WO2018051383A1 - Haptic device - Google Patents

Haptic device Download PDF

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Publication number
WO2018051383A1
WO2018051383A1 PCT/JP2016/004168 JP2016004168W WO2018051383A1 WO 2018051383 A1 WO2018051383 A1 WO 2018051383A1 JP 2016004168 W JP2016004168 W JP 2016004168W WO 2018051383 A1 WO2018051383 A1 WO 2018051383A1
Authority
WO
WIPO (PCT)
Prior art keywords
haptic device
operation unit
operator
display device
housing
Prior art date
Application number
PCT/JP2016/004168
Other languages
French (fr)
Inventor
Marta NICCOLINI
Matteo RAGAGLIA
Juan-Manuel JACINTO-VILLEGAS
Avizzano CARLO ALBERTO
Tanzini MATTEO
Original Assignee
Yanmar Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanmar Co., Ltd. filed Critical Yanmar Co., Ltd.
Priority to PCT/JP2016/004168 priority Critical patent/WO2018051383A1/en
Publication of WO2018051383A1 publication Critical patent/WO2018051383A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04796—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rectilinear control along the axis of the controlling member
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1626—Constructional details or arrangements for portable computers with a single-body enclosure integrating a flat display, e.g. Personal Digital Assistants [PDAs]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
    • G06F1/169—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being an integrated pointing device, e.g. trackball in the palm rest area, mini-joystick integrated between keyboard keys, touch pads or touch stripes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/14—Carrying-straps; Pack-carrying harnesses
    • A45F2003/146—Pack-carrying harnesses
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F2200/00—Details not otherwise provided for in A45F
    • A45F2200/05—Holder or carrier for specific articles
    • A45F2200/0525—Personal portable computing devices, e.g. laptop, tablet, netbook, game boy, navigation system, calculator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1637—Details related to the display arrangement, including those related to the mounting of the display in the housing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/015—Force feedback applied to a joystick

Definitions

  • the present invention relates to a haptic device, and more specifically, to a haptic device integrally provided with a display device.
  • HMI Human Machine Interface
  • Examples of the means with which the person inputs information into the machine comprise a switch, a keyboard, a mouse, a lever, a joystick, and the like. These are manipulated with a hand, a foot, fingers, or the like of a person, and information is input into the machine.
  • Examples of the means with which the machine outputs information comprise a meter, a lamp, a display, and the like. These are configured to output information to a person by using visual sensation information. It should be noted that a haptic device outputs information to a person by using haptic information which is a counterforce sensation.
  • the haptic device is provided in such a form that a function for outputting information to an operator by using haptic information is provided in a device with which an operator inputs information into a machine.
  • the haptic device can notify a lot of information to an operator in a moment of time. For example, when a machine is remotely controlled, the haptic device notifies the operator that an object has come into contact with the machine by using a counterforce in a moment of time. The operator receives this counterforce (haptic information), so that the operator can accurately and quickly operate the machine.
  • the haptic device notifies a contact with a virtual object to the operator by using a counterforce. The operator can obtain a high degree of sense of realism from this counterforce (haptic information).
  • Structures of haptic devices comprise a structure using a serial mechanism and a structure using a parallel mechanism.
  • the serial mechanism is a configuration in which a fixed-side end is coupled with a link coupled in series to an output-side end (a contact portion with an operator).
  • the serial mechanism has a wide motion range that can be reached by the output-side end.
  • the parallel mechanism is a configuration in which a fixed-side end is coupled with multiple links in parallel to an output-side end (a contact portion with an operator). The parallel mechanism has a narrow motion range that can be reached by the output-side end.
  • the parallel mechanism can reduce the error of displacement at the output-side end.
  • a haptic device which is operated by an operator holding, for example, in a joystick and the like, a wide motion range is not so much required, and therefore, the parallel mechanism is often used.
  • Such sensation presentation device using the parallel mechanism is disclosed in, for example, Patent Literature 1, Patent Literature 2, Patent Literature 3, Patent Literature 4, and the like.
  • the haptic device disclosed in Patent Literature 1, Patent Literature 2, and Patent Literature 3 does not integrally comprise a display device serving as means for notifying information to a person by using visual sensation information. Therefore, in a case where the haptic device simultaneously notify information by using visual sensation information, it is necessary to separately provide a display device, and the haptic device is likely to be affected by the limitation of usage location, and provides a low degree of portability.
  • the haptic device disclosed in Patent Literature 4 integrally comprises a display device.
  • visibility of a screen of a display device is not at all taken into consideration.
  • an operation unit (interface) operated by the operator is provided in front of a screen of the display device. Therefore, in this haptic device, a portion of the screen may be blocked by an operation unit or a hand of the operator, and this may reduce the visibility of the screen of the display device.
  • an operation unit and a display device are configured to be arranged on the upper surface of the base, and therefore, the haptic device is likely to become larger, and provides a low degree of portability.
  • a haptic device which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
  • a haptic device of the present invention comprises: a display device; an operation unit; and a housing supporting the display device and the operation unit, wherein the operation unit comprises a gripping unit and a parallel mechanism supporting the gripping unit, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and the operation unit is disposed in a protruding manner from the housing at a back surface side of the display device.
  • the haptic device of the present invention further comprises a communication device exchanging information with an external apparatus by using wireless communication.
  • the parallel mechanism comprises: three arms disposed with an equal interval around an axis direction of the operation unit; three motors respectively driving the three arms; three motor bases respectively supporting the three motors; and a support plate supporting the gripping unit, wherein each of the three arms comprises a swing arm in a fan shape rotatably coupled with the motor base, and a parallel four-bar linkage mechanism connecting the swing arm and the support plate, and the swing arm is coupled with the motor via a wire rope wound around a pulley fixed to an output shaft of the motor.
  • the gripping unit can rotate around an axial center of the operation unit.
  • the operation unit is provided at both of the right and left sides.
  • the display device is disposed at an upper surface of the housing so that a screen faces upward, and the operation unit is disposed to protrude to a side from a side surface of the housing at a lower portion of the display device.
  • a controller controlling the operation unit is constituted by two control boards, and is accommodated in an inside of the housing.
  • the haptic device of the present invention further comprises a wearable support worn by the operator to hold the haptic device, wherein the wearable support comprises: a buckle coming into contact with a front surface of a body of the operator; and a plurality of belts attached to the buckle.
  • the display device is a touch panel type.
  • the display device has an angle of elevation.
  • a haptic device comprises a display device, an operation unit, and a housing supporting the display device and the operation unit, and the operation unit comprises a gripping unit and a parallel mechanism supporting the gripping unit, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and the operation unit is disposed in a protruding manner from the housing at a back surface side of the display device. Therefore, the haptic device can be provided, which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability. With the haptic device according to the present invention, it is easy to bring the display device close to the body, and the visibility of the display device can be improved.
  • the haptic device can exchange information with an external apparatus even at an isolated location, and this improves the usability.
  • the parallel mechanism comprises three arms disposed with an equal interval around an axis direction of the operation unit, three motors respectively driving the three arms, three motor bases respectively supporting the three motors, and a support plate supporting the gripping unit, and each of the three arms comprises a swing arm in a fan shape rotatably coupled with the motor base, and a parallel four-bar linkage mechanism connecting the swing arm and the support plate, and the swing arm is coupled with the motor via a wire rope wound around a pulley fixed to an output shaft of the motor, the operation unit that has at least three translational degrees of freedom can be made into a smaller size.
  • the operation unit using a simple configuration and having four degrees of freedom can be provided.
  • number of degrees of freedom of the operation unit can be increased without reducing the operability of the operation unit.
  • the operator can operate each of the two operation units with right and left hands which are different hands.
  • the haptic device is capable of six types of input operations without requiring complicated operation, and the load of the operator caused by the increase of number of input operation can be reduced.
  • the haptic device is provided, which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
  • the haptic device is provided, which is integrally provided with a display device and in which the operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
  • the haptic device provides excellent portability, and the operator can easily hold the haptic device at any given position, and the operation load of the operator is reduced, and the usability is improved.
  • the display device is a touch panel type
  • much information can be easily input, and the haptic device provides excellent usability.
  • the visibility of the display device is further improved.
  • Fig. 1 is a perspective view illustrating an example of a haptic device according to an embodiment of the present invention.
  • Fig. 2 is a top view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 3 is a left side view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 4 is a right side view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 5 is a front view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 6 is a back view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 7 is a bottom view illustrating the haptic device illustrated in Fig. 1.
  • Fig. 8 is a front view illustrating an example of an operation unit.
  • Fig. 1 is a perspective view illustrating an example of an operation unit.
  • Fig. 1 is a perspective view illustrating an example of an operation unit.
  • Fig. 1 is a perspective view illustrating an example of an operation unit
  • FIG. 9 is a perspective view illustrating an operation unit illustrated in Fig. 8.
  • Fig. 10 is a figure for explaining an arm of an operation unit.
  • Fig. 11 is a figure for explaining a configuration of an operation unit.
  • Fig. 12 is a perspective view schematically illustrating an example of a state in which an operator uses a haptic device.
  • Fig. 13 is a block diagram for explaining an example of an operation system using a haptic device.
  • Fig. 14 is a side view schematically illustrating an example of a work machine which is a composing element of an operation system.
  • Fig. 1 is a perspective view illustrating an example of a haptic device 1 according to an embodiment of the present invention.
  • Fig. 2 is a top view illustrating the haptic device 1 as illustrated in Fig. 1.
  • Fig. 3 is a left side view illustrating the haptic device 1 as illustrated in Fig. 1.
  • Fig. 4 is a right side view illustrating the haptic device 1 as illustrated in Fig. 1.
  • Fig. 5 is a front view illustrating the haptic device 1 illustrated in Fig. 1.
  • Fig. 6 is a back view illustrating the haptic device 1 illustrated in Fig. 1.
  • Fig. 7 is a bottom view illustrating the haptic device 1 illustrated in Fig. 1.
  • Fig. 1 is a perspective view formed by viewing the haptic device 1 from the upper side of the tablet 2.
  • the haptic device 1 is a type of an HMI, and can be used as an operation device for a work machine, a robot, and the like, an input device of a training simulator using virtual reality, a game machine, and the like.
  • the haptic device 1 comprises a tablet 2, right and left operation units 3R, 3L, a housing 4, and the like.
  • the housing 4 supports the tablet 2 and the two operation units 3R, 3L.
  • the right and left operation units 3R, 3L have the same configuration.
  • Each of the right and left operation units 3R, 3L comprises a gripping unit 20 and a parallel mechanism 30 supporting the gripping unit 20.
  • the right operation unit 3R is operated with the right hand of the operator
  • the left operation unit 3L is operated with the left hand of the operator.
  • the operator can simultaneously operate the two operation units 3R, 3L while the operator faces the screen 8 of the tablet 2.
  • each of the right and left operation units 3R, 3L has at least three translational degrees of freedom.
  • Each of the right and left operation units 3R, 3L is configured so that a force can be fed back to the operator.
  • Each of the right and left operation units 3R, 3L is disposed in a protruding manner from the housing 4 at the lower side which is the back surface side of the tablet 2.
  • the housing 4 is a hollow body in a substantially rectangular parallelepiped shape, and both of the right and left sides of the housing 4 have depressed portions 5R, 5L depressed to the inner side. More specifically, the housing 4 has a symmetric structure, and is composed of an upper portion 6 and a lower portion 7.
  • the upper portion 6 is a hollow body of which external shape in a top view is substantially rectangle.
  • the lower portion 7 is a hollow body of which external view in a bottom view is a substantially inverted-T shape.
  • the upper end of the lower portion 7 is coupled with the lower end of the upper portion 6.
  • the housing 4 is composed of the depressed portions 5R, 5L, which are depressed to the inner side, on both of the right and left sides of the lower portion 7.
  • the inside of the upper portion 6 and the inside of the lower portion 7 are in communication with each other.
  • the housing 4 has a single inner space formed therein.
  • the upper surface of the upper portion 6 is inclined upwardly from the back side to the front side.
  • the tablet 2 is disposed on the upper portion 6 of the housing 4 so that the screen 8 of the display device faces the upper side. More specifically, the tablet 2 is embedded in the upper portion 6 so that only the screen 8 is exposed.
  • the portion other than the screen 8 of the tablet 2 is accommodated in the inside of the upper portion 6. It should be noted that the screen 8 of the tablet 2 is parallel to the upper surface of the upper portion 6 and has an angle of elevation.
  • switches such as a starting key switch 9, an emergency stop switch 10, and the like, multiple connectors 11 for connecting external devices, and the like are provided on the upper surface of the upper portion 6 and around the screen 8 of the tablet 2.
  • a controller not shown here, for controlling the right and left operation units 3R, 3L is disposed in the inside of the housing 4.
  • the buckle 61 is detachably attached to the back surface of the housing 4.
  • the buckle 61 is one of member composing a wearable support explained later. Although the details will be explained later, the operator can hold the haptic device 1 without using right and left hands by wearing the wearable support.
  • An opening portion 12R is formed in a bottom surface 5RB of the right depressed portion 5R of the housing 4 (right side surface of the lower portion 7).
  • the right operation unit 3R protrudes from the opening portion 12R toward the right side.
  • An opening portion 12L is formed in a bottom surface 5LB of the left depressed portion 5L of the housing 4 (left side surface of the lower portion 7).
  • the left operation unit 3L protrudes from the opening portion 12L toward the left side. It should be noted that each of the right and left operation units 3R, 3L is fixed to a flange, not shown, formed in the inside of the lower portion 7 of the housing 4.
  • the right and left operation units 3R, 3L are disposed symmetrically.
  • An axis 13 which is a virtual axial center indicating the protruding direction of the operation unit 3R extends to the horizontal direction.
  • the axis 13 of the operation unit 3R is defined as a straight line passing through the center of the operation unit 3R, and extending in a protruding direction (extending direction) of the operation unit 3R.
  • An axis 14 which is a virtual axial center indicating the protruding direction of the operation unit 3L extends to the horizontal direction.
  • the axis 14 of the operation unit 3L is defined as a straight line passing through the center of the operation unit 3L, and extending in a protruding direction (extending direction) of the operation unit 3L.
  • the axis 13 and the axis 14 are perpendicular to the longitudinal direction and the vertical direction.
  • the axis 13 and the axis 14 are located on the same straight line.
  • the housing 4 is made of synthetic resins. Examples of synthetic resins forming the housing 4 include ABS resin, polypropylene, polyethylene, and the like, or those mixed with such synthetic resins. It should be noted that the materials forming the housing 4 is not limited to the above synthetic resins.
  • the housing 4 may be made of stainless steel, aluminum alloy, and the like.
  • the housing 4 is not limited to the above configuration.
  • the housing 4 may be configured to support the tablet 2 serving as the display device and the right and left operation units 3R, 3L located at the back surface side of the tablet 2.
  • the housing 4 may be configured not to have the right and left depressed portions 5R, 5L, and more specifically, the housing 4 may be configured to be in a substantially rectangular parallelepiped shape.
  • the housing 4 preferably has a configuration of having the right and left depressed portions 5R, 5L.
  • the right operation unit 3R is disposed in the right depressed portion 5R of the housing 4, and the left operation unit 3L is disposed in the left depressed portion 5L, so that the size of the haptic device 1 can be reduced while the size of the screen 8 of the tablet 2 is ensured.
  • the directions of the axis 13 and the axis 14 are not particularly limited, and more specifically, the directions in which the right operation unit 3R and the left operation unit 3L are protruding are not particularly limited.
  • the directions in which the right operation unit 3R and the left operation unit 3L are protruding may be inclined in the longitudinal direction, the vertical direction, and both of the longitudinal direction and the vertical direction.
  • the right and left operation units 3R, 3L may be disposed to protrude to the lower side.
  • the right operation unit 3R is preferably configured to protrude to the right side
  • the left operation unit 3L is preferably configured to protrude to the left side.
  • the tablet 2 is a touch panel type capable of performing wireless communication.
  • the tablet 2 comprises the display device in which the screen 8 is exposed to the outside, and also comprises a controller, a communication device, a battery, and the like. It should be noted that the tablet 2 is electrically connected to a controller for controlling the right and left operation units 3R, 3L.
  • the controller provided in the tablet 2 is configured to control various kinds of devices provided in the tablet 2 such as, for example, a display device, a communication device, and the like.
  • the communication device exchanges information with an external apparatus by wireless communication.
  • the wireless communication performed by the communication device may comprise, for example, a communication with wireless LAN, communication using a mobile phone network, and the like.
  • the haptic device 1 can exchange information with an external apparatus even at an isolated location, and this may improve the usability.
  • the communication device may be configured to exchange information with an external apparatus by wire communication.
  • the display device provided in the haptic device 1 is not limited to the tablet 2 explained above.
  • the haptic device 1 may be configured such that the communication device and the battery are separated from the tablet 2, and the communication device and the battery are accommodated in the inside of the housing 4.
  • Fig. 8 is a front view illustrating an example of the operation unit 3R.
  • Fig. 9 is a perspective view illustrating the operation unit 3R illustrated in Fig. 8.
  • Fig. 10 is a figure for explaining an arm 31 of the operation unit 3R.
  • Fig. 11 is a figure for explaining a configuration of the operation unit 3R.
  • Fig. 9 is a perspective view seen from a side of a support plate 35 explained later. In Fig. 9, the description of the gripping unit 20 is omitted.
  • Fig. 9 is a perspective view seen from a side of a support plate 35 explained later.
  • FIG. 11 is a figure illustrating the operation unit 3R seen from the side of the gripping unit 20.
  • the description about the gripping unit 20, the support plate 35, parallel four-bar linkage mechanisms 38 explained later, wire ropes 50 explained later, and the like are omitted.
  • the operation unit 3R comprises a gripping unit 20, a parallel mechanism 30, and the like.
  • the gripping unit 20 comprises a base portion 21, a distal end portion 22, and the like.
  • the parallel mechanism 30 comprises three arms 31, 31, 31, three motors 32, 32, 32, three motor bases 33, 33, 33, three position sensors 34, 34, 34, the support plate 35, and the like.
  • the gripping unit 20 is a portion gripped by the operator, and is a contact portion with the operator.
  • the base portion 21 of the gripping unit 20 is in a cylindrical shape coaxial with the axis 13.
  • the base portion 21 is fixed to the support plate 35.
  • Two switches 23, 23 are provided on the peripheral surface of the base portion 21 (see Fig. 7).
  • the distal end portion 22 is in a cylindrical shape coaxial with the axis 13, having an apex and having the same diameter as the base portion 21.
  • the apex of the distal end portion 22 has a hemispherical round shape.
  • the distal end portion 22 is attached to the base portion 21 in a rotatable manner.
  • the distal end portion 22 can rotate about the axis 13 being a rotation axis.
  • the gripping unit 20 has an angle sensor 36 provided therein to detect the rotation angle of the distal end portion 22 with respect to the base portion 21.
  • the angle sensor 36 may be, for example, a potentiometer, a rotary encoder, and the like.
  • the material forming the gripping unit 20 is not particularly limited.
  • Examples of materials forming the gripping unit 20 include synthetic resins of ABS resin, polypropylene, polyethylene, and the like, or those mixed with such synthetic resins.
  • the three arms 31, 31, 31 of the parallel mechanism 30 are disposed with an equal interval around the axial direction (peripheral direction) of the axis 13 of the operation unit 3R.
  • the three arms 31, 31, 31 have the same configuration.
  • the arm 31 comprises a swing arm 37, a parallel four-bar linkage mechanism 38, and the like.
  • the swing arm 37 is in a fan shape, and is supported rotatably on the motor base 33.
  • a rotation axis 39 of the swing arm 37 is located in the center of a circle having an arc of a fan shape as a portion thereof.
  • a rotation axis 39 is perpendicular to the axis 13.
  • the swing arm 37 rotates so as to slide on the motor base 33.
  • the parallel four-bar linkage mechanism 38 connects the support plate 35 and the swing arm 37. More specifically, the parallel four-bar linkage mechanism 38 comprises two first link members 40, 41 and two second link members 42, 43.
  • the two first link members 40, 41 are longer than the two second link members 42, 43.
  • the two first link members 40, 41 are of the same length and are parallel with each other.
  • a second link member 42 connects the ends of the two first link members 40, 41.
  • a second link member 43 connects the other end of the two first link members 40, 41.
  • the two second link members 42, 43 are of the same length and are parallel with each other.
  • the second link member 42 is rotatably coupled with the support plate 35 with a hinge.
  • the second link member 43 is rotatably coupled with the arc side end portion of the swing arm 37 with a hinge.
  • a rotation axis 44 of the second link member 42 with respect to the support plate 35 is parallel to a rotation axis 39 of a swing arm 37.
  • a rotation axis 45 of the second link member 43 with respect to the swing arm 37 is parallel to the rotation axis 39 of the swing arm 37.
  • a rotation axis 46 of a first link member 40 with respect to the second link member 42 and a rotation axis 47 of a first link member 41 with respect to the second link member 42 are parallel to each other. Both of the rotation axes 46, 47 are perpendicular to the rotation axis 39.
  • a rotation axis 48 of the first link member 40 with respect to the second link member 43 and a rotation axis 49 of the first link member 41 with respect to the second link member 43 are parallel to each other. Both of the rotation axes 48, 49 are perpendicular to the rotation axis 39.
  • the swing arm 37 is coupled with an output shaft 51 of the motor 32 via a wire rope 50.
  • the motor 32 is a DC servo motor, and is fixed to the motor base 33.
  • a pulley 52 is attached to the output shaft 51 of the motor 32.
  • the output shaft 51 of the motor 32 is parallel to the rotation axis 39 of the swing arm 37.
  • the pulley 52 is adjacent to an arc-shaped outer periphery 53 of the swing arm 37.
  • the wire rope 50 is coiled 3 times around the pulley 52 to transmit the force to the swing arm 37. It should be noted that the wire rope 50 may be coiled around the pulley 52 one or more times.
  • the wire rope 50 extends along the arc-shaped outer periphery 53.
  • One end of the wire rope 50 extends beyond one end of the arc-shaped outer periphery 53 of the swing arm 37, and is fixed to the outer periphery 54 extending in the radial direction of the swing arm 37 with a pin 50a.
  • the other end of the wire rope 50 extends beyond the other end of the arc-shaped outer periphery 53 of the swing arm 37, and is fixed to another outer periphery 55 extending in the radial direction of the swing arm 37 with a pin 50b.
  • the wire rope 50 is coupled between the pulley 52 and swing arm 37.
  • the arm 31 comprises a tension spring 58.
  • the tension spring 58 apply the tension to the wire rope 50. Both sides of the tension spring 58 are attached, one is assembled to the swing arm 37 by being hooked on a pin 58a assembled in the swing arm 37 and the other one to the wire rope 50 by being hooked on the wire rope 50.
  • the swing arm 37 and the output shaft 51 of the motor 32 are coupled, so that the power of the motor 32 can be efficiently transmitted to the swing arm 37.
  • friction and chattering between the swing arm 37 and the output shaft 51 (the pulley 52) can be reduced compared to coupling with gear wheels.
  • the coupling between the swing arm 37 and the output shaft 51 of the motor 32 is not limited to the coupling with the wire rope 50.
  • the swing arm 37 and the output shaft 51 of the motor 32 may be coupled by using gear wheels.
  • the swing arm 37 may be configured to be fixed to the output shaft 51 of the motor 32. In such configuration, the rotation axis 39 of the swing arm 37 is located coaxially with the output shaft 51.
  • the motor base 33 is a plate-shaped member. As described above, the motor 32 is fixed to the motor base 33.
  • the motor base 33 rotatably supports the swing arm 37.
  • Each of the three motor bases 33, 33, 33 is bonded mutually with the other two motor bases 33, 33.
  • An angle formed by the two motor bases 33, 33 is 60 degrees.
  • a flange 56 in a regular triangle shape bonded with the three motor bases 33, 33, 33 is formed in a portion enclosed by the three motor bases 33, 33, 33.
  • the axis 13 of the operation unit 3R passes through the barycenter of the flange 56 in the regular triangle shape.
  • the motor 32 and the swing arm 37 are located at an external side of the portion enclosed by the three motor bases 33, 33, 33.
  • the flange 56 is fixed to a flange, not shown, formed in the inside of the lower portion 7 of the housing 4. Further, the operation unit 3R is fixed to the housing 4.
  • the motor base 33 has a columnar shape protrusion 57 for limiting the rotation range of the swing arm 37.
  • the protrusion 57 prevent the wire rope 50 from braking or damaging.
  • the position sensor 34 is a sensor for detecting the rotation angle of the output shaft 51 of the motor 32, and is attached to the motor 32.
  • the position sensor 34 is, for example, a potentiometer, a rotary encoder, and the like.
  • the position sensor 34 may be able to detect the driving state of the arm 31.
  • the position sensor 34 may be a sensor detecting the rotation angle of the swing arm 37 with respect to the motor base 33.
  • the position sensor 34 may be configured to comprise two sensors, i.e., a sensor detecting the rotation angle of the output shaft 51 of the motor 32 and a sensor detecting the rotation angle of the swing arm 37 with respect to the motor base 33.
  • the support plate 35 is a toric plate-shaped member.
  • the gripping unit 20 is attached to one surface side of the support plate 35.
  • the three arms 31, 31, 31 are rotatably coupled with the other surface side of the support plate 35. More specifically, the second link member 42 of the parallel four-bar linkage mechanism 38 of each of the three arms 31, 31, 31 is coupled with the other surface side of the support plate 35 with a hinge.
  • the operation unit 3R explained above is configured to be able to passively translate (move linearly) in the three directions with respect to the axis 13 from the housing 4.
  • An translation direction and an translation angle of the operation unit 3R can be calculated from the detection value of the three position sensors 34.
  • the gripping unit 20 of the operation unit 3R is configured to be able to rotate the distal end portion 22 with respect to the base portion 21.
  • the rotation angle of the distal end portion 22 can be calculated from the detection value of the angle sensor 36. Therefore, the operation unit 3R can translate in three directions, and can rotate the distal end portion 22, so that the operation unit 3R has three translational degrees of freedom and one rotational degree of freedom (four degrees of freedom).
  • the gripping unit 20 of the operation unit 3R comprises two switches 23, 23. Therefore, the operation unit 3R can operate six types of input operations if the ON/OFF operation of the two switches 23, 23 are comprised.
  • the operation unit 3R When each of the three motors 32, 32, 32 drives the arm 31, the operation unit 3R is configured to be able to actively translate in three directions with respect to the axis 13 from the housing 4, and maintain the translation posture. With such active translation operation, the operation unit 3R can feed a force back to the hand of the operator holding the gripping unit 20. The operation unit 3R can actively translate in three directions, and therefore, the force in the three directions can be fed back to the operator.
  • the materials forming the motor base 33, the support plate 35, the swing arm 37, the parallel four-bar linkage mechanism 38, the pulley 52, and the like of the parallel mechanism 30 are not particularly limited. Examples of materials forming them comprise stainless steel, aluminum alloy, synthetic resin, and the like. Examples of materials forming the wire rope 50 comprise steel, synthetic resin fiber having a high degree of strength such as aramid fiber and the like.
  • the operation unit 3R is not limited to the above configuration.
  • the operation unit 3R may be configured to comprise a gripping unit 20 and a parallel mechanism 30 supporting the gripping unit 20, and may have at least three translational degrees of freedom, and be able to feed a force back to the operator.
  • the operation unit 3R is capable of three types of input operations since the operation unit 3R has at least three translational degrees of freedom.
  • the operation unit 3R can efficiently perform an input of information in the three-dimensional space. For example, in a three-dimensional space defined by x axis, y axis, and z axis, an input of information about a position in a direction of each of the x axis, the y axis, and the z axis and an input of information about a rotation of each of the x axis, the y axis, and the z axis can be performed with a single operation unit 3R, so that the input of the information can be facilitated.
  • the haptic device 1 comprise the two operation units 3R, 3L having at least three translational degrees of freedom. More specifically, the haptic device 1 is capable of at least six types of input operations. Therefore, for example, in a three-dimensional space defined by x axis, y axis, and z axis, the haptic device 1 can perform an input of information about a position in a direction of each of the x axis, the y axis, and the z axis and an input of information about a rotation of each of the x axis, the y axis, and the z axis.
  • each of the right and left operation units 3R, 3L has at least three translational degrees of freedom, and therefore, the haptic device 1 has a high degree of versatility.
  • the number of operation units 3 provided in the haptic device 1 is not particularly limited, and a single operation unit 3 may be provided, or three or more operation units 3 may be provided.
  • the haptic device 1 preferably has a configuration comprising the right and left operation units 3R, 3L. With such configuration, the operator can operate each of the two operation units 3R, 3L with right and left hands which are different hands. Therefore, the haptic device 1 is capable of at least six types of input operations without requiring complicated operations, and can reduce the load of the operator resulting from the increase of the input operation.
  • the gripping unit 20 may be configured to be gripped by the operator.
  • the gripping unit 20 may be configured such that the distal end portion 22 does not rotate with respect to the base portion 21.
  • the gripping unit 20 may be configured not to comprise the two switches 23, 23. Projections and depressions according to the shape of the fingers may be formed on the external surface of the gripping unit 20. From the perspective of the operability and the degrees of freedom, the gripping unit 20 is preferably configured such that the distal end portion 22 rotates with respect to the base portion 21. Additionally, by adding a rotation the gripping Unit 20 it will increase the degrees of freedom of the operation unit 3R without reducing the operability of the operation unit 3R.
  • the parallel mechanism 30 may be configured such that the operation unit 3R/3L is translated at least in three directions.
  • the parallel mechanism 30 may be configured to further comprise one more arm 31.
  • the arm 31 is not limited to the above configuration.
  • the swing arm 37 in the fan shape may also be in a circular or semicircular shape.
  • the swing arm 37 is preferably in a fan shape.
  • the arm 31 may be configured such that a universal joint such as a ball joint is used for connection between one end of the parallel four-bar linkage mechanism 38 and the swing arm 37 and connection between the other end of the parallel four-bar linkage mechanism 38 and the support plate 35.
  • the arm 31 may be configured such that the swing arm 37 and the support plate 35 are connected with a single link member instead of the parallel four-bar linkage mechanism 38.
  • Fig. 12 is a perspective view schematically illustrating an example of a state in which the operator 70 uses the haptic device 1.
  • the wearable support 60 comprises the buckle 61 and one belt 62 and two shoulder straps (belts) 63, 64.
  • the buckle 61 is a plate-shaped member, and is detachably attached to the back surface of the housing 4. More specifically, the buckle 61 comprises three protrusions 65, 65, 65 on the front surface (see Fig. 7). The three protrusions 65, 65, 65 are engaged with the three groove 15, 15, 15 formed on the back surface of the housing 4, so that the buckle 61 is attached to the housing 4.
  • the protrusion 65 extends from the lower end of the front surface of the buckle 61 to the upper side.
  • the groove 15 extends from the lower end of the back surface of the housing 4 to the upper side.
  • the method for attaching the buckle 61 to the housing 4 is not limited to the method of engagement between the protrusion 65 and the groove 15.
  • the buckle 61 may be attached to the housing 4 by fastening a screw, engagement with a hook, and the like.
  • One end of the belt 62 is attached to the right side end portion of the buckle 61, and the other end thereof is attached to the left side end portion of the buckle 61.
  • One end of the shoulder strap 63 is attached to the right side upper portion of the buckle 61, and the other end thereof is coupled with the belt 62.
  • One end of the shoulder strap 64 is attached to the left side upper portion of the buckle 61, and the other end thereof is coupled with the belt 62.
  • the belt 62 and the two shoulder straps 63, 64 have an adjuster 66 for adjusting the length.
  • the operator 70 wraps the belt 62 around the waist. At this occasion, the back surface of the buckle 61 is brought into close contact with the belly which is the front surface of the body. The operator 70 puts the shoulder strap 63 over the right shoulder and puts the shoulder strap 64 over the left shoulder. Then, the operator 70 can hold the haptic device 1 on the front surface of the body in such a manner as to carry it with the wearable support 60.
  • the haptic device 1 additionally comprises the wearable support 60, the portability is improved. Since the operator 70 can hold the haptic device 1 without using a hand, the operability of the right and left operation units 3R, 3L is not reduced. The operator 70 can easily hold the haptic device 1, and therefore, even when the operator 70 use the haptic device 1 for long hours, the load imposed on the operator 70 is small. In addition, for example, the operator 70 can use the haptic device 1 without placing the haptic device 1 on a work bench and the like. More specifically, the operator 70 can use the haptic device 1 at any given location, and the haptic device 1 provides excellent usability.
  • the support gear 60 can be detached from the haptic device 1, and therefore, the operator 70 can use the haptic device 1 by placing the haptic device 1 on a workbench and the like.
  • the haptic device 1 is placed on a workbench and the like by using the bottom surface and the back surface of the housing 4 as a placement surface.
  • the wearable support 60 can adjust the length of the belt 62 and the two shoulder straps 63, 64 with the adjuster 66. Therefore, the operator 70 can adjust the position for holding the haptic device 1 in accordance with the physique and the preference, which provides excellent usability.
  • the wearable support 60 may be worn by the operator 70 to hold the haptic device 1, and the wearable support 60 is not limited to the above configuration.
  • the wearable support 60 may have a configuration of comprising an arm rest on which an arm of the operator 70 is placed. When such configuration is employed, the load of the operator 70 is further reduced.
  • the wearable support 60 may be configured such that the buckle 61 is attached to clothes such as a vest.
  • the wearable support 60 may have a configuration of comprising an auxiliary battery for providing electric power to the haptic device 1.
  • Fig. 13 is a block diagram for explaining an example of the operation system 100 using the haptic device 1.
  • Fig. 14 is a side view schematically illustrating an example of a work machine 80 which is a composing element of the operation system 100.
  • the operation system 100 illustrated in Fig. 13 for example is a system that comprises the haptic device 1 and the work machine 80 serving as an external apparatus capable of communicating with the haptic device 1, and the operation system 100 remotely controls the work machine 80.
  • the haptic device 1 comprises the controller 16 provided inside of the housing 4.
  • the controller 16 is configured to control the right and left operation units 3R, 3L.
  • the tablet 2 of the haptic device 1 comprises a controller 17.
  • the controller 17 of the tablet 2 is configured to control various kinds of devices provided in the tablet 2, for example, the display device 18, the communication device 19, and the like.
  • the haptic device 1 is configured to use the communication device 19 so that it can transmit and receive information to and from the work machine 80 which is an external apparatus.
  • the screen 8 of the display device 18 displays various kinds of setting values of the haptic device 1, information transmitted from the work machine 80, and the like.
  • the controller 16 reads input signals of various setting values, detection values obtained from various kinds of sensors, and the like.
  • the controller 16 is configured to control the right and left operation units 3R, 3L on the basis of the input signals, and generate output signals transmitted to an external apparatus.
  • the controller 17 reads input signals of various setting values, detection values obtained from various kinds of sensors, and the like.
  • the controller 17 is configured to control the display device 18 and the communication device 19 provided in the tablet 2 on the basis of the input signals.
  • Examples of the controller 16/17 include a control board comprising a CPU (Central Processing Unit) performing calculation processing and control processing, a main storage device storing data, a timer, an input circuit, an output circuit, an electric source circuit, and the like.
  • the main storage device such as, e.g., a ROM (Read Only Memory) and an EEPROM (Electrically Erasable Programmable Read Only Memory) stores a control program for executing an operation according to the present embodiment and various kinds of data.
  • the data such as various kinds of programs may be stored to an external storage device, and read by the controllers 16, 17.
  • the controller 16 is constituted by two control boards 16A, 16B.
  • Each of the two control boards 16A, 16B comprises a single microcomputer, three motor drivers for controlling rotation directions and output electric currents of the three motors 32, 32, 32, and the like.
  • one of the control boards 16A is configured to control the right operation unit 3R, and generate an output signal transmitted to an external apparatus on the basis of an input signal given from the operation unit 3R.
  • the other of the control boards 16B is configured to control the left operation unit 3L, and generate an output signal transmitted to an external apparatus on the basis of an input signal given from the operation unit 3L.
  • the control board 16A is electrically connected to, e.g., the three motors 32, 32, 32, the three position sensors 34, 34, 34, the two switches 23, 23, and the angle sensor 36 provided in the right operation unit 3R, and is electrically connected to, e.g., the controller 17 of the tablet 2.
  • the control board 16B is electrically connected to, e.g., the three motors 32, 32, 32, the three position sensors 34, 34, 34, the two switches 23, 23, and the angle sensor 36 provided in the left operation unit 3L, and is electrically connected to, e.g., the controller 17 of the tablet 2.
  • the controller 17 of the tablet 2 is electrically connected to the control board 16A, the control board 16B, the starting key switch 9, the emergency stop switch 10, the connector 11, and the like.
  • the controller 17 is electrically connected to various kinds of devices and various kinds of sensors and switches other than the configuration illustrated in Fig. 13.
  • the controller 17 is electrically connected to a battery sensor for detecting a voltage and an electric current of a battery.
  • the controller 16 is constituted by the two control boards 16A, 16B. Therefore, the flexibility in the arrangement inside of the housing 4 is improved, and the size of the haptic device 1 can be reduced. Since the controller 16 separately control the right and left operation units 3R, 3L, the processing speed is improved, and the responsiveness of the haptic device 1 is improved. It should be noted that the control configuration of the haptic device 1 is not particularly limited.
  • the controller 16 may be constituted by a single control board.
  • the haptic device 1 may be configured to control the right and left operation units 3R, 3L by causing the controller 16 and the controller 17 to cooperate with each other.
  • the haptic device 1 may not have the controller 17, and the controller 16 may be configured to control not only the right and left operation units 3R, 3L but also the display device 18, the communication device 19, and the like.
  • the work machine 80 which is the composing element of the operation system 100 will be explained.
  • the work machine 80 is remotely operated by the haptic device 1.
  • the work machine 80 comprises a travelling machine body 81, a manipulator 82, an end effector 83, and the like.
  • the travelling machine body 81 is configured to be able to travel with a pair of crawler travelling gears.
  • the manipulator 82 is attached to the upper portion of the travelling machine body 81 in a rotatable manner.
  • the manipulator 82 is an arm in which multiple links are coupled in series.
  • the end effector 83 is attached to the end of the manipulator 82.
  • the end effector 83 is a bucket 84 used to excavate.
  • the work machine 80 can be moved by the travelling machine body 81.
  • the manipulator 82 and the end effector 83 are driven by a hydraulic cylinder and the like.
  • the work machine 80 can move the end effector 83 to a desired position by driving the manipulator 82.
  • the work machine 80 comprises a controller 85, a communication device 86, a work machine sensor 87, and the like.
  • the controller 85 provided in the work machine 80 is configured to control various kinds of devices provided in the work machine, for example, the travelling machine body 81, the manipulator 82, the end effector 83, and the like.
  • the controller 85 may be, for example, a control board.
  • the controller 85 is electrically connected to the travelling machine body 81, the manipulator 82, the end effector 83, the communication device 86, the work machine sensor 87, and the like.
  • the communication device 86 provided in the work machine 80 exchanges information with the haptic device 1 by using wireless communication.
  • the work machine sensor 87 is a general term meaning sensors detecting the state of activation of the work machine 80.
  • work machine sensors 87 include sensors for detecting a travelling speed of the work machine 80, a travelling direction of the work machine 80, a torque acting on the crawler travelling gears of the travelling machine body 81, a rotation angle of the manipulator 82 with respect to the travelling machine body 81, a rotation angle of each joint of the manipulator 82, a torque acting on each joint of the manipulator 82, and the like. It is possible to use various kinds of sensors according to the targets to be detected, for example, a potentiometer, a rotary encoder, a load cell, an ultrasonic sensor, an acceleration sensor, and the like, as the work machine sensor 87.
  • the work machine 80 is configured to be able to detect the positon of the end effector 83, the force acting on the manipulator 82, and the like on the basis of detection values of the work machine sensor 87.
  • the work machine 80 is configured to operate on the basis of, e.g., information transmitted from the haptic device 1.
  • the work machine 80 is configured to transmit, to the haptic device 1, information about the position of the end effector 83, the force acting on the crawler travelling gears of the travelling machine body 81, and the force acting on the manipulator 82.
  • the operator can remotely operate the work machine 80 by using the haptic device 1.
  • the operator performs translation operation of the right and left operation units 3R, 3L, rotation operation of the distal end portion 22 of the gripping unit 20, and ON/OFF operation of the switches 23, 23, so that information is input into the haptic device 1.
  • the operation information (input information) about the right and left operation units 3R, 3L is read by the controller 16 as detection values of the three position sensors 34, 34, 34, the angle sensor 36, and the two switches 23, 23 provided in each of the right and left operation units 3R, 3L.
  • the operation information that is read by the controller 16 is transmitted to the work machine 80 by the communication device 19 of the tablet 2.
  • the controller 85 of the work machine 80 controls the travelling machine body 81, the manipulator 82, and the end effector 83 on the basis of, e.g., operation information transmitted from the haptic device 1 and various kinds of setting values that are set in advance. By doing so, the operator can remotely operate the work machine 80.
  • the relationship between the operation of the right and left operation units 3R, 3L and the motion of the work machine 80 is not particularly limited.
  • the operation of the left operation unit 3L can be associated with the motion of the travelling machine body 81
  • the operation of the right operation unit 3R can be associated with the motion of the manipulator 82 and the end effector 83.
  • the switches 23, 23 may function as safety switches. More specifically, each of the right and left operation units 3R, 3L may be configured such that, only when any one of the switches 23, 23 is pressed down, the detection values of the three position sensor 34, 34, 34 and the angle sensor 36 are read by the controller 16. When such configuration is employed, an erroneous operation of the haptic device 1 can be prevented.
  • the right and left operation units 3R, 3L can feed a force back to the operator.
  • Information about a force acting on the manipulator 82 detected by the work machine sensor 87 is read by the controller 85 of the work machine 80.
  • Information that is read by the controller 85 is transmitted by the communication device 86 to the haptic device 1.
  • the controller 16 of the haptic device 1 controls the three motors 32, 32, 32 of each of the right and left operation units 3R, 3L on the basis of information transmitted from the work machine 80, various kinds of setting values that are set in advance, and the like.
  • the haptic device 1 can feed a force back to the operator by actively moving linearly each of the right and left operation units 3R, 3L.
  • the operator can be notified of the state of the work machine 80 in a moment of time, and, for example, the operator can be notified that, e.g., the manipulator 82 comes into contact with an object in a moment of time. Therefore, the operator can operate the work machine 80 more accurately and more quickly.
  • the relationship between the force acting on the manipulator 82 and the force feedback to the operator by the operation units 3R, 3L is not particularly limited.
  • the force in association with the force acting on the manipulator 82, the force may be fed back to the operator with the right and left operation units 3R, 3L, and the force may be fed back to the operator with only the right operation unit 3R.
  • the force In association with the force acting on the travelling machine body 81, the force may be fed back to the operator with only the left operation unit 3L.
  • the right and left operation units 3R, 3L protrude from the housing 4 at the back surface side of the tablet 2 including the display device 18.
  • the screen 8 is not shielded by the right and left operation units 3R, 3L or hands of the operator. Therefore, the visibility of the screen 8 of the display device 18 is maintained at a preferable level.
  • the haptic device 1 integrally comprises the tablet 2, and therefore, as compared with a mode in which the display device is provided separately, the haptic device 1 is less likely to be affected by the limitation of the usage location, and is advantageous in the portability. With the haptic device 1, it is easy to bring the screen 8 close to the body, and the visibility of the screen 8 can be improved.
  • the information displayed on the screen 8 of the display device 18 is not particularly limited.
  • the operation system 100 has an image-capturing device for capturing an image of a motion of the manipulator 82 of the work machine 80
  • an image captured by the image-capturing device may be displayed on the screen 8 of the display device 18.
  • the operator can operate the work machine 80 while the operator is watching the screen 8 of the display device 18, and therefore, the haptic device 1 provides excellent usability.
  • the image-capturing device may be placed anywhere on the work machine 80 or even outside the work machine 80.
  • the haptic device 1 exchanges information with the work machine 80 serving as an external apparatus by using wireless communication, and therefore, even at a position away from the work machine 80, the work machine 80 can be remotely operated, and the haptic device 1 provides excellent usability.
  • the screen 8 of the display device 18 of the haptic device 1 has an angle of elevation, and therefore, the visibility of the screen 8 is still more preferably even during usage. It should be noted that the angle of elevation is preferably equal to or more than 0 degrees and equal to or less than 20 degrees, and more preferably, the angle of elevation is 8 degrees.
  • the external apparatus remotely operated by the haptic device 1 is not limited to the work machine 80.
  • the external apparatus may be able to exchange information with the haptic device 1, and operate on the basis of information transmitted from the haptic device 1.
  • the external apparatus may be a demolition machine, a simulator generating virtual reality and the like.
  • the haptic device 1 is not particularly limited in terms of the size.
  • the outermost shape of the housing 4 of the haptic device 1 may be such that: the width in the horizontal direction is 380 mm, the height in the vertical direction is 200 mm, and the width in the longitudinal direction is 260 mm.
  • the haptic device 1 comprises the tablet 2 comprising the display device 18, the right and left operation units 3R, 3L, and the housing 4 supporting the right and left operation units 3R, 3L.
  • Each of the right and left operation units 3R, 3L comprises the gripping unit 20 and the parallel mechanism 30 supporting the gripping unit 20, and is configured to have at least three translational degrees of freedom and feed a force back to the operator.
  • the right and left operation units 3R, 3L protrude from the housing 4 at the back surface side of the tablet 2.
  • the haptic device 1 can be provided, which is integrally provided with the display device 18 and in which the right and left operation units 3R, 3L can be operated while the visibility of the screen 8 of the display device 18 can be maintained at a preferable level so that the haptic device 1 provides excellent portability.
  • the haptic device 1 it is easy to bring the screen 8 of the display device 18 close to the body, and the visibility of the screen 8 can be improved.
  • the present disclosure can be preferably used for an HMI between an operator and an external apparatus such as a work machine and a robot that can be remotely operated, a training simulator using virtual reality, a game machine, and the like.

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Abstract

A haptic device 1 comprises a tablet 2, right and left operation units 3R, 3L, and a housing 4 supporting the tablet 2 and the right and left operation units 3R, 3L, and each of the right and left operation units 3R, 3L comprises a gripping unit 20 and a parallel mechanism 30 supporting the gripping unit 20, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and is provided to protrude from the housing 4 at a back surface side of the tablet 2.

Description

HAPTIC DEVICE
The present invention relates to a haptic device, and more specifically, to a haptic device integrally provided with a display device.
In order to exchange more preferable information by using an HMI (Human Machine Interface) which is a means of exchanging information between a person and a machine, it is necessary to improve, e.g., operability to allow effective operation and control of the machine by means of the person's inputs information, whilst the machine simultaneously provide a feedback information that aids the person's performance during his activities. Different forms are considered on the basis of human engineering, as the user’s physical manipulations can be used to teleoperate a machine, as well as the machine provides a feedback information to the operator.
Examples of the means with which the person inputs information into the machine comprise a switch, a keyboard, a mouse, a lever, a joystick, and the like. These are manipulated with a hand, a foot, fingers, or the like of a person, and information is input into the machine. Examples of the means with which the machine outputs information comprise a meter, a lamp, a display, and the like. These are configured to output information to a person by using visual sensation information. It should be noted that a haptic device outputs information to a person by using haptic information which is a counterforce sensation.
In many cases, the haptic device is provided in such a form that a function for outputting information to an operator by using haptic information is provided in a device with which an operator inputs information into a machine. The haptic device can notify a lot of information to an operator in a moment of time. For example, when a machine is remotely controlled, the haptic device notifies the operator that an object has come into contact with the machine by using a counterforce in a moment of time. The operator receives this counterforce (haptic information), so that the operator can accurately and quickly operate the machine. In a system using virtual reality, for example, the haptic device notifies a contact with a virtual object to the operator by using a counterforce. The operator can obtain a high degree of sense of realism from this counterforce (haptic information).
Structures of haptic devices comprise a structure using a serial mechanism and a structure using a parallel mechanism. The serial mechanism is a configuration in which a fixed-side end is coupled with a link coupled in series to an output-side end (a contact portion with an operator). The serial mechanism has a wide motion range that can be reached by the output-side end. However, with the serial mechanism, an error of displacement at the output-side end is likely to increase, and it is difficult to improve the accuracy. On the other hand, the parallel mechanism is a configuration in which a fixed-side end is coupled with multiple links in parallel to an output-side end (a contact portion with an operator). The parallel mechanism has a narrow motion range that can be reached by the output-side end. However, the parallel mechanism can reduce the error of displacement at the output-side end. In a haptic device which is operated by an operator holding, for example, in a joystick and the like, a wide motion range is not so much required, and therefore, the parallel mechanism is often used. Such sensation presentation device using the parallel mechanism is disclosed in, for example, Patent Literature 1, Patent Literature 2, Patent Literature 3, Patent Literature 4, and the like.
US 7,138,981 B2 EP 1690651 US 8,188,843 B2 US 8,639,386 B2
In this case, the haptic device disclosed in Patent Literature 1, Patent Literature 2, and Patent Literature 3 does not integrally comprise a display device serving as means for notifying information to a person by using visual sensation information. Therefore, in a case where the haptic device simultaneously notify information by using visual sensation information, it is necessary to separately provide a display device, and the haptic device is likely to be affected by the limitation of usage location, and provides a low degree of portability.
On the other hand, the haptic device disclosed in Patent Literature 4 integrally comprises a display device. However, in Patent Literature 4, visibility of a screen of a display device is not at all taken into consideration. In the haptic device described in Patent Literature 4, an operation unit (interface) operated by the operator is provided in front of a screen of the display device. Therefore, in this haptic device, a portion of the screen may be blocked by an operation unit or a hand of the operator, and this may reduce the visibility of the screen of the display device. In this haptic device, an operation unit and a display device are configured to be arranged on the upper surface of the base, and therefore, the haptic device is likely to become larger, and provides a low degree of portability.
Accordingly, it is an object of the present invention to provide a haptic device which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
To solve the above described problem, a haptic device of the present invention comprises:
a display device;
an operation unit; and
a housing supporting the display device and the operation unit,
wherein the operation unit comprises a gripping unit and a parallel mechanism supporting the gripping unit, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and the operation unit is disposed in a protruding manner from the housing at a back surface side of the display device.
Further, the haptic device of the present invention further comprises a communication device exchanging information with an external apparatus by using wireless communication.
Further, in the haptic device of the present invention, the parallel mechanism comprises:
three arms disposed with an equal interval around an axis direction of the operation unit;
three motors respectively driving the three arms;
three motor bases respectively supporting the three motors; and
a support plate supporting the gripping unit,
wherein each of the three arms comprises a swing arm in a fan shape rotatably coupled with the motor base, and a parallel four-bar linkage mechanism connecting the swing arm and the support plate, and
the swing arm is coupled with the motor via a wire rope wound around a pulley fixed to an output shaft of the motor.
Further, in the haptic device of the present invention, the gripping unit can rotate around an axial center of the operation unit.
Further, in the haptic device of the present invention, the operation unit is provided at both of the right and left sides.
Further, in the haptic device of the present invention, the display device is disposed at an upper surface of the housing so that a screen faces upward, and the operation unit is disposed to protrude to a side from a side surface of the housing at a lower portion of the display device.
Further, in the haptic device of the present invention, a controller controlling the operation unit is constituted by two control boards, and is accommodated in an inside of the housing.
Further, the haptic device of the present invention further comprises a wearable support worn by the operator to hold the haptic device,
wherein the wearable support comprises:
a buckle coming into contact with a front surface of a body of the operator; and
a plurality of belts attached to the buckle.
Further, in the haptic device of the present invention, the display device is a touch panel type.
Further, in the haptic device of the present invention, the display device has an angle of elevation.
According to the present invention, a haptic device comprises a display device, an operation unit, and a housing supporting the display device and the operation unit, and the operation unit comprises a gripping unit and a parallel mechanism supporting the gripping unit, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and the operation unit is disposed in a protruding manner from the housing at a back surface side of the display device. Therefore, the haptic device can be provided, which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability. With the haptic device according to the present invention, it is easy to bring the display device close to the body, and the visibility of the display device can be improved.
Further, in accordance with a configuration further comprising a communication device exchanging information with an external apparatus by using wireless communication, the haptic device can exchange information with an external apparatus even at an isolated location, and this improves the usability.
Further, in accordance with a configuration in which the parallel mechanism comprises three arms disposed with an equal interval around an axis direction of the operation unit, three motors respectively driving the three arms, three motor bases respectively supporting the three motors, and a support plate supporting the gripping unit, and each of the three arms comprises a swing arm in a fan shape rotatably coupled with the motor base, and a parallel four-bar linkage mechanism connecting the swing arm and the support plate, and the swing arm is coupled with the motor via a wire rope wound around a pulley fixed to an output shaft of the motor, the operation unit that has at least three translational degrees of freedom can be made into a smaller size.
Further, in accordance with a configuration in which the gripping unit can rotate around an axial center of the operation unit, the operation unit using a simple configuration and having four degrees of freedom can be provided. In addition, number of degrees of freedom of the operation unit can be increased without reducing the operability of the operation unit.
Further, in accordance with a configuration in which the operation unit is provided at both of the right and left sides, the operator can operate each of the two operation units with right and left hands which are different hands. In addition, the haptic device is capable of six types of input operations without requiring complicated operation, and the load of the operator caused by the increase of number of input operation can be reduced.
Further, in accordance with a configuration in which the display device is disposed at an upper surface of the housing so that a screen faces upward, and the operation unit is disposed to protrude to a side from a side surface of the housing at a lower portion of the display device, the haptic device is provided, which is integrally provided with a display device and in which an operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
Further, in accordance with a configuration in which a controller controlling the operation unit is constituted by two control boards, and is accommodated in an inside of the housing, the haptic device is provided, which is integrally provided with a display device and in which the operation unit can be operated while the visibility of the display device can be maintained at a preferable level so that the haptic device provides excellent portability.
Further, in accordance with a configuration comprising a wearable support worn by the operator to hold the haptic device and in which the wearable support comprises a buckle coming into contact with a front surface of a body of the operator and a plurality of belts attached to the buckle, the haptic device provides excellent portability, and the operator can easily hold the haptic device at any given position, and the operation load of the operator is reduced, and the usability is improved.
Further, in accordance with a configuration in which the display device is a touch panel type, much information can be easily input, and the haptic device provides excellent usability.
Further, in accordance with a configuration in which the display device has an angle of elevation, the visibility of the display device is further improved.
Fig. 1 is a perspective view illustrating an example of a haptic device according to an embodiment of the present invention. Fig. 2 is a top view illustrating the haptic device illustrated in Fig. 1. Fig. 3 is a left side view illustrating the haptic device illustrated in Fig. 1. Fig. 4 is a right side view illustrating the haptic device illustrated in Fig. 1. Fig. 5 is a front view illustrating the haptic device illustrated in Fig. 1. Fig. 6 is a back view illustrating the haptic device illustrated in Fig. 1. Fig. 7 is a bottom view illustrating the haptic device illustrated in Fig. 1. Fig. 8 is a front view illustrating an example of an operation unit. Fig. 9 is a perspective view illustrating an operation unit illustrated in Fig. 8. Fig. 10 is a figure for explaining an arm of an operation unit. Fig. 11 is a figure for explaining a configuration of an operation unit. Fig. 12 is a perspective view schematically illustrating an example of a state in which an operator uses a haptic device. Fig. 13 is a block diagram for explaining an example of an operation system using a haptic device. Fig. 14 is a side view schematically illustrating an example of a work machine which is a composing element of an operation system.
An embodiment of the present invention will be hereinafter described in details with reference to drawings. Fig. 1 is a perspective view illustrating an example of a haptic device 1 according to an embodiment of the present invention. Fig. 2 is a top view illustrating the haptic device 1 as illustrated in Fig. 1. Fig. 3 is a left side view illustrating the haptic device 1 as illustrated in Fig. 1. Fig. 4 is a right side view illustrating the haptic device 1 as illustrated in Fig. 1. Fig. 5 is a front view illustrating the haptic device 1 illustrated in Fig. 1. Fig. 6 is a back view illustrating the haptic device 1 illustrated in Fig. 1. Fig. 7 is a bottom view illustrating the haptic device 1 illustrated in Fig. 1. In the following explanation, for the sake of explanation, in Fig. 3, a side of a tablet 2 explained later will be denoted as an upper side, a side of a buckle 61 explained later will be denoted as a rear side, a closer side in Fig. 3 will be denoted as left, and a farther side in Fig. 3 will be denoted as right. Fig. 1 is a perspective view formed by viewing the haptic device 1 from the upper side of the tablet 2.
The haptic device 1 according to the present invention is a type of an HMI, and can be used as an operation device for a work machine, a robot, and the like, an input device of a training simulator using virtual reality, a game machine, and the like. As illustrated in Fig. 1 to Fig. 7, the haptic device 1 comprises a tablet 2, right and left operation units 3R, 3L, a housing 4, and the like. The housing 4 supports the tablet 2 and the two operation units 3R, 3L. The right and left operation units 3R, 3L have the same configuration. Each of the right and left operation units 3R, 3L comprises a gripping unit 20 and a parallel mechanism 30 supporting the gripping unit 20. The right operation unit 3R is operated with the right hand of the operator, the left operation unit 3L is operated with the left hand of the operator. The operator can simultaneously operate the two operation units 3R, 3L while the operator faces the screen 8 of the tablet 2. Although the details will be explained later, each of the right and left operation units 3R, 3L has at least three translational degrees of freedom. Each of the right and left operation units 3R, 3L is configured so that a force can be fed back to the operator. Each of the right and left operation units 3R, 3L is disposed in a protruding manner from the housing 4 at the lower side which is the back surface side of the tablet 2.
The housing 4 is a hollow body in a substantially rectangular parallelepiped shape, and both of the right and left sides of the housing 4 have depressed portions 5R, 5L depressed to the inner side. More specifically, the housing 4 has a symmetric structure, and is composed of an upper portion 6 and a lower portion 7. The upper portion 6 is a hollow body of which external shape in a top view is substantially rectangle. The lower portion 7 is a hollow body of which external view in a bottom view is a substantially inverted-T shape. The upper end of the lower portion 7 is coupled with the lower end of the upper portion 6. The housing 4 is composed of the depressed portions 5R, 5L, which are depressed to the inner side, on both of the right and left sides of the lower portion 7. The inside of the upper portion 6 and the inside of the lower portion 7 are in communication with each other. The housing 4 has a single inner space formed therein.
The upper surface of the upper portion 6 is inclined upwardly from the back side to the front side. The tablet 2 is disposed on the upper portion 6 of the housing 4 so that the screen 8 of the display device faces the upper side. More specifically, the tablet 2 is embedded in the upper portion 6 so that only the screen 8 is exposed. The portion other than the screen 8 of the tablet 2 is accommodated in the inside of the upper portion 6. It should be noted that the screen 8 of the tablet 2 is parallel to the upper surface of the upper portion 6 and has an angle of elevation.
Various kinds of switches such as a starting key switch 9, an emergency stop switch 10, and the like, multiple connectors 11 for connecting external devices, and the like are provided on the upper surface of the upper portion 6 and around the screen 8 of the tablet 2. A controller, not shown here, for controlling the right and left operation units 3R, 3L is disposed in the inside of the housing 4. The buckle 61 is detachably attached to the back surface of the housing 4. The buckle 61 is one of member composing a wearable support explained later. Although the details will be explained later, the operator can hold the haptic device 1 without using right and left hands by wearing the wearable support.
An opening portion 12R is formed in a bottom surface 5RB of the right depressed portion 5R of the housing 4 (right side surface of the lower portion 7). The right operation unit 3R protrudes from the opening portion 12R toward the right side. An opening portion 12L is formed in a bottom surface 5LB of the left depressed portion 5L of the housing 4 (left side surface of the lower portion 7). The left operation unit 3L protrudes from the opening portion 12L toward the left side. It should be noted that each of the right and left operation units 3R, 3L is fixed to a flange, not shown, formed in the inside of the lower portion 7 of the housing 4.
The right and left operation units 3R, 3L are disposed symmetrically. An axis 13 which is a virtual axial center indicating the protruding direction of the operation unit 3R extends to the horizontal direction. The axis 13 of the operation unit 3R is defined as a straight line passing through the center of the operation unit 3R, and extending in a protruding direction (extending direction) of the operation unit 3R. An axis 14 which is a virtual axial center indicating the protruding direction of the operation unit 3L extends to the horizontal direction. Like the axis 13 of the operation unit 3R, the axis 14 of the operation unit 3L is defined as a straight line passing through the center of the operation unit 3L, and extending in a protruding direction (extending direction) of the operation unit 3L. The axis 13 and the axis 14 are perpendicular to the longitudinal direction and the vertical direction. The axis 13 and the axis 14 are located on the same straight line.
The housing 4 is made of synthetic resins. Examples of synthetic resins forming the housing 4 include ABS resin, polypropylene, polyethylene, and the like, or those mixed with such synthetic resins. It should be noted that the materials forming the housing 4 is not limited to the above synthetic resins. The housing 4 may be made of stainless steel, aluminum alloy, and the like.
It should be noted that the housing 4 is not limited to the above configuration. The housing 4 may be configured to support the tablet 2 serving as the display device and the right and left operation units 3R, 3L located at the back surface side of the tablet 2. For example, the housing 4 may be configured not to have the right and left depressed portions 5R, 5L, and more specifically, the housing 4 may be configured to be in a substantially rectangular parallelepiped shape. However, from the perspective of reducing the size, the housing 4 preferably has a configuration of having the right and left depressed portions 5R, 5L. In the haptic device 1, the right operation unit 3R is disposed in the right depressed portion 5R of the housing 4, and the left operation unit 3L is disposed in the left depressed portion 5L, so that the size of the haptic device 1 can be reduced while the size of the screen 8 of the tablet 2 is ensured.
The directions of the axis 13 and the axis 14 are not particularly limited, and more specifically, the directions in which the right operation unit 3R and the left operation unit 3L are protruding are not particularly limited. The directions in which the right operation unit 3R and the left operation unit 3L are protruding may be inclined in the longitudinal direction, the vertical direction, and both of the longitudinal direction and the vertical direction. The right and left operation units 3R, 3L may be disposed to protrude to the lower side. However, from the perspective of the operability, the right operation unit 3R is preferably configured to protrude to the right side, and the left operation unit 3L is preferably configured to protrude to the left side.
The tablet 2 is a touch panel type capable of performing wireless communication. The tablet 2 comprises the display device in which the screen 8 is exposed to the outside, and also comprises a controller, a communication device, a battery, and the like. It should be noted that the tablet 2 is electrically connected to a controller for controlling the right and left operation units 3R, 3L.
The controller provided in the tablet 2 is configured to control various kinds of devices provided in the tablet 2 such as, for example, a display device, a communication device, and the like. The communication device exchanges information with an external apparatus by wireless communication. The wireless communication performed by the communication device may comprise, for example, a communication with wireless LAN, communication using a mobile phone network, and the like. By using the wireless communication, the haptic device 1 can exchange information with an external apparatus even at an isolated location, and this may improve the usability. It should be noted that the communication device may be configured to exchange information with an external apparatus by wire communication.
It should be noted that the display device provided in the haptic device 1 is not limited to the tablet 2 explained above. For example, the haptic device 1 may be configured such that the communication device and the battery are separated from the tablet 2, and the communication device and the battery are accommodated in the inside of the housing 4.
Subsequently, the right and left operation units 3R, 3L will be explained later in details. It should be noted that the right and left operation units 3R, 3L have the same configuration, and therefore, only the right operation unit 3R will be taken for the explanation below. Fig. 8 is a front view illustrating an example of the operation unit 3R. Fig. 9 is a perspective view illustrating the operation unit 3R illustrated in Fig. 8. Fig. 10 is a figure for explaining an arm 31 of the operation unit 3R. Fig. 11 is a figure for explaining a configuration of the operation unit 3R. Fig. 9 is a perspective view seen from a side of a support plate 35 explained later. In Fig. 9, the description of the gripping unit 20 is omitted. Fig. 11 is a figure illustrating the operation unit 3R seen from the side of the gripping unit 20. In Fig. 11, the description about the gripping unit 20, the support plate 35, parallel four-bar linkage mechanisms 38 explained later, wire ropes 50 explained later, and the like are omitted.
The operation unit 3R comprises a gripping unit 20, a parallel mechanism 30, and the like. The gripping unit 20 comprises a base portion 21, a distal end portion 22, and the like. The parallel mechanism 30 comprises three arms 31, 31, 31, three motors 32, 32, 32, three motor bases 33, 33, 33, three position sensors 34, 34, 34, the support plate 35, and the like.
The gripping unit 20 is a portion gripped by the operator, and is a contact portion with the operator. The base portion 21 of the gripping unit 20 is in a cylindrical shape coaxial with the axis 13. The base portion 21 is fixed to the support plate 35. Two switches 23, 23 are provided on the peripheral surface of the base portion 21 (see Fig. 7). The distal end portion 22 is in a cylindrical shape coaxial with the axis 13, having an apex and having the same diameter as the base portion 21. The apex of the distal end portion 22 has a hemispherical round shape. The distal end portion 22 is attached to the base portion 21 in a rotatable manner. The distal end portion 22 can rotate about the axis 13 being a rotation axis.
The gripping unit 20 has an angle sensor 36 provided therein to detect the rotation angle of the distal end portion 22 with respect to the base portion 21. The angle sensor 36 may be, for example, a potentiometer, a rotary encoder, and the like.
The material forming the gripping unit 20 is not particularly limited. Examples of materials forming the gripping unit 20 include synthetic resins of ABS resin, polypropylene, polyethylene, and the like, or those mixed with such synthetic resins.
The three arms 31, 31, 31 of the parallel mechanism 30 are disposed with an equal interval around the axial direction (peripheral direction) of the axis 13 of the operation unit 3R. The three arms 31, 31, 31 have the same configuration. The arm 31 comprises a swing arm 37, a parallel four-bar linkage mechanism 38, and the like. The swing arm 37 is in a fan shape, and is supported rotatably on the motor base 33. A rotation axis 39 of the swing arm 37 is located in the center of a circle having an arc of a fan shape as a portion thereof. A rotation axis 39 is perpendicular to the axis 13. The swing arm 37 rotates so as to slide on the motor base 33.
One end of the parallel four-bar linkage mechanism 38 is rotatably coupled with the swing arm 37, and the other end of the parallel four-bar linkage mechanism 38 is rotatably coupled with the support plate 35. The parallel four-bar linkage mechanism 38 connects the support plate 35 and the swing arm 37. More specifically, the parallel four-bar linkage mechanism 38 comprises two first link members 40, 41 and two second link members 42, 43. The two first link members 40, 41 are longer than the two second link members 42, 43. The two first link members 40, 41 are of the same length and are parallel with each other. A second link member 42 connects the ends of the two first link members 40, 41. A second link member 43 connects the other end of the two first link members 40, 41. The two second link members 42, 43 are of the same length and are parallel with each other. The second link member 42 is rotatably coupled with the support plate 35 with a hinge. The second link member 43 is rotatably coupled with the arc side end portion of the swing arm 37 with a hinge.
A rotation axis 44 of the second link member 42 with respect to the support plate 35 is parallel to a rotation axis 39 of a swing arm 37. A rotation axis 45 of the second link member 43 with respect to the swing arm 37 is parallel to the rotation axis 39 of the swing arm 37. A rotation axis 46 of a first link member 40 with respect to the second link member 42 and a rotation axis 47 of a first link member 41 with respect to the second link member 42 are parallel to each other. Both of the rotation axes 46, 47 are perpendicular to the rotation axis 39. A rotation axis 48 of the first link member 40 with respect to the second link member 43 and a rotation axis 49 of the first link member 41 with respect to the second link member 43 are parallel to each other. Both of the rotation axes 48, 49 are perpendicular to the rotation axis 39.
The swing arm 37 is coupled with an output shaft 51 of the motor 32 via a wire rope 50. The motor 32 is a DC servo motor, and is fixed to the motor base 33. A pulley 52 is attached to the output shaft 51 of the motor 32. The output shaft 51 of the motor 32 is parallel to the rotation axis 39 of the swing arm 37. The pulley 52 is adjacent to an arc-shaped outer periphery 53 of the swing arm 37. The wire rope 50 is coiled 3 times around the pulley 52 to transmit the force to the swing arm 37. It should be noted that the wire rope 50 may be coiled around the pulley 52 one or more times. The wire rope 50 extends along the arc-shaped outer periphery 53. One end of the wire rope 50 extends beyond one end of the arc-shaped outer periphery 53 of the swing arm 37, and is fixed to the outer periphery 54 extending in the radial direction of the swing arm 37 with a pin 50a. The other end of the wire rope 50 extends beyond the other end of the arc-shaped outer periphery 53 of the swing arm 37, and is fixed to another outer periphery 55 extending in the radial direction of the swing arm 37 with a pin 50b. And the wire rope 50 is coupled between the pulley 52 and swing arm 37. It should be noted that the arm 31 comprises a tension spring 58. The tension spring 58 apply the tension to the wire rope 50. Both sides of the tension spring 58 are attached, one is assembled to the swing arm 37 by being hooked on a pin 58a assembled in the swing arm 37 and the other one to the wire rope 50 by being hooked on the wire rope 50.
With the wire rope 50, the swing arm 37 and the output shaft 51 of the motor 32 are coupled, so that the power of the motor 32 can be efficiently transmitted to the swing arm 37. In addition, friction and chattering between the swing arm 37 and the output shaft 51 (the pulley 52) can be reduced compared to coupling with gear wheels.
It should be noted that the coupling between the swing arm 37 and the output shaft 51 of the motor 32 is not limited to the coupling with the wire rope 50. For example, the swing arm 37 and the output shaft 51 of the motor 32 may be coupled by using gear wheels. The swing arm 37 may be configured to be fixed to the output shaft 51 of the motor 32. In such configuration, the rotation axis 39 of the swing arm 37 is located coaxially with the output shaft 51.
The motor base 33 is a plate-shaped member. As described above, the motor 32 is fixed to the motor base 33. The motor base 33 rotatably supports the swing arm 37.
Each of the three motor bases 33, 33, 33 is bonded mutually with the other two motor bases 33, 33. An angle formed by the two motor bases 33, 33 is 60 degrees. In a portion enclosed by the three motor bases 33, 33, 33, a flange 56 in a regular triangle shape bonded with the three motor bases 33, 33, 33 is formed. The axis 13 of the operation unit 3R passes through the barycenter of the flange 56 in the regular triangle shape. The motor 32 and the swing arm 37 are located at an external side of the portion enclosed by the three motor bases 33, 33, 33. The flange 56 is fixed to a flange, not shown, formed in the inside of the lower portion 7 of the housing 4. Further, the operation unit 3R is fixed to the housing 4.
The motor base 33 has a columnar shape protrusion 57 for limiting the rotation range of the swing arm 37. When the protrusion 57 comes into contact with the outer periphery 54 of the swing arm 37, the rotation of the swing arm 37 is restricted. The protrusion 57 prevent the wire rope 50 from braking or damaging.
The position sensor 34 is a sensor for detecting the rotation angle of the output shaft 51 of the motor 32, and is attached to the motor 32. The position sensor 34 is, for example, a potentiometer, a rotary encoder, and the like. The position sensor 34 may be able to detect the driving state of the arm 31. For example, the position sensor 34 may be a sensor detecting the rotation angle of the swing arm 37 with respect to the motor base 33. The position sensor 34 may be configured to comprise two sensors, i.e., a sensor detecting the rotation angle of the output shaft 51 of the motor 32 and a sensor detecting the rotation angle of the swing arm 37 with respect to the motor base 33.
The support plate 35 is a toric plate-shaped member. The gripping unit 20 is attached to one surface side of the support plate 35. The three arms 31, 31, 31 are rotatably coupled with the other surface side of the support plate 35. More specifically, the second link member 42 of the parallel four-bar linkage mechanism 38 of each of the three arms 31, 31, 31 is coupled with the other surface side of the support plate 35 with a hinge.
The operation unit 3R explained above is configured to be able to passively translate (move linearly) in the three directions with respect to the axis 13 from the housing 4. An translation direction and an translation angle of the operation unit 3R can be calculated from the detection value of the three position sensors 34. The gripping unit 20 of the operation unit 3R is configured to be able to rotate the distal end portion 22 with respect to the base portion 21. The rotation angle of the distal end portion 22 can be calculated from the detection value of the angle sensor 36. Therefore, the operation unit 3R can translate in three directions, and can rotate the distal end portion 22, so that the operation unit 3R has three translational degrees of freedom and one rotational degree of freedom (four degrees of freedom). It should be noted that the gripping unit 20 of the operation unit 3R comprises two switches 23, 23. Therefore, the operation unit 3R can operate six types of input operations if the ON/OFF operation of the two switches 23, 23 are comprised.
When each of the three motors 32, 32, 32 drives the arm 31, the operation unit 3R is configured to be able to actively translate in three directions with respect to the axis 13 from the housing 4, and maintain the translation posture. With such active translation operation, the operation unit 3R can feed a force back to the hand of the operator holding the gripping unit 20. The operation unit 3R can actively translate in three directions, and therefore, the force in the three directions can be fed back to the operator.
The materials forming the motor base 33, the support plate 35, the swing arm 37, the parallel four-bar linkage mechanism 38, the pulley 52, and the like of the parallel mechanism 30 are not particularly limited. Examples of materials forming them comprise stainless steel, aluminum alloy, synthetic resin, and the like. Examples of materials forming the wire rope 50 comprise steel, synthetic resin fiber having a high degree of strength such as aramid fiber and the like.
It should be noted that the operation unit 3R is not limited to the above configuration. The operation unit 3R may be configured to comprise a gripping unit 20 and a parallel mechanism 30 supporting the gripping unit 20, and may have at least three translational degrees of freedom, and be able to feed a force back to the operator.
In this case, the operation unit 3R is capable of three types of input operations since the operation unit 3R has at least three translational degrees of freedom. The operation unit 3R can efficiently perform an input of information in the three-dimensional space. For example, in a three-dimensional space defined by x axis, y axis, and z axis, an input of information about a position in a direction of each of the x axis, the y axis, and the z axis and an input of information about a rotation of each of the x axis, the y axis, and the z axis can be performed with a single operation unit 3R, so that the input of the information can be facilitated.
It should be noted that the haptic device 1 comprise the two operation units 3R, 3L having at least three translational degrees of freedom. More specifically, the haptic device 1 is capable of at least six types of input operations. Therefore, for example, in a three-dimensional space defined by x axis, y axis, and z axis, the haptic device 1 can perform an input of information about a position in a direction of each of the x axis, the y axis, and the z axis and an input of information about a rotation of each of the x axis, the y axis, and the z axis. In this case, it is sufficient for an operation device of a generally-available work machine and an input device of virtual reality to perform such input. Therefore, in the haptic device 1, each of the right and left operation units 3R, 3L has at least three translational degrees of freedom, and therefore, the haptic device 1 has a high degree of versatility.
It should be noted that the number of operation units 3 provided in the haptic device 1 is not particularly limited, and a single operation unit 3 may be provided, or three or more operation units 3 may be provided. However, from the perspective of operability, as described above, the haptic device 1 preferably has a configuration comprising the right and left operation units 3R, 3L. With such configuration, the operator can operate each of the two operation units 3R, 3L with right and left hands which are different hands. Therefore, the haptic device 1 is capable of at least six types of input operations without requiring complicated operations, and can reduce the load of the operator resulting from the increase of the input operation.
The gripping unit 20 may be configured to be gripped by the operator. For example, the gripping unit 20 may be configured such that the distal end portion 22 does not rotate with respect to the base portion 21. The gripping unit 20 may be configured not to comprise the two switches 23, 23. Projections and depressions according to the shape of the fingers may be formed on the external surface of the gripping unit 20. From the perspective of the operability and the degrees of freedom, the gripping unit 20 is preferably configured such that the distal end portion 22 rotates with respect to the base portion 21. Additionally, by adding a rotation the gripping Unit 20 it will increase the degrees of freedom of the operation unit 3R without reducing the operability of the operation unit 3R.
The parallel mechanism 30 may be configured such that the operation unit 3R/3L is translated at least in three directions. For example, the parallel mechanism 30 may be configured to further comprise one more arm 31.
The arm 31 is not limited to the above configuration. For example, the swing arm 37 in the fan shape may also be in a circular or semicircular shape. However, from the perspective of reducing the size, the swing arm 37 is preferably in a fan shape. The arm 31 may be configured such that a universal joint such as a ball joint is used for connection between one end of the parallel four-bar linkage mechanism 38 and the swing arm 37 and connection between the other end of the parallel four-bar linkage mechanism 38 and the support plate 35. The arm 31 may be configured such that the swing arm 37 and the support plate 35 are connected with a single link member instead of the parallel four-bar linkage mechanism 38.
In this case, as illustrated in Fig. 12, the operator can hold the haptic device 1 by wearing a wearable support 60 detachably attached to the haptic device 1. Fig. 12 is a perspective view schematically illustrating an example of a state in which the operator 70 uses the haptic device 1.
The wearable support 60 comprises the buckle 61 and one belt 62 and two shoulder straps (belts) 63, 64. The buckle 61 is a plate-shaped member, and is detachably attached to the back surface of the housing 4. More specifically, the buckle 61 comprises three protrusions 65, 65, 65 on the front surface (see Fig. 7). The three protrusions 65, 65, 65 are engaged with the three groove 15, 15, 15 formed on the back surface of the housing 4, so that the buckle 61 is attached to the housing 4. The protrusion 65 extends from the lower end of the front surface of the buckle 61 to the upper side. The groove 15 extends from the lower end of the back surface of the housing 4 to the upper side.
It should be noted that the method for attaching the buckle 61 to the housing 4 is not limited to the method of engagement between the protrusion 65 and the groove 15. The buckle 61 may be attached to the housing 4 by fastening a screw, engagement with a hook, and the like.
One end of the belt 62 is attached to the right side end portion of the buckle 61, and the other end thereof is attached to the left side end portion of the buckle 61. One end of the shoulder strap 63 is attached to the right side upper portion of the buckle 61, and the other end thereof is coupled with the belt 62. One end of the shoulder strap 64 is attached to the left side upper portion of the buckle 61, and the other end thereof is coupled with the belt 62. The belt 62 and the two shoulder straps 63, 64 have an adjuster 66 for adjusting the length.
The operator 70 wraps the belt 62 around the waist. At this occasion, the back surface of the buckle 61 is brought into close contact with the belly which is the front surface of the body. The operator 70 puts the shoulder strap 63 over the right shoulder and puts the shoulder strap 64 over the left shoulder. Then, the operator 70 can hold the haptic device 1 on the front surface of the body in such a manner as to carry it with the wearable support 60.
Since the haptic device 1 additionally comprises the wearable support 60, the portability is improved. Since the operator 70 can hold the haptic device 1 without using a hand, the operability of the right and left operation units 3R, 3L is not reduced. The operator 70 can easily hold the haptic device 1, and therefore, even when the operator 70 use the haptic device 1 for long hours, the load imposed on the operator 70 is small. In addition, for example, the operator 70 can use the haptic device 1 without placing the haptic device 1 on a work bench and the like. More specifically, the operator 70 can use the haptic device 1 at any given location, and the haptic device 1 provides excellent usability. It should be noted that the support gear 60 can be detached from the haptic device 1, and therefore, the operator 70 can use the haptic device 1 by placing the haptic device 1 on a workbench and the like. In a case where the wearable support 60 is detached, the haptic device 1 is placed on a workbench and the like by using the bottom surface and the back surface of the housing 4 as a placement surface. The wearable support 60 can adjust the length of the belt 62 and the two shoulder straps 63, 64 with the adjuster 66. Therefore, the operator 70 can adjust the position for holding the haptic device 1 in accordance with the physique and the preference, which provides excellent usability.
It should be noted that the wearable support 60 may be worn by the operator 70 to hold the haptic device 1, and the wearable support 60 is not limited to the above configuration. For example, the wearable support 60 may have a configuration of comprising an arm rest on which an arm of the operator 70 is placed. When such configuration is employed, the load of the operator 70 is further reduced. The wearable support 60 may be configured such that the buckle 61 is attached to clothes such as a vest. The wearable support 60 may have a configuration of comprising an auxiliary battery for providing electric power to the haptic device 1.
Subsequently, an operation system 100 using the haptic device 1 will be explained. Fig. 13 is a block diagram for explaining an example of the operation system 100 using the haptic device 1. Fig. 14 is a side view schematically illustrating an example of a work machine 80 which is a composing element of the operation system 100. The operation system 100 illustrated in Fig. 13 for example is a system that comprises the haptic device 1 and the work machine 80 serving as an external apparatus capable of communicating with the haptic device 1, and the operation system 100 remotely controls the work machine 80.
First, the control system of the haptic device 1 will be explained. As described above, the haptic device 1 comprises the controller 16 provided inside of the housing 4. The controller 16 is configured to control the right and left operation units 3R, 3L. The tablet 2 of the haptic device 1 comprises a controller 17. The controller 17 of the tablet 2 is configured to control various kinds of devices provided in the tablet 2, for example, the display device 18, the communication device 19, and the like. The haptic device 1 is configured to use the communication device 19 so that it can transmit and receive information to and from the work machine 80 which is an external apparatus. The screen 8 of the display device 18 displays various kinds of setting values of the haptic device 1, information transmitted from the work machine 80, and the like.
The controller 16 reads input signals of various setting values, detection values obtained from various kinds of sensors, and the like. The controller 16 is configured to control the right and left operation units 3R, 3L on the basis of the input signals, and generate output signals transmitted to an external apparatus. Like the controller 16, the controller 17 reads input signals of various setting values, detection values obtained from various kinds of sensors, and the like. The controller 17 is configured to control the display device 18 and the communication device 19 provided in the tablet 2 on the basis of the input signals.
Examples of the controller 16/17 include a control board comprising a CPU (Central Processing Unit) performing calculation processing and control processing, a main storage device storing data, a timer, an input circuit, an output circuit, an electric source circuit, and the like. The main storage device such as, e.g., a ROM (Read Only Memory) and an EEPROM (Electrically Erasable Programmable Read Only Memory) stores a control program for executing an operation according to the present embodiment and various kinds of data. The data such as various kinds of programs may be stored to an external storage device, and read by the controllers 16, 17.
In this case, the controller 16 is constituted by two control boards 16A, 16B. Each of the two control boards 16A, 16B comprises a single microcomputer, three motor drivers for controlling rotation directions and output electric currents of the three motors 32, 32, 32, and the like. For example, one of the control boards 16A is configured to control the right operation unit 3R, and generate an output signal transmitted to an external apparatus on the basis of an input signal given from the operation unit 3R. On the other hand, for example, the other of the control boards 16B is configured to control the left operation unit 3L, and generate an output signal transmitted to an external apparatus on the basis of an input signal given from the operation unit 3L.
The control board 16A is electrically connected to, e.g., the three motors 32, 32, 32, the three position sensors 34, 34, 34, the two switches 23, 23, and the angle sensor 36 provided in the right operation unit 3R, and is electrically connected to, e.g., the controller 17 of the tablet 2. Like the control board 16A, the control board 16B is electrically connected to, e.g., the three motors 32, 32, 32, the three position sensors 34, 34, 34, the two switches 23, 23, and the angle sensor 36 provided in the left operation unit 3L, and is electrically connected to, e.g., the controller 17 of the tablet 2. The controller 17 of the tablet 2 is electrically connected to the control board 16A, the control board 16B, the starting key switch 9, the emergency stop switch 10, the connector 11, and the like. The controller 17 is electrically connected to various kinds of devices and various kinds of sensors and switches other than the configuration illustrated in Fig. 13. For example, the controller 17 is electrically connected to a battery sensor for detecting a voltage and an electric current of a battery.
In this case, the controller 16 is constituted by the two control boards 16A, 16B. Therefore, the flexibility in the arrangement inside of the housing 4 is improved, and the size of the haptic device 1 can be reduced. Since the controller 16 separately control the right and left operation units 3R, 3L, the processing speed is improved, and the responsiveness of the haptic device 1 is improved. It should be noted that the control configuration of the haptic device 1 is not particularly limited. The controller 16 may be constituted by a single control board. The haptic device 1 may be configured to control the right and left operation units 3R, 3L by causing the controller 16 and the controller 17 to cooperate with each other. The haptic device 1 may not have the controller 17, and the controller 16 may be configured to control not only the right and left operation units 3R, 3L but also the display device 18, the communication device 19, and the like.
Subsequently, the work machine 80 which is the composing element of the operation system 100 will be explained. The work machine 80 is remotely operated by the haptic device 1. As illustrated in Fig. 14, the work machine 80 comprises a travelling machine body 81, a manipulator 82, an end effector 83, and the like. The travelling machine body 81 is configured to be able to travel with a pair of crawler travelling gears. The manipulator 82 is attached to the upper portion of the travelling machine body 81 in a rotatable manner. The manipulator 82 is an arm in which multiple links are coupled in series. The end effector 83 is attached to the end of the manipulator 82. The end effector 83 is a bucket 84 used to excavate. The work machine 80 can be moved by the travelling machine body 81. The manipulator 82 and the end effector 83 are driven by a hydraulic cylinder and the like. The work machine 80 can move the end effector 83 to a desired position by driving the manipulator 82.
As illustrated in Fig. 13, the work machine 80 comprises a controller 85, a communication device 86, a work machine sensor 87, and the like. The controller 85 provided in the work machine 80 is configured to control various kinds of devices provided in the work machine, for example, the travelling machine body 81, the manipulator 82, the end effector 83, and the like. Like the controllers 16, 17, the controller 85 may be, for example, a control board. The controller 85 is electrically connected to the travelling machine body 81, the manipulator 82, the end effector 83, the communication device 86, the work machine sensor 87, and the like. The communication device 86 provided in the work machine 80 exchanges information with the haptic device 1 by using wireless communication. The work machine sensor 87 is a general term meaning sensors detecting the state of activation of the work machine 80. Examples of work machine sensors 87 include sensors for detecting a travelling speed of the work machine 80, a travelling direction of the work machine 80, a torque acting on the crawler travelling gears of the travelling machine body 81, a rotation angle of the manipulator 82 with respect to the travelling machine body 81, a rotation angle of each joint of the manipulator 82, a torque acting on each joint of the manipulator 82, and the like. It is possible to use various kinds of sensors according to the targets to be detected, for example, a potentiometer, a rotary encoder, a load cell, an ultrasonic sensor, an acceleration sensor, and the like, as the work machine sensor 87. The work machine 80 is configured to be able to detect the positon of the end effector 83, the force acting on the manipulator 82, and the like on the basis of detection values of the work machine sensor 87.
The work machine 80 is configured to operate on the basis of, e.g., information transmitted from the haptic device 1. The work machine 80 is configured to transmit, to the haptic device 1, information about the position of the end effector 83, the force acting on the crawler travelling gears of the travelling machine body 81, and the force acting on the manipulator 82.
In the operation system 100 explained above, the operator can remotely operate the work machine 80 by using the haptic device 1. The operator performs translation operation of the right and left operation units 3R, 3L, rotation operation of the distal end portion 22 of the gripping unit 20, and ON/OFF operation of the switches 23, 23, so that information is input into the haptic device 1. The operation information (input information) about the right and left operation units 3R, 3L is read by the controller 16 as detection values of the three position sensors 34, 34, 34, the angle sensor 36, and the two switches 23, 23 provided in each of the right and left operation units 3R, 3L. The operation information that is read by the controller 16 is transmitted to the work machine 80 by the communication device 19 of the tablet 2. The controller 85 of the work machine 80 controls the travelling machine body 81, the manipulator 82, and the end effector 83 on the basis of, e.g., operation information transmitted from the haptic device 1 and various kinds of setting values that are set in advance. By doing so, the operator can remotely operate the work machine 80.
It should be noted that the relationship between the operation of the right and left operation units 3R, 3L and the motion of the work machine 80 is not particularly limited. For example, the operation of the left operation unit 3L can be associated with the motion of the travelling machine body 81, and the operation of the right operation unit 3R can be associated with the motion of the manipulator 82 and the end effector 83.
The switches 23, 23 may function as safety switches. More specifically, each of the right and left operation units 3R, 3L may be configured such that, only when any one of the switches 23, 23 is pressed down, the detection values of the three position sensor 34, 34, 34 and the angle sensor 36 are read by the controller 16. When such configuration is employed, an erroneous operation of the haptic device 1 can be prevented.
In this case, in the haptic device 1, the right and left operation units 3R, 3L can feed a force back to the operator. Information about a force acting on the manipulator 82 detected by the work machine sensor 87 is read by the controller 85 of the work machine 80. Information that is read by the controller 85 is transmitted by the communication device 86 to the haptic device 1. The controller 16 of the haptic device 1 controls the three motors 32, 32, 32 of each of the right and left operation units 3R, 3L on the basis of information transmitted from the work machine 80, various kinds of setting values that are set in advance, and the like. The haptic device 1 can feed a force back to the operator by actively moving linearly each of the right and left operation units 3R, 3L. With this force feedback, the operator can be notified of the state of the work machine 80 in a moment of time, and, for example, the operator can be notified that, e.g., the manipulator 82 comes into contact with an object in a moment of time. Therefore, the operator can operate the work machine 80 more accurately and more quickly.
It should be noted that the relationship between the force acting on the manipulator 82 and the force feedback to the operator by the operation units 3R, 3L is not particularly limited. For example, in association with the force acting on the manipulator 82, the force may be fed back to the operator with the right and left operation units 3R, 3L, and the force may be fed back to the operator with only the right operation unit 3R. In association with the force acting on the travelling machine body 81, the force may be fed back to the operator with only the left operation unit 3L.
In this case, the right and left operation units 3R, 3L protrude from the housing 4 at the back surface side of the tablet 2 including the display device 18. When the haptic device 1 is used, the screen 8 is not shielded by the right and left operation units 3R, 3L or hands of the operator. Therefore, the visibility of the screen 8 of the display device 18 is maintained at a preferable level. In addition, the haptic device 1 integrally comprises the tablet 2, and therefore, as compared with a mode in which the display device is provided separately, the haptic device 1 is less likely to be affected by the limitation of the usage location, and is advantageous in the portability. With the haptic device 1, it is easy to bring the screen 8 close to the body, and the visibility of the screen 8 can be improved.
It should be noted that the information displayed on the screen 8 of the display device 18 is not particularly limited. In a case where the operation system 100 has an image-capturing device for capturing an image of a motion of the manipulator 82 of the work machine 80, an image captured by the image-capturing device may be displayed on the screen 8 of the display device 18. When such configuration is employed, the operator can operate the work machine 80 while the operator is watching the screen 8 of the display device 18, and therefore, the haptic device 1 provides excellent usability. It should be noted that the image-capturing device may be placed anywhere on the work machine 80 or even outside the work machine 80.
The haptic device 1 exchanges information with the work machine 80 serving as an external apparatus by using wireless communication, and therefore, even at a position away from the work machine 80, the work machine 80 can be remotely operated, and the haptic device 1 provides excellent usability.
The screen 8 of the display device 18 of the haptic device 1 has an angle of elevation, and therefore, the visibility of the screen 8 is still more preferably even during usage. It should be noted that the angle of elevation is preferably equal to or more than 0 degrees and equal to or less than 20 degrees, and more preferably, the angle of elevation is 8 degrees.
It should be noted that the external apparatus remotely operated by the haptic device 1 is not limited to the work machine 80. The external apparatus may be able to exchange information with the haptic device 1, and operate on the basis of information transmitted from the haptic device 1. For example, the external apparatus may be a demolition machine, a simulator generating virtual reality and the like.
It should be noted that the haptic device 1 is not particularly limited in terms of the size. For example, the outermost shape of the housing 4 of the haptic device 1 may be such that: the width in the horizontal direction is 380 mm, the height in the vertical direction is 200 mm, and the width in the longitudinal direction is 260 mm. When the haptic device 1 is made into such a size, the portability can be enhanced while the size of the highly visible screen 8 is ensured.
As described above, the haptic device 1 according to the present invention comprises the tablet 2 comprising the display device 18, the right and left operation units 3R, 3L, and the housing 4 supporting the right and left operation units 3R, 3L. Each of the right and left operation units 3R, 3L comprises the gripping unit 20 and the parallel mechanism 30 supporting the gripping unit 20, and is configured to have at least three translational degrees of freedom and feed a force back to the operator. The right and left operation units 3R, 3L protrude from the housing 4 at the back surface side of the tablet 2. According to the present invention, the haptic device 1 can be provided, which is integrally provided with the display device 18 and in which the right and left operation units 3R, 3L can be operated while the visibility of the screen 8 of the display device 18 can be maintained at a preferable level so that the haptic device 1 provides excellent portability. With the haptic device 1, it is easy to bring the screen 8 of the display device 18 close to the body, and the visibility of the screen 8 can be improved.
The present disclosure can be preferably used for an HMI between an operator and an external apparatus such as a work machine and a robot that can be remotely operated, a training simulator using virtual reality, a game machine, and the like.
1 haptic device
2 tablet
3R operation unit
3L operation unit
4 housing
8 screen
16 controller
16A control board
16B control board
17 controller
18 display device
19 communication device
20 gripping unit
30 parallel mechanism
31 arm
32 motor
33 motor base
35 support plate
37 swing arm
38 parallel four-bar linkage mechanism
50 wire rope
51 output shaft
52 pulley
60 wearable support
61 buckle
62 belt
63 shoulder strap (belt)
64 shoulder strap (belt)
70 operator
80 work machine (external apparatus)

Claims (10)

  1. A haptic device comprising:
    a display device;
    an operation unit; and
    a housing supporting the display device and the operation unit,
    wherein the operation unit comprises a gripping unit and a parallel mechanism supporting the gripping unit, and has at least three translational degrees of freedom, and is configured to be able to feed a force back to an operator, and the operation unit is disposed in a protruding manner from the housing at a back surface side of the display device.
  2. The haptic device according to claim 1, further comprising a communication device exchanging information with an external apparatus by using wireless communication.
  3. The haptic device according to claim 1, wherein the parallel mechanism comprises:
    three arms disposed with an equal interval around an axis direction of the operation unit;
    three motors respectively driving the three arms;
    three motor bases respectively supporting the three motors; and
    a support plate supporting the gripping unit,
    wherein each of the three arms comprises a swing arm in a fan shape rotatably coupled with the motor base, and a parallel four-bar linkage mechanism connecting the swing arm and the support plate, and
    the swing arm is coupled with the motor via a wire rope wound around a pulley fixed to an output shaft of the motor.
  4. The haptic device according to claim 1, wherein the gripping unit can rotate around an axial center of the operation unit.
  5. The haptic device according to claim 1, wherein the operation unit is provided at both of the right and left sides.
  6. The haptic device according to claim 1, wherein the display device is disposed at an upper surface of the housing so that a screen faces upward, and
    the operation unit is disposed to protrude to a side from a side surface of the housing at a lower portion of the display device.
  7. The haptic device according to claim 1, wherein a controller controlling the operation unit is constituted by two control boards, and is accommodated in an inside of the housing.
  8. The haptic device according to claim 1, further comprising a wearable support worn by the operator to hold the haptic device,
    wherein the wearable support comprises:
    a buckle coming into contact with a front surface of a body of the operator; and
    a plurality of belts attached to the buckle.
  9. The haptic device according to claim 1, wherein the display device is a touch panel type.
  10. The haptic device according to claim 6, wherein the display device has an angle of elevation.

PCT/JP2016/004168 2016-09-13 2016-09-13 Haptic device WO2018051383A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/004168 WO2018051383A1 (en) 2016-09-13 2016-09-13 Haptic device

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Application Number Priority Date Filing Date Title
PCT/JP2016/004168 WO2018051383A1 (en) 2016-09-13 2016-09-13 Haptic device

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Publication Number Publication Date
WO2018051383A1 true WO2018051383A1 (en) 2018-03-22

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531556A (en) * 2018-12-26 2019-03-29 清华大学 Four-degree-of-freedom cylindrical coordinates parallel robot

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Publication number Priority date Publication date Assignee Title
EP0493795A1 (en) * 1990-12-31 1992-07-08 Honeywell Inc. Hand controller
US20030132293A1 (en) * 2002-01-11 2003-07-17 Hand Held Products, Inc. Transaction terminal including raised surface peripheral to touch screen
FR2956955A1 (en) * 2010-03-02 2011-09-09 Francois Jean Alfred Marceau Device for allowing user to carry portable computer and openable for use on his/her thorax, has flat rectangular case formed of resistant and rigid plastic material and flat strap fixed on right side of bottom of case
EP2955608A1 (en) * 2014-06-09 2015-12-16 Immersion Corporation Programmable haptic devices and methods for modifying haptic strength based on perspective and/or proximity

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0493795A1 (en) * 1990-12-31 1992-07-08 Honeywell Inc. Hand controller
US20030132293A1 (en) * 2002-01-11 2003-07-17 Hand Held Products, Inc. Transaction terminal including raised surface peripheral to touch screen
FR2956955A1 (en) * 2010-03-02 2011-09-09 Francois Jean Alfred Marceau Device for allowing user to carry portable computer and openable for use on his/her thorax, has flat rectangular case formed of resistant and rigid plastic material and flat strap fixed on right side of bottom of case
EP2955608A1 (en) * 2014-06-09 2015-12-16 Immersion Corporation Programmable haptic devices and methods for modifying haptic strength based on perspective and/or proximity

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531556A (en) * 2018-12-26 2019-03-29 清华大学 Four-degree-of-freedom cylindrical coordinates parallel robot

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