JP3439573B2 - Hydraulic pump for manipulator and hydraulic tool drive using it - Google Patents
Hydraulic pump for manipulator and hydraulic tool drive using itInfo
- Publication number
- JP3439573B2 JP3439573B2 JP14968695A JP14968695A JP3439573B2 JP 3439573 B2 JP3439573 B2 JP 3439573B2 JP 14968695 A JP14968695 A JP 14968695A JP 14968695 A JP14968695 A JP 14968695A JP 3439573 B2 JP3439573 B2 JP 3439573B2
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- oil
- pump
- hydraulic
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Manipulator (AREA)
- Compressors, Vaccum Pumps And Other Relevant Systems (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は柱上の高圧配電作業等に
使われるマニピュレータに取り付けて工具を駆動するの
に使用されるマニピュレータ用油圧ポンプと、マニピュ
レータに前記油圧ポンプを取り付けた油圧工具駆動装置
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic pump for a manipulator used for driving a tool mounted on a manipulator used for high-voltage power distribution work on a pole , and a hydraulic tool drive for mounting the hydraulic pump on the manipulator. It relates to the device.
【０００２】[0002]
【従来の技術】柱上に架空されている高圧配電線等の作
業には、近年は図７（ｂ）に示すように高所作業台車に
取付けたマニピュレータＡが使用されている。マニピュ
レータＡには圧縮ヘッドや皮剥器等の油圧工具Ｂを取り
付けて使用するが、この場合、油圧工具Ｂを駆動するた
めの油圧を、車両Ｃで発生した低圧の油圧をブームＤに
沿って設けた高圧絶縁油圧ホースＥにより空中無人作業
部Ｆに送り、同作業部Ｆ内の油圧ブースタ（図示されて
いない）で高圧にし、この高圧の油を高圧絶縁油圧ホー
スＥでマニピュレータＡの先の油圧工具Ｂに送って、油
圧工具Ｂを駆動するようにしていた。2. Description of the Related Art In recent years, a manipulator A attached to a work platform for high places as shown in FIG. A hydraulic tool B such as a compression head or a peeling machine is attached to the manipulator A for use. In this case, a hydraulic pressure for driving the hydraulic tool B is set along the boom D with a low hydraulic pressure generated in the vehicle C. It is sent to the aerial unmanned working section F by a high-pressure insulated hydraulic hose E, and is made high pressure by a hydraulic booster (not shown) in the working section F. It was sent to the tool B to drive the hydraulic tool B.
【０００３】[0003]
【発明が解決しようとする課題】従来の油圧工具駆動装
置には次のような問題があった。
．油圧工具Ｂに高圧絶縁油圧ホースＥが接続されてい
るので、狭い空中無人作業部Ｆにおける油圧工具置場が
制約される。
．油圧工具Ｂの動きが高圧絶縁油圧ホースＥの長さに
より規制され、またホースＥ自体がかなり硬いので油圧
工具Ｂの可動範囲が制限される。
．空中無人作業部Ｆに何本もの高圧絶縁油圧ホースＥ
が突き出して見映えが悪く、また清掃等もしにくい。The conventional hydraulic tool driving device has the following problems. ． Since the high-pressure insulated hydraulic hose E is connected to the hydraulic tool B, the hydraulic tool storage space in the narrow aerial unmanned working unit F is restricted. ． The movement of the hydraulic tool B is restricted by the length of the high-pressure insulated hydraulic hose E, and the hose E itself is considerably rigid, so that the movable range of the hydraulic tool B is limited. ． A number of high-pressure insulated hydraulic hoses E in the aerial unmanned working section F
Sticks out and looks bad, and it is difficult to clean.
【０００４】本発明の目的は高圧絶縁油圧ホースを使用
せずに油圧工具を駆動できるようにするためのマニピュ
レータ用油圧ポンプとそのポンプを用いた油圧工具駆動
装置を提供することにある。SUMMARY OF THE INVENTION It is an object of the present invention to provide a hydraulic pump for a manipulator and a hydraulic tool driving device using the pump for driving a hydraulic tool without using a high pressure insulated hydraulic hose.
【０００５】[0005]
【課題を解決するための手段】本発明のうち請求項１の
マニピュレータ用油圧ポンプは図１〜６に示すように架
空電線の高所作業に使用可能なマニピュレータ１の回転
出力軸２に着脱可能な着脱部４１と、油圧工具３を取り
付け可能な作動部８とがポンプ筐体５に形成され、ポン
プ筐体５内に油タンク６と加圧ポンプ７と油系路９とが
内蔵され、回転出力軸２が回転すると油タンク６内の油
が加圧ポンプ７により加圧して出力され、その出力によ
り油系路９の油圧が制御されて作動部８が制御され、作
動部８に取付けられた油圧工具３が駆動されるようにし
たものである。The hydraulic pump for a manipulator according to claim 1 of the present invention is a rotation of a manipulator 1 which can be used for work at a high place of an overhead wire as shown in FIGS.
Remove the detachable part 41 that can be attached to and detached from the output shaft 2 and the hydraulic tool 3.
The actuating part 8 that can be attached is formed on the pump housing 5,
The oil tank 6, the pressure pump 7 and the oil passage 9 are provided in the housing 5.
The built-in oil in the oil tank 6 when the rotary output shaft 2 rotates
Is pressurized by the pressure pump 7 and is output.
The hydraulic pressure of the oil passage 9 is controlled to control the operating unit 8,
So that the hydraulic tool 3 attached to the moving part 8 is driven.
It is a thing.
【０００６】本発明のうち請求項２のマニピュレータ用
油圧ポンプは、油圧ポンプ４が、マニピュレータ１の回
転出力軸２に着脱可能に接続されて正逆回転可能であ
り、且つ正回転時に油タンク６内の油が一方の入出力ポ
ート１０から導入されて他方の入出力ポート１１に排出
され、逆回転時に油タンク６内の油が他方の入出力ポー
ト１１から導入されて一方の入出力ポート１０に排出さ
れる低圧ポンプ１２と、低圧ポンプ１２の逆回転時に他
方の入出力ポート１１から導入されて一方の入出力ポー
ト１０に排出される油を高圧に加圧する高圧ポンプ１３
とを備え、油系路９が低圧ポンプ１２の正回転時に一方
の入出力ポート１０から導入されて他方の入出力ポート
１１に排出される低圧油を作動部８に送る低圧油系路１
４と、高圧ポンプ１３から排出される高圧油を作動部８
に送る高圧油系路１５とを備えたことを特徴とするもの
である。In the hydraulic pump for a manipulator according to a second aspect of the present invention, the hydraulic pump 4 is detachably connected to the rotary output shaft 2 of the manipulator 1 so as to be able to rotate normally and reversely, and at the time of forward rotation, the oil tank 6 The oil in the oil tank 6 is introduced from one of the input / output ports 10 and discharged to the other input / output port 11, and the oil in the oil tank 6 is introduced from the other input / output port 11 at the time of reverse rotation and the one of the input / output ports 10 is discharged. And a high-pressure pump 13 that pressurizes the oil introduced from the other input / output port 11 and discharged to one input / output port 10 to a high pressure when the low-pressure pump 12 rotates in the reverse direction.
And a low pressure oil passage 1 for sending low pressure oil introduced from one input / output port 10 and discharged to the other input / output port 11 to the operating portion 8 when the low pressure pump 12 rotates normally.
4 and the high pressure oil discharged from the high pressure pump 13
And a high-pressure oil system passage 15 for sending to.
【０００７】本発明のうち請求項３のマニピュレータ用
油圧ポンプは、前記油系路９に油圧解除系路１６が設け
られ、同油圧解除系路１６にそれを開いて作動部８に送
る油の油圧を解除する解除レバー１７を設けてなること
を特徴とするものである。In the hydraulic pump for a manipulator according to a third aspect of the present invention, the oil pressure release system passage 16 is provided in the oil system passage 9, and the oil pressure release system passage 16 is opened to send the oil to the operating portion 8. A release lever 17 for releasing the hydraulic pressure is provided.
【０００８】本発明のうち請求項４のマニピュレータ用
油圧ポンプは、低圧油系路１４にそれから油タンク６へ
の油の逆流を防止するタンク用逆止弁２０と低圧ポンプ
１２への油の逆流を防止するポンプ用逆止弁２１が設け
られ、高圧油系路１５にその内部の油が油タンク６へ逆
流するのを防止するタンク用逆止弁２２と、低圧ポンプ
１２へ逆流するのを防止する低圧ポンプ用逆止弁２３
と、高圧ポンプ１３へ逆流するのを防止する高圧ポンプ
用逆止弁２４が設けられてなることを特徴とするもので
ある。A hydraulic pump for a manipulator according to a fourth aspect of the present invention is a tank check valve 20 for preventing backflow of oil to the oil tank 6 from the low pressure oil system passage 14 and a backflow of oil to the low pressure pump 12. A check valve 21 for a pump for preventing the above is provided, and a check valve 22 for a tank for preventing the oil therein from flowing back to the oil tank 6 in the high-pressure oil system passage 15 and a back flow to the low pressure pump 12 are provided. Check valve 23 for low pressure pump to prevent
And a check valve 24 for the high-pressure pump for preventing backflow to the high-pressure pump 13.
【０００９】本発明のうち請求項５のマニピュレータ用
油圧ポンプは、低圧油系路１４、高圧油系路１５の夫々
に、作動部８に送る油の圧力を調整する低圧力調整弁２
５、高圧力調整弁２６が設けられてなることを特徴とす
るものである。In the hydraulic pump for a manipulator according to a fifth aspect of the present invention, the low pressure adjusting valve 2 for adjusting the pressure of the oil sent to the operating portion 8 is provided in each of the low pressure oil passage 14 and the high pressure oil passage 15.
5. The high pressure adjusting valve 26 is provided.
【００１０】本発明のうち請求項６のマニピュレータ用
油圧ポンプは、高圧油系路１５にその内部の高圧油が所
定圧力になると開いて作動部８に送られる高圧油を外部
に排出し、これにより高圧油系路１５内の油圧を低圧油
系路１４内の油圧より低圧にする排出弁２７を設け、こ
の排出弁２７と低圧油系路１４との間に、高圧油系路１
５内の油圧が低圧油系路１４内の油圧より低圧になると
低圧油系路１４からの油圧により開かれて排出弁２７が
高圧油系路１５内の油圧で閉じられるようにする制御弁
２８を設けてなることを特徴とするものである。In the hydraulic pump for a manipulator according to a sixth aspect of the present invention, when the high-pressure oil in the high-pressure oil passage 15 is opened to a predetermined pressure, the high-pressure oil sent to the operating portion 8 is discharged to the outside. Is provided with a discharge valve 27 for making the hydraulic pressure in the high pressure oil system passage 15 lower than the hydraulic pressure in the low pressure oil system passage 14, and between the discharge valve 27 and the low pressure oil system passage 14
When the hydraulic pressure in 5 becomes lower than the hydraulic pressure in the low-pressure oil passage 14, the control valve 28 that opens by the hydraulic pressure from the low-pressure oil passage 14 so that the discharge valve 27 is closed by the oil pressure in the high-pressure oil passage 15 Is provided.
【００１１】本発明のうち請求項７のマニピュレータ用
油圧ポンプは、高圧油系路１５に、低圧ポンプ１２から
高圧ポンプ１３に送る油を所定圧力に調節する圧力調節
弁２９が設けられてなることを特徴とするものである。In the hydraulic pump for a manipulator according to a seventh aspect of the present invention, the high pressure oil passage 15 is provided with a pressure adjusting valve 29 for adjusting the oil sent from the low pressure pump 12 to the high pressure pump 13 to a predetermined pressure. It is characterized by.
【００１２】本発明のうち請求項８の油圧工具駆動装置
は、架空電線の工事に使用可能なマニピュレータ１の先
に、請求項１乃至請求項７記載のいずれかのマニピュレ
ータ用油圧ポンプ４を着脱自在に取付けてなることを特
徴とするものである。In the hydraulic tool driving device according to claim 8 of the present invention, the manipulator hydraulic pump 4 according to any one of claims 1 to 7 is attached / detached before the manipulator 1 that can be used for the construction of an overhead wire. It is characterized by being freely attached.
【００１３】[0013]
【作用】本発明のうち請求項１のマニピュレータ用油圧
ポンプ４では、油タンク６と、マニピュレータ１の回転
出力軸２の回転で回転して油を加圧出力する加圧ポンプ
７と、加圧油を作動部８に送る油系路９を備えてなるの
で、マニピュレータ用油圧ポンプ４をマニピュレータ１
の先端に取り付けてその回転出力軸２の回転により加圧
ポンプ７を回転させると、加圧ポンプ７が油タンク６内
の油が汲み出されて加圧され、加圧油が油系路９に出力
されて作動部８に送られ、この加圧油により作動部８に
取り付けた油圧工具３が駆動される。In the hydraulic pump 4 for a manipulator according to claim 1 of the present invention, an oil tank 6, a pressurizing pump 7 which is rotated by the rotation of the rotary output shaft 2 of the manipulator 1 to pressurize and output oil, and a pressurizing device Since the oil passage 9 for sending the oil to the operating portion 8 is provided, the manipulator hydraulic pump 4 is connected to the manipulator 1.
When the pressurizing pump 7 is attached to the tip of the pressurizing pump 7 by the rotation of the rotary output shaft 2, the pressurizing pump 7 pumps out the oil in the oil tank 6 and pressurizes the pressurizing oil. Is output to the operating part 8 and the pressurized oil drives the hydraulic tool 3 attached to the operating part 8.
【００１４】本発明のうち請求項２のマニピュレータ用
油圧ポンプでは、マニピュレータ１の回転出力軸２の正
逆回転により正逆回転する低圧ポンプ１２と、高圧ポン
プ１３と、低圧油系路１４と、高圧油系路１５とを備え
てなるので、マニピュレータ１の回転出力軸２により低
圧ポンプ１２を回転して、油タンク６内の油を図１
（ａ）のように一方の入出力ポート１０から導入して他
方の入出力ポート１１に排出すると、低圧ポンプ１２で
発生される低圧油が低圧油系路１４を通って作動部８に
送られ、同作動部８が低圧動作される。またマニピュレ
ータ１の回転出力軸２により低圧ポンプ１２を逆回転し
て油タンク６内の油を図１（ｂ）のように他方の入出力
ポート１１から導入して一方の入出力ポート１０に排出
すると、低圧ポンプ１２で発生される低圧油が高圧ポン
プ１３に送られ、同ポンプ１３で高圧にされた高圧油が
高圧油系路１５を通って作動部８に送られ、同作動部８
が高圧動作される。In the hydraulic pump for a manipulator according to claim 2 of the present invention, a low pressure pump 12 that rotates forward and reverse by the forward and reverse rotation of the rotary output shaft 2 of the manipulator 1, a high pressure pump 13, and a low pressure oil passage 14, Since the high pressure oil system passage 15 is provided, the low pressure pump 12 is rotated by the rotary output shaft 2 of the manipulator 1 so that the oil in the oil tank 6 is removed.
When introduced from one input / output port 10 and discharged to the other input / output port 11 as shown in (a), the low pressure oil generated by the low pressure pump 12 is sent to the operation part 8 through the low pressure oil system passage 14. The operating portion 8 is operated at low pressure. Further, the low-pressure pump 12 is reversely rotated by the rotary output shaft 2 of the manipulator 1, and the oil in the oil tank 6 is introduced from the other input / output port 11 and discharged to the one input / output port 10 as shown in FIG. Then, the low-pressure oil generated by the low-pressure pump 12 is sent to the high-pressure pump 13, and the high-pressure oil whose pressure has been increased by the pump 13 is sent to the operating unit 8 through the high-pressure oil system passage 15, and the operating unit 8
Is operated at high pressure.
【００１５】本発明のうち請求項３のマニピュレータ用
油圧ポンプでは、油系路９に油圧解除系路１６と同油圧
解除系路１６を開いて作動部８に送る油の油圧を解除す
る解除レバー１７を備えてなるため、加圧ポンプ７の動
作中でも作動部８の油圧を解除することができる。In the hydraulic pump for a manipulator according to a third aspect of the present invention, the release lever for releasing the oil pressure of the oil to be sent to the operating portion 8 by opening the oil pressure release passage 16 and the oil pressure release passage 16 in the oil passage 9. Since it is provided with 17, the hydraulic pressure of the operating portion 8 can be released even while the pressurizing pump 7 is operating.
【００１６】本発明のうち請求項４のマニピュレータ用
油圧ポンプでは、低圧油系路１４にタンク用逆止弁２０
とポンプ用逆止弁２１が設けられ、高圧油系路１５にタ
ンク用逆止弁２２と低圧ポンプ用逆止弁２３と、高圧ポ
ンプ用逆止弁２４が設けられてなるので、低圧油系路１
４に送り出された低圧油がタンク用逆止弁２０とポンプ
用逆止弁２１により阻止されて油タンク６へ逆流せず、
確実に作動部８に送られる。また高圧油系路１５に送り
出された高圧油がタンク用逆止弁２２と低圧ポンプ用逆
止弁２３と高圧ポンプ用逆止弁２４とにより阻止されて
油タンク６へ逆流せず、確実に作動部８に送られる。In the hydraulic pump for a manipulator according to a fourth aspect of the present invention, the check valve 20 for the tank is provided in the low pressure oil passage 14.
And a check valve 21 for a pump, and a check valve 22 for a tank, a check valve 23 for a low pressure pump, and a check valve 24 for a high pressure pump are provided in the high pressure oil system passage 15. Road 1
The low-pressure oil sent to 4 is blocked by the tank check valve 20 and the pump check valve 21 and does not flow back to the oil tank 6,
It is reliably sent to the operating unit 8. Further, the high-pressure oil sent out to the high-pressure oil system passage 15 is prevented by the tank check valve 22, the low-pressure pump check valve 23, and the high-pressure pump check valve 24 from flowing back to the oil tank 6, thus ensuring that It is sent to the operating unit 8.
【００１７】本発明のうち請求項５のマニピュレータ用
油圧ポンプでは、低圧油系路１４、高圧油系路１５の夫
々に、作動部８に送る油の圧力を調整する低圧力調整弁
２５、高圧力調整弁２６が設けられてなるので、低圧油
系路１４に送り出された低圧油が低圧力調整弁２５によ
り所定圧に調整されて作動部８に送られ、また高圧油系
路１５に送り出された高圧油が高圧力調整弁２６により
所定圧に調整されて作動部８に送られる。In the hydraulic pump for a manipulator according to a fifth aspect of the present invention, a low pressure adjusting valve 25 for adjusting the pressure of the oil sent to the operating portion 8 and a high pressure adjusting valve are provided in the low pressure oil passage 14 and the high pressure oil passage 15, respectively. Since the pressure adjusting valve 26 is provided, the low pressure oil sent to the low pressure oil passage 14 is adjusted to a predetermined pressure by the low pressure adjusting valve 25 and sent to the operating portion 8 and also sent to the high pressure oil passage 15. The high pressure oil thus prepared is adjusted to a predetermined pressure by the high pressure adjusting valve 26 and sent to the operating unit 8.
【００１８】本発明のうち請求項６のマニピュレータ用
油圧ポンプでは、高圧油系路１５に高圧油が所定圧力に
なると開いて、高圧油系路１５内の油圧を低圧油系路１
４内の油圧より低圧にする排出弁２７を設け、排出弁２
７と低圧油系路１４との間に高圧油系路１５内の油圧が
低圧油系路１４内の油圧より低圧になると排出弁２７が
高圧油系路１５内の油圧で閉じられるようにする制御弁
２８を設けたので、高圧油系路１５に送り出された高圧
油の圧が所定圧力になると排出弁２７が開かれて作動部
８に送られる高圧油が外部に排出され、作動部８の油圧
が低下される。高圧油系路１５内の油圧が低圧油系路１
４内の油圧より低圧になると、制御弁２８の開放により
排出弁２７が閉じられて再度、油が低圧油系路１４を通
って作動部８へ送られるようになる。In the hydraulic pump for a manipulator according to claim 6 of the present invention, the high-pressure oil passage 15 opens when the high-pressure oil reaches a predetermined pressure, and the hydraulic pressure in the high-pressure oil passage 15 is reduced.
A discharge valve 27 that makes the pressure lower than the hydraulic pressure in
7 and the low pressure oil passage 14 make the discharge valve 27 closed by the oil pressure in the high pressure oil passage 15 when the oil pressure in the high pressure oil passage 15 becomes lower than the oil pressure in the low pressure oil passage 14. Since the control valve 28 is provided, when the pressure of the high-pressure oil sent to the high-pressure oil passage 15 reaches a predetermined pressure, the discharge valve 27 is opened and the high-pressure oil sent to the operating unit 8 is discharged to the outside. Oil pressure is reduced. The oil pressure in the high-pressure oil passage 15 is the low-pressure oil passage 1.
When the pressure becomes lower than the hydraulic pressure in 4, the discharge valve 27 is closed by opening the control valve 28, and the oil is again sent to the operating portion 8 through the low pressure oil passage 14.
【００１９】本発明のうち請求項７のマニピュレータ用
油圧ポンプでは、高圧油系路１５に、低圧ポンプ１２か
ら高圧ポンプ１３に送る油を所定圧力に調節する圧力調
節弁２９を設けたので、高圧油系路１５に送られる油の
油圧が圧力調節弁２９により調整され、高圧ポンプ１３
に必要以上の油圧の油が供給されない。In the hydraulic pump for a manipulator according to claim 7 of the present invention, the high pressure oil passage 15 is provided with the pressure adjusting valve 29 for adjusting the oil sent from the low pressure pump 12 to the high pressure pump 13 to a predetermined pressure. The oil pressure of the oil sent to the oil passage 15 is adjusted by the pressure control valve 29, and the high pressure pump 13
The hydraulic oil is not supplied more than necessary.
【００２０】本発明のうち請求項８の油圧工具駆動装置
では、架空電線の工事に使用可能なマニピュレータ１の
先に、請求項１乃至請求項７記載のいずれかのマニピュ
レータ用油圧ポンプ４を着脱自在に取付けてなるので、
架空電線の工事に使用される油圧工具３がマニピュレー
タ１の先に取り付けられた油圧ポンプ４により直接駆動
され、しかも油圧工具３に供給される油圧がマニピュレ
ータ１の回転出力軸３の正逆回転の切替えにより制御さ
れる。In the hydraulic tool driving device according to claim 8 of the present invention, the manipulator hydraulic pump 4 according to any one of claims 1 to 7 is attached / detached before the manipulator 1 that can be used for construction of an overhead wire. Since it is freely attached,
The hydraulic tool 3 used for the construction of the overhead wire is directly driven by the hydraulic pump 4 attached to the tip of the manipulator 1, and the hydraulic pressure supplied to the hydraulic tool 3 is the forward or reverse rotation of the rotation output shaft 3 of the manipulator 1. Controlled by switching.
【００２１】[0021]
【実施例１】図１、２は本発明のマニピュレータ用油圧
ポンプの第１の実施例であり、図３は前記油圧ポンプを
用いた油圧工具駆動装置の実施例である。以下にこのマ
ニピュレータ用油圧ポンプと油圧工具駆動装置の詳細な
説明を行なう。Embodiment 1 FIGS. 1 and 2 show a first embodiment of a hydraulic pump for manipulators of the present invention, and FIG. 3 shows an embodiment of a hydraulic tool driving device using the hydraulic pump. The detailed description of the hydraulic pump for a manipulator and the hydraulic tool driving device will be given below.
【００２２】図１に示す１はマニピュレータである。こ
のマニピュレータ１は図３に示すように、その先端に各
種工具を取り付け可能とするための工具接続部４０が形
成されており、同工具接続部４０には回転出力軸２が突
出されている。この回転出力軸２は図示されていないコ
ントローラにより正逆回転可能であると共に、その際の
回転数も任意に可変可能となっている。なお、このよう
なマニピュレータ１は従来からあり、例えば図７に示し
たマニピュレータＡがそうである。このマニピュレータ
Ａは、先端の油圧工具Ｂを取り付ける部分に正逆回転可
能な回転出力軸が突出されている。Reference numeral 1 shown in FIG. 1 is a manipulator. As shown in FIG. 3, the manipulator 1 is formed with a tool connecting portion 40 for attaching various tools to the tip thereof, and the rotation output shaft 2 is projected from the tool connecting portion 40. The rotation output shaft 2 can be rotated forward and backward by a controller (not shown), and the rotation speed at that time can also be arbitrarily changed. It should be noted that such a manipulator 1 has been conventionally used, and is the manipulator A shown in FIG. 7, for example. In this manipulator A, a rotation output shaft capable of rotating in the forward and reverse directions is projected at a portion to which the hydraulic tool B at the tip is attached.
【００２３】図１に示す４はマニピュレータ用油圧ポン
プであり、５は同ポンプ４のポンプ筐体である。ポンプ
筐体５は図３に示すような円筒形状に形成されており、
同ポンプ筐体５の軸方向の一端には、マニピュレータ１
の工具接続部４０に着脱される着脱部４１が形成され、
他端には図４に示す圧縮工具（油圧工具）３や図５に示
す電線皮剥器（油圧工具）３を接続して作動するための
作動部８が形成されている。前記着脱部４１の中央に
は、マニピュレータ１の回転出力軸２を差し込ませる回
転軸４４が設けられており、回転出力軸２の回転により
回転軸４４が回転される様になっている。Reference numeral 4 shown in FIG. 1 denotes a manipulator hydraulic pump, and 5 denotes a pump casing of the pump 4. The pump casing 5 is formed in a cylindrical shape as shown in FIG.
The manipulator 1 is attached to one end of the pump casing 5 in the axial direction.
An attachment / detachment portion 41 that is attached / detached to / from the tool connection portion 40 of
At the other end, an operation portion 8 for connecting and operating the compression tool (hydraulic tool) 3 shown in FIG. 4 and the wire stripping device (hydraulic tool) 3 shown in FIG. 5 is formed. A rotary shaft 44 into which the rotary output shaft 2 of the manipulator 1 is inserted is provided in the center of the attaching / detaching portion 41, and the rotary shaft 44 is rotated by the rotation of the rotary output shaft 2.
【００２４】図１に示す６は油をためることができる油
タンクである。図１では複数の油タンク６が表示されて
いるが、実際にはこれらはつながっていて、ポンプ筐体
５内に一つだけ設けられている。Reference numeral 6 shown in FIG. 1 is an oil tank capable of storing oil. Although a plurality of oil tanks 6 are shown in FIG. 1, they are actually connected and only one is provided in the pump casing 5.
【００２５】図１に示す１２は低圧ポンプである。この
低圧ポンプ１２は２つの入出力ポート１０、１１を有し
た回転式のポンプであり、例えば回転軸４４が右回転さ
れると第１の入出力ポート１０から油を吸入して第２の
入出力ポート１１から油を出力し、回転軸４４が左回転
されると第２の入出力ポート１１から油を吸入して第１
の入出力ポート１０から油を出力する。このような低圧
ポンプ１２としては例えばギアポンプ、歯車ポンプがあ
る。このポンプ４は出力する油の油圧が低いが、送油量
は多いという特徴を有する。Reference numeral 12 shown in FIG. 1 is a low pressure pump. The low-pressure pump 12 is a rotary pump having two input / output ports 10 and 11. For example, when the rotary shaft 44 is rotated clockwise, oil is sucked from the first input / output port 10 and the second input port 10 is supplied. When oil is output from the output port 11 and the rotary shaft 44 is rotated counterclockwise, oil is sucked from the second input / output port 11
Oil is output from the input / output port 10 of. Examples of such a low pressure pump 12 include a gear pump and a gear pump. The pump 4 has a feature that the oil pressure to be output is low, but the oil feed amount is large.
【００２６】図１に示す１４は低圧油系路である。この
低圧油系路１４は図１（ａ）に太線で示すように、低圧
ポンプ１２の回転時に第１の入出力ポート１０から導入
されて他方の入出力ポート１１に排出される低圧油を作
動部８に送るための送油管である。Reference numeral 14 shown in FIG. 1 is a low pressure oil system passage. This low-pressure oil passage 14 operates low-pressure oil introduced from the first input / output port 10 and discharged to the other input / output port 11 when the low-pressure pump 12 rotates, as indicated by the thick line in FIG. It is an oil feed pipe for sending to the section 8.
【００２７】図１に示す１３は高圧ポンプである。この
ポンプ１３は入力ポート３２、出力ポート３３を有した
プランジャー式（ピストン式）のポンプであり、回転軸
４４が右左どちらに回転されても入力ポート３２から油
を吸入して出力ポート３３から油を吐出する。このポン
プ１３は出力する油の油圧を数百〜千Ｋｇｆ／ｃｍ2の
高圧にすることができる反面、送油量は少ないという特
徴を有する。Reference numeral 13 shown in FIG. 1 is a high-pressure pump. This pump 13 is a plunger type (piston type) pump having an input port 32 and an output port 33, and oil is sucked from the input port 32 to output from the output port 33 regardless of whether the rotating shaft 44 is rotated to the right or left. Discharge the oil. The pump 13 is capable of increasing the hydraulic pressure of the oil to be output to a high pressure of several hundreds to thousands Kgf / cm 2 , but has a feature that the amount of oil fed is small.
【００２８】図１に示す１５は高圧油系路である。この
高圧油系路１５は図１（ｂ）に極太線で示すように、高
圧ポンプ１３から排出される高圧油を作動部８に送るた
めの送油管であるReference numeral 15 shown in FIG. 1 is a high pressure oil system passage. This high-pressure oil passage 15 is an oil feed pipe for sending the high-pressure oil discharged from the high-pressure pump 13 to the operating part 8, as shown by the thick line in FIG.
【００２９】図１に示す２０は低圧油系路１４に設けら
れたタンク用逆止弁である。この逆止弁２０は、図１
（ａ）のように低圧ポンプ１２から低圧油系路１４に油
が送出されると、同逆止弁２０に組込まれたスプリング
の伸び力と低圧油系路１４に生じる油圧とで自動的に閉
じられ、図１（ｂ）のように低圧ポンプ１２から高圧油
系路１５に油が送出されると、低圧油系路１４に生じる
負圧によりスプリングが圧縮されて自動的に開かれる。Reference numeral 20 shown in FIG. 1 denotes a tank check valve provided in the low pressure oil passage 14. This check valve 20 is shown in FIG.
When oil is sent from the low-pressure pump 12 to the low-pressure oil passage 14 as shown in (a), the extension force of the spring incorporated in the check valve 20 and the hydraulic pressure generated in the low-pressure oil passage 14 are automatically used. When the oil is discharged from the low pressure pump 12 to the high pressure oil passage 15 as shown in FIG. 1B, the spring is compressed by the negative pressure generated in the low pressure oil passage 14 and is automatically opened.
【００３０】図１に示す２１は低圧油系路１４に設けら
れたポンプ用逆止弁である。この逆止弁２１は、図１
（ａ）のように低圧ポンプ１２から低圧油系路１４に油
が送出されると、同低圧油系路１４に生じる油圧で逆止
弁２１に組込まれたスプリングが圧縮されて自動的に開
かれ、図１（ｂ）のように低圧ポンプ１２から高圧油系
路１５に油が送出されると、圧縮されたスプリングの復
元力と低圧油系路１４に生じる負圧により自動的に閉じ
られる。Reference numeral 21 shown in FIG. 1 denotes a pump check valve provided in the low-pressure oil passage 14. This check valve 21 is shown in FIG.
When oil is delivered from the low-pressure pump 12 to the low-pressure oil passage 14 as shown in (a), the spring built in the check valve 21 is compressed by the oil pressure generated in the low-pressure oil passage 14 and automatically opens. Then, when the oil is delivered from the low pressure pump 12 to the high pressure oil passage 15 as shown in FIG. 1B, it is automatically closed by the restoring force of the compressed spring and the negative pressure generated in the low pressure oil passage 14. .
【００３１】図１に示す２２は高圧油系路１５に設けら
れたタンク用逆止弁である。この逆止弁２２は、図１
（ａ）のように低圧ポンプ１２から低圧油系路１４に油
が送出されると、高圧油系路１５に生じる負圧により同
逆止弁２２に組込まれたスプリングが圧縮されて自動的
に開かれ、図１（ｂ）のように低圧ポンプ１２から高圧
油系路１５に油が送出されると、スプリングの復元力と
高圧油系路１５に送り出される低圧油の油圧とにより自
動的に閉じられる。Reference numeral 22 shown in FIG. 1 denotes a tank check valve provided in the high-pressure oil passage 15. This check valve 22 is shown in FIG.
When oil is delivered from the low-pressure pump 12 to the low-pressure oil passage 14 as shown in (a), the negative pressure generated in the high-pressure oil passage 15 compresses the spring incorporated in the check valve 22 and automatically. When opened and oil is delivered from the low-pressure pump 12 to the high-pressure oil passage 15 as shown in FIG. 1B, the restoring force of the spring and the oil pressure of the low-pressure oil delivered to the high-pressure oil passage 15 automatically To be closed.
【００３２】図１に示す２３は高圧油系路１５に設けら
れた低圧ポンプ用逆止弁である。この逆止弁２３は、図
１（ａ）のように低圧ポンプ１２から低圧油系路１４に
油が送出されると、同逆止弁２３に組込まれたスプリン
グの伸び力と高圧油系路１５に生じる負圧により自動的
に閉じられ、図１（ｂ）のように低圧ポンプ１２から高
圧油系路１５に油が送出されると、高圧油系路１５に送
り出される低圧油の油圧でスプリングが圧縮されて自動
的に開かれる。Reference numeral 23 shown in FIG. 1 is a check valve for a low pressure pump provided in the high pressure oil system passage 15. As shown in FIG. 1A, when the low-pressure pump 12 delivers oil to the low-pressure oil system passage 14, the check valve 23 has a spring built into the check valve 23 and a high-pressure oil passage. When the oil is delivered from the low-pressure pump 12 to the high-pressure oil system passage 15 as shown in FIG. 1B, the oil pressure of the low-pressure oil delivered to the high-pressure oil system passage 15 causes The spring is compressed and opens automatically.
【００３３】図１に示す２４は高圧油系路１５に設けら
れた高圧ポンプ用逆止弁である。この逆止弁２４は、図
１（ａ）のように低圧ポンプ１２から低圧油系路１４に
油が送出されると、同逆止弁２４に組込まれたスプリン
グの伸び力により自動的に閉じられ、図１（ｂ）のよう
に低圧ポンプ１２から高圧ポンプ１３を経て高圧油系路
１５に油が送出されると、高圧ポンプ１３から送り出さ
れる高圧油の油圧でスプリングが圧縮されて自動的に開
かれる。Reference numeral 24 shown in FIG. 1 is a high-pressure pump check valve provided in the high-pressure oil passage 15. The check valve 24 is automatically closed by the extension force of a spring incorporated in the check valve 24 when the low-pressure pump 12 supplies oil to the low-pressure oil passage 14, as shown in FIG. Then, as shown in FIG. 1B, when oil is delivered from the low-pressure pump 12 to the high-pressure oil passage 15 via the high-pressure pump 13, the spring is automatically compressed by the hydraulic pressure of the high-pressure oil delivered from the high-pressure pump 13. Open to.
【００３４】図１に示す２５は低圧ポンプ１２から低圧
油系路１４に送出される油の油圧を調整する低圧力調整
弁である。この圧力調整弁２５は低圧油系路１４に設け
られており、同低圧油系路１４内の油圧が８Ｋｇｆ／ｃ
ｍ2より高くなると自動的に弁２５が開かれて低圧油系
路１４内の油を油タンク６に逃がし、８Ｋｇｆ／ｃｍ2
以下になると自動的に弁２５が閉じられるような仕組み
になっている。Reference numeral 25 shown in FIG. 1 is a low pressure adjusting valve for adjusting the oil pressure of the oil sent from the low pressure pump 12 to the low pressure oil passage 14. This pressure adjusting valve 25 is provided in the low pressure oil system passage 14, and the oil pressure in the low pressure oil system passage 14 is 8 Kgf / c.
When it becomes higher than m 2 , the valve 25 is automatically opened to allow the oil in the low pressure oil system passage 14 to escape to the oil tank 6, and 8 Kgf / cm 2
The valve 25 is automatically closed under the following conditions.
【００３５】図１に示す２９は低圧ポンプ１２から高圧
油系路１５に送出される油の油圧を調整する圧力調節弁
である。この圧力調節弁２９は低圧ポンプ１２と高圧ポ
ンプ１３との間の高圧油系路１５に設けられており、同
部分における高圧油系路１５内の油圧が５Ｋｇｆ／ｃｍ
2より高くなると自動的に弁２９が開かれて油を油タン
ク６に逃がし、５Ｋｇｆ／ｃｍ2以下になると自動的に
弁２９が閉じられるような仕組みになっている。Reference numeral 29 shown in FIG. 1 is a pressure control valve for adjusting the oil pressure of the oil sent from the low pressure pump 12 to the high pressure oil passage 15. The pressure control valve 29 is provided in the high-pressure oil system passage 15 between the low-pressure pump 12 and the high-pressure pump 13, and the hydraulic pressure in the high-pressure oil system passage 15 at the same portion is 5 Kgf / cm.
When it becomes higher than 2 , the valve 29 is automatically opened to let the oil escape to the oil tank 6, and when it becomes 5 Kgf / cm 2 or less, the valve 29 is automatically closed.
【００３６】図１に示す２６は高圧ポンプ１３から高圧
油系路１５に送出される高圧油の油圧を調整する高圧力
調整弁である。この高圧力調整弁２６は高圧ポンプ１３
の先の高圧油系路１５に設けられており、同部分におけ
る高圧油系路１５内の油圧が７００Ｋｇｆ／ｃｍ2より
高くなると図２（ａ）のように自動的に弁２６が開かれ
て油を油タンク６に逃がすようになっている。なお、こ
の高圧力調整弁２６は高圧油系路１５の油圧が７００Ｋ
ｇｆ／ｃｍ2以下になると自動的に閉じられる。Reference numeral 26 shown in FIG. 1 is a high pressure adjusting valve for adjusting the hydraulic pressure of the high pressure oil sent from the high pressure pump 13 to the high pressure oil system passage 15. The high pressure adjusting valve 26 is used for the high pressure pump 13.
Is provided in the high pressure oil passage 15 at the end of the above, and when the hydraulic pressure in the high pressure oil passage 15 at the same portion becomes higher than 700 Kgf / cm 2 , the valve 26 is automatically opened as shown in FIG. The oil is allowed to escape to the oil tank 6. The high pressure adjusting valve 26 has a hydraulic pressure in the high pressure oil passage 15 of 700K.
When gf / cm 2 or less, it is automatically closed.
【００３７】図１に示す２７は作動部８に送られる油を
油タンク６に排出するための排出弁である。この排出弁
２７は、作動部８の直前の高圧油系路１５に設けられて
おり、高圧力調整弁２６が開いたときに、即ち高圧油系
路１５の油圧が７００Ｋｇｆ／ｃｍ2に達したときに、
同弁２６からパイプ３５を通じて送られる油圧により自
動的に開放される仕組みになっている。なお、この排出
弁２７と高圧力調整弁２６とをつなぐパイプ３５の途中
には高圧力調整弁２６への油戻りを防止する逆止弁３６
が設けられているため、一旦排出弁２７が開かれると、
以後低圧油系路１４や高圧油系路１５の油圧が下がって
も同排出弁２７は継続して開かれた状態に保たれる。従
ってこの状態からは続けて高圧動作を行なうことができ
ないようになっている。Reference numeral 27 shown in FIG. 1 is a discharge valve for discharging the oil sent to the operating portion 8 to the oil tank 6. The discharge valve 27 is provided in the high-pressure oil system passage 15 immediately before the operating unit 8, and when the high pressure adjusting valve 26 is opened, that is, the hydraulic pressure of the high-pressure oil system passage 15 reaches 700 Kgf / cm 2 . sometimes,
The valve 26 is automatically opened by the hydraulic pressure sent from the valve 26 through the pipe 35. A check valve 36 for preventing oil from returning to the high pressure adjusting valve 26 is provided in the middle of a pipe 35 connecting the discharge valve 27 and the high pressure adjusting valve 26.
Is provided, once the discharge valve 27 is opened,
After that, even if the hydraulic pressure of the low pressure oil system passage 14 and the high pressure oil system passage 15 is lowered, the discharge valve 27 is continuously kept open. Therefore, from this state, the high pressure operation cannot be continuously performed.
【００３８】図１に示す２８は開放された排出弁２７を
閉じるための制御弁である。この制御弁２８は、排出弁
２７と高圧力調整弁２６とをつなぐパイプ３５に設けら
れており、図２（ｂ）のように低圧ポンプ１２の低圧油
が低圧油系路１４に供給されると同系路１５に分岐され
た分岐系路３９を通じて送られる低圧油により開放され
る仕組みになっている。この制御弁２８が開放されると
排出弁２７を開かせていた油圧が解除され、同排出弁２
７が閉じられる。Reference numeral 28 shown in FIG. 1 is a control valve for closing the opened discharge valve 27. The control valve 28 is provided in the pipe 35 that connects the discharge valve 27 and the high pressure adjusting valve 26, and the low pressure oil of the low pressure pump 12 is supplied to the low pressure oil system passage 14 as shown in FIG. 2B. The low pressure oil sent through the branch system path 39 branched to the same system path 15 is used to release the oil. When this control valve 28 is opened, the hydraulic pressure that has opened the discharge valve 27 is released, and the discharge valve 2
7 is closed.
【００３９】図１に示す１６は油圧解除系路である。こ
の油圧解除系路１６は作動部８の直前の高圧油系路１５
に設けられており、同高圧油系路１５の途中に高圧油系
路１５に流れる油を油タンク６に逃がす油圧解除弁４５
が設けられている。この油圧解除弁４５はポンプ筐体５
の外部に突き出して設けられている解除レバー１７によ
り手動で開閉されるようになっている。この解除レバー
１７は、図３に示すようにポンプ筐体５に固定されて設
けられている固定レバー４７と、固定レバー４７に対し
て回動可能に取り付けられた可動レバー４６とからな
り、両レバー４６、４７を撮んで互いを引き寄せること
により油圧解除弁４５を開かせることができるようにな
っている。また、可動レバー４６には固定レバー４７の
側方に突き出す突出部４８も形成されており、この突出
部４８をポンプ筐体５側に押込むことにより油圧解除弁
４５を開かせることもできるようになっている。なお、
前記油圧解除弁４５は、固定レバー４７と可動レバー４
６とをつまんでいるか、可動レバー４６の突出部４８を
押している間だけ弁４５が開かれるようになっており、
レバーのつまみや押しが解除されると、弁４５に設けら
れたスプリングにより自動的に閉じられるようになって
いる。Reference numeral 16 shown in FIG. 1 is a hydraulic pressure release passage. This hydraulic pressure release system passage 16 is a high pressure oil system passage 15 immediately before the operating portion 8.
A hydraulic pressure release valve 45 for releasing the oil flowing in the high pressure oil system passage 15 to the oil tank 6 in the middle of the high pressure oil system passage 15.
Is provided. The hydraulic pressure release valve 45 is used for the pump casing 5.
It is configured to be manually opened and closed by a release lever 17 which is provided so as to project outside of. As shown in FIG. 3, the release lever 17 is composed of a fixed lever 47 fixed to the pump housing 5 and a movable lever 46 rotatably attached to the fixed lever 47. The hydraulic pressure release valve 45 can be opened by photographing the levers 46 and 47 and pulling them together. Further, the movable lever 46 is also formed with a protruding portion 48 protruding laterally of the fixed lever 47, and the hydraulic pressure release valve 45 can be opened by pushing the protruding portion 48 toward the pump housing 5 side. It has become. In addition,
The hydraulic pressure release valve 45 includes a fixed lever 47 and a movable lever 4
The valve 45 is designed to be opened only while pinching 6 and 6 or pushing the protrusion 48 of the movable lever 46.
When the knob or push of the lever is released, the lever 45 is automatically closed by a spring provided in the valve 45.
【００４０】[0040]
【図１のマニピュレータ用油圧ポンプの使用例】このマ
ニピュレータ用油圧ポンプ４は、例えば図７に示すよう
な柱上作業の高圧配電作業等に使われる作業車のマニピ
ュレータ１の先端に取り付けて使用する。この場合、油
圧ポンプ４の作動部８に図４に示す圧縮工具（油圧工
具）３や図５に示す電線皮剥器（油圧工具）３等を取り
付けるが、このような油圧工具３は始めから油圧ポンプ
４に一体化させて組立てておいてもよいし、或は各種油
圧工具３と油圧ポンプ４とを着脱できる形で組立て、こ
れらを使用時に組合わせるようにしてもよい。[Example of use of hydraulic pump for manipulator in FIG. 1] This hydraulic pump for manipulator 4 is used by being attached to the end of the manipulator 1 of a work vehicle used for high-voltage power distribution work for pole work as shown in FIG. 7, for example. . In this case, the compression tool (hydraulic tool) 3 shown in FIG. 4 and the wire peeling device (hydraulic tool) 3 shown in FIG. 5 are attached to the operating portion 8 of the hydraulic pump 4, and such a hydraulic tool 3 starts from the hydraulic pressure. The pump 4 may be integrated and assembled, or the various hydraulic tools 3 and the hydraulic pump 4 may be assembled in a detachable manner and then combined when used.
【００４１】マニピュレータ１に油圧ポンプ４を取り付
けた後、前記マニピュレータ１の回転出力軸２を正回転
させると（低圧ポンプ１２の入出力ポート１１から油が
出力される様にすると）、油圧回路内を油が図１（ａ）
に太線で示すように流れ、作動部８の油圧工具に低圧油
が供給され、油圧工具３が低圧作動する。具体的には、
低圧ポンプ１２の作動により入出力ポート１１側の逆止
弁２２が開いて油タンク６内の油が同低圧ポンプ１２に
吸入され、同ポンプ４により低圧加圧された油が入出力
ポート１０から出力され、低圧力調整弁２５により８Ｋ
ｇｆ／ｃｍ2に調整された油が低圧油系路１４を通じて
油圧工具と制御弁２８とに送出される。この場合、高圧
ポンプ１３には油が供給されないので同ポンプ１３によ
る加圧はない。After the hydraulic pump 4 is attached to the manipulator 1, when the rotation output shaft 2 of the manipulator 1 is rotated forward (when oil is output from the input / output port 11 of the low pressure pump 12), the hydraulic circuit is The oil is shown in Figure 1 (a)
Flow as indicated by a thick line, low-pressure oil is supplied to the hydraulic tool of the operating unit 8, and the hydraulic tool 3 operates at a low pressure. In particular,
The check valve 22 on the input / output port 11 side is opened by the operation of the low-pressure pump 12, the oil in the oil tank 6 is sucked into the low-pressure pump 12, and the oil low-pressure pressurized by the pump 4 is input / output port 10 from the input / output port 10. Output, 8K by low pressure adjusting valve 25
The oil adjusted to gf / cm 2 is delivered to the hydraulic tool and the control valve 28 through the low pressure oil passage 14. In this case, oil is not supplied to the high-pressure pump 13, so that the high-pressure pump 13 does not pressurize.
【００４２】またマニピュレータ１の回転出力軸２を逆
回転させると（低圧ポンプ１２の入出力ポート１０から
油が出力される様にすると）、油圧回路内を油が図１
（ｂ）に極太線で示すように流れ、作動部８の油圧工具
に高圧油が供給され、同油圧工具３が高圧作動する。具
体的には、低圧ポンプ１２の動作により入出力ポート１
０側の逆止弁２０が開いて油タンク６内の油が同低圧ポ
ンプ１２に吸入され、同ポンプ４により低圧加圧された
油が入出力ポート１１から出力され、低圧力調節弁２９
により５Ｋｇｆ／ｃｍ2に調整された油が高圧ポンプ１
３に送出され、同高圧ポンプ１３で高圧に加圧された高
圧油が高圧油系路１５を通じて油圧工具に送出される。When the rotation output shaft 2 of the manipulator 1 is rotated in the reverse direction (when the oil is output from the input / output port 10 of the low pressure pump 12), oil is generated in the hydraulic circuit.
As indicated by the thick line in (b), high-pressure oil is supplied to the hydraulic tool of the operating portion 8, and the hydraulic tool 3 operates at high pressure. Specifically, the operation of the low-pressure pump 12 causes the input / output port 1
The check valve 20 on the 0 side is opened, the oil in the oil tank 6 is sucked into the low pressure pump 12, and the oil that is low-pressure pressurized by the pump 4 is output from the input / output port 11, and the low pressure control valve 29
The oil adjusted to 5 Kgf / cm 2 by the high pressure pump 1
The high-pressure oil sent to the hydraulic pressure tool 3 and pressurized to a high pressure by the high-pressure pump 13 is sent to the hydraulic tool through the high-pressure oil passage 15.
【００４３】そして油圧工具３に送出される油の油圧が
７００Ｋｇｆ／ｃｍ2に達すると、高圧力調整弁２６が
開いてこれにより排出弁２７が開き、油圧回路内の油が
図２（ａ）に示すように太線で示すように流れ、油圧工
具３に送出される高圧油が排出弁２７を通して油タンク
６に排出される。そして油圧工具３の動作圧が０Ｋｇｆ
／ｃｍ2に自動的に戻される。When the oil pressure of the oil delivered to the hydraulic tool 3 reaches 700 Kgf / cm 2 , the high pressure adjusting valve 26 opens, which causes the discharge valve 27 to open, so that the oil in the hydraulic circuit is released as shown in FIG. The high pressure oil that flows as shown by the thick line and is sent to the hydraulic tool 3 is discharged to the oil tank 6 through the discharge valve 27. The operating pressure of the hydraulic tool 3 is 0 Kgf.
/ Cm 2 will be automatically returned.
【００４４】この後に再度油圧工具３を作動させる場合
は、マニピュレータ１の回転出力軸２を再び正回転す
る。すると油圧回路内を油が図２（ｂ）に太線で示すよ
うに流れて、先ず低圧の油で制御弁２８が開かれてこれ
により排出弁２７が閉じられて油圧工具３に低圧油が供
給されるようになり、同油圧工具３が低圧動作する。When the hydraulic tool 3 is to be actuated again after this, the rotation output shaft 2 of the manipulator 1 is again positively rotated. Then, the oil flows in the hydraulic circuit as shown by the thick line in FIG. 2B, the control valve 28 is first opened by the low pressure oil, and the discharge valve 27 is closed by this, and the low pressure oil is supplied to the hydraulic tool 3. Then, the hydraulic tool 3 operates at a low pressure.
【００４５】なお、油圧工具３を作動させている最中
に、何らかの事情で油圧工具３の動作を停止したい場合
は、ポンプ筐体５に設けられた解除レバー１７を操作す
る。この解除レバー１７の操作は、図７のマニピュレー
タの場合、もう一方のマニピュレータを用いて行なうこ
とができ、例えばマニピュレータの先に取り付けた他の
工具で可動レバー４６と固定レバー４７とをつまんだ
り、或は工具で可動レバー４６の突出部４８を押して行
なうことができる。If it is desired to stop the operation of the hydraulic tool 3 while the hydraulic tool 3 is being operated, the release lever 17 provided on the pump housing 5 is operated. In the case of the manipulator of FIG. 7, this operation of the release lever 17 can be performed using the other manipulator. For example, the movable lever 46 and the fixed lever 47 are pinched by another tool attached to the tip of the manipulator, Alternatively, the protrusion 48 of the movable lever 46 can be pushed with a tool.
【００４６】[0046]
【実施例２】図６は本発明のマニピュレータ用油圧ポン
プの第２の実施例である。この実施例は実施例１におけ
る高圧力調整弁２６と排出弁２７とをつなぐパイプ３５
に残される高圧油を油タンク６に逃がし易くして排出弁
２７が確実に閉じられるように改良したものである。こ
の例では排出弁２７に逆止弁を用い、油圧工具３にかか
る油圧が７００Ｋｇｆ／ｃｍ2に達して高圧力調整弁２
６が開くと、パイプ３５を通じて供給される高圧油で排
出弁２７の逆止弁が開かれ、これにより油圧工具３にか
かる油圧が０Ｋｇｆ／ｃｍ2になるようにしてある。ま
たさらに、高圧力調整弁２６と排出弁２７との間のパイ
プ３５を逆止弁５５を介して排出弁２７の手前側に導通
させることにより、高圧油系路１５内の油圧が降下する
と自動的に逆止弁５５が開いてパイプ３５内の油が油タ
ンク６に排除されるようにしてある。従ってパイプ３５
内に高圧油が残されず、分岐系路５６に供給される低圧
油で確実に制御弁２８が開き、よって排出弁２７が確実
に閉じられる。Second Embodiment FIG. 6 shows a second embodiment of the hydraulic pump for manipulator of the present invention. In this embodiment, a pipe 35 connecting the high pressure adjusting valve 26 and the discharge valve 27 in the first embodiment is connected.
The high pressure oil remaining in the tank is easily released to the oil tank 6 so that the discharge valve 27 can be closed reliably. In this example, a check valve is used as the discharge valve 27, the hydraulic pressure applied to the hydraulic tool 3 reaches 700 Kgf / cm 2 , and the high pressure regulating valve 2
When 6 is opened, the check valve of the discharge valve 27 is opened by the high pressure oil supplied through the pipe 35, so that the hydraulic pressure applied to the hydraulic tool 3 becomes 0 Kgf / cm 2 . Furthermore, by connecting the pipe 35 between the high pressure adjusting valve 26 and the discharge valve 27 to the front side of the discharge valve 27 via the check valve 55, it is automatically performed when the hydraulic pressure in the high pressure oil system passage 15 drops. Specifically, the check valve 55 is opened so that the oil in the pipe 35 is removed to the oil tank 6. Therefore, the pipe 35
The high pressure oil is not left inside, and the control valve 28 is surely opened by the low pressure oil supplied to the branch passage 56, and thus the discharge valve 27 is surely closed.
【００４７】[0047]
【発明の効果】本発明のマニピュレータ用油圧ポンプは
マニピュレータ用油圧ポンプが油タンクと、マニピュレ
ータの回転出力軸の回転で回転して油を加圧出力する加
圧ポンプと、加圧油を作動部に送る油系路を備えてなる
ので次の様な効果がある。
．本発明のマニピュレータ用油圧ポンプをマニピュレ
ータの先に取り付けて、同油圧ポンプにより油圧工具を
直接駆動して架空電線の工事を行うことができる。
．油圧工具を駆動するための油圧ホースがマニピュレ
ータに不要となるため、油圧工具を自由に動かすことが
できる。
．油圧ホースが無いため油圧工具の付け替えが容易で
ある。
．油圧ホースが無いため外観が煩雑にならず、体裁が
よい。The hydraulic pump for manipulators of the present invention comprises an oil tank, a hydraulic pump for manipulators, a pressurizing pump that rotates by the rotation of the rotary output shaft of the manipulator, and pressurizes and outputs oil, and an operating part for pressurizing oil. Since it is equipped with an oil passage for sending to, it has the following effects. ． The manipulator hydraulic pump of the present invention can be attached to the tip of the manipulator, and a hydraulic tool can be directly driven by the hydraulic pump to perform construction of an overhead wire. ． Since the hydraulic hose for driving the hydraulic tool is not required in the manipulator, the hydraulic tool can be freely moved. ． Since there is no hydraulic hose, it is easy to change the hydraulic tool. ． Since there is no hydraulic hose, the appearance is not complicated and the appearance is good.
【００４８】請求項２のマニピュレータ用油圧ポンプは
マニピュレータの回転出力軸の回転を正逆切替え回転さ
せるだけで油圧を低圧と高圧に切替えることができるの
で次の様な効果がある。
．油圧を低圧と高圧に切替えて、油圧工具の動きに幅
をもたせることができる。
．圧縮工具や電線皮剥器等の油圧工具を駆動すること
ができ、駆動できる油圧工具の種類が広がり、用途も広
がる。Since the hydraulic pump for a manipulator according to the second aspect can switch the hydraulic pressure between the low pressure and the high pressure only by rotating the rotation output shaft of the manipulator in the forward and reverse directions, the following effects are obtained. ． The hydraulic pressure can be switched between low pressure and high pressure to allow a wide range of movement of the hydraulic tool. ． It is possible to drive hydraulic tools such as compression tools and wire strippers, and the types of hydraulic tools that can be driven are expanded and the applications are expanded.
【００４９】請求項３のマニピュレータ用油圧ポンプは
油圧解除系路とそれを開いて作動部に送る油の油圧を解
除する解除レバーを設けてなるので、解除レバーを操作
して油圧工具の作動を非常停止させることができ、作業
の安全性が高まる。Since the hydraulic pump for manipulators of the third aspect is provided with the hydraulic pressure release system passage and the release lever for releasing the hydraulic pressure of the oil to be sent to the operating portion by opening it, the release lever is operated to operate the hydraulic tool. It can be stopped in an emergency, which increases work safety.
【００５０】請求項４のマニピュレータ用油圧ポンプは
低圧油系路と高圧油系路の夫々にタンク用逆止弁とポン
プ用逆止弁が設けられてなるので、低圧油系路に送り出
された低圧油が油タンクへ逆流するのを確実に防止で
き、高圧油系路に送り出された高圧油が油タンクへ逆流
するのを確実に防止できすることもできる。In the manipulator hydraulic pump according to the present invention, the low-pressure oil system passage and the high-pressure oil system passage are respectively provided with a tank check valve and a pump check valve, so that the manipulator hydraulic pump is delivered to the low-pressure oil system passage. It is possible to reliably prevent the low-pressure oil from flowing back into the oil tank, and it is also possible to reliably prevent the high-pressure oil sent to the high-pressure oil system passage from flowing back into the oil tank.
【００５１】請求項５のマニピュレータ用油圧ポンプは
低圧油系路と高圧油系路の夫々に、低圧力調整弁、高圧
力調整弁が設けられてなるので、作動部に送られる油圧
が所定圧に調整され、油圧工具を無理なく駆動させるこ
とができる。In the hydraulic pump for a manipulator according to a fifth aspect of the present invention, a low pressure adjusting valve and a high pressure adjusting valve are provided in each of the low pressure oil passage and the high pressure oil passage. It is possible to drive the hydraulic tool without difficulty.
【００５２】請求項６のマニピュレータ用油圧ポンプは
高圧油系路に排出弁を設け、排出弁と低圧油系路との間
に制御弁を設けてなるので、高圧油の油圧が必要以上に
高くなって危険であるといったことがない。また、高圧
油の圧力が低下してからマニピュレータの回転出力軸を
逆回転させるだけで作動部に送られる油圧が低圧油に切
り替る。In the hydraulic pump for a manipulator according to the sixth aspect of the present invention, since the discharge valve is provided in the high pressure oil passage and the control valve is provided between the discharge valve and the low pressure oil passage, the hydraulic pressure of the high pressure oil becomes higher than necessary. It is never dangerous. Further, the hydraulic pressure sent to the operating portion is switched to the low pressure oil only by reversely rotating the rotary output shaft of the manipulator after the pressure of the high pressure oil has dropped.
【００５３】請求項７のマニピュレータ用油圧ポンプは
高圧油系路に送られる油の圧力が圧力調節弁により調整
されるため、高圧ポンプに必要以上の圧力の油が供給さ
れず、高圧ポンプが円滑に作動する。In the hydraulic pump for a manipulator according to a seventh aspect of the present invention, the pressure of the oil sent to the high-pressure oil system passage is adjusted by the pressure control valve, so that the high-pressure pump is not supplied with oil at a pressure higher than necessary, and the high-pressure pump operates smoothly. Works.
【００５４】請求項８の油圧工具駆動装置では、油圧工
具をマニピュレータの先に取り付けた油圧ポンプで直接
駆動することができ、しかも油圧ホースが不要となるた
め油圧工具を動かし易く、油圧工具での作業がし易くな
り、油圧工具の付け替えも容易になる。In the hydraulic tool driving device according to the eighth aspect, the hydraulic tool can be directly driven by the hydraulic pump attached to the tip of the manipulator, and since the hydraulic hose is unnecessary, the hydraulic tool can be easily moved, and the hydraulic tool can be easily operated. Work becomes easier, and replacement of hydraulic tools becomes easier.
【図１】本発明のマニピュレータ用油圧ポンプの油圧回
路の一実施例を示した回路図であり、（ａ）は低圧動作
時の油の流れを示したもの、（ｂ）は高圧動作時の油の
流れを示したものである。FIG. 1 is a circuit diagram showing an embodiment of a hydraulic circuit of a hydraulic pump for manipulators of the present invention, (a) showing a flow of oil at low pressure operation, and (b) showing at high pressure operation. It shows the flow of oil.
【図２】本発明のマニピュレータ用油圧ポンプの油圧回
路の一実施例を示した回路図であり、（ａ）は油圧解除
時の油の流れを示したもの、（ｂ）は再加圧時の油の流
れを示したものである。2A and 2B are circuit diagrams showing an embodiment of a hydraulic circuit of the hydraulic pump for a manipulator according to the present invention, in which FIG. 2A shows a flow of oil when the hydraulic pressure is released, and FIG. It shows the flow of oil.
【図３】本発明の油圧工具駆動装置の一実施例を示した
斜視図。FIG. 3 is a perspective view showing an embodiment of a hydraulic tool driving device of the present invention.
【図４】圧縮工具を取り付けたマニピュレータ用油圧ポ
ンプの一実施例を示した側面図。FIG. 4 is a side view showing an embodiment of a hydraulic pump for a manipulator to which a compression tool is attached.
【図５】電線皮剥器を取り付けたマニピュレータ用油圧
ポンプの一実施例を示した側面図。FIG. 5 is a side view showing an embodiment of a hydraulic pump for a manipulator to which a wire peeling device is attached.
【図６】本発明のマニピュレータ用油圧ポンプの油圧回
路の他の例を示した回路図。FIG. 6 is a circuit diagram showing another example of the hydraulic circuit of the hydraulic pump for manipulators of the present invention.
【図７】電線工事に使用される作業車の従来例であり、
（ａ）は作業車のマニピュレータ部分を示したもの、
（ｂ）は作業車全体を示したものである。FIG. 7 is a conventional example of a work vehicle used for electric wire construction,
(A) shows the manipulator part of the work vehicle,
(B) shows the whole work vehicle.
１ マニピュレータ ２ 回転出力軸 ３ 油圧工具 ４ 油圧ポンプ ５ ポンプ筐体 ６ 油タンク ７ 加圧ポンプ ８ 作動部 ９ 油系路 １０ 入出力ポート １１ 入出力ポート １２ 低圧ポンプ １３ 高圧ポンプ １４ 低圧油系路 １５ 高圧油系路 １６ 油圧解除系路 １７ 解除レバー ２０ タンク用逆止弁 ２１ ポンプ用逆止弁 ２２ タンク用逆止弁 ２３ 低圧ポンプ用逆止弁 ２４ 高圧ポンプ用逆止弁 ２５ 低圧力調整弁 ２６ 高圧力調整弁 ２７ 排出弁 ２８ 制御弁 ２９ 圧力調整弁 1 manipulator 2 rotation output shaft 3 hydraulic tools 4 hydraulic pump 5 pump housing 6 oil tank 7 Pressurizing pump 8 working parts 9 Oil-based roads 10 I / O ports 11 I / O port 12 Low pressure pump 13 High pressure pump 14 Low pressure oil system 15 High pressure oil system 16 Hydraulic release system road 17 Release lever 20 Check valve for tank 21 Check valve for pump 22 Check valve for tank 23 Check valve for low pressure pump 24 Check valve for high pressure pump 25 Low pressure control valve 26 High pressure control valve 27 Discharge valve 28 Control valve 29 Pressure regulating valve
───────────────────────────────────────────────────── フロントページの続き (72)発明者 守田 賢二 福岡県福岡市中央区渡辺通二丁目１番82 号 九州電力株式会社内 (72)発明者 畔津 正己 大分県大分市大字駄原2899番地 西日本 電線株式会社内 (72)発明者 牧 秀一 大分県大分市大字駄原2899番地 西日本 電線株式会社内 (72)発明者 近藤 崇文 神奈川県川崎市川崎区駅前本町３番地１ 日本バーンデイ株式会社内 (56)参考文献 特開 平７−40266（ＪＰ，Ａ) 実開 平４−89676（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) B25J 15/04 B25J 19/00 ─────────────────────────────────────────────────── --- Continuation of the front page (72) Kenji Morita Kenji Morita 1-282 Watanabe-dori, Chuo-ku, Fukuoka, Fukuoka Prefecture Kyushu Electric Power Co., Inc. (72) Masami Kyazu 2899 Dahara, Oita, Oita-shi, Oita Prefecture Nishinihon Electric Cable Co., Ltd. (72) Inventor Shuichi Maki 2899 Ota, Oita-shi, Oita Prefecture West Japan Electric Wire Co., Ltd. (72) Inventor Takafumi Kondo 3 Ekimaehonmachi, Kawasaki-ku, Kawasaki-shi, Kanagawa 1 Japan Burnday Co., Ltd. ( 56) References JP-A-7-40266 (JP, A) Fukuikai 4-89676 (JP, U) (58) Fields investigated (Int.Cl. 7 , DB name) B25J 15/04 B25J 19/00
Claims (8)
レータ（１）の回転出力軸（２）に着脱可能な着脱部
（４１）と、油圧工具（３）を取り付け可能な作動部
（８）とがポンプ筐体（５）に形成され、ポンプ筐体
（５）内に油タンク（６）と加圧ポンプ（７）と油系路
（９）とが内蔵され、回転出力軸（２）が回転すると油
タンク（６）内の油が加圧ポンプ（７）により加圧して
出力され、その出力により油系路（９）の油圧が制御さ
れて作動部（８）が制御され、作動部（８）に取付けら
れた油圧工具（３）が駆動されるようにしたことを特徴
とするマニピュレータ用油圧ポンプ。1. A detachable part attachable to and detachable from a rotary output shaft (2) of a manipulator (1) which can be used for work of an overhead electric wire at a high place.
(41) and an operating part to which the hydraulic tool (3) can be attached
(8) and (8) are formed on the pump casing (5),
An oil tank (6), a pressure pump (7) and an oil system passage are provided in (5).
(9) and are built in, and when the rotation output shaft (2) rotates, oil
The oil in the tank (6) is pressurized by the pressure pump (7)
Output, and the output controls the oil pressure in the oil passage (9).
The operating part (8) is controlled and installed in the operating part (8).
A hydraulic pump for a manipulator, characterized in that a hydraulic tool (3) which is operated is driven .
プにおいて、油圧ポンプ（４）が、マニピュレータ
（１）の回転出力軸（２）に着脱可能に接続されて正逆
回転可能であり、且つ正回転時に油タンク（６）内の油
が一方の入出力ポート（１０）から導入されて他方の入
出力ポート（１１）に排出され、逆回転時に油タンク
（６）内の油が他方の入出力ポート（１１）から導入さ
れて一方の入出力ポート（１０）に排出される低圧ポン
プ（１２）と、低圧ポンプ（１２）の逆回転時に他方の
入出力ポート（１１）から導入されて一方の入出力ポー
ト（１０）に排出される油を高圧に加圧する高圧ポンプ
（１３）とを備え、油系路（９）が低圧ポンプ（１２）
の正回転時に一方の入出力ポート（１０）から導入され
て他方の入出力ポート（１１）に排出される低圧油を作
動部（８）に送る低圧油系路（１４）と、高圧ポンプ
（１３）から排出される高圧油を作動部（８）に送る高
圧油系路（１５）とを備えたことを特徴とするマニピュ
レータ用油圧ポンプ。2. The manipulator hydraulic pump according to claim 1, wherein the hydraulic pump (4) is detachably connected to the rotary output shaft (2) of the manipulator (1) and is capable of normal and reverse rotation. The oil in the oil tank (6) is introduced from one input / output port (10) and is discharged to the other input / output port (11) during rotation, and the oil in the oil tank (6) is input into the other input / output port (11) during reverse rotation. A low pressure pump (12) introduced from the output port (11) and discharged to one input / output port (10), and one introduced from the other input / output port (11) during reverse rotation of the low pressure pump (12) And a high pressure pump (13) for pressurizing the oil discharged to the input / output port (10) of the same to a high pressure, and the oil system passage (9) is a low pressure pump (12).
Of low pressure oil which is introduced from one input / output port (10) and discharged to the other input / output port (11) during normal rotation of the low pressure oil passage (14) and the high pressure pump ( A hydraulic pump for a manipulator, comprising: a high-pressure oil passage (15) for sending the high-pressure oil discharged from 13) to an operating part (8).
タ用油圧ポンプにおいて、前記油系路（９）に油圧解除
系路（１６）が設けられ、同油圧解除系路（１６）にそ
れを開いて作動部（８）に送る油の油圧を解除する解除
レバー（１７）を設けてなることを特徴とするマニピュ
レータ用油圧ポンプ。3. The hydraulic pump for a manipulator according to claim 1, wherein a hydraulic pressure release system passage (16) is provided in the oil system passage (9), and the hydraulic pressure release system passage (16) is provided with the hydraulic pressure release system passage (16). A hydraulic pump for a manipulator, comprising a release lever (17) for releasing the hydraulic pressure of the oil that is opened and sent to the operating portion (8).
タ用油圧ポンプにおいて、低圧油系路（１４）にそれか
ら油タンク（６）への油の逆流を防止するタンク用逆止
弁（２０）と低圧ポンプ（１２）への油の逆流を防止す
るポンプ用逆止弁（２１）が設けられ、高圧油系路（１
５）にその内部の油が油タンク（６）へ逆流するのを防
止するタンク用逆止弁（２２）と、低圧ポンプ（１２）
へ逆流するのを防止する低圧ポンプ用逆止弁（２３）
と、高圧ポンプ（１３）へ逆流するのを防止する高圧ポ
ンプ用逆止弁（２４）が設けられてなることを特徴とす
るマニピュレータ用油圧ポンプ。4. The manipulator hydraulic pump according to claim 2 or 3, wherein a tank check valve (20) for preventing backflow of oil from the low pressure oil passage (14) to the oil tank (6). And a check valve (21) for the pump that prevents the reverse flow of oil to the low-pressure pump (12) and the high-pressure oil passage (1
5) A tank check valve (22) for preventing the oil therein from flowing back to the oil tank (6), and a low pressure pump (12).
Check valve for low pressure pump (23) to prevent backflow to
And a check valve (24) for a high pressure pump for preventing backflow to the high pressure pump (13).
ニピュレータ用油圧ポンプにおいて、低圧油系路（１
４）、高圧油系路（１５）の夫々に、作動部（８）に送
る油の圧力を調整する低圧力調整弁（２５）、高圧力調
整弁（２６）が設けられてなることを特徴とするマニピ
ュレータ用油圧ポンプ。5. The hydraulic pump for a manipulator according to claim 3, wherein the low pressure oil passage (1
4) A low pressure adjusting valve (25) and a high pressure adjusting valve (26) for adjusting the pressure of the oil sent to the operating section (8) are provided in each of the high pressure oil system passages (15). A hydraulic pump for manipulators.
ニピュレータ用油圧ポンプにおいて、高圧油系路（１
５）にその内部の高圧油が所定圧力になると開いて作動
部（８）に送られる高圧油を外部に排出し、これにより
高圧油系路（１５）内の油圧を低圧油系路（１４）内の
油圧より低圧にする排出弁（２７）を設け、この排出弁
（２７）と低圧油系路（１４）との間に、高圧油系路
（１５）内の油圧が低圧油系路（１４）内の油圧より低
圧になると低圧油系路（１４）からの油圧により開かれ
て排出弁（２７）が高圧油系路（１５）内の油圧で閉じ
られるようにする制御弁（２８）を設けてなることを特
徴とするマニピュレータ用油圧ポンプ。6. The hydraulic pump for a manipulator according to claim 3, wherein the high pressure oil passage (1
5) When the high-pressure oil in the inside of the high-pressure oil is opened to a predetermined pressure, the high-pressure oil sent to the operating portion (8) is discharged to the outside, whereby the hydraulic pressure in the high-pressure oil passage (15) is reduced to the low-pressure oil passage (14). ) Is provided with a discharge valve (27) for making the pressure lower than the hydraulic pressure in the high pressure oil system passage (15) between the discharge valve (27) and the low pressure oil system passage (14). When the pressure becomes lower than the hydraulic pressure in (14), the control valve (28) that opens by the hydraulic pressure from the low pressure oil passage (14) and closes the discharge valve (27) by the hydraulic pressure in the high pressure oil passage (15). ) Is provided for the manipulator hydraulic pump.
ニピュレータ用油圧ポンプにおいて、高圧油系路（１
５）に、低圧ポンプ（１２）から高圧ポンプ（１３）に
送る油を所定圧力に調節する圧力調節弁（２９）が設け
られてなることを特徴とするマニピュレータ用油圧ポン
プ。7. A hydraulic pump for a manipulator according to any one of claims 3 to 6, wherein the high pressure oil passage (1
5) A hydraulic pump for a manipulator, comprising a pressure adjusting valve (29) for adjusting the oil sent from the low pressure pump (12) to the high pressure pump (13) to a predetermined pressure.
タ（１）の先に、請求項１乃至請求項７記載のいずれか
のマニピュレータ用油圧ポンプ（４）を着脱自在に取付
けてなることを特徴とする油圧工具駆動装置。8. A manipulator hydraulic pump (4) according to any one of claims 1 to 7, which is detachably attached to the end of the manipulator (1) that can be used for construction of an overhead wire. Hydraulic tool drive device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14968695A JP3439573B2 (en) | 1995-05-25 | 1995-05-25 | Hydraulic pump for manipulator and hydraulic tool drive using it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14968695A JP3439573B2 (en) | 1995-05-25 | 1995-05-25 | Hydraulic pump for manipulator and hydraulic tool drive using it |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08323680A JPH08323680A (en) | 1996-12-10 |
| JP3439573B2 true JP3439573B2 (en) | 2003-08-25 |
Family
ID=15480605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14968695A Expired - Lifetime JP3439573B2 (en) | 1995-05-25 | 1995-05-25 | Hydraulic pump for manipulator and hydraulic tool drive using it |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3439573B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112005002827B4 (en) * | 2004-11-19 | 2014-02-20 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Robotic hand and method for automatically setting an element |
| CN113266617B (en) * | 2021-05-17 | 2022-11-11 | 浙江大学 | Modularized mechanical main-end controller for fluid-driven soft actuator |
-
1995
- 1995-05-25 JP JP14968695A patent/JP3439573B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08323680A (en) | 1996-12-10 |
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