Command signal generation device

Abstract

To provide a command signal generation device which can generate a control command with fingertip operation even when grasping an object with both hands.SOLUTION: A command signal generation device 1 includes a first switch 5 and a second switch 6, which generate ON / OFF signals for a plurality of fingers F1 and F2 to press or not press an object. Different command signals to a control object can be generated at operation patterns of the first switch 5 and the second switch 6 by the fingers F1 and F2 when the object is supported.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a command signal generating device that enables a worker to control the balancing force generated by an assisting device by the movement of the fingertips of either hand holding the device, even when the worker is working using both hands, such as when gripping and handling a heavy object lifted by the assisting device. [Background technology]

[0002] When a worker tries to lift or move a heavy object at a work site, an assisting device called a balancer is used to support the load and reduce the workload. A known assisting device is an arm-type balancer, which suspends a heavy object from the tip of an arm using thrust generated by a pneumatic cylinder.

[0003] When a worker uses an assisting device to lift a heavy load, it is desirable for the worker to be able to adjust the force used to lift the heavy load (hereinafter referred to as the "balancing force") by changing the internal pressure of the pneumatic cylinder of the assisting device. However, in many cases, the worker supports the heavy load with both hands and is unable to use a switch that can be operated by hand. Therefore, there has been a demand for a command signal generating device that allows the worker to easily adjust the balancing force of the assisting device without the help of another worker, even when both hands are occupied as described above.

[0004] As a means for enabling an operator to adjust the balancing force of the assisting device by himself, the technique disclosed in Patent Document 1 is known.

[0005] In Patent Document 1, the assistive device includes an actuator placed on the ceiling and a pair of handles that are worn on the worker's hands and that, while supporting a heavy load, can wind in and unwind a rope by operating the actuator to raise and lower the heavy load. The handles have a sensor that measures the vertical force applied to the handle held by the worker, and a control signal from the sensor is transmitted to a controller, and the controller commands the actuator based on the control signal, thereby allowing the rope to be raised and lowered according to the worker's request. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] U.S. Patent No. 5,915,673 Summary of the Invention [Problem to be solved by the invention]

[0007] However, instead of the technology described in Patent Document 1, users have been hoping for a means that allows the worker to adjust the balancing force of the assisting device by himself or herself through some movement of the worker, even when the worker is supporting a heavy object with both hands.

[0008] The present invention has been made in consideration of the above-mentioned circumstances, and has as its object to provide a command signal generating device that can adjust the balancing force by simply moving the fingertips of a worker's hand, even when both hands of the worker are being used to grip a heavy object or the like. [Means for solving the problem]

[0009] (1) In the present invention, a fingertip sensor is provided on each of multiple fingers to measure the pressure state. By changing the pressure pattern of the fingertips with the fingertip sensors on the same hand against an object, even while grasping an object with the palm of the hand and the bases of all the fingers, it is possible to generate a desired command signal for an external control object.

[0010] According to the present invention as described above in (1), even while grasping an object with the palm of the hand and the bases of all the fingers, the desired command signal can be generated for the controlled object by changing the pressing pattern of the fingertips having the fingertip sensors on the same hand against the object.

[0011] (2) Also, in the present invention, the plurality of fingertip sensors are ON / OFF switches that determine whether or not a fingertip has pressed an object, and different command values ​​can be generated for a controlled object depending on the ON / OFF patterns of the switches.

[0012] According to the present invention as described above in (2), various kinds of command values ​​can be generated by combining multiple ON / OFF switches on the fingertips.

[0013] (3) Also, in the present invention, the controlled object generates command values ​​in response to ON / OFF signals from the plurality of fingertip sensors, such that a first command value is generated when both of the two fingertip sensors are pressed, a second command value is generated when only one of the fingertip sensors is pressed, a third command value is generated when only the other fingertip sensor is pressed, and a fourth command value is generated when neither of the two fingertip sensors is pressed.

[0014] According to the present invention as described in (3) above, when both fingertip sensors are operated, a first command value is generated, for example, to not change the internal pressure of the pneumatic cylinder; when only one fingertip sensor is operated, a second command value is generated, for example, to increase the internal pressure of the pneumatic cylinder; when only the other fingertip sensor is operated, a third command value is generated, for example, to decrease the internal pressure of the pneumatic cylinder; and when neither of the two fingertip sensors is operated, a fourth command value is generated that is the same as the first command value, for not changing the internal pressure of the pneumatic cylinder.

[0015] (4) In addition, in the present invention, the fingertip sensor is a force sensor or a potentiometer with a tiny rotary knob, and even while grasping an object with the palm of the hand and the bases of all the fingers, by changing the movement pattern of the fingertips to which the fingertip sensor is attached on the same hand, it is possible to generate a desired analog command signal for an external control object.

[0016] According to the present invention as described in (4) above, the fingertip sensor is a potentiometer with a force sensor or a tiny rotary knob, so that even while grasping an object with the palm of the hand and the bases of all the fingers, the desired analog command signal can be generated for the controlled object by changing the movement pattern of the fingertips equipped with the fingertip sensor on the same hand. [Effects of the Invention]

[0017] According to the present invention, when both hands of a worker are being used to grasp a heavy object or the like, it is possible to generate a command signal that can adjust the balancing force simply by moving the worker's fingertips. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing the overall configuration of a command signal generating device according to a first embodiment of the present invention. [Figure 2] 2 is a diagram showing a state in which the command signal generating device shown in FIG. 1 is worn on a user's hand. [Figure 3] 2 is a diagram showing a state in which gloves are worn over the command signal generating device shown in FIG. 1. FIG. [Figure 4] 4 is a diagram showing the relationship between the operation pattern of a switch in the command signal generating device according to the first embodiment and the command value of a command signal sent to an electro-pneumatic converter that is the object of control. FIG. [Figure 5] FIG. 2 is a diagram for explaining a heavy object transport operation using the command signal generating device according to the first embodiment, showing the start of the operation. [Figure 6] 1 is a diagram for explaining a heavy object transport operation using the command signal generating device according to the first embodiment, showing a state in which a user is holding the heavy object with both hands. FIG. [Figure 7] FIG. 10 is a diagram showing the overall configuration of a command signal generating device according to a second embodiment of the present invention. [Figure 8] 8 is a diagram showing a state in which the command signal generating device shown in FIG. 7 is worn on a user's hand. [Figure 9] FIG. 10 is a diagram showing the overall configuration of a command signal generating device according to a third embodiment of the present invention. [Figure 10] 10 is a diagram showing a state in which the command signal generating device shown in FIG. 9 is worn on a user's hand. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, command signal generating devices according to first to third embodiments of the present invention will be described.

[0020] Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing the overall configuration of a command signal generating device according to a first embodiment of the present invention, FIG. 2 is a diagram showing the command signal generating device shown in FIG. 1 worn on a user's hand, FIG. 3 is a diagram showing a state in which a glove is worn over the command signal generating device shown in FIG. 1, FIG. 4 is a diagram showing the relationship between the operation pattern of a switch in the command signal generating device according to the first embodiment and the command value of a command signal sent to an electro-pneumatic converter that is the control target, FIG. 5 is a diagram explaining the work of transporting a heavy object using the command signal generating device according to the first embodiment, showing the start of the work, and FIG. 6 is a diagram explaining the work of transporting a heavy object using the command signal generating device according to the first embodiment, showing a state in which a user is holding the heavy object with both hands.

[0021] <Overall configuration of the command signal generating device according to the first embodiment> The command signal generating device 1 shown in Figures 1 to 3, etc. is a device that generates a command signal that can adjust the balancing force with which an assisting device 100 such as that shown in Figure 5 lifts a heavy object 200, and transmits the command signal to the electro-pneumatic converter 106 of the assisting device 100.

[0022] The command signal generating device 1 has fingertip sensors (in this embodiment, a first switch 5 and a second switch 6) that measure the state of pressure on each of the fingertips of multiple fingers (in this embodiment, the index finger F1 and the middle finger F2), and can generate a desired command signal for the electro-pneumatic converter 106, which is an external control target, by changing the pressure pattern of the fingertips having the fingertip sensors of the same hand H against the heavy object 200, even while grasping an object with the palm of the hand H and the bases of all the fingers.

[0023] The electro-pneumatic converter 106 and the heavy load 200 in this embodiment correspond to the "controlled object" and the "object" in the claims, respectively.

[0024] 5 is also called a balancer, and is a device for supporting the load of a heavy object 200 and reducing the workload when a user P tries to lift or move the heavy object 200 at a work site or the like, and is configured to include a base 101 and an arm 102 standing on the base 101 and having a cylinder 103 and a link mechanism 104, with the heavy object 200 suspended from the tip of the arm 102 via a wire 105. Note that the command signal generating device 1 can also be applied to assistive devices other than those described above.

[0025] The command signal generating device 1 can be worn on the hand H, and then a work glove 13 can be worn over it (see FIGS. 2 and 3, etc.). Note that, as will be explained in "Other Modifications" below, the usage is not limited to the above. Furthermore, although the command signal generating device 1 is worn on the right hand as shown in FIG. 2, it can also be worn on the left hand of the user P as shown in FIGS. 5 and 6.

[0026] 1 to 3, the command signal generating device 1 includes a fingertip attachment member 2 that can be attached to the tips of multiple fingers (in this embodiment, the index finger F1 and middle finger F2) of the hand H of a user P (see FIG. 5), and a belt-shaped member 4 that is connected to the fingertip attachment member 2 via an elastic belt 3 and can be attached to the wrist W of the user P. Each component of the command signal generating device 1 will be described below.

[0027] <About the fingertip attachment parts> 1 to 3, the finger tip attachment member 2 has a cylindrical shape with a closed tip, and is formed so that the tips of the index finger F1 and middle finger F2 can be inserted into it. A first switch 5 and a second switch 6 are provided on the inner surface of the finger tip attachment member 2, and a portion of one longitudinal end of a first wiring 7 described below is routed therein.

[0028] <About the first and second switches> The first switch 5 and the second switch 6 in this embodiment both correspond to the "fingertip sensor" in the claims.

[0029] The first switch 5 and the second switch 6 can be operated with the index finger F1 and the middle finger F2. The first switch 5 and the second switch 6 are, for example, ON / OFF switches that determine whether or not the first switch 5 and the second switch 6 are pressed with the pads of the index finger F1 and the middle finger F2 (i.e., the inside of the tips of the index finger F1 and the middle finger F2), respectively, and different command values ​​can be generated for the controlled object depending on the ON / OFF patterns.

[0030] The first switch 5 and the second switch 6 are potentiometers with force sensors or tiny rotary knobs, and even while holding a heavy object 200 with the palm of the hand H and the bases of all the fingers, by changing the movement pattern of the fingertips to which the first switch 5 and the second switch 6 are attached on the same hand H, it is possible to generate a desired analog command signal for the electro-pneumatic converter 106, which is the object to be controlled.

[0031] In this embodiment, as shown in FIG. 2, the first switch 5 is placed in a position that can be operated by the index finger F1, and the second switch 6 is placed in a position that can be operated by the middle finger F2. However, this is not limiting, and it is also possible to adopt a configuration in which the first switch 5 is placed in a position that can be operated by the middle finger F2, and the second switch 6 is placed in a position that can be operated by the index finger F1.

[0032] <Operation patterns of the first and second switches> When supporting a heavy load 200 (see Figures 5 and 6), the first switch 5 and the second switch 6 can generate different command signals to the electro-pneumatic converter 106 depending on the operation patterns of the first switch 5 and the second switch 6 using the index finger F1 and the middle finger F2.

[0033] The "different command signals" mentioned above refer to command signals with command values ​​that "change (i.e., increase or decrease)" the internal pressure of the cylinder 103 of the assisting device 100, or command signals with command values ​​that "do not change" the internal pressure.

[0034] Here, with reference to FIG. 4 etc., the relationship between the operation patterns of the first switch 5 and the second switch 6 and the command value of the command signal to the electro-pneumatic converter 106, which is the controlled object, in this embodiment will be described.

[0035] As shown in FIG. 4, among the command values ​​of the above command signal, the first command value is generated when both the first switch 5 and the second switch 6 are operated (i.e., when both the first switch 5 and the second switch 6 are in the "ON" state), and a command signal with the command value set to "no change" is generated.

[0036] Here, the state in which the command signal of the first command value is generated corresponds to a state in which, for example, the user P is gripping an object with the palm of the hand H and the bases of all the fingers, but the fingertips of the fingers (index finger F1 and middle finger F2) wearing the first switch 5 and the second switch 6 of the same hand H are pressing against the heavy load 200. Therefore, after the internal pressure of the cylinder 103 of the assistive device 100 reaches the desired internal pressure, the user P can perform work by pressing the index finger F1 and middle finger F2 against the heavy load 200.

[0037] Also, as shown in FIG. 4, the second command value is generated when only one switch (i.e., the first switch 5) is operated (i.e., the first switch 5 is in the "ON" state and the second switch 6 is in the "OFF" state), and a command signal with the command value set to "pressurize" is generated.

[0038] Here, the state in which the command signal of the second command value is generated corresponds to, for example, a state in which user P removes the tip of middle finger F2 from heavy object 200 when he or she wants to increase the supporting force while supporting heavy object 200 with hand H.

[0039] Also, as shown in FIG. 4, the third command value is generated when only the other switch (i.e., the second switch 6) is operated (i.e., the first switch 5 is in the "OFF" state and the second switch 6 is in the "ON" state), and a command signal with the command value set to "reduce pressure" is generated.

[0040] Here, the state in which the command signal of the third command value is generated corresponds to the state in which the tip of the index finger F1 is moved away from the heavy load 200, for example, when it is desired to reduce the internal pressure of the cylinder 103 of the assisting device 100 after the transportation of the heavy load 200 has been completed.

[0041] Also, as shown in FIG. 4, the fourth command value is generated when neither the first switch 5 nor the second switch 6 is operated (i.e., both the first switch 5 and the second switch 6 are in the "OFF" state), and a command signal that sets the command value to "no change" is generated, similar to the first command value.

[0042] Here, the state in which the command signal of the fourth command value is generated corresponds to a state in which the user P has released his / her hand H from the heavy object 200, or a state in which the connection between the first connector 9 and the second connector 10 described below has been released.

[0043] <About the elastic belt> 1 to 3 is made of an elastic material, and one longitudinal end thereof is continuous with each fingertip mounting member 2, while the other longitudinal end thereof is continuous with the belt-shaped member 4. A first wiring 7 capable of transmitting command signals from a first switch 5 and a second switch 6 is routed in each elastic belt 3.

[0044] <Regarding the first wiring and first connector> The first wiring 7 has one longitudinal end connected to the first switch 5 and the second switch 6, and the other longitudinal end connected to the first connector 9. The first connector 9 is configured to be able to establish electrical continuity with and electrically disconnect from the second wiring 8 by connecting to and disconnecting from a second connector 10 provided at one longitudinal end of the second wiring 8, which will be described later.

[0045] Here, the first connector 9 and the second connector 10 in this embodiment both correspond to the "connecting means" in the claims.

[0046] <About the belt-shaped member> 1 to 3 has a belt-like shape and is formed so as to be attachable and detachable to the wrist W of a user P, as shown in FIG. 2. Detachable hook-and-loop fasteners 11, 12 (see FIG. 1) are provided at one end and the other end of the longitudinal direction of the belt-like member 4. A second connector 10 connected to the second wiring 8 is provided on the belt-like member 4.

[0047] <Regarding the second wiring and second connector> The second wiring 8 is a wiring capable of transmitting command signals from the first switch 5 and the second switch 6 to the electro-pneumatic converter 106, and has a second connector 10 provided at one longitudinal end thereof and the other longitudinal end thereof connected to the electro-pneumatic converter 106. The second connector 10 is formed so as to be connectable to the first connector 9.

[0048] <About the transportation of heavy objects using a command signal generator> Next, with reference to FIGS. 1 to 6, a transport operation of a heavy load 200 using the command signal generating device 1 will be described.

[0049] As shown in Fig. 5, when working using the assist device 100, first, the arm 102 and the heavy load 200 are connected by the wire 105, and then the user P wears the command signal generating device 1 on his / her hand H and connects the first connector 9 to the second connector 10 of the second wiring 8 connected to the electro-pneumatic converter 106 (see Fig. 2). In Fig. 5, when the worker then grasps the heavy load 200 with both hands, as shown in Fig. 6, a desired command signal can be generated for the controlled object while grasping the heavy load 200 with both hands (hands H).

[0050] Thereafter, when it is desired to increase the supporting force of the assisting device 100 for the heavy load 200, the tip of the middle finger F2 is removed from the heavy load 200 and the index finger F1 is pressed against the heavy load 200, thereby generating a command signal of the second command value in Figure 4 and transmitting it to the electro-pneumatic converter 106.

[0051] When the heavy object 200 starts to lift, the user P holds the heavy object 200 with both hands H and operates the first switch 5 and the second switch 6 to adjust the balancing force and move the heavy object 200 to the desired location. After that, the user P releases the hands H from the heavy object 200 and releases the connection between the first connector 9 and the second connector 10. This completes the task of transporting the heavy object 200 using the command signal generating device 1.

[0052] <Actions and Effects Obtained by Embodiment 1> According to this embodiment having the above configuration, even while grasping an object with the palm of the hand H and the bases of all the fingers, a desired command signal can be generated for the controlled object by changing the pressing pattern of the fingertips having the first switch 5 and the second switch 6 of the same hand H against the heavy object 200.

[0053] Furthermore, according to this embodiment, various types of command values ​​can be generated by combining multiple ON / OFF switches on the fingertips.

[0054] Furthermore, according to this embodiment, when both the first switch 5 and the second switch 6 are operated, a first command value is generated, for example, to not change the internal pressure of the pneumatic cylinder 103; when only the first switch 5 is operated, a second command value is generated, for example, to increase the internal pressure of the pneumatic cylinder 103; when only the second switch 6 is operated, a third command value is generated, for example, to decrease the internal pressure of the pneumatic cylinder 103; and when neither the first switch 5 nor the second switch 6 is operated, a fourth command value is generated that is the same as the first command value, for not changing the internal pressure of the pneumatic cylinder 103.

[0055] Furthermore, according to this embodiment, the first switch 5 and the second switch 6 are potentiometers with force sensors or tiny rotary knobs, so that even while grasping an object with the palm of the hand H and the bases of all the fingers, the desired analog command signal can be generated for the controlled object by changing the movement pattern of the fingertips to which the first switch 5 and the second switch 6 are attached on the same hand H.

[0056] As described above, according to this embodiment, even when the worker is holding the heavy object 200 with both hands, it is possible to generate a command signal that can adjust the balancing force simply by moving the worker's fingertips.

[0057] In addition to the above-described embodiment 1, the command signal generating device according to the present invention can also employ the following embodiment 2. Hereinafter, embodiment 2 of the command signal generating device according to the present invention will be described with reference to Figs. 7 and 8.

[0058] Fig. 7 is a diagram showing the overall configuration of a command signal generating device according to a second embodiment of the present invention, and Fig. 8 is a diagram showing the command signal generating device shown in Fig. 7 worn on a user's hand. Note that the same components as those in the first embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0059] <Regarding the command signal generating device according to the second embodiment> 7 and 8 differs from embodiment 1 in that the command signal generating device 21 includes transmitting means 22 and receiving means 23 (see FIG. 8) instead of the second wiring 8, the first connector 9, and the second connector 10 in the command signal generating device 1 (see FIGS. 1 to 3, etc.) described in embodiment 1. This difference will be described below.

[0060] <Transmitting means and receiving means in embodiment 2> The transmitting means 22 is configured to be able to transmit command signals transmitted from the first switch 5 and the second switch 6, and is provided on the belt-shaped member 4. The receiving means 23 is configured to be able to receive command signals transmitted from the transmitting means 22, and is provided in the electro-pneumatic converter 106 as a separate entity from the command signal generating device 21.

[0061] The transmission and reception of command signals between the transmitting means 22 and the receiving means 23 is realized by wireless communication. Specific examples of wireless communication include wireless LAN and Bluetooth (registered trademark).

[0062] <Actions and Effects Obtained by Embodiment 2> According to the present embodiment, the same effects as those of the first embodiment are obtained. As a result, according to the present embodiment, the same effects as those of the first embodiment are obtained.

[0063] In addition to the above-described first and second embodiments, the command signal generating device according to the present invention can also employ the following third embodiment. Hereinafter, the third embodiment of the command signal generating device according to the present invention will be described with reference to Figs. 9 and 10.

[0064] Fig. 9 is a diagram showing the overall configuration of a command signal generating device according to embodiment 3 of the present invention, and Fig. 10 is a diagram showing the command signal generating device shown in Fig. 9 worn on a user's hand. Note that the same components as those in embodiment 1 are given the same reference numerals, and detailed description thereof will be omitted.

[0065] <Regarding the command signal generating device according to the third embodiment> 9 and 10 differs from the command signal generating device 1 (see FIGS. 1 to 3, etc.) described in embodiment 1 in that it includes transmitting means 32 and receiving means 33 (see FIG. 10) instead of the first wiring 7, the second wiring 8, the first connector 9, and the second connector 10. This difference will be described below.

[0066] <Transmitting means and receiving means in the third embodiment> The transmitting means 32 is configured to be able to transmit the command signals generated by the first switch 5 and the second switch 6, and is provided in the first switch 5 and the second switch 6. The receiving means 33 is configured to be able to receive the command signals transmitted from the transmitting means 32, and is provided in the electro-pneumatic converter 106 as a separate entity from the command signal generating device 31.

[0067] Transmission and reception between the transmitting means 32 and the receiving means 33 is realized by wireless communication, similar to the transmitting means 22 and the receiving means 23 (see FIG. 8) in embodiment 2. Specific examples of wireless communication include wireless LAN and Bluetooth (registered trademark).

[0068] <Actions and Effects Obtained by Embodiment 3> According to the present embodiment described above, the same effects as those of the first embodiment are achieved. As a result, according to the present embodiment, the same effects as those of the first embodiment are achieved.

[0069] <Other variations> The configurations described in the above embodiments can be modified as appropriate within the scope of the present invention, and are not limited to the configurations of the above embodiments.

[0070] For example, in FIG. 3, an embodiment is disclosed in which work gloves 13 are worn over the command signal generating device 1, but this is not limited to this, and another example of a modified example is a command signal generating device (not shown) that is configured to be worn over the glove 13 when the glove 13 is worn on the hand H.

[0071] According to the above modification, the same effects as those of the first to third embodiments are obtained. As a result, according to the above modification, the same effects as those of the first to third embodiments are obtained. [Explanation of symbols]

[0072] 1, 21, 31...Command signal generation device 2...Finger tip attachment member 3...Elastic belt 4...Belt-shaped member 5...First switch (fingertip sensor) 6...Second switch (fingertip sensor) 7…1st wiring 8…Second wiring 9...First connector (connection means) 10...Second connector (connection means) 11, 12...Velcro 13...Gloves 22, 32...Transmission means 23, 33...Receiving means 100…Assistance device 101...Base 102...Arm part 103...Pneumatic cylinder 104...Link mechanism 105...Wire 106...Electro-pneumatic converter F1...index finger F2…middle finger H...hand P...User W…Wrist

Claims

1. A command signal generating device has fingertip sensors that measure the pressure state at the fingertips of multiple fingers, and can generate a desired command signal for an external control object by changing the pressure pattern of the fingertips that have fingertip sensors on the same hand against an object, even while grasping the object with the palm of the hand and the bases of all the fingers.

2. 2. The command signal generating device according to claim 1, wherein the plurality of fingertip sensors are ON / OFF switches that determine whether or not a fingertip is pressing an object, and different command values ​​can be generated for a controlled object depending on the ON / OFF patterns of the switches.

3. The control object is controlled by ON / OFF signals from the plurality of fingertip sensors. the first command value is generated in a state where both of the two fingertip sensors are pressed; the second command value is generated in a state where only one of the fingertip sensors is pressed, the third command value is generated in a state where only the other fingertip sensor is pressed, The fourth command value is generated in a state where neither of the two fingertip sensors is pressed.

3. The command signal generating device according to claim 2, wherein the command signal generating device generates the command value:

4. 4. The command signal generating device according to claim 1, wherein the fingertip sensor is a force sensor or a potentiometer having a minute rotary knob, and a desired analog command signal can be generated for an external control object by changing the movement pattern of the fingertips to which the fingertip sensor is attached on the same hand, even while grasping an object with the palm of the hand and the bases of all the fingers.

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