JPH0458528B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a manipulator control device for controlling a manipulator provided in a civil engineering construction machine, a material handling and transportation machine, or the like.

[Background of the invention]

Civil engineering construction machinery, material handling and transportation machinery, etc. are equipped with a work attachment consisting of a work attachment body and a work mechanism on the machine body, so that the operator can perform the desired work by operating the work attachment. There is something configured. Such a configuration will be explained using a hydraulic excavator as an example.

FIG. 1 is a side view of a schematic configuration of a hydraulic excavator. In the figure, 1 is an undercarriage body, 2 is an upper revolving body installed on the undercarriage body 1 so as to be able to turn, and 3 is a turning rotation mechanism for driving the upper revolving body 2 to rotate. Lower traveling body 1, upper rotating body 2, and turning rotation mechanism 3
A hydraulic excavator main body 4 is constructed. 5 is a boom rotatably attached to a rotation fulcrum 6 of the upper revolving structure 2; 7 is an arm rotatably attached to a rotation fulcrum 8 of the boom 5; 9 is a rotation fulcrum 10 of the arm 7;
It is a bucket that is rotatably mounted on the top. 11 is a boom cylinder, 12 is an arm cylinder, and 13 is a bucket cylinder. A working attachment body 14 is constituted by the boom 5 and the arm 7, and a working mechanism 15 is attached to the working attachment body 14 and a pivot point 10 at its tip.
(In the illustrated case, this corresponds to the bucket 9.) A work attachment 16 is configured.

The working mechanism 15 may include, in addition to the bucket 9, various working tools depending on the purpose of the work. By driving the boom 5 and arm 7, this working mechanism 15 can be freely moved to a position within a two-dimensional plane created by them, and by adding the driving force of the turning rotation mechanism 3 to this, it can be moved freely to a position in a three-dimensional space. It can be moved freely to any position. In order to clearly show the movements of the work attachment 16 and the swing rotation mechanism 3, JIS standards are used.
It is convenient to express it in a form that conforms to B0138 "Industrial robot symbols". This "industrial robot symbol"
The hydraulic excavator shown in FIG. 1 is illustrated using FIG. 2 as shown in FIG.

FIG. 2 is a side view of a hydraulic excavator according to the above-mentioned "industrial robot symbol". In the figure, the same parts as those shown in FIG. 1 are given the same reference numerals. 17
is a rotating body rotation drive unit corresponding to the turning rotation mechanism 3 shown in FIG. It means to include. 1
8 is a boom rotation drive unit, and this symbol indicates that the boom rotation drive unit is a part that rotates around an axis 18a perpendicular to the page (rotation fulcrum 6 in Fig. 1) and the boom drive mechanism. (Boom cylinder 1 in Fig. 1)
1). Similarly, 19,20
are the arm rotation drive unit and the working mechanism drive unit, and their symbols indicate that they are the rotation part (first
The rotary support points 8 and 10 in the figure) and the drive mechanism (the arm cylinder 12 and bucket cylinder 13 in FIG. 1). As described above, by using these symbols, the operation of the entire hydraulic excavator can be immediately understood from the diagram, which is extremely convenient. Therefore, using these symbols, a hydraulic excavator equipped with a working mechanism having multiple degrees of freedom will be expressed in the following figure.

FIGS. 3a and 3b are a side view and a plan view of the schematic structure of the hydraulic excavator. In the figure, the same parts as those shown in FIG. 2 are given the same reference numerals. The difference between the hydraulic excavator shown in FIG. 2 and the hydraulic excavator shown in FIG. 3 lies in the configuration of the working mechanism 15. The configuration of the working mechanism 15 shown in FIG. 3 will be described below. In this explanation, each symbol will be given a name that directly represents the operation that the symbol means. Accordingly, the working mechanism drive section 20 belonging to the working mechanism 15 will be hereinafter referred to as the vertical swing mechanism 20. Reference numeral 21 designates a left-right swing mechanism that rotates around a rotation shaft 21a, 22 a rotation mechanism, and 23 a gripping tool attached to the rotation mechanism 22. The gripping tool 23 has, for example, claws 23a and 23b at opposing positions.
The claws 23a and 23b grip an object 24 to be gripped, which is a work target.

In the hydraulic excavator configured in this way,
The working mechanism 15 is located at the rotating body rotation drive section 17, the boom rotation drive section 18, and the arm rotation drive section 19.
The desired position is set by driving the . That is, by driving the boom rotation drive unit 18 for a time at an angular velocity of ω ₁ and driving the arm rotation drive unit 19 for a time at an angular velocity of ω ₂ , the work can be performed at a desired position within a plane including the boom 5 and the arm 7. The working mechanism 15 can be positioned at a desired position in three-dimensional space by rotating the rotating body rotation drive unit 17 for a time at an angular velocity ω _s . On the other hand, the posture of the working mechanism 15 itself is controlled by a vertical swing mechanism 20, a horizontal swing mechanism 21, and a rotation mechanism 22. That is, in the three-dimensional space, as shown in the figure, there are reference axes x,
Assuming y and z, when the vertical swinging mechanism 20 is driven on an axis parallel to the y-axis for a time at an angular velocity ω _pi , the gripping tool 23 faces upward or downward by a desired angle, and the horizontal swinging mechanism 21 moves to z. When driven for a period of time at an angular velocity ω _ya on an axis parallel to the axis, the gripping tool 23 faces leftward or rightward by a desired angle, and the rotation mechanism 22
When rotated on the x-axis at an angular velocity ω _rp for a time, the gripper 23 rotates by a desired angle. Due to such rotation about the x, y, and z axes, the working mechanism 15
can assume any desired posture.

By the way, conventionally, in order to set the working mechanism 15 at a desired position and in a desired posture, each of the driving sections 17, 18, 1
9 and each mechanism 20, 21, 22, respectively, was driven by one corresponding operating lever. Therefore, there are six operating levers, and controlling the position and posture of the working mechanism 15 inevitably requires changing the grip of the operating lever during operation. Such switching of the operating lever becomes a fatal defect in operating the manipulator shown in FIGS. 3a and 3b. The reason for this will be explained below. Now, considering the case where the object 24 is gripped by the gripper 23 and the posture of the object 24 is to be changed by changing the posture of the working mechanism 15, the vertical swing mechanism 20, the horizontal swing mechanism 21, and the rotation mechanism 22 are driven. Then, naturally, the position of the object 24 changes. Therefore, when the object 24 is located at the same place and only its posture is to be changed, the vertical swing mechanism 20, the horizontal swing mechanism 21, and the rotation mechanism 22 are controlled, and at the same time, the change in the position is corrected. The rotating body rotation drive section 17, the boom rotation drive section 18, and the arm rotation drive section 19 must also be controlled. Such correction is always required when changing the attitude of the working mechanism 15. In actual work, first, the approximate position of the working mechanism 15 is determined in advance, then the posture is changed, the deviated position is corrected by this, and the posture is changed again.This operation is repeated until the desired position is reached. The desired posture has been obtained. In this way, in order to place the gripping tool 23 in a desired position and in a desired posture, it is necessary to frequently change the grip and operate the six operation levers.
This creates a fatal flaw in that it becomes extremely difficult to control. In addition, each drive unit 17,1
8, 19 and each actuator of each mechanism 20, 21, 22 can be arbitrarily adjusted in the position and posture of the gripping tool 23 while appropriately maintaining the driving relationship of each actuator of each mechanism 20, 21, 22.
This can only be done by a person who has a thorough knowledge of the characteristics of each link mechanism of the work attachment 16 and can quickly reflect those movements in the relationship between the position and posture of the gripping tool 24. This requires a high level of skill, and from this point of view as well, it is extremely difficult for unskilled people to control the position and posture of the gripper 23. Note that there are operating levers that operate two actuators with one operating lever, but even if such operating levers were adopted, three would be required in the example above, making it difficult to change the grip. Although the frequency has decreased, it is still necessary to change hands frequently, and the operation requires even more skill, and control remains difficult.

[Purpose of the invention]

The present invention has been made in view of these circumstances, and its purpose is to enable operation with one operating device without changing the operating lever,
Another object of the present invention is to provide a manipulator control device that can be easily operated even by beginners.

[Summary of the invention]

The present invention provides a manipulator including a working attachment body movable in three-dimensional space and a working mechanism having one or more degrees of freedom attached to a predetermined portion of the working attachment body. a substantially linear support part that supports a grip part; a working mechanism that is attached to the grip part and applied to the grip part about two orthogonal axes in a plane perpendicular to a reference axis on which the support part is placed; a first detection means for detecting at least one of a force component corresponding to a linear displacement and a rotational force component corresponding to a rotational displacement of the working mechanism; second detection means for detecting at least one of a force component corresponding to a displacement of the working mechanism in the reference axis direction and a rotational force component corresponding to a rotational displacement of the working mechanism in a plane orthogonal to the reference axis; an actuator that drives the work attachment body based on signals from the first detection means and the second detection means, and a corresponding actuator of the actuator that drives the work mechanism. A drive control mechanism for controlling the drive is provided.

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 4 is a perspective view of the operating lever of the manipulator control device according to the first embodiment of the present invention.
In the figure, 25 indicates an operating lever, and the spherical grip part 2
6. It is composed of a shaft portion 27 connected to and supporting the grip portion 26, and a support portion 28 that supports this shaft portion 27. The grip portion 26 has a surface texture that provides high friction with the hand, so that when the grip portion 26 is gripped and operated by the hand, the hand does not slip. Generally speaking, the operating lever having the shape shown in FIG. 4 is usually configured such that the handle portion is grasped by hand to tilt down the shaft portion 27 (displaceable operating lever). However, the operating lever 25 of this embodiment
The operating mode is completely different from such a normal displacement type operating lever. That is, the operating lever 25 is configured so that it does not displace at all or only makes a very small displacement even when force and rotational force are applied.

The grip portion 26 of the operating lever 25 is provided with a first detection portion 29 ₁ at the center of the grip portion 26 for detecting force and rotational force components applied to the grip portion 26 . , added to the grip part 26 and the shaft part 27
A second detection unit 29 ₂ is provided for detecting force and rotational force components transmitted through the support unit 28 . Here, before explaining the configuration and operation of the first detection section 29 ₁ and the second detection section 29 ₂ , the force applied to the grip section 26 and the rotational force component will be explained.

Hereinafter, to simplify the explanation and as the most practical example, an example will be described in which the support portion 28 is provided on the vertical axis z. The grip section 26 is assumed to have an x-axis, a y-axis, and a z-axis that intersect at the center of the detection section 29 ₁ . Now, in FIGS. 3a and 3b, when position control is performed to move the gripper 23 in a certain direction in three-dimensional space at a certain speed, the speed can be decomposed into moving speed components for each reference axis. . These moving velocity components are respectively designated as V _x , V _y , and V _z as shown in the figure. Further, when posture control is performed to rotate the gripping tool 23 itself at a certain angular velocity in a certain direction in three-dimensional space, the angular velocity can be decomposed into rotational angular velocity components for each reference axis. Let these rotational angular velocity components be ω _x , ω _y , and ω _z, respectively, as shown.

On the other hand, when a force is applied in a certain direction in three-dimensional space to the grip portion 26 of the operating lever 25, the force can be decomposed into force components F _x , F _y , F _z for each of the assumed axes. . In addition, the grip portion 26 of the operating lever 25
When a rotational force is applied in a certain direction in three-dimensional space to
It can be decomposed into M _x , M _y , and M _z .

From these facts, the moving velocity components V _x , V _y , V _z
If the force components F _x , F _y , F _z and the rotational angular velocity components ω _x , ω _y , ω _z and the rotational force components M _x , M _y , M _z can be related to each other in proportion, then the grip portion 26
force components F _x , F _y , F _z and rotational force components M _x ,
By appropriately acting M _y and M _z , desired moving velocity components V _x , V _y , V _z and desired rotational angular velocity components ω _x , ω _y , ω _z can be obtained, and the position of the gripping tool 23 It should be possible to perform control and attitude control. The force components F _x , F _y , F _z and the rotation force components M _x , M _y , M _z can be simultaneously applied to one grip portion 26 as a composite force or a composite rotation force. , position control and posture control of the gripper 23 can be performed simultaneously. The first detection section 29 ₁ provided in the grip section 26
are the force components F _x , F y and the rotation force components M _x , F _y of these forces and rotational forces acting on the grip portion 26
It has the function of individually detecting M _y , and also has the function of detecting M y individually.
The second detection unit 29 ₂ provided in the grip unit 2
Among the force and rotational force acting on 6, the component F _z of the force transmitted through the shaft portion 27 and the rotational force component
It has the ability to detect M _z individually. Here, the reason why the first detection section 29 ₁ and the second detection section 29 ₂ are installed separately will be explained.

The grip portion 26, the shaft portion 27, and the support portion 28 are each fixedly connected to each other. Therefore, the force and rotational force applied to the grip portion 26 are also transmitted to the shaft portion 27 and the support portion 28. Therefore, the detection section that detects the force components F _x , F _y , F _z and the rotational force components M _x , M _y , M _z is the grip section 2.
6. It should be possible to detect whether the sensor is installed on either the shaft portion 27 or the support portion 28. However, now, suppose force components F _x , F _y , F _z and rotational force components M _x , M _y ,
A detection unit for detecting M _z is provided in the support unit 28, and
If we consider a case where the x-axis, y-axis, and z-axis intersect in this detection unit, the following problem will occur. That is, when a force F _x is applied to the grip portion 26 , the force F _x is detected by the detection portion provided on the support portion 28 via the shaft portion 27 . However, at the same time, due to the force F _x , a rotational force component M _y is generated around the y-axis, which is one of the assumed reference axes in the detection unit. The magnitude of this rotational force component M _y is F _x ·l, where l is the distance between the center of the grip part 26 and the detection part of the support part 28 . As a result, even though only the force _Fx is applied to the grip portion 26, the detection unit ends up outputting the rotational force _My , which is not applied at all, at the same time as the force _Fx . Similarly, even if only the rotational force M _y is applied to the grip portion 26, the detection unit will output not only the rotational force M _y but also the force F _x (F _x = M _y /l) which is not applied at all. In this way, the force F _x and the rotational force M _y
inputs will interfere with each other. It is clear that such interference also exists between the force F _y and the rotational force M _x . From the above, it is inappropriate to detect the forces F _x , F _y and the rotational forces M _x , My _y using the detection units provided on the support unit 28, as a means to eliminate the interference is required. be. It is also inappropriate to provide the detection section on the shaft section 27 for the same reason. On the other hand, the force applied to the grip portion 26 and the rotational force component F _z and rotational force component M _z in the z-axis direction are not affected by the distance l and can be detected without any interference.

For the above reasons, there are restrictions on where the detection section can be installed. That is, the detection parts for the force components F _x , F _y and the rotational force components M _x , M _y need to be installed at locations that are not affected by the distance l, and the optimal location is the center of the grip 26. . And the grip part 26
When the grip is not spherical, when the grip is held by hand, the optimum location for installing the detection unit is near the center of the grip. On the other hand, the detection units for the force component F _z and the rotational force component M _z do not interfere with each other even if they are installed in any of the grip part 26 , the shaft part 27 , and the support part 28 . For the above reasons, the first detecting section 29 ₁ is set as a detecting section in charge of detecting the force components F _x , F _y and the rotational force components M _x , M _y , and the second detecting section 29 ₂ is a detection unit in charge of detecting the force component _Fz and the rotational force component _Mz . The support portion 28 is provided, for example, in the x-axis direction,
The same applies to the case where the detection section in the y- and z-axis directions is provided in the grip section 26.

Next, an outline of one known example of the first and second detection sections 29 ₁ and 29 ₂ will be explained.

FIG. 5 is a perspective view of the detection section shown in FIG. 4.
In the figure, 29A is a first ring connected to a first rigid body part (not shown), and 29B is a second ring.
This is a second ring connected to a rigid body part (not shown) of the ring 29A and provided opposite to the first ring 29A. 29C is the first ring 29
This is a flexible beam that connects A and the second ring 29B, and three flexible beams 29C are provided.
29D is a tension/compression force detection gauge provided on the inner surface of each flexible beam 29C, and 29E is each flexible beam 29.
This is a shear force detection gauge provided on the outer surface of C.

In such a configuration, for example, if some force acts on the first rigid body part, this force will be applied to the first rigid body part.
is transmitted to the second rigid body portion via the ring 29A, each flexible beam 29C, and the second ring 29B. In the process of transmitting this force, each flexible beam 29C deflects according to the applied force, and this deflection is detected by each detection gauge 29D, 29E. That is, the tensile/compressive force detection gauge 29D mainly detects the force component.
F _x , F _y and rotational force component M _z are detected, and the shear force detection gauge 29E mainly detects force component F _z and rotational force component M _x , My _y . Each of these components F _x , F _y ,
Individual detection of F _z , M _x , My _y , and M _z is performed by inputting signals from each detection gauge 29D, 29E of each flexible beam 29C to a computer and executing required calculations.

Therefore, as shown in FIG. 4, the grip part 26 is divided into an upper half and a lower half by the first detection part ₂₉₁ , and a desired force or rotational force or both are applied to the upper half. , each component F _x , F _y , F _z , M _x , M _y , M _z is obtained depending on the applied force and rotational force. Similarly, as shown in _FIG .
When the force is transmitted to the upper half of the force, each component F _x , F _y , F _z , M _x , My _y , M _z is obtained depending on the force and rotational force. Of course, it is obvious that conventionally known uniaxial load cells and torque meters may be used as means for detecting F _z and M _z . Then, force components F _x , F _y obtained from the first detection unit 29 ₁ , force components F _z obtained from the second detection unit 29 ₂ , and moving speed components V _x , V _y , V _z
The rotational force components M _{x and} M y obtained from the first detection unit 29 ₁ and the rotational force component M _z and rotational angular velocity component obtained from the second detection unit 29 ₂ are related so that they _are proportional to each other. If ω _x , ω _y , and ω _z are related in proportion, the rotating body rotation drive unit 17, the boom rotation drive unit 18, the arm rotation drive unit 19, the vertical swing mechanism 20, the horizontal swing mechanism 21, and the rotation A complex system with 6 degrees of freedom of the mechanism 22 can also be done with a single operating lever 2.
It can be controlled freely with only the gripper 23.
can be made to take a desired position and posture. Moreover, the gripping tool 23 moves in the direction of the force applied to the operating lever 25 at a speed proportional to the force, and also moves within the rotation center parallel to the rotation center of the rotational force applied to the operating lever 25. Since the posture is changed at a rotational speed proportional to the rotational force, the position and posture of the gripping tool 23 can be controlled in accordance with the force applied to the operating lever 25 and the degree of rotational force applied. In addition, the user can freely operate the gripper 23 or the object 24 as if he or she were directly holding and moving the gripper 23 or the object 24.

Next, force components F _x , F _y , F _z and moving velocity components V _x ,
A means for proportionally relating V _y , V _z and rotational force components M _x , M _y , M _z to rotational angular velocity components ω _x , ω _y , ω _z will be explained.

FIG. 6 is a system diagram of a manipulator control device according to the first embodiment of the present invention. In the figure, reference numeral 25 denotes an operating lever 29 shown in FIG.
is a detection portion of the operating lever shown in FIGS. 4 and 5. Furthermore, F _x , F _y , F _z , M _x , My _y , and M _z indicate the components of the force and rotational force applied to the operating lever 25. 30 is a calculation mechanism, which calculates each component obtained by processing the force and rotational force detected by the detection unit 29.
Signal S _x according to F _x , F _y , F _z , M _x , My _y , M _z ,
By inputting S _y , S _z , S _nx , S _ny , and S _nz , the drive signal S _b of the boom rotation drive section 18 and the arm rotation drive section 19 are generated.
drive signal S _a , rotating body rotation drive section S _s , rotation mechanism 2
2 drive signal S _rp , drive signal of the left-right swing mechanism 21
S _ya and the drive signal S _pi of the vertical swing mechanism 20 are calculated and output. Reference numeral 31 indicates a servo system, in which the boom rotation drive unit 18 is activated from a hydraulic source (not shown) in response to a signal S _b .
Boom servo device 31-1 that outputs flow rate Q _b to
8. Flow rate to arm rotation drive unit 19 according to signal S _a
An arm servo device 31-19 that outputs Q _a , a rotating body servo device _31-17 that outputs a flow rate Q _s to the rotating body rotation drive unit 17 in accordance with the signal S s, and a signal S _rp
A rotary servo device 31-22 outputs a flow rate Q _rp to the rotating mechanism 22 in response to a signal S ya, a left-right servo device 31-21 outputs a flow rate Q ya to the left-right swing mechanism 21 in response to a signal S _ya , and a left-right servo device 31-21 that outputs a flow rate Q _ya to the left-right swing mechanism 21 in response to a signal S _pi . Vertical servo device 31- that outputs the flow rate Q _pi to the vertical swing mechanism 20
It consists of 20 six servo devices. Reference numeral 32 denotes a manipulator device including actuators of the rotating body rotation drive section 17, the boom rotation drive section 18, the arm rotation drive section 19, the vertical swing mechanism 20, the left and right swing mechanism 21, and the rotation mechanism 22.

Signals S _x to S _nz corresponding to each component of the force and rotational force applied to the operating lever 25 are input to the calculation mechanism 30, and the calculation mechanism 30 performs predetermined calculations based on these signals. This calculation is performed using the gripper 23
move the object 24 gripped by to a desired position,
Each actuator 17, 18, 19, 20 is required to move the gripping tool 23 in response to the force and rotational force applied to the operating lever 25 in accordance with the desired position and orientation. ,21,22
This calculation is used to determine how to drive the . For example, the upper revolving body 2, the boom 5, and the arm 7 are involved in the position of the gripping tool 23, and the gripping device 23 is gripped in a direction corresponding to the force applied to the operating lever 25 and at a speed corresponding to the magnitude of the force. In order to move the tool 23, how should the above three parts be moved? In other words, how should the actuator 1 be moved?
It is necessary to decide how to drive 7, 18, and 19, and predetermined calculations are essential for making such a decision. Of course, this calculation includes forces due to the deviation between the reference axis assumed for the working mechanism 15 and the reference axis determined for the operating lever 25;
It also includes calculations to correct deviations in rotational force. This type of calculation is commonly performed in control engineering, and even though the above calculation may have a difference in mathematical difficulty, it is within the same solvable range as normal calculations. Since the gist of the method is not intended, the explanation of the calculation in the calculation mechanism 30 will be limited to stating that it solves the following group of nonlinear equations.

S _b = F _b (S _x , S _y , S _z , S _nx , S _ny , S _nz ) S _a = F _a (S _x , S _y , S z , S _{nx ,} S _ny , S _nz ) S _s = F _s (S _x , S _y , S _z , S _nx , S _ny , S _nz ) S _rp = F _rp (S _x , S _{y , S z} , _{S nx ,} S _ny , S _nz ) S _ya = F _ya (S _x , S _y , S _z , S _nx , S _ny , S _nz ) S _pi =F _pi (S _x , S _y , S _z , S _nx , S _ny , S _nz ) Output from the calculation mechanism 30 Signals S _b , S _a , S _s ,
S _rp , S _ya , and S _pi are input to corresponding servo devices of the servo system 31, and each servo device drives the actuator in charge by supplying an amount of oil according to the input signal. The manipulator device is actuated by the drive of each actuator, and the gripping tool 23 moves at a speed that is the sum of the moving speed components V _x , V _y , V _z (the operating lever 25 that is the sum of the force components F _x , F _y , F _z) . changes its position with a speed proportional to the force acting on it,
And, it changes its posture at a speed that is a combination of rotational angular velocity components ω _x , ω _y , and ω _z (a speed that is proportional to the rotational force acting on the operating lever 25 that is a combination of rotational force components Mx, _My , and M _z ). .

Note that if the operating lever 25 is installed at an appropriate location on the hydraulic excavator body (for example, in the driver's cab), the reference axis assumed for the working mechanism 15 and the reference axis defined for the operating lever 25 will always be in a parallel relationship. Therefore, the calculation of the calculation mechanism 30 is greatly simplified. Further, as mentioned earlier, the second detection section can also be provided on the shaft 27.

As described above, in this embodiment, a force/rotational force detector is provided in the grip portion and support portion of the operating lever, and a drive signal for each actuator is obtained by a calculation mechanism based on the detected force and rotational force components. The servo system is operated in accordance with this signal to supply the amount of oil to each actuator according to this signal, so the gripping tool can be moved to the desired position with only one operating lever without changing the operating lever. The posture can be controlled. In addition, since the force applied to the operating lever, the direction and magnitude of the rotational force, and the direction and speed of movement and rotation of the gripping tool are proportional, the operation can be performed in accordance with the operator's senses, even for beginners. The operation can be easily performed. Furthermore, since the horizontal force and rotational force components are detected by the first detection section provided on the grip of the operating lever, the components can be detected accurately without any interference.

FIG. 7 is a system diagram of a manipulator control device according to a second embodiment of the present invention. In the figure, the same parts as those shown in FIG. 6 are given the same reference numerals. Reference numeral 25' denotes an operating lever installed on the hydraulic excavator main body, and its configuration is the same as the operating lever 25 shown in FIG. 6, except for the location where it is installed. 33 is a calculation mechanism that performs predetermined calculations based on the signals S _x , S _y , and S _z , and outputs the results of the calculations as signals S _b , S _a , and S _s . Reference numeral 34 indicates a hydraulic drive system, 34-22 a hydraulic drive device that drives the rotation mechanism 22, 34-21 a hydraulic drive device that drives the horizontal swing mechanism 21, and 34-20 a hydraulic drive that drives the vertical swing mechanism 20. The signals S _nx , S _ny , and S _nz based on the rotational force detected by the detection unit 29 are inputted to each actuator 22 , 21 , and 20 to control the flow rates Q _rp , 20 according to the signals.
Q _ya , Q _pi , are supplied. The difference between this embodiment and the first embodiment is that the signals S _nx , S _ny , S _nz are directly transmitted to the actuators 22, 21, 2 without going through a calculation mechanism.
0 as a drive signal, and the actuators 22, 21, 20 are driven using a hydraulic drive device without using a servo device.

Usually, when considering the reference posture of the gripping tool 23 as shown in FIGS. 3a and 3b, angular velocity ω _x and rotation mechanism 22, angular velocity ω _y and vertical swing mechanism 20, angular velocity ω _z and left-right swing mechanism 21, It almost corresponds to That is, most of the angular velocity ω _x is generated by driving the rotation mechanism 22 , most of the angular velocity ω _y is generated by the vertical swing mechanism 20 , and most of the angular velocity ω _x is generated by the horizontal swing mechanism 21 . Therefore,
The signal S _rp obtained by the calculation shown in the first embodiment,
Even if the signals S _nx , S _ny , S _nz are used directly instead of S _ya , _S pi, there is no big difference compared to the case of using the signals S _rp , S _ya , S _pi , and there is no difference in actual operation. There is almost no discomfort. That is, in the first embodiment, the signals to the actuators 22, 21, 20 are accurately calculated signals by the calculation mechanism 30.
Since S _rp , S _ya , and S _pi are used, the movement of the gripper 23 matches the force applied to the operating lever 25 and the rotational force, but in this embodiment, the signals S _nx , S _ny , and S _nz are used. Since it is used as it is without going through the calculation process, there may be a case where the force and rotational force applied to the operating lever 25 and the movement of the gripping tool 23 lack consistency. however,
The difference is not so great as to have a particularly noticeable effect on the operator's operating sensation, and therefore the operator can perform the operation without feeling any discomfort.

On the other hand, the calculation mechanism 33 performs calculations to solve a group of nonlinear equations expressed by the following equations.

S _b = g _b (S _x , S _y , S _z ) S _a = g _a (S _x , S _y , S _z) S _s = g _s (S _x , S _y , S _z) As shown, the calculation mechanism 33 is 3
It is only necessary to process the system signals S _x , S _y , S _z , and 6
Arithmetic mechanism 3 of the first embodiment that processes system signals
Compared to 0, the configuration is simplified, the calculation time is shortened, and the cost is also reduced. Furthermore, since the number of servo devices consisting of expensive elements such as servo amplifiers and servo valves has been reduced to three systems, the cost can be significantly reduced.

In this way, in this embodiment, the signal based on the rotational force detected by the detection unit is directly used as a drive signal for the rotation mechanism, the horizontal swing mechanism, and the vertical swing mechanism without passing through the calculation mechanism. Since a hydraulic drive device is used instead of a servo device to drive each mechanism, it not only achieves the same effect as the previous embodiment, but also simplifies the calculation mechanism and reduces the overall cost of the manipulator control device. can be achieved.

FIG. 8 is a system diagram of a manipulator control device according to a third embodiment of the present invention. In the figure, the same parts as those shown in FIG. 7 are given the same reference numerals. 35 is a calculation mechanism that performs a predetermined calculation based on the signals S _x and S _z , and outputs the results of the calculation to the signals S _a and S _b
Output as . Reference numeral 34-17 denotes a hydraulic drive device for driving the rotating body rotation drive unit 17, which inputs a signal S _y and supplies the rotating body rotation drive unit 17 with an oil amount Q _s according to the signal S _y . This embodiment is different from the second embodiment in that the signal S _y is also directly used as a drive signal for the actuator 17 without passing through a calculation mechanism, and the actuator 17 is driven by a hydraulic drive device instead of a servo device. The point is that it is driven by

Here, the movement of the gripper 23 in the y-axis direction is caused by the movement of the rotating body rotation drive unit 17.
Since the force F applied to the operating lever 25 almost coincides with the tangential direction of the circular locus of the Even if the actuator 17 is driven by the signal S _y corresponding to _y , no discomfort occurs in operation.

On the other hand, the calculation mechanism 35 performs calculations to solve a group of nonlinear equations expressed by the following equations.

S _b = h _b (S _x , S _z ) S _a = h _a (S _x , S _z ) As is clear from this equation, the calculation mechanism 35
It is clear that the calculation mechanism 33 of the embodiment is further simplified, the calculation time is shortened, and the cost is reduced. Furthermore, since the number of servo devices is reduced by one system, costs can be reduced.

In this way, in this embodiment, the signal based on the rotational force detected by the detection unit and the signal of the force component in the y-axis direction are transmitted to the rotation mechanism, the left-right swing mechanism, the vertical swing mechanism, and the turning mechanism without passing through the calculation mechanism. Since it is directly used as a drive signal for the body rotation drive unit, and a hydraulic drive device is used to drive each of these actuators without using a servo device, it not only achieves the same effect as the first embodiment, but also reduces the calculation time. The simplification of the mechanism and the reduction in cost are even more remarkable than in the second embodiment.

In the explanation of the embodiments above, the control device for a hydraulic excavator was exemplified, but the application is not limited to a hydraulic excavator and can be applied to any type of manipulator. It is also applicable to working mechanisms equipped with other working tools. Furthermore, the total degree of freedom is not limited to six, but can also be applied to five or less, in which case,
The computing mechanism can be simplified. In addition, in the explanation of the above embodiment, an example was explained in which the work implement is operated at a moving speed and rotational angular velocity proportional to the force applied to the operating lever and the rotational force. , it may be operated by rotational angular displacement. In that case, if a means is provided to maintain the current displacement even if the force or rotational force is removed from the operating lever, the same control as the movement speed or rotational angular velocity can be performed without any hindrance. It can be done.
In addition, the installation location of the operating lever on the manipulator is not limited to the driver's seat of the manipulator.
It can be installed at a certain location on the work tool, or at a certain location on the link mechanism that connects the operator's seat and the work tool. When installed at a certain location on a work tool, it can be operated close to the work tool, allowing for more detailed and accurate operations. Moreover, the operation can be performed by wire or wirelessly. Also, the shape of the operating lever is as follows:
Any shape may be used as long as force and rotational force are accurately transmitted to the detection unit, such as a tetrahedron, a hexahedron, or a shape similar to the internal shape of the hand when gripped by the hand. Further, by setting an appropriate dead zone area for each system, it is possible to prevent unintended input from other systems.

As described above, in the present invention, at least one of the force components and rotational force components related to the three reference axes that define a three-dimensional space is applied to the operating device, and the applied components are detected by the two detection units. detect,
Since the actuator of the manipulator is driven and controlled based on this detection signal, it can be operated with only one operating device without changing the operating lever, and the operator's operating sensation and the movement of the work tool can be controlled. It can be matched and can be easily operated even by beginners.

[Brief explanation of the drawing]

Figure 1 is a side view of the schematic configuration of the hydraulic excavator, Figure 2 is a side view of the hydraulic excavator expressed using specific symbols, and Figures 3a and b are a side view and plan view of the hydraulic excavator with the working mechanism attached. 4 is a perspective view of the operating lever of the manipulator control device according to the first embodiment of the present invention, FIG. 5 is a perspective view of the detection section shown in FIG. 4, FIGS. 6, 7, and FIG. 8 is a system diagram of a manipulator control device according to the first, second, and third embodiments of the present invention, respectively. 3...Swivel mechanism, 5...Boom, 7...Arm, 14...Work attachment body, 15...
...Working mechanism, 16...Working attachment, 1
7...Swivel body rotation drive unit, 18...Boom rotation drive unit, 19...Arm rotation drive unit, 20...Vertical swing mechanism, 21...Left and right swing mechanism, 22...Rotation mechanism, 23... Grasping tool, 24...Object, 25...
Operation lever, 26...Grip portion, 27...Shaft portion, 2
8... Supporting part, 29 ₁ , 29 ₂ ... Detecting part, 30,
33, 35...Arithmetic mechanism, 31...Servo system, 3
2... Manipulator device, 34... Hydraulic drive system.

Claims (1)

[Scope of Claims] 1. A manipulator including a working attachment body movable in three-dimensional space and a working mechanism having one or more degrees of freedom attached to a predetermined portion of the working attachment body. a substantially linear support part that supports the grip part, and a substantially linear support part that is attached to the grip part and that is applied to the grip part about two orthogonal axes in a plane perpendicular to the reference axis on which the support part is placed. a first detection means for detecting at least one of a force component corresponding to a linear displacement of the working mechanism and a rotational force component corresponding to a rotational displacement of the working mechanism; a second detecting at least one of a force component corresponding to a displacement of the working mechanism in the reference axis direction and a rotational force component corresponding to a rotational displacement of the working mechanism in a plane orthogonal to the reference axis; an operating device configured with a detection means, an actuator that drives the work attachment body based on signals from the first detection means and the second detection means, and an actuator that drives the work mechanism; 1. A control device for a manipulator, comprising: a drive control mechanism for controlling the drive of an actuator. 2. In claim 1, the drive control mechanism includes calculation means for calculating values related to the movement of each of the actuators based on the signals of each of the detection means, and A control device for a manipulator, comprising a servo device that generates a drive output for each of the actuators. 3. In claim 1, the drive control mechanism includes a calculation means for calculating values related to the movement of each actuator of the work attachment body based on signals from each of the detection means; a servo device that generates a drive output for each actuator of the work attachment body according to a calculation result; and a drive output generation means that generates a drive output for each actuator of the work mechanism based on the signals of each of the detection means. A control device for a manipulator, characterized in that: 4 In claim 2 or 3,
A control device for a manipulator, wherein the value related to the movement of the actuator is a movement speed of the actuator. 5 In claim 2 or 3,
A control device for a manipulator, wherein the value related to the movement of the actuator is a displacement amount of the actuator.