JPH01228791A - Robot supporting device - Google Patents

Abstract

PURPOSE:To make it possible to adjust finely position of a manipulator for broadly reducing burden for positioning the manipulator by providing a slide table moving upward and downward according to feed on thread construction while supporting a supporting member for the manipulator. CONSTITUTION:Manipulators 3 are positioned to rough position on which the manipulators 3 work, through extension of a boom 2. Next, on driving a drive unit 16, the drive is transmitted to ball screws 12a, 12b via sprockets 18a, 18b, chains 19a, 19b and sprockets 15a, 15b. Ball screws 12a, 12b are made to rotate thereby, the slide table 20 is made to move upward and downward and the manipulators 3 supported to this table 20 are positioned selectively to plural numbers of working places with which are dotted upper and lower sides at postures as they stand. As the result thereof, high altitude working such as wiring on high voltage overhead wire can be performed efficiently by the manipulators 3 at the same posture.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a robot support device that supports a manipulator while expanding its working space.

(Prior Technology) Traditionally, work on live high-voltage overhead power distribution lines has been carried out exclusively by hand, but since such work is dangerous, recently work has been carried out by remote control using manipulators. Research is underway.

When performing work using remote control such as a manipulator, it is first necessary to move the manipulator to a predetermined work location and position it accurately. That is,
Since the working range of a manipulator is determined by the number of degrees of freedom of the manipulator, the arrangement of the degrees of freedom, etc., it is necessary to position the manipulator so that the working place is located within this working range. For this reason, when working on live high-voltage overhead power distribution lines, a manipulator is installed at the tip of a boom for high-altitude work, and the boom is positioned at the working position by extension.

However, accurate positioning with the boom is a task that requires great skill. In addition, especially when working on live high-voltage overhead distribution lines, where the work area is spread over several locations above and below, and these locations are scattered beyond the operating range of the manipulator, it is necessary to The boom must be moved frequently and repositioned frequently. In addition, even if the above-mentioned multiple work locations are scattered above and below within the movable range of the manipulator, the posture of the manipulator at each work location can be adjusted by moving the hand of the manipulator according to each work location. There was also the problem that the work efficiency would decrease due to changes.

(Problems to be Solved by the Invention) As described above, with the conventional manipulator support means, skill is required to accurately position the manipulator, especially in a high-altitude work position such as a high-voltage overhead power distribution line, and there are multiple If the work locations are scattered throughout the process, there are problems in that frequent positioning to each work position is required and that an appropriate posture of the manipulator cannot be maintained.

The present invention has been made to solve these conventional problems, and allows for extremely easy positioning of the manipulator to the working position, and also allows the manipulator to always maintain an appropriate posture at the working position. The purpose is to provide a robot support device that can be maintained.

[Structure of the Invention] (Means for Solving the Problems) The present invention provides at least two vertically arranged spaces sandwiching the space in which the supporting parts of the manipulator are to be arranged from the left and right sides.
a screw mechanism; a base that is disposed below or above the space and rotatably supports the screw mechanism; and a base that moves up and down in the space by the feed of the screw mechanism and supports a support portion of the manipulator. a power source disposed in the center of the base;
The present invention is characterized by comprising a transmission mechanism that transmits power from the power source to the screw mechanism.

(Function) According to the present invention, since the manipulator is supported by the slide table that moves up and down by the feed of the ball screw, the position of the manipulator can be finely adjusted.

Therefore, the burden of positioning the manipulator can be significantly reduced.

Furthermore, since the manipulator can be moved up and down without changing its posture using the slide table, the manipulator can always be placed in the same posture at each of the work positions scattered at a plurality of locations in the vertical direction. Therefore, the worker can work efficiently in an appropriate posture.

(Example) Hereinafter, the present invention will be described in detail based on the drawings.

FIG. 1(a) shows a front view of a robot support device according to an embodiment of the present invention, and FIG. 1(b) shows a side view of the same.

This robot support device 1 is attached to the tip of a boom 2 for high-place work, supports a base end support portion of a manipulator 3, and is configured as follows.

That is, a plate-shaped base 11 arranged horizontally is attached to the tip of the boom 2. The left and right ends of the base 11 rotatably support the upper ends of vertically extending ball screws 12a and 12b. ball screw 12a,
Each lower end portion of 12b is rotatably supported by support plates 13a and 13b. The support plates 13a, 13b are struts 14a, 14b, and 14c suspended from both ends of the base 11 so as to sandwich the ball screws 12a, 12b back and forth.
, 14d are supported by the base 11. The upper end portions of the ball screws 12a, 12b are exposed slightly above the base 11, and the sprockets 15a, 15 are attached to these portions.
b is attached.

On the other hand, a drive unit 16 serving as a power source is fixed to the center of the upper surface of the base 11, and its rotating shaft 17 is also equipped with sprockets 18a and 18b. And the sprocket 15a.

A chain 19a is wound between the sprockets 18a and the chain 19b is wound between the sprockets 15b and 18b, so that the rotational power of the drive unit 16 is transferred to the chain 1.
The signal is transmitted to the ball screws 12a, 12b via 9a, 19b.

In the space sandwiched between the ball screws 12a and 12b,
The ball screw 12a is guided in the vertical direction by the pillars 14a to 14d.

A plate-shaped slide table 20 screwed and supported by 12b is disposed. The lower surface of this slide table 20 supports the base end portion of the manipulator 3.

When performing high-altitude work using such a device, first the boom 2 is extended and the manipulator 3 is positioned at a rough position where the manipulator 3 will perform the work. continue,
The drive unit 16 is driven and its rotational power is transmitted to the sprocket 18a.

18b1 chain 19a, 19b and sprocket 15
a, ball screw 12a via 15b.

12b, and by rotating the ball screws 12a and 12b, the slide table 20 is moved up and down. As a result, the position of the manipulator 3 can be finely adjusted by 2J, allowing accurate positioning. Note that by using, for example, a motor with a brake in the drive unit 16, the slide table 20 can be moved quickly and stopped immediately at an appropriate location.

Furthermore, by using this device, the range in which the manipulator 3 can operate, which was conventionally limited to the range shown by diagonal lines in FIG. 2, can be changed from the range h ( Operable distance of slide table 20)
For example, if there are several work places scattered in the vertical direction, the manipulator 3 can be moved to each work place without changing its posture. For this reason,
Improves work efficiency.

Note that the present invention is not limited to the above embodiments. In the above embodiment, the manipulator 3 is supported by hanging, but the same effect can be obtained even if the manipulator 3 is supported on the upper surface of the slide table 20 as shown in FIG.

In this embodiment, the base 11 is placed on the lower side.

Furthermore, although a chain is used as the power transmission mechanism, a toothed belt or the like may also be used.

In each of the above embodiments, since the lower or upper part of the robot support device 1 is open, there is an advantage that the movement of the manipulator 3 is not hindered. Further, since the left and right ball screws 12a, 12b are driven by the power of one power source (drive unit 16), their movements always match, and there is an advantage that the slide table 20 always moves normally.

[Effects of the Invention] As described above, according to the present invention, the manipulator 3
The manipulator can be moved vertically, making it easy to accurately position the manipulator, and by expanding the range of vertical movement of the manipulator, it is possible to move the manipulator in its position at multiple work locations scattered in the vertical direction. This has the effect that it can be moved without changing the area, improving work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a robot support device and its surroundings according to an embodiment of the present invention; FIG. 1(a) is a front view, and FIG. 1(b) is a front view.
is a side view, FIG. 2 is a side view showing the movable range of the conventional manipulator, FIG. 3 is a side view showing the movable range of the manipulator in the above embodiment, and FIG. 4 is another embodiment of the present invention. FIG. 2 is a side view showing a robot support device and its surroundings according to an example. 1... Robot support device, 2... Boom, 3...
Manipulator, 11... Base, 12a, 12b.
...Ball screw, 13a, 13b-...Support plate, 14a
~14 d--Struts, 15a, 15b, 18a, 1.
8b... Sprocket, 16... Drive unit, 17... Rotating shaft, 19a, 19b... Chain,
20...Sliding table. Applicant's agent Patent attorney Takehiko Suzue No. 1 (b) Figure

Claims (5)

[Claims] (1) At least two screw mechanisms arranged vertically to sandwich the space where the support part of the manipulator is to be placed from the left and right, and rotatably supporting the screw mechanisms arranged below or above the space. a base that moves up and down in the space by the feed of the screw mechanism and supports the support part of the manipulator, a power source disposed in the center of the base, and a power source from the power source. a transmission mechanism that transmits the information to the screw mechanism. (2) The robot support device according to claim 1, wherein the transmission mechanism comprises a chain or a toothed belt. (3) The robot support device according to claim 1, wherein the slide table suspends and supports the manipulator. (4) The robot support device according to claim 1, wherein the slide table supports the manipulator from below. (5) The robot support device according to claim 1, wherein the base is supported by a boom used for live-line work on high-voltage overhead power distribution lines.