JPH0661483U - Manipulator gripper operation device - Google Patents

Abstract

(57) [Abstract] [Purpose] A gripper operating device for a manipulator in which the gripper is not opened even if the gripper lock switch is turned off when the gripper lock switch is turned on and the gripper is locked. To get A gripper operating device 17 that outputs a signal for controlling the opening / closing operation of the gripper 16 and a gripper lock switch that outputs a signal that holds the opening / closing operation state of the gripper 16 in a locked state are provided, and the gripper lock switch is turned on. The controller controls the signal so that the gripper lock switch is not turned off unless the operating device 17 is closed and the gripper lock switch is turned off. As a result, even if only the gripper lock switch is turned off without closing the gripper 16, the gripper 16
Since the lock is never released, the object that was being held will not be dropped.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an operating device for operating a gripper included in a manipulator.

[0002]

[Prior art]

 In a high-altitude work vehicle, two manipulators are installed in front of the cabin attached to the tip of the boom, and an operator on the cabin operates these manipulators remotely from the inside of the cabin. Some work (for example, electrical installation work on a utility pole) can be performed safely and efficiently. The manipulator can perform operations such as turning, hoisting, bending and stretching with respect to the tip of the boom, and can also open and close the gripper attached to the tip of each manipulator. These remote operations are performed by operating an operation lever provided in the cabin.

The gripper is capable of gripping an object to be worked by opening and closing a gripping part composed of two gripping members. When the gripper is opened and closed by a hydraulic cylinder, the solenoid valve that receives a signal from a potentiometer that outputs a signal in response to the operation of the gripper opening and closing lever operates the hydraulic pressure to the hydraulic cylinder for opening and closing the gripper. This is done by performing the supply / discharge control of. The operating lever for opening and closing the gripper is, for example, a single lever that can be laid down so that the gripper opens when the lever is in the neutral position and the gripper closes when the lever is tilted forward. Is equipped with a potentiometer. Since the potentiometer has a return spring, the lever is held in the neutral position when the lever is not operated, and the gripper remains open.

An operating device for opening and closing the gripper is equipped with a gripper lock switch. If this switch is turned on while operating the gripper opening / closing lever, the gripper opening / closing operation is locked in that position. Therefore, even if the operating lever is subsequently operated, the gripper does not open and close, and even if the operator releases the operating lever and the lever returns to the neutral state, the gripper does not open and holds the object as it is. it can.

[0005]

[Problems to be solved by the device]

 In such an operating device for opening and closing the gripper, when the gripper lock switch is turned off, unless the operating lever for opening and closing the gripper is operated in advance to the closing side, the gripper opens and grips. There was a problem that things could be dropped.

The present invention has been made in view of such a problem, and when the gripper lock switch is turned on and the gripper is locked, the gripper lock switch is turned off and the gripper is turned off. An object of the present invention is to provide a gripper operating device for a manipulator that does not open.

[0007]

[Means for Solving the Problems]

 To achieve the above object, the gripper operating device of the present invention comprises a gripper operating means for outputting a signal for controlling the opening / closing operation of the gripper and a gripper lock for outputting a signal for locking the opening / closing operation state of the gripper. And means. The controller controls the signal so that the gripper locking means is not turned off unless the gripper locking means is turned on and the gripper operating means is closed and the gripper locking means is turned off.

[0008]

[Action]

 In such a gripper operating device, when the operator operates the manipulator and turns on the gripper lock switch to hold an object, the gripper is unlocked after the gripper is closed after the gripper is unlocked. Since the lock is released, the object gripped by the gripper will not drop.

[0009]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an aerial work vehicle equipped with a manipulator gripper operating device according to the present invention will be described with reference to FIG. A swivel base 3 is mounted on a vehicle body 2 of the aerial work vehicle 1 so that the swivel base 3 can swivel with respect to the vehicle body 2, and a boom 4 is rotatably and pivotally mounted on an upper portion of the swivel base 3. The boom 4 is composed of a plurality of boom members such as a base end boom 4a pivotally attached to the swivel 3 and is telescopically configured. Then, the hoisting operation of the boom 4 is performed by the operation of the boom hoisting cylinder 5 mounted between the base end boom 4a and the swivel base 3, and the telescopic operation is performed by the boom telescopic cylinder (built into the boom 4). (Not shown).

A support base 6 is attached to the tip of the boom 4. The support base 6 is always held horizontally regardless of the ups and downs of the boom 4, and is rotatable about the boom 4. A cabin 10 is mounted on the support base 6, and two manipulators 15, 15 are mounted in front of the cabin 10. The arm portion of the manipulator 15 can be swung and raised and lowered with respect to the support base 6, and the middle portion of the arm can be bent and extended freely. The gripper 16 can be opened and closed and swung at the tip of the arm portion. It is installed freely.

The operator who has boarded the cabin 10 moves the boom 4 up and down, extends it, etc., and moves it to an arbitrary high place, and then remotely operates the manipulator 15 from inside the cabin 10 to safely perform desired work. It can be carried out. Then, each operation of the manipulator 15 is performed by the manipulator operating device 17 provided in the cabin 10. The manipulator operating device 17 is provided with a plurality of operating levers, and the operation of the levers causes the arm portion of the manipulator 15 to rotate, bend and extend, and to open and close the gripper 16 for example.

The manipulator 15 is actuated by actuating a hydraulic cylinder (not shown) provided in each of the actuating mechanisms. The operation of each hydraulic cylinder is controlled by a controller that receives a signal from a potentiometer that outputs a signal in response to the operation of each operating lever, and is controlled by a solenoid valve (not shown) that controls the supply and discharge of hydraulic pressure to each hydraulic cylinder. It is done by sending a signal.

Next, a gripper operating device for opening and closing the gripper 16 provided at the tip of the manipulator 15 according to the present invention will be described with reference to FIGS. 1 and 2. The gripper 16 is composed of two gripping members, and has a mechanism for gripping an object by opening and closing the gripping members. The operation of this mechanism is performed by the controller 14 transmitting a gripper opening / closing signal to a solenoid valve (hereinafter referred to as a gripper operating unit 13) that controls the supply and discharge of the hydraulic pressure to the hydraulic cylinder for opening and closing the gripper as described above. It

This transmission is performed based on the operation of the gripper operating lever 17a. The gripper operating lever 17a is provided with a potentiometer 173a which is driven by the rotation of the lever shaft 174 at the base end of the lever shaft 174. Since the potentiometer 173a is provided with a return spring, the lever shaft 174 is in a neutral state when the lever shaft 174 is not operated. When the lever shaft 174 is in the neutral position, the potentiometer 173a sends a signal to the controller 14 to operate the gripper 16 in the open state. When the lever shaft 174 is laid down, the potentiometer 173a closes the gripper 16 in response to the laid state. A signal is sent to the controller 14 to activate the state. Further, a gripper closing operation detection switch 173b is provided inside the potentiometer 173a, and when the lever is operated to the closing side, a closing operation signal is transmitted to the controller 14.

A grip portion 171 is provided on an upper portion of the lever shaft 174, and an operator grips the grip portion 171 to perform a lever operation. A gripper lock switch 172 is provided on the upper surface of the grip portion 171. When the gripper lock switch 172 is turned on, a gripper lock on signal is transmitted to the controller 14, and the controller 14 outputs a signal for locking the gripper 16 in the open / closed state when the gripper lock switch 172 is turned on. It is transmitted to the gripper operating unit 13.

To release the lock of the gripper 16, by turning off the gripper lock switch 172, a gripper lock-off signal is transmitted to the controller 14, and the gripper operating lever 17a is operated to the closing side to detect the gripper closing operation. When the closing operation signal is transmitted from the switch 173b to the controller 14, it is controlled by the controller 14.

The gripper 16 operated by the gripper operating device of the manipulator 15 configured as described above operates as follows. When a work object is gripped and moved to a work position in high-altitude work, first, the gripper lock switch 172 is turned off. Accordingly, the gripper 16 can be opened and closed according to the operation of the operation lever 17a, and the gripper 16 can be closed by tilting the operation lever 17a to grip an object. Then, when the gripper lock switch 172 is turned on in this state, the gripper 16 is locked in the closed state, and the operator can continue to grip the object even if the operator releases his / her hand from the operation lever 17a. Then, by operating the other operating lever, the arm of the manipulator 15 is raised and lowered, and the work object is moved to a desired location.

When the gripper 16 is opened in order to install the moved object in the working position, the operating lever 17a is first laid down and then the gripper lock switch 172 is turned off, or the gripper lock switch 172 is turned off. After turning off 172, the operation lever 17a is laid down. As a result, the controller 14 can release the lock of the gripper 16, and the gripper 16 can be opened to release the gripper 16 in response to the operator raising the operation lever 17a. Therefore, when the gripper 16 is locked by turning on the gripper lock switch 172, even if only the gripper lock switch 172 is turned off, the lock of the gripper 16 is not released. Never drop an object.

In the above embodiment, when the gripper is opened and closed, the potentiometer provided with the return spring is used to output a signal to the controller in order to adjust the opening and closing amount. However, the present invention is not limited to this, and a signal for causing opening / closing operation may be transmitted to the controller by a momentary switch instead of the potentiometer.

In the above embodiment, the controller controls signals from the gripper lock switch and the gripper closing operation detection switch as a method of releasing the gripped state of the locked gripper. The gripper lock switch may be released by mechanically transmitting the operation of the operating lever to the closing side.

[0021]

[Effect of device]

 As described above, the gripper operating device of the present invention has the gripper operating device that outputs a signal for controlling the opening / closing operation of the gripper and the gripper lock switch that outputs a signal that holds the opening / closing operation state of the gripper in a locked state. . The controller controls the signal so that the gripper lock switch is not turned off unless the gripper lock switch is turned on, the gripper operating device is closed and the gripper lock switch is turned off. As a result, even if the gripper is locked by turning on the gripper lock switch, the gripper can be unlocked even if the gripper lock switch is turned off without closing the gripper. Therefore, even if the operator is unskilled in manipulating the manipulator, he / she will not drop the object he is holding.

[Brief description of drawings]

FIG. 1 is a block diagram of an operating device according to the present invention.

FIG. 2 is a perspective view of an operating lever of the operating device according to the present invention.

FIG. 3 is a side view of an aerial work vehicle including an operating device according to the present invention.

[Explanation of symbols]

 1 aerial work vehicle 6 support stand 10 cabin 15 manipulator 16 gripper 17 manipulator operating device 17a gripper operating lever

Claims (1)

[Scope of utility model registration request] 1. A gripper provided in a manipulator and capable of freely opening and closing, a gripper operating means operated by an operator to output a signal for controlling the opening and closing operation of the gripper, and an opening and closing operation state of the gripper being locked and held. A gripper locking unit that outputs a signal, and controls the opening and closing operation of the gripper based on the gripper operating unit and the operation signal from the gripper locking unit, and from the gripper operating unit when the gripper locking unit is in an off state. The gripper opening / closing control is performed based on the signal, and when the gripper lock means is in the on state, the open / closed state of the gripper when the gripper lock means is switched to the on state is maintained regardless of the gripper operating means. The gripper operating means is closed while the gripper locking means is on. A gripper operating device for a manipulator, further comprising: a controller that performs control so that the gripper locking means is not turned off unless the gripper locking means is turned off.