JPH0666988U - Manipulator arm structure - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain a manipulator arm structure in which water does not collect even if water enters the arm member of the manipulator. A configuration in which the intermediate portion 155 is formed of an insulating material and is hollow with both ends open so that the shape of the space of the inner wall 155a of the arm member including the intermediate portion 155 expands toward both ends of the arm member 15a. Has become. Accordingly, even when the arm member 15a is in the horizontal state, the water that has entered the inside of the arm member 15a flows out from the openings at both ends, so that the water does not collect.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a manipulator provided in an aerial work vehicle and the like, and further to an arm structure of an arm member constituting the manipulator.

[0002]

[Prior art]

 A work platform for aerial work, in which a work platform is installed on the vehicle body at the tip of a boom that can be expanded and contracted and raised and lowered freely, is used to improve the work environment for workers and to perform swift work. In some cases, a manipulator is provided outside the table so that a worker can remotely operate the manipulator from the inside of the table to perform electrical work on a utility pole.

This manipulator is composed of an arm portion attached to a workbench and a grip portion provided at the tip of the arm portion. Further, since the plurality of arm members are pivotally attached to the workbench and the respective arm members, the arm portion is capable of undulating, bending and stretching operations with respect to the workbench. In addition, in order to prevent electric shock accidents for workers on the workbench, this manipulator uses an insulating material such as FRP to form the middle part of the arm member so that the gripping part and the worker can be electrically connected. It is possible to maintain the insulated state.

[0004]

[Problems to be solved by the device]

 Since the arm members are attached to the work platform provided at the tip of the boom of the aerial work vehicle, both ends are opened and the arm is formed in the air to suppress an increase in the load at the tip of the boom. In many cases, the weight of the member is reduced. Therefore, when an aerial work vehicle composed of such arm members is used to operate outdoors during rain, water may enter the internal space of the arm members. In this case, when each arm member is bent with respect to the workbench, the water drops from the opening located below due to its own weight, so that the water does not accumulate inside the arm member.

However, depending on the content of the work, the work may be performed with the arm member horizontal, and in this case, there is a problem that water accumulates inside the arm member and the insulating property of the manipulator deteriorates.

The present invention has been made in view of such a problem, and even if water enters the inside of the arm member of the manipulator, the arm of the manipulator does not collect inside. It is intended to provide a structure.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, an arm structure of a manipulator according to the present invention is provided with an arm member having an intermediate part formed of an insulating material and having both ends open, and an arm including the intermediate part. The shape of the space of the inner wall of the member widens toward both ends of the arm member.

[0008]

[Action]

 In such an arm structure of the manipulator, when water enters the inside of the arm member, even if the arm member is in a horizontal state, the water inside will flow out from the opening due to the inclination of the inner wall of the arm member. Therefore, water does not collect inside the arm member.

[0009]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, an aerial work vehicle using an arm structure of a manipulator according to the present invention will be described with reference to FIG. A swivel base 3 which is capable of swiveling with respect to the car body 2 is attached to a vehicle body 2 of the work platform 1, and a boom 4 is rotatably pivoted above the swivel base 3. . The boom 4 is made up of a plurality of boom members including a base end boom 4a pivotally mounted on the swivel base 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 work table 10 is attached on the support table 6, and two manipulators 15, 15 are attached in front of the work table 10. The arm portion of the manipulator 15 is composed of two arm members, a first arm member 15a and a second arm member 15b, and can be undulated with respect to the workbench 10. The arm members 15a and 15b are configured to bend and extend freely, and a gripper 16 is attached to the tip of the second arm member 15b so as to be openable and closable. Then, the worker who has boarded the workbench 10 moves the boom 4 up and down, extends it, etc., and moves it to a desired height, and then remotely operates the manipulator 15 from the workbench 10 to safely perform the desired work. It can be carried out.

Next, the arm structure according to the present invention will be described by taking the first arm member 15a as an example with reference to FIG. The first arm member 15a is formed in a quadrangular shape and hollow, and has both ends opened, and flanges 151, 152, 153, and 154 are provided on the side surfaces of both ends, respectively. The flanges 151 and 152 are pivotally attached to the work table by mounting holes 151a and 152a provided in the flanges 151 and 152, respectively. Further, the second arm member is rotatably pivotally mounted by the mounting holes 153a and 154a provided in the flanges 153 and 154. Since these flanges are joints with other members as described above, a metal material is used to obtain strength.

The portion 155 of the arm member 15a other than the flange is made of an insulating material such as F RP in order to keep the gripper provided at the tip of the arm and the worker on the work table electrically insulated. Has been formed. The bottom surface 155a of the inner wall of the arm member 15a is inclined so that the vicinity A of the central portion is the apex and descends toward both ends of the opening, and further, the water that has entered can easily flow from the opening. Has been treated with a water repellent material such as fluorine. As a result, even when the arm member is maintained horizontally during the rain, it is possible to prevent the moisture that has entered the inside of the arm member from being accumulated and the insulation property of the arm from being deteriorated.

In the above embodiment, the portion 155 of the arm member 15a other than the flange is made of an insulating material, but the entire part including the flange may be made of an insulating material. Only a part including the vertex A in FIG. 1 may be molded by the insulating material.

In the above embodiment, the first arm member only rotates in the vertical direction, as shown in FIG. If it is a mechanism that can rotate with respect to the longitudinal direction, it is better to make all of the inner wall surfaces inclined. Further, in the above-described embodiment, the case where the shape of the arm member is a quadrangle is described, but the present invention is not limited to this, and a cylindrical shape or another polygonal shape may be used.

[0015]

[Effect of device]

 As described above, the arm structure of the manipulator according to the present invention includes the arm member in which the middle part is molded with the insulating material and the both ends are open, and the hollow part is formed, and the inner wall of the arm member including the middle part is formed. The space has a shape that expands toward both ends of the arm member. As a result, even when the arm member is in a horizontal state, the water that has entered the inside of the arm member flows out through the openings at both ends, so that the water does not collect. Therefore, the insulation performance of the manipulator does not deteriorate even during rainfall.

[Brief description of drawings]

FIG. 1 is a perspective view showing an arm structure of a manipulator according to the present invention.

FIG. 2 is a side view of an aerial work vehicle including a manipulator having an arm structure according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 6 Support table 10 Working table 15 Manipulator 15a 1st arm member 15b 2nd arm member 16 Gripper

Claims (1)

[Scope of utility model registration request] 1. A manipulator in which a plurality of arm members are rotatably connected to each other, wherein the arm members are formed in a hollow shape with both ends opened, and the two ends are electrically insulated from each other. The manipulator is characterized in that the intermediate part of the arm member is formed of an insulating material, and the shape of the space of the inner wall including at least the intermediate part is shaped to expand toward both ends of the arm member. Arm structure.