JP3181316B2 - Work robot support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support device for a remotely operated manipulator type working robot.

[0002]

2. Description of the Related Art Recently, when electric work such as a high-voltage distribution line is performed, there is an increasing demand that the work be performed while a power supply line is in a live state. In addition, this type of work is often performed at heights, such as on telephone poles. Conventionally, to perform this type of work, an operator climbs on a utility pole and works at a high place by a hot stick method, but there is a risk of electric shock, falling, and the like.

For this reason, recently, a robot construction method has been considered in which a work robot is mounted on an aerial work vehicle and electrical work is safely performed by remote control using a manipulator. According to this robot construction method, it is possible to safely perform the operation in the live state, but it is necessary to inform the operator of the operating state of the robot by some method. Therefore, in the conventional remote control robot, the operation area is limited for each operation, and the operating state of the robot is controlled by the operator by sounding a buzzer or blinking a lamp each time the operation state of the robot reaches the operation area. I was trying to let you know.

[0004]

However, in such a conventional remote-controlled robot, when the operating state of the robot is notified by a buzzer or a lamp, the robot cannot be operated in a noisy environment or a bright environment. The possibility of misidentifying the operation area was high.

Therefore, it is important to limit the operation area for each work in order to ensure safety in hot-line work.
It has been desired to improve the instruction method so that the operation area of the robot is not mistaken.

SUMMARY OF THE INVENTION An object of the present invention is to provide a support system for a work robot, which is capable of accurately restricting a work robot to an operation area for each work step and transmitting a change in a driving situation to an operator.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention sets a work procedure for remotely controlling the robot body in a work robot having a control device for controlling the robot body by remote control. Operating means for determining whether a work procedure set by the setting means is a normal setting, and determining a work item if the work procedure is normal; and a work set by the setting means. Input means for inputting a control command to the control device according to a procedure, and when the operation procedure set by the setting means by the driving operation management means is determined to be normal,
The operation procedure is fetched, and the movable range of the robot main body is compared with the operation amount of the robot main body according to the control command input to the control device from the input means for each work item, and the operation of the robot main body is adjusted to the operation range. A first determining means for determining whether or not the movement is outside, and a movable range for each work item set by the setting means is output as a command value, and the deviation is compared with the operation amount of the robot body. A second determining means for determining whether or not the operation procedure is an abnormal setting by the driving operation managing means or an operation of the robot main body by the first determining means; generating each different vibration signal when the amount is determined to be operating amount of the robot body or by said second judging means when it is determined that the movable range is larger than the command value And vibration generating means that, in which a vibrator for transmitting the operation inhibiting information to the operator by the vibration signal generated from the vibration generating means.

[0008]

SUMMARY OF According to assisting device for a working robot having such a configuration, it is possible to set the movable range of the effective robot at each task, in the case of executing the operation to the movable range is vibrator It is possible to prohibit the operation of the operator by using the operation suppression information according to the above, and it is possible to accurately transmit the change in the driving situation to the operator.

[0009]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a bird's-eye view of the vicinity of the installation location of a vehicle-mounted work robot to which the present invention is applied. As shown in FIG. 1, this work robot has a robot body 5 provided with a visual device 3 for confirming the surroundings and a slave arm 4 at the tip of a telescopic and swivelable boom 2 mounted on an aerial work vehicle 1. Is mounted via the working base 6, the boom 2 of the aerial work vehicle 1 is extended, the slave arm 4 is operated, and the robot main body 5 is operated via a manipulator control device (not shown). It replaces insulators and transformers. A support device 9 according to the present invention is installed in the cabin 8 of the aerial work vehicle 1.

FIG. 2 shows a support device 9 installed in the cabin 8.
2 shows a configuration example. In FIG. 2, a support device 9 is attached to a tip of a stand 10 installed in front of an auxiliary seat, and an operation selection switch 11 is attached below the support device 9 as setting means for determining an operation procedure. The operation selection switch 11 is used to determine an operation procedure for remotely operating the slave arm 4 of the robot main body 5 to manage a work process, and an input means for the operator 12 to input a control command to the robot main body. The operation is performed by operating the master arm 13 as the above.

FIG. 3 is a block diagram showing a configuration example of a control system of a work robot including the support device 9. In FIG. 3, when an operator 12 operates a master arm 13, a control command is transmitted to a position servo 31, and the position servo 3
1, the slave arm 4 is operated, the operation of the slave arm 4 at that time is transmitted to the force servo 30, and the operation of the force servo 30 is transmitted to the operator 12 via the master arm 13. Is composed.

On the other hand, the support device 9 includes a driving support unit 32 as a determining unit and a vibration generator 33 as a vibration generating unit. The driving support unit 32 takes out the work procedure selected by the operation selection switch 11, and The vibration generator 33 extracts the operation amount of the master arm, which is the command value of the position servo 31, and compares the operation amount with the work procedure extracted by the driving support unit 32, so that the operation of the robot body 5 can be moved.
It is determined whether the outside coverage area, is vibrated by applying the output signal to the vibrating body 20 is determined to be the movable range, and has a configuration that transmits to the operator 12. In this case, the vibrating body 20 is constituted by, for example, a botisonic device.

Here, the main functions of the driving support device 32 are shown in FIG.
An example is shown below. The driving support device 32 shown in FIG. 4 includes a driving operation management device 40, work-time prohibition information 41, and target environment information 42, which are set by the operation selection switch 11. The operation management unit 40 determines the work procedure set by the operation selection switch 11 to determine the work item, and gives a suppression output to the vibration generator 33 in the case of an abnormal setting. Further, the work prohibition information 41 outputs the movable range of each work item set by the operation selection switch 11 as an arm joint angle, is compared with the operation amount of the master arm 13, and the deviation is given to the vibration generator 33. It is supposed to be. The target environment information 42 outputs the movable range for each work item set by the selection switch 11 as an arm joint angle in the same manner as described above, is compared with the operation amount of the slave arm 4, and the deviation is given to the vibration generator 33. It has become. Next, the operation of the support device for a working robot thus configured will be described.

When the operator 12 performs electrical work using a work robot, first, the progress of each work is determined by the operation selection switch 1.
Set at 1. Then, the driving support device 32 determines the work procedure and determines the work item. In the case of an abnormal setting, the suppression output is given to the vibration generator 33. When the setting of the work procedure is normal, the movable range of the robot body 5 and the current value of the master arm 13 are compared for each work item, and when the current value is out of the movable range, the vibration generator 33 suppresses the current value. Output is given. Further, the movable range of the robot body 5 and the operation amount of the slave arm 4 are compared for each work item, and when the deviation is larger than a predetermined value, it is determined that there is an abnormality in the manipulator drive system and the suppression output is output to the vibration generator 33. Is given.

Accordingly, when the suppression output is given from the driving support unit 32 to the vibration generator 33, the vibration generator 33 drives the vibration body 20 to instruct the operator 12 to suppress the continuation of the operation. I do.

In this case, the vibrating body 20 is installed on the waist of the operator 12 as shown in FIG. 5 or attached to the arm as shown in FIG. 12 can be transmitted. Further, if a plurality of different vibration frequencies are generated by the vibration generator 33 in accordance with the limitation of the operation range for each work step, a change in the operating condition, etc., the type of abnormality can be determined.

[0018]

As described above, according to the present invention, the operator is instructed to control the robot operation via the vibrating body. It is possible to provide a support device for a work robot that can accurately transmit a change in a situation to an operator.

[Brief description of the drawings]

FIG. 1 is a bird's-eye view including the vicinity of an installation location when operating a work robot, showing an embodiment of a support device for a work robot according to the present invention.

FIG. 2 is a configuration diagram of a passenger seat portion in the embodiment.

FIG. 3 is a block diagram of a support device including the control system of the embodiment.

FIG. 4 is a block diagram for explaining main functions of a driving support device in the embodiment.

FIG. 5 is a diagram showing an attached state of the vibrating body in the embodiment.

FIG. 6 is a diagram showing a state of attachment of a vibrating body different from FIG.

[Explanation of symbols]

1 ... aerial work vehicle, 2 ... boom, 3 ... visual device, 4
... Slave arm, 5 ... Robot body, 8 ... Cabin, 9 ... Support device, 11 ... Operation selection switch, 1
3 ... master arm, 20 ... vibrator, 32 ... driving support device, 33 ... vibration generator.

──────────────────────────────────────────────────続 き Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI H02G 1/02 317 H02G 1/02 317J (56) References JP-A-59-146770 (JP, A) JP-A-60-204007 (JP, A) JP-A-62-208881 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 3/00 B25J 13/02 B66F 9/06 G05D 3/00 G05D 3 / 12 H02G 1/02 317

Claims (1)

(57) [Claims] 1. A work robot provided with a control device for controlling a robot body by remote control, wherein a setting means for setting a work procedure for remotely controlling the robot body, and a work procedure set by the setting means, A determination is made as to whether or not the setting is normal, and if it is normal, a driving operation management unit that determines a work item, and an input unit that inputs a control command to the control device according to the work procedure set by the setting unit. If it is determined that the operation procedure set by the setting unit is normal by the driving operation management unit,
The operation procedure is fetched, and the movable range of the robot main body is compared with the operation amount of the robot main body according to the control command input to the control device from the input means for each work item, and the operation of the robot main body is adjusted to the operation range. A first determining means for determining whether or not the movement is outside, and a movable range for each work item set by the setting means is output as a command value, and the deviation is compared with the operation amount of the robot body. A second determining means for determining whether or not the operation procedure is an abnormal setting by the driving operation managing means or an operation of the robot main body by the first determining means; generating each different vibration signal when the amount is determined to be operating amount of the robot body or by said second judging means when it is determined that the movable range is larger than the command value Vibration generating means, support apparatus for a working robot, characterized in that a vibrator for transmitting the operation inhibiting information to the operator by the vibration signal generated from the vibration generating means that.