JPS6171981A - Master/slave-manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides a master station L/- that can be remotely controlled.
Concerning the F-manipulator.

[Technical background of the invention and its problems]

As shown in FIG. 3, a conventional master-slave manipulator includes a master arm 2 operated by an operator 1, a slave arm 3 that performs the same operation in response to the movement of the master arm 2, and the master and slave arms 2. ，
It is mainly composed of drive mechanisms 8 to 11 that change the angles of the joints 4 to 7 of No. 3, and a drive circuit 12 that drives and controls these drive mechanisms 8 to 11.

The master slave manipulator is configured so that the operator can also detect the reaction force of the slave manipulator, which is transmitted to the master manipulator. For this purpose, each joint of the master side manipulator is provided with a drive mechanism similar to that of the Nislep side manipulator. As shown in FIG. 4, this drive mechanism includes a servo motor 15 at the tip of the first arm i4 to change the angle of the joint 13, and a reduction ratio for increasing torque on the output shaft of the servo motor 15. A large gear train 16 is provided 1, and the tip of a second arm 18 is attached to the output shaft 17 of the gear train 16. A drive mechanism using such a drive mechanism has a disadvantage in that its operability is poor due to large friction in the gear train when the master manipulator operates.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and its purpose is to reduce the friction in the drive section of the master manipulator and improve its operability.

[Summary of the invention]

The present invention is a master-slave manipulator constructed by using a direct drive motor in the drive section of the master manipulator and removing a gear train from the drive system.

〔Effect of the invention〕

According to this invention, by drastically reducing the friction of the drive portion of the master manipulator, the master manipulator can be moved smoothly and operability can be improved.

[Embodiments of the invention]

Examples of the present invention will be described below. FIG. 1 shows the main parts of the master-slave manipulator of this invention.
In particular, it is shown as a partially cutaway cross-sectional view of the master side manibu V.

The first arm 19 of the master side manipulator is fixed to an external cover 20, a bearing 21 is provided in this cover 20, and a shaft 23 fixed to a second arm 22 is supported in this bearing 21. has been done. A rotor 24 constituting the direct drive motor D is fixed to the shaft 23 of the shaft 23, and a tachometer generator 25 for detecting the rotational speed of the shaft 23 and a rotor 24 for detecting the rotation angle of the shaft 23 are fixed.
An encoder 26 is axially connected. Further, a stator 27 of a direct drive motor D is provided inside the cover 20 so as to face the rotor 24 . The stator 27 is provided with a permanent magnet 28, a brush ring 29, and a brush 30, and the rotor 24VC is provided with a coil 31 and a commutator 32. That is, at least the first arm 19 and the second arm 2 that constitute the master-side manipulator
2 is able to rotate around this joint 33 without using a mechanism with large mechanical friction such as a reduction gear, so force is applied to create an angle between the first arm 19 and the second arm 22. If we add , there is no deceleration device, so it can be moved without resistance.

The thus configured master-slave manipulator is controlled to drive the master-side manipulator 35 and slave-side manipulator 36 by a drive circuit 34 as shown in FIG. The master side manipulator 35 includes a direct drive motor (D motor) 38 directly connected to the joint of the master arm 37 and a tacho generator (T, G) 39 that detects the rotational speed of the D motor 38 provided to improve damping characteristics. and an encoder 40 that detects the rotational position, and the slave side manipulator 3
6C, slave arm 411C axis installed DC motor (DC motor) 42, T, G43 and encoder 4
It is composed of 4 and 4. The drive circuit 34 includes a pair of pulse counters 46 and 4 configured by a computer 45.
7, a pair of digital/analog converters 548, 49, and a pair of servo amplifiers 50, 51.

The pulse signals obtained from the DO motor 42 of the slave-side manipulator 36 and the encoder 40 of the master-side manipulator 35 are input to the pulse counter 46 and counted, and the position signal of the master arm 37 is obtained as a target value. A difference signal between this position signal and the position signal obtained from the encoder 44 and pulse counter 47 of the slave side manipulator 36 is obtained, and by this difference signal and the speed feedback signal from the tacho generator 39 of the master side manipulator 35, Driven.

-r X D motor 38 il of tacho generator 35
: Reverse [encoder 4 of slave side manipulator 36
It is driven in the same way as the master side using the position signal obtained by the four-pulse counter 47 as a target value. Due to this drive operation, if there is an angular difference in the position of each arm when comparing the master side and slave side tonneaus, a force corresponding to that difference is applied to the master side manipulator, so that the operator feels the force. works.

The drive circuit described above is not limited to this symmetrical type, but also includes force reverse type,
It may also be of a force feedback type.

The direct drive motor used for the master side manipulator is called a direct drive torque motor and is commercially available.It is a direct current motor that can be attached directly to the shaft of the load to be driven, and the stator has a permanent magnet field. The rotor is of a wire-wound type and has a commutator, which is commutated by brushes and driven to rotate. This motor can be mounted directly on the shaft of the joint without using a reducer, etc., since the stacking thickness can be made thinner than the diameter, and performance will not be impaired even if the diameter of the rotor shaft hole is increased. It is something.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway sectional view showing an embodiment of the present invention, FIG. 2 is a circuit diagram showing a drive circuit used in the embodiment of the present invention, and FIG.
The figure is an explanatory diagram showing a conventional device, and FIG. 4 is a sectional view of the conventional device. 19...first arm of master side manipulator, 22
, ... second arm of the master side manipulator, 23.
... shaft, 24 ... rotor, 27 ... stator, 33 ...
··joint. Agent Patent attorney Kensuke Chika (and 1 other person) (N ζ ~ m Morito. Css 3 -,)

Claims (1)

[Claims] The joint of the slave side manipulator is configured to be operated by the opening movement of the master side manipulator, and the joint of the master side manipulator is formed by connecting a first arm and a second arm, and the first arm is It comprises a rotor directly connected to a shaft that supports rotation, and a stator that constitutes an electric motor for rotationally driving the rotor in cooperation with the rotor and is directly connected to the second arm. A master-slave and manipulator characterized by: