JPH0661695B2 - Three-dimensional operation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention uses a three-dimensional displacement transmission device used for transmitting an operation amount to a controlled system or performing a corresponding operation by a signal received from the control system. A three-dimensional operating device is proposed.

Generally, a metal pipe is subjected to a flaw detection test after the pipe is manufactured, and marks are made on the flawed portions inside and outside the pipe, and then the mark position is to be repaired.

Conventionally, the inner surface of the tube is manually repaired by mounting a manual grinder on the tip of the long rod and inserting the long rod into the pipe.

However, there are drawbacks in that the above-described maintenance is wasteful and that accurate maintenance cannot be performed.

Therefore, in recent years, the development of a maintenance device that eliminates the above-mentioned drawbacks and that can perform the maintenance (grinding) of the inner surface flaw of the pipe automatically and efficiently and accurately is under way. FIG. 1 shows an example thereof, but this example is the same in appearance as the schematic view of the entire tube inner surface maintenance device to which the present invention is applied, which will be described later. This device
A drive control circuit (not shown) for the maintenance device body 1 inserted into the pipe P having a paint mark on its flawed portion, and a maintenance grinder 1a mounted on the maintenance device body 1 outside the pipe P. A three-dimensional operation device A for giving an operation input to the monitor, a monitor TV 3 electrically connected to a TV camera (not shown) mounted on the maintenance device body 1, and the like.

The operating shaft 2 provided in the operating device A is capable of moving in the front-rear direction and swinging in the left-right and up-down directions.
Following the movement of the operating shaft 2 in each of these directions, the maintenance device body 1 reciprocates in the pipe P in the axial direction (hereinafter referred to as the Y-axis direction, which corresponds to the front-back direction of the operating shaft 2). In addition, the maintenance grinder 1a is configured to move in the left and right and up and down directions (hereinafter also referred to as X axis and Z axis directions, which correspond to the left and right and up and down directions of the operation shaft 2, respectively). There is.

Therefore, when the inner surface flaw of the pipe P is repaired by this device, the operator operates the operation shaft 2 in each of the above-mentioned directions so as to position the maintenance grinder 1a at the flaw position displayed on the monitor TV 3, and both are operated. The position is adjusted, and after that, the care grinder 1a is rotated to grind and remove the inner surface flaw, and the feature is that the flaw removal can be accurately performed without waste.

A mechanism shown in FIG. 2 is known as the mechanism itself of the three-dimensional operating device that can be used for the above-described inner tube surface care device.

Explaining this mechanism, an output shaft 9b of a servomotor 9 for force-feeding back in the X-axis direction is fixed to the center of the bottom surface of the support body 4 in the form of a hollow box, with the axial direction being the Z-axis direction. It is rotatable with the body 4 around the Z axis in a horizontal plane. The casing 9c of the servomotor 9 is fixed on the fixed base 8.

A cylindrical slide bearing 5 long in the Y-axis direction is provided in the support body 4.
Is installed. Support shafts 6a and 6b extending in the X-axis direction on both sides of the central portion of the slide bearing 5 in the longitudinal direction are orthogonal to the both sides.
Is stuck. The other end sides of both the support shafts 6a and 6b are located in the central portions of both side walls of the support body 4 in the X-axis direction so that the support shafts 6a and 6b are axially oriented.
Is rotatably supported by a bearing (not shown) fitted in the same manner as the above. Therefore, the slide bearing 5 is rotatable about the X axis within the vertical plane.

The end of the support shaft 6b located on one side in the X-axis direction projects outward from the support 4 and is connected to the output shaft 10b of the servomotor 10 for force-feeding back in the Z-axis direction. The casing 10c of the servomotor 10 is attached to the connecting plate 7. The lower part of the connecting plate 7 extends in the front direction of the operation shaft 2'which will be described later, and is fixed to the output shaft 9b of the motor 9 by the extending shaft. The connecting plate 7 may be fixed to the support 4.

An operating shaft 2'is concentrically connected to the slide bearing 5 by a spline so that a push-pull operation in the Y-axis direction is possible.

With such a mechanism, the operation shaft 2'can be moved in three dimensions, and the movement amount or the operation amount can be used for the rotary encoder 9a (X axis direction), the position sensor 2'a (Y axis direction), and the rotary encoder 10a. The respective grinders 1a are detected in the (Z-axis direction) and the detected amount is used as control information.
Input to the drive control circuit of.

Then, the reaction force in the X and Z axis directions received by the maintenance grinder 1a from the pipe P is detected by a strain gauge (not shown) connected to the grinder 1a, and the detection signal is drive control of both motors 9 and 10. It is input to a circuit (not shown) and the operating shaft 2'is set to X,
When manually operated in the Z-axis direction, it functions to give a predetermined drag force to it.

However, in the case of such a mechanism, when the operation shaft 2'is operated in the X-axis direction, that is, when it is rotated about the Z-axis, it is necessary to rotate the support plate 4, the motor 9, the connecting plate 7 and the motor 10. Therefore, the moment of inertia is large and the operability is poor. Further, for the same reason, there is a problem that the response is poor when the drag force is applied to the motor 9.

The present invention has been made in view of such circumstances, and enhances operability and responsiveness in three-dimensional operation in which an operation amount is transmitted to a controlled system and a corresponding operation is performed by a signal received from the control system. Another object is to provide a three-dimensional operation device.

A three-dimensional operation device according to the present invention detects a three-dimensional operation amount of an operation shaft, three-dimensionally changes the position of an operated member based on the detected amount, and brings the operated member into contact with an object. A three-dimensional operation device configured to detect a force and apply a reaction force corresponding to the detected reaction force to the operation shaft by a motor,
A fixed supporting body, and a first rotating body that is pivotally supported on the supporting body so as to be rotatable about an axis in a first direction, and has an annular portion whose axial direction is orthogonal to the first direction; A second rotating body pivotally supported by the supporting body so as to be rotatable about an axis in a second direction orthogonal to the first direction, and a rotatably supported by the annular portion, and a radial direction of the annular portion. Pair of first support shafts that are rotatably supported around the axis, and a pair of second support shafts that are rotatably supported by the second rotating body about the axis in the direction orthogonal to the second direction. When,
A bearing to which the first and second support shafts are fixed, an operation shaft fitted to the bearing so as to be movable in the axial direction of the annular portion, and fixed to the bearing, and the output thereof The axis is the first
And a motor for applying a reaction force, which is connected to the rotating body and rotationally drives the first rotating body according to the reaction force.

Hereinafter, the present invention will be described in detail based on an embodiment showing a case where the present invention is applied to an operating side of a pipe inner surface care device adopting a bilateral servo system. FIG. 1 is a schematic view of the entire tube inner surface care device, and FIG. 3 is a three-dimensional operation device and a care grinder according to the present invention.
It is a schematic diagram which shows the drive control system with 1a.

The pipe P has already undergone the inspection process and is in a state where paint marks or the like are applied to the defective portion. Maintenance device body 1
And the device A of the present invention, the control tube 1b is interposed in the middle of the protective tube.
The maintenance device main body 1 is positioned to be inserted into the pipe P, and the device A of the present invention, the monitor TV 3 and the control panel 1b are arranged outside the pipe P because they are connected by a cable arranged in 1c. ing.

The operating shaft 2 of the device A of the present invention is capable of reciprocating in the Y-axis direction similarly to the above-described three-dimensional operating device, and swings in the X- and Z-axis directions, that is, around the Z-axis and around the X-axis. Are provided respectively, and a drive signal corresponding to the movement amount or the operation amount in each direction is given to the drive control circuit 55 of the maintenance device body 1, and the hand of the maintenance device body 1 is operated. Required grinder
The reaction force acting on 1a is transmitted to the operation shaft 2.

The operator takes an image with a television camera (not shown) provided in the maintenance device main body 1 and operates the operation axis to position the grinder 1a at the position of the flaw displayed on the screen of the monitor television 3 connected thereto. 2 is operated in the X, Y, and Z axis directions.

When the operation shaft 2 is moved in any of the above three directions, a drive signal is issued to each of the motors Mx, My, Mz for controlling the attitude of the grinder 1a provided in the main body 1 correspondingly. There is.

Immediately, pulse generators 23, 40 for detecting the operation amounts of X and Z axes, which will be described later, according to the operation direction and the operation amount of the operation shaft 2.
A signal is emitted from the position sensor 41 for detecting the Y-axis direction operation amount, and is input to the position deviation detector 54. A signal indicating the position of the grinder 1a in the X, Y and Z directions is input to the position deviation detector 54 from the position detectors Mx ', My', Mz 'attached to the motors Mx, My, Mz. This position signal is compared with the operation amount of the operation shaft 2 input from the position sensor 41 and the pulse generators 23 and 40, and signals Δx and Δ corresponding to the deviation are eliminated in order to eliminate the deviation.
y, Δz is output to the drive control circuit 55 of each motor Mx, My, Mz. A drive signal is sent from the drive control circuit 55 to each of the motors Mx, My, Mz to displace the grinder 1a in the operating direction of the operating shaft 2 by a dimension corresponding to the operating amount.

On the other hand, as a result of the displacement of the grinder 1a as described above, the grinding force is applied to the inner peripheral surface of the pipe P and the reaction force is applied to the arm for mounting the grinder.
When acting on 1d, the strain amount caused by this is detected by the strain gauges Sx, Sz. Strain gauge Sx,
Sz is for detecting the amount of strain in the X and Z directions acting on the arm 1d, respectively.

The detection signals of the strain gauges Sx and Sz are amplified by the amplifier 56 and then input to the drive control circuit 57 for driving the operation shaft 2. The motors 18 and 32 are connected to the operating shaft 2 so as to move the operating shaft 2 in the X and Z directions, respectively, and function to give a predetermined drag force to the operating shaft 2 when the operating shaft 2 is manually operated.

That is, when the operating shaft 2 and the grinder 1a are operated on the operating shaft 2 on the master side, the reaction force received by the operating shaft 2 from the pipe P to the grinder 1a on the slave side can be sensed as a force sense through the operating shaft 2. It is configured so that the bilateral master / slave control can be performed.

Next, the mechanism of the device A of the present invention will be described based on FIG. 4, which is a schematic diagram schematically showing the mechanism.

The operation shaft 2 and the slide bearing 38 are spline-fitted, and the operation shaft 2 can reciprocate in the Y-axis direction.
The amount of movement is detected by the position sensor 41, and a detection signal is given to drive the motor My. A bearing cover 36 having a split structure is concentrically fitted and fixed to both sides of the slide bearing 38 in the axial direction. Semi-circular notches (see FIGS. 5 and 6) of appropriate diameters are formed at four locations on both ends in the X-axis and Z-axis directions of the opposite end of the bearing cover 36, and these notches are formed. The circular holes formed in the
4 having a shaft diameter equal to that of the circular hole so as to face the axial direction
The individual support pins 35a, 35a, 39a, 39a are fitted inside, and the end of the slide bearing 38 is fixed to the outer peripheral surface of the slide bearing 38. The support pins 35a, 35a correspond to the second support shaft, and the support pins 39a, 39a correspond to the first support shaft, respectively. These 4
The individual support pins 35a, 35a, 39a, 39a are rotatably supported on the other end side by angular bearings 35, 35, 39, 39, respectively.

Therefore, when the operating shaft 2 is swung in the Z-axis direction, the slide bearing is
The bearing 38 and the bearing cover 36 are the bearings 3 facing each other in the X-axis direction.
It rotates around the support pins 35a, 35a supported by 5, 35. Further, when the operating shaft 2 is swung in the X-axis direction, the slide bearing 38 and the bearing covers 36, 36 are opposed to each other in the Z-axis direction.
It rotates around the support pins 39a, 39a supported by 9, 39.

The bearings 35, 35 arranged opposite to each other in the X-axis direction are fitted and supported by the bearing fitting portion 16b (see FIG. 5) of the horizontal rotating body 16. The horizontal rotating body 16 is the second rotating body, has a U shape when viewed from the Y-axis direction, and has the bearing fitting portions 16b extending in the positive direction of the Y-axis on both sides of the upper portion thereof, and the lower portion thereof. In the center, there is provided a rotating shaft portion 16a extending in the positive direction of the Y axis with the same dimensions as the fitting portion 16b and hanging from the extending end in the Z axis direction.

The shaft portion 16a is rotatably supported around a Z-axis by a horizontally rotating body supporting body 15a of the supporting body 15. The rotating body 16 rotates in accordance with the operation amount of the operation shaft 2 in the X-axis direction (rotation amount around the Z-axis), and via the toothed belt 20 and the pulley 19 that interlock with the pulley 17 connected thereto. The output end of the servo motor 18 is rotated.

The rotation amount of the output shaft of the motor 18 is determined by a pulse generator 23 connected via a pulley 21 connected to the other end of the output shaft.
And the detection signal is given to the position deviation detector 54. Further, the speed signal detected by the tacho generator 22 connected through the pulley 21 is the operation axis drive control circuit.
It is given to 57 and performs speed control. This is intended to suppress phenomena such as oscillation by giving liquid viscosity to the rotation.

On the other hand, bearings 39, 39 oppositely arranged in the Z-axis direction are fitted in bearing holders 34, 34, and the holders 34, 34 are fitted in the inner periphery of a vertically rotating body 30 in the shape of a magnifying glass. The vertical rotating body 30 is supported by the inner rings of the bearings 33, 33 in the shape of a circle to allow the vertical rotating body 30 to rotate in the circumferential direction. Vertical rotating body 30
The first rotating body is an annular portion of a size large enough to fit the outer ring of the bearing 33 therein, and extends in the circumferential direction from a portion of the annular portion that protrudes to the X axis direction positive side. It includes a rotating shaft portion 30a. A rotary shaft portion 30a of the rotary body 30 extending in the positive direction of the X-axis direction is pivotally supported around a vertical rotary body support portion 15b of the support body 15 so as to be freely rotatable about the X axis.

The rotating body 30 rotates in accordance with the amount of operation of the operation shaft 2 in the Z-axis direction (the amount of rotation around the X-axis), and via the toothed belt 42 and pulley 43 interlocking with the pulley 31 connected thereto. Servomotor
Rotate the 32 output shafts. The rotation amount of the output shaft of the motor 32 is similarly detected by the pulse generator 40 and given to the position deviation detector 54. Further, the speed signal detected by the tacho generator 44 connected by the pulley 31 etc. is given to the operation axis drive control circuit 57, and the tacho generator
22 In the same way, suppress oscillations.

Now, as mentioned above, the bearing holders 34, 34 are bearings.
Bearing holder 3 is supported by the inner ring of 33, 33
4, 34 are support pins 39a, 39a, 35a, 35a and slide bearings 38.
Further, it rotates in the circumferential direction of the rotating body 30 together with the operation shaft 2 and the like.

By providing such a rotating mechanism, when the force is applied to swing the operation shaft in a direction not in the X-axis or Z-axis direction, that is, in an oblique direction other than the up, down, left, or right directions, The bearing holders 34 and 34 circulate in the swinging direction together with the operation shaft 2 (with this, the rotating body 16 rotates about the Z axis by the component in the X axis direction of the swinging), and the operation is smoothly performed. Do it. By this operation, the rotating body 30 is rotated about the X axis by the Z axis direction component of the swing.

Next, the specific structure of each part of the device of the present invention will be described.

FIG. 5 is a front sectional view of the device of the present invention, and FIG. 6 is a left sectional view.

Reference numeral 11 in the drawing denotes a casing, which protects the device A of the present invention from the ambient atmosphere. A mounting plate 12 is erected on the bottom surface of the casing 11 so as to extend in the Y-axis direction. A mounting plate 13 is fixed to one side surface of the central portion of the mounting plate 12 in the height direction in parallel with the bottom surface of the casing 11. The dimension of the mounting plate 13 in the Y-axis direction is selected to be longer than that of the mounting plate 12, and the mounting plate 13 projects toward the front side by an appropriate length. Reinforcing plates 14a and 14b, each of which has a lower portion wider than an upper portion, are fixed to both ends of the mounting plate 12 in the Y-axis direction. The upper end of the reinforcing plate 14b located on the front side is fixed to the lower edge of the mounting plate 13.

The mounting plate 13 slightly displaced rearward from the fixed position of the reinforcing plate 14b.
At the upper position, the rotating body 16, 30 is provided with a supporting body 15 for pivoting, and a base portion 15c formed in a prismatic shape is fixed by abutting against the mounting plate 12. The support 15 includes the base 15c and the base 15c.
From a horizontal rotation body pivotal support portion 15a extending in parallel to the mounting plate 13 in the negative direction of the X-axis (leftward in FIG. 5), and a vertical rotation body pivotal support portion 15b extending upward in parallel to the mounting plate 12. It consists of
The central portion of the right end surface of the base portion 15c in front view is cut out in the Y-axis direction so as not to hinder the rotation of the pulley 17, and the central portion of the upper surface of the base portion 15c is also cut out in the Y-axis direction. The rotation of the pulley 31 is not obstructed.

A shaft portion 16a of the rotating body 16 is rotatably supported on the pivot portion 15a so as to be rotatable about a vertical axis, and as described above, rotates according to the operation amount of the operation shaft 2 in the X-axis direction. The pulley 17 connected to the lower end of the shaft portion 16a of the rotating body 16 is a motor 18 mounted on the lower surface of the mounting plate 13 which is separated from the fixed position of the support body 15 by a proper distance rearward.
The pulley 19 attached to the tip of the output shaft protruding above the mounting plate 13 and the toothed belt 20 stretched between the pulley 19 are interlocked with each other. In this way, the operation amount of the operation shaft 2 in the X axis direction (rotation amount around the Z axis) is given to the motor 18.

On the other hand, the shaft portion 30a of the rotating body 30 is pivotally supported by the pivot portion 15b so as to be rotatable around a horizontal axis. The angular bearings 33, 33 are concentrically fitted in the rotating body 30 at a slight distance in the Y-axis direction. Bearing holders 34, 34 having a semi-cylindrical section having the same thickness as the rotating body 30 are engaged with the upper and lower parts of the inner rings of the bearings 33, 33. The bearings 39, 39 are fitted on the lower surface of the holder 34 located at the upper part and the upper surface of the holder 34 located at the lower part, and support the support pins 39a, 39a as described above.

When the operation shaft 2 is operated in the Z-axis direction, the rotating body 30 rotates integrally with the rotating body around the X axis, and the amount of rotation is at the shaft end protruding from the pivotal support portion 15b of the rotating body 30 to the front side. It is given to the motor 32 via the attached pulley 31 and the like.

The operating shaft 2 is a solid rod long in the Y-axis direction, and a spline 2a is engraved on the outer periphery of a predetermined portion in the axial length direction.
It engages with a spline groove 38a formed in the inner circumference of a cylindrical slide bearing 38 which is long in the axial direction, and is allowed to move only in the Y-axis direction. The spline length is the minimum retracting positioning stopper 45 externally fitted at a predetermined position on the distal end side of the operating shaft 2a, the maximum advancing positioning stopper 46 externally fitted at a predetermined position on the base end side, and the front surface of the bearing cover 36. Is selected according to the stroke amount of the operation shaft 2 determined between

The bearing cover 36 is a thin-walled cylindrical shape having a square flange portion on one side in the axial direction, the inner diameter of the tubular portion is equal to the outer diameter of the slide bearing 38, and the operation shaft is at the center of the flange portion. A hole slightly larger than the large diameter portion of the second spline 2a is formed.

Although two motors for force reverse feeding are provided in the above-described embodiment, one or three motors may be provided as required. In the present invention, when the number is one, it means that a servo motor 32 for applying a drag force around the X axis is provided. Further, when three pieces are provided, that is, the motor for sending back the force against the push and pull of the operating shaft 2 is located at a position close to the center of rotation of the movable portion of this device, that is, the axis of the support pins 39a, 39a and the support pin. The load of the operation force of the operation shaft 2 can be reduced by providing the operation shaft 2 at a position close to the intersection with the axis of the 35a, 35a (for example, a position near the intersection on the peripheral surface of the bearing cover 36).

Further, in the above-described embodiment, the operating shaft 2 and the slide bearing 38 are spline-fitted, but the present invention is not limited to this, and a simple slide bearing is used so that the operating shaft can rotate in the bearing in which the operating shaft is inserted. It may be a bond or a bond by a helical spline. In this way, when the operation shaft is allowed to rotate about its axis, it is possible to detect this rotation amount and use it as control information. For example, in the above-described embodiment, it can be used as an operation input for swinging the grinder 1a around the attachment point to the arm 1d. Further, although the above-mentioned embodiment shows the case where the present invention is applied to the operating side of the pipe inner surface care device, the present invention is not limited to this, and the operation amount is transmitted to the controlled system and received from the control system. It is needless to say that the present invention can be applied to various operating devices in which a corresponding operation is performed by the signal.

As described above in detail, the three-dimensional operation device according to the present invention detects the three-dimensional operation amount of the operation axis, changes the position of the operated member three-dimensionally based on the detected amount, and contacts the object. In a three-dimensional operation device configured to detect a reaction force caused by contact and to apply a reaction force corresponding to the detected reaction force to the operation shaft by a motor, a fixed bearing and a first direction are applied to the bearing. A first rotating body that is rotatably supported about the axis of the, and has an annular portion whose axial direction is orthogonal to the first direction, and a second direction that is orthogonal to the first direction on the support body. A second rotating body that is rotatably supported around the axis of, and a pair of rotatably supported by the annular portion and rotatably supported around the radial axis of the annular portion. A first support shaft and a pair of second support shafts supported by the second rotating body so as to be rotatable about an axis in a direction orthogonal to the second direction; A bearing to which the first and second support shafts are fixed, an operation shaft fitted in the bearing so as to be movable in the axial direction of the annular portion, and fixed to the support body, and an output shaft thereof. Is connected to the first rotating body and is provided with a reaction force imparting motor that rotationally drives the first rotating body in response to the reaction force. Therefore, the motor is the Z-axis of the operating shaft 2. The weight of the servo motor 32 becomes irrelevant to the rotation around, and the moment of inertia can be reduced accordingly, and the operability is improved. On the other hand, in the case where the drag force is applied by the servo motor 18 as in the embodiment, the servo motor 18 has no relation to the weight of the servo motor 32, so that there is an advantage that the responsiveness is increased.

[Brief description of drawings]

FIG. 1 is a schematic view showing the entire tube inner surface care device, FIG. 2 is a perspective view showing the mechanism of a conventional three-dimensional operation device, and FIG. 3 is a drive control system for the device of the present invention and a care grinder. FIG. 4 is a schematic view showing the mechanism of the device of the present invention, and FIG.
FIG. 5 is a front sectional view of the device of the present invention, and FIG. 6 is a left sectional view thereof. 2 ... Operation axis, 15 ... Bearing, 16 ... Horizontal rotating body, 18,
32 …… Servo motor, 23,40 …… Pulse generator,
30 …… Vertical rotating body, 33,33 …… Angular bearing, 35,35,39,39 …… Angular bearing, 35a,
35a, 39a, 39a …… Support pins.

Claims (1)

[Claims] 1. A three-dimensional operation amount of an operating shaft is detected, a operated member is three-dimensionally moved based on the detected amount to be brought into contact with an object, and a reaction force caused by the contact is detected, In a three-dimensional operation device for applying a reaction force corresponding to a detected reaction force to the operation shaft by a motor, a fixed support member and a pivot member pivotally supported on the support member about an axis in a first direction. And a first rotating body having an annular portion whose axial direction is orthogonal to the first direction, and a pivotal support on the supporting body so as to be rotatable about an axis in a second direction orthogonal to the first direction. Second rotating body, a pair of first supporting shafts rotatably supported by the annular portion and rotatably supported around a radial axis of the annular portion, and a second rotating body A pair of second support shafts rotatably supported about an axis in a direction orthogonal to the second direction, and first and second support shafts are fixed. A bearing, an operating shaft fitted in the bearing so as to be movable in the axial direction of the annular portion, and fixed to the support, and an output shaft thereof is connected to the first rotating body. And a motor for applying a reaction force that rotationally drives the first rotating body according to the reaction force.