JP5904744B2 - Armrest type remote control device - Google Patents

Description

  The present invention relates to an armrest-type remote control device that can remotely control a robot or an object under virtual reality while placing an elbow including a wrist.

  Remote control of robots and target objects under virtual reality has already been used in various fields. For example, remote control is performed for disaster areas and hazardous areas, extreme environments, work in outer space, movement of objects, etc., and in the field of medicine etc., surgical training equipment, for remote surgery Research on remote control is underway. In the field of amusement, the development of remote control for virtual control targets is underway.

  Remote control of the robot means that operation information (usually hand movement) of the robot operator is detected and sent to the robot, and the operation is performed based on the operation information sent by the robot. Recently, there are some that provide feedback of force so that more accurate operations can be performed, and many researches and developments are being conducted.

  In addition, performing remote control under virtual reality means operating a control target expressed on a computer under virtual reality based on information on the control device. As in the case of robots, when touching a maneuvering object expressed in virtual reality, a pseudo-feeling that the maneuvering object will feel when touching the object is created and fed back to the maneuvering device. A lot of research has been done.

By the way, remote control of a control target is not necessarily performed indoors. For example, a rescue team may have to remotely control a robot outdoors at a disaster site.
In that case, it is required that a large incidental object such as a desk is not required and that it can be easily transported to a disaster site and that it does not get tired even if it is operated for a long time.

As a remote control device that is often used so far, there is a joystick, but this can only command a limited angle of up to 3 degrees of freedom. I also had to put it on my desk.
The device of Patent Document 1 uses a spherical link mechanism and has a relatively compact structure. However, if a force sensation is to be applied, a drive system such as a motor must be attached to a joint portion that moves around, and the size is increased accordingly. The mass must be moved, and there is a risk that a light operation feeling cannot be obtained.
Patent Documents 2 and 3 are surgical simulators that generate a triaxial moment around one rotational center. However, it is necessary to arrange a complicated mechanism in the equator and the south pole, and a large space is required.

The apparatus shown in FIG. 4 of Non-Patent Document 1 uses a spherical coordinate type five-bar linkage mechanism, but the shaft rotating parts A and B are separated from each other, and the movable range in the longitude direction cannot be increased.
The device of Non-Patent Document 2 is a device that performs force feedback, but the device has a large number of links, has a complicated structure, is large, and needs to be installed and used on a table. Is limited.
Similarly to the apparatus of Non-Patent Document 1, the apparatus of Non-Patent Document 3 seems to be required to be installed on a table and used, and the range of use is limited.

  As a method that does not require a desk, as in Non-Patent Document 4, a control stick that has a backpack on the operator's back and stretches the control stick from there has been developed. You have to maneuver for a long time. Further, if an attempt is made to give a sense of force to the operator, the force is applied to the operator, so that it does not work well. A control stick such as a Wii (registered trademark) controller for games always generates a command value by floating the hand in the air, so there is a problem that it is easy to get tired with long-time operation and it is difficult to give a precise command. It was.

JP 2009-274200 A US Patent Application Publication No. 2005/0162383 US Patent Application Publication 2004 / 0145563A9

Bernard D. Adelstein et al, "KINEMATIC DESIGN OF A THREE DEGREE OF FREEDOM PARALLEL HAND CONTROLLER MECHANISM, Proceedings of the ASME Dynamic Systems and Control Division, DSC-Vol. 58, pp. 539-546, 1996 Y. Tsumaki et al. "Design of Compact 6-DOF Haptic Interface Arata et al. “Development of DELTA-4 haptic device using parallel link mechanism”, Vol.27, No.8, The Robotics Society of Japan Ingo Kossyk et al. "Design and evaluation of a wearable haptic interface for large workspaces", The 2010 IEEE / RSJ International Robots and Systems October 18-22, 2010, Taipei, Taiwan

  In view of the above problems, an object of the present invention is to develop an armrest-type remote control device that can be remotely controlled while an elbow including a wrist is placed so as not to get tired even if used for a long time.

According to invention of Claim 1, it is an armrest type remote control device,
An armrest member for placing an elbow including an operator's wrist, wherein the upper end of the first connecting member is rotatably attached via the first connecting shaft, and the upper end of the second connecting member is attached via the second connecting shaft. An armrest member that is rotatably mounted;
A base connecting member, the lower end of the first connecting member is rotatably connected via a third connecting shaft, and the lower end of the second connecting member is rotatably connected via a fourth connecting shaft. A base connecting member;
A base member third connecting shaft is fixed, outside the vertical axis member base member is erected on the ground, so that it can be pivoted in a vertical shaft member around a base member attached to a vertical shaft member , And
The distance between the first connecting shaft and the second connecting shaft is equal to the distance between the third connecting shaft and the fourth connecting shaft, the distance between the first connecting shaft and the third connecting shaft, and the distance between the second connecting shaft and the fourth connecting shaft. The armrest member, the first connecting member, the second connecting member, and the base connecting member form a parallelogram,
First angle detection means capable of detecting a rotation angle of the first connection member around the third connection axis, second angle detection means capable of detecting a rotation angle of the base connection member around the third connection axis, and A third angle detecting means capable of detecting an angle around the vertical shaft member, and detecting a state of the armrest member; and
A first spring mechanism that generates a restoring force around the third connection axis according to an inclination angle from the reference angle of the first connection member, and an inclination angle from the reference angle of an armrest member parallel to the base connection member A second spring mechanism for generating a restoring force around the first connecting shaft, and providing a restoring force according to the state of the armrest member,
An armrest type remote control device is provided.

According to the invention of claim 2, the spring of the first spring mechanism is attached to the first connecting member, and the lower non-circular pulley in which the wire extending from the end of the spring is fixed to the third connecting shaft. The lower non-circular pulley fixed to the third non-circular pulley after being wound around the outer periphery of the first non-circular pulley is independent of the inclination of the first connecting member relative to the vertical axis. The first spring mechanism is configured to generate a spring force that balances the weight of the entire armrest portion and the weight of the elbow including the wrist of the operator placed on the armrest member.
According to the invention of claim 3, the outer periphery of the upper non-circular pulley in which the spring of the second spring mechanism is attached to the armrest member and the wire extending from the end of the spring is fixed to the first connecting shaft. Is fixed to the upper non-circular pulley after being wound on
The upper non-circular pulley fixed with respect to the first connecting shaft has a weight of the armrest member including the second spring mechanism and an operator placed on the armrest member regardless of the inclination of the armrest member with respect to the horizontal axis. The second spring mechanism is configured to generate a spring force that balances the weight of the elbow including the wrist, and the first connecting shaft and the third connecting shaft are connected via connecting means, and one connecting shaft The same rotation as this rotation is transmitted to the other connecting shaft.
According to invention of Claim 4, the spring of a 2nd spring mechanism is attached to an armrest member, The circular pulley by which the wire extended | stretched from the edge part of the spring is being fixed with respect to the 2nd connection shaft, 4th connection The second lower non-circular pulley is wound around the outer periphery of the second lower non-circular pulley fixed to the third connecting shaft via the circular pulley fixed to the shaft. It is fixed.
According to the invention of claim 5, the first spring mechanism and the second spring mechanism can adjust the spring force.
According to the invention of claim 6, drive means for giving a force sense in the front-rear direction to the hand portion by giving torque to rotation around the third connecting shaft member;
Driving means for giving a force sense in the vertical direction to the hand portion by giving a torque to the rotation of the base connecting member around the third connecting shaft;
Drive means for applying a torque to the hand portion in the left-right direction by applying a torque to the rotation of the base member around the vertical axis member.
According to the invention of claim 7, the vertical shaft member is the rear leg of the folding chair.

The armrest-type remote control device of the present invention can be remotely controlled while placing an elbow including a wrist, and a holding force is generated according to the position of the elbow, so that it does not get tired even if it is used for a long time.
In particular, according to the seventh aspect, it is easy to carry and install, and remote control can be performed anywhere.

It is a figure which shows a mode that the armrest type control apparatus of the 1st Embodiment of this invention attached to the folding chair is being steered by the operator who sat on the chair. It is the figure which looked at the armrest-type control apparatus of FIG. 1 from diagonally backward. It is an enlarged view of the external appearance of the principal part of the armrest type control apparatus of FIG. FIG. 3 is a view showing the inside of an armrest member 10, a first connecting member 31, and a second connecting member 32. 3 is an enlarged view showing the inside of an armrest member 10, a first connecting member 31, and a second connecting member 32. FIG. It is the figure which looked at the 1st connection member 31, the 2nd connection member 32, and the base member 100 from the downward direction. 3 is an enlarged view of a lower part of a base member 100. FIG. FIG. 3 is a view showing the inside of a base member 100. It is a figure which shows the inside of the armrest member 10, the 1st connection member 31, and the 2nd connection member 32 when the front end of the armrest member 10 is pulled up. It is a figure which shows the inside of the armrest member 10, the 1st connection member 31, and the 2nd connection member 32 when the front end of the armrest member 10 is pushed down. The upper non-circular cam 23 and the second wire in the case of FIG. 4 (neutral state), FIG. 8 (when the front end of the armrest member 10 is pulled up), and FIG. 9 (when the front end of the armrest member 10 is pushed down). 16 is a comparative view showing the state of 16 and the first horizontal spring 12. FIG. It is a figure which shows the inside of the armrest member 10, the 1st connection member 31, and the 2nd connection member 32 when pushing the armrest member 10 ahead. It is a figure which shows the inside of the armrest member 10, the 1st connection member 31, and the 2nd connection member 32 when the armrest member 10 is pulled back. It is a figure which shows the structure of the armrest type control apparatus of 2nd Embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings. First, the first embodiment will be described.
FIG. 1 is a view showing a state in which an armrest type control device according to a first embodiment of the present invention attached to a chair is being operated by an operator sitting on a chair. FIG. 2 is an oblique view of the armrest type control device attached to the chair. FIG. 3 is an enlarged view of the external appearance of the main part of the armrest type control device of the present invention, and FIG. 4 is a diagram showing the inside of the main part. FIG. 5 is a view showing the armrest member 10 and the first connecting member 31 removed.
The first connecting member 31 and the second connecting member 32 are connected to the armrest member 10 via the first connecting shaft 21 and the second connecting shaft 22, respectively. The first connecting member 31 and the second connecting member 32 are connected to the base connecting member 40 via a third connecting shaft 41 and a fourth connecting shaft 42, respectively.

  The inter-axis distance X1 between the first connecting shaft 21 and the second connecting shaft 22 and the inter-axis distance X2 between the third connecting shaft 41 and the fourth connecting shaft 42 are equal, and the first connecting shaft 21 and the third connecting shaft 21 The inter-axis distance Y1 between the connecting shaft 41 and the first connecting shaft 21 and the fourth connecting shaft 42 are equal to each other, and the first connecting shaft 21, the second connecting shaft 22, A deformable parallelogram having the three connecting shafts 41 and the fourth connecting shaft 42 as a connection node is formed. Reference numeral 100 indicates a base member.

  As shown in FIGS. 4 and 5, a horizontal spring mounting member 11 is attached inside the armrest member 10, and a first horizontal spring 12 and a second horizontal spring 13 are attached to the horizontal spring mounting member 11. Yes. The second wire 16 is disposed through the inside of the first horizontal spring 12 and the second horizontal spring 13, and at the end of the first horizontal spring 12 and the second horizontal spring 13 opposite to the horizontal spring attachment member 11, A first horizontal spring stopper 14 and a second horizontal spring stopper 15 are attached to the second wire 16, respectively.

  A vertical spring attachment member 35 is attached inside the first connecting member 31, and a first vertical spring 33 and a second vertical spring 34 are attached to the vertical spring attachment member 35. The first wire 38 is disposed through the inside of the first vertical spring 33 and the second vertical spring 34, and at the end of the first vertical spring 33 and the second vertical spring 34 opposite to the vertical spring mounting member 35, A first vertical spring stopper 36 and a second vertical spring stopper 37 are attached to the first wire 38, respectively.

An upper non-circular pulley 23 and an upper circular pulley 24 are fixed to the first connecting shaft 21, and the second wire 16 is wound around the upper non-circular pulley 23 and fixed to the upper non-circular pulley 23 at one point. Has been. A lower non-circular pulley 43 and a lower circular pulley 44 are fixed to the third connecting shaft 41, and the second wire 16 is wound around the upper non-circular pulley 23 and fixed to the lower non-circular pulley 43 at one point. Has been.
The upper circular pulley 24 and the lower circular pulley 44 are connected by a third wire 45 so as to rotate together.

  A first motor attachment member 39 is attached inside the first connecting member 31, and a first motor 51 is fixed to the first motor attachment member 39. A second bevel gear 47 is attached to the shaft of the first motor 51, and the second bevel gear 47 meshes with a first bevel gear 46 attached to the third connecting shaft 41.

  Similar to the first connecting member 31, a second motor 52 is attached to the second motor attaching member 55 inside the second connecting member 32, and a fourth bevel gear 54 attached to the shaft of the second motor 52 is provided. It meshes with a third bevel gear 53 attached to the fourth connecting shaft 42.

FIG. 6 is a view of the first connecting member 31, the second connecting member 32, and the base member 100 as seen from below. In FIG. 6, reference numeral 101 indicates that the base member 100 is fixed. A third motor attachment member, which is the third motor attachment member 101 and attached with the reference numeral 58 in FIG.
Reference numeral 102 denotes a fixing member that fixes the third connecting shaft 41 inside the base member 100.

FIG. 7 is an enlarged view of the lower part of the base member 100. As shown in FIG. 7, the first member for attaching the base member 100 to the rear leg of the chair indicated by reference numeral 2 outside the base member 100 is shown. The mounting member 104 and the second mounting member 105 are fixed. The first mounting member 104 and the second mounting member 105 are rotatable with respect to the leg portion 1 of the chair.
FIG. 8 is a view showing the inside of the base member 100, and shows the third motor 58 attached to the third motor attachment member 101.

Hereinafter, the operation of the armrest type control device configured as described above will be described.
FIG. 4 shows a state in which the operator does not move the armrest member 10 up, down, front, back, left, or right in a neutral state, but FIG. 9 shows when the operator moves the front end of the armrest member 10 upward. 10 shows a state when the operator moves the front end of the armrest member 10 downward, FIG. 11 shows a state when the operator moves the armrest member 10 forward, and FIG. The state when the operator moves the armrest member 10 backward is shown.

  In the state shown in FIG. 9, the front end of the armrest member 10 is inclined upward, the first horizontal spring 12 extends, the second horizontal spring 13 contracts, and the first vertical spring 33 and the second vertical spring 34 are the same as in the neutral state. Keeping the length. Assuming that the inclination angle of the armrest member 10 with respect to the horizontal axis is θ1, θ1 is equal to the inclination angle of the base connecting member 40 with respect to the horizontal axis, and this inclination angle θ1 is applied to the second motor 52 disposed in the second connecting member 32. It is detected by an angle detection member (not shown) disposed adjacently.

  In other words, the fourth connecting shaft 42 is fixed to the base connecting member 40, and when the second connecting member 32 rotates, the fourth connecting shaft 42 revolves and thereby the third bevel gear 53 rotates and meshes therewith. The fourth bevel gear 54 is rotated, the shaft of the second motor 52 to which the fourth bevel gear 54 is attached is rotated, and meshed with the gear 56 attached to the shaft of the second motor 52. The rotation angle of the shaft to which the gear 57 is attached is detected by an angle detection member (not shown) on the back side of the second motor attachment member 55 (see FIG. 6). This angle detection member corresponds to the second angle detection means in the claims.

  In the state shown in FIG. 10, the front end of the armrest member 10 is inclined downward, the first horizontal spring 12 is contracted, the second horizontal spring 13 is extended, and the first vertical spring 33 and the second vertical spring 34 are the same as in the neutral state. Keeping the length. In contrast to the case of FIG. 8, the inclination angle θ1 of the armrest member 10 with respect to the horizontal axis goes downward from the horizontal axis, but is similarly detected by the angle detection member (not shown).

The operation of the first horizontal spring 12 and the second horizontal spring 13 in the state shown in FIGS. 4, 9, and 10 will be described with reference to FIG.
In FIG. 11, the first horizontal spring 12 is described right next to the upper non-circular pulley 23 in the state shown in FIG. 4, and the first horizontal spring 12 is described obliquely above the upper non-circular pulley 23. 10 is the state shown in FIG. 10, and the state shown in FIG. 11 is that the first horizontal spring 12 is described obliquely below the upper non-circular pulley 23.

Assume a virtual reference point A on the upper non-circular pulley 23. Further, assuming that the positions of the first spring stoppers 14 in the states shown in FIGS. 4, 9, and 10 are W _H , W _M , and W _L , respectively, the wires 16 in the states shown in FIGS. 4, 9, and 10 are used. Are assumed to be separated from the upper non-circular pulley 23 by S _H , S _M and S _L , respectively. 4, 9, and 10, the point away from the center of the upper non-circular pulley 23 and the points S _H , S _M , and S _L away from the upper non-circular pulley 23 are removed from the vertical spring attachment member 11. The distances to the side surfaces are L _H , L _M , and L _L.

The distance from A to W _H = the distance from A to W _M = the distance from A to W _L ,
The distance from the distance <A from A to S _H from the distance <A to S _M to S _L,
L _H > L _M > L _L.
Therefore, if the lengths of the first horizontal springs 12 in the states shown in FIGS. 4, 9, and 10 are B _H , B _M , and B _L , B _H > B _M > B _L.

Therefore, if the spring force of the first horizontal spring 12 in the states shown in FIGS. 4, 9, and 10 is F _H , F _M , and F _L , this spring generates a force that tends to expand when compressed. are those, since it is intended to generate a large force enough to be shorter contracted becomes _{F H <F M <F L} .
This spring force is a force for pushing the vertical spring mounting member 11 toward the upper non-circular pulley 23 side.
On the other hand, FIG. 4, FIG. 9, S _H point away from the point away from the center upper non-circular pulley 23 of the upper non-circular pulley 23 in the state shown in FIG. 10, S _M, the distance to the S _L R _H, R _M , R _L , R _H > R _M > R _L.

In the state shown in FIGS. 4, 9, and 10, counterclockwise torques of F _H × R _H , F _M × R _M , and F _L × R _L are applied to the first connecting shaft 21, respectively. .
Here, as described above, F _H <F _M <F _L and R _H > R _M > R _L.
Therefore, the values of F _H × R _H , F _M × R _M , and F _L × R _L can be made constant.
That is, the outer peripheral shape of the upper non-circular pulley 23 is determined so that the values of F _H × R _H , F _M × R _M , and F _L × R _L are constant.
At that time, the spring is set so that the weight of the operator's elbow (including the wrist) and the weight of the armrest member 10 (including the weight of the internal mechanism) can be compensated, that is, the weight is not felt.

As shown in FIGS. 12 and 13, when the armrest member 10 is moved forward or backward and the first horizontal spring 12 and the second horizontal spring 13 do not expand and contract, the first vertical spring 33 and the second vertical spring 34 performs the same movement and action as the first horizontal spring 12 and the second horizontal spring 13 described above.
The inclination θ2 of the first connecting member 31 from the vertical axis is detected by an angle detection member (not shown) attached to the first motor 51 provided in the first connecting member 31.

  That is, the third connecting shaft 41 is fixed to the base connecting member 40, and when the first connecting member 31 rotates, the third connecting shaft 41 revolves, so that the first bevel gear 46 rotates and meshes therewith. The second bevel gear 47 is rotated, the shaft of the first motor 51 to which the second bevel gear 47 is attached rotates, and meshes with the gear 48 attached to the shaft of the first motor 51. The rotation angle of the shaft to which the gear 49 is attached is detected by an angle detection member (not shown) on the back side of the first motor attachment member 39 (see FIG. 6). This angle detection member corresponds to the first angle detection means in the claims.

  The armrest member 10 and the armrest member 10 are inclined upward or downward, and the first connecting member 31 (and the second connecting member 32) can also be moved forward or backward. As described above, since the upper circular pulley 24 and the lower circular pulley 44 are connected to be interlocked and rotated by the third wire 45, for example, the armrest member 10 and the upper connecting member 31 ( When the second connecting member 32) is moved forward, the upper non-circular pulley 23 and the lower non-circular pulley 43 rotate more clockwise than the case shown in FIG. As a result, the spring force becomes smaller.

Next, detection of the rotation angle θ3 around the vertical axis will be described.
In FIG. 8, a reference numeral 111 indicates a gear attached to a shaft of a third motor (not shown), and the gear 111 meshes with a semicircular sector gear 112. The sector gear 112 is fixed to a first positioning member 106 that is fixed to the leg 1. On the other hand, on the upper side of the second mounting member 105, a second positioning member 107 that is similarly fixed to the leg 1 is disposed.

  The overall mounting height is determined by sandwiching the first mounting member 104 and the second mounting member 105 attached to the base member 100 by the first positioning member 106 and the second positioning member 107 from above and below, as described above. In addition, since the first mounting member 104 and the second mounting member 105 are not fixed to the leg portion 1 of the chair, the whole can rotate around the leg portion 1 via the base member 100.

  As shown in FIG. 7, a gear 113 is attached to the shaft of the third motor in addition to the gear 111 that meshes with the sector gear 112, and the gear 113 meshes with a gear 114 having a smaller diameter. The rotation angle of the shaft to which the gear 114 is attached is detected by an angle detection member (not shown) on the back side of the third motor attachment member 101 as a rotation angle θ3 about the vertical axis. This angle detection member corresponds to the third angle detection means in the claims.

Next, a second embodiment will be described with reference to FIG.
The second embodiment includes the armrest member 10, the base connecting member 40, the first connecting member 31, and the second connecting member 32, similar to the first embodiment, and includes the first connecting shaft 21 and the second connecting shaft 22. A deformable parallelogram having the third connecting shaft 41 and the fourth connecting shaft 42 as joint points is formed.

  Unlike the first embodiment, the upper circular pulley 24 is not attached to the first connecting shaft 21, and the lower circular pulley 44 is not attached to the third connecting shaft. The upper circular pulley 25 is attached to the connecting shaft 22, and the lower circular pulley 25 is attached to the fourth connecting shaft 42. In addition to the lower noncircular pulley 43 of the first embodiment, a similar second lower noncircular pulley 27 is attached to the third connecting shaft 41. The second lower non-circular pulley 27 exhibits an effect due to a radius change in the lower left portion in the figure.

  A first horizontal spring 12 and a second horizontal spring 13 are attached to the horizontal spring attachment member 11 as in the first embodiment. The first long wire 61 that is longer than the second wire 16 of the first embodiment partially contacts the upper circular pulley 25 and the lower circular pulley 26 in the counterclockwise direction in the drawing starting from the first horizontal spring stopper 14. The second lower non-circular pulley 27 is fixed to a portion that does not exhibit the effect due to the radius change of the second lower non-circular pulley 27, for example, the right middle portion in the figure.

  On the other hand, the second long wire 62 partially contacts the upper circular pulley 25 in the clockwise direction opposite to the first long wire 61 starting from the second horizontal spring stopper 15, and the lower circular pulley 26 also partially rotates in the clockwise direction. After contact, the second lower non-circular pulley 27 is fixed to a portion that does not exhibit the effect due to the radius change of the second lower non-circular pulley 27, for example, the right middle portion in the figure.

  As described above, two upper circular pulleys 25 and two lower circular pulleys 26 are formed because the first long wire 61 and the second long wire 62 are in circumferential contact with each other. The first long wire 61 and the second long wire 62 cause the upper circular pulley 25, the lower circular pulley 26, and the second lower non-circular pulley 27 to rotate in opposite directions when shifted from the neutral state. Try to.

  In the second embodiment, the upper circular pulley 24 is not attached to the first connecting shaft 21, the lower circular pulley 44 is not attached to the third connecting shaft, and of course, there is no third wire 45. . Therefore, it is possible to prevent the component parts from being concentrated in the first connecting member 31 and to facilitate the assembly.

The state including the position and posture of the armrest member can be specified by the signals detected by the angle detection sensors attached to the first motor 51, the second motor 52, and the third motor 58 described above. This signal is transmitted to an operation target such as a robot by an appropriate, wired or wireless transmission means (not shown), and a corresponding part of the operation target such as the robot moves based on the transmitted signal to perform a desired operation. .
Here, when a control target such as a robot contacts a certain object and receives a reaction force, the reaction force is detected by a sensor provided in advance in the robot or the like, and the signal is transmitted to the remote control device of the present invention.

Then, based on the transmitted signal, the first motor 51, the second motor 52, and the third motor 58 are operated to give a force sense to the operator. At this time, the force sense becomes a target value. In addition, a current corresponding to the force is supplied to the motor. The force sense is boosted with respect to the force detected by the robot by a predetermined boost ratio, but the boost ratio may be smaller than 1 or larger than 1.
A control device (not shown) is provided in the base member 100 for the transmission / reception of the signal, the setting of the boost ratio, the correction of the detection value of the roll angle described above, and the like.

The present invention is a remote control device for remotely controlling a robot or a control object under virtual reality, and can be widely applied to a robot that performs remote control, an amusement device that uses virtual reality, and the like.
It is particularly suitable when a rescue team or the like remotely controls a robot used outdoors.

DESCRIPTION OF SYMBOLS 1 Chair 2 Rear leg 10 Armrest member 11 Horizontal spring attachment member 12 1st horizontal spring 13 2nd horizontal spring 16 2nd wire 17 Grip 21 1st connection shaft 22 2nd connection shaft 23 Upper noncircular pulley 24 Upper circular pulley 25 Upper Circular pulley 26 Lower circular pulley 27 Second lower non-circular pulley 31 First connecting member 32 Second connecting member 33 First vertical spring 34 Second vertical spring 35 Vertical spring mounting member 38 First wire 40 Base connecting member 41 Third connecting Shaft 42 Fourth connecting shaft 43 Lower non-circular pulley 44 Lower circular pulley 45 Third wire 51 First motor 52 Second motor 58 Third motor 100 Base member 112 Sector gear

Claims (7)

An armrest-type remote control device,
An armrest member for placing an elbow including an operator's wrist, wherein the upper end of the first connecting member is rotatably attached via the first connecting shaft, and the upper end of the second connecting member is attached via the second connecting shaft. An armrest member that is rotatably mounted;
A base connecting member, the lower end of the first connecting member is rotatably connected via a third connecting shaft, and the lower end of the second connecting member is rotatably connected via a fourth connecting shaft. A base connecting member;
A base member third connecting shaft is fixed, outside the vertical axis member base member is erected on the ground, so that it can be pivoted in a vertical shaft member around a base member attached to a vertical shaft member , And
The distance between the first connecting shaft and the second connecting shaft is equal to the distance between the third connecting shaft and the fourth connecting shaft, the distance between the first connecting shaft and the third connecting shaft, and the distance between the second connecting shaft and the fourth connecting shaft. The armrest member, the first connecting member, the second connecting member, and the base connecting member form a parallelogram,
First angle detection means capable of detecting a rotation angle of the first connection member around the third connection axis, second angle detection means capable of detecting a rotation angle of the base connection member around the third connection axis, and A third angle detecting means capable of detecting an angle around the vertical shaft member, and detecting a state of the armrest member; and
A first spring mechanism that generates a restoring force around the third connection axis according to an inclination angle from the reference angle of the first connection member, and an inclination angle from the reference angle of an armrest member parallel to the base connection member A second spring mechanism for generating a restoring force around the first connecting shaft, and providing a restoring force according to the state of the armrest member,
An armrest-type remote control device characterized by that. The spring of the first spring mechanism is attached to the first connecting member, and the wire extending from the end of the spring is wound around the outer periphery of the lower non-circular pulley fixed to the third connecting shaft and then the lower part Fixed against a non-circular pulley,
The lower non-circular pulley fixed to the third connecting shaft includes the weight of the entire armrest portion and the operator's wrist placed on the armrest member regardless of the inclination of the first connecting member with respect to the vertical axis. The first spring mechanism is configured to generate a spring force that balances the weight of the first spring mechanism.
The armrest-type remote control device according to claim 1. The spring of the second spring mechanism is attached to the armrest member, and the wire extending from the end of the spring is wound around the outer periphery of the upper noncircular pulley fixed to the first connecting shaft, and then the upper noncircular Fixed to the pulley,
The upper non-circular pulley fixed with respect to the first connecting shaft has a weight of the armrest member including the second spring mechanism and an operator placed on the armrest member regardless of the inclination of the armrest member with respect to the horizontal axis. The second spring mechanism is configured to generate a spring force that balances the weight of the elbow including the wrist, and the first connecting shaft and the third connecting shaft are connected via connecting means, and one connecting shaft The armrest-type remote control device according to claim 1, wherein the same rotation as the rotation is transmitted to the other connecting shaft.   The spring of the second spring mechanism is attached to the armrest member, a circular pulley in which a wire extending from the end of the spring is fixed to the second connecting shaft, and a circular fixed to the fourth connecting shaft. It is wound around the outer periphery of the second lower non-circular pulley fixed to the third connecting shaft via the pulley and then fixed to the second lower non-circular pulley. The armrest type remote control device according to any one of claims 1 to 3.   The armrest-type remote control device according to any one of claims 1 to 4, wherein the first spring mechanism and the second spring mechanism are adjustable in spring force. Drive means for giving a force sense in the front-rear direction to the hand portion by applying torque to the rotation of the first connecting member around the third connecting shaft;
Drive means for giving a force sensation in the vertical direction to the hand portion by giving a torque to the rotation of the base connecting member around the third connecting shaft;
Drive means for giving a force sense in the left-right direction to the elbow by giving torque to rotation around the vertical axis member of the base member,
It is possible to give a force sense according to the state of the armrest member,
The armrest type remote control device according to any one of claims 1 to 5, wherein   The armrest type remote control device according to any one of claims 1 to 6, wherein the vertical shaft member is a rear leg of the folding chair.

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