JPH0644615Y2 - Manipulator device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a manipulator device, and in particular, a grip of a manipulator arm is provided with a rotation function, and a disk-shaped cutter working unit or the like is provided at the tip of the grip. The present invention relates to a manipulator device in which a gripping portion of a tool body is attached and rotation of a grip is directly transmitted to the tool body.

[Prior art]

Nowadays, a manipulator device such as a slave arm for performing a predetermined operation on a predetermined work object and a master arm method for instructing the slave arm to perform a predetermined operation is used in all industrial fields because of its excellent function. It has been widely adopted in China, and has achieved more than sufficient effect.

Among such industrial fields, the one that has been particularly effective is the introduction to fields in which work in high places is required, such as overhead line work for power lines and communication lines.

[Problems to be solved by the device]

By the way, a manipulator device which has been widely adopted in the related art has a purpose that a predetermined working tool is attached to a grip and a predetermined operation is given to the tool by instructing a predetermined operation to a slave arm or a grip by a master arm or the like. It processes work, and the work procedure is only performing the work that was being done by humans remotely through the manipulator device, so that manual work is difficult,
It can be said that it has high utility value in terms of expanding the range of work in high-risk hot-line work, etc., but it is still insufficient in terms of work efficiency, work finish, etc. compared to manual work. The current situation is that we have not yet achieved such results.

Therefore, today, a manipulator device has been actively developed and improved in order to improve the above-mentioned problems. For example, a so-called self-bonding tape wound around both ends of a cover covering a connection point of an electric wire, etc. The scissor-type cutter tool used for cutting is simply the drive source of the other rotary tool used as the drive source, so the rotary motion reciprocates to give the scissor-shaped cutter part a predetermined opening / closing operation. Needs to be converted and for that complicated mechanism must be incorporated,
Therefore, there are various problems such that the overall shape of the tool is very large and the weight is considerably heavy.

[Means for Solving the Purpose and Problem of Invention]

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a grip of a slave arm with a rotation function, and a disk-shaped cutter working unit or the like at the tip of the grip. The purpose of the present invention is to provide a manipulator device in which the gripping part of the provided tool body is attached and the rotation of the grip is transmitted to the disk-shaped cutter working part as it is. Therefore, the grip means of the manipulator arm is built in the grip base part. The grip is provided with a predetermined work piece at the tip, and the grip of the tool body is mounted in the recess of the H-shaped grip formed in the H-shaped cross section so as to clamp the tool body. Constitute.

[Action]

Since the configuration as described above is adopted, the rotary drive source that is originally incorporated to impart a predetermined rotary motion to the grip of the manipulator device can be used as a drive source for a cutter tool having a rotary blade. It is not necessary to equip a tool or the like with an individual rotary drive source, and therefore the shape and size of the machine tool can be reduced accordingly.
Further, since the shape of the gripping portion by the grip is formed into, for example, an H shape so that the grip claws can be easily fitted, it is extremely easy to attach the tool to the grip, and it is possible to stably install the tool. , It is possible to reliably transmit the rotational movement of the grip to a predetermined machine tool equipped with the grip.

〔Example〕

An embodiment of the manipulator device according to the present invention will be described in detail below with reference to FIGS. 1 to 3.

In the figure, 1 is an aerial work vehicle equipped with the manipulator device according to the present invention, 2 is a turntable, 3 is a boom, 4 is a raising cylinder, 5 is an outrigger, and 6 is provided at the tip of the boom 3. Bucket, 7 is a manipulator device composed of a master arm 7a mounted inside the bucket 6 and a slave arm 7b mounted in front of the bucket 6, and 8 is one of the manipulator devices 7 (on the left side in this embodiment). A machine tool having a disk-shaped cutter attached to the tip of the grip 7c of the slave arm 7b. By the way, the machine tool 8 has a grip claw 7d of the grip 7c as shown in an enlarged view in FIGS. 2 and 3. , 7d, an H-shaped gripping portion 8a provided at the rear part of the machine tool 8 is arranged, and the grip claws 7d, 7d are recessed in the gripping portion 8a (this recess is formed in the shape of the grip claw) 8b, 8b. To The machine tool 8 is firmly attached to the grip 7c by closing it to fit, and the machine tool 8 attached to the grip 7c is a motor [rotating means (a hydraulic motor is adopted in this embodiment)] 9 built in the base of the grip 7c. The rotation of the grip 7c is configured to rotate integrally with the rotation of the grip 7c.

The operation of the manipulator device according to the present invention will be described below based on the above configuration.

That is, in the manipulator device according to the present invention, the motor 9 is built in the base portion of the grip 7c of the slave arm 7b, and the H-shaped grip portion provided at the rear portion of the machine tool 8 between the grip claws 7d and 7d of the grip 7c. Place 8a, grip claw 7d,
Since the machine tool 8 is firmly attached to the grip 7c by fitting and closing the recesses 8b and 8b of the grip portion 8a, it is not necessary to equip the machine tool 8 itself with rotating means such as a motor. Therefore, the machine tool 8 itself can have a very small and lightweight structure.

Further, the gripping portion 8a of the machine tool 8 is formed in a substantially H shape, and the grip claws 7d, 7d are easily recessed on both surfaces of the gripping portion 8a.
Since 8b and 8b are used, the gripping state of the machine tool 8 by the grip 7c becomes very stable and reliable, and the grip claw 7
The attachment / detachment operation of the machine tool 8 with respect to d and 7d becomes very simple, and a predetermined work can be performed quickly.

In the above embodiment, the cutter tool is used as an example of the machine tool 8, but the rotating means built in the base of the grip 7c may be used in the same manner as the machine tool 8 described in the above embodiments. Any machine tool capable of performing the above can be used, and the machine tool is not particularly limited to the above embodiment. Further, in the above-mentioned embodiment, the example in which the slave arm 7b is operated by the master arm system has been described, but it is also possible to use the jouistic system and the invention is not particularly limited to the above-mentioned embodiment.

[Effect of device]

According to the present invention, as described in detail above, the grip of the manipulator arm is rotated by the rotating means built in the grip base, the nail of the grip is provided with a predetermined working part at the tip, and the grip of the tool body is fixed. Since the tool main body is clamped by being mounted in the concave portion of the H-shaped gripping portion formed in the H-shaped cross section, the rotary blade is originally equipped with a rotary drive source incorporated to impart a predetermined rotary motion to the grip of the manipulator device. Since it can be used as a drive source for a cutter tool having the above, it is not necessary to equip the cutter tool with an individual rotary drive source, and accordingly, the shape of the machine tool can be reduced in size and weight. Further, since the shape of the gripping portion by the grip is formed into, for example, an H shape so that the grip claws can be easily fitted, it is extremely easy to attach the tool to the grip, and it is possible to stably attach the tool. It has various excellent effects such that the rotational movement of the grip can be reliably transmitted to a predetermined machine tool equipped with the grip.

[Brief description of drawings]

1 to 3 show an embodiment of a manipulator device according to the present invention. FIG. 1 is a perspective view of a manipulator mounted on an aerial work vehicle, and FIGS. 2 and 3 show essential parts. FIG. 1 ... Aerial work vehicle, 2 ... Turntable, 3 ... Boom, 4
... Raising cylinder, 5 ... Outrigger, 6 ... Bucket, 7 ...
Manipulator device, 7a ... Master arm, 7b ... Slave arm, 7c ... Grip, 7d ... Grip claw, 8 ... Machine tool, 8a ... Gripping part, 8b ... Recessed part, 9 ... Drive source (motor).

Claims (2)

[Scope of utility model registration request] 1. A manipulator arm grip is rotated by a rotating means built into a grip base, a predetermined working portion is provided at a tip portion of the grip claw, and a grip portion of a tool main body is formed in an H-shaped cross section. A manipulator device, wherein the manipulator device is configured to be mounted in a concave portion of an H-shaped gripping portion to clamp a tool body. 2. The manipulator device according to claim 1, wherein a disk-shaped cutter working portion is provided at a tip portion of the tool body.