Master device and teaching system

Abstract

The present invention efficiently and accurately teaches an operation to a slave device. The base end portion of the first main arm (26) is rotatably connected to a fixed shaft (24) provided on the base member (18). The base member (18) is provided with a main motor (34) having a rotor (36) that rotates by the rotation of the first main arm (26). A part of the first main arm (26) is rotatably connected to a first portion, which is eccentric from the axis of the rotor (36), via a first connecting pin (48).

Description

Technical Field

[0001] The present invention relates to a main device and a teaching system that can be operated by a user's fingers. Background Art

[0002] Teaching systems comprising a master device and a slave device are used in various fields, including machinery, construction, and medicine. Patent Document 1 discloses a master device that can be operated by a user's finger. The structure of this conventional master device is briefly described as follows.

[0003] In conventional master devices, the base end of a master arm (referred to as an operating unit in Patent Document 1) used to teach a slave device an operation is connected to a base member (referred to as a head in Patent Document 1) so that it can swing about a swing axis (referred to as the rotation axis of the operating unit in Patent Document 1). The swing axis is rotatably supported by the base member and integrally connected to the base end of the lever.

[0004] A main motor (referred to as the first rotary motor in Patent Document 1) is mounted on the base member. The main motor has a rotor (referred to as the rotary shaft of the first rotary motor in Patent Document 1) that rotates when the main arm is swung. A driving gear is integrally mounted on the swing shaft of the main arm, and a driven gear that meshes with the driving gear is integrally mounted on the rotor of the main motor. In other words, the base end portion, which is part of the main arm, is interlockingly connected to the rotor of the main motor via the driven gear and the driving gear.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-34002 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] Furthermore, in conventional master devices, the master arm is interlocked with the master motor's rotor via a driven gear and a driving gear. Consequently, backlash between the driving and driven gears causes loss of force transmission between the master arm and the master motor's rotor, as well as play between the two. Consequently, it is difficult to efficiently and accurately teach the slave device using the master device.

[0010] Therefore, one aspect of the present invention eliminates the loss of force transmission and the play between the first master arm and the rotor of the master motor. Furthermore, it aims to efficiently and accurately teach the slave device to operate using the master device.

[0011] Solutions for solving problems

[0012] A master device according to one embodiment of the present invention comprises: a fixed shaft provided on a base member; a first master arm having a base end rotatably connected to the fixed shaft, the first master arm having a first insertion portion for inserting a first finger of a user, and being rotatably operated by the user to teach a slave device a movement; and a master motor provided on the base member and having a rotor rotated by the rotation of the first master arm. A portion of the first master arm is rotatably connected to a first portion eccentric from the axial center of the rotor via a first connecting pin.

[0013] A teaching system of one embodiment of the present invention comprises: a master device of one embodiment of the present invention; a slave device that operates according to the rotation movement of the first master arm; and a control unit that controls the operation of the slave device with reference to the rotation angle and / or torque of the rotor corresponding to the rotation movement of the first master arm.

[0014] Effects of the Invention

[0015] According to one aspect of the present invention, the loss of force transmission and play between the first master arm and the rotor of the master motor are eliminated, and the master device can efficiently and accurately teach the slave device an operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram for explaining a teaching system according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic front view of a main device or a training device according to an embodiment of the present invention.

[0018] Figure 3 1 is a schematic left side view of a main device or training device according to an embodiment of the present invention.

[0019] Figure 4 It is a schematic right side view of a main device or training device according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic perspective view of a main device or a training device according to an embodiment of the present invention as viewed from the oblique left front.

[0021] Figure 6 This is a schematic perspective view of a main device or a training device according to an embodiment of the present invention as viewed from the right front obliquely.

[0022] Figure 7 It is along Figure 3 Schematic diagram of line VII-VII in FIG.

[0023] Figure 8This is a schematic perspective view of a main device or a training device according to an embodiment of the present invention, illustrating a user's finger operation or other user training.

[0024] Figure 9 This is a schematic perspective view of a main device or a training device according to a modified example of the embodiment of the present invention, illustrating a user's finger operation or other user training.

[0025] Figure 10 This is a block diagram of a teaching system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In the accompanying drawings, "FF" means front, "FR" means rear, "L" means left, "R" means right, "U" means up, and "D" means down.

[0027] like Figure 1 As shown, the teaching system 10 according to the embodiment of the present invention includes a pair of main devices 12 that can be operated by the fingers of a user M. One main device 12 can be operated by the right hand RH of the user M, and the other main device 12 can be operated by the left hand LH of the user M. The pair of main devices 12 have the same structure except that they are bilaterally symmetrical.

[0028] The teaching system 10 includes a pair of clamping devices 14 for gripping an object (not shown). The clamping devices 14 are slave devices that operate in response to the operation of a pair of master devices 12. One clamping device 14 grips and releases an object in response to the operation of one master device 12. The other clamping device 14 grips and releases an object in response to the operation of the other master device 12. Each clamping device 14 may also include a clamping sensor (not shown) for detecting the gripping force when gripping an object.

[0029] The teaching system 10 includes a pair of training devices 16 for training the finger operations of another user MA. The pair of training devices 16 are slave devices that operate based on the operations of the pair of master devices 12. One training device 16 trains the right hand RHA of the other user MA by performing operations that mimic the operations of one master device 12. The other training device 16 trains the left hand LHA of the other user MA by performing operations that mimic the operations of the other master device 12. The pair of training devices 16 have the same structure except for bilateral symmetry.

[0030] Next, refer to Figures 2 to 9 The specific structure of the main device 12 will be described.

[0031] like Figures 2 to 6As shown, the main device 12 includes a base member 18 having a support column 20 and a support plate 22 provided to protrude horizontally from the support column 20. The support plate 22 may be positionally adjustable relative to the support column 20 in the front-rear direction and / or the vertical direction.

[0032] like Figures 2 to 8 As shown, a fixed shaft 24 is provided hanging down from the support plate 22. The base end portion of the first main arm 26 for teaching the clamping device 14 and / or the training device 16 is connected to the fixed shaft 24 in a rotatable manner. The first main arm 26 rotates in the horizontal direction with the axis of the fixed shaft 24 as the center. The first main arm 26 is rotated in the horizontal direction by the user M. The first main arm 26 has a first insertion portion 28 at its top end side, and the first insertion portion 28 is used for the index finger as the first finger of the user M to be inserted (refer to Figure 8 ).

[0033] The base end of the second main arm 30 for teaching the clamping device 14 and / or the training device 16 is rotatably connected to the fixed shaft 24. The second main arm 30 rotates in the horizontal direction with the axis of the fixed shaft 24 as the center in synchronization with the first main arm 26. The second main arm 30 is rotated in the horizontal direction by the user M in synchronization with the first main arm 26. The second main arm 30 has a second insertion portion 32 at its top end side, and the second insertion portion 32 is for the thumb as the second finger of the user M to be inserted (refer to Figure 8 ).

[0034] The support plate 22 is provided with a main motor 34, which is a direct drive motor. The main motor 34 is arranged above the first main arm 26 and the second main arm 30. The main motor 34 has a rotor 36 that rotates according to the swinging motion of the first main arm 26 and the second main arm 30. The main motor 34 has an encoder 38 (see FIG. 1 ) that detects the rotation angle of the rotor 36. Figure 10 An ammeter for measuring the current of the main motor 34 is provided near the main motor 34 (see Figure 10 ).

[0035] A disc-shaped connecting member 42 is integrally provided concentrically with the rotor 36. The connecting member 42 includes a first eccentric portion 44 as a first portion that is eccentric relative to the axis of the rotor 36. The connecting member 42 includes a second eccentric portion 46 as a second portion that is eccentric relative to the axis of the rotor 36 and different from the first portion. The first eccentric portion 44 and the second eccentric portion 46 are arranged with 180-degree rotational symmetry about the axis of the rotor.

[0036] like Figures 3 to 7As shown, the first main arm 26, which is part of the first main arm 26, is rotatably connected near its base end to the first eccentric portion 44 of the connecting member 42 via a first connecting pin 48. The first connecting pin 48 is fixed to the first eccentric portion 44 of the connecting member 42 and extends through a long hole formed near the base end of the first main arm 26. Furthermore, the second main arm 30, which is part of the second insertion portion 32, is rotatably connected near its second eccentric portion 46 of the connecting member 42 via a second connecting pin 50. The second connecting pin 50 is fixed to the second eccentric portion 46 of the connecting member 42 and extends through a long hole formed near the second insertion portion 32 of the second main arm 30. The first connecting pin 48 and the second connecting pin 50 are arranged 180 degrees rotationally symmetrically about the axis of the rotor 36 (the axis of the connecting member 42).

[0037] As described above, the main motor 34 is arranged above the first main arm 26 and the second main arm 30, but it may also be arranged above the first main arm 26 and the second main arm 30. Figure 9 As shown, the main motor 34 is arranged below the first main arm 26 and the second main arm 30 .

[0038] Next, refer to Figures 1 to 9 The training device 16 serving as a slave device will be described.

[0039] like Figures 1 to 6 As shown, the training device 16 has the same structure as the master device 12 except that it serves as a slave device. Specifically, the training device 16 includes an additional base member 18A separate from the base member 18, and the additional base member 18A includes additional support posts 20A and additional support plates 22A provided to protrude horizontally from the additional support posts 20A.

[0040] like Figures 1 to 8 As shown, another fixed shaft 24A is provided in a downwardly extending manner on the other support plate 22A. The base end portion of the first slave arm 26A is connected to the other fixed shaft 24A so as to be rotatable. The first slave arm 26A rotates horizontally with the axis of the other fixed shaft 24A as the center. The first slave arm 26A has another first insertion portion 28A at its top end, and the other first insertion portion 28A is used for inserting the index finger of the first finger of the other user MA (see FIG. 1 ). Figure 8 ).

[0041] The base end of the second slave arm 30A is connected to the other fixed shaft 24A so as to be rotatable. The second slave arm 30A rotates horizontally around the axis of the other fixed shaft 24A in synchronization with the rotation of the first slave arm 26A. The second slave arm 30A has a second insertion portion 32A at its top end for the thumb of the other user MA to be inserted (see FIG. Figure 8 ).

[0042] The other support plate 22A is provided with a slave motor 34A, which is a direct drive motor. The slave motor 34A is arranged above the first slave arm 26A and the second slave arm 30A. The slave motor 34A has another rotor 36A that rotates by imitating the rotation of the rotor 36 of the master motor 34. The slave motor 34A has another encoder 38A (see Figure 10 ). Another ammeter for measuring the current of the slave motor 34A is provided near the slave motor 34A (see Figure 10 ).

[0043] A disc-shaped connecting member 42A is integrally provided concentrically with the other rotor 36A. The connecting member 42A includes a first eccentric portion 44A, serving as a first portion, that is eccentric relative to the axis of the other rotor 36A. The connecting member 42A includes a second eccentric portion 46A, serving as a second portion, that is eccentric relative to the axis of the other rotor 36A and different from the first portion. The first eccentric portion 44A and the second eccentric portion 46A are arranged 180 degrees rotationally symmetrically about the axis of the other rotor A.

[0044] like Figures 3 to 7 As shown, the vicinity of the base end portion of the first slave arm 26A, which is part of the first slave arm 26A, is rotatably connected to the other first eccentric portion 44A of the other connecting member 42A via the other first connecting pin 48A. The other first connecting pin 48A is fixed to the other first eccentric portion 44A of the other connecting member 42A and extends through a long hole formed near the base end portion of the first slave arm 26A. Furthermore, the vicinity of the other second insertion portion 32A, which is part of the second slave arm 30A, is rotatably connected to the other second eccentric portion 46A of the other connecting member 42A via the other second connecting pin 50A. The other second connecting pin 50A is fixed to the other second eccentric portion 46A of the other connecting member 42A and extends through a long hole formed near the other second insertion portion 32A of the second slave arm 30A. The other first connecting pin 48A and the other second connecting pin 50A are arranged so as to be rotationally symmetrical at 180 degrees about the axis of the other rotor 36A (the axis of the other connecting member 42A).

[0045] As described above, the slave motor 34A is arranged above the first slave arm 26A and the second slave arm 30A, but it may also be arranged as follows. Figure 9 As shown, the slave motor 34A is arranged below the first slave arm 26A and the second slave arm 30A.

[0046] like Figure 8As shown, the teaching system 10 includes a teaching controller 52 as a control unit for controlling a pair of master devices 12, a pair of clamping devices 14, and a pair of training devices 16. The teaching controller 52 includes a memory (not shown) that stores a plurality of control programs for controlling the operations of the pair of master devices 12, the pair of clamping devices 14, and the pair of training devices 16, and a microprocessor (not shown) that interprets and executes the plurality of control programs.

[0047] The teaching controller 52 calculates the torque acting on the rotor 36 with reference to the change in the current of the master motor 34. The teaching controller 52 calculates the torque acting on the other rotor 36A with reference to the change in the current of the slave motor 34A. The teaching controller 52 controls the movement of the pair of clamping devices 14 with reference to the rotation angle and / or torque of the rotor corresponding to the swing movement of the first master arm 26 of the pair of master devices 12. The teaching controller 52 controls the pair of slave motors 34A with reference to the rotation angle and / or torque of the rotor corresponding to the swing movement of the first master arm 26 of the pair of master devices 12, so that the pair of training devices 16 performs the movement that imitates the movement of the pair of master devices 12. The teaching controller 52 can also control the master motors 34 of the pair of master devices 12 with reference to the gripping force of the pair of clamping devices 14.

[0048] When the first master arm 26 and the second master arm 30 are synchronously rotated by the finger operation of the user M so that the first insertion portion 28 and the second insertion portion 32 approach each other, the teaching controller 52 controls the clamping device 14 so that a gripping action is performed. When the first master arm 26 and the second master arm 30 are synchronously rotated by the finger operation of the user M so that the first insertion portion 28 and the second insertion portion 32 are separated from each other, the teaching controller 52 controls the clamping device 14 so that a gripping action is performed. Furthermore, when the first master arm 26 and the second master arm 30 are synchronously rotated by the finger operation of the user M, the teaching controller 52 controls the slave motor 34A so that the first slave arm 26A and the second slave arm 30A synchronously perform an imitating action.

[0049] Next, the effects of the embodiment of the present invention will be described.

[0050] like Figure 1 and Figure 10 As shown, the first master arm 26 and the second master arm 30 are caused to rotate synchronously by finger manipulation of the user M. Then, the teaching controller 52 controls the clamping device 14 and the training device 16, which serve as slave motors, by referring to the rotation angle and / or torque of the rotor 36 corresponding to the rotation of the first master arm 26 and the second master arm 30. Thus, the clamping device 14 can be taught a desired movement by finger manipulation of the user M, and the training device 16 can be taught a movement that imitates the movement of the master device 12.

[0051] As described above, in the master device 12, the vicinity of the base end portion of the first master arm 26, which is part of the master arm, is rotatably connected to the first eccentric portion 44 of the connecting member 42 via the first connecting pin 48. The vicinity of the second insertion portion 32, which is part of the second master arm 30, is rotatably connected to the second eccentric portion 46 of the connecting member 42 via the second connecting pin 50. Therefore, without using a gear mechanism that causes backlash, portions of the first master arm 26 and the second master arm 30 can be linked to the rotor 36. This eliminates force transmission losses between the first master arm 26 and the rotor 36, and between the second master arm 30 and the rotor 36. It also eliminates play between the first master arm 26 and the rotor 36, and between the second master arm 30 and the rotor 36. As a result, the master device 12 can efficiently and accurately teach the clamping device 14 and the training device 16, which serve as slave devices, their movements.

[0052] As described above, in the master device 12, the first master arm 26 has a first insertion portion 28 at its distal end for insertion of the index finger (first finger) of the user M. The second master arm 30 has a second insertion portion 32 at its distal end for insertion of the thumb (second finger) of the user M. Therefore, the rotor 36 can be stably rotated in the forward and reverse directions by finger manipulation of the user M, and the clamping device 14 can reproduce human motion.

[0053] As mentioned above, in the master device 12, the main motor 34 is a direct-drive motor. Therefore, there is no need for an intermediate device such as a speed reducer between the rotor 36 and the first or second master arm 26 , 30 . This allows for more precise force transmission from the first or second master arm 26 , 30 to the rotor 36 , compared to a conventional motor.

[0054] As described above, in the main device 12, the first connecting pin 48 and the second connecting pin 50 are arranged 180 degrees rotationally symmetrically about the axis of the rotor 36. Therefore, the rotation range of the rotor 36 is sufficiently ensured, and the operability of the user's M finger operation is improved.

[0055] 〔Summarize〕

[0056] The master device of claim 1 of the present invention comprises: a fixed shaft provided on a base member; a first master arm having a base end rotatably connected to the fixed shaft, the first master arm having a first insertion portion for inserting a first finger of a user and being rotatably operated by the user's finger to teach the slave device an operation; and a master motor provided on the base member and having a rotor rotated by the rotation of the first master arm. A portion of the first master arm is rotatably connected to a first portion eccentric from the axial center of the rotor via a first connecting pin.

[0057] According to this configuration, as described above, a portion of the first master arm is rotatably connected to the first portion, which is eccentric from the rotor's axis, via the first connecting pin. Therefore, the portion of the first master arm can be linked to the rotor without using a gear mechanism that causes backlash. This eliminates force transmission losses and play between the first master arm and the rotor, allowing the master device to efficiently and accurately teach the slave device.

[0058] The main device according to claim 2 of the present invention may be configured as the main device according to claim 1, wherein the main motor is a direct drive motor.

[0059] According to the above structure, since the main motor is a direct drive motor, there is no need for an intermediate device such as a speed reducer between the rotor and the first main arm. As a result, compared to the case where the main motor is a conventional motor, force can be transmitted from the first main arm to the rotor with high precision.

[0060] The main device of scheme 3 of the present invention may also be, based on scheme 1 or 2, further equipped with a second main arm, the base end of which can be rotatably connected to the fixed shaft, and the second main arm has a second insertion portion for inserting the user's second finger, which is rotated synchronously with the first main arm by the user's finger operation and is used to teach the slave device to move, and a part of the second main arm is rotatably connected to a second portion eccentric from the axis of the rotor by means of a second connecting pin.

[0061] According to the above structure, as described above, the base end of the second main arm is rotatably connected to the fixed shaft, and the second main arm has the second insertion portion for inserting the user's second finger. Therefore, the rotor can be stably rotated in the forward and reverse directions by finger manipulation of the user using two fingers.

[0062] Furthermore, as described above, a portion of the second main arm is rotatably connected to the second portion eccentric from the axis of the rotor via the second connecting pin. Therefore, the second main arm can be linked to the rotor without using a gear mechanism that causes backlash.

[0063] In the main device according to claim 4 of the present invention, in addition to claim 3, the first connecting pin and the second connecting pin may be arranged to be rotationally symmetrical by 180 degrees with the axis of the rotor as the center.

[0064] According to the above configuration, the rotation range of the rotor can be sufficiently ensured, and the operability of the user's finger operation can be improved.

[0065] The teaching system of scheme 5 of the present invention comprises: a master device of any one of schemes 1 to 4; a slave device, which operates according to the rotation movement of the first master arm; and a control unit, which controls the operation of the slave device with reference to the rotation angle and / or torque of the rotor corresponding to the rotation movement of the first master arm.

[0066] According to the above configuration, the first master arm is rotated by a user's finger operation. The control unit then controls the movement of the slave device by referring to the rotation angle and / or torque of the rotor corresponding to the rotation of the first master arm. This allows the user's finger operation to teach the slave device a desired movement.

[0067] The teaching system according to claim 6 of the present invention, in addition to claim 5, may further comprise: the slave device comprising: another fixed shaft provided on another base member separate from the base member; a first slave arm having a base end rotatably supported on the other fixed shaft, the first slave arm having another first insertion portion for inserting a first finger of another user; and a slave motor provided on the other base member and having another rotor that rotates in response to the rotational movement of the first master arm. Alternatively, a portion of the first slave arm may be rotatably connected to a portion eccentric from the axis of the other rotor via another first connecting pin.

[0068] According to the above configuration, the first master arm is rotated by a user's finger operation. The control unit then controls the slave motor by referring to the rotation angle and / or torque of the rotor corresponding to the rotation of the first master arm. This allows the slave device to imitate the movements of the master device through the user's finger operation.

[0069] [Additional Notes]

[0070] The present invention is not limited to the description of the above-mentioned embodiments, and various modifications can be made within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in the embodiments are also included in the scope of protection of the present invention.

[0071] Description of Reference Numerals

[0072] 10. Teaching system; 12. Master device; 14. Clamping device (slave device); 16. Training device (slave device); 18. Base member; 20. Support column; 22. Support plate; 24. Fixed shaft; 26. First main arm; 28. First insertion portion; 30. Second main arm; 32. Second insertion portion; 34. Main motor; 36. Rotor; 38. Encoder; 40. Torque sensor; 42. Connecting member; 44. First eccentric portion (first portion); 46. Second eccentric portion (second portion); 48. First connecting pin; 50. Second connecting pin; 18A. Other base members; 20A, other pillars; 22A, other support plates; 24A, other fixed shafts; 26A, the first slave arm; 28A, other first insertion parts; 30A, the second slave arm; 32A, other second insertion parts; 34A, slave motors; 36A, other rotors; 38A, other encoders; 40A, other torque sensors; 42A, other connecting members; 44A, other first eccentric parts (other first parts); 46A, other second eccentric parts (other second parts); 48A, other first connecting pins; 50A, other second connecting pins; 52, teaching controller (control part).

Claims

1. A main device, characterized in that: The main device has: a fixed shaft disposed on the base member; a first master arm having a base end portion rotatably connected to the fixed shaft, the first master arm having a first insertion portion for inserting a first finger of a user, and being rotatable by operation of the user's finger for teaching an action to the slave device; as well as a main motor provided on the base member and having a rotor rotated by the swinging motion of the first main arm; A portion of the first main arm is rotatably connected to a first portion eccentric from the axial center of the rotor via a first connecting pin.

2. The main device according to claim 1, characterized in that The main motor is a direct drive motor.

3. The main device according to claim 1, wherein: The master device further includes a second master arm, the base end of which is rotatably connected to the fixed shaft, the second master arm having a second insertion portion for inserting a second finger of the user, and rotatable in synchronization with the first master arm by operation of the user's finger, for teaching the slave device an action. A portion of the second main arm is rotatably connected to a second portion eccentric from the axial center of the rotor via a second connecting pin.

4. The main device according to claim 3, characterized in that The first connecting pin and the second connecting pin are arranged to be rotationally symmetrical at 180 degrees around the axis of the rotor.

5. A teaching system, characterized in that: The teaching system has: The main device according to any one of claims 1 to 4; a slave device that operates according to the pivoting motion of the first master arm; and A control unit controls the operation of the slave device with reference to the rotation angle and / or torque of the rotor corresponding to the swing operation of the first master arm.

6. The teaching system according to claim 5, characterized in that The slave device comprises: another fixed shaft, which is provided on another base member separated from the base member; a first slave arm having a base end portion rotatably supported by the other fixed shaft, the first slave arm having another first insertion portion for inserting a first finger of another user; and a slave motor provided on the other base member and having another rotor that rotates according to the swinging motion of the first master arm; A portion of the first slave arm is rotatably connected to a portion eccentric from the axis of the other rotor via another first connecting pin.

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