JPH0520967B2 - - Google Patents
Info
- Publication number
- JPH0520967B2 JPH0520967B2 JP24246084A JP24246084A JPH0520967B2 JP H0520967 B2 JPH0520967 B2 JP H0520967B2 JP 24246084 A JP24246084 A JP 24246084A JP 24246084 A JP24246084 A JP 24246084A JP H0520967 B2 JPH0520967 B2 JP H0520967B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- wrist
- force
- wire
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 210000000707 wrist Anatomy 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Cable Installation (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、高圧引下げ線工事の如き活線工事に
用いられるロボツトの制御方法に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for controlling a robot used in live line work such as high voltage down line work.
（従来技術）
最近、活線状態のまま高圧配電線から分岐線を
引出したりするため高所作業車のブームの上端に
取付けられたバスケツト上に搭載されたロボツト
によつて活線作業を行なう工法が提案されてい
る。この場合、ロボツトの監視及びロボツトへの
位置教示はバスケツトに乗つている作業者が行な
つている（特願昭59−26955号参照。）この工法に
おいてバスケツトまたは電線が風等の影響で振動
を受けることがあり、また作業中にブームが重力
によつて縮んでバスケツトが下ることがある。こ
のような場合、ロボツトのリストが電線を把持し
たままであると、ロボツトまたは電線が損傷し、
またロボツトが振動したりブームに無理な力が働
いてシステム全体が非常に危険となる。(Prior art) Recently, a method has been developed in which live line work is carried out using a robot mounted on a basket attached to the upper end of the boom of an aerial work vehicle, in order to pull out branch lines from high-voltage distribution lines while the lines are still live. is proposed. In this case, a worker riding on a basket monitors the robot and teaches the robot its position (see Japanese Patent Application No. 59-26955). During operation, the boom may retract due to gravity and the basket may fall. In such cases, if the robot's wrist continues to grip the wire, the robot or the wire may be damaged.
Additionally, the robot may vibrate and excessive force may be applied to the boom, making the entire system extremely dangerous.
（発明の目的）
本発明の目的は、バスケツトが振動等の変位を
受けてもロボツトまたは電線が損傷することがな
く、安全に作業を行なうことができる活線工事用
ロボツトの制御方法を提供することにある。(Object of the Invention) The object of the present invention is to provide a method for controlling a robot for live wire construction, which allows work to be carried out safely without damaging the robot or electric wires even if the basket is subjected to displacement such as vibration. There is a particular thing.
（発明の構成）
本発明の活線工事用ロボツトの制御方法は、高
所作業車のブームによつて支持されたバスケツト
上に搭載されたロボツト本体と前記ロボツト本体
を制御する制御装置とから成り前記制御装置によ
つて前記ロボツト本体の先端のリストで電線を把
持して活線工事をする活線工事用ロボツトを制御
する方法において、前記リストが電線を把持する
までは前記制御装置は前記ロボツト本体が前記電
線に接近するように位置制御し、前記リストが電
線を把持した後は前記リストに取付けられた力セ
ンサによつて前記リストに力が加わつたことが検
出された時前記リストに加えられる力が零になる
ように前記ロボツト本体を力制御することを特徴
としている。(Structure of the Invention) The method for controlling a robot for live line work according to the present invention comprises a robot body mounted on a basket supported by a boom of an aerial work vehicle, and a control device for controlling the robot body. In the method of controlling a live wire construction robot that performs live wire work by gripping a wire with a wrist at the tip of the robot body by the control device, the control device controls the robot until the wrist grips the wire. The position of the main body is controlled so as to approach the electric wire, and after the wrist grasps the electric wire, when a force sensor attached to the wrist detects that a force is applied to the wrist, the wrist is added to the electric wire. The present invention is characterized in that the force of the robot body is controlled so that the force applied to the robot body becomes zero.
この活線工事用ロボツトの制御方法によれば、
工事中にバスケツトが変位しても電線及びロボツ
トに無理な力が加わることがなく、従つて電線及
びロボツトを損傷することなく、安全に作業をす
ることができる。 According to this method of controlling the live line construction robot,
Even if the basket is displaced during construction, no excessive force is applied to the electric wires and the robot, and therefore the work can be carried out safely without damaging the electric wires and the robot.
（実施例）
本発明の実施例を図面を参照して詳細に説明す
ると、第１図は本発明に係る制御方法が実施され
る活線工事用ロボツト１０を示し、この活線工事
用ロボツト１０は高所作業車１２から延びるブー
ム１４の頂部に取付けられてブーム１４の移動で
高圧配電線１に接近することができるバスケツト
１６の上に搭載された複数の関節接続されたロボ
ツトアーム１８から成るロボツト本体２０とこの
ロボツト本体２０を作業者２２が操作する操作盤
２４及び制御盤２６とを備えている。尚、第１図
において符号２は低圧線、符号３は装柱、符号２
８はロボツトアーム１８を駆動する流体圧アクチ
ユエータであり、この流体圧アクチユエータ２８
は高所作業車１２上の流体圧源からサーボ弁３０
（第２図参照）を介して供給される流体によつて
駆動される。(Embodiment) An embodiment of the present invention will be described in detail with reference to the drawings. Fig. 1 shows a live line construction robot 10 in which a control method according to the present invention is implemented. consists of a plurality of articulated robotic arms 18 mounted on top of a basket 16 that is attached to the top of a boom 14 extending from the aerial work vehicle 12 and that allows movement of the boom 14 to access the high-voltage power distribution line 1. The robot body 20 is provided with an operation panel 24 and a control panel 26 through which an operator 22 operates the robot body 20. In Fig. 1, numeral 2 is a low voltage line, numeral 3 is a pillar installation, and numeral 2 is a low voltage line.
8 is a fluid pressure actuator that drives the robot arm 18, and this fluid pressure actuator 28
is the servo valve 30 from the fluid pressure source on the aerial work vehicle 12.
(see Figure 2).
制御盤２６内の制御装置３２は、第２図に詳細
に示され、この制御装置３２は比較器３４を介し
て目標値Ｖ０と偏差値Ｖ１との比較値Ｖ０１が供
給されてサーボ弁３０を制御するサーボ増幅器３
６から成つている。偏差値Ｖ１はロボツトアーム
１８の先端のリストに取付けられた超音波センサ
の如き位置検出器３８から変換器４０及びスイツ
チＳ１を介して供給される位置制御系統と同じく
ロボツトアーム１８の先端に取付けられた歪ゲー
ジの如き力検出器４２から変換器４４算術モジユ
ール４６及びスイツチＳ２を介して供給される力
制御系統とから供給される。スイツチＳ１とＳ２
とはロボツトアーム１８のリストが電線１を把持
するまではスイツチＳ１が閉じられ、スイツチＳ
２が開かれ、また電線１を把持した後はスイツチ
Ｓ１が開かれ、スイツチＳ２が閉じられるように
なつている。 The control device 32 in the control panel 26 is shown in detail in FIG. Controlling servo amplifier 3
It consists of 6. The deviation value V1 is supplied from a position detector 38 such as an ultrasonic sensor attached to the wrist at the tip of the robot arm 18 through a transducer 40 and a switch S1. A force sensor 42, such as a strain gauge, is supplied from a transducer 44, an arithmetic module 46, and a force control system supplied via switch S2. Switches S1 and S2
The switch S1 is closed until the wrist of the robot arm 18 grips the electric wire 1, and the switch S1 is closed.
2 is opened, and after gripping the electric wire 1, the switch S1 is opened and the switch S2 is closed.
次に本発明の制御方法を第３図を参照してのべ
ると、ロボツト１０が原点を確認し、工具をリス
トに装着し、電線１を把持するまでは第２図のス
イツチＳ１を閉じ、スイツチＳ２を開いて位置検
出器３８からの偏差値Ｖ１を目標値Ｖ０と比較し
つつ流体圧アクチユエータ２８をリストが電線１
に接近するようにロボツトアーム１８を駆動す
る。このようにしてリストが電線１を把持した
後、スイツチＳ１を開き、スイツチＳ２を閉じる
ように手動または自動で制御モードが切換えられ
る（第３図１乃至５参照）。このようにしてリス
トが電線１を把持して活線作業が行なわれるが、
この時若しバスケツト１６が風またはブームの降
下で変位すると、力検出器４２がリストに力が加
わつたことを検出するので変換器４４及び算術モ
ジユール４６を介して偏差値Ｖ１が比較器３４に
供給されて力が零となるようにロボツトアーム１
８を駆動してバスケツト１６の変位を吸収する
（第３図５，６参照）。このようにして、電線１を
把持するまではロボツトアーム１８は位置制御さ
れ、電線１を把持した後にはロボツトアーム１８
は力制御される。 Next, the control method of the present invention will be described with reference to FIG. 3. The robot 10 confirms the origin, attaches the tool to the wrist, and closes the switch S1 in FIG. 2 until it grips the electric wire 1. S2 is opened, and while comparing the deviation value V1 from the position detector 38 with the target value V0, the fluid pressure actuator 28 is connected to the electric wire 1.
The robot arm 18 is driven so as to approach the robot arm 18. After the wrist grips the electric wire 1 in this manner, the control mode is manually or automatically changed by opening the switch S1 and closing the switch S2 (see FIGS. 1 to 5). In this way, the wrist grips the wire 1 and the live wire work is carried out.
At this time, if the basket 16 is displaced by the wind or by the lowering of the boom, the force detector 42 detects that a force is applied to the wrist, and the deviation value V1 is sent to the comparator 34 via the transducer 44 and the arithmetic module 46. robot arm 1 so that the force becomes zero.
8 to absorb the displacement of the basket 16 (see Fig. 3, 5 and 6). In this way, the position of the robot arm 18 is controlled until it grips the wire 1, and after gripping the wire 1, the robot arm 18
is force controlled.
活線作業が終了した時、スイツチＳ１が閉じら
れ、スイツチＳ２が開かれて制御モードが復帰さ
れ、従つて新しい目標値Ｖ０と位置検出器３８か
らの偏差値Ｖ１とを比較してリストが電線１から
離れるように流体アクチユエータ２８が駆動され
る。その後、リストは工具を交換して前と同じよ
うに次の作業に移される（第３図７，８，９参
照）。 When the live wire work is finished, switch S1 is closed and switch S2 is opened to return to the control mode, so that the new setpoint value V0 and the deviation value V1 from the position detector 38 are compared and the list is Fluid actuator 28 is driven away from 1. Thereafter, the list is transferred to the next operation as before, changing tools (see Figures 3, 7, 8, 9).
尚、若し制御モードが位置制御から力制御に切
換えられる際に流体アクチユエータの位置を記憶
しておくと、制御モードが復帰する際にロボツト
１０が誤動作を起す危険があるので位置検出器４
２の位置信号を制御装置の図示しないメモリーに
送つて更新することが望ましい。 Note that if the position of the fluid actuator is memorized when the control mode is switched from position control to force control, there is a risk that the robot 10 will malfunction when the control mode is restored.
It is desirable to update the position signal by sending the position signal No. 2 to a memory (not shown) of the control device.
（発明の効果）
本発明によれば、上記のように、活線作業中に
バスケツトが風またはブームの降下によつて変位
してもこの変位を吸収するように力制御されるの
でロボツトまたは電線に無理な力が加わることが
なく、作業を安全且つ円滑に行なうことができる
実益がある。(Effects of the Invention) According to the present invention, as described above, even if the basket is displaced due to the wind or the lowering of the boom during live wire work, the force is controlled so as to absorb this displacement, so that the robot or the wire There is a practical benefit in that work can be carried out safely and smoothly without applying excessive force to the machine.
第１図は本発明に係る制御方法が実施される活
線工事用ロボツトの概略側面図、第２図は本発明
の制御方法に用いられる制御装置の概略系統図、
第３図は本発明の方法を説明するフローチヤート
である。
１０……活線工事用ロボツト、１２……高所作
業車、１４……ブーム、１６……バスケツト、２
０……ロボツト本体、２８……流体アクチユエー
タ、３０……サーボ弁、３２……制御装置、３４
……比較器、３８……位置検出器、４２……力検
出器、Ｓ１，Ｓ２……スイツチ、Ｖ０……目標
値、Ｖ１……偏差値。
FIG. 1 is a schematic side view of a live line construction robot on which the control method according to the present invention is implemented, and FIG. 2 is a schematic system diagram of a control device used in the control method of the present invention.
FIG. 3 is a flowchart illustrating the method of the present invention. 10...Robot for live wire construction, 12...Aerial work vehicle, 14...Boom, 16...Basket, 2
0... Robot main body, 28... Fluid actuator, 30... Servo valve, 32... Control device, 34
... Comparator, 38 ... Position detector, 42 ... Force detector, S1, S2 ... Switch, V0 ... Target value, V1 ... Deviation value.
Claims (1)
ケツト上に搭載されたロボツト本体と前記ロボツ
ト本体を制御する制御装置とから成り前記制御装
置によつて前記ロボツト本体の先端のリストで電
線を把持して活線工事をする活線工事用ロボツト
を制御する方法において、前記リストが電線を把
持するまでは前記制御装置は前記ロボツト本体が
前記電線に接近するように位置制御し、前記リス
トが電線を把持した後は前記リストの取付けられ
た力センサによつて前記リストに力が加わつたこ
とが検出された時前記リストに加えられる力が零
になるように前記ロボツト本体を力制御すること
を特徴とする活線工事用ロボツトの制御方法。 ２ 前記制御装置は前記力制御を行なう毎に前記
ロボツト本体の位置を前記制御装置に記憶させて
おく特許請求の範囲第１項に記載の活線工事用ロ
ボツトの制御方法。[Scope of Claims] 1. Consists of a robot body mounted on a basket supported by a boom of an aerial work vehicle, and a control device for controlling the robot body; In the method for controlling a robot for live line work that performs live line work by gripping a wire with a wrist, the control device controls the position of the robot so that the robot body approaches the wire until the wrist grips the wire. After the wrist grips the electric wire, the robot body is configured such that when a force sensor attached to the wrist detects that force is applied to the wrist, the force applied to the wrist becomes zero. A method for controlling a robot for live line construction, which is characterized by force-controlling a robot. 2. The method of controlling a robot for live line work according to claim 1, wherein the control device stores the position of the robot main body in the control device every time the force control is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59242460A JPS61124209A (en) | 1984-11-19 | 1984-11-19 | Method of controlling robot for hot-line construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59242460A JPS61124209A (en) | 1984-11-19 | 1984-11-19 | Method of controlling robot for hot-line construction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61124209A JPS61124209A (en) | 1986-06-12 |
| JPH0520967B2 true JPH0520967B2 (en) | 1993-03-23 |
Family
ID=17089417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59242460A Granted JPS61124209A (en) | 1984-11-19 | 1984-11-19 | Method of controlling robot for hot-line construction |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61124209A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH055776Y2 (en) * | 1987-08-06 | 1993-02-16 | ||
| JPH01103108A (en) * | 1987-10-13 | 1989-04-20 | Shikoku Electric Power Co Inc | Tool driving control device for live-line manipulator |
| JPH01127312U (en) * | 1988-02-23 | 1989-08-31 | ||
| JPH0263987U (en) * | 1988-10-31 | 1990-05-14 | ||
| JPH0646168Y2 (en) * | 1989-07-21 | 1994-11-24 | 株式会社三英社製作所 | Bind wire removal device |
-
1984
- 1984-11-19 JP JP59242460A patent/JPS61124209A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61124209A (en) | 1986-06-12 |
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