Patent Description:
Conventionally, a robot or machinery, which is used in a place where people are difficult to enter etc., may be remotely controlled. Although there are various types of control devices for remotely controlling the robot or machinery, recently, some control devices carry out a force-sense control of the control device (master) and the robot (slave) using a bilateral method. Hereinafter, "the force-sense control by the bilateral method" may also be referred to as "the bilateral control.

The control device which performs the bilateral control needs to carry out a force-sense feedback of a kinesthetic sense which acts on the robot or machinery to a user, and there are some control devices provided with a plurality of actuators. Some control devices use motors as the actuators.

As this kind of conventional art, for example, there is a remote control device in which a user can perform the control while placing his/her elbows with his/her wrists so that he/she does not get tired even if he/she uses the device for a long period of time (for example, see Patent Document <NUM>). With this remote control device, the user can perform the remote control by holding interface parts (grips) and tilting coupling members coupled to armrest members, and the force-sense feedback to the user is performed by motors provided inside the coupling members.

Further, as another conventional art, a manipulator drive unit which operates a manipulator is fixed to a bracket of a spherical surface parallel link, and the spherical surface parallel link is driven by a link drive unit (for example, see Patent Document <NUM>). In this conventional art, the remote center at which the manipulator is operated is acquired by the link drive unit of the spherical surface parallel link.

Document <CIT> discloses a manipulating device including a first parallel linkage mechanism having a pair of first links and a pair of second links, a second parallel linkage mechanism having a pair of third links and a pair of fourth links, and a support member supporting one of the third links. The first parallel linkage mechanism and the second parallel linkage mechanism commonly use one of the second links and one of the fourth links and an armrest member to which a manipulating member is attached at a tip-end part thereof is disposed in a lower-end part of the first parallel linkage mechanism.

Document <CIT> discloses a structure having a rigid framework, and an element i.e. wrist, interacting with an exterior environment and including a platform and a mobile member e.g. handle, that pivots about a rotational axis relative to the platform. The platform is suspended inside the framework by suspension cables linked to winders/unwinders, where the structure is fixed to the framework. The platform is moved by winding and unwinding the cables on the winders/unwinders. A displacement unit displaces the mobile member with respect to the platform and is distinct to the winders/unwinders.

However, since Patent Document <NUM> described above is the remote control device which is operated while the operator places the elbows including the wrists, the structure will be complicated if the operating range of the user interface is expanded to expand the operating range of the robot. In addition, since the places at which the operator puts the elbows are limited, the robot and machinery to be remotely controlled are limited.

Further, in Patent Document <NUM> described above, although the remote center for driving the manipulator can be acquired by the link drive unit of the spherical surface parallel link, the operating range of the user interface cannot be expanded, thereby limiting the robot and machinery to be remotely controlled. In addition, it is difficult to provide the configuration for making the force-sense feedback in the case of performing the bilateral control act on the user interface.

Thus, one purpose of the present disclosure is to provide a remote control device, capable of reducing the size of a configuration around a user interface, and obtaining the expanded operating range.

The problem is solved by the teachings of the independent claim.

The present disclosure includes a first arm supported by a base part, a second arm connected to a tip-end part of the first arm, two rotary bodies disposed side by side at a tip-end part of the second arm, a link structure in which link members are fixed to the two rotary bodies, respectively, and a user interface attached to the link structure. The two rotary bodies are independently and rotatably supported by respective coaxial drive shafts disposed horizontally. The user interface is pivotable with respect to the second arm on each of mutually-perpendicular three axes passing through a center point of the link structure. The link structure is disposed at the lateral side of the rotary bodies so that the center point is located on an axis of the two drive shafts. The user interface is attached to the link structure on an axis of a rotation shaft passing through the center point. The "link structure" in the documents of the present specification and the claims refers to one including the plurality of link members each of which moves independently with respect to the center point of the three axes. The three axes are three axes of a pitch axis, a roll axis, and a yaw axis.

According to this configuration, since the user interface is attached to the link structure which is disposed at the lateral side of the two rotary bodies disposed side by side at the tip-end part of the second arm and on the axis of the drive shafts of the rotary bodies, the user interface can be operated within a large operating range. In addition, since the user interface is disposed at the link structure disposed at the lateral side of the rotary bodies, the size of the configuration around the user interface can be reduced.

According to the present disclosure, a remote control device which is capable of reducing the size of a configuration around a user interface, and obtaining the expanded operating range, can be provided.

Hereinafter, one embodiment is described based on the drawings. In the following embodiment, a remote control device <NUM> in which a user interface <NUM> is operated with a single hand is described as an example. Further, in the following description, a case where an articulated robot (not illustrated) is remotely controlled by the remote control device <NUM> is described as an example. The remote control device <NUM> and the articulated robot (hereinafter, simply referred to as "the robot") are force-sense controlled by a bilateral method (bilaterally controlled). Since the bilateral control can utilize a known method, detailed description thereof is omitted. Further, in this embodiment, a motor (for example, a servomotor) as an actuator which makes a force-sense feedback act on the user interface <NUM> is described as an example. The concept of front and rear, and left and right directions in the documents of the present specification and the claims is in agreement with the concept of front and rear, and left and right directions illustrated in <FIG>.

<FIG> is a perspective view illustrating the remote control device <NUM> according to this embodiment. <FIG> is a side view illustrating a configuration of the remote control device <NUM> illustrated in <FIG>. In the following embodiment, one example of transmitting the motive power of the motor by using a belt is described. As for the power transmission of the motor, configurations other than the belt may also be adopted.

In the remote control device <NUM> of this embodiment, a base part <NUM> is fixed to an upper part of a pedestal <NUM>. A support link <NUM> is provided to an upper part of the base part <NUM>. The support link <NUM> can swivel on a rotation shaft J1 in the vertical direction, with respect to the base part <NUM>. A base part of a first arm <NUM> is supported by an upper part of the support link <NUM>. The first arm <NUM> is pivotable around a first pivot shaft J2 in the lateral direction provided to the support link <NUM>. A second arm <NUM> is provided to a tip-end part of the first arm <NUM>. The second arm <NUM> is pivotable around a second pivot shaft J3 in the lateral direction provided to the first arm <NUM>. Two drive shafts J4 are provided coaxially in the horizontal direction to a tip-end part of the second arm <NUM>. Each drive shaft J4 is provided to a first pulley <NUM> and a second pulley <NUM> which are two rotary bodies. At the part of the first pulley <NUM> and the second pulley <NUM>, the user interface <NUM> is provided. The details of the first pulley <NUM>, the second pulley <NUM>, and the user interface <NUM> will be described later.

Further, the first arm <NUM> has two connection links <NUM> which are link members disposed in parallel to each other, and base part sides of the two connection links <NUM> are connected via a coupling link <NUM>. The coupling link <NUM> is connected to the lower connection link <NUM> so as to be turnable about the first pivot shaft J2, and is connected to the upper connection link <NUM> so as to be turnable about a third pivot shaft J5. Tip-end parts of the two connection links <NUM> are connected to the second pivot shaft J3 of the second arm <NUM>, and a fourth pivot shaft J6 provided with a given interval from the second pivot shaft J3. The first arm <NUM> is formed in a parallel link structure including the two connection links <NUM>, the coupling link <NUM> and a part of the second arm <NUM>, which are connected by the first pivot shaft J2 and the second pivot shaft J3, and the third pivot shaft J5 and the fourth pivot shaft J6, respectively.

As will be described later, a first motor <NUM> which makes a force-sense feedback about a pitch axis L1 act on the user interface <NUM>, and a second motor <NUM> which makes a force-sense feedback about a roll axis L2 act on act on the user interface <NUM>, are disposed on the base part side of the connection links <NUM>, which is the base part side of the first arm <NUM>. By disposing the two motors (the first motor <NUM> and the second motor <NUM>) on the base part side of the first arm <NUM>, the weight on the user interface <NUM> side (including a spherical surface parallel link <NUM> described later) is reduced, as compared with a case where it is disposed at the user interface <NUM>, to reduce the moment of inertia when the user interface <NUM> is operated, thereby improving the operability of the user interface <NUM>.

A middle pulley <NUM> is provided to the fourth pivot shaft J6. The middle pulley <NUM> has a configuration in which four belts are wound in the axial direction of the fourth pivot shaft J6. Two first transmission belts <NUM> connect between the middle pulley <NUM> and pulleys (not illustrated) of the first motor <NUM> and the second motor <NUM>. Two second transmission belts <NUM> connect between the middle pulley <NUM>, and the first pulley <NUM> and the second pulley <NUM> which are disposed side by side on the drive shafts J4. Toothed belts may be used as the transmission belts <NUM> and <NUM>. By using the toothed belts, the rotation phase between the two axes can be maintained accurately. The first motor <NUM> has a sensor which outputs a signal of a rotation angle on the pitch axis L1 (<FIG>) when the user interface <NUM> is operated. Further, the second motor <NUM> has a sensor which outputs a signal of a rotation angle on the roll axis L2 (<FIG>) when the user interface <NUM> is operated. An encoder can be used as the sensor.

The first pivot shaft J2 which supports the base part of the first arm <NUM> is provided with a fourth motor <NUM>. The fourth motor <NUM> makes a force-sense feedback act on the user interface <NUM> according to the operation of the first arm <NUM>, and has a sensor which outputs a signal of a pivot angle of the first arm <NUM>. An encoder can be used as the sensor.

<FIG> is an enlarged perspective view of the user interface <NUM> of the remote control device <NUM> illustrated in <FIG>, when seen in the opposite direction of <FIG>. The illustrated user interface <NUM> is in a state where no external force acts on the user interface <NUM>. <FIG> is a plan view of the user interface <NUM> illustrated in <FIG>. A configuration of the user interface <NUM> provided to the tip-end part of the second arm <NUM> is described based on these drawings.

The tip-end part of the second arm <NUM> is horizontally provided with the two drive shafts J4, and the first pulley <NUM> and the second pulley <NUM> are independently and rotatably supported by the respective drive shafts J4. Tension rollers <NUM> are provided near the first pulley <NUM> and the second pulley <NUM> so that the tension of the second transmission belt <NUM> is maintained.

Moreover, in this embodiment, a spherical surface parallel link <NUM> is provided to the side of the second pulley <NUM> as a link structure. The link structure may be other than the spherical surface parallel link <NUM>, as long as it makes the user interface <NUM> pivotable with respect to the second arm <NUM> on mutually-perpendicular three axes passing through its center point P. Base parts of a first link member <NUM> and a second link member <NUM> which are the configuration of the spherical surface parallel link <NUM> are fixed to the first pulley <NUM> and the second pulley <NUM>, respectively. On the other hand, a first bracket <NUM> and a second bracket <NUM> which constitute the spherical surface parallel link <NUM> are provided on the axis of a rotation shaft J9 perpendicular to the drive shafts J4, and a tip-end part of the first link member <NUM> is connected to a first support <NUM> of the first bracket <NUM>, as a revolute pair. A tip-end part of the second link member <NUM> is connected to a second support <NUM> of the second bracket <NUM>, as a revolute pair. This spherical surface parallel link <NUM> makes the user interface <NUM> pivotable, with respect to the second arm <NUM>, on the perpendicular three axes (the pitch axis L1, the roll axis L2, and a yaw axis L3) passing through the center point P of the spherical surface parallel link <NUM>. This spherical surface parallel link <NUM> is provided to the side of the second pulley <NUM> so that the center point P is located on the axes of the two drive shafts J4.

As illustrated in <FIG>, in the spherical surface parallel link <NUM> of this embodiment, the centers of curvature of the first link member <NUM> and the second link member <NUM> formed in an arc shape are in agreement with each other at the center point P on the axis of the drive shafts J4. As for the first link member <NUM> and the second link member <NUM> which rotate centering on the center point P, rotation shafts J7 and J8 of the first support <NUM> and the second support <NUM>, which are connected as a revolute pair at the tip ends, are also in agreement with each other at the center point P. A base part of the first link member <NUM> is fixed to a side surface of the first pulley <NUM>, and a base end of the second link member <NUM> is fixed to a side surface of the second pulley <NUM>. Therefore, the first link member <NUM> and the second link member <NUM> of the spherical surface parallel link <NUM> rotate centering on the center point P.

The user interface <NUM> is attached to the second bracket <NUM> on the axis of the rotation shaft J9 passing through the center point P of the spherical surface parallel link <NUM>. The user interface <NUM> has a rotary part <NUM> extending downwardly from the second bracket <NUM>, an offset arm <NUM> extending from the rotary part <NUM> so as to be curved rearward which intersects with the axis of the drive shaft J4, and a grip <NUM> provided to an end of the offset arm <NUM>. Thus, a base part of the offset arm <NUM> is attached to the second bracket <NUM> of the spherical surface parallel link <NUM> so that the grip <NUM> of the user interface <NUM> extends in the direction which intersects with the rotation shaft J9 from the side of the second pulley <NUM>.

A third motor <NUM> which makes a force-sense feedback about the yaw axis L3 act on the user interface <NUM> is provided to an upper surface of the first bracket <NUM>. The third motor <NUM> has a sensor which outputs a signal of a rotation angle when rotating the grip <NUM> horizontally (a rotation angle of the rotary part <NUM>).

According to such a user interface <NUM>, by moving the grip <NUM> in the front and rear, and left and right directions as illustrated by arrows, using the spherical surface parallel link <NUM> where the first link member <NUM> and the second link member <NUM> are fixed to the two pulleys <NUM> and <NUM>, respectively, the two pulleys <NUM> and <NUM> can be rotated in the same direction or the opposite directions, as will be described later. Further, by moving the grip <NUM>, the second arm <NUM> can change the angle at the drive shaft J4 and the second pivot shaft J3, and the first arm <NUM> can change the pivot angle at the first pivot shaft J2. Moreover, by moving the grip <NUM>, the support link <NUM> can be swiveled on the rotation shaft J1, together with the second arm <NUM> and the first arm <NUM>.

According to this remote control device <NUM>, the variations of the rotation angles on the pitch axis L1, the roll axis L2, and the yaw axis L3 when the user interface <NUM> is operated (including inclination and rotation) are detected by the first motor <NUM>, the second motor <NUM>, and the third motor <NUM>, respectively. An electric signal acquired by operating the grip <NUM> of the user interface <NUM> is outputted to a corresponding action part of the robot as an electric signal according to the bilateral control via a control device <NUM> (<FIG> and <FIG>). On the other hand, the electric signal acquired by an external force received by the action part of the robot is outputted to each of the motors <NUM>, <NUM>, and <NUM> which give the force-sense feedbacks to the user interface <NUM> as the electric signal according to the bilateral control. The control device <NUM> has a processor, a volatile memory, a nonvolatile memory, an I/O interface, etc. The control device <NUM> outputs the electric signal according to the bilateral control based on the inputted electric signal. The outputted electric signal is obtained by the processor carrying out a calculation using the volatile memory based on a program stored in the nonvolatile memory so that it becomes a signal according to the bilateral control with respect to the inputted electric signal.

In addition, according to the remote control device <NUM> of this embodiment, the first motor <NUM> which makes the force-sense feedback about the pitch axis L1 act on the user interface <NUM>, and the second motor <NUM> which makes the force-sense feedback about the roll axis L2 act on the user interface <NUM> are provided to the base part side of the first arm <NUM>. Thus, the weight on the user interface <NUM> side can be reduced by disposing the first motor <NUM> and the second motor <NUM> which are heavy objects on the base part side of the first arm <NUM> which is away from the user interface <NUM>, thereby improving the operability of the user interface <NUM>.

In addition, according to the remote control device <NUM> of this embodiment, by supporting the user interface <NUM> provided to the tip-end part of the second arm <NUM> by the spherical surface parallel link <NUM> which is not provided in the tip-end direction which is the extending direction of the second arm <NUM>, but provided to the side, the distance from the tip-end part of the second arm <NUM> to the grip <NUM> can be shortened, and a large operating range of the user interface <NUM> can be secured, while forming the user interface <NUM> compactly. That is, according to the remote control device <NUM> of this embodiment, the user interface <NUM> is supported by the spherical surface parallel link <NUM> provided to the side of the second pulley <NUM> so that the grip <NUM> is offset from the first pulley <NUM> and the second pulley <NUM> by a given distance. Therefore, the configuration around the grip <NUM> can be made compact, and the operability can be improved with an expanded operating range where the operation about the yaw axis L3 for operating a wrist part of the robot is about <NUM>° rightward and about <NUM>° leftward.

Note that the user interface <NUM> of this embodiment is provided with the grip <NUM> so that it is operated with a single hand, but the user interface <NUM> is not limited to this embodiment and it may be configured to be operated with both hands.

<FIG> are structural charts schematically illustrating a self-weight compensator <NUM> of the remote control device <NUM> illustrated in <FIG>. The self-weight compensator <NUM> is a configuration for balancing the weight. The entire configuration of the self-weight compensator <NUM> is described based on <FIG>, and it is concretely described based on <FIG>. Note that, in <FIG>, only the configuration of each self-weight compensator is illustrated.

As illustrated in <FIG>, the remote control device <NUM> of this embodiment is provided with the self-weight compensator <NUM> which extends in the up-and-down direction along the pedestal <NUM>. The self-weight compensator <NUM> is provided at the opposite direction from the extending direction of the first arm <NUM> with respect to the support link <NUM>. The self-weight compensator <NUM> has a pair of frame members <NUM> provided to the support link <NUM>, and a first coil spring <NUM> and a second coil spring <NUM> which are spring members provided between the pair of frame members <NUM>. The frame members <NUM> are a pair of plate members which are fixed at upper end parts to the support link <NUM>, and extend downwardly along the pedestal <NUM>. The first coil spring <NUM> and the second coil spring <NUM> are supported at lower end parts by a spring support shaft <NUM> which is fixed between the frame members <NUM>, and are connected at upper end parts to a first wire <NUM> and a second wire <NUM>, respectively. The first wire <NUM> and the second wire <NUM> are wound around two first rollers <NUM> provided to upper parts of the frame members <NUM>, and ends of the wires then extend toward the base part of the first arm <NUM>.

As illustrated in <FIG>, the first wire <NUM> connected to the upper end part of the first coil spring <NUM> is wound around the first roller <NUM>, and then extends rearward of the support link <NUM>. Further, it is wound around a second roller <NUM> provided to a rear part of the support link <NUM> and extends forward, and is connected to a first connecting member <NUM> provided to a front part of the coupling link <NUM>. The first coil spring <NUM> and the first wire <NUM> use a spring force of the first coil spring <NUM> to compensate the self-weight in a direction of an arrow R1 which acts around the first pivot shaft J2, when the second arm <NUM> inclines to the first arm <NUM>, as illustrated by two-dot chain lines.

As illustrated in <FIG>, the second wire <NUM> connected to the upper end part of the second coil spring <NUM> is wound around the first roller <NUM>, and is then connected to a second connecting member <NUM> provided forward centering on the first pivot shaft J2 so that it pivots integrally with the first arm <NUM>. The second coil spring <NUM> and the second wire <NUM> use a spring force of the second coil spring <NUM> to compensate the self-weight in a direction of an arrow R2 which acts around the first pivot shaft J2, when the first arm <NUM> and the second arm <NUM> incline, as illustrated by two-dot chain lines. The self-weight compensator <NUM> is in a state where the self-weight compensation by the first coil spring <NUM> and the second coil spring <NUM> always works, and therefore, the self-weight compensation is appropriately carried out according to the inclination of each of the first arm <NUM> and the second arm <NUM>.

In this self-weight compensator <NUM>, the first coil spring <NUM> and the second coil spring <NUM> are disposed so as to extend along the pedestal <NUM> so that the spring force of each of the coil springs <NUM> and <NUM> is used as a force according to the weight acting on the spring and a distance from the first pivot shaft J2.

According to such a self-weight compensator <NUM>, the first arm <NUM> and the second arm <NUM> can be maintained in the state illustrated in <FIG> when no external force acts on the user interface <NUM>. Further, since such a self-weight compensator <NUM> is disposed so as to extend in the up-and-down direction along the pedestal <NUM> on the opposite side of the extending directions of the first arm <NUM> and the second arm <NUM>, the turning radius and the moment of inertia can be reduced, and the grip <NUM> of the user interface <NUM> can be operate lightly.

Although in this embodiment the coil spring is used as the configuration of the self-weight compensator <NUM> for compensating the self-weight of the arm, the configuration for compensating the self-weight may also use a hydraulic damper etc..

<FIG> are views illustrating a state where the user interface <NUM> illustrated in <FIG> is leaned in the front-and-rear direction, where <FIG> is a perspective view of a state where it is leaned forward, and <FIG> is a perspective view of a state where it is leaned rearward. <FIG> are views illustrating a state where the user interface <NUM> illustrated in <FIG> is leaned in the left-and-right direction, where <FIG> is a perspective view of a state where it is leaned leftward, and <FIG> is a perspective view of a state where it is leaned rightward. <FIG> is a plan view illustrating a state where the user interface <NUM> illustrated in <FIG> is rotated horizontally. In the following example, a case where the wrist part of the robot (not illustrated) is operated is described as an example.

As illustrated in <FIG>, when the grip <NUM> of the user interface <NUM> is leaned forward, the rear parts of the first pulley <NUM> and the second pulley <NUM> are rotated downwardly by the same angle, together with the first bracket <NUM> and the second bracket <NUM> of the spherical surface parallel link <NUM>. Therefore, the wrist part of the robot which is remotely controlled can be leaned so that the front part rotates upwardly.

On the other hand, as illustrated in <FIG>, when the grip <NUM> of the user interface <NUM> is leaned rearward, the rear parts of the first pulley <NUM> and the second pulley <NUM> are rotated upwardly by the same angle, together with the first bracket <NUM> and the second bracket <NUM> of the spherical surface parallel link <NUM>. Therefore, the wrist part of the robot which is remotely controlled can be leaned so that the front parts rotate downwardly.

Since the user interface <NUM> is provided to the side of the second pulley <NUM> by the spherical surface parallel link <NUM>, the operation of rotating the grip <NUM> of the user interface <NUM> in the front-and-rear direction can be performed with a large rotation angle, without contacting the second pulley <NUM>, the first pulley <NUM>, etc. Therefore, also at the wrist part of the robot, the front part can be operated greatly in the up-and-down direction.

Further, the force received by the wrist part of the robot according to this operation is force-sense fed back to the first pulley <NUM> and the second pulley <NUM> via the transmission belts <NUM> and <NUM> and the middle pulley <NUM> by the first motor <NUM> and the second motor <NUM> which are provided to the base part side of the connection link <NUM>, as the forces in the same direction. This force-sense feedback is transmitted to the user interface <NUM> via the spherical surface parallel link <NUM> coupled to the first pulley <NUM> and the second pulley <NUM>.

As illustrated in <FIG>, when the grip <NUM> of the user interface <NUM> is leaned leftward, the rotation shaft J8 of the second link member <NUM> and the second support <NUM> of the spherical surface parallel link <NUM> moves upward, and the base part of the second link member <NUM> moves upward to rotate the rear part of the second pulley <NUM> upward. On the other hand, the rotation shaft J7 (<FIG>) of the first link member <NUM> and the first support <NUM> of the spherical surface parallel link <NUM> moves downwardly, and the base part of the first link member <NUM> moves downward to rotate the rear part of the first pulley <NUM> downward. Therefore, the wrist part of the robot which is remotely controlled can be leaned to the left. The force received by the wrist part of the robot according to this operation is force-sense fed back to the first pulley <NUM> and the second pulley <NUM> via the transmission belts <NUM> and <NUM> and the middle pulley <NUM> by the first motor <NUM> and the second motor <NUM> provided to the base part side of the connection link <NUM> (the base part side of the first arm <NUM>) as a force in the direction of reaction force. This force-sense feedback is transmitted to the user interface <NUM> via the spherical surface parallel link <NUM> coupled to the first pulley <NUM> and the second pulley <NUM>.

On the other hand, as illustrated in <FIG>, when the grip <NUM> of the user interface <NUM> is leaned rightward, the rotation shaft J8 of the second link member <NUM> and the second support <NUM> of the spherical surface parallel link <NUM> moves downwardly, and the base part of the second link member <NUM> moves downward to rotate the rear part of the second pulley <NUM> downward. On the other hand, the rotation shaft J7 (<FIG>) of the first link member <NUM> and the first support <NUM> of the spherical surface parallel link <NUM> moves upward, and the base part of the first link member <NUM> moves upward to rotate the rear part of the first pulley <NUM> upward. Therefore, the wrist part of the robot which is remotely controlled can be leaned to the right. The force received by the wrist part of the robot according to this operation is force-sense fed back to the first pulley <NUM> and the second pulley <NUM> by the first motor <NUM> and the second motor <NUM> which are provided on the base part side of the connection link <NUM> (the base part side of the first arm <NUM>) as the force in the direction of reaction force. This force-sense feedback is transmitted to the user interface <NUM> via the spherical surface parallel link <NUM> coupled to the first pulley <NUM> and the second pulley <NUM>.

As illustrated in <FIG>, when the grip <NUM> of the user interface <NUM> is horizontally rotated to the right, the user interface <NUM> can be rotated rightward centering on the rotary part <NUM> (<FIG>) provided on the axis of the rotation shaft J9. Further, when the grip <NUM> of the user interface <NUM> is horizontally rotated to the left, the user interface <NUM> can be rotated leftward centering on the rotary part <NUM> (<FIG>) provided on the axis of the rotation shaft J9. The rotation of the grip <NUM> to the right can be made in a large range of about <NUM>°. Since the grip <NUM> of the user interface <NUM> is offset by a given distance from the center point P of the spherical surface parallel link <NUM>, the rotation of the grip <NUM> to the left can be made in a large range of about <NUM>°, without contacting the pulleys <NUM> and <NUM>. When rotating the grip <NUM> of the user interface <NUM> horizontally, only the user interface <NUM> can be rotated, while maintaining the position and the angle of the first arm <NUM> and the second arm <NUM>. Therefore, the wrist part of the robot can appropriately be rotated in the horizontal direction. The force received by the wrist part of the robot according to this operation is force-sense fed back to the user interface <NUM> by the third motor <NUM> provided to the first bracket <NUM> of the spherical surface parallel link <NUM> as the force in the direction of reaction force.

In addition, in this embodiment, as illustrated in <FIG>, the first motor <NUM> and the second motor <NUM> which make the force-sense feedbacks in the direction of the pitch axis L1 and the direction of the roll axis L2 act on the user interface <NUM> are provided to the base part side of the first arm <NUM> (the base part side of the connection link <NUM>). Therefore, while suppressing the increase in the weight of the user interface <NUM>, the weight on the user interface <NUM> side of the first arm <NUM> and the second arm <NUM> which pivot at the base part side of the first arm <NUM> as the fulcrum can be reduced. Moreover, since the first arm <NUM> and the second arm <NUM> can be maintained at a given angle by the self-weight compensator <NUM>, the state of the user interface <NUM> can be maintained. Therefore, the burden of controlling while holding the grip <NUM> of the user interface <NUM> can be reduced, and operator's burden can be reduced even if it is a long period operation.

Although in the above embodiment the actuators which make the force-sense feedbacks act on the user interface <NUM> are the motors <NUM>, <NUM>, and <NUM>, they are not limited to the above embodiment, and the actuators may be other than the motors <NUM>, <NUM>, and <NUM>.

The remote control device <NUM> described above can remotely control, for example, an articulated robot which performs a slag scraping work, and civil engineering machinery which scoops earth and sand, etc. Since the slag scraping work is a work, in the process of manufacturing a cast product, for taking out and removing slag (impurities, such as slag and oxide) from a molten metal surface of molten metal material, the hard work at high temperature is required, thus, the work by a robot is considered. According to the remote control device <NUM> described above, such a slag scraping work can also be remotely controlled by operating the user interface <NUM> with the expanded operating range at a location distant from the robot. In addition, since the configuration around the user interface <NUM> is compact, the long-period work can also be performed appropriately.

Further, the remote control device <NUM> described above can also be used in a case where a worker cannot directly control the civil engineering machinery, such as a shovel vehicle, and it can operate the user interface <NUM> in the expanded operating range to remotely control a scooping work of earth and sand etc. Note that the application of the remote control device <NUM> is not limited to those described above.

Further, the above embodiment illustrates one example, various configurations may be changed without departing from the scope of the present disclosure, and the present disclosure is not limited to the above embodiment.

Moreover, the link structure may include the spherical surface parallel link. According to such a configuration, the user interface can easily be turnable about the three axes of the pitch axis, the roll axis, and the yaw axis, which pass through the center point.

Further, the spherical surface parallel link may include the first link member and the second link member which rotate centering on the center point, the brackets including the first support and the second support which are connected to the tip ends of the first link member and the second link member, respectively, as a revolute pair. The base ends of the first link member and the second link member may be fixed to the two rotary bodies, respectively. According to such a configuration, by the spherical surface parallel link including the first link member and the second link member which are fixed to the two rotary bodies, respectively, the two rotary bodies can appropriately be rotated in the same direction or the opposite directions with the operation of the user interface.

Further, the first arm may be supported by the support link that is disposed to the base part so as to be turnable about the rotation shaft, and the second arm may be connected to the tip-end part of the first arm via the pivot shaft disposed in parallel to the drive shafts. According to such a configuration, by the pivot shaft disposed in parallel to the drive shafts, the second arm can appropriately be turned with respect to the first arm, with the operation of the user interface.

The first arm may have the two link members disposed in parallel. The actuators for exerting, on the user interface, force-sense feedbacks about the pitch axis, the roll axis, and the yaw axis, may be provided. The actuators which exert, on the user interface, the force-sense feedbacks about the pitch axis and the roll axis via the rotary body may be disposed at the base part side of the first arm. According to such a configuration, the actuators which are heavy objects are disposed at the base part side of the first arm, and the weight of the tip-end side of the first arm, the part of the second arm, and the user interface can be reduced, thereby improving the operability of the user interface.

Further, the rotary body may include a pulley, the middle pulley may be disposed at the tip-end part of the first arm, and the transmission belts may connect between the actuator and the middle pulley, and between the middle pulley and the pulleys. According to such a configuration, the configuration for transmitting the force-sense feedbacks about the roll axis and the pitch axis to the user interface from the actuators disposed at the base part side of the first arm may be simply include the pulleys and the belts. Therefore, the simplification of the configuration and the reduction in the cost of the remote control device can be achieved.

Further, the actuator which gives the force-sense feedback about the yaw axis may be included in the link structure. According to such a configuration, the actuator which exerts, on the user interface, the force-sense feedback about the yaw axis can be included in the link structure, and thus, the force-sense feedback can be exerted appropriately.

Further, the pedestal which fixes the base part may be provided, and the self-weight compensator which compensates the self-weights of the first arm and the second arm may be provided along the pedestal. According to such a configuration, the self-weight compensator which compensates the self-weight of the first arm which extends from the base part and the self-weight of the second arm may have a small turning radius along the pedestal, and therefore, the moment of inertia can be reduced, and the operability of the user interface can be improved.

Claim 1:
A remote control device (<NUM>), comprising:
a first arm (<NUM>) supported by a base part (<NUM>);
a second arm (<NUM>) connected to a tip-end part of the first arm;
two rotary bodies (<NUM>, <NUM>) disposed side by side at a tip-end part of the second arm;
a link structure (<NUM>) in which link members (<NUM>, <NUM>) are fixed to the two rotary bodies, respectively;
a user interface (<NUM>) attached to the link structure,
actuators (<NUM>, <NUM>) that exert, on the user interface, force-sense feedbacks about a pitch axis (L1), a roll axis (L2), and a yaw axis (L3), wherein
the two rotary bodies are independently and rotatably supported by respective coaxial drive shafts (J4) disposed horizontally,
the user interface is pivotable with respect to the second arm on each of mutually-perpendicular three axes (L1, L2, L3) passing through a center point (P) of the link structure,
the link structure is disposed at the lateral side of the rotary bodies so that the center point is located on an axis of the two drive shafts,
the user interface is attached to the link structure on an axis of a rotation shaft passing through the center point,
the first arm is supported by a base part (<NUM>) by means of a support link (<NUM>) that is disposed to the base part so as to be turnable about a rotation shaft (J2),
the second arm is connected to a tip-end part of the first arm via a pivot shaft (J6) disposed parallel to the drive shafts,
the first arm has two link members (<NUM>) disposed in parallel to each other, and
the actuators that exert, on the user interface, the force-sense feedbacks about the pitch axis and the roll axis via the rotary bodies are disposed at a base part side of the first arm.