JP4961255B2 - Manipulator device - Google Patents

Description

  The present invention relates to a manipulator apparatus having a plurality of arm-like mechanisms in which an attachment is attached to the tip end of the apparatus and connected to each other via a support shaft, and in particular, as the attachment, concrete or the like The present invention relates to a manipulator device suitable for an application in which an ejection head device having an ejection nozzle for ejecting the ejected material is mounted and the ejected head device sprays the ejected material against a wall surface.

As a thing equipped with the manipulator apparatus with which an attachment is mounted | worn with the own arm front end side, the concrete spraying machine for lining concrete, mortar, etc. can be illustrated, for example on a tunnel inner wall surface etc. (for example, refer patent document 1). ). This type of concrete sprayer is equipped with an injection head device that sprays concrete and the like from the injection nozzle as an attachment on the tip side of its own arm. It is like that.
JP-A-8-303191 JP-A-1-261503

  By the way, in this kind of concrete spraying machine, when performing the spraying work of concrete etc. when operating the arm to which the jet head device is mounted, a rapid work is required, so a high operating speed is desirable. On the other hand, when performing the storing operation of the ejection head device in order to perform maintenance of the ejection head device or the like, the ejection head device or the arm should not collide with the surrounding objects or by the collision of the ejection head device or the arm itself. In order to prevent damage and the like, it is desirable that the operation speed has a slow margin.

  However, in this type of concrete sprayer, a single-acting hydraulic cylinder has been conventionally used as an actuator for operating an arm on which an injection head device is mounted. Therefore, as described above, a quick work is required at the time of the spraying work. Therefore, when the arm is set to operate at a high speed according to the quick work, the operation speed is also used in the storage work. However, it becomes difficult to store slowly and slowly. For this reason, the operator needs careful storage work by adjusting the operation.

  In particular, as a concrete sprayer of this type, for example, a concrete sprayer 100 illustrated in FIG. 4A, the first arm 3 is suddenly moved with respect to the stroke of the hydraulic cylinder 102 due to the structure of the link mechanism. In the case where there is a section where the rotational speed increases, the tip of the first arm portion 3 moves greatly with respect to the slight operation of the cylinder rod 102s of the hydraulic cylinder 102. Therefore, the operation of the operator has become more difficult. 4 is not the same example as the structure (linkage folding) of the link mechanism in the concrete sprayer described in Patent Document 1 described above. .

  Specifically, the concrete spraying machine 100 illustrated in FIG. 4A is capable of rotating via the support shaft 5 to the first arm portion 3 on the proximal end side and the distal end side of the first arm portion 3. A second arm portion 4 that is connected and mounted with an ejection head device 10 as an attachment on its distal end side, and an actuator that rotates the second arm portion 4 around the support shaft 5 with respect to the first arm portion 3. And a certain hydraulic cylinder 102.

  The base end portion of the hydraulic cylinder 102 is pivotally supported by a substantially central lower portion of the first arm portion 3 via a support shaft 3a. Further, the tip of the cylinder rod 102 s is pivotally supported by the support shaft 6 a of the connecting link 6. The connecting link 6 has two links 6 b and 6 c, and the two links 6 b and 6 c are connected to the ends of the first arm 3 and the second arm 4, respectively. It is pivotally supported by the tip. And the other ends of these two links 6b and 6c are connected so that rotation is possible via the spindle 6a. As shown in FIG. 2B, in the hydraulic circuit 120 of the concrete sprayer 100, a directional control valve 141 is connected to the hydraulic cylinder 102 via a speed control valve 131. The hydraulic cylinder 102 is driven at a desired operation speed by appropriately adjusting.

  The concrete sprayer 100 provided with such a link mechanism is a section in which the rotational speed of the first arm portion 3 suddenly increases with respect to the stroke of the hydraulic cylinder 102 (in the example of the figure, the storage work range K corresponds. ) Exists. For this reason, in this storage work range K, the tip of the first arm 3 moves greatly with respect to the operation of the slight cylinder rod 102s of the hydraulic cylinder 102, which makes it more difficult for the operator to operate the storage work. It has become.

  Here, for example, Patent Document 2 discloses a technique of operating a hydraulic cylinder having one cylinder rod at two different operation speeds by using two high-pressure and low-pressure hydraulic pumps. Therefore, in the concrete sprayer 100 exemplified above, if the technique described in Patent Document 2 is adopted as a measure for facilitating the operator's storage operation, switching between a quick operation and a slow operation is possible. Is possible. At this time, when operating one cylinder rod at two different operating speeds, in order to switch the two operating speeds at the desired cylinder stroke positions, for example, a storage work range illustrated in FIG. It is conceivable that a position sensor, a position detection switch, or the like is attached to the manipulator device at a position corresponding to K, thereby detecting the storage work range K.

However, attaching such switches to a manipulator device is likely to cause a failure, and there is room for examination. In particular, the concrete sprayer exemplified above has higher reliability because its use environment is used under severe environments such as lining the inner walls of tunnels, tunnels, cable ducts, etc. with concrete or mortar. Configuration is desired.
Therefore, the present invention has been made paying attention to such problems, and is compatible with both a quick operation and a slow operation in the working range of the attachment to be installed, as well as a position sensor and position detection. It is an object of the present invention to provide a manipulator device having high reliability for switching operation speed without using a switch or the like.

  In order to solve the above-described problems, the present invention provides a first arm portion on the proximal end side and a distal end of the first arm portion that is rotatably connected to the distal end side of the first arm portion via a support shaft. A manipulator comprising: a second arm portion to which an attachment is attached on a side; a hydraulic actuator for rotating the second arm portion around the support shaft with respect to the first arm portion; and a hydraulic circuit for driving the hydraulic actuator The hydraulic actuator is a composite hydraulic cylinder having two sets of pistons and cylinder rods in one cylinder tube, and is provided on one end side of the one cylinder tube so as to be extendable and contractable in the axial direction. One cylinder rod, and a second cylinder rod provided on the other end side of the cylinder tube so as to extend and contract in the axial direction, and the hydraulic circuit includes the first cylinder Each head and the second cylinder rod, is characterized in that it is configured to separately speed control.

  According to the manipulator device of the present invention, the second arm portion to which the attachment is attached is rotated by a composite hydraulic cylinder having two pistons and cylinder rods in one cylinder tube, and the hydraulic pressure for driving the composite hydraulic cylinder Since the circuit controls the speed of each of the first cylinder rod and the second cylinder rod separately, for example, in the rotation range of the second arm portion, for example, the first work range where quick work is required. Even if there is a second working range that requires a slow operating speed, the first cylinder rod and the second cylinder rod for the first and second working ranges, respectively. Each action can be assigned separately. Therefore, it is possible to achieve both a quick operation and a slow operation in the work range of the attachment. And since it can comprise without using a position sensor, a position detection switch, etc., high reliability can be given to switching of operation speed.

  Here, in the manipulator device according to the present invention, the hydraulic circuit is set so as to expand and contract the expansion / contraction speed of the second cylinder rod more slowly than the expansion / contraction speed of the first cylinder rod, and the second arm portion is , A first working range which is a rotation range on the side extended with respect to the first arm portion, and a second rotation range on the side which is degenerated with respect to the first arm portion. The first working range is rotated only by the expansion and contraction of the first cylinder rod, and the second working range is the second working range. It is preferable to be rotated only by expansion and contraction of the cylinder rod.

  With such a configuration, the first work range is a work range in which, for example, a quick work with an attached attachment is required and a high operating speed is desirable, whereas the second work range is For example, when performing storage work such as attachment maintenance, the range should be slow to prevent the attachment or arm from colliding with the surrounding objects, or to prevent damage due to the collision of the attachment or the arm itself. It is preferable to use the manipulator device according to the present invention for a manipulator device in which an operation speed with a sufficient margin is a desirable work range.

Moreover, the manipulator apparatus which concerns on this invention WHEREIN: It is preferable that the said attachment is an injection head apparatus which has an injection nozzle which injects injections, such as concrete.
If it is such composition, it is used in severe environments, such as lining the inner wall of tunnels, tunnels, cable ducts, etc. with concrete or mortar, such as a concrete sprayer, and a structure with high reliability is desirable. It is suitable for using the manipulator device according to the present invention for the manipulator device.

  As described above, according to the present invention, both a quick operation and a slow operation in the working range of the attached attachment can be achieved, and the operation speed can be switched without using a position sensor or a position detection switch. A manipulator device having high reliability can be provided.

Hereinafter, a concrete sprayer which is an embodiment of a manipulator device according to the present invention will be described with reference to the drawings as appropriate. In addition, about the structure similar to the concrete spray machine illustrated in the said FIG. 4, the same code | symbol is attached | subjected and demonstrated.
As shown in FIG. 1, the concrete sprayer 1 includes a base 7 and a first arm portion 3 that is pivotally supported on the base 7 by a support shaft 7a. The first arm 3 is connected to each other by a hydraulic cylinder 8 for rotation whose both ends are pivotally supported by a middle portion of the first arm 3 and the base 7. As a result, the first arm 3 can be rotated around the support shaft 7a by driving the hydraulic cylinder 8 for rotation.

  Further, a second arm portion 4 is connected to the first arm portion 3 via a support shaft 5 on the tip end side. An ejection head device 10 as an attachment is attached to the second arm portion 4 on the distal end side of the second arm portion 4. The jet head device 10 has a jet nozzle 10a for jetting a jet such as concrete. Then, an injection material such as concrete is sprayed onto the wall surface from the injection nozzle 10a, and concrete, mortar, or the like can be lined on the inner wall surface of the tunnel.

  The second arm portion 4 and the first arm portion 3 are connected to each other by a hydraulic cylinder 2 that is a hydraulic actuator that rotates the second arm portion 4 around the support shaft 5 with respect to the first arm portion 3. Has been. This hydraulic cylinder 2 is a composite hydraulic cylinder provided with two sets of pistons and cylinder rods in one cylinder tube 9, and as shown in FIG. 1, at one end side (left side in the figure) of the cylinder tube 9, It has a first cylinder rod 24 that is extendable in the axial direction, and a second cylinder rod 27 that is extendable in the axial direction on the other end side (right side in the figure). ing.

  In the hydraulic cylinder 2, the tip of the second cylinder rod 27 is pivotally supported by a substantially central lower portion of the first arm portion 3 via a support shaft 3 a. Further, the tip of the first cylinder rod 24 is pivotally supported on the support shaft 6 a of the connection link 6. The connecting link 6 includes two links 6 b and 6 c, and the two links 6 b and 6 c are located on both sides of the support shaft 5, and the tip of the link 6 b is the first arm portion 3. The distal end of the link 6 c is pivotally supported by the distal end portion of the second arm portion 4. And the edge part on the opposite side of these links 6b and 6c is mutually connected via the spindle 6a so that rotation is possible.

  As a result, the first arm 3 rotates around the support shaft 5 by driving the hydraulic cylinder 2. In the concrete sprayer 1, the range in which the second arm 4 rotates about the support shaft 5 is the first working range in which the second arm 4 is rotated on the side extended with respect to the first arm 3. A main work range F which is a work range for performing spraying work of concrete and the like, and a second work range which is a rotation range on the side degenerated with respect to the first arm 3. The storage head K is rotated to a storage range K that is a range of rotation for performing the storage operation of the ejection head device 10.

  Here, as mentioned above, since the concrete sprayer requires a quick work in the main work range F, a high operating speed is desired, whereas in the storage range K, the concrete spray machine is required. An operation speed with a slow margin is desired. Therefore, in the concrete sprayer 1, the hydraulic cylinder 2 that rotates the second arm portion 4 is a composite hydraulic cylinder, and the speed of the first cylinder rod 24 and the second cylinder rod 27 is separately controlled. Then, the expansion / contraction speed of the second cylinder rod 27 is set to expand / contract more slowly than the expansion / contraction speed of the first cylinder rod 24.

Hereinafter, the hydraulic cylinder 2 and the hydraulic circuit for driving the hydraulic cylinder 2 will be described in more detail with reference to FIGS. 2 and 3 as appropriate.
The hydraulic cylinder 2 has a first cylinder part 21 and a second cylinder part 22 in series as shown in FIG. The first cylinder portion 21 includes a first cylinder rod 24 and a piston 23, and the second cylinder portion 22 includes a second cylinder rod 27 and a piston 26. As shown in FIG. 3, the hydraulic circuit 20 for driving the hydraulic cylinder 2 individually controls the speed of the first cylinder rod 24 and the second cylinder rod 27.

  That is, in the hydraulic circuit 20, the first cylinder direction control valve 41 is connected to the first cylinder portion 21 of the hydraulic cylinder 2 via the first cylinder speed control valve 31, and the second cylinder A use direction control valve 42 is connected to the second cylinder portion 22 of the hydraulic cylinder 2 via the second cylinder speed control valve 32. As a result, the hydraulic circuit 20 adjusts the first and second cylinder speed control valves 31 and 32 as appropriate so that the operating speed of the cylinder rods 24 and 27 of the cylinder portions 21 and 22 can be set to a desired operating speed. It can be driven by.

The concrete sprayer 1 allows the first and second cylinder speed control valves 31 and 32 of the hydraulic circuit 20 to expand and contract more slowly than the first cylinder rod 24. It is set as follows.
Furthermore, the first cylinder direction control valve 41 and the second cylinder direction control valve 42 are arranged so that the main work range when the second arm 4 is rotated by the hydraulic cylinder 2 between the main work range F and the storage range K. In F, the first cylinder rod 24 is rotated only by expansion and contraction, and in the storage range K, the second cylinder rod 27 is rotated only by expansion and contraction by a signal from a control unit (not shown). Be controlled.

Next, the operation and effect of this concrete sprayer will be described.
As described above, the concrete sprayer 1 has a link configuration in which the rotational speed of the first arm portion 3 rapidly increases in the retracting work range K with respect to the stroke of the hydraulic cylinder 2. Then, the tip of the second arm portion 4 moves greatly with respect to a slight movement of the cylinder rod of the hydraulic cylinder 2.

  However, according to this concrete sprayer 1, the hydraulic cylinder 2 is a composite hydraulic cylinder in which two cylinders 9 are provided with two sets of pistons 23, 26 and cylinder rods 24, 27. The first cylinder rod 24 is provided so as to be extendable in the axial direction, and the second cylinder rod 27 is provided on the other end side of the cylinder tube 9 so as to be extendable in the axial direction. The hydraulic circuit 20 controls the speed of each of the first cylinder rod 24 and the second cylinder rod 27 separately, so that quick work is required in the rotation range of the second arm portion 4. Even when there is a main work range F and a storage range K in which an operation speed with a slow margin is required, the first cylinder rod 24 and the first cylinder rod 24 and the second storage range K respectively. The operations of the two cylinder rods 27 can be assigned separately.

  Therefore, it is possible to achieve both a quick operation and a slow operation in the working range of the ejection head device 10. And according to this concrete sprayer 1, since the structure which makes quick operation and slow operation in the working range of the injection head apparatus 10 compatible is possible, without using a position sensor, a position detection switch, etc., operation | movement is possible. High reliability can be given to the switching of speed.

  According to the concrete sprayer 1, the hydraulic circuit 20 controls the first and second cylinder speed control so that the expansion / contraction speed of the second cylinder rod 27 is expanded / contracted more slowly than the expansion / contraction speed of the first cylinder rod 24. The valves 31 and 32 are set, and the second arm portion 4 performs a main work range F that is a rotation range on the side extended with respect to the first arm portion 3 and a storage operation of the ejection head device 10. When it is rotated to the storage range K, which is the rotation range on the side degenerated with respect to the first arm portion 3 to perform, in the main work range F, the first cylinder rod 24 In the storage range K, it is provided so as to be rotated only by expansion and contraction of the second cylinder rod 27. Therefore, in the main work range, the second arm 4 is moved at a high speed. Operated with an ejection head device 0 are possible quick work by positioning a desired position.

  When the storage operation such as maintenance of the ejection head device 10 is performed, in the storage range K, the second arm 4 can be operated at an operation speed with a slow margin. Is easy. Therefore, the ejection head device 10 and the arms (the first and second arm portions 3 and 4) can be operated with a margin so as not to collide with the surrounding objects, and damage due to the collision of the ejection head device 10 and the arms themselves can be prevented.

As described above, according to this concrete spraying machine, it is possible to achieve both a quick operation and a slow operation in the working range of the ejection head device 10 without using a position sensor or a position detection switch. .
The manipulator device according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the concrete sprayer 1 equipped with the ejection head device 10 has been described as an example of the manipulator device according to the present invention. However, the manipulator device according to the present invention is not limited thereto. Any manipulator device having a plurality of arm-like mechanisms with attachments attached to the sides and rotatably connected to each other via a support shaft can be applied to various manipulator devices. Further, the attachment provided on the tip side of itself is not limited to the ejection head device 10, and it is needless to say that various attachments can be attached.

  However, as mentioned above, the concrete spraying machine is used in harsh environments such as lining the inner walls of tunnels, tunnels, cable ducts, etc. with concrete or mortar, so it has high reliability. It is desirable as a manipulator device to which the present invention is applied because it is desired to switch between a quick operation in the main work range F and a slow operation in the storage work range K.

It is a side view of the concrete sprayer which is one Embodiment of the manipulator apparatus which concerns on this invention. It is a longitudinal cross-sectional view of the hydraulic cylinder which is one Embodiment of the hydraulic actuator of the manipulator apparatus which concerns on this invention. It is a figure explaining the hydraulic circuit which drives the hydraulic cylinder shown in FIG. It is explanatory drawing of the concrete sprayer which is an example of the conventional manipulator apparatus, The figure (a) is the side view, The figure (b) is the conventional hydraulic pressure which drives the hydraulic cylinder in the figure (a) It is a figure explaining a circuit.

Explanation of symbols

1 Concrete sprayer (manipulator device)
2 Hydraulic cylinder (hydraulic actuator)
DESCRIPTION OF SYMBOLS 3 1st arm part 4 2nd arm part 5 Support shaft 6 Connection link 7 Base 8 Hydraulic cylinder for rotation 9 Cylinder tube 10 Injection head apparatus (attachment)
DESCRIPTION OF SYMBOLS 20 Hydraulic circuit 21 1st cylinder part 22 2nd cylinder part 23 1st piston 24 1st cylinder rod 26 2nd piston 27 2nd cylinder rod 31 1st cylinder speed control valve 32 2nd cylinder speed control valve 41 1st Direction control valve for cylinder 42 Direction control valve for second cylinder K Storage range (second work range)
F Main work range (first work range)

Claims (2)

A first arm portion on the proximal end side, a second arm portion that is rotatably connected to the distal end side of the first arm portion via a support shaft, and an attachment is attached to the distal end side of the first arm portion; A manipulator device comprising: a hydraulic actuator that rotates the second arm portion around the support shaft with respect to the first arm portion; and a hydraulic circuit that drives the hydraulic actuator,
The hydraulic actuator is a composite hydraulic cylinder provided with two sets of pistons and cylinder rods in one cylinder tube, and a first cylinder rod provided on one end side of the one cylinder tube so as to be extendable in the axial direction; A second cylinder rod provided on the other end side of the cylinder tube so as to extend and contract in the axial direction, and the hydraulic circuit separately controls the speed of each of the first cylinder rod and the second cylinder rod. is configured to,
The hydraulic circuit is set to expand and contract slowly the expansion and contraction speed of the second cylinder rod than the expansion and contraction speed of the first cylinder rod.
The second arm portion has a first working range which is a rotation range on the side extended with respect to the first arm portion, and a rotation on a side which is degenerated with respect to the first arm portion. When it is rotated to the second work range, which is a range, the first work range is rotated only by the expansion and contraction of the first cylinder rod, and is in the second work range. Is rotated only by the expansion and contraction of the second cylinder rod. The manipulator device according to claim 1 , wherein the attachment is an injection head device having an injection nozzle for injecting an injection such as concrete.

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