JP3081281B2 - Manipulator for distribution line work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator for distribution line work, and more particularly to an improvement for protecting a manipulator from external force or reaction force acting on the manipulator.

[0002]

2. Description of the Related Art In recent years, manipulators have been used in construction of overhead distribution lines. In this manipulator, a cabin for accommodating a control device and an operator, a pair of left and right manipulators, etc. are arranged on a boom mounted on an aerial work vehicle, and the operator operates the manipulator at a high place to work. ing.

[0003]

As described above, distribution line construction is performed by manipulating the manipulator at a high place.
Booms and manipulators are subject to wind pressure and are liable to shake due to recoil of the operation of the manipulator, and are unstable.

[0004] For this reason, when the manipulator is gripping the facility or shakes during the operation of the tool, a reaction force acts and an impact is applied to the manipulator. Further, at the construction site, work is performed in parallel using other manipulators and construction machines, so that the manipulators may be subjected to an external force impact due to the irregular operations during the joint work.

[0005] Further, since the work space of the distribution line is small, the arm of the manipulator may come into contact with the line or other equipment. As a result, there is a fear that the manipulator or the operator may be accidentally damaged or an accident may occur.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a manipulator for distribution line work that can safely work by absorbing or mitigating the impact applied to the manipulator as described above.

[0007]

To achieve the above object SUMMARY OF THE INVENTION The invention of the claims 1, and working arm, the working A
With a power transmission shaft that displaces following the displacement of the
In the electric wire work manipulator, the work arm is moved forward.
Arm and rear arm, and each end of both arms
Protrude the flanges respectively, and
Are arranged in a butt shape, and both flanges are
The work arm is sandwiched between a pair of coil springs from both axial sides.
Connect the front and rear arms by holding
And the coil spring is moved in the axial direction of the working arm.
Multiple parts are installed in parallel, and the front and rear parts are also divided.
The force transmission shaft is self-equipped with a connecting pin movable in the axial direction.
These are connected by a joint. Further, claim 2 of the present application
The invention relates to a work arm and a displacement of the work arm.
Distribution line manipulator consisting of a displaced power transmission shaft
The coil springs with different winding directions.
And each coil spring is connected to the power transmission shaft.
Are provided in parallel in the axial direction.

[0008]

[Function] Both the front arm and rear arm of the work arm
Abut the edges of the lunges and use coil springs from both sides.
The front arm and the rear arm are
Each move to reduce the bending moment
In addition, the power transmission shaft follows the work arm
It prevents loads and loads imposed on the mechanism from increasing.

According to the second aspect of the present invention, the torque transmission required
Rigidity, each with a different winding direction
Torsional deformation is suppressed by the other reaction force
Will be smoother.

[0010]

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, a boom 1 mounted on an aerial work vehicle (not shown) is provided with a cabin 2 for housing a control device and an operator, and a pair of left and right manipulators 3a and 3b.

The work is performed by appropriately attaching a hand or a tool to the ends of the manipulators 3a and 3b. next,
The configuration of one manipulator 3a will be described, but the configuration of the other manipulator 3b is the same.

As shown in FIG. 2, the manipulator 3a includes a first arm 4, a second arm 5 as a working arm, and a third arm 6 on which a motor for tool power is mounted. Are sequentially connected by joints Z ₁ , Z _2, and Z ₃ having a pair of support shafts K ₁ and K ₂ , K ₃ and K _4, and K ₅ and K ₆ that rotate in orthogonal directions, respectively. arm 4 is supported on a base 7 which is provided on the front of the cabin 2 via the joint portion Z _1.

In the first embodiment, for example, the second arm 5 is configured as follows. As shown in FIGS. 3 and 4, the cylindrical second arm 5 is divided into a front arm 5a and a rear arm 5b. A partition 11 or 12 is provided in each of the arms 5a and 5b. A front power transmission shaft 13 and a rear power transmission shaft 14
12 and is pivotally supported.

The power transmission shafts 13 and 14 are rotated by being driven by a hydraulic device (not shown). Further, the two power transmission shafts 13 and 14 are connected to the block joint 1 at the ends.
6 and 16, and a well-known universal joint 15 is provided between the two joints.
And the two power transmission shafts 13 and 14 are connected to be displaceable. Further, the universal joint 15 is divided into a front rod 17 and a rear rod 18 at an intermediate portion, and one of the front rods 18 is formed with a clevis at a front end portion so that both ears 18 are formed.
a, 18a, a long hole 17 drilled in the front rod 17
a and the joint pin 19 penetrated therethrough is fitted, and both rods 17,
18 are connected.

Further, a flange 21 projects outward from an end of the front arm 5a, and a flange 22 projects outward from an end of the rear arm 5b. The two arms 5a, 5b are fitted with the coil springs 24, 24 with the peripheries arranged in abutting manner, and interposed between the coil springs 24, 24 with a washer 23 interposed therebetween. 24, 24
It is movably connected under the elasticity of.

The bolt 25 passes through a through hole 21a formed in the flange 21 of the front arm 5a, and
Is screwed into the partition wall 12 of the rear arm 5b through the through hole 21a provided in the rear arm 5b.

The operation of the embodiment configured as described above will be described. In this manipulator, the front arm 5a and the rear arm 5b of the second arm 5 have both flanges 21 and
Because the work arm is in contact with the equipment and receives an external force, or the manipulator swings while holding the facility or working with a tool, since the work arm is held between the coil springs 24 and 24, the work arm is in contact with the equipment. Even if a reaction force acts on the working arm, the coil springs 24, 24 elastically absorb or reduce the impact, and the first, second and third arms 4, 5, and 5, respectively.
The bending moment received by each of the members 6 is reduced.

On the other hand, the power transmission shafts 13 and 14 in the second arm 5 are displaceably connected by a universal joint 15 and a connecting pin 19 between the front rod 17 and the rear rod 18 has an elongated hole. 17A, the universal joint 15 is freely extended and contracted, so that the external force does not act on both power transmission shafts 13 and 14 following the displacement of the second arm 5, as shown in FIG. Therefore, it does not induce an increase in applied load on the mechanism of increase and Ma <br/> manipulator load power.

Next, a second embodiment will be described. In this embodiment, for example, the invention is embodied as a power transmission shaft of a tool unit mounted on the third arm 6.

As shown in FIGS. 7 and 8, the third arm 6 has a tool power motor (not shown) mounted thereon, and the power shaft 31 of the motor is rolled in a cylindrical motor case 32. It is pivotally supported via a bearing 33 and a seal 34.

The power shaft 31 has an end formed in a hexagonal or dodecagonal socket 31a. A bolt 35 is erected on the outside of the end of the motor case 32, and a cylindrical stopper 36 is fitted on the bolt 35 and the bolt head 3
The stopper 36 is pressed against the motor case 32 by a spring 37 interposed between the stopper 37 and the motor case 32.

9 and 10 show the tool unit 40. FIG. The tool unit 40 fastens cylindrical holders 42 and 43 to two orthogonal surfaces of an L-shaped substrate 41 by tightening with bolts 44, respectively.
43, the power transmission shafts 45 and 46
It is pivoted through.

The holder 42 has the bolt 3
A through-hole 42a through which the stopper 5 can pass is provided from the end, and a through-hole 42b into which the stopper 36 can be fitted is also provided at the end of the through-hole 42a.

One of the power transmission shafts 45 is provided with an angular drive 45a that can be fitted to the socket 31a at one end, and a bevel gear 49 attached to the other power transmission shaft 46 at the other end. Power is transmitted in the orthogonal direction via the power supply.

The other end of the power transmission shaft 46 is provided with a flange 46a, and two coil springs 50 and 51 are fixedly provided.
The coil springs 50 and 51 have winding directions different from each other, and one small-diameter coil spring 51 is a large-diameter coil spring 5.
0 is fitted concentrically inside.

The other ends of the coil springs 50 and 51 are fixed to a square drive 52 provided with a flange 52a. As described above, the output of the motor is transmitted to the angular drive 52 via the two power transmission shafts 45 and 46 and the two coil springs 50 and 51 as the power transmission shaft, and the rotary tool mounted on the square drive is driven.

Reference numeral 53 denotes a protective cover for the bevel gears 48 and 49. Reference numeral 54 denotes a socket as a tool mounted on the square drive 52, which can be appropriately replaced with another tool. For example, another dedicated tool may be provided in place of the square drive 52 to form a unit.

The procedure for attaching the tool unit 40 to the third arm 6 is as follows. First, as shown by a two-dot chain line in FIG. 11, the stopper 36 is pulled out and held in the front direction against the spring force. Next, the holder 42 of the tool unit 40 is fitted into the motor case 32 of the third arm 6 from the outside, and the stopper 36 is released, so that the end of the holder is inserted into the holder 4.
The second through hole 42b is fitted using the elastic force of the spring 37.

As described above, the angular drive 4 of the power transmission shaft 45
5 a is fitted into the socket 31 a of the power shaft 31 of the motor to enable power transmission, and the tool unit 40 is locked to the stopper 36 and fixed to the third arm 6.

The operation of the embodiment configured as described above will be described. In this embodiment, the two coil springs 50 and 51 serve as power transmission means for the tool unit 40.

In the above, the coil springs 50 and 51 are
Since the coils having different winding directions are combined in parallel, the rigidity required for transmitting the torque to the rotary tool can be provided, and the two coil springs 50 and 51 are provided with the other reaction forces having different winding directions. Thereby, the torsional deformation is suppressed, and the torque transmission becomes smooth.

Even if an external force due to contact is applied to the forward portion of the tool unit 40, even if the manipulator is shaken during the work by the tool and a reaction force is applied, the two coil springs 50, 5 are used.
1 absorbs or reduces the impact, reduces the bending moment applied to each of the arms 4, 5, and 6, and acts similarly to the previous example.

In the above description, the example in which the coil springs 50 and 51 are different in diameter and are arranged concentrically is shown. However, coil springs having the same diameter may be arranged in parallel.

[0035]

As described in detail above, claim 1 is as follows.
The invention of both the front and rear arms of the working arm
Coil springs from both sides with the edges of the flanges facing each other
The front arm and rear arm
Each arm moves around to reduce the bending moment
In addition, the power transmission shaft follows the displacement of the work arm and
The load can be prevented from increasing and the load on the mechanism.
You. Further, according to the invention of claim 2, rigidity required for torque transmission is provided.
Can have different winding directions
Torsional deformation is suppressed by the reaction force of
Smooth. Therefore, according to the present invention, even if the manipulator comes into contact with other equipment during the work or shakes while holding the facility, it does not cause an unexpected obstacle, so the safety of the distribution line construction by the manipulator can be improved. And has the effect of improving workability.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an outline of a manipulator according to the present invention.

FIG. 2 is a schematic diagram showing the operation of the manipulator.

FIG. 3 is a sectional view of a main part in the first embodiment.

FIG. 4 is a partially enlarged view of FIG. 3;

FIG. 5 is a partially enlarged view of FIG. 3;

FIG. 6 is an explanatory diagram of the operation according to FIG. 3;

FIG. 7 is a sectional view of a main part according to a second embodiment.

8 is a right side view of FIG.

FIG. 9 is a longitudinal sectional view showing a second embodiment.

FIG. 10 is a bottom view of FIG. 9;

FIG. 11 is a sectional view of a main part showing a connected state of the tool units.

[Explanation of symbols]

3a, 3b Manipulators, 4, 5, 6 First, second and third arms as working arms, 13, 14, 4
5, 46 power transmission shaft, 15 universal joint, 19 joint pin, 21, 22 flange, 24 coil spring, 40
Tool unit, 50, 51 Coil spring as power transmission shaft.

Continuation of the front page (72) Inventor Shoji Yokoi 3-150 Omoyama, Tenpaku-ku, Nagoya-shi, Aichi (56) References JP-A-3-66583 (JP, A) JP-A-60-123292 (JP, A JP-A-2-24075 (JP, A) JP-A-2-90087 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 18/00 B25J 17/02

Claims (2)

(57) [Claims] A work arm, and a displacement of the work arm.
Distribution line work manipulator with a power transmission shaft displaced accordingly
The working arm is connected to the front arm (5
a) and the rear arm (5b).
a, 5b) with flanges (21, 22) at each end
Around the edges of the flanges (21, 22)
Are arranged in a butt shape, and both flanges (2
1 and 22) are paired from both sides of the working arm in the axial direction.
Coil springs (24, 24)
Connecting the rear arm (5a) and the rear arm (5b);
In addition, the coil spring (24, 24) is
Plural pairs are installed in parallel to the direction, and the front and rear
The split power transmission shafts (13, 14) can be moved in the axial direction
Universal joint (15) with a functional connecting pin (19)
A manipulator for distribution line work, which is connected . 2. The work arm and a displacement of the work arm.
A distribution line work manipulator consisting of a power transmission shaft displaced accordingly
Multiple coil springs with different winding directions
A power transmission shaft is constituted by (50, 51), and each coil
(50, 51) parallel to the axial direction of the power transmission shaft
Manipulator for distribution line work, interposed in
Ta.