JPH08174447A - Insulation working device - Google Patents

Abstract

PURPOSE: To provide the insulation working device, which can be stably operated for a long time, by reducing discharge of a battery for performing the feedback of the operation condition of the working device. CONSTITUTION: Operation condition of a manipulator 7 is detected by a potentiometer 31, and sent to a controller 50 as the feedback signal. Power is supplied to an E/O converter 41, which transmits this signal, by a battery 44 arranged inside of the manipulator 7, and the E/O converter 41 and the battery 44 are electrically continued by a hydraulic switch 42 when the oil pressure for driving a hydraulic motor 30 achieves the predetermined pressure or more. When the operating oil is supplied to the hydraulic motor 30 and the oil pressure achieves the predetermined pressure or more, power of the battery 44 can be supplied to the E/O converter 41.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an insulating working device provided with a working device which is actuated by hydraulic pressure, such as a manipulator device, and a light for performing optical communication between working means and operating means insulated from the working means. The present invention relates to an insulating work device provided with communication means and a power supply.

[0002]

2. Description of the Related Art As shown in FIG. 3, slave arms 6 and 6 that actually perform work in a manipulator device are provided in order to ensure electrical insulation between a work cabin 5 and a work object. ) At least a part of 7, 7 is insulated. Further, in the slave arms 6 and 6 as described above, angle detecting means for detecting the operating state of the arms 7 and 7 (rotation or swing angle of each joint) is provided. The operating states of the arms 7 and 7 detected by the angle detecting means are fed back to the controller so that the slave arms 6 and 6 can be accurately operated according to the operation of the master control arms 9 and 9. There is.

The feedback signal to the controller provided in the work cabin 5 is converted into an optical signal by the converter 91 in order to ensure insulation between the slave arms 6 and 6 and the work cabin 5, and then, It is transmitted using an optical fiber cable and transmitted to a converter 95 provided in the controller for converting an optical signal into an electric signal. Here, although the optical signal converter 91 is configured to be driven by electric power, electric power cannot be supplied from the work cabin 5 side in order to ensure the insulating properties of the arms 7, 7. For this reason, a battery 94 for driving the converter 91 is provided in the arms 7, 7.
Then, in order to accurately control the operation of the slave arms 6 and 6, it is necessary to supply power to the converter 91 before the slave arms 6 and 6 operate.

Therefore, in such a manipulator device, as shown in FIG. 4, a changeover switch 92 is provided on the charging connector 93 on the battery side, and normally (when the connector is not connected) a battery 94 and a converter 91. I am trying to connect. Then, when the capacity of the battery 94 decreases due to use, a connector (not shown) on the charger side is connected to the charging connector 93 to disconnect the battery 94 and the converter 91 from each other and the battery 94 and the battery 94 to each other. Side charging connector 93 is connected to the battery 94
To charge.

[0005]

In the manipulator device constructed as described above, the slave arm 6,
6 is driven, it is desirable to switch the changeover switch 92 so as to connect the converter 91 and the battery 94, but in order to ensure insulation between the slave arms 6 and 6 and the work cabin 5, the changeover switch 92 is changed. The switch 92 cannot be arranged on the side of the work cabin 5. Therefore, in the manipulator device, since the battery 94 and the converter 91 are always connected even when the slave arms 6 and 6 are not driven, the battery 94 is discharged, and the capacity of the battery 94 decreases, which causes a continuous discharge. Then, there is a problem that the time for which the manipulator device can be used becomes short.

The present invention has been made in view of the above problems, and by reducing the discharge of the battery for controlling the operation of the hydraulic working device, the insulation which can perform a stable operation for a long time is provided. The purpose is to provide a working device.

[0007]

In order to achieve the above object, in the insulated working apparatus of the present invention, the working apparatus operated by hydraulic pressure is installed on a work table or a vehicle body insulated from the working apparatus. It is operated by a drive device that operates based on an operation signal from the operating means provided, and the operation detecting means controls the working device or detects the operating state, and an optical signal of the detection signal with the operating means. Accurate operation control of the work device is performed by performing transmission or reception by. Optical signal transmission
The reception is performed by the optical communication means, but since the electric power is supplied to the optical communication means and the operation detecting means by the battery, the optical communication means is used when the hydraulic pressure for driving the drive device becomes equal to or higher than a predetermined pressure. Also, a hydraulic switch for electrically connecting the operation detection means and the battery is provided.

According to the insulating work device thus constructed, the hydraulic power source such as the hydraulic pump is operated to operate the work device provided on the workbench or the vehicle body, and thereby the drive device is operated. The electric power of the battery can be supplied to the optical communication unit when the hydraulic oil is supplied and the hydraulic pressure reaches or exceeds the predetermined pressure. Therefore, when the working device is not used (when the hydraulic power source is not operated), the battery is not electrically connected to the optical communication unit or the operation detection unit, and therefore the battery is not discharged.

Here, the working device is a manipulator arm provided on a workbench and composed of a plurality of arm members including an insulating arm member, and the drive device is configured to swing each arm member based on an operation signal from an operating means. And the operation detecting means is an angle detecting means for detecting the swing angle of the arm member, and the optical communication means converts the detection signal from the angle detecting means into an optical signal, and then the operating means. When the optical signal transmitting means for transmitting as a feedback signal to the manipulator arm and the operating means, it is possible to perform accurate operation control of the manipulator arm while ensuring insulation between the manipulator arm and the optical signal transmitting means. It is possible to prevent discharge of the battery that supplies power.

Further, in the case where a pressure switch configured to perform a switching operation to a chargeable state in which the battery can be charged when the hydraulic pressure for driving the drive device is equal to or lower than a predetermined pressure, the drive device is provided. The battery can be charged only when is not operating.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings. First, a manipulator vehicle (aerial work vehicle) including a manipulator device, which is an example of an insulating work device according to the present invention, will be described with reference to FIG. 3. In the rear part of the body 2 of this manipulator vehicle 1,
A swivel base 3 that can swivel with respect to the vehicle body 2 is attached,
A multi-stage telescopic boom 4 is pivotally attached to the upper part of the swivel base 3 so as to be able to rise and fall. Further, a work cabin 5 is attached to the tip of the multi-stage telescopic boom 4, and slave arms (work devices) 6, 6 are provided on both front sides of the work cabin 5.
6 is attached. In addition, each slave arm 6,
6 is covered with a cover to protect the outer periphery thereof. Further, inside the working cabin 5, there are mounted master control arms 9 and 9 which are operated to support the operation of the slave arms 6 and 6.

Next, the manipulator device according to the present invention will be described with reference to FIG. Since the slave arms 6 and 6 and the master control arms 9 and 9 have the same configuration, one set of slave arms 6 and master control arm 9 will be described. Further, for the sake of convenience, the state in which the cover and the like of the slave arm 6 are removed will be described.

The master control arm 9 includes an arm 17 which is vertically swingable in a shoulder portion 17a and an elbow portion 17b, and a wrist portion 17c of the arm 17 which has an axis perpendicular to the longitudinal axis of the arm 17. It is composed of a grip 18 which is pivotally attached to the center. The wrist portion 17c is configured to be swingable in the vertical and horizontal directions. A hand operation switch 40 for opening and closing the hand 8 is provided on the grip 18.

The shoulder portion 17a and the elbow portion 17b
Potentiometers (master control arm side potentiometers) 21, 23, 25, 27, 29 for detecting the amount of rocking of each joint are attached to each joint. Master control arm 9 having such a configuration
Then, when an operator who grips the grip 18 moves the grip 18 in an arbitrary direction, the movement of the grip 18 with respect to the arm 17 and the swing amount of the arm 17 due to the movement of the grip 18 are detected by the potentiometers 21 and the like. To be done. These detection signals are transmitted to the controller 50 as command signals for operating the slave arm 6, and the controller 50 controls the operation of the slave arm 6 based on the detection signals from the potentiometers 21 and the like.

The slave arm 6 is attached to a shoulder 7a and an elbow 7b, which is swingable in the vertical direction, and a wrist 7c of the arm 7, which is swingably attached to the arm 7 and is opened and closed. It is composed of a hand 8 that can be operated to open and grasp an object. The wrist portion 7c is configured to be swingable vertically and horizontally. Further, each operation of the arm 7 is performed by the shoulder portion 7a, the elbow portion 7b and the wrist portion 7 of the arm 7.
The hydraulic motor (driving device, arm driving means) 30, 32, 34, 36, 38 built in near c is operated, and the opening / closing operation of the hand 8 is carried out near the wrist 7c. This is performed by the operation of (not shown).

Potentiometers (slave arm side potentiometers) 31, 33, 35, 37, 39 for detecting the rotation or swing angle of each joint in the slave arm 6 are provided at each joint such as the shoulder portion 7a and the elbow portion 7b.
Is attached, and the angle of each joint operated by the hydraulic motor 30 and the like is detected and fed back to the controller 50, so that the master arm 9 and the slave arm 6 are controlled to have the same form. Therefore, by operating each hydraulic motor based on the drive signal transmitted from the controller 50, the manipulator operation desired by the operator can be performed.

In the manipulator device configured as described above, the slave arm 6 may carry out electrical installation work on the utility pole. Therefore, in order to ensure the safety of the worker who has boarded the work cabin 5, the slave arm 6 has a part (intermediate portion) of the arm 7 formed of an insulating material such as FRP. Thus, the working cabin 5 is insulated from the portion of the slave arm 6 that comes into contact with the energized electric wire.
Therefore, in order to ensure insulation, the detection signal from the potentiometer 31 or the like provided in the arm 7 is converted into an optical signal and then transmitted to the controller 50 by the optical fiber cable 51.

Here, a case where the detection signal of the potentiometer 31 in the shoulder portion 7a is transmitted to the controller 50 will be described as an example in addition to FIG. The shoulder portion 7a swings the arm 7 in the vertical direction by rotating the hydraulic motor 30 as described above. The drive control of the hydraulic motor 30 is performed as shown in FIG.
This is performed by controlling the supply and discharge of the hydraulic oil sent from inside by the pump P via the pipe 62 by the control valve 60. The operation control of the control valve 60 is performed by the control signal transmitted from the controller 50 based on the operation signal from the master control arm 9. In addition,
The master control arm 9 and the controller 50 constitute the operation means described in the claims, and the work cabin 5 corresponds to the workbench described in the claims.

The operating angle of the shoulder portion 7a operated by operating the master control arm 9 is detected by a potentiometer (operation detecting means) 31. This detection signal is converted from an electric signal to an optical signal by the E / O converter (optical communication means) 41, and after being converted, it is transmitted to the controller 50 via the optical fiber cable 51. The transmitted optical signal is reconverted into an electric signal by the O / E converter 51 provided in the controller 50 to be a feedback signal. As a result, it is possible to operate the slave arm 6 according to the operation of the master control arm 6 while ensuring the insulation between the work cabin 5 in which the master control arm 9 and the controller 50 are arranged and the slave arm 6. . Since the oil feed pipe 61 that connects the hydraulic motor 30 and the control valve 60 is made of an insulating material such as rubber, the insulation between the work cabin 5 and the slave arm 6 does not deteriorate.

Since the E / O converter 41 is driven by electric power, the E / O converter 41 is provided in the arm 7 insulated from the work cabin 5 in the area surrounded by the chain double-dashed line in FIG. In addition to the above, a rechargeable battery (a nickel cadmium battery or the like) 44 for supplying electric power is also provided. As a result, power can be supplied to the E / O converter 41 while ensuring insulation with the work cabin 5 in which the controller 50 (O / E converter 51) is arranged.

Further, the arm 7 is provided with a charging connector 43 for charging the battery 44, and one (+) side of the electrodes of the battery 44 is connected to the charging connector 43 or the E / O converter 41. A changeover switch 42 for changing over the connection is also provided. The changeover switch 42 is a hydraulic switch that performs a switching operation when a predetermined hydraulic pressure is applied, and the connection pipe 42 a is connected to the oil feed pipe 62. This changeover switch 42 is used for the hydraulic motor 3
When hydraulic oil is supplied to the control valve 60 (the hydraulic pump P operates) to drive 0, etc., the NC
It is configured to switch from a (normally closed) contact to a NO (normally open) contact. Battery 44 at C (common) contact
Of the charging connector 43 is connected to the NC contact, and the E / O converter 4 is connected to the NO contact.
One side of 1 is connected. The negative side of the battery 44 has the other side of the charging connector 43 and the E / O converter 41.
The other side of is connected.

According to the power supply circuit of the battery 44 configured as described above, the E / O conversion of the battery 44 is performed when the manipulator device is not used (the hydraulic pressure of the oil feed pipe 62 does not reach the predetermined hydraulic pressure). The battery 44 is not discharged because it is not connected to any device including the container 41. When the hydraulic pump P is operated to use the manipulator device, the battery 44 and the E / O converter 41 are connected by the switching operation of the changeover switch 42, and the electric power to the E / O converter 41 is reduced. Since power is supplied, useless power consumption can be suppressed.

Further, when the power of the battery 44 drops due to use, the battery 44 is charged by connecting the charger side connector (both not shown) of the charger to the charging connector 43. Since the charging of the battery 44 is performed while the manipulator device is stopped, the wiring of the battery 44 is only connected to the charging connector 43. Therefore, since all the electric power supplied from the charger flows to the battery 44 and does not flow to the E / O converter 41, the battery 44 can be charged efficiently and safely.

In the above embodiment, the connecting pipe 42a of the changeover switch 42 is connected to the pump P and the control valve 60.
However, the present invention is not limited to this, and it may be connected to the oil feed pipe 61 between the control valve 60 and the hydraulic motor 30. Good. When connected in this way, the hydraulic motor 3
Since the electric power is supplied to the E / O converter 41 with the driving of 0, the consumption of the battery 44 can be further suppressed. Further, in the above embodiment, the optical signal is transmitted to the controller (operating means) by the optical fiber cable, but it is not always necessary to use the optical fiber cable, and it may be transmitted wirelessly by using infrared rays or the like. Of course you can configure it. Further, as the operation detecting means, other than the above potentiometer 31 or the like, other position signal detecting means such as a rotary encoder may be used.

In the above embodiment, the manipulator device is used as the working device and the operation state of the manipulator device is fed back. However, the present invention is not limited to this embodiment. That is, in addition to the case where the feedback signal of the working device which is operated by the hydraulic pressure and is insulated from the operating means is transmitted to the operating means, the operation signal from the operating means is received by the receiver provided in the working device to perform the work. The present invention can be used as long as a transmitter or a receiver and a battery are provided on the working means side, such as when controlling the operation of the device. For example, a boom that is freely undulated with respect to the vehicle body and is insulated from the vehicle body is provided, and a working device such as a winch is provided at the tip of the boom. This is the case when an operation signal is transmitted from. In this case, a control device, which is provided at the tip of the boom and receives the operation signal from the operating device on the vehicle body to control the operation of the winch, corresponds to the operation detecting means in the claims.

[0026]

As described above, in the insulated working apparatus of the present invention, the operation of the working apparatus is controlled by the operation detecting means or the operating state is detected, and transmission / reception is performed with the operating means by an optical signal. The power supply to the optical communication means for transmitting and receiving this signal is performed by the battery provided in the working means, and the optical communication means is operated when the hydraulic pressure for driving the drive device becomes equal to or higher than a predetermined pressure by the hydraulic switch. And at least one of the operation detecting means and the battery are electrically connected. As a result, when the hydraulic oil is supplied to the drive device and the hydraulic pressure reaches a predetermined pressure or more, the electric power of the battery can be supplied to the optical communication means. And the optical communication means are not electrically connected. Therefore, even if the working device is left unused for a long time, the battery will not be discharged, and the operable time will not be shortened when the working device is used.

The working device is a manipulator arm composed of a plurality of arm members including an insulating arm member,
The drive device is arm drive means for performing a swinging operation of each arm member based on an operation signal from the operating means, and the operation detecting means is an angle detecting means for detecting a swinging angle of the arm member. When the communication means is an optical signal transmitting means for transmitting a detection signal from the angle detecting means into an optical signal, and then transmitting it as a feedback signal to the operating means,
It is possible to control the operation of the manipulator arm accurately while ensuring the insulation between the manipulator arm and the operating means, and to prevent discharge of the battery that supplies power to the optical signal transmitting means.

Further, when the pressure switch configured to perform the switching operation to the chargeable state in which the battery can be charged when the hydraulic pressure for driving the drive device is equal to or lower than the predetermined pressure, the drive device is provided. The battery can be charged only when the battery is not operating. In this condition, the signal transmitting means is not connected to the battery and the charger, so that the battery can be charged safely and efficiently.

[Brief description of drawings]

FIG. 1 is a feedback circuit diagram of a manipulator device which is an example of an insulating work device according to the present invention.

FIG. 2 is a schematic diagram showing operation control of the manipulator device.

FIG. 3 is a perspective view of an aerial work vehicle having the manipulator device.

FIG. 4 is a feedback circuit diagram of a conventional manipulator device.

[Explanation of symbols]

5 Working Cabin 6 Slave Arm 9 Master Control Arm 21, 23, 25, 27, 29 Master Control Arm Side Potentiometer 30, 32, 34, 36, 38 Hydraulic Motor 31, 33, 35, 37, 39 Slave Arm Side Potentiometer

Claims (3)

[Claims] 1. A working device which is electrically insulated from a workbench or a vehicle body and which is provided on the workbench or the vehicle body and operates by hydraulic pressure; and a work device which is provided on the workbench or the vehicle body. An insulating working device comprising an operating means for controlling the operation of the working device and a drive device for operating the working device based on an operation signal from the operating means, wherein the insulating working device is disposed in the working device and Operation detection means for performing operation control or detection of an operation state; optical communication means disposed in the work device for transmitting or receiving an operation signal between the operation detection means and the operation means by an optical signal; A battery disposed in the apparatus for supplying electric power to at least one of the optical communication means and the operation detecting means; and a driving apparatus disposed in the working apparatus. When the hydraulic pressure for driving exceeds a predetermined pressure, the insulation work apparatus characterized by comprising a hydraulic switch for electrically connecting at least one said battery of said optical communication means and said operation detecting means. 2. The working device is a manipulator arm in which a plurality of arm members including an insulating arm member at least a part of which is formed of an electrically insulating material are connected so as to be relatively rotatable or swingable. The device is an arm drive means for rotating or swinging the arm member based on an operation signal from the operating means, and the operation detecting / controlling means is a rotation angle or swing of the arm member. Angle detecting means for detecting an angle, wherein the optical communication means is an optical signal transmitting means for converting a detection signal from the angle detecting means into an optical signal and transmitting the optical signal as a feedback signal to the operating means. The insulating working device according to claim 1, wherein 3. When the hydraulic pressure for driving the drive unit is equal to or lower than a predetermined pressure, the hydraulic switch performs a switching operation to a chargeable state in which the battery can be charged. The insulating work device according to claim 2.