JPH0570879U - Control device for hydraulic release joint - Google Patents

Abstract

(57) [Abstract] [Purpose] To reduce the power consumption of the electric motor by shortening the drive time of the electric motor to keep the joint free. A hydraulic pump 6 for supplying a working fluid for release to a hydraulic cylinder 25 for release for releasing the lock holding by a lock spring, an electric motor 5 for driving the hydraulic pump 6, and a hydraulic cylinder 25 for release.
The control device is composed of the operation switch 3 that controls the operation of the electric motor 5 and the controller 4 that controls the operation of the electric motor 5 according to the operation of the operation switch 3. Then, in this control device, when the operation switch 3 is turned on, the controller 4 drives the electric motor 5 for a predetermined time t1 from the start of the on-operation.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a control device for a fluid pressure release type joint that constitutes a joint portion in an articulated arm.

[0002]

[Prior Art]

 A multi-joint arm that uses a spherical joint or the like for a joint has been conventionally known. For example, there is a work assisting arm proposed by the present applicant in Japanese Patent Application No. 3-7726, and this work assisting arm constitutes a multi-joint arm by using a spherical joint in a joint portion. In this spherical joint, a holding member urged by a locking spring disposed inside holds the spherical portion to hold the spherical joint in a locked (fixed) state. Further, the spherical joint is also provided with a release mechanism for releasing the lock holding. This release mechanism is composed of a fluid pressure (hydraulic pressure or air pressure) operating cylinder that acts against the lock spring and releases the holding of the spherical portion by the holding member. This fluid pressure is supplied by a fluid pressure pump driven by an electric motor.

Therefore, when the electric motor actuation switch is turned on and the fluid pressure pump is driven, the working fluid is supplied to the fluid pressure actuation cylinder and the holding member releases the clamping of the spherical portion, and the joint portion formed of the spherical joint is released. Will be free. In this state, if you move each arm by hand and then turn off the operation switch, the fluid pressure is released and the joint part is locked, and you can fix the multi-joint arm in this state. ..

[0004]

[Means for Solving the Problems]

 In such an articulated arm, the fluid pressure pump is driven by an electric motor while the operation switch is turned on, and the joints forming each joint are kept free. For this reason, it is necessary to drive the electric motor as long as the operation switch is on, and the electric power consumption of the electric motor tends to increase, and the battery for supplying the driving power to this electric motor needs to have a large capacity. There is a problem.

The present invention has been made in view of such a problem, and shortens the drive time of the electric motor for keeping the joint in a free state as much as possible to reduce the power consumption of the electric motor and save the power. An object of the present invention is to provide a control device for a hydraulic release joint having a configuration that can be achieved.

[0006]

[Means for Solving the Problems]

 In order to achieve such an object, in the present invention, a fluid pressure actuating release means for releasing the lock holding by the spring type lock means is supplied with a working fluid for generating a releasing fluid pressure. It has a pump, an electric motor for driving the fluid pressure pump, a switch means for controlling the operation of the fluid pressure type release means, and a controller for controlling the operation of the electric motor according to the operation of the switch means. A hydraulic release joint control device is configured. In this control device, when the switch means is turned on, the controller drives the electric motor for a predetermined time from the start of the on-operation.

[0007]

[Action]

 In such a control device, when the switch means is turned on in order to release the joint and bring it into a free state, the electric motor is driven for a predetermined time from the start of this on operation. The fluid supplied from the fluid pressure pump by the driving for the predetermined time causes the fluid pressure actuated release means to release the lock holding by the spring type lock means. After this (after the elapse of a predetermined time), the drive of the electric motor is stopped even if the switch means is turned on, but the joint remains released unless the fluid supplied to the fluid pressure actuated release means is discharged. is there. It should be noted that in order to lock the joint, the fluid in the fluid pressure actuated release means may be released, and the fluid in the release means is discharged when the switch means is turned off. In this way, even if the switch means continues to be in the on state, the electric motor is driven only for a predetermined time, and the power consumption is low.

[0008]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a work assisting arm 10 using a spherical joint whose release is controlled by a control device according to the present invention. The work assisting arm 10 is fixedly mounted at its base end portion on a workbench 1 attached to the boom tip of an aerial work vehicle (not shown), as shown in the figure. A gripping tool 14 is attached to the tip of the work assisting arm 10, and the gripping tool 14 grips and supports an electric wire or the like to assist the work of a worker M who is on the workbench 1. ..

The work assisting arm 10 is composed of a multi-joint arm, and has a first arm 11, a second arm 12, and a third arm 13 that are continuously connected from a base end side via a joint part 15. A spherical joint is used for the joint portion 15, and each arm can flex and extend at the joint portion 15. The gripping tool 14 is also connected to the tip of the third arm 13 via a joint part 15 using a spherical joint.

The structure of the joint portion 15 will be described based on FIG. 2 by taking the first arm 11 as an example. A joint portion 15 is provided at a tip end portion of the first arm housing 11a, and this joint portion 15 has a joint housing 21 (consisting of half bodies 21a and 21b) screwed together. It is fixed to the tip of the first arm housing 11a by screwing. A holding member 23 is provided in the joint housing 21 so as to be slidable in the axial direction, and the spherical member 22 is sandwiched between the tip of the holding member 23 and the inner surface of the joint housing half body 21a. It is arranged. The holding member 23 is pressed toward the spherical portion 22 by the urging force of the lock holding spring 24. The spherical portion 22 is integrally connected to the housing of the second arm 12 via the shaft 22a. A key 23a is arranged between the joint housing half 21b and the holding member 23 to prevent the relative rotation of each other.

A release hydraulic cylinder 25 is arranged in the first arm housing 11a. The rod 26 of the release hydraulic cylinder 25 is connected to the holding member 23 at the tip thereof, and the hydraulic pressure supplied into the release hydraulic cylinder 25 locks the holding member 23 through the rod 26 by the lock holding spring 24. It can be moved in the axial direction (arrow A direction) against the urging force of.

When hydraulic pressure does not act on the release hydraulic cylinder 25, the spherical portion 22 is held between the holding member 23 pressed by the lock holding spring 25 and the inner surface of the joint housing half 21a, and the frictional force Thus, the spherical member 22 is fixedly held to the joint housing 21. In this state, the joint portion 15 is locked and each arm is fixed and held as it is. On the other hand, when hydraulic pressure acts on the release hydraulic cylinder 25, the hydraulic pressure pulls the holding member 23 in the direction of arrow A via the rod 26, and the pressing of the spherical portion 22 by the holding member 23 is released. As a result, the spherical portion 22 becomes free and can be freely rotated (movement indicated by arrow B) with respect to the joint housing 21. Therefore, in this state, each arm can freely bend and extend at the joint portion 15.

The hydraulic pressure supply control to the releasing hydraulic cylinder 25 is performed by the operator M operating the operation switch 3. A control device for performing lock holding control of the joint 15 according to the operation of the operation switch 3 will be described below. As shown in FIGS. 1 and 3, this device includes a hydraulic pump 6 that supplies hydraulic oil to a release hydraulic cylinder 25 through a control valve 7, an electric motor 5 that drives the hydraulic pump 6, and an electric motor 5 that drives the hydraulic pump 6. It consists of an electric motor 5 and a battery 2 that supplies drive power to the solenoid in the control valve 7, and a controller 4 that controls the operation of the electric motor 5 and the solenoid. The operation switch 3 is provided together with the controller 4. .. The control valve 7 includes a relief valve 31, a check valve 32, an electromagnetic switching valve 33, etc., as shown in FIG.

When the hydraulic pump 6 is driven by the electric motor 5, the discharged oil is regulated to a predetermined hydraulic pressure by the relief valve 31, and the oil in the rod side oil chamber 25 a of the hydraulic cylinder for release 25 is released through the check valve 32. Is supplied to. As a result, hydraulic pressure is applied to the rod 26 of the release hydraulic cylinder 25 in the direction to pull it back (the direction of arrow A in FIG. 2), and the lock of the joint 15 is released. The drive of this electric motor 5 is controlled by a motor relay switch 35. The motor relay switch 35 is made by controlling the energization of the motor relay solenoid 35a by the controller 4 according to the ON operation of the operation switch 3. The operation switch 3 is a self-reset type switch, which is turned on only while the operator M is turning it on, and is automatically turned off when this operation is released.

On the other hand, an electromagnetic switching valve 33 is arranged in an oil passage extending from the rod side oil chamber 25a of the release hydraulic cylinder 25 to the tank 30. By energizing the solenoid 33a of the electromagnetic switching valve 33 by the controller 4, the electromagnetic switching valve 33 is operated so that the hydraulic oil in the rod side oil chamber 25a flows out to the tank 30. The solenoid 33a is adapted to be energized when the operation switch 3 is turned off, whereby the hydraulic pressure acting on the rod 26 is released and the joint portion 15 is held locked.

The operation of the solenoid 35a of the motor relay switch 35 and the operation of the solenoid 33a of the electromagnetic switching valve 33 in response to the operation of the operation switch 3 will be described with reference to FIG. The energization control of both solenoids 35a, 33a is performed by the controller 4 in response to the operation of the operation switch 3.

As shown in FIG. 4, consider the case where the operation switch 3 is turned on for the time t0. At the same time when the operation switch 3 is turned on, the motor relay solenoid 35a is also turned on (energized) and the motor relay switch 35 is turned on. As a result, the electric motor 5 is driven by the electric power from the battery 2, hydraulic oil is supplied from the hydraulic pump 6 to the release hydraulic cylinder 25, and the joint portion 15 is unlocked. However, the motor relay solenoid 35a is switched off by the controller 4 even if the operation switch 3 is on after a predetermined time t1 has elapsed.

As a result, the supply of hydraulic oil from the hydraulic pump 6 is stopped, but the operation of the release hydraulic cylinder 25 in the rod-side oil chamber 25a is stopped by the check valve 32 and the electromagnetic switching valve 33 in the off state. The oil is retained as it is. Therefore, the rod 26 is held while the holding member 23 is pulled, and the joint portion 15 is held in a free state.

Here, the time t 1 when the motor relay solenoid 35 a is turned on is for release after receiving the supply of hydraulic oil from the hydraulic pump 6 after the driving of the hydraulic pump 6 by the electric motor 5 is started. The time is set to be the same as or slightly longer than the time required until the lock holding of the joint portion 15 is completely released by the hydraulic cylinder 26. Therefore, if the motor relay solenoid 35a is turned on for t1 time, the lock of the joint 15 is completely released and the joint 15 becomes free, and even if the motor relay solenoid 35a is turned off thereafter, The part 15 is held in a free state. In addition, even if the operation switch 3 is turned on for a long time, the driving time of the electric motor 5 does not exceed t1 hours, and the power consumption of the battery 2 can be reduced.

After this, when the hand is released from the operation switch 3 to turn it off, the controller 4 turns on (energizes) the solenoid 33a of the switching valve 33 for a predetermined time t2. As a result, the hydraulic oil in the rod-side oil chamber 25a of the release hydraulic cylinder 25 flows out to the tank 30 via the switching valve 33, and the joint portion 15 is locked and held.

The predetermined time t2 when the solenoid 33a is turned on is the time required for the hydraulic oil in the rod side oil chamber 25a to flow out to the tank 30 via the switching valve 33, or a slightly longer time. Is set. As a result, when the operation switch 3 is turned off, the joint portion 15 is surely held in the locked state, and the energization time of the solenoid 33a is suppressed to the necessary minimum.

The controller 4 can be configured, for example, as shown in FIG. The operation switch 3 has two switch bodies 3a and 3b arranged in a main line 40 connected to the positive terminal of the battery 2. When the operation switch 3 is not operated (when it is off), the switch body 3a is off, and the switch body 3b connects the main line 40 to the fourth and fifth lines 44 and 45. A branch line 40a that branches in parallel from the main line 40 is provided at a position passing through the switch body 3a, and a hold relay switch 51b is arranged on the branch line 40a.

When the operation switch 3 is turned on, the switch body 3 a connects the main line 41 at this portion, and the switch body 3 b connects the main line 40 to the second and third lines 42, 43. As a result, the fourth and fifth lines 44 and 45 are turned off. The first line 41 is connected to the main line 40, and the first line 41 is also turned on. On the first line 41, a normally closed type second timer relay switch 53b and a hold relay solenoid 51a are arranged in series, and the hold relay solenoid 51a is excited to turn on the hold relay switch 51b.

On the second line 42, a first delay timer 55 and a first timer relay solenoid 52a are arranged. The first delay timer 55 turns on the second line 42 and energizes the first timer relay solenoid 52a after a predetermined time t1 has elapsed since the second line 42 was turned on. A normally closed first timer relay switch 52b and a motor relay solenoid 35a are arranged in the third line 43. As described above, the first timer relay switch 52b is turned off in response to the excitation of the first timer relay solenoid 52a, and is turned off after a predetermined time t1 has elapsed since the operation switch 3 was turned on. Therefore, as shown in FIG. 4, the motor relay solenoid 35a is turned on only for a predetermined time t1 after the operation switch 3 is turned on.

Next, when the operation switch 3 is turned off after a lapse of time t0, the switch body 3a is turned off and the main line 40 is turned off at this portion. However, since the hold relay switch 51b of the branch line 40a is on, the power supply by the main line 40 is continued via the branch line 40a. On the other hand, since the switch body 3b connects the main line 40 to the fourth and fifth lines 44 and 45, the fourth and fifth lines 44 and 45 are turned on.

A solenoid 33 a of the electromagnetic switching valve 33 is arranged on the fifth line 45. Therefore, when the operation switch 3 is turned off, the solenoid 33a is excited to operate the electromagnetic switching valve 33, and the hydraulic oil in the rod side oil chamber 25a of the hydraulic cylinder 25 for release is discharged to the tank 30. A second delay timer 56 and a second timer relay solenoid 53a are arranged on the fourth line 44. The second delay timer 56 turns on the fourth line 44 and energizes the second timer relay solenoid 53a after a predetermined time t2 has elapsed since the fourth line 44 was turned on.

When the second timer relay solenoid 53a is excited, the second timer relay switch 53b arranged on the first line 41 is turned off and the hold relay solenoid 51a is turned off. As a result, the hold relay switch 51b is turned off, the power supply by the main line 40 is stopped, and the electromagnetic switching valve 33 is turned off. That is, when the operation switch 3 is turned off, the solenoid 33a of the electromagnetic switching valve 33 is first turned on, and is turned off after the elapse of a predetermined time t2 set by the second delay timer 55, as shown in FIG. ..

In the above, an example in which the hydraulic pump is operated by the electric motor and the hydraulic cylinder for release is operated by the hydraulic pressure of the hydraulic oil from the hydraulic pump has been shown. However, the control device uses pneumatic pressure instead of hydraulic pressure. May be configured.

[0029]

[Effect of the device]

 As described above, according to the present invention, since the electric motor is driven for a predetermined time from the time when the switch means is turned on, the switch means is released in order to release the joint and bring it into a free state. When the switch is turned on, the electric motor is driven only for a predetermined time from the start of the turn on, and the fluid supplied from the fluid pressure pump causes the fluid pressure release means to release the lock holding by the spring lock means. After this (after a lapse of a predetermined time), the drive of the electric motor is stopped even if the switch means is turned on, but the joint remains open unless the fluid supplied to the fluid pressure actuated release means is discharged. .. As described above, when the control device of the present invention is used, the electric motor is only driven for a predetermined time even if the ON state of the switch means is continued, and power consumption can be reduced. Therefore, the battery for driving the electric motor has a small capacity, and the size of the battery can be reduced.

[Brief description of drawings]

FIG. 1 is a front view showing a work auxiliary arm having a joint whose release is controlled by a control device of the present invention.

FIG. 2 is a cross-sectional view showing a joint portion of this work auxiliary arm.

FIG. 3 is a circuit diagram showing a joint control device according to the present invention.

FIG. 4 is a graph illustrating operating states of switches and solenoids in this control device.

FIG. 5 is an electric circuit diagram showing a configuration of a controller in this control device.

[Explanation of symbols]

 2 battery 3 operation switch 5 electric motor 10 work auxiliary arm 15 joint part 22 spherical part 23 holding member 25 hydraulic cylinder for release

Claims (1)

[Scope of utility model registration request] 1. Spring-type locking means for applying a lock holding force to lock and hold a joint by using a spring force, and fluid for applying a lock releasing force to release a lock holding by the spring-type locking means using a fluid pressure. A control device for a hydraulic release type joint, comprising: a fluid pressure actuating release means, a fluid pressure pump supplying the fluid pressure actuating release means with a working fluid for generating the fluid pressure, and the fluid pressure pump. An electric motor for driving a pump; a switch means for controlling the operation of the fluid pressure type release means; and a controller for controlling the operation of the electric motor according to the operation of the switch means. When the means is activated, the controller drives the electric motor for a predetermined time from the start of the activation. Control device for a hydraulic releasable couplings, characterized in that there.