JPH0865843A - Tool exchanger of manipulator for electric circuit operation - Google Patents

Abstract

PURPOSE: To exchange a work tool at the front end of an arm for a manipulator automatically and easily in a short time in response to the kinds of operation. CONSTITUTION: A turntable 17 is disposed the support base 2 of a manipulator 7, and a plurality of holders 21 for holding work tools 11 are mounted on the outer circumference of the turntable 17. The turntable 17 is rotated by a controller 5 on the basis of a command from a command device 6, the required holder 21 is arranged at the place P1 of the exchange of the tools while an arm 9 for the manipulator 7 is moved to a place corresponding to the place P1 of the exchange of the tools, and the work tools 11 are exchanged automatically among the front end of the arm 9 and the holders 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator used for live line work in a distribution line, for example,
In particular, the present invention relates to a tool exchanging device for a manipulator for electric circuit work in which a work tool is exchanged and attached to the tip of an arm of the manipulator.

[0002]

2. Description of the Related Art Generally, various manipulators for electric circuit work use various kinds of work tools according to the type of work. However, conventionally, when the work is changed, the driver or the worker manually detaches and replaces the work tool with respect to the tip of the arm of the manipulator.

[0003]

Therefore, in this conventional manipulator, there is a problem that the replacement of the work tool is troublesome and takes a long time. In particular, when many types of work tools are used, storage management and replacement work of those tools have become very complicated.

The present invention has been made by paying attention to such problems existing in the conventional technology. An object of the invention is to provide a tool changing device for a manipulator for electric circuit work, which can automatically and easily change a work tool at the tip of an arm of a manipulator according to the type of work.

[0005]

In order to achieve the above-mentioned object, in the invention of a tool changing device according to claim 1, a plurality of holding units for holding a work tool are arranged on a support base of a manipulator. A tool holder having a portion, and a control means for moving the arm of the manipulator to a position corresponding to a predetermined holding portion of the tool holder and exchanging the work tool at the tip of the arm with the work tool on the holding portion. It is equipped with.

According to a second aspect of the present invention, in the tool changing apparatus according to the first aspect, the tool holder is composed of a turntable having a plurality of holding portions on its outer periphery, and the control means rotates the turntable. Then, the required holding portion is arranged at the tool exchange position, and the arm of the manipulator is moved to a position corresponding to the tool exchange position.

[0007]

In the tool changer according to claim 1, the control means moves the arm of the manipulator to a position corresponding to a predetermined holding portion of the tool holder, and the work tool at the tip of the arm and the work on the holding portion. The tool is removed and replaced.
Therefore, even when a large number of types of work tools are used, the work tools can be automatically and easily replaced in a short time without depending on the type of work.

In the tool exchanging device according to the second aspect, the turntable is rotated by the control means to arrange the required holding portion at the tool exchanging position and the arm of the manipulator to a position corresponding to the tool exchanging position. It is moved and the work tool is exchanged between the arm and the holding part. Therefore, the automatic replacement of the work tool can be performed more easily and in a shorter time.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a tool changing device for an electric path manipulator embodying the present invention will be described below in detail with reference to the drawings. As shown in FIGS. 1 and 2, the boom 1 is erected on an aerial work vehicle (not shown), and a support base 2 is rotatably and vertically movable via a support shaft 3 on an upper end thereof. There is. The cockpit 4 is mounted on the upper surface of the support base 2, and a control device 5 as a control means and a command device 6 are installed inside thereof. The command device 6 includes various operation levers and operation buttons arranged so as to face the inside of the cockpit 4.

The manipulator 7 is provided on the upper surface of the support base 2 and includes a drive unit 8 and an arm 9 which is moved to a desired position by the drive unit 8. The mounting device 10 is arranged at the tip of the arm 9, and the working tool 11 is detachably mounted on the tip of the arm 9 by the mounting device 10. A plurality of work tools 11 of different types are prepared, and various work units 11a equipped with, for example, a clipper are provided at the tips of the tools 11.

For example, as shown in FIG. 1, when the electric wire 15 is attached to or removed from the upper end of the support insulator 13 arranged on the electric pole arm member 12 via the clamp 14, the command device 6 is used. Based on the command from
The drive unit 8 is thereby controlled, and the arm 9 of the manipulator 7 is moved to the work position indicated by the chain line. In this state, the work unit 11a of the work tool 11 is operated by the command from the command device 6 as well, and the clamp 1
A bolt 16 for tightening 4 is clamped, and the bolt 16 is tightened or loosened.

As shown in FIGS. 1 to 3, a turntable 17 as a tool holder is rotatably supported on the lower surface of the support base 2 via a rotary shaft 18 and a bearing 19.
A plurality of recesses 20 are formed on the outer circumference thereof at predetermined intervals. A plurality of substantially semi-cylindrical holding bodies 2 as holding portions
1 is fitted and fixed in each recess 20, and is opened in the same direction as the recess 20.

As shown in FIGS. 2 to 5, a pair of lock grooves 22 are formed on the upper edges of both sides of each holding body 21 and are opened upward. The pair of knock pins 23 are provided on the outer circumference of the base end of each work tool 11 so as to be engageable with the lock groove 22 of the holding body 21. And the work tool 11
With the knock pin 23 engaged with the lock groove 22 in a state where the work tool 11 is inserted into the holder 21,
Are detachably held on the outer periphery of the turntable 17 at predetermined intervals.

The servo motor 24 is arranged on the upper surface of the support base 2, and a drive gear 26 is fixed to a motor shaft 25 thereof. The driven gear 27 is fixed to the rotary shaft 18 and meshes with the drive gear 26. When the servo motor 24 is rotated by a command from the command device 6, the turntable 17 is rotated via both gears 26 and 27,
As shown in FIG. 3, the required holder 21 is arranged at the tool exchange position P1 which projects outward from the side edge of the support base 2.

Further, according to a command from the command device 6,
The arm 9 of the manipulator 7 is moved to a position corresponding to the holder 21 at the tool exchange position P1, as shown by the solid line in FIG. In this state, the mounting device 10 is operated, the work tool 11 is removed from the tip of the arm 9, and the holding body 21 is removed.
The work tool 11 is delivered to the upper side or is received from the holding body 21 and attached to the tip of the arm 9.

Next, the mounting device 10 will be described in detail. As shown in FIGS. 4 to 6, the support cylinder portion 31 is formed at the tip of the arm 9 of the manipulator 7. The cylindrical connecting portion 32 is provided so as to project from the base end of the work tool 11 and is detachably fitted to the support tubular portion 31. Drive shaft 33
Is rotatably supported in the support cylindrical portion 31 via a bearing 34, and an engaging hole 35 having a polygonal cross section is formed at the tip thereof. The operating shaft 36 is rotatably inserted and supported in the work tool 11, and the engaging hole 3 of the drive shaft 33 is provided at the end thereof.
An angular drive 37 having a polygonal cross section is detachably mounted on the vehicle 5.

Then, the connecting portion 32 of the work tool 11 is fitted into the supporting cylinder portion 31, and the actuating shaft 36 is connected to the drive shaft 33 by the engagement of the angular drive 37 and the engaging hole 35. When the drive shaft 33 of the arm 9 is rotated, the operating shaft 36 of the work tool 11 is rotated in conjunction with the rotation. By this rotation of the operating shaft 36, for example, the working units 11a at the tips of the working tools 11 are moved toward or away from each other via a transmission mechanism (not shown) provided inside the working tools 11 to clamp the bolts 16 or release.

As shown in FIG. 4, FIG. 6 and FIG. 11, the pair of insertion grooves 38 are formed on the peripheral wall of the support tubular portion 31 at 180 degrees apart from each other, and the tip of the support tubular portion 31 extends from the tip of the support tubular portion 31. It extends parallel to the axial direction. The pair of lock pins 39 are provided so as to project from the outer periphery of the connecting portion 32 of the work tool 11. When the connecting portion 32 of the work tool 11 is fitted into the support tubular portion 31 of the arm 9, the lock pins 39 are inserted into the insertion groove 38. Inserted in.

A pair of locking grooves 40 are formed on the peripheral wall of the support cylinder portion 31 so as to extend in the circumferential direction of the support cylinder portion 31 from the middle of each of the insertion grooves 38. And work tool 1
When the support cylinder portion 31 of the arm 9 is fitted in the support cylinder portion 31 of the arm 9 and the support cylinder portion 31 is relatively rotated in the counterclockwise direction of FIG. Is inserted and locked in the locking groove 40 from the insertion groove 38.

The operating ring 41 having a cylindrical shape is used for the supporting cylindrical portion 3
It is arranged on the outer periphery of the unit 1 so as to be movable in the axial direction. The substantially annular stopper 42 is screwed into the operation ring 41.
A pair of locking pieces 42 having a quadrangular cross section, which are fixed to the inner peripheral surface of the support member and project into the insertion groove 38 of the support tubular portion 31 on the inner surface thereof.
a is formed. The coil spring 44 is wound around the outer periphery of the support tubular portion 31 so as to be interposed between the spring seat 45 on the outer periphery of the support tubular portion 31 and the stopper 42. The coil spring 44 causes the operation ring 41 to move the operating ring 41. Is urged to move toward the tip side of.

As shown in FIGS. 4 and 6, a plurality of restricting projections 46 are provided on the outer circumference of the support cylindrical portion 31, and an inner flange is formed on the inner circumference of the tip of the operating ring 41 so as to face the restricting projections 46. 47 is formed. And the operation ring 4
When 1 is moved toward the front end side of the support cylinder portion 31 by the coil spring 44, as shown in FIG.
Is engaged with the restriction protrusion 46, the operation ring 41
The movement position of is regulated. As a result, FIG. 10 and FIG.
As shown in FIG. 1, the locking piece 42a of the stopper 42 is always arranged in the insertion groove 38 at a position that closes the opening end of the locking groove 40. On the other hand, when the operation ring 41 is moved in the axial direction against the biasing force of the coil spring 44,
As shown in, the inner flange 47 engages with the restriction protrusion 46, and the movement position of the operation ring 41 is restricted. In this state, as shown in FIG. 9, the locking piece 42a of the stopper 42 is
The lower surface of the above is substantially flush with the top surface of the locking groove 40.

Next, the control circuit of the tool changer configured as described above will be described with reference to FIG. The command device 6 is operated by a driver, and a movement command signal for moving the arm 9 of the manipulator 7 to a position corresponding to the work position and the tool exchange position, and the turntable 17 are provided.
A selection command signal indicating which of the above holding bodies 21 is selectively arranged at the tool exchange position P1 is output to the control device 5.

The control device 5 operates the drive unit 8 via the drive device 51 based on the movement command signal from the command device 6 to move the arm 9 of the manipulator 7 to a predetermined position. Further, the control device 5 rotates the servo motor 24 via the drive device 52 based on the selection command signal from the command device 6 to arrange the predetermined holder 21 on the turntable 17 at the tool exchange position P1.

The command signal from the command device 6 is output based on the operation of various operation levers and operation buttons provided in the device 6. Here, manipulator 7
As an operation button used when exchanging the work tool 11 with respect to the arm 9, for example, as shown in FIG.
A moving button 6a for the arm 9 and a plurality of selection buttons 6b corresponding to the holding bodies 21 are provided. The movement button 6a outputs a movement command signal for moving the arm 9 to a position corresponding to the tool exchange position P1. The selection button 6b outputs a selection command signal for arranging the corresponding holder 21 at the tool exchange position P1.

Therefore, when the moving button 6a is operated,
Based on the movement command signal from the command device 6, the drive unit 8 is operated by the control device 5, and the manipulator 7 is operated.
The arm 9 is moved to a position corresponding to the tool exchange position P1. When the required selection button 6b is operated, the servo motor 24 is driven by the control device 5 based on the selection command signal from the command device 6, and the operated selection button 6b is operated.
The holder 21 corresponding to is rotated and arranged at the tool exchange position P1.

Next, the operation of the tool changing device of the manipulator for electric circuit work constructed as described above will be described. Now, when removing the work tool 11 mounted on the tip of the arm 9 of the manipulator 7, the selection button 6 corresponding to the empty holding body 21 where the tool 11 is arranged.
In addition to operating b, the movement button 6a is operated.
Then, the servo motor 24 is driven by the command from the command device 6 via the control device 5, the turntable 17 is rotated by a predetermined angle, and as shown in FIG. 3, the empty holding body 21 on the turntable 17 is tool-exchanged. It is arranged at the position P1. At the same time, the drive unit 8 is operated by the control device 5, and the arm 9 of the manipulator 7 is moved to the side position corresponding to the tool exchange position P1.

In this state, as shown in FIG.
Is moved toward the center from the outer peripheral position of the turntable 17, and the work tool 11 attached to the end is inserted into the holding body 21 at the tool exchange position P1 from the opening of the recess 20. After that, the support cylinder portion 31 at the tip of the arm 9
When is lowered, as shown in FIGS. 4 and 5, the knock pin 23 of the work tool 11 engages with the lock groove 22 of the holding body 21, and the work tool 11 is non-rotatably positioned on the holding body 21. To be done.

The lower end of the operation ring 41 is brought into contact with the holding body 21 as the support tube portion 31 of the arm 9 is lowered. When the support tube portion 31 of the arm 9 is further lowered in this state, the operation ring 41 is moved upward relative to the support tube portion 31 of the arm 9 against the biasing force of the coil spring 44. Thereby, as shown in FIG.
42 placed at a position to close the open end of the
The locking piece 42a is moved to the inner side of the insertion groove 38, and the open end of the locking groove 40 is opened.

In this state, when the support tube portion 31 of the arm 9 is rotated relative to the connecting portion 32 of the work tool 11 in the clockwise direction in FIG. 8, as shown by the solid line in FIG. 39 is moved out of the locking groove 40 into the insertion groove 38.
After that, when the support tube portion 31 of the arm 9 is raised, the operation ring 41 is pushed downward by the urging force of the spring 44, and the work tool 11 of the work tool 11 is pushed through the locking piece 42a of the stopper 42 and the lock pin 39. The connecting portion 32 is pushed out of the supporting cylinder portion 31 of the arm 9. As a result, the support cylinder portion 31 of the arm 9 is pulled out from the connecting portion 32 of the work tool 11, and the work tool 11 is delivered onto the holding body 21 of the turntable 17.

On the other hand, when a different work tool 11 on the turntable 17 is attached to the tip of the arm 9 of the manipulator 7, the selection button 6b corresponding to the holder 21 holding the required work tool 11 is selected. Along with the operation, the moving button 6a is operated. Then, in response to a command from the command device 6, the servo motor 2 is transmitted via the control device 5.
4 is driven and the turntable 17 is rotated by a predetermined angle. As a result, the holder 21 that holds the required work tool 11 on the turntable 17 is moved to the tool replacement position P.
Placed at 1. At the same time, the drive unit 8 is operated by the control device 5, and the arm 9 of the manipulator 7 is moved to the upper position corresponding to the tool exchange position P1.

In this state, when the support tubular portion 31 of the arm 9 is lowered, the connecting portion 32 of the work tool 11 is fitted into the support tubular portion 31 of the arm 9 and the angular drive 37 of the operating shaft 36 is moved. The actuating shaft 36 is connected to the drive shaft 33 by engaging with the engagement hole 35 of the drive shaft 33. At this time, the lock pin 39 is inserted into the insertion groove 38 and abuts on the lower surface of the locking piece 42a of the stopper 42, as shown in FIG.

When the support cylinder portion 31 of the arm 9 is further lowered, the operation ring 41 is brought into contact with the holding body 21, and resists the urging force of the spring 44 together with the stopper 42.
The arm 9 is moved upward relative to the support cylinder portion 31.
As a result, the locking piece 42a of the stopper 42 is inserted into the insertion groove 38.
Relative to the inner side of the locking groove 40, as shown in FIG.
The open end of the lock pin 39 is opened, and the lock pin 39 is arranged in the insertion groove 38 so as to face the open end of the locking groove 40.

After that, when the support cylinder portion 31 of the arm 9 is rotated relative to the connecting portion 32 of the work tool 11 in the counterclockwise direction in FIG. 6, the lock pin 39 as shown by the chain line in FIG.
Enters the locking groove 40 through the insertion groove 38 and is locked.
In this state, when the support cylinder portion 31 of the arm 9 is raised,
As shown in FIGS. 7, 8 and 10, the operating ring 41 is returned to the original position by the urging force of the spring 44 together with the stopper 42.

As a result, the locking piece 42a of the stopper 42 is
Is relatively moved to the open end side of the insertion groove 38, and is engaged with the restriction protrusion 46 to be arranged at a position to close the open end of the locking groove 40. In this state, the lock pin 39 is held in the locking groove 40 in the locked state, and the work tool 11 is locked in the attached state to the arm 9 of the manipulator 7. After that, when the support cylinder portion 31 of the arm 9 is further raised, the work tool 11 is integrally raised and is withdrawn from the holding body 21 of the turntable 17.

As described above, in the tool changer of this embodiment, the turntable 17 is rotated based on the command from the commander 6, and the required holder 21 is placed at the tool change position P1. At the same time, the arm 9 of the manipulator 7 is moved to a position corresponding to the tool exchange position P1, and the work tool 11 is automatically exchanged between the arm 9 and the holding body 21. Therefore, even when there are many types of work tools 11, the work tools 11 suitable for the work can be easily attached / detached to / from the arm 9 of the manipulator 7 in a short time by an automatic operation, and the work by the manipulator 7 can be performed. Can be done promptly.

Further, in the present embodiment, the turntable 17 holding the plurality of work tools 11 is arranged on the lower surface of the support base 2 of the manipulator 7. Then, only one holding body 21 on the turntable 17 is arranged at the tool exchange position P1 that projects outward from the side edge of the support base 2. Therefore, when the manipulator 7 is used for the work, the turntable 17 does not get in the way and the workability can be improved. Moreover, by disposing the turntable 17 on the lower surface of the support base 2,
Even if the table is large, the table 17 does not interfere with the work. For this reason, a large number of work tools 11 can be held on the turntable 17, and workability can be further improved.

The present invention is not limited to the configuration of the above-described embodiment, and can be embodied by making the following arbitrary changes without departing from the spirit of the present invention.

(1) In the above embodiment, the servo motor 24 for rotating the turntable 17 is arranged in the case of the drive unit 8 for driving the arm 9 of the manipulator 7.

(2) As shown in FIG. 13, a holding plate 55 as a tool holder is movably supported in the longitudinal direction at the end of the support base 2, and a holding body 21 as a plurality of holding portions is provided at the side edge thereof. Are arranged at predetermined intervals. Then, by moving the holding plate 55, the required holding body 21 is placed at the tool exchange position, and the arm of the manipulator is moved to a position corresponding to the tool exchange position, so that the work tool is moved between the arm and the holding portion 21. To be replaced.

(3) As shown in FIG. 13, a holding plate 55 as a tool holder having a plurality of holding bodies 21 arranged on the side edge at predetermined intervals is fixedly arranged at the end of the support base 2. Then, the arm of the manipulator is moved to the position corresponding to the required holding portion 21 on the holding plate 55, and the holding portion 2
The work tool is exchanged between the arm 1 and the arm.

(4) The type of work tool 11 held by each holder 21 on the turntable 17, the type of work tool 11 currently mounted on the manipulator 7, and the work tool 11 are held. A display unit for displaying various information such as an empty holding body 21 should be provided in the cockpit 4. By doing so, the work tool 11 can be replaced more easily and reliably.

The technical ideas other than the claims that can be understood from the above-described embodiments will be described below along with their effects. (1) In claim 2, the turntable is arranged on a lower surface of the support base, and only one holding portion on the turntable is arranged at a tool exchange position projecting outward from a side edge of the support base. Manipulator tool changer.

According to this structure, the workability can be improved without the turntable obstructing the work with the manipulator.

[0044]

EFFECTS OF THE INVENTION Since the present invention is configured as described above, it has the following effects. According to the invention described in claim 1, the work tool at the tip of the arm of the manipulator can be automatically replaced easily and in a short time according to the type of work.

According to the second aspect of the present invention, the turntable can hold a large number of tools, and the arm of the manipulator corresponds to the tool exchange position in a state where the required holding portion is arranged at the tool exchange position. Since it is moved to the position, it is possible to more quickly perform the work tool automatic exchange and the manipulator work.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view showing an embodiment of a tool changing device for an electric circuit manipulator embodying the present invention.

FIG. 2 is a partially cutaway front view showing an enlarged part of the tool changing device.

FIG. 3 is a partial cross-sectional view taken along the line III-III in FIG.

FIG. 4 is a partially cutaway front view showing, in an enlarged manner, a device for mounting a work tool on an arm of a manipulator.

5 is a partial cross-sectional view taken along the line VV of FIG.

6 is a sectional view taken along line VI-VI in FIG.

FIG. 7 is a partial cross-sectional view showing the operating state of FIG.

8 is a cross-sectional view taken along the line VIII-VIII of FIG.

9 is a partial side view showing the positional relationship between the lock pin and the stopper when the work tool mounting device is in the state of FIG. 4. FIG.

FIG. 10 is a partial side view showing the operating state of FIG.

11 is a partial side view showing an operating state of FIGS. 9 and 10. FIG.

FIG. 12 is a block diagram showing a control circuit of this tool changer.

FIG. 13 is a partial plan view showing another embodiment of the tool holder in the tool changing device of the present invention.

[Explanation of symbols]

2 ... Support base, 5 ... Control device as control means, 6 ... Command device, 7 ... Manipulator, 8 ... Drive unit, 9
... arm, 10 ... mounting device, 11 ... work tool, 17 ... turntable as tool holder, 21 ... holding body as holding part, 24 ... servo motor, 55 ... holding plate as tool holder.

Claims (2)

[Claims] 1. A tool holder having a plurality of holding portions for holding a work tool, which is disposed on a support base of a manipulator, and an arm of the manipulator is moved to a position corresponding to a predetermined holding portion of the tool holder. , A tool changing device for a manipulator for electric circuit work, comprising a control means for changing the work tool at the tip of the arm and the work tool on the holding part. 2. The tool holder is composed of a turntable having a plurality of holding portions on its outer circumference, and the control means rotates the turntable to dispose a required holding portion at a tool exchange position and an arm of a manipulator. The tool changer for a manipulator for electric circuit work according to claim 1, wherein the tool is moved to a position corresponding to the tool change position.