electronic computer such as gn>.

(3) Control of remote devices! It is used for remote control of multi-axis moving devices such as cranes and robot arms used to move large objects.

(4) By manufacturing toys at low cost, they can be used as control levers for high-end toys such as game machines.

[Prior art] This type of conventional multi-axis control t! The vertical device directly detects displacement or angle in the direction of a coordinate axis set in a three-dimensional space in which an object exists, and performs necessary maneuvering control based on the detection result.

[Problems to be solved by the invention] Conventional multi-axis control tij! ! The device is of a four-axis controlled type at most, and its tl! Although the I-configuration is complicated, the detection accuracy of displacement and angle is low, and there is a problem in that it is insufficient for controlling the vehicle in a desired direction.

[Means for Solving the Problems] A six-degree-of-freedom control device according to the present invention includes a pedestal, an operating table to which a knob is fixed and placed at a predetermined distance from the pedestal, and a suitable position of the pedestal. An extendable 611! that connects the six fulcrums set at 6111 and the corresponding ones of the 6111il fulcrums set at appropriate positions on the operation console! The six legs are each provided with a telescopic displacement detector.

[Operation] According to the present invention, by detecting the expansion/contraction displacement of the six legs, the displacement and angle when the knob is operated in three-dimensional space are detected.

[Example] Fig. 1 is a schematic configuration diagram of a six-degree-of-freedom control device that is an embodiment of the present invention. (2) has an equilateral triangular shape, and its apex is formed into a bifurcated elastic tongue, each of which is provided with fulcrums (2a) to (2r). In addition, the pedestal (5) fixed to the floor (6) is attached to the operation table (
2) with the same shape and dimensions as these pedestals (
5) and the operating table (2) are arranged in parallel and in opposite directions. Legs (3a) to (3' ) and the corresponding telescopic displacement detector (
4a) to (4f) are inserted.9 Now, with reference to FIGS. 1A, 1B, and 1C, an exemplary configuration and operation of the legs described above will be explained. Explain. FIG. 1A is an illustrative diagram of the schematic configuration of the leg portion, and FIG.
The figure is an explanatory diagram of the operation of the leg, and FIG. 1C is an equivalent circuit diagram of the leg. First, looking at FIG. 1A, the nine legs (13) of which a predetermined leg is made up of the telescopic displacement detector (14) and the telescopic displacement detector (11) are made of an electrical insulator. A suitable conductor (131) is provided (f) in this lower part, and this leg (
A sliding contact (131m) is provided at the lower end of 13) to connect with the conductor (131). Stretch vag:.

The value detector (14) includes a resistor (141) and a sliding contact (141a), and also includes an upper terminal (14a).
, an intermediate terminal (14b) and a lower terminal (14e).

The upper end (142) of the resistor is connected to the upper terminal (14a).
), and the lower end (143) of the resistor is connected to the lower terminal (
14c>, and the sliding contact (141
a) is connected to the intermediate terminal (14e). Looking at the contact relationship between the leg (13) and the telescopic displacement detector (14) at the knee, the conductor (131) is connected to the sliding contact (141).
a), and the resistor (141) is in contact with the sliding contact <131a).

For this, 1l (13) and extension 11 displacement detector (14)
The legs can be moved relative to each other in the vertical direction, and as a result, the legs can be expanded and contracted. The expansion/contraction displacement of this leg portion is caused by the movement between the upper terminal (14a) and the intermediate terminal (14b), or between the intermediate terminal (14b) and the lower terminal (14b).
c) is extracted as an electrical signal corresponding to the change in electrical resistance value between

Referring again to FIG. 1, the reason why the two-pronged tongue portion of the operating table (2) is made of an elastic material is that when the leg portion expands and contracts, the operating table (2) and the pedestal (5) ) and the leg by bending the tongue to reduce the force couple generated between the tongue and the leg.

Now, in the six-degree-of-freedom control device of the above embodiment, when the pilot displaces and rotates the knob (1) in a required direction,
The six legs extend and contract, and leg intermediate displacement signals (S
It is output as a) to (Sf).

FIG. 2 is a block diagram of a signal processing unit that processes the leg extension/contraction displacement signal from the six-degree-of-freedom control device, which is an embodiment of the present invention shown in FIG. 1, and outputs a required calculation result. . In this signal processing section, an expansion/contraction displacement detector (4
a) Leg expansion/contraction displacement signals (S, ) to (S) from (4f)
f) is input to the converter (7) and processed according to the following equation (1).

Note that this arithmetic expression is an approximate expression when the displacement amount of extension IIa is extremely small compared to the length of the leg. Furthermore, errors due to deflection of the operating table (2) and the table M (5) are ignored.

Here, T11 to T and 6 are certain predetermined constants, and PK to Aψ are displacement signals and angle signals in coordinate axes appropriately defined with respect to the three-dimensional space. The transducer (7) for this purpose is realized, for example, as described below, and in this way, the displacement and angle when the pilot operates the knob (1) are detected with a simple mechanism. be able to.

Fig. 2-A is a schematic configuration diagram showing a specific example of the converter (7) in Fig. 2, and in Fig. 2-A, (
71) to (76) are voltage division adder circuits, respectively.

Taking the partial voltage adder circuit (71) as an example, this is 6
It consists of voltage dividers (71a) to (71f) and an adder (71+r) that receives input signals from these voltage dividers and outputs a required addition result. Taking the voltage divider (71a) in the 61m voltage divider as an example,
The leg expansion/contraction displacement signal (Sa) is directly applied to one end of the variable resistor constituting this voltage divider (71&), and the other end is applied via a polarity inverter (70a). A leg expansion/contraction displacement signal (-3,) with reversed polarity is applied. Regarding each of the other voltage dividers (71b) to (71f), the polarity inverters (70b) to (70f) are arranged in the same correspondence as in the case of the voltage divider (71a) described above, The voltage divider (71b) to (71f)
The leg extension/contraction displacement signals (Sb) to (S[
> has been added.

Now, let's take the partial voltage addition circuit (71) as an example again.

The partial pressure ratios of the 0 voltage dividers (71m) to (71f) to explain their operation are T, , T, □, T, 3. T,
4. T, 5 and T l are set to 13, and the leg extension/contraction displacement signals (Sa) to (Sf) input corresponding to the voltage dividers (71a) to (71f) are respectively set to the required amount. The pressure is applied and then added to obtain the desired displacement signal (PK) in the X-axis direction as follows.

PK=T,,XS,+T,□XSb×T13×80+
T14×S d+ 'r, 5x S eT16X S
1 (2) Displacement signals and angle signals other than those mentioned above, that is, displacement signal in the Y-axis direction (PY), displacement signal in the Z-axis direction (Pz), angle signal around the X-axis (Aφ), angle around the Y-axis Signal (Aθ) and angle signal around the Z axis (Aψ)
In the same manner, predetermined addition results are obtained by the corresponding partial voltage addition circuits (72) to (76). Then, based on an addition expression similar to the above-mentioned equation (2) related to these results, an arithmetic expression expressed in a matrix as in the above-mentioned equation (1) is obtained.

FIG. 3 shows a modification of the present invention, and in this FIG. 3, a rectangular operating table (1
02) is arranged parallel to the base (107) at a certain predetermined distance.

Three pillars (108) to (1
10), of which, for example, a column (10) is provided.
Regarding B), the fulcrum on the pedestal side at the top (
106f) and the fulcrum at the declination part on the operation console side (103f)
) between the leg expansion/contraction displacement detector (IQ5f) and the leg (1
The extensible legs consisting of the pedestal (107)
It is inserted so that it is parallel to the Pillars of difference (
Regarding (109) and (110), the former is between the leg extension/contraction displacement detector (105e) and the leg (104e), and the latter is between the leg extension/contraction displacement detector (105e).
(104a) to (1
For example, the leg (10
4e), a leg expansion/contraction displacement detector (105c) and a leg (104
The same arrangement as above is also made for a different leg part in which the leg part consisting of c) is inserted perpendicularly to the base (107). Note that each of the fulcrums is in the form of a universal joint that can move freely with respect to bending and rotation of related parts.

Now, in the 6-degree-of-freedom control device of the above-mentioned modification,
When the pilot displaces and rotates the knob (101) for the required operation, the six legs extend and contract, and the leg extension/contraction displacement detectors ( 1
05a) to (105F>) are detected as leg expansion/contraction displacement signals.The leg expansion/contraction displacement signals extracted in this way are similar to those described in FIGS. 2 and 2A above. The displacement and angle, which are the amount of operation of the knob, are obtained through the following processing.

FIG. 4 shows another modification of the present invention, and in this FIG. 4, the top surface has a square shape.

A generally trapezoidal support (206) is fixed to a pedestal (207), and a spherical knob (201) having a through hole in its lower surface and a hollow interior is attached to the support (206).
) is arranged to cover. Further, for example, regarding a leg consisting of a leg extension/contraction displacement detector (204m) and a leg (203a), the leg extension/contraction displacement detector (203a) is
The - left end of 04a) is the fulcrum on the knob (201) side <202a
), and the other end is inserted between the knob (201) and the pillar (206) in such a manner that it is supported by a fulcrum (205a) on the pillar (206) side.

The same applies to other leg parts.

The operation of this different modification is the same as that of the modification shown in FIG. 3, so a detailed explanation thereof will be omitted.

[Effects of the Invention] As explained above, the six-degree-of-freedom control device according to the present invention includes a pedestal, an operating table to which a knob is fixed and placed at a predetermined distance from the pedestal, and the pedestal. and six extendable legs that connect six fulcrums set at appropriate locations on the console and corresponding ones of the six fulcrums set at appropriate locations on the operation console, A telescopic displacement detector is provided on each of the six legs, and by detecting the telescopic displacement of the six legs, the displacement and angle caused by operating the knob in three-dimensional space can be relatively easily detected. The effect of accurate detection can be achieved by using a device with a similar configuration.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a six-degree-of-freedom control device that is an embodiment of the present invention, FIG. 1A is an illustrative diagram of the schematic configuration of the legs,
FIG. 1B is an explanatory diagram of the operation of the leg section, FIG. 1C is an equivalent circuit diagram of the leg section, FIG. 2 is a block diagram of the signal processing section for the above embodiment, and FIG. 2A is a diagram illustrating the operation of the leg section. FIG. 2 is a schematic configuration diagram illustrating the converter, the third (2I) is a schematic configuration diagram of a modified example of the present invention, and FIG. 4 is a schematic configuration diagram of another modified example of the present invention. ( 1) is the knob, (2) is the operation console, (2a) to (2f) is the fulcrum (on the operation console side), (3a) to (3f) is the leg, (4a)
) to (4f> are telescopic displacement detectors, ri5) is the pedestal, (5a
) to (5r) are the fulcrums (on the pedestal side), and (6) is the floor. Patent Applicant Mitsubishi Precision Co., Ltd. Agent: So Wado Terusaka Hikani: 4 2. Operation console. 2c to 2f (on the side of the Saisoudan platform) fulcrum 30 to 3f Leg 6: Floor self-view IA diagram Old figure 143, rectangular body lower @ part Fig. 2 5o-3f: Soishin 8 change position , Oshiryo 1) 3 heat 54
a~4f Tsukigai Kai Ashin Koshuhen ('ff I No. 2 P× ×
Change in direction of force (Tosaki PY: Change in the direction of the Y axis PZ: Change in the direction of the Z axis Aφ゛× Angle around the axis No. 41 Aθ° Angle around the Y axis No. Aψ, angle of 2 turns No. 41 No. 101 No. 102 Shuyo 103a-103f: 3 fulcrum of table 104a-l○4f: Legs 1050-105f Ruinkubo 5i Upper penalty position 2washa 44
4 pieces 106a-106f': Fulcrum of a 107: Table InA--11n Ancient Fig. 4 201 Tsubu 202o-202f Nof 7) Remaining 203a-203f: Legs 204a-204f Leg displacement detection 205a-205f : Support of the pillar 206, support

Claims (1)

[Claims] a pedestal, a control table to which a knob is fixed and placed at a predetermined distance from the pedestal, six fulcrums set at appropriate positions on the pedestal, and six fulcrums set at appropriate positions on the operation table. A six-degree-of-freedom control device consisting of six extendable and retractable legs that connect corresponding ones of the fulcrums, each of which has a corresponding displacement. and a six-degree-of-freedom control device configured to detect the required displacement and angle when operating the knob in three-dimensional space by detecting the expansion and contraction displacement of the six legs. .