JPH0694111B2 - Master arm device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a master arm device used for controlling a slave arm of a nursing assistance robot having two left and right arms.

[Prior Art] Moving a physically handicapped person, such as a bedridden patient, to a bathroom, toilet, hospital room, etc. for bathing, lifting from a bed, changing positions, moving to a wheelchair, etc. As a nursing assistance robot whose purpose is to reduce the burden on caregivers, a robot known as "Mercong" has been known as a prototype produced by the Ministry of International Trade and Industry.

However, in the case of this nursing assistance robot, the operator moves the robot arm or position on the operation panel while watching the movement of the robot itself.

[Problems to be Solved by the Invention] Therefore, operation of the nursing robot requires skill and there is a problem in that people such as ordinary nurses who are engaged in medical care can use the robot freely. .

The present invention has been made in view of such conventional problems, and it is a nursing assistance robot adopting a master / slave system, and an operator attaches the master arm device to his / her own arm and wants to take care of a patient. An object of the present invention is to provide a master arm device that allows a slave arm to pick up or raise a patient by following the movement of the slave robot simply by taking a posture, and which can easily operate a slave robot.

[Means for Solving the Problems] In view of the conventional problems as described above, the present invention provides a master arm device for operating the slave arm of a slave robot including a slave arm. A master support pipe supporting a master arm configured in a similar shape is provided by being fixed to the main body part that is applied to the operator's back, and a body belt for fixing this main body part to the operator is provided according to the height of the operator. To adjust the height position of the arm, it is mounted on the main body so as to be adjustable up and down, and the lengths of the upper arm shaft and the lower arm shaft in the master arm correspond to the lengths of the upper arm and the lower arm of the operator. In order to adjust the length, the upper arm shaft and the lower arm shaft are provided so that their lengths can be adjusted.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings. First
The figure shows the entire master-slave type nursing assistance robot. The slave robot 1 can vertically drive the left and right slave arms 7 and 9 on a robot body 5 provided on a carriage 3 capable of traveling in all directions. Control panel 11 mounted on the same trolley and controlling the drive of slave arms 7 and 9 on the same trolley 3.
It is a one-piece structure with installed.

The master arm 13 is attached to each of the left and right arms 17 of the operator 15, and the movement of the arm 17 of the operator 15 is detected by the degree of rotation of the joint portion, and the signal is given to the control panel 11 of the slave robot 1, and the slave The arms 7 and 9 are made to perform the same movement as the movement of the arm 17 of the operator 15.

2, 3 and 6 show the entire slave robot 1. The upper and lower ball screws 19 provided on the left and right of the robot body 5 are meshed with the upper and lower nuts 21, and the brackets 2 of the left and right slave arms 7 and 9 are fitted to the nuts 21.
3 is installed. Therefore, the nut 21 moves up and down by the rotation of the ball screw 19, and the left and right arms 7 and 9 move up and down via the bracket 23. The horizontal rotation shaft (R ₁ axis) motor 25 is attached to the vertical bracket 23, and the horizontal rotation output shaft (R ₁ axis) 29 is interlockingly connected via a speed reducer 27 such as a harmonic drive. Has been done.

A frame 31 is attached to the R ₁ shaft 29 so as to be horizontally rotatable, and a motor for a torsion shaft (R ₂ shaft) is installed in the frame 31.
33 are provided. This R ₂ axis motor 33 is interlockingly connected to a torsion output shaft (R ₂ axis) 37 via a speed reducer 35,
R ₂ axis 37 by rotation of the R ₂ axis motor 33 performs a torsion (rotation like twisting the wrist). Twisting frame 39 on the R ₂ shaft 37
Is mounted in the frame 39, and a longitudinal rotation shaft (H-axis) drive motor 41 is provided in the frame 39. And this H
A shaft drive motor 41 is interlocked with a front-rear rotation output shaft (H shaft) 45 via a speed reducer 43, and the H shaft 45 is rotated in the front-rear direction.

An upper arm arm 47 is attached to the H-axis 45. A front-rear rotation shaft (V-axis) drive motor 49 is provided inside the upper arm 47. The V-axis drive motor 49 includes a bevel gear box 51 and a speed reducer 53, and the front-rear rotation output shaft (V). Axis) 55 is linked and linked. Therefore, the rotation of the V-axis drive motor 49 causes the V-axis 55 to rotate in the front-rear direction.

A lower arm 57 is connected to the V-axis 55, and a longitudinal rotation axis (W-axis) drive motor 59 is provided inside the lower arm 57.
Is provided. The V-axis drive motor 59 is provided with a bevel gear box 61 and a speed reducer 63, and an output shaft for forward and backward rotation (W
(Axis) 65 is linked and linked. Therefore, the W shaft 65 rotates in the front-rear direction, which is decelerated by the rotation of the W-axis drive motor 59. A hand 67 is attached to the W shaft 65.

Further, as shown in FIGS. 4 and 5, the trolley 3 of the slave robot 1 is provided with ball casters 69 capable of traveling in all directions at the four corners of the bottom surface thereof. In addition, a swivel plate 71 is provided at the center of the bottom surface of the cart 3 for swivel bearings.
It is rotatably attached via 73. Then, the drive motors 75, 77 are respectively installed on the left and right wings of the turning plate 71.
Is attached, and drive tires 79 and 81 are provided to the drive motors 75 and 77, respectively. Also swivel plate 71
A large gear 83 is attached to the center of the
Reference numeral 83 meshes with a small gear 85 attached to the bottom surface of the carriage 3. A brake device 87 is attached to the small gear 85, and the operation of the brake device 87 causes the large gear 85 to pass through.
The directionality of the swivel plate 71 can be fixed by fixing 83.

In this way, the slave robot 1 having the above-described structure can travel in all directions in the front, rear, left, and right by the carriage 3 as shown in FIG. 6, move the carriage 3 to a desired position, and move the left and right slave arms 7 and 9 to the human arm. By operating like
Caring for the patient.

7 to 10 show the master arm 13.
The master arm 13 is attached to the left and right arms 17 of the operator 15, detects movements of the left and right arms, and causes the slave arms 7 and 9 of the slave robot 1 to follow. The left and right master arms 13 are configured in a similar shape to the slave arms 7 and 9, and the left and right master arms 13 are provided with encoders at positions corresponding to the respective drive units of the slave arms 7 and 9, respectively. The degree of movement of each joint of the arm 17 of 15 is detected. Therefore, a horizontal rotation (R ₁ ) detection encoder 89, a torsion (R ₂ ) detection encoder 91, and a longitudinal rotation (H) detection encoder 93 are provided in the shoulder joint portion, and the elbow joint portion is vertically rotated (V). Equipped with a detection encoder 95,
The wrist joint is also equipped with a vertical rotation (W) detection encoder 97. And between these shoulder joints and elbow joints, an upper arm shaft that can be expanded and contracted like a turnbuckle
99 is provided, and a lower arm shaft 101 that is adjustable in expansion and contraction is provided between the elbow joint and the wrist joint. A grip 103 is provided on the wrist joint. The grip 103 is provided with a vertical drive (Z-axis) switch SW ₁ for vertically moving the slave arms 7 and 9, and an operation enable switch SW ₂ for enabling the operation of the master arm 13. There is.

Therefore, when the operator 15 moves the left and right arms 17 to move to the posture in which the patient wants to care, the encoders move the left and right arms by the respective shoulder joints, elbow joints and wrist joints R ₁ , An output pulse corresponding to the rotation angle is generated as the rotation angle of R ₂ , H, V, and W.

Here, as shown in detail in FIG. 8, each encoder portion has a common axis 105 (here, the R ₁ axis is shown, but other R ₂ , H, V, W axes are shown. Is also supported by a bearing 107, and the rotation of the shaft 105 is amplified by, for example, about twice by the meshing of the large gear 109 and the small gear 111 and input to the encoder 89. With this configuration, the master arm
The precise movement can be grasped even for the minute movement of 13, and the slave arms 7 and 9 can be made to accurately follow. You can also use a small pulse encoder,
It is also possible to reduce the weight of the master arm 13.

The master arm 13 can be made lighter in weight by using aluminum as its material. Furthermore, the shafts 99 and 101 can be made even lighter by using a hollow material.

The master arm 13 having the above-described configuration is the left and right arms 7 of the operator 15.
It has to be installed on the
A backpack device 113 as shown in FIGS. 12 and 13 is used. The backpack device 113 is composed of a main body 115 and a waist belt 117 which are placed on the operator's back. This body belt 117 has a buckle 119
The torso belt front portion 121 is detachably engaged with. Further, the shoulder pad front part 123 is provided with the buckle 125 and the main body part 115.
Connected to. A master arm support pipe 127 is fixed to the main body 115, and the left and right master arms 13 are supported by the support pipe 127.

Further, if the operator changes, it is necessary to adjust the mounting height of the master arm 13 according to the height of the operator. Therefore, the trunk belt 117 can be vertically adjusted with respect to the main body 115. That is, the body belt 117 is provided with a slide guide 129, and the main body 115 is slid with respect to the slide guide 129, and each operator adjusts the height of the body belt 117 so that the body belt 117 comes to the position of his waist. To do.
At that time, the handle 131 and the pin 133 provided on the handle 131 are inserted and fixed in one of the engaging holes 135 formed in the side surface of the main body 115 in the vertical direction. A pressing spring 137 is provided to push the pin 133 toward the main body 115 so that the pin 133 is surely pushed into the engagement hole 135. Therefore, pull the handle 131 and pull the pin 133
Is removed from the engaging hole 135, and the main body 115 is slide guide 129.
With respect to the main body 115 and the body, the pin 133 is engaged with another one of the engagement holes 135 by the pressing spring 137 when the handle 131 is released in that state by sliding it up and down with respect to the appropriate position. The height position of the belt 117 can be adjusted.

The operation of the master-slave type nursing assistance robot having the above configuration will be described below.

The master-slave type nursing assistance robot having the above-mentioned configuration uses the slave robot 1 as the left and right motors 75,77 of the carriage 3.
To move to the desired position.

When caring for a patient, the operator 15 attaches the master arms 13 to the left and right as shown in FIG. 7, holds the grip 103, and presses the operation enable switch SW ₂ so that the operator can take the posture to the left and right. Move the arm, master arm
Operate 13. By this operation of the operator 15, the master arm 13 changes the movement of the shoulder joint portion according to the movement of the arm of the operator 15 by using the encoders 8 for the R ₁ , R ₂ , and H axes.
The movements of the elbow joints are grasped by the V-axis encoder 95, and the movements of the wrist joints are grasped by the W-axis encoder 97. The rotation angle corresponding to is output as a pulse output.

As shown in FIG. 8, the pulse output of each encoder is given to the encoder in a state of being amplified by about twice by the engagement of the large gear 109 and the small gear 111, so that the slave is corrected with the gear ratio corrected. Corresponding drive motors 2 for arms 7 and 9
5,33,41,49,59 to give the slave arms 7,9 the desired movement.

The up / down adjustment of the left and right slave arms 7 and 9 is performed by the operator 15 operating the up / down drive switch SW ₁ of the grip 103 of each of the left and right master arms 13. The master-slave type nursing assistance robot is operated by the above operation, and a concrete example of sickness nursing using such a nursing assistance robot will be described below with reference to FIGS. 13 and 14. explain.

The operator 15 attaches the master arms 13 to the left and right arms 17 as shown in FIG. Then, the dolly 3 of the slave robot 1 is brought close to the lying bed 141 of the patient 139 as shown in FIG. Subsequently, while pushing the operation enable switch SW ₂ of the master arm 13, the operator who is a caregiver moves the left and right arms 17 so that the operator takes a posture in which he / she wants to care for the patient 139.

The master arm 13 detects the movement of the left and right arms 17 of the operator 15 by the operation of the operator 15, and follows the movement of the left and right slave arms 7 and 9 of the slave robot 1 to lift the patient 139 from the bed 141. be able to.
Subsequently, the patient is moved to the bathroom, for example, by moving the carriage 3.

Upon arrival at the bathroom, the operator 15 operates the vertical drive switch SW ₁ on the grip of the master arm 13 so that the patient 139 can be held in the bathtub 143 of the bathroom as shown in FIG. The vertical positions of the left and right slave arms 7 and 9 are adjusted, and at the same time, the left and right master arms 13 are moved so as to raise the back of the patient while operating the operation switch SW ₂ . By this operation, the slave arms 7 and 9 follow the movements of the master arm 13, respectively, and the patient 139 can be crushed in the bathtub 143 while being held up.

[Effects of the Invention] As can be understood from the above description of the embodiments, in short, the present invention provides the slave arm (7, 9) of the slave robot (1) including the slave arm (7, 9). A master arm (13) similar to the slave arm (7, 9) as a master arm device for operation
A master support pipe (127) that supports the operator is fixedly provided on a main body (115) that is applied to the operator's back, and a trunk belt (117) for fixing the main body (115) to the operator is attached to the operator. The master arm device (13) is mounted on the main body (115) so as to be adjustable up and down in order to adjust the height position of the master arm device (13).
Upper arm shaft (99) and lower arm shaft (10
The upper arm shaft (99) and the lower arm shaft (101) are adjustable in length so as to adjust the length of 1) according to the lengths of the upper arm and the lower arm of the operator.

As is apparent from the above-mentioned configuration, in the present invention, the support pipe 127 supporting the master arm 13 is fixed to the main body portion 115 that contacts the operator's back, and the body belt for fixing the main body portion 115 to the operator. 117 is mounted on the main body 115 so that the vertical position can be adjusted in order to adjust the height position of the master arm 13 according to the height of the operator.

Further, the upper arm shaft 99 and the lower arm shaft 101 of the master arm 13 are provided such that their lengths can be adjusted so as to be adjusted according to the lengths of the upper arm and the lower arm of the operator.

Therefore, according to the present invention, even when the height of the operator is different, the master arm 13 can be adjusted to the optimum height position so as not to be too higher or lower than the operator's shoulder, and The upper arm shaft 99 and the lower arm shaft 101 in the master arm 13 can be adjusted to the lengths of the upper arm and the lower arm of the operator, and the upper arm shaft 99 and the lower arm shaft can be accurately followed by the movements of the upper arm and the lower arm of the operator. Since 101 is operated, the slave arms 7 and 9 can be made to accurately follow the movements of the operator's upper and lower arms.

[Brief description of drawings]

FIG. 1 is an overall view of an embodiment of the present invention, FIG. 2 is a perspective view of a slave robot of the above embodiment, FIG. 3 is a sectional view of a slave arm of the slave robot, and FIG. FIG. 5 is a bottom view of the dolly, FIG. 5 is a side view of the dolly, FIG. 6 is a mechanical view of the slave robot, and FIG. 7 is a perspective view showing a mounted state of the master arm of the embodiment.
FIG. 8 is a side view of the master arm, FIG. 9 is a plan view of a hand portion of the master arm, FIG. 10 is a mechanical view of the master arm, and FIG. 11 is a rear view of a backpack device of the master arm. FIG. 12 is a cross-sectional view taken along the line XII-XII in FIG. 11, FIG. 13 is a side view showing the patient holding state of the above embodiment, and FIG. 14 is a side view showing the patient bathing assistance operation by the slave robot of the above embodiment. It is a figure. 1 …… Slave robot, 7,9 …… Slave arm 13 …… Master arm, 15 …… Operator 17 …… Arm, 89 …… Horizontal rotation detection encoder 91 …… Twist detection encoder, 93 …… Front-back rotation detection Encoder 95 …… Vertical rotation detection encoder, 97 …… Vertical rotation detection encoder 99 …… Upper arm shaft, 101 …… Lower arm shaft 103 …… Grip, 113 …… Backpack device 115 …… Main body, 117 …… Body belt 127 …… Master arm support pipe

Claims (1)

[Claims] 1. A master arm device for operating the slave arm (7, 9) of a slave robot (1) comprising a slave arm (7, 9), the slave arm (7, 9) comprising: A master support pipe (127) supporting a master arm (13) configured in a similar shape is fixedly provided to a main body (115) that contacts the operator's back.
Body belt (11) for fixing 15) to the operator
7) to the master arm (13) according to the operator's height.
To adjust the height position of the upper arm shaft (99) and the lower arm shaft (101) of the master arm (13), the lengths of the upper arm shaft (99) and the lower arm shaft (101) of the master arm (13) can be adjusted by the operator. The upper arm shaft (99) and lower arm shaft (10) should be adjusted according to the lengths of the upper and lower arms.
1) A master arm device characterized in that the length is adjustable.