Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2002-05-02
2003-11-18
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S262000, C700S264000, C318S567000, C318S568120, C345S161000, C345S156000, C600S595000
Reexamination Certificate
active
06650966
ABSTRACT:
DETAILED DESCRIPTION OF THE INVENTION
1. Technical Field of the Invention
The present invention relates to a robot apparatus that handles goods by means of respective parts thereof such as the head portion, arm portion and finger portion, etc., and a robot remote controlling apparatus for remotely controlling the robot apparatus via a mobile communications network such as a PHS line, etc.
2. Prior Arts
Recently, in line with an increase in work by a robot apparatus, importance has been placed on a robot operating apparatus, which provides instructions such as finger movements and arm movements to the robot apparatus.
As a prior art finger portion operating portion that provides movement instructions to the finger portion, there is an input device acting as a data glove that is described in, for example, Japanese Unexamined Patent Publication No. 3465 of 1994. The data glove is such that conductive gel is mounted at the joints of fingers of a glove-shaped input device, and, by utilizing changes in electric resistance values of the conductive gel in line with bending and stretching states of the fingers, bending and stretching actions of fingers of a robot are instructed. Also, as a prior art arm portion operating portion that provides movement instructions to the arm portion, an arm portion structure, whose size is similar to that of an arm portion structure of a human's, is considered to be like an operating portion that carries the same on a shoulder.
However, since, in a prior art finger portion operating portion, the data glove is shaped to be a glove and it is necessary to attach conductive gel, which acts as sensors, to the joints of respective fingers, there occur some problems in that the attaching and detaching thereof is made cumbersome, and fingers perspire in a glove when it is hot, and the sweating makes an operator uncomfortable. Also, there occur other problems in that a structure of the prior art arm portion operating portion is such that the man carries the same on his shoulders, and it is heavy to carry the arm portion operating portion, resulting in a difficulty in operation.
It is requested that the robot remote controlling apparatus can easily and comfortably carry out operations in the finger portion operating portion and arm portion operating portion, and can easily and comfortably carry out operations at other parts than at the above-described operating portions. It is also requested that a robot apparatus that is remotely controlled by the robot remote controlling apparatus is easily remotely controlled and the structure is simple.
In order to meet the above-described requirements, it is therefore an object of the invention to provide a robot remote controlling apparatus that can easily and comfortably carry out operations at the finger portion operating portion and arm portion operating portion and can easily and comfortably carry out operations at other parts than at the above-described operating portions, and a robot apparatus having a simple structure, which is easily and remotely controlled by the above robot remote controlling apparatus.
SUMMARY OF THE INVENTION
In order to solve the problems and other shortcomings, a robot remote controlling apparatus according to the invention includes: a robot operating apparatus including an upper limb portion operating portion for carrying out finger operations and arm operations, a fuselage operating portion for carrying out body operations, travel portion operations, and running operations, and a head portion operating portion for carrying out head operations; a computer apparatus including a display for displaying data, an input device for inputting data, and an operation controlling portion for processing data on the basis of operation data from the robot operating apparatus; and a mobile communications device for transmitting data, which is processed by the computer apparatus, via wireless circuits; and the same comprises: a rack that accommodates the computer apparatus excluding the display and input device, and at the same time, that mounts the display; an up and down moving arm that is rotatably disposed on the rack and whose tip end portion can move up and down; and a supporting section rotatably disposed on the tip end portion, which detects a turning angle with respect to the tip end portion as a left and right turning angle of a head portion, and detects a turning angle of a roller disposed on the upper surface thereof as an up and down turning angle of the head portion, and in which the input device is disposed at the front side thereof, and the left and right upper limb portion operating portions are disposed at the left and right sides thereof, and an independent box-shaped leg operating section on which the fuselage operating portion is disposed.
Thereby, it is possible to obtain a robot remote controlling apparatus that can easily and comfortably carry out operations at the finger portion operating portion and arm portion operating portion, and can easily and comfortably carry out operations at other parts than at the above-described portions.
Also, in order to solve the above-described problems and shortcomings, a robot apparatus according to the invention is a robot apparatus for driving respective parts of the robot upon receiving, via a base station and a public communications network, the transmission data from the robot remote controlling apparatus that is composed of a robot operating apparatus for operating the respective parts of the robot, an operation side computer apparatus that processes data on the basis of operation data from the robot operating apparatus, and an operation side mobile communications unit for transmitting data, which is processed by the computer apparatus, via a wireless circuit; which is provided with a robot side mobile communications unit for receiving transmission data from the operation side mobile communications unit; a robot side computer apparatus for processing data, which is received by the robot side mobile communications unit, and outputting the operation data; and a robot mechanism portion including respective parts of the robot that are controlled on the basis of the operation data outputted from the robot side computer apparatus.
Thereby, it is possible to obtain a robot apparatus having a simple structure, which can be easily and remotely controlled by the above-described robot remote controlling apparatus.
A robot remote controlling apparatus according to a first aspect of the invention is constructed so that the same includes: a robot operating apparatus including an upper limb portion operating portion for carrying out finger operations and arm operations, a fuselage operating portion for carrying out body operations, travel portion operations, and running operations, and a head portion operating portion for carrying out head operations; a computer apparatus including a display for displaying data, an input device for inputting data, and an operation controlling portion for processing data on the basis of operation data from the robot operating apparatus; and a mobile communications device for transmitting data, which is processed by the computer apparatus, via wireless circuits; and the same comprises: a rack that accommodates the computer apparatus excluding the display and the input device, and at the same time, that mounts the display; an up and down moving arm that is rotatably disposed on the rack and whose tip end portion can move up and down; and a supporting section rotatably disposed on the tip end portion, which detects a turning angle with respect to the tip end portion as a left and right turning angle of a head portion, and detects a turning angle of a roller disposed on the upper surface thereof as an up and down turning angle of the head portion, and in which the input device is disposed at the front side thereof, and the left and right upper limb portion operating portions are disposed at the left and right sides thereof, and an independent box-shaped leg operating section on which the fuselage operating portion is dispo
Baba Katsuyuki
Ino Shigeaki
Takamoto Yoichi
Cuchlinski Jr. William A.
Marc McDieunel
Tmsuk Co., Ltd.
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