JPS6233943A - Controller for manipulator - Google Patents

Abstract

PURPOSE:To raise the operability of a manipulator by a method in which operators to detect the components of forces or rotation forces corresponding to the extending and contracting movements of operating parts are provided, attachments for operation or operating mechanisms are controllably actuated, and the moving direction or turning direction of the operating parts are specified. CONSTITUTION:In operating the operating attachments of a civil construction machine, etc., force components Fxa, Fya, Fza, Mxa, and Mza to be applied to the first and second operating levers 25A and 25B are detected by the first and second sensors 29A and 29B, and on the basis of the detected values, drive signals Sxa of each actuator for the turning drive section of boom, etc., are calculated in an arithmetic mechanism 30. Signals Sxa and Sxb on which a grasper for objects is moved to the direction of forces applied to the lever 25A and at a speed proportional to the forces or turned to the direction of rotation forces applied to the lever 25B and at an angular speed proportional to the forces are calculated, and a manipulator 32 is controlled through a servo system 31.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a manipulator control device for controlling manipulators installed in civil engineering construction machines, material handling and transportation machines, and other general manipulators.

[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 intended 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 part (3).

A hydraulic excavator body 4 is constituted by the traveling body 1, the upper revolving body 2, and the turning rotation mechanism 3. 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 rotatably mounted packet. 11 is a boom cylinder, 12 is an arm cylinder, and 13 is a packet cylinder. A working attachment main body 14 is configured by the boom 5 and the arm 7,
A working attachment 16 is constituted by this working attachment main body 14 and a working mechanism 15 (in the illustrated case, one packet 9 corresponds to this) attached to the rotation fulcrum 10 at the tip thereof.

The working mechanism 15 may be equipped with various working tools in addition to the packet 9 depending on the purpose of the work. This working mechanism 15 is driven by the boom 5 and the arm 7, so that it can be freely moved to a position within a two-dimensional plane created by the two.
Further, by adding the drive of the turning rotation mechanism 3 to this, it is possible to freely move it to a position in the three-dimensional space. To clearly show the movement of the working attachment 16 and the swing rotation mechanism 3, JIS standard BO138r is used.
It is convenient to represent it in a form that conforms to the "Industrial Robot Symbol". When the hydraulic excavator shown in FIG. 1 is illustrated using this "industrial robot symbol", it becomes as shown in FIG. 2.

FIG. 2 is a side view of a hydraulic excavator with the above-mentioned "industrial robot symbol". In the figure, the same parts as those shown in FIG. 1 are given the same reference numerals. Reference numeral 17 denotes a rotating body rotation drive unit corresponding to the turning rotation mechanism 3 shown in FIG. It means that. 8 is a boom rotation drive section, and this symbol indicates that the boom rotation drive section is a part that rotates around an axis 18a perpendicular to the page (rotation fulcrum 6 in Fig. 1) and that it is a boom drive section. It is meant to include a mechanism (boom cylinder 11 in FIG. 1). Similarly, 19.20 is an arm rotation drive unit and a working mechanism drive unit, and their symbols indicate the rotation parts (゛\Senji in Figure 1).

It means a rotation fulcrum 8.10) and a drive mechanism (arm cylinder 12 and packet cylinder 13 in FIG. 1). In this way, by using these symbols, the operation of the entire hydraulic excavator can be immediately understood from the diagram, which is extremely convenient.

Next, we will use these symbols to express a hydraulic excavator equipped with a working mechanism that has multiple degrees of freedom.

FIGS. 3(a) and 3(b) are a side view and a plan view of a schematic configuration of a 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 15
Hereinafter, the working mechanism drive unit 20 belonging to the
It is called 0. Reference numeral 21 designates a left-right swinging mechanism that rotates around a rotation shaft 21a, 22 a rotation mechanism, and 23 a gripping tool attached to the rotating machine tank 22. The gripping tool 23 has, for example, claws 2"3a, 23b at opposing positions, and these claws 23a, 23
The object 24 to be gripped, which is the work target, is gripped by b.

In the hydraulic excavator configured as described above, the position of the working mechanism 15 is set to a desired position by driving the rotating body rotation drive section 17, the boom rotation drive section 18, and the arm rotation drive section 19. That is, by driving the boom rotation drive unit 18 for a time at an angular velocity ψ1 and driving the arm rotation drive unit 19 for a time at an angular velocity ω2, the boom 5
and the working mechanism 15 at a desired position in the plane containing the arm 7.
Furthermore, by rotating the revolving body rotation drive unit 17 for a period of time at an angular velocity ω6, the working mechanism 15 can be positioned at a desired position in the three-dimensional space. On the other hand, the posture of the working mechanism 15 itself is the vertical swing mechanism 20, the horizontal swing mechanism 21, and the rotation mechanism 22.
controlled by That is, assuming reference axes x, ySz as shown in the figure in a three-dimensional space, the vertical swing mechanism 20 is
When driven on an axis parallel to the two axes for a time at an angular velocity ω1, the gripping tool 23 faces upward or downward by a desired angle, and the left-right swinging mechanism 21 is driven on an axis parallel to the two axes at an angular velocity ω. When driven for a certain time, the gripping tool 23 turns to the left or right by a desired angle, and the rotation mechanism 22 is rotated on the X axis at an angular velocity ω. When the gripper 23 rotates for a certain period of time, the gripper 23 rotates by a desired angle. By such rotation about the xly and z axes, the working mechanism 15 can assume a desired posture.

By the way, conventionally, when operating a hydraulic excavator as shown in Fig. 1, there are four degrees of freedom in operation, and two actuators are operated using four operating levers or one operating lever. This is done using two operating levers. The operating lever used here is the fourth
It is a displacement type operating lever as shown in the figure, and has a grip part 26,
It is composed of a shaft portion 27 that supports the grip portion 26 and a support portion 28 that supports the shaft portion 27. By gripping the grip part 26 with a hand and tilting (displacing) the shaft part 27, the amount of displacement is detected and an operation signal for each drive part is obtained.

Generally speaking, the amount of displacement of this operating lever is related to the drive speed of the drive unit, but the direction of displacement does not necessarily match the drive direction of the drive unit, and of course,
The moving direction of the work tool (packet) also does not match. However, even an unskilled person can easily operate a hydraulic excavator having four degrees of freedom by using the operating lever with some training and on-the-job training.

However, when attempting to smoothly and quickly operate a manipulator having six degrees of freedom as shown in FIG. 3 using the above-mentioned displacement type operating lever, the displacement direction of the operating lever does not match the driving direction of the work tool, so The operation becomes extremely difficult.

The reason is explained below. Now, by gripping the object 24 with the gripper 23 and changing the posture of the working mechanism 15, the object 24 can be
Considering the case where the attitude of the object 24 is to be changed, when the vertical swing mechanism 20, the horizontal swing mechanism 21, and the rotation mechanism 22 are driven, the position of the object 24 naturally changes. Therefore, object 2
4 in the same place and only change its posture, the vertical swing mechanism 20, the left and right swing mechanism 21, and the rotation mechanism 22 are controlled, and at the same time, the rotating body rotation drive is used to correct the change in position. 17, boom rotation drive 18 and arm rotation drive 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.
Next, the posture is changed, thereby correcting the deviated position, and the posture is changed again. This operation is repeated to obtain the desired position and desired posture. In this way, in order to make the gripping tool 23 face at a desired position and in a desired posture, the work attachment 16 is
This can only be done by a person who has a thorough knowledge of the characteristics of each link mechanism and can quickly reflect those movements in the relationship between the position and posture of the gripping tool 24, and this can only be done by a person who has a high level of knowledge. This requires skill, and from this point of view as well, it is extremely difficult for unskilled people to control the position and posture of the gripping tool 23.

[Purpose of the invention]

The present invention has been made in view of these circumstances, and its purpose is to provide a manipulator control device that can be easily operated even by an unskilled person.

[Summary of the invention]

In order to achieve this object, the present invention provides a first sensor to which a force corresponding to the desired telescoping movement of the working implement is applied, and is provided with a first detection means for detecting each reference axis component of the applied force. A second operating device, which is provided with an operating device and a second detection means that applies a rotational force corresponding to a desired rotation of the working tool and detects each reference axis component of the applied rotational force. at least one of the first detection means and the second detection means is provided;
a drive control mechanism that controls the drive of a corresponding actuator of at least one of the work attachment main body or the work mechanism based on the value detected by the detection means, and the drive control mechanism controls the force applied to the first operating device. The present invention is characterized in that at least one of the direction and the moving direction of the work tool, or the direction of the rotational force applied to the second operating device and the direction of the rotational force of the work tool are made to match.

[Embodiments of the invention]

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

FIG. 5 is a perspective view of an operating lever used in a control device for a manipulator of a hydraulic excavator according to an embodiment of the present invention. In the figure, 25A is the first operation lever, and the grip part 2
6A, shaft portion 27A supporting grip portion 26A1 shaft portion 27A
The first detection section 29A is provided at the center of the support section 28A and the push section 26A. Further, 25B is a second operating lever, which includes a grip portion 26B, a shaft portion 27B that supports the grip portion 26B, a support portion 28B that supports the shaft portion 27B, and a second detection portion 29B provided at the center of the grip portion 26B. It consists of Generally speaking, the operating lever having the shape shown in FIG. 5 has a configuration (displaceable operating lever) in which the shaft portion 27 is tilted by gripping the handle with the hand, similar to the one shown in FIG. 4. is normal. However, the operating mode of the operating lever 25A125B of this embodiment is completely different from such a normal displacement operating lever. That is, the operating lever 25A, 25
B is constructed so that it does not displace at all or undergoes only a very small displacement even when force or rotational force is applied.

Now, when the operator operates the first m-working bar 25A, he/she should apply a large amount of force to the grip portion 26A in a direction that coincides with the desired extension/contraction movement direction of the gripping tool 23 and in proportion to the desired extension/contraction movement speed. Also, when operating the second operating lever 25B, apply force to the grip portion 26B in a direction that coincides with the desired rotational direction of the gripping tool 23 and in proportion to the desired rotational angular velocity. Apply a rotational force of magnitude. Now, assuming that the first detection section 29A has orthogonal X, y, and z axes, and the same (assuming that the second detection section 29B has orthogonal X, y, and z axes, the first The above force applied to the operating lever 25A has force components FXI SFym, as shown in the figure.
It can be disassembled into Fga, and the second operating lever 2
The above rotational force applied to 5B is a rotational force component Mxb s
Decomposed into Myb s Mgb.

By the way, in FIGS. 3(a) and 3(b), the gripping tool 23
When position control is performed to move the object at a certain speed in a certain direction in a three-dimensional space, the speed can be decomposed into moving speed components for each reference axis. These moving speed components are shown as (■, ■, ■), respectively. Also, 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 is It can be decomposed into rotational angular velocity components for each reference axis.These rotational angular velocity components are designated as ω8, ωa2, and ω, respectively, as shown in the figure.

Then, the force component F applied to the first operating lever 25A is the moving speed component ■8, ■2, ■yo. s Flm, F
o is proportional to rotational angular velocity component ω
If 8, ω7, ω and the rotational force component MXb SMyb SMgb applied to the second operating lever 25B can be related to each other in proportion, then the first operating lever 25
By applying the above-mentioned force to A or by applying the above-mentioned rotational force to the second operating lever 25B, desired moving speed components 8, 7, vl or desired rotational angular velocity components ω8, ω7 can be obtained. , ω8 can be obtained, and gripper 2
It should be possible to perform the position control or attitude control of 3. As a result, a complex system with six degrees of freedom including the revolving body rotation drive unit 17, boom rotation drive unit 18, arm rotation drive unit 19, vertical swing mechanism 20, left and right swing mechanism 21, and rotation mechanism 22, 17.18.19 is the first
20, 21, and 22 with one operating lever.
can be controlled all at once with a single operation lever, and the gripping tool 23 can be made to take a desired position or posture. Moreover, the gripping tool 23 moves in the direction of the force applied to the operating lever 25A at a speed proportional to the force,
Alternatively, the first operating lever 25A or the second operating lever 25B rotates in the direction of the rotational force applied to the operating lever 25B at an angular velocity proportional to the rotational force and changes its position or attitude. The position or posture of the gripping tool 23 can be controlled in accordance with the degree of force or rotational force applied to the object, and the operator can control the gripping tool 23 or the object 24 as if he or she were directly holding and moving the gripping tool 23 or the object 24. You can operate it freely.

Here, a detector capable of individually detecting the force of three axes is used for the first detecting section 29A, and a detector capable of individually detecting the rotational force of the three axes is used for the second detecting section 29B. . As such a detector, various types of detectors have been proposed and are known, so a detailed explanation thereof will be omitted. Therefore, next, the force components F, Fya, Fga, the moving speed components V8, 7, v8, and the rotational force component M-b.

A means for proportionally relating MFb%Mxb and rotational angular velocity components ω8, ω7, and ω8 will be explained.

FIG. 6 is a system diagram of a manipulator control device according to the first embodiment of the present invention. In this embodiment, both the first operating device and the second operating device are used. In the figure, 25A, 2
Reference numerals 5B indicate the first operating lever and the second operating lever shown in FIG. 5, which are provided at positions unrelated to the movement of the hydraulic excavator (for example, on the ground). 29A, 29
B indicates the first detection unit and second detection unit Mxb shown in FIG. 5 respectively indicate the component of the rotational force applied to the second operating lever. 30 is a calculation mechanism, which generates signals Sx1, Sym, and Sit according to the components of the force or rotational force detected by each detection unit.
, Sxb % Syb s S,b is input to generate the drive signal Sbs for the boom rotation drive section 18, the drive signal S8 for the arm rotation drive section 19, the drive signal S1 for the rotating body rotation drive section 17,
A drive signal S for the rotation mechanism 22. , drive signal S for the left-right swing mechanism 21. and the drive signal Sp+ of the vertical swing mechanism 20
Calculate and output. 31 indicates a servo system, and the signal Sb
A boom servo device 31-18 outputs a flow rate Qb from a hydraulic source (not shown) to the boom rotation drive unit 18 in response to a signal S1, and an arm servo device 31-19 outputs a flow rate Q1 to the arm rotation drive unit 19 in response to a signal S1. , signal S, and a rotating body servo device 3-17 that outputs a flow rate Q to the rotating body rotation drive unit 17 in response to signal S. The flow rate Q is applied to the rotating mechanism 22 according to
,.

Rotary servo device 31-22 outputs signal Sa.

A left/right servo device 31-21 outputs a flow rate Qyo to the left/right swing mechanism 21 in response to the signal Spl, and a vertical servo device 31 outputs a flow rate Qp+ to the vertical swing mechanism 20 in response to the signal Spl.
- Consists of 6 servo devices of 20.

32 is the above-mentioned revolving body rotation drive section 17 and boom rotation drive section 1
8 shows a manipulator device including actuators of an arm rotation drive section 19, a vertical swing mechanism 20, a left and right swing mechanism 21, and a rotation mechanism 22.

Signals SXa to 3zb corresponding to each component of the force applied to the first operating lever 25A and the rotational force applied to the second operating lever 25B are input to the calculation mechanism 30, and the calculation mechanism 30 processes these signals. A predetermined calculation is performed based on the signals Sx1 to Stb.

This calculation is applied to the first operation lever 25A according to the position and orientation in order to move the object 24 gripped by the gripper 23 to a desired position and take a desired attitude. How should each actuator 17, 18, 19, 20, 21, 22 be driven in order to move the gripper 23 in response to the applied force and the rotational force applied to the second operating/(-25B)? For example, the upper revolving body 2, the boom 5, and the arm 7 are involved in the position of the gripper 23, but the first operating lever 25A
In order to move the gripping tool 23 in a direction corresponding to the force applied to the actuator 17, 18, and 19 at a speed corresponding to the magnitude of the force, how should the above three be moved? It is necessary to decide how to drive the motor, and making such a decision requires certain calculations. Of course, this calculation requires the working mechanism 1
It also includes calculations for correcting deviations in force or rotational force due to deviations between the reference axis assumed in No. 5 and the reference axes defined for the operating levers 25A and 25B. 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.

Sh = Fb'(S--, 5y-13ta, S-b,
Syb, 5-b) S-=F-(Sx-, Sy-, S-
, Sxb, 5ybSS-b) S, =F, cs, ,
1s,,,Sgi,5Xbs 5Yb1Szb)Sr
,=F,,(S,,,Sya,So,5xbq Syb
, Szb) Syo=Fyo(Sxm) Sya,
Sza, Sxb, 5ybSS-b) Sp + =F
pI(5--1Syi, SXa, 5xbS 5
ybS 3zb) Signal 5 output from the calculation mechanism 3o
bSS-,S-1Sro,S,. , SpI is servo system 3
The signal is input to one corresponding servo device, and each servo device drives the actuator in charge by supplying an amount of oil according to the input signal. The manipulator device operates by driving each actuator, and the gripping tool 23 moves at a speed that is the composite of the moving speed components ■8, ■7, and V8 (force component F
1% Fyi, F ) The posture changes at a speed proportional to the rotational force acting on the second operating lever 25B, which is a composite of the components Mxb s Myb and Mzb of J).

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 working mechanism 15
Since the reference axis assumed in 1 and the reference axis defined on the operating lever 25 are always in a parallel relationship, the calculation by the calculation mechanism 30 is greatly simplified.

In this way, in this embodiment, a first operating lever is provided for controlling the position of the gripping tool, and a second operating lever is responsible for controlling the posture of the gripping tool, and a second operating lever is provided for the grip portion of each operating lever. detecting the component of the force or rotational force applied by the detection unit,
A calculation mechanism obtains a drive signal for each actuator based on the detected force or rotational force component, and the servo system is operated according to this signal to supply each actuator with an amount of oil according to this signal. Therefore, by operating the first operating lever with one hand and operating the second operating lever with the other hand, the operator can control the gripping tool to a desired position and posture without changing the operating lever. be able to. In addition, since the direction and magnitude of the force or rotational force applied to each operating lever are proportional to the direction and speed of movement and rotation of the gripping tool, the operator can perform operations that match his or her senses, making it easy for beginners to operate. However, the operation can be easily performed.

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.

25A' and 25B' are operating levers installed on the hydraulic excavator main body, and their configuration is the same as the operating levers 25A and 25B shown in FIG. 6, except that their installation locations are different. 33 is the signal 3xaSSyi, S
It is a calculation mechanism that performs predetermined calculations based on za, and outputs the results of the calculations as signals Sb, S, , S3.

Reference numeral 34 indicates a hydraulic drive system, 34-22 a hydraulic drive device that drives the rotation mechanism 22, and 34-21 a left-right swing mechanism 21.
34-20 is the vertical swing mechanism 2
These are hydraulic drive devices that drive the detection unit 2 and the detection unit 2, respectively.
%3yb from the signal S based on the rotational force detected at 9B,
Enter Szb, each actuator 22.21.20
The flow iQr,,Q, according to that signal. , QpI. This embodiment differs from the first embodiment in that the signals 5xbSS,b, S8b are directly used as drive signals for the actuator 22.21.20 without going through a calculation mechanism, and the actuator 22.21.20 is driven by a hydraulic drive device without using a servo device.

Usually, when considering the reference posture of the gripping tool 23 as shown in FIGS. 3(a) and 3(b), the angular velocity ω8 and the rotation mechanism 2
2. The angular velocity ω corresponds to the vertical swing mechanism 20, and the angular velocity ω8 corresponds to the horizontal swing mechanism 21. That is, most of the angular velocity ω is caused by the drive of the rotating mechanism 22, and the angular velocity ω,
Most of the angular velocity ω is generated by the vertical swing mechanism 20, and most of the angular velocity ω is generated by the horizontal swing mechanism 21.

Therefore, instead of the signals Sro, 3ym, Sp+ obtained by the calculation shown in the first embodiment, the signal Szb is directly used.
The signal S, also using s 3yb s Sub. ,S.

, is thicker than when using Sp+ (there is no difference, and there is almost no discomfort in actual operation. In other words, in the first embodiment, the actuator 22.21.2
The signal for 0 is a signal S, which is accurately calculated by the calculation mechanism 30. , Syo, Sp+, the gripping tool 23
The movement corresponds to the rotational force applied to the operating lever 25B, but in this embodiment, the signal 5tbs Syb 5S
Since zb is used as it is without going through the calculation process, the rotational force applied to the operating lever 25B and the movement of the gripping tool 23 are somewhat inconsistent (sometimes). However, the difference is particularly noticeable in the operator's operating sensation. 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.

Sb=gb(S Eng8, Sya, S□) S,=g, (S,,,37i,50)S,=g, (
S, , Sym, S Compared to the calculation mechanism 30, 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 is directly used as a drive signal for the rotation mechanism, the horizontal swing mechanism, and the vertical swing mechanism, without going through the calculation mechanism, based on the rotational force detected by the second detection unit. Moreover, since a hydraulic drive device is used instead of a servo device to drive each of these mechanisms, not only the same effect as the previous embodiment is achieved, but also the calculation mechanism is simplified.
A reduction in the cost of the entire 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 predetermined calculations based on the signals 3xm and So, and outputs the results of the calculations as signals S1 and Sb. Reference numeral 34-17 is a hydraulic drive device for driving the rotating body rotation drive unit 17, which inputs the signal Syi and supplies the rotating body rotation drive unit 17 with an oil amount Q8 according to the signal 37i. This embodiment differs from the second embodiment in that the signal Sys is also directly used as a drive signal for the actuator 17 without going 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.

Here, since the movement of the gripping tool 23 in the y-axis direction almost coincides with the tangential direction of the circular trajectory of the gripping tool 23 caused by the movement of the rotating body rotation drive section 17, the movement of the gripping tool 23 in the y-axis direction is particularly important for the operating lever 25A.
is provided on a part of the hydraulic excavator main body 4 or the work attachment 16, the force F2. applied to the operating lever 25A. Even if the actuator 17 is driven by the signal S71 corresponding to the signal S71, there will be no operational discomfort.

On the other hand, the calculation mechanism 35 solves a group of nonlinear equations shown by the following equation (
Calculations will be performed.

5b=hb(S□,S,) S,=h,(S,,,S2.) As is clear from this equation, the calculation mechanism 35 is further simplified than the calculation mechanism 33 of the second embodiment. It is clear that the computation time is reduced and the cost is reduced. Furthermore, since the number of servo devices is reduced by one, costs can be reduced.

In this way, in this embodiment, based on the rotational force detected by the second detection section (the signal and the y
The signal of the force component in the axial direction is directly used as a drive signal for the rotation mechanism, horizontal swing mechanism, vertical swing mechanism, and revolving body rotation drive unit without going through a calculation mechanism, and a servo device is used to drive each of these actuators. Since the hydraulic drive device is used instead of the first embodiment, not only the same effect as the first embodiment is obtained, but also the simplification of the calculation mechanism and the reduction in cost are even more remarkable than those of the second embodiment. .

FIG. 9 is a system diagram of a manipulator control device according to a fourth embodiment of the present invention. In the figure, the same parts as those shown in FIG. 7 are given the same reference numerals.

Reference numeral 36 designates a conventional operating device installed in the main body of the hydraulic excavator, 36-22 a vertical swing mechanism operating device that outputs a drive signal Hro for the rotation mechanism 22, and 36-21 outputs a drive signal HyQ for the horizontal swing mechanism 21. A left-right swing mechanism operating device 36-20 is a rotating mechanism operating device that outputs a drive signal for the rotating mechanism 20. 36 includes a displacement type operating lever, a push button switch type operating device, and other hydraulic drive systems 3.
Any device that can operate 4 may be used. This embodiment differs from the second embodiment in that a conventional operating device is used instead of the second operating device 25B. Since an expensive second detection section is not used, costs can be reduced.

FIG. 1O is a system diagram of a manipulator control device according to a fifth embodiment of the present invention. In the figures, the same parts as those shown in FIGS. 6, 7, and 9 are given the same reference numerals. 36 shows a conventional operating device installed on the hydraulic excavator body, 36-18 is a boom operating device, and 36-19 is a conventional operating device.
36-17 is an arm operating device, and 36-17 is a rotating body rotation operating device, which output drive signals H0, H, and SH□, respectively.

34 shows a hydraulic drive system, 34-18 is a hydraulic drive device that drives the boom rotation drive section 18, 34-19 is a hydraulic device 1 that drives the arm rotation drive section 19, (27) and 34-17 are It is a hydraulic drive device that drives the revolving body rotation drive unit 17, and inputs signals H0, H7 and H□ and supplies flow rates Q to Q8, Q according to the signals to each actuator 18, 19, and 17. do. In contrast to the fourth embodiment, in which the position of the gripping tool is easily controlled with one operation lever, in this embodiment, the posture of the gripping tool is controlled in one operation lever.
This is something that can be easily done using the operating lever on the book. This embodiment eliminates the need to modify the existing operating device 36 and hydraulic drive device 34 when modifying a general-purpose hydraulic excavator as shown in FIG. 1 to install a working mechanism with multiple degrees of freedom. Modification costs can be reduced.

In addition, in the explanation of the above embodiment, the control device for a hydraulic excavator was illustrated, 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 be applied to five or less, and in that case, the "(28) - calculation mechanism can be simplified.

Further, the installation location of the operating lever on the manipulator is not limited to the driver's seat of the manipulator, but can be installed at a certain location on the work tool, a certain location on the link mechanism that connects the driver's seat and the work tool, etc. 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. Further, it may be of any shape as long as it is transmitted to the convex shape of the grip portion of the operating lever. Further, by setting an appropriate dead zone area for each system, it is possible to prevent unintended input from other systems.

〔Effect of the invention〕

As described above, in the present invention, at least one of the position control and posture control of the work tool can be operated with a single operating lever, and the direction of the force or rotational force applied to this operating lever and the direction of the The movement or rotation direction of the workpiece is the same, and the magnitude of the force or rotational force is proportional to the movement speed or rotational angular velocity of the work tool, so that operations can be performed in accordance with the operator's senses. This makes it possible to easily operate a complex operating system with multiple degrees of freedom.

[Brief explanation of the drawing]

Figure 3 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 Figure 3 is a side view of the hydraulic excavator.
Figures (a) and (b) are a side view and a plan view of a hydraulic excavator with a working mechanism attached, Figure 4 is a perspective view of a conventional operating lever, and Figure 5 is a manipulator control device according to an embodiment of the present invention. 6, 7, 8, 9, and 10 are respectively the first and second operating levers of the present invention.
FIG. 3 is a system diagram of a manipulator control device according to a third, fourth, and fifth embodiment. 3...Swivel mechanism, 5...Boom, 7.
...Arm, 14...Work attachment body, 15.°°°°°Working mechanism, 16...
1 work attachment, 17... revolving body rotation drive section, 18... boom rotation drive section, 19...
...Arm rotation drive unit, 20... Vertical swing mechanism, 21... Lateral swing mechanism, 22...
・Rotation mechanism, 23... Gripping tool, 24...
・Object, 25... Conventional operation lever, 25A・
...First operating lever, 25B...Second
Operation lever, 26.26A, 26B...Grip part, 27.27A, 27B...Shaft part, 28.2
8A12BB...Support part, 29A...
First detection unit, 29B...Second detection unit, 30
．． 33.35.37... Arithmetic mechanism, 31...
... Servo system, 32 ... Manipulator, 3
4... Hydraulic drive system, 36... Conventional operating device.

Claims (1)

[Claims] 1. A manipulator including a working attachment body movable in a three-dimensional space and a working mechanism attached to the attachment body and having a working tool,
A force corresponding to the desired expansion and contraction movement of the working tool is applied,
A first operating device includes a first detection means for detecting each reference axis component of the applied force, and a rotational force corresponding to a desired rotation of the work tool is applied, and the applied rotation A second sensor comprising a second detection means for detecting each reference axis component of force.
at least one of the operating devices, and a response of at least one of the work attachment main body or the work mechanism based on the value detected by at least one of the first detection means or the second detection means. 1. A control device for a manipulator, comprising: a drive control mechanism for controlling the drive of an actuator. 2. In claim 1, the force corresponding to the desired telescopic movement of the working tool is a force that corresponds to the desired direction of the telescopic movement of the working tool and is proportional to the speed of the telescopic movement. A control device for a manipulator, characterized by: 3. In claim 1, the rotational force corresponding to the desired rotation of the working implement is a rotational force that corresponds to the desired rotational direction of the working implement and is proportional to its rotational angular velocity. A control device for a manipulator, characterized in that: 4. In claim 1, the drive control mechanism is involved in the movement of each actuator based on a value detected by at least one of the first detection means and the second detection means. A control device for a manipulator, comprising a calculation means for calculating a value, and a servo device for generating a drive output for each of the actuators according to the calculation result of the calculation means. 5. The control device for a manipulator according to claim 4, wherein the value related to the movement of the actuator is a moving speed of the actuator.