JPH0857783A - Operating device - Google Patents
Operating deviceInfo
- Publication number
- JPH0857783A JPH0857783A JP19867994A JP19867994A JPH0857783A JP H0857783 A JPH0857783 A JP H0857783A JP 19867994 A JP19867994 A JP 19867994A JP 19867994 A JP19867994 A JP 19867994A JP H0857783 A JPH0857783 A JP H0857783A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- detecting
- operating
- displacement
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 63
- 238000001514 detection method Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 abstract description 35
- 210000000707 wrist Anatomy 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/026—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring using multi-axis control levers, or the like, e.g. joysticks, wherein at least one degree of freedom is employed for steering, slowing down, or dynamic anchoring
Landscapes
- Manipulator (AREA)
- Mechanical Control Devices (AREA)
Abstract
(57)【要約】
【目的】 操作性が良好で、角度と変位の相互干渉のな
い信号が得られる操作装置を提供する。
【構成】 操作部21は支持アーム25の一端に軸支さ
れ、Z軸周りに回転自在である。支持アーム25には、
Z軸周りの回転角度γを検出するためのロータリエンコ
ーダ23と、フィール機構などを持つ作動制御装置24
が搭載される。支持アーム25の他端は支持アーム29
の一端に軸支されており、Y軸周りに回転自在である。
支持アーム29には、Y軸周りの回転角度βを検出する
ためのロータリエンコーダ27と作動制御装置28が搭
載される。支持アーム29の他端は支持部材33に軸支
されており、X軸周りに回転自在である。支持部材33
には、X軸周りの回転角度αを検出するためのロータリ
エンコーダ31と作動制御装置32が搭載される。操作
部21の操作中心はX軸、Y軸、Z軸の交点とほぼ一致
しており、操作者は手首をひねるように操作する。
(57) [Summary] [Object] To provide an operating device having good operability and capable of obtaining signals without mutual interference of angle and displacement. [Structure] The operation unit 21 is pivotally supported on one end of a support arm 25 and is rotatable about the Z axis. The support arm 25 includes
A rotary encoder 23 for detecting a rotation angle γ about the Z axis, and an operation control device 24 having a feel mechanism and the like.
Will be installed. The other end of the support arm 25 has a support arm 29.
Is rotatably supported at one end thereof and is rotatable around the Y axis.
The support arm 29 is equipped with a rotary encoder 27 and an operation control device 28 for detecting a rotation angle β around the Y axis. The other end of the support arm 29 is axially supported by the support member 33 and is rotatable around the X axis. Support member 33
A rotary encoder 31 and an operation control device 32 for detecting a rotation angle α around the X axis are mounted on the. The operation center of the operation unit 21 substantially coincides with the intersection of the X axis, the Y axis, and the Z axis, and the operator operates to twist the wrist.
Description
【0001】[0001]
【産業上の利用分野】本発明は、航空機、船舶、車両等
の輸送機器一般、ロボット、運転模擬装置、コンピュー
タのデータ入力などを操作するための操作装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for operating transportation equipment such as aircrafts, ships and vehicles in general, robots, driving simulators, and computer data input.
【0002】[0002]
【従来の技術】図3は、従来の操作装置の一例を示す斜
視図である。操作装置1は、操作者がジョイスティック
と呼ばれる操作部2をX軸方向から把持して、前後操
作、左右操作またはひねり操作を行うことによって、互
いに直交するX軸、Y軸、Z軸の周りの回転角度を検出
するものである。2. Description of the Related Art FIG. 3 is a perspective view showing an example of a conventional operating device. The operating device 1 is configured such that an operator grips an operating portion 2 called a joystick from the X-axis direction and performs a front-back operation, a left-right operation, or a twisting operation, so that the X-axis, the Y-axis, and the Z-axis that are orthogonal to each other The rotation angle is detected.
【0003】操作部2は手で握り易い形状を成し、連結
棒3を介して支持部材4の中央部に軸支され、Z軸周り
に回転自在である。支持部材4には、連結棒3のZ軸周
りの回転角度、すなわちひねり角度を検出するためのロ
ータリエンコーダ5が取付られている。The operating portion 2 has a shape that can be easily grasped by hand, is axially supported by the central portion of the supporting member 4 via a connecting rod 3, and is rotatable around the Z axis. A rotary encoder 5 for detecting a rotation angle of the connecting rod 3 about the Z axis, that is, a twist angle is attached to the support member 4.
【0004】支持部材4の両端は矩形状の支持枠6に軸
支され、Y軸周りに回転自在である。支持枠6には、支
持部材4のY軸周りの回転角度、すなわち前後操作の角
度を検出するためのロータリエンコーダ7が取付けられ
ている。Both ends of the support member 4 are axially supported by a rectangular support frame 6 and are rotatable around the Y axis. A rotary encoder 7 for detecting the rotation angle of the support member 4 around the Y axis, that is, the angle of the front-back operation is attached to the support frame 6.
【0005】支持枠6は2つの連結棒8を介して対向す
る支持板10に軸支され、X軸周りに回転自在である。
一方の支持板10には、連結棒8のX軸周りの回転角
度、すなわち左右操作の角度を検出するためのロータリ
エンコーダ9が取付けられている。なお、支持板10は
支持台11に固定されている。The support frame 6 is rotatably supported by opposing support plates 10 via two connecting rods 8 and is rotatable around the X axis.
A rotary encoder 9 for detecting the rotation angle of the connecting rod 8 around the X axis, that is, the angle of left and right operation is attached to one of the support plates 10. The support plate 10 is fixed to the support base 11.
【0006】こうして操作者が操作部2を操作すると、
操作部2はX軸、Y軸、Z軸の交点を回転中心とした首
振り運動を行い、各軸周りの回転角度が各ロータリエン
コーダ5、7、9によって検出される。検出された角度
信号が操舵制御装置に入力されると、種々の演算処理の
後、機器の姿勢等を制御する。In this way, when the operator operates the operation section 2,
The operation unit 2 makes a swinging motion with the intersection of the X axis, the Y axis, and the Z axis as the center of rotation, and the rotation angle around each axis is detected by each rotary encoder 5, 7, 9. When the detected angle signal is input to the steering control device, the posture and the like of the device are controlled after various calculation processes.
【0007】なお他の先行技術として、特開昭63−1
17000号、特開平2−254098号がある。Still another prior art is Japanese Patent Laid-Open No. 63-1.
17,000 and JP-A-2-254098.
【0008】[0008]
【発明が解決しようとする課題】しかしながら従来の操
作装置では、操作部2と直交3軸の交点とが一定距離だ
け離れているため、操作者は操作部2自体の回転成分だ
けでなく直線変位成分も加えた操作を行うことになる。
たとえば、操作者がX軸方向に倒す操作は、X軸方向の
変位操作と操作部2自体の回転操作との合成となり、ロ
ータリエンコーダ7は両操作の合成信号を検出している
ことになる。そのため、検出信号の中に、直線変位に起
因する角度成分が意図せずに含まれることになる。この
ことはY軸方向に倒す操作についても同様である。However, in the conventional operating device, since the operating portion 2 and the intersection of the three orthogonal axes are apart from each other by a certain distance, the operator is not limited to the rotational component of the operating portion 2 itself, but the linear displacement. The operation will be performed with the components added.
For example, the operation of tilting the operator in the X-axis direction is a combination of the displacement operation in the X-axis direction and the rotation operation of the operation unit 2 itself, and the rotary encoder 7 detects the combined signal of both operations. Therefore, the angle component resulting from the linear displacement is unintentionally included in the detection signal. This also applies to the operation of tilting in the Y-axis direction.
【0009】また、操作部2の重心位置と直交3軸の交
点とが一致しないため、手を離した状態(ハンドオフ状
態)で振動や加速度が加わると操作部2が変位すること
があり、操作者の意図に反した操作が行われる場合があ
る。Further, since the position of the center of gravity of the operating portion 2 does not coincide with the intersection of the three orthogonal axes, the operating portion 2 may be displaced when vibration or acceleration is applied in a state where the hand is released (hand-off state). An operation contrary to the intention of the person may be performed.
【0010】また、操作部2を握った状態(ハンドオン
状態)において、座席、操作者、操作部、航空機などの
振動、動揺または外乱が原因となって、操作者の手と操
作部2との相対関係が変化し、操作者の意図しない入力
が加わる場合がある。Further, when the operating portion 2 is gripped (hand-on state), the operator's hand and the operating portion 2 are caused by vibration, shaking, or disturbance of the seat, the operator, the operating portion, the aircraft, or the like. The relative relationship may change and an input unintended by the operator may be added.
【0011】また、操作者の意図しない入力を回避する
ため、操作者の個人差、体型、好みに適合するように操
作部2の取付位置を調整して位置の最適化を図ることも
考えられるが、このような機構は一般に複雑で大型にな
る。Further, in order to avoid an unintended input by the operator, it is possible to optimize the position by adjusting the mounting position of the operating portion 2 so as to suit the individual differences, body type and preference of the operator. However, such mechanisms are generally complex and bulky.
【0012】本発明の目的は、操作性が良好で、操作角
度および操作変位を独立して誤差の少ない検出信号が得
られる操作装置を提供することである。An object of the present invention is to provide an operating device which has good operability and which can obtain a detection signal with a small error independently of an operation angle and an operation displacement.
【0013】[0013]
【課題を解決するための手段】本発明は、操作者が把持
する操作部と、操作部を通る第1軸周りの操作角度を検
出するための第1角度検出手段と、第1軸と直交しかつ
操作部を通る第2軸周りの操作角度を検出するための第
2角度検出手段と、第1軸および第2軸と直交しかつ操
作部を通る第3軸周りの操作角度を検出するための第3
角度検出手段とを備えることを特徴とする操作装置であ
る。また本発明は、操作者が把持する操作部と、第1軸
方向に沿って操作部の変位を検出するための第1変位検
出手段と、第1軸と直交する第2軸方向に沿って操作部
の変位を検出するための第2変位検出手段と、第1軸お
よび第2軸と直交する第3軸に沿って操作部の変位を検
出するための第3変位検出手段とを備えることを特徴と
する操作装置である。また本発明は、操作者が把持する
操作部と、操作部を通る第1軸周りの操作角度を検出す
るための第1角度検出手段と、第1軸と直交しかつ操作
部を通る第2軸周りの操作角度を検出するための第2角
度検出手段と、第1軸および第2軸と直交しかつ操作部
を通る第3軸周りの操作角度を検出するための第3角度
検出手段と、第1軸方向に沿って操作部の変位を検出す
るための第1変位検出手段と、第1軸と直交する第2軸
方向に沿って操作部の変位を検出するための第2変位検
出手段と、第1軸および第2軸と直交する第3軸に沿っ
て操作部の変位を検出するための第3変位検出手段とを
備えることを特徴とする操作装置である。SUMMARY OF THE INVENTION According to the present invention, an operating portion gripped by an operator, a first angle detecting means for detecting an operating angle around a first axis passing through the operating portion, and an orthogonal to the first axis. A second angle detecting means for detecting an operation angle around the second axis passing through the operating portion, and an operation angle around the third axis orthogonal to the first axis and the second axis and passing through the operating portion. For the third
An operating device comprising: an angle detecting means. Further, according to the present invention, an operating portion gripped by an operator, a first displacement detecting means for detecting a displacement of the operating portion along the first axis direction, and a second axial direction orthogonal to the first axis are provided. A second displacement detecting means for detecting a displacement of the operating portion; and a third displacement detecting means for detecting a displacement of the operating portion along a third axis orthogonal to the first axis and the second axis. Is an operating device. Further, according to the present invention, an operating section grasped by an operator, a first angle detecting means for detecting an operating angle around a first axis passing through the operating section, and a second angle detecting section orthogonal to the first axis and passing through the operating section. Second angle detecting means for detecting an operating angle around the axis, and third angle detecting means for detecting an operating angle around a third axis that is orthogonal to the first axis and the second axis and passes through the operating portion. , A first displacement detecting means for detecting a displacement of the operating part along the first axis direction, and a second displacement detecting means for detecting a displacement of the operating part along a second axis direction orthogonal to the first axis. An operating device comprising: means and a third displacement detecting means for detecting a displacement of the operating portion along a third axis orthogonal to the first axis and the second axis.
【0014】[0014]
【作用】本発明に従えば、操作部と直交3軸の交点とが
ほぼ一致することによって、操作者は操作部自体の回転
操作を行うだけで各軸周りの回転角度を入力することが
できるため、直線変位成分を加えた操作を行わなくて済
む。また、操作部の3次元姿勢と検出信号が示す角度と
が視覚的に対応するようになり、操作者の誤認や誤操作
を防止できる。さらに、振動や急激な加速度など外乱の
大部分は直線変位成分であるため、操作部の重心位置と
回転中心とがほぼ一致することによって、振動等による
モーメントが作用しなくなり、外乱による影響を解消で
きる。また、人為的または偶発的な動揺が操作部に加わ
っても、これらは振動などと同様に直線変位成分が大部
分であるため、検出信号に殆ど現われない。こうして操
作者の意図しない入力を極力減らすことができる。According to the present invention, since the operating portion and the intersections of the three orthogonal axes are substantially coincident with each other, the operator can input the rotation angle around each axis only by rotating the operating portion itself. Therefore, it is not necessary to perform an operation that adds a linear displacement component. In addition, the three-dimensional posture of the operation unit and the angle indicated by the detection signal visually correspond to each other, and it is possible to prevent erroneous recognition and erroneous operation by the operator. Furthermore, most of the disturbances such as vibrations and rapid accelerations are linear displacement components, so that the moment of vibration etc. does not act because the center of gravity of the operation part and the center of rotation almost coincide, eliminating the influence of disturbances. it can. Further, even if an artificial or accidental shaking is applied to the operation portion, these hardly show up in the detection signal because the linear displacement components are mostly like the vibration. In this way, it is possible to reduce as much input as the operator does not intend.
【0015】また本発明に従えば、直交3軸方向に沿っ
て操作部の直線変位を検出することができる。また、操
作部の変位を検出するための基準位置を任意設定可能に
することによって、操作者の個人差に応じてたとえば操
作部の前後位置、左右位置、上下位置の最適化を図るこ
とができる。Further, according to the present invention, the linear displacement of the operating portion can be detected along the directions of the three orthogonal axes. Further, by making it possible to arbitrarily set the reference position for detecting the displacement of the operation unit, it is possible to optimize the front-back position, left-right position, and vertical position of the operation unit, for example, in accordance with the operator's individual difference. .
【0016】また本発明に従えば、上述の作用に加え
て、直交3軸周りの操作角度および直交3軸方向の変
位、すなわち6つの自由度を独立に検出することができ
るため、従来と比べて多様な操作を実現することができ
る。Further, according to the present invention, in addition to the above-described operation, the operation angles around the orthogonal three axes and the displacements in the directions of the orthogonal three axes, that is, the six degrees of freedom can be independently detected. Various operations can be realized.
【0017】[0017]
【実施例】図1は、本発明の一実施例を示す斜視図であ
る。操作装置20は、操作者がジョイスティックと呼ば
れる操作部21を把持して、直交3軸周りにひねり操作
を行うことによって、互いに直交するX軸、Y軸、Z軸
の周りの回転角度を検出するものである。1 is a perspective view showing an embodiment of the present invention. The operation device 20 detects a rotation angle around an X-axis, a Y-axis, and a Z-axis which are orthogonal to each other by an operator gripping an operation unit 21 called a joystick and performing a twisting operation around three orthogonal axes. It is a thing.
【0018】操作部21は手で握り易い形状を成し、連
結棒22を介してL字状に屈曲した支持アーム25の一
端に軸支されており、Z軸周りに回転自在である。支持
アーム25には、連結棒22のZ軸周りの回転角度γ、
すなわち操作部21のひねり角度を検出するためのロー
タリエンコーダ23が取付られている。また、支持アー
ム25とロータリエンコーダ23との間には、操作に一
定の抵抗感を付与するフィール機構、操作速度に応じた
抵抗を付与するダンパ機構、操作量のストロークを制限
するオーソリティ機構、制御対象の状態に応じて操作部
21の角度や操作力を変化させるバックドライブ機構な
どを備えた作動制御装置24が搭載される。The operating portion 21 has a shape that can be easily grasped by a hand, is pivotally supported by one end of a support arm 25 bent into an L shape through a connecting rod 22, and is rotatable around the Z axis. The support arm 25 has a rotation angle γ about the Z axis of the connecting rod 22,
That is, the rotary encoder 23 for detecting the twist angle of the operating portion 21 is attached. Further, between the support arm 25 and the rotary encoder 23, a feel mechanism that gives a certain resistance to the operation, a damper mechanism that gives a resistance according to the operation speed, an authority mechanism that limits the stroke of the operation amount, a control An operation control device 24 including a back drive mechanism that changes the angle and operation force of the operation unit 21 according to the state of the target is installed.
【0019】支持アーム25の他端は、連結棒26を介
してL字状に屈曲した支持アーム29の一端に軸支され
ており、Y軸周りに回転自在である。支持アーム29に
は、連結棒26のY軸周りの回転角度βを検出するため
のロータリエンコーダ27が取付けられている。また、
支持アーム29とロータリエンコーダ27との間には、
上述と同様な機構を備えた作動制御装置28が搭載され
る。The other end of the support arm 25 is axially supported by one end of a support arm 29 bent in an L-shape via a connecting rod 26, and is rotatable around the Y axis. A rotary encoder 27 for detecting a rotation angle β of the connecting rod 26 about the Y axis is attached to the support arm 29. Also,
Between the support arm 29 and the rotary encoder 27,
An operation control device 28 having a mechanism similar to that described above is mounted.
【0020】支持アーム29の他端は、連結棒30を介
して取付台34から立設した支持部材33に軸支されて
おり、X軸周りに回転自在である。支持部材33には、
連結棒30のX軸周りの回転角度αを検出するためのロ
ータリエンコーダ31が取付けられている。また、連結
棒30とロータリエンコーダ31の間には、上述と同様
な機構を備えた作動制御装置32が搭載される。The other end of the support arm 29 is axially supported by a support member 33 which is erected from a mount 34 via a connecting rod 30, and is rotatable around the X axis. The support member 33 includes
A rotary encoder 31 for detecting the rotation angle α of the connecting rod 30 about the X axis is attached. Further, between the connecting rod 30 and the rotary encoder 31, an operation control device 32 having the same mechanism as described above is mounted.
【0021】操作部21の操作中心はX軸、Y軸、Z軸
の交点とほぼ一致しており、操作者は手首を各軸周りに
ひねるように操作する。The operation center of the operation unit 21 substantially coincides with the intersection of the X axis, Y axis, and Z axis, and the operator operates the wrist by twisting the wrist around each axis.
【0022】次に動作を説明する。操作者が操作部21
をZ軸周りに回転させると、連結棒22がZ軸周りに回
転して、Z軸周りの回転角度γがロータリエンコーダ2
3によって検出される。Next, the operation will be described. The operator operates the operation unit 21.
Is rotated about the Z-axis, the connecting rod 22 rotates about the Z-axis, and the rotation angle γ about the Z-axis changes to the rotary encoder 2.
3 detected.
【0023】また、操作者が操作部21をY軸周りに回
転させると、連結棒22、支持アーム25および連結棒
26全体がY軸周りに回転して、Y軸周りの回転角度β
がロータリエンコーダ27によって検出される。When the operator rotates the operating portion 21 around the Y axis, the connecting rod 22, the support arm 25 and the connecting rod 26 as a whole rotate around the Y axis, and the rotation angle β around the Y axis.
Is detected by the rotary encoder 27.
【0024】また、操作者が操作部21をX軸周りに回
転させると、連結棒22、支持アーム25、連結棒2
6、支持アーム29および連結棒30全体がX軸周りに
回転して、X軸周りの回転角度αがロータリエンコーダ
31によって検出される。When the operator rotates the operating portion 21 around the X axis, the connecting rod 22, the support arm 25, and the connecting rod 2
6, the support arm 29 and the entire connecting rod 30 rotate about the X axis, and the rotation angle α about the X axis is detected by the rotary encoder 31.
【0025】こうして操作者が操作部21を操作する
と、操作部21はX軸、Y軸、Z軸の交点を中心とした
角変位を行い、各軸周りの回転角度が各ロータリエンコ
ーダ24、27、31によって検出される。回転角度
α、β、γは角度信号に変換されて、操舵制御装置に入
力され、種々の演算処理の後、機器の姿勢を制御する。When the operator operates the operation section 21 in this way, the operation section 21 performs angular displacement around the intersection of the X axis, the Y axis, and the Z axis, and the rotation angle around each axis is the rotary encoder 24, 27. , 31 detected. The rotation angles α, β, γ are converted into angle signals and input to the steering control device, and after various arithmetic processing, the posture of the device is controlled.
【0026】図2は、本発明の他の実施例を示す斜視図
である。操作装置40は、操作者が操作部21を把持し
て、前後操作、左右操作または上下操作を行うことによ
って、互いに直交するX軸、Y軸、Z軸方向の直線変位
量を検出するものである。FIG. 2 is a perspective view showing another embodiment of the present invention. The operation device 40 detects a linear displacement amount in the X-axis, Y-axis, and Z-axis directions that are orthogonal to each other by the operator holding the operation unit 21 and performing the front-back operation, the left-right operation, or the up-down operation. is there.
【0027】操作部21は手で握り易い形状を成し、操
作台41の中央付近に着脱自在に設置される。操作台4
1は矩形状の支持フレーム42の上辺に固定されてい
る。支持フレーム42の下辺は、スライド機構43によ
ってX軸方向に直線変位自在に支持されている。スライ
ド機構43には、支持フレーム42とのX軸方向に沿っ
た相対変位量、すなわちX変位量を検出するためのリニ
アエンコーダ(図示せず)が内蔵されており、さらに操
作に一定の抵抗感を付与するフィール機構、操作速度に
応じた抵抗を付与するダンパ機構、操作量のストローク
を制限するオーソリティ機構、制御対象の状態に応じて
操作部21の変位や操作力を変化させるバックドライブ
機構などを備えた作動制御装置が内蔵される。The operating portion 21 has a shape that can be easily grasped by a hand, and is detachably installed near the center of the operating console 41. Control console 4
1 is fixed to the upper side of the rectangular support frame 42. The lower side of the support frame 42 is supported by the slide mechanism 43 so as to be linearly displaceable in the X-axis direction. The slide mechanism 43 has a built-in linear encoder (not shown) for detecting the relative displacement amount with respect to the support frame 42 along the X-axis direction, that is, the X displacement amount, and further has a certain resistance to the operation. , A damper mechanism that imparts resistance according to the operation speed, an authority mechanism that limits the stroke of the operation amount, a back drive mechanism that changes the displacement or operation force of the operation unit 21 according to the state of the controlled object, etc. A built-in operation control device is provided.
【0028】スライド機構43は同様な機構を有する別
のスライド機構44に固定され、互いに直交するように
配置される。スライド機構44は、コ字状の支持アーム
45の上辺にY軸方向に直線変位自在なように支持され
ている。スライド機構44には、支持アーム45とのY
軸方向に沿った相対変位量、すなわちY変位量を検出す
るためのリニアエンコーダ(図示せず)が内蔵されてお
り、さらに上述と同様な機構を備えた作動制御装置が内
蔵される。The slide mechanism 43 is fixed to another slide mechanism 44 having a similar mechanism and arranged so as to be orthogonal to each other. The slide mechanism 44 is supported on the upper side of the U-shaped support arm 45 so as to be linearly displaceable in the Y-axis direction. The slide mechanism 44 has a Y with the support arm 45.
A linear encoder (not shown) for detecting a relative displacement amount along the axial direction, that is, a Y displacement amount is incorporated, and an operation control device having a mechanism similar to the above is incorporated.
【0029】支持アーム45の両辺は、支持アーム48
の両端に立設する1対のスライド機構46、47によっ
てZ軸方向に直線変位自在なように支持されている。ス
ライド機構46、47のいずれか一方または両方に、支
持アーム45とのZ軸方向に沿った相対変位量、すなわ
ちZ変位量を検出するためのリニアエンコーダ(図示せ
ず)が内蔵され、さらに上述と同様な機構を備えた作動
制御装置が内蔵される。また、支持アーム45から上部
の重量を支えるためのカウンターウエイト機構も内蔵さ
れる。Both sides of the support arm 45 have support arms 48.
It is supported by a pair of slide mechanisms 46 and 47 which are erected at both ends thereof so as to be linearly displaceable in the Z-axis direction. A linear encoder (not shown) for detecting a relative displacement amount with respect to the support arm 45 along the Z-axis direction, that is, a Z displacement amount is incorporated in either one or both of the slide mechanisms 46, 47, and further, An operation control device having a mechanism similar to the above is incorporated. Further, a counterweight mechanism for supporting the weight of the upper part from the support arm 45 is also incorporated.
【0030】支持アーム48には中央から下方へ延出す
る支持棒49が設けられ、取付台51から立設するスラ
イド機構50によってZ軸方向に直線変位自在なように
支持されている。スライド機構50は、操作台41の高
さを段階的に調整するものであり、操作者の個人差に応
じて任意高さに設定できる。The support arm 48 is provided with a support rod 49 extending downward from the center, and is supported by a slide mechanism 50 standing from a mount 51 so as to be linearly displaceable in the Z-axis direction. The slide mechanism 50 adjusts the height of the operation console 41 in a stepwise manner, and can be set to an arbitrary height according to the individual difference of the operator.
【0031】次に動作を説明する。操作者が操作部21
をX軸方向に変位させると、操作台41および支持フレ
ーム42がX軸方向に変位して、スライド機構43に内
蔵されたリニアエンコーダによってX変位量が検出され
る。Next, the operation will be described. The operator operates the operation unit 21.
Is displaced in the X-axis direction, the operation console 41 and the support frame 42 are displaced in the X-axis direction, and the X displacement amount is detected by the linear encoder incorporated in the slide mechanism 43.
【0032】また、操作者が操作部21をY軸方向に変
位させると、操作台41、支持フレーム42およびスラ
イド機構43、44全体がY軸方向に変位して、スライ
ド機構44に内蔵されたリニアエンコーダによってY変
位量が検出される。When the operator displaces the operation section 21 in the Y-axis direction, the operation base 41, the support frame 42, and the slide mechanisms 43, 44 are entirely displaced in the Y-axis direction, and are incorporated in the slide mechanism 44. The linear encoder detects the Y displacement amount.
【0033】また、操作者が操作部21をZ軸方向に変
位させると、操作台41、支持フレーム42、スライド
機構43、44および支持アーム45全体がZ軸方向に
変位して、スライド機構46、47に内蔵されたリニア
エンコーダによってZ変位量が検出される。When the operator displaces the operation section 21 in the Z-axis direction, the operation base 41, the support frame 42, the slide mechanisms 43 and 44, and the support arm 45 as a whole are displaced in the Z-axis direction, and the slide mechanism 46. , 47, the amount of Z displacement is detected by a linear encoder incorporated therein.
【0034】こうして操作者が操作部21を操作する
と、操作部21はX軸、Y軸、Z軸に沿って3次元方向
に変位して、各軸方向の直線変位量が各リニアエンコー
ダによって検出される。X変位量、Y変位量、Z変位量
は変位信号に変換されて、操舵制御装置に入力され、種
々の演算処理の後、機器の姿勢等を制御する。なお、各
変位量の基準位置は任意設定可能であり、操作者の個人
差に応じて操作部21を任意に設定した位置からどれだ
け変位したかを示す相対変位量を出力するようにしても
よく、これによって操作者の緊張や疲労を軽減できる。When the operator operates the operation section 21 in this way, the operation section 21 is displaced in the three-dimensional direction along the X axis, the Y axis, and the Z axis, and the linear displacement amount in each axis direction is detected by each linear encoder. To be done. The X displacement amount, the Y displacement amount, and the Z displacement amount are converted into displacement signals and input to the steering control device, and after various arithmetic processing, the posture and the like of the device are controlled. The reference position of each displacement amount can be arbitrarily set, and the relative displacement amount indicating how much the operation portion 21 is displaced from the arbitrarily set position is output according to the individual difference of the operator. Well, this can reduce operator tension and fatigue.
【0035】以上の説明において、上から順番にX変位
機構、Y変位機構、Z変位機構を搭載した例を示した
が、各機構の順番は任意に変更可能である。In the above description, the example in which the X displacement mechanism, the Y displacement mechanism, and the Z displacement mechanism are mounted in order from the top is shown, but the order of each mechanism can be arbitrarily changed.
【0036】また、図2に示す操作装置40の操作台4
1上に図1で示す操作装置20を搭載することによっ
て、X変位量、Y変位量、Z変位量、回転角度α、回転
角度β、回転角度γという6自由度の変数を独立に操作
することができる。The operation console 4 of the operation device 40 shown in FIG.
By mounting the operating device 20 shown in FIG. 1 on the unit 1, variables of 6 degrees of freedom such as X displacement amount, Y displacement amount, Z displacement amount, rotation angle α, rotation angle β, and rotation angle γ can be operated independently. be able to.
【0037】[0037]
【発明の効果】以上詳説したように本発明によれば、操
作部自体の回転操作だけで各軸周りの回転角度を入力で
き、しかも直線変位成分の操作が省略できるため、小さ
な動きだけで正確な操作が可能になる。また、振動など
の外乱や人為的または偶発的な動揺が操作部に加わって
も、検出信号に殆ど現われないため、安定した操作が実
現する。As described above in detail, according to the present invention, since the rotation angle around each axis can be input only by the rotation operation of the operation portion itself, and the operation of the linear displacement component can be omitted, the operation can be accurately performed with only a small movement. Various operations are possible. In addition, even if disturbance such as vibration or artificial or accidental shaking is applied to the operation unit, it hardly appears in the detection signal, so that stable operation is realized.
【0038】また本発明によれば、直交3軸方向に沿っ
て操作部の直線変位を検出することができる。Further, according to the present invention, the linear displacement of the operating portion can be detected along the directions of the three orthogonal axes.
【0039】また本発明に従えば、直交3軸周りの操作
角度および直交3軸方向の直線変位量、合計で6つの自
由度を独立に検出することができるため、従来と比べて
多様な操作を実現できる。Further, according to the present invention, since six degrees of freedom can be independently detected in total, ie, the operation angles around the orthogonal three axes and the linear displacements in the directions of the orthogonal three axes, a variety of operations can be performed as compared with the prior art. Can be realized.
【図1】本発明の一実施例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of the present invention.
【図2】本発明の他の実施例を示す斜視図である。FIG. 2 is a perspective view showing another embodiment of the present invention.
【図3】従来の操作装置の一例を示す斜視図である。FIG. 3 is a perspective view showing an example of a conventional operating device.
20、40 操作装置 21 操作部 22、26、30 連結棒 23、27、31 ロータリエンコーダ 24、28、32 作動制御装置 25、29 支持アーム 33 支持部材 41 操作台 42 支持フレーム 43、44、46、47、50 スライド機構 45、48 支持アーム 20, 40 Operation device 21 Operation part 22, 26, 30 Connecting rod 23, 27, 31 Rotary encoder 24, 28, 32 Operation control device 25, 29 Support arm 33 Support member 41 Operation console 42 Support frame 43, 44, 46, 47, 50 Slide mechanism 45, 48 Support arm
Claims (3)
1角度検出手段と、 第1軸と直交しかつ操作部を通る第2軸周りの操作角度
を検出するための第2角度検出手段と、 第1軸および第2軸と直交しかつ操作部を通る第3軸周
りの操作角度を検出するための第3角度検出手段とを備
えることを特徴とする操作装置。1. An operating section gripped by an operator, a first angle detecting means for detecting an operating angle around a first axis passing through the operating section, and a second angle detecting section orthogonal to the first axis and passing through the operating section. Second angle detecting means for detecting an operating angle around the axis, and third angle detecting means for detecting an operating angle around a third axis that is orthogonal to the first axis and the second axis and passes through the operating portion. An operating device comprising:
変位検出手段と、 第1軸と直交する第2軸方向に沿って操作部の変位を検
出するための第2変位検出手段と、 第1軸および第2軸と直交する第3軸に沿って操作部の
変位を検出するための第3変位検出手段とを備えること
を特徴とする操作装置。2. An operating section gripped by an operator, and a first section for detecting a displacement of the operating section along a first axis direction.
Displacement detecting means, second displacement detecting means for detecting the displacement of the operating portion along a second axis direction orthogonal to the first axis, and along a third axis orthogonal to the first axis and the second axis. An operating device comprising: a third displacement detecting means for detecting displacement of the operating portion.
1角度検出手段と、 第1軸と直交しかつ操作部を通る第2軸周りの操作角度
を検出するための第2角度検出手段と、 第1軸および第2軸と直交しかつ操作部を通る第3軸周
りの操作角度を検出するための第3角度検出手段と、 第1軸方向に沿って操作部の変位を検出するための第1
変位検出手段と、 第1軸と直交する第2軸方向に沿って操作部の変位を検
出するための第2変位検出手段と、 第1軸および第2軸と直交する第3軸に沿って操作部の
変位を検出するための第3変位検出手段とを備えること
を特徴とする操作装置。3. An operating section gripped by an operator, a first angle detecting means for detecting an operating angle around a first axis passing through the operating section, and a second angle detection section orthogonal to the first axis and passing through the operating section. Second angle detecting means for detecting an operating angle around the axis, and third angle detecting means for detecting an operating angle around a third axis that is orthogonal to the first axis and the second axis and passes through the operating portion. , A first for detecting displacement of the operating portion along the first axial direction
Displacement detecting means, second displacement detecting means for detecting the displacement of the operating portion along a second axis direction orthogonal to the first axis, and along a third axis orthogonal to the first axis and the second axis. An operating device comprising: a third displacement detecting means for detecting displacement of the operating portion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6198679A JP2716661B2 (en) | 1994-08-23 | 1994-08-23 | Operation device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6198679A JP2716661B2 (en) | 1994-08-23 | 1994-08-23 | Operation device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0857783A true JPH0857783A (en) | 1996-03-05 |
JP2716661B2 JP2716661B2 (en) | 1998-02-18 |
Family
ID=16395250
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6198679A Expired - Fee Related JP2716661B2 (en) | 1994-08-23 | 1994-08-23 | Operation device |
Country Status (1)
Country | Link |
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JP (1) | JP2716661B2 (en) |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1025095A (en) * | 1996-07-05 | 1998-01-27 | Nippon Yusoki Co Ltd | Steering input device for omnidirectionally moving vehicle |
JPH1054054A (en) * | 1996-08-08 | 1998-02-24 | Katsunori Tanada | Operation device of construction vehicle |
JP2000075950A (en) * | 1998-09-02 | 2000-03-14 | Namco Ltd | Operation input device |
JP2001170367A (en) * | 1999-12-17 | 2001-06-26 | Sega Corp | Game machine |
JP2003145455A (en) * | 2001-11-12 | 2003-05-20 | Kawasaki Heavy Ind Ltd | Wrist mechanism for master arm |
JP2004192901A (en) * | 2002-12-10 | 2004-07-08 | Kibi Kagi Kofun Yugenkoshi | Direct drive type power joystick mechanism |
JP2005115806A (en) * | 2003-10-10 | 2005-04-28 | Toyota Motor Corp | Input operation device |
JP2006077509A (en) * | 2004-09-10 | 2006-03-23 | Hitachi Constr Mach Co Ltd | Operation lever device |
WO2007132267A1 (en) | 2006-05-12 | 2007-11-22 | Bae Systems Plc | Improvements in or relating to an active stick apparatus |
JP2008003703A (en) * | 2006-06-20 | 2008-01-10 | Sakae Tsushin Kogyo Kk | Joystick controller |
WO2009016361A3 (en) * | 2007-07-31 | 2009-04-16 | Wittenstein Aerospace & Simula | Control device |
JP2009274200A (en) * | 2008-05-19 | 2009-11-26 | Nagoya Institute Of Technology | Force sense presentation manipulator having center of rotation at one point |
US7701161B2 (en) | 2006-10-02 | 2010-04-20 | Honeywell International Inc. | Motor balanced active user interface assembly |
US8505406B2 (en) | 2007-07-31 | 2013-08-13 | Wittenstein Aerospace And Simulation Ltd. | Control device |
KR101334490B1 (en) * | 2006-12-15 | 2013-11-29 | 두산인프라코어 주식회사 | Tiller bar type joystick for steering system of vehicles |
JP2018167711A (en) * | 2017-03-30 | 2018-11-01 | 日本電気株式会社 | Joy stick device, control output method and program for the same |
JP2019098424A (en) * | 2017-11-28 | 2019-06-24 | ファナック株式会社 | Input device and robot control system |
JP2020179502A (en) * | 2017-11-28 | 2020-11-05 | ファナック株式会社 | Input device and robot control system |
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Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1025095A (en) * | 1996-07-05 | 1998-01-27 | Nippon Yusoki Co Ltd | Steering input device for omnidirectionally moving vehicle |
JPH1054054A (en) * | 1996-08-08 | 1998-02-24 | Katsunori Tanada | Operation device of construction vehicle |
JP2000075950A (en) * | 1998-09-02 | 2000-03-14 | Namco Ltd | Operation input device |
JP2001170367A (en) * | 1999-12-17 | 2001-06-26 | Sega Corp | Game machine |
JP2003145455A (en) * | 2001-11-12 | 2003-05-20 | Kawasaki Heavy Ind Ltd | Wrist mechanism for master arm |
JP2004192901A (en) * | 2002-12-10 | 2004-07-08 | Kibi Kagi Kofun Yugenkoshi | Direct drive type power joystick mechanism |
JP2005115806A (en) * | 2003-10-10 | 2005-04-28 | Toyota Motor Corp | Input operation device |
JP2006077509A (en) * | 2004-09-10 | 2006-03-23 | Hitachi Constr Mach Co Ltd | Operation lever device |
WO2007132267A1 (en) | 2006-05-12 | 2007-11-22 | Bae Systems Plc | Improvements in or relating to an active stick apparatus |
US8079281B2 (en) | 2006-05-12 | 2011-12-20 | Bae Systems Plc | Active stick apparatus |
EP2284641A1 (en) * | 2006-05-12 | 2011-02-16 | BAE Systems PLC | Improvements in or relating to active stick apparatus |
JP2008003703A (en) * | 2006-06-20 | 2008-01-10 | Sakae Tsushin Kogyo Kk | Joystick controller |
US7701161B2 (en) | 2006-10-02 | 2010-04-20 | Honeywell International Inc. | Motor balanced active user interface assembly |
KR101334490B1 (en) * | 2006-12-15 | 2013-11-29 | 두산인프라코어 주식회사 | Tiller bar type joystick for steering system of vehicles |
GB2463625A (en) * | 2007-07-31 | 2010-03-24 | Wittenstein Aerospace & Simula | Control device |
GB2463625B (en) * | 2007-07-31 | 2012-05-23 | Wittenstein Aerospace & Simulation Ltd | Control device |
US8505406B2 (en) | 2007-07-31 | 2013-08-13 | Wittenstein Aerospace And Simulation Ltd. | Control device |
WO2009016361A3 (en) * | 2007-07-31 | 2009-04-16 | Wittenstein Aerospace & Simula | Control device |
JP2009274200A (en) * | 2008-05-19 | 2009-11-26 | Nagoya Institute Of Technology | Force sense presentation manipulator having center of rotation at one point |
JP2018167711A (en) * | 2017-03-30 | 2018-11-01 | 日本電気株式会社 | Joy stick device, control output method and program for the same |
JP2019098424A (en) * | 2017-11-28 | 2019-06-24 | ファナック株式会社 | Input device and robot control system |
JP2020179502A (en) * | 2017-11-28 | 2020-11-05 | ファナック株式会社 | Input device and robot control system |
US11358287B2 (en) | 2017-11-28 | 2022-06-14 | Fanuc Corporation | Input device and robot control system |
WO2024170900A1 (en) * | 2023-02-14 | 2024-08-22 | Mathwall Engineering Limited | Watercraft hybrid control stick |
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