JPH03294188A - Manipulator system for hot-line work - Google Patents

Abstract

PURPOSE:To increase joint stiffness in secured safety and to improve controllability, by arranging various kinds of detectors on the wrist joint mechanism of a slave manipulator without giving any obstacle to electric insulating property. CONSTITUTION:A detector 53 fitted to the wrist of a slave manipulator sends out an output signal by using the power source provided on a signal relay mean 131. This output signal is fed to a signal processing system part positionally from the wrist via an optical fiber cable 139, after being converted into an optical signal by the signal relay mean 131. This optical fiber cable 139 is composed of an insulating material and so the problem on insulation is not caused at all. Thus, the detector 53 can be provided on the wrist and a speed reducer also can be provided at the vicinity of the wrist.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a manipulator system for live line work,
In particular, the present invention relates to a manipulator system for live wire work that can improve controllability while ensuring electrical insulation of the slave manipulator.

(Prior art) Generally, maintenance work on overhead power distribution lines, such as insulator replacement,
Work such as cutting and connecting edge lines, replacing high voltage switches, etc.
In order to provide uninterrupted service to customers, this is often done with live lines. Working with live wires is not only dangerous, but also requires a lot of effort on the part of the worker, and the work efficiency is extremely low.

To solve this problem, it has recently been proposed to use a remote-controlled manipulator system. Various methods have been proposed for this so-called manipulator system for live line work.

In both cases, the wrist and shoulder of the work manipulator are electrically insulated to ensure the safety of the operator and to avoid phase-to-phase short circuits and ground faults that are likely to occur with work manipulators. structure is adopted.

By the way, when performing live wire work using a manipulator, in order to improve work efficiency, it is necessary to have a master-slave manipulator configuration, have the slave manipulator perform the work, and control this slave manipulator with the master manipulator via a bilateral servo system. It is desirable to configure it so that

In order to configure a bilateral servo system in this way, it is necessary to use a detector to detect the force applied to each part of the slave manipulator and the angle of each joint.

As these detectors, - those that output electrical signals are used for boat fishing. However, as described above, in the manipulator system for live line work, it is necessary to electrically insulate between the wrist and shoulder of the slave manipulator that directly performs the work. For this reason, it is difficult to detect force information and angle information beyond the wrist using an electrical detector.

Therefore, in a conventional manipulator system for live line work that has a master-slave manipulator configuration and incorporates a bilateral servo system, electrical insulation of the power transmission system and information collection beyond the wrist are performed as follows. In other words, taking as an example a slave manipulator in which each joint is driven by a motor, each drive motor is centrally placed on the shoulder of the slave manipulator, and the rotational output of these motors is decelerated by a reducer. This deceleration output is transmitted to each joint via an insulated power transmission mechanism formed using an insulated lobe or an insulated shaft. A force detector is interposed between the reducer and the insulating power transmission mechanism, and an angle detector is connected to the output end of the reducer.

The slave manipulator configured as described above ensures electrical insulation in the power transmission system by using an insulating power transmission mechanism, and also provides a force detector and an angle detector at the input end of the insulated power transmission mechanism. This solves the insulation problem of these detectors.

However, the conventional manipulator system for live line work configured as described above has the following problems. That is, in order to ensure insulation of the force detector, this force detector must be located on the input end side of the insulating power transmission mechanism.

Further, in order to prevent the force detector from detecting the friction torque in the reducer, the force detector must be located on the output side of the reducer. In conventional systems, the rotational force of the motor is inevitably transmitted to the joints through a path consisting of a reduction gear, a force detector, and an insulated power transmission mechanism. Therefore, the insulating power transmission mechanism is located in a high torque region. In an insulated power transmission mechanism, in order to accommodate the bending of the arm, it is necessary to interpose a plurality of boobies in the case of using an insulating lobe, and a plurality of gears in the case of a mechanism using an insulated shaft. In conventional systems, the insulated power transmission mechanism located in the high-torque region has multiple boots and multiple gears, so the backlash and backlash of these reduce the joint stiffness, which causes There was a problem that control performance deteriorated significantly. In addition, since the force detector is located on the input end side of the insulating power transmission mechanism, in order for this force detector to detect the truly necessary force, it is necessary to It is necessary to minimize the frictional force of the mechanical element located on the tip side, which inevitably makes design, assembly and adjustment difficult. Furthermore, in the conventional configuration, the proportion of elements located in the high torque region inevitably increases. For this reason, it has been difficult to achieve overall weight reduction and compactness.

(Problem to be Solved by the Invention) As described above, with the master-slave manipulator configuration,
In addition, in conventional manipulator systems for live line work incorporating a bilateral servo system, it is difficult to increase the joint rigidity of the slave manipulator, and as a result,
Not only was the control performance inferior, but design, assembly and adjustment were difficult, and it was difficult to realize overall weight reduction and compactness.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a manipulator system for live line work that does not have the above drawbacks.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention includes a slave manipulator that performs work and a master manipulator that controls the slave manipulator via a bilateral servo system, In a manipulator system for live-line work that electrically insulates the wrist and shoulder of the slave manipulator, it has an independent power supply, is mounted on the wrist of the slave manipulator, and transmits electrical and optical signals. It is attached to the wrist of the slave manipulator, and includes a signal relay means having a signal conversion system for converting between The present invention is characterized by comprising at least one type of detector connected to the detector, and an optical fiber cable constituting a signal transmission path between the signal relay means and a signal processing system that processes the signal from the detector.

(Function) The detector attached to the wrist of the slave manipulator sends out an output signal using the power supply provided in the signal relay means. This output signal is converted into an optical signal by the signal relay means, and then sent to a signal processing system located at a distance from the wrist via an optical fiber cable. Since optical fiber cables are made of insulating material, there are no insulation problems. Therefore, even if the detector is provided on the wrist, no insulation problems arise. In this way, since the detector can be provided at the wrist, the speed reducer can also be provided near the wrist. That is, the speed reducer can be located on the output end side of the insulating power transmission mechanism. As a result, the joint rigidity of the slave manipulator can be increased, and control performance can be improved while ensuring electrical insulation between the wrist and shoulder parts of the slave manipulator. Furthermore, since the proportion of elements located in the high torque region can be reduced, design, assembly and adjustment can be facilitated, and the overall weight and size can also be reduced.

(Example) Examples will be described below with reference to the drawings.

FIG. 1 schematically shows the entire configuration of a manipulator system 1 for live line work according to an embodiment of the present invention.

This system 1 is broadly divided into a slave manipulator 10 that actually performs live wire work, a master manipulator 20 that is operated by an operator to control the slave manipulator 10, and a master manipulator that controls the force applied to the slave manipulator 10. 20 and a bilateral servo control unit 30 that performs force feedback bilateral servo control.

The slave manipulator 10, as shown in FIG.
It is comprised of an arm mechanism 41 whose shoulder portion is supported by a support member 40, and a hand mechanism 42 attached to the tip of the wrist portion of this arm mechanism 41.

The arm mechanism 41 is supported by the support member 40 and has a second
A shoulder joint mechanism 44 has a shaft rotatable in the direction indicated by a solid line arrow 43 in the figure, and a shaft supported by the axis of the shoulder joint mechanism 44 and rotatable in a direction indicated by a solid line arrow 45 in the figure. An elbow joint mechanism 46, a forearm mechanism 48 supported by the axis of the elbow joint mechanism 46 and extendable in the direction indicated by the solid line arrow 47 in the figure, and a solid line arrow 47 at the distal end of the forearm mechanism 48. 49, 50, and a wrist joint mechanism 52 rotatably attached in the directions shown by 51. The hand mechanism 42 described above is detachably attached to the wrist joint mechanism 52 via a force detector 53, which will be described later. Note that the hand mechanism 42 is indicated by a solid line arrow 54 in the figure in this example.
It is provided with fingers 55a and 55b which can be freely moved toward and away from each other in the direction shown by.

Here, the arm mechanism 4 in the slave manipulator 10
1 will be explained in more detail using FIGS. 1 and 3. In addition, each joint mechanism 44, 46, etc. is shown in these figures.
Only the mechanism for rotating the forearm mechanism 52 and the mechanism for extending and retracting the forearm mechanism 48 are shown, and the mechanism for driving the fingers 55g and 55b is omitted.

In FIG. 1, a motor 60 is fixed to a support member 40, and a rotating shaft of this motor 60 is connected to a rotating shaft 62 via a speed reduction mechanism 61.

A motor 63 is fixed to this rotating shaft 62.

The rotating shaft of the motor 63 connects to the rotating shaft 65 via a reduction gear 64.
The rotating shaft 65 supports one end of the forearm mechanism 48 .

The forearm mechanism 48 includes an outer cylinder 66 formed in the shape of a cylinder with a bottom. The bottom side of this outer cylinder 66 is connected to the rotating shaft 65. Inside the outer cylinder 66, a part protrudes outside the outer cylinder 66, and the remaining part is located inside the outer cylinder 66, and is movable in the direction shown by the solid line arrow 47 in the figure, and is shown by the solid line arrow 49 in the figure. An inner cylinder 67 made of an insulating material and rotatable in this direction is arranged. This inner cylinder 67 is made of glass fiber reinforced plastic or the like. The end of the inner cylinder 67 located inside the outer cylinder 66 is supported by a motor support member 68 . Motor support material 6
8 is rotatably supported by a bearing 69. The bearing 69 is supported by a plate 70, and the plate 70 is supported movably in the direction indicated by a solid line arrow 47 in the figure by a ball screw feed mechanism 71 and a spline mechanism (not shown). One end of the feed screw 72 of the ball screw feed mechanism 71 is connected to the rotating shaft of a motor 74 via a reduction gear 73. The motor 74 is fixed to the bottom of the outer cylinder 66. Further, a motor 75 is fixed to the plate 70, and a rotating shaft of the motor 75 is connected to a rotating shaft supported by a bearing 69 via a reduction gear 76.

Motors 77 and 78 are supported by the motor support member 68. The rotational shafts of these motors 77 and 78 are transmission shafts 7 made of insulating material arranged parallel to each other along the axial center line within the inner cylinder 67.
9.8o, each connected to one end side. These transmission shafts 79.8o are made of glass fiber reinforced plastic or the like.

Further, the rotating shafts of the motors 77 and 78 are connected to angle detectors 85 and 86 capable of detecting absolute angles via gear mechanisms 81 and 82 and deceleration mechanisms 83 and 84, respectively.

The other end sides of the transmission shafts 79 and 80 are connected to bevel gears 91 and 92 via symmetrically provided bevel gear mechanisms 87 and 88 and reduction gears 89 and 90, respectively.

A bevel gear 93 is commonly meshed with the bevel gears 91 and 92, and a shaft 94 of the bevel gear 93 is connected to the hand mechanism 42 via a force detector 53. Further, a frame 95 is supported on the shafts of the bevel gears 91 and 92, and this frame 95
A bearing 96 that supports the shaft 94 is attached to the shaft 94 .

In addition, in Figures 1 and 3, 97.9g, 99.10g
0 indicates an angle detector capable of detecting an absolute angle, and 10] indicates a dustproof bellows made of an insulating material. Further, in FIGS. 2 and 3, 102 indicates a balancer.

In the slave manipulator 10 having the above configuration, the motor 6
0 controls the angle θ1, the motor 63 controls the angle θ2, the motor 74 controls the expansion/contraction amount θ, and the motors 75, 77° 78 control the angle θ4. θ
9. θ6 is controlled.

These control amounts are determined by angle detectors 85, 86°97
．． Detected by 98,99.100.

Further, electrical insulation between the wrist joint mechanism 52 and the shoulder joint mechanism 44 is ensured by an inner cylinder 67, a transmission shaft 79, 80, and a bellows 101, which are each made of an insulating material.

The master manipulator 20 includes a master manipulator body 110 that is operated by an operator, and a master manipulator body 110 that is operated by an operator.
A motor group 111 that provides feedback force to each joint axis of
and a detector group 112 that detects the angle of each joint. The output of the detector group 112 is input to the bilateral servo control unit 30, and the motor groups 11 and 1 are controlled by the output of the bilateral servo control unit 30.

The bilateral servo control unit 30 is mainly composed of a microcomputer. This bilateral servo control unit 30 has the outputs of the detector group ]-12 provided on the master manipulator 20 as information, and the angle detectors 97.98, 99.100.85.86 provided on the slave manipulator 10.
Outputs S+, St, Si, Sa, S9. Sb, hand mechanism 4
An output S7 of an angle detector that detects the rotation angle of an insulated drive system (not shown) that drives the fingers 55a and 55b, and a force detector 5
3 outputs Tx, Ty, Tz, FW.

FY + F Z, output A of the tool number detector 113 (see FIG. 5) provided at the base end of the hand mechanism 42, angle θ6. Wrist joint mechanism 5 to limit θ6 to a certain range
Limit switch 114.115,1 mounted on 2
16. Output of 117 (see Figure 5) PL + P
R, VL, and VR are introduced. Based on this information, the bilateral servo control unit 30 controls each motor 60, 63, 74, 75, 7 of the slave manipulator 10 to operate the slave manipulator 10 in accordance with the movement of the master manipulator body 10.
7. Drive command FIn F2 to 78. F3. F4. F5
．． While giving F6, hand mechanism 420 fingers 55a, 55b
A drive command F7 is given to the insulated drive system that drives the slave manipulator 10, and a drive command is given to the motor group 111 so that the force applied to each joint axis of the slave manipulator 10 is fed back to each joint axis of the master manipulator 20. Such a control method is well known, and detailed explanation will be omitted here.

In this example, a six-axis force detector 53 is incorporated. In other words, this force detector 53 is configured for each axis x of the rectangular coordinates.
, force signals Tz, Ty, Tz, Fx, corresponding to the forces applied in the directions of y and z and the forces applied around each axis.
Output Fy and Fz. Specifically, the force detector 53 is
As shown in FIG. 4, six detectors 122 g , 122 b are inserted between the wrist mechanism 52 and the hand mechanism 42 and fixed to the outer peripheral surface of a connecting member 121 made of a high magnetic permeability material.
-122f. Each detector 112a
.

122b, . . . 122f are four resistive strain sensors 123a, 123b, 123 fixed along each side of a quadrangle drawn in different directions on the outer peripheral surface of the connecting member 121.
c, 123d. Each strain sensor 12
3a, 123b.

123c and 123d each have a structure in which a resistance wire is fixed to the surface of the substrate, for example, in a meandering manner, and a copper foil is attached to the surface via an insulating adhesive.

The material of the connecting member 121 and the presence of the copper foil prevent the influence of the magnetic field. Each strain sensor 12Ba that constitutes the detector
, 123b.

One ends of leads 124a and 124b formed of magnet wire or the like are connected to both ends of 123c and 123d, respectively. These lead wires 124a,
The other ends of the terminals 124b are twisted together and guided to the terminal plate 125 so as not to be affected by the magnetic field, and the terminals 126a and 124b provided on the terminal plate 125 are connected to each other.
26b, 126c.

126d. Then, on the terminal plate 125, each strain sensor 123a, 123b.

The wires are connected to form a bridge circuit with 123c and 123d as one side. One ends of lead wires 127a, 127b formed of magnet wire or the like are connected to terminals 126a, 126d, which serve as power input ends of the bridge circuit. The other ends of these lead wires 127a and 127b are twisted together to prevent them from being affected by the magnetic field, and are connected to a relay device 131 (see FIG. 1), which will be described later.
(see FIG. 5), and is connected to a power source 132 mounted on this relay device 131. Furthermore, one ends of lead wires 128a and 128b formed of magnet wire or the like are connected to terminals 126b and 126c, which serve as output ends of the bridge circuit. And these lead wires 128
The other ends of a and 128b are twisted to prevent them from being affected by the magnetic field, and are connected to the relay device 13 described below.
Connected to 1.

The terminal board 125 and the relay device 131 described above are mounted on the wrist joint mechanism 52 while being covered with a conductive plate, as shown in FIG. The relay device 31 is composed of a power source 132 and a repeater 133, as shown in FIG.

In this example, as shown in FIG. 6, the power source 132 uses a lithium battery 134 having a high power density. Then, the output of the lithium battery unit 34 is sent to each element of the repeater 133 and the detector 122a via the stabilizing circuit 135.

122b, ... 122f.

The repeater 133 is configured as shown in FIG.

That is, each detector 122a of the force detector 53 described above,
Force signal T, j detected at 122b, -122f
"f r TZ r FX + FY + FZ are each amplified by an amplifier 136, and this amplified signal is converted into a voltage
A frequency converter 137 converts the signal into a frequency signal, an electrical/optical converter 138 converts the frequency signal into an optical signal, and the optical signal is transmitted via an optical fiber cable group 139 to a repeater 150, which will be described later. ing. On the other hand, the aforementioned tool number signal A is amplified by an amplifier 140, this amplified signal is converted into a frequency signal by a voltage/frequency converter 141, this frequency signal is converted into an optical signal by an electrical/optical converter 142, and this amplified signal is converted into a frequency signal by an electrical/optical converter 142. The optical signal is sent to the repeater 1 via the fiber cable 143.
It is transmitting towards 50. Furthermore, the signals p, , pR, vL, and vR obtained by the limit switches 114, 115, 116° 117 described above are stored in a buffer memory 144, and the signals stored in this buffer memory 144 are sequentially transmitted to a multiplexer 145. reading out the read signal, converting the read signal into an optical signal with an electric/optical converter 146,
This optical signal is transmitted to the repeater 150 via the optical fiber cable 147. Note that 148 in the figure is an optical/electrical converter. This optical-to-electrical converter 148 converts the zero balance signal B sent from the repeater 150 via the optical fiber cable 149 into an electrical signal and supplies it to each amplifier 136.

The optical fiber cable group 139 and the optical fiber cables 143, 147, 149 start from the relay device 131 mounted on the wrist joint mechanism 52, as shown in FIG.
It is guided inside the bellows 101 and the outer cylinder 66 so as not to be affected by the expansion and contraction movement of the forearm mechanism 48, and is connected to a repeater 150 located near the bilateral servo control unit 3o, as shown in FIG. has been done.

The repeater 150 is configured as shown in FIG.

That is, from the repeater 133 to the optical fiber cable group 13
force signal Tx, T transmitted in the form of a frequency signal via 9
y, Tz, Fx, Fy, and F2 are converted into electrical signals by an optical/electrical converter 151, and this electrical signal is returned to its original signal form by a frequency/voltage converter 152, and this returned force signal Tx
, T.Y.

TZ, FX, FY, and FZ are provided to the bilateral servo control unit 3o via an amplifier 153.

Also, the tool number signal A transmitted in the form of a frequency signal from the repeater 133 via the optical fiber cable 143 is optically transmitted.
The electrical converter 154 converts it into an electrical signal, the frequency/voltage converter 155 returns the electrical signal to its original signal form, and the returned signal is given to the bilateral servo control unit 30 via an amplifier 156. . Furthermore, limit switch signals PL, PR, transmitted in the form of optical signals from the repeater 133 via the optical fiber cable 147,
VLI VR is converted into an electrical signal by an optical/electrical converter 157, this signal is converted into a parallel signal by a day multiplexer 158, and stored in a buffer memory 159, and a signal pL+ is read out in parallel from this buffer memory 159.
pRI vL+ VR is given to the bilateral servo control unit 30. Further, the zero balance signal B given from the bilateral servo control unit 3o is converted into an optical signal by the electrical/optical converter 160, and this optical signal is transmitted to the repeater 133 via the optical fiber cable 149.

With such a configuration, the wrist joint mechanism 52 and shoulder joint mechanism 4 of the slave manipulator 10 that directly performs live wire work
4, in the section of the forearm mechanism 48, an inner cylinder 67 made of an insulating material, and transmission shafts 79, 8 made of an insulating material.
0, it is completely electrically insulated by a finger drive transmission shaft made of an insulating material and a bellows 101 made of an insulating material. Further, in the above configuration, all of the information necessary to operate the slave manipulator 10 and the mask manipulator 20 by force feedback type bilateral servo control is given to the bilateral servo control unit 30. In particular, in this embodiment, the wrist joint mechanism 52 of the slave manipulator 10 is provided with a force detector 53 and other detectors, and the wrist joint mechanism 52 is also equipped with a relay device 131 having an independent power source 132. The relay device 131 converts each detected signal into an optical signal, and transmits these optical signals to the bilateral servo control unit 30 side via a fiber cable group 139 and optical fiber cables 143 and 147.
I'm 7. Since optical fiber cables are made of insulating material, there are no insulation problems. Therefore, even if each detector is provided in the hand joint mechanism 52, no insulation problem will occur. In this way, since each detector can be provided in the wrist joint mechanism 52, the speed reducers 89 and 90 can also be provided in the vicinity of the wrist joint mechanism 52.

In other words, the reducer 89.9 is located on the output end side of the transmission shaft 79.80.
0 can be located. As a result, the joint rigidity of the slave manipulator 10 can be increased, and control performance can be improved while ensuring electrical insulation between the wrist joint mechanism 52 and shoulder joint mechanism 44 of the slave manipulator 10. Furthermore, since the proportion of elements located in the high torque region can be reduced, design, assembly and adjustment can be facilitated, and the overall weight and size can also be reduced.

Note that the present invention is not limited to the embodiments described above. In the embodiment described above, the power supply 132 is connected to the relay device 131.
Although the lithium battery 134 is equipped with a lithium battery 134, the present invention is not limited to this. For example, as shown in FIG.
1, a fluid pressure motor 172 is provided which drives a DC generator 173, the output of this generator 173 charges a secondary battery 174, and the output of this secondary battery 174 is stabilized. A power source 176 that is taken out via the conversion circuit 175 may be mounted on the wrist joint mechanism 52. In FIG. 7, 177 indicates a switch that is turned on when the pressure of the insulating fluid 171 is above a certain level, and 178 indicates a charging resistor. Of course, it is also possible to use a solar battery instead of the DC generator.

The embodiment described above applies the present invention to a manipulator system for live line work that uses a motor as a power source and includes a slave manipulator configured to transmit the rotational force of the motor to a joint mechanism via gears and an insulated transmission shaft. This is an example of applying . However, the present invention is not limited to this,
A manipulator system for live line work that uses a motor as a power source and has a slave manipulator configured to transmit the rotational force of this motor to the joint mechanism via a boob and an insulating lobe, and a manipulator system that uses hydraulic pressure as a power source. It can also be applied to manipulator systems for live line work with slave manipulators.

FIG. 8 shows a manipulator for live line work to which the present invention is applied, which is equipped with a slave manipulator configured to use a motor as a power source and transmit the rotational force of the motor to a joint mechanism via a boot and an insulating lobe. System 1a is shown.

This system 1a can also be roughly divided into a slave manipulator 180 that actually performs live wire work, a mask manipulator 190 that is operated by an operator to control this slave manipulator 180, and a master manipulator that controls the force applied to the slave manipulator 180. A bilateral servo control unit 200 performs force feedback type bilateral servo control.

The slave manipulator 180 has an elbow joint mechanism 214 that is supported by a support member 211 and has a shaft 213 that is rotatable in the direction indicated by a solid arrow 212 in the figure, and one end is supported by the shaft 213 of the elbow joint mechanism 214. A forearm mechanism 215 formed in a cylindrical shape with an insulating material; a wrist joint mechanism 218 rotatably attached to the other end of the forearm mechanism 215 in the directions indicated by solid line arrows 216 and 217 in the figure; A hand mechanism 220 is detachably attached to the joint mechanism 218 via a force detector 219.

A motor 221 is fixed to the support member 211 , and a rotating shaft of the motor 221 is connected to a shaft 213 via a speed reduction mechanism 222 . Further, other motors 223 and 224 are fixed to the support member 211, and each motor 2
The rotating shafts 23 and 224 are pulleys 227 rotatably mounted on the outer periphery of the shaft 213 via reduction gears 225 and 226.
, 228. In addition, pulley 227.22
8 is located within the forearm mechanism 215.

On the other hand, a shaft 229 is rotatably attached to the wrist joint mechanism 218, and a pulley 230 is attached to the outer periphery of this shaft 229.
, 231 are rotatably mounted. A lobe 233 made of an insulating material is stretched endlessly between the pulley 227 and the pulley 230 via an intermediate pulley 232. Similarly, a lobe 235 made of an insulating material is endlessly stretched between the pulley 228 and the pulley 231 via an intermediate pulley 234. The pulleys 230.231 are connected to bevel gears 238.2 via reducers 236 and 237, respectively.
It is connected to 39. A bevel gear 240 is commonly meshed with the bevel gears 238 and 239, and a shaft 241 of the bevel gear 240 is connected to the force detector 219. A frame 242 is supported on the shaft 229.
A bearing 243 that supports the shaft 241 is mounted on the shaft 42 . In addition, 244.245 in the figure indicates a reducer, and 246
, 247 and 248 respectively indicate angle detectors that detect absolute angles.

In the slave manipulator 180 having the above configuration, the angle θ7 is controlled by the motor 221, and the angle θ7 is controlled by the motor 223.2.
24 controls angles θ8 and θ. These control amounts are detected by angle detectors 246, 247, 248.
detected by.

Further, electrical insulation between the wrist joint mechanism 218 and the elbow joint mechanism 214 is ensured by the forearm mechanism 215 and lobes 233, 235 made of an insulating material.

The master manipulator 190 includes a master manipulator body 250 that is operated by an operator, and a master manipulator body 250 that is operated by an operator.
Motor group 25 that provides feedback force to each joint axis of 0
1, and a detector group 252 that detects the angle of each joint. The output of the detector group 252 is input to the bilateral servo control unit 200, and the motor group 251 is controlled by the output of the bilateral servo control unit 200.

- The q lateral servo control unit 20 [] is mainly composed of a microcomputer.

This bilateral servo control unit 200 includes the output of the detector group 252 provided in the mask manipulator]-90, the slave manipulator 1 as information,
Output Sll+ 512+S13 of angle detectors 246, 247, 248 provided at 80, output of an angle detector that detects the rotation angle of an insulated drive system (not shown) that drives the fingers of hand mechanism 220, output Tx of force detector 219 ,TV,
Tz is introduced. Based on this information, the bilateral servo control unit 200 sends each motor 221, 223 224-\drive command FII+ F 12+ of the slave manipulator 80 to operate the slave manipulator 180 in accordance with the movement of the master manipulator main body 250. F13 and a drive command to an insulated drive system (not shown) that drives the fingers of the hand mechanism 220, and further so that the force applied to each joint axis of the slave manipulator 18C1 is fed back to each joint axis of the mask manipulator 19 [). motor group 251
Give drive commands to.

In this example, a three-axis force detector 219 is used, and is basically constructed in the same manner as that incorporated in the previous embodiment. The force detector 219 is connected to the power source 2 of the relay device 260 mounted on the wrist joint mechanism 218.
61 to output force signals TX, 'ry, and ``rl'' corresponding to the forces applied in the directions of the respective axes X, Y, and Z of the rectangular seat.These force signals ``r, , 'r, ,'' r2 is guided to a repeater 260. The repeater 260 converts the power signals T, TY, T, into optical signals with a repeater 262 operated by a power supply 261, and sends these optical signals to the end fiber cable group 26.
Bilateral servo control unit 2 through 3
00 is transmitted to a repeater 264 located near 00. The repeater 264 receives the force signal “r,+” in the form of an optical signal.
It is configured to convert "rYl"rz into the original electrical signal and introduce it into the bilateral servo control unit 200.

Therefore, even in the manibulator system 1a for live line work configured as described above, the problem of electrical insulation can be solved and force detection can be performed near the wrist joint mechanism 218. It is possible to obtain the same effects as in the above embodiment.

FIG. 9 shows a manipulator system 1b for live line work to which the present invention is applied, which includes a slave manipulator configured to drive each joint mechanism with hydraulic pressure.

This system 1b can also be roughly divided into a slave manipulator 270 that actually performs live wire work, a master manipulator 280 that is operated by an operator to control this slave manipulator 270, and a mask manipulator that controls the force applied to the slave manipulator 270. 280 and a bilateral servo control unit 290 that performs force feedback bilateral servo control.

The slave manipulator 270 includes a shoulder joint mechanism 300, an elbow joint mechanism 301, and a wrist joint mechanism 302. A hand mechanism 304 is attached to the wrist joint mechanism 302 via a force detector 303. Each joint mechanism and hand mechanism 304 are operated at an angle θIQrθ13 by hydraulic pressure supplied via a servo valve group 305 and an insulating material hose 306 disposed inside. θ1□, θ13+ θ, 4. θ3.
is controlled. The opening and closing of the fingers of the hand mechanism 304 is also hydraulically controlled. In this example, the forearm portion 307 between the elbow joint mechanism 301 and the wrist joint mechanism tJII 302 is formed of an insulating material. The wrist joint mechanism 302 includes an angle detector 3.
08.309,310 are installed.

The master manipulator 280 includes a master manipulator main body 320 that is operated by an operator, and a master manipulator main body 320 that is operated by an operator.
A servo valve group 321 that hydraulically applies feedback force to each joint axis of 0, and a detector group 322 that detects the angle of each joint.
It is made up of.

The output of the detector group 322 is input to the bilateral servo control unit 290, and the servo valve group 321 is input to the bilateral servo control unit 290.
90 outputs.

The bilateral servo control unit 290 is mainly composed of a microcomputer. This bilateral servo control unit 290 includes
The information includes the output of the detector group 322 provided in the master manipulator 280, the output of the angle detector (not shown) provided in the shoulder joint mechanism 300 and elbow joint mechanism 1301 of the slave manipulator 270, and the angle detectors 308, 30.
9°310 output S +41 8 Is, S +6
, the output of an angle detector (not shown) that detects the opening angle of the fingers of the hand mechanism 304, and the output of the force detector 303 Tx, T, , T2
will be introduced. Based on this information, the bilateral servo control unit 290 gives a control command to the servo valve group 305 to operate the slave manipulator 270 in accordance with the movement of the mask manipulator body 280, and also controls each joint axis of the slave manipulator 270. A control command is given to the servo valve group 321 so that the applied force is fed back to each joint axis of the master manipulator 280.

In this example, a three-axis force detector 303 is used. The force detector 303 uses a power source 331 possessed by a relay device 330 mounted on the wrist joint mechanism 302 to generate force signals corresponding to the forces applied in the directions of each axis x, y, and z of the rectangular coordinates. ,.

Output TZ. The angle detectors 308, 309, and 310 also use the power source 331 of the relay device 330 to generate the angle signal S.
141 5 II S ,b is sent. Then, force signals Tx, Ty, Tz and angle signals S14°S15
+SI6 is guided to relay device 330. Relay device 330
is a power signal “rx” at a repeater 332 operated by a power supply 331.
l ”ry ) 'r, and the angle signal S14°S
1. + 516 into optical signals and transmits these optical signals via a group of fiber optic cables 336 to a repeater 334 located near the bilateral servo control unit 290 . The repeater 334 is configured to convert the force signal Tx+"ry+TZ and the angle signal S141S+5+S+6 received in the form of optical signals into original electrical signals and introduce them into the bilateral servo control unit 290. Therefore, even in the manipulator system 1b for live wire work configured as described above, force detection and angle detection are performed near the wrist joint mechanism 302 while the electrical insulation problem is solved. Detection can be performed, and the same effects as in each of the embodiments described above can be obtained.

In addition, in the case of this embodiment, the slave manipulator 27
It is also possible to detect the control hydraulic pressure on the shoulder side of 0 with a pressure detector and obtain a force signal from this detection output.

[Effects of the Invention] As described above, according to the present invention, various detectors can be placed in the wrist joint mechanism of the slave manipulator without impairing electrical insulation, thereby ensuring safety. The joint stiffness can be increased in this state, and controllability can be improved.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a manipulator system for live line work according to an embodiment of the present invention. The second reason is a perspective view showing only the slave manipulator in the system taken out, and FIG. A partially cutaway side view, FIG. 4 is a circuit configuration diagram of a force detector incorporated in the wrist joint mechanism of the slave manipulator, and FIG. 5 is a configuration of a relay device installed in the wrist joint mechanism of the slave manipulator. and a configuration diagram of a relay device that receives signals transmitted from the above-mentioned relay device via an optical fiber cable, FIG. 6 is a diagram for explaining the power supply configuration installed in the above-mentioned relay device, and FIG. 7 is a power supply configuration. FIG. 8 is a schematic configuration diagram of a manipulator system for live line work according to another embodiment of the present invention, and FIG. 9 is a diagram for explaining a modification example of the present invention. FIG. 2 is a schematic configuration diagram of a manipulator system for line work. 1, la, lb...manipulator system for live wire work, 10,1.80,270...slave manipulator, 20,190,280...master manipulator, 30,200,290...bilateral servo Control unit, 53, 219, 303... Force detector, 131. ．． 260,330...relay device, 13
2,261,331...Power supply, 133°262.33
2...Repeater, 139,263,333-Optical fiber cable group, 150,263°334...Repeater.

Claims (3)

[Claims] (1) A live wire comprising a slave manipulator that performs work and a master manipulator that controls the slave manipulator via a bilateral servo system, and electrically insulating between the wrist and shoulder of the slave manipulator. In the working manipulator system, a signal relay means having an independent power source and a signal conversion system mounted on the wrist of the slave manipulator to convert between an electrical signal and an optical signal, and the bilateral servo system at least one type of detector that is attached to the wrist of the slave manipulator and is electrically connected to the signal relay means; the signal relay means and the detector; 1. A manipulator system for live wire work, comprising: an optical fiber cable that constitutes a signal transmission path between the manipulator system and a signal processing system that processes signals from the . (2) The detector includes at least one of a multi-axis force detector that detects a force applied to the wrist and an angle detector that detects a joint angle of the wrist. Manipulator system for live wire work described in . (3) The manipulator system for live line work according to claim 1, wherein the detector and the signal relay means are each magnetically shielded.