Tools and apparatus and tools

Abstract

This utility model provides a tool device and a tool that enable easy access to a target. The tool device includes: a retractable first lever member and a tool mounted on the first lever member. The tool includes: a mounting part mounted on the first lever member; a support arm rotatably supported by the mounting part; an end effector supported by the support arm to apply force to the object to which the force is applied; a support arm drive device to rotate the support arm relative to the mounting part; and an end effector drive device to drive the end effector.

Description

Technical Field

[0001] This utility model relates to a tool device and a tool. Background Technology

[0002] There are known techniques for bringing tools closer to electrical wires, etc., by extending a rod member on which the tool is mounted.

[0003] As a related technology, a boom device is disclosed in Patent Document 1. The boom device described in Patent Document 1 includes: a base, which is mounted on the cage of an aerial work platform; and a boom portion, which is mounted on the base and is capable of moving forward and backward. The boom portion includes: a first boom portion, capable of moving forward and backward relative to the base; and a second boom portion, mounted on the first boom portion, capable of moving forward and backward relative to the first boom portion in a direction parallel to the direction of movement of the first boom portion. Tools can be mounted on the second boom portion.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-34931. Utility Model Content

[0007] Problems to be solved by utility models

[0008] Patent Document 1 illustrates a structure in which the outrigger can move linearly forward and backward relative to the base, and a structure in which the outrigger can tilt relative to the base. Since this tilting occurs on the base side, the tool moves a large amount with the tilt. Therefore, it is difficult to bring the tool close to the target using this tilting. Furthermore, because the tilting occurs on the base side, the degree of freedom in the direction in which the tool approaches the target is low. In other words, the direction in which the tool approaches the target is determined based on the positional relationship between the cage and the target. Therefore, when there are obstacles or other obstructions around the target, the difficulty of bringing the tool close to the target becomes even greater.

[0009] Therefore, the purpose of this utility model is to provide a tool device and tool that enable the tool to easily access the target.

[0010] This utility model relates to the tool device and tool shown below.

[0011] (1) A tool device comprising:

[0012] The first member is telescopic; and

[0013] The tool is installed on the first rod member.

[0014] The tool has the following features:

[0015] The mounting part is installed on the first rod component;

[0016] The support arm is rotatably supported by the mounting portion;

[0017] The end effector, supported by the arm, applies force to the object to which the force is applied.

[0018] A support arm drive mechanism that rotates the support arm relative to the mounting portion; and

[0019] An end effector drive device drives the end effector.

[0020] (2) The tool device as described in (1) above, wherein,

[0021] The tool has the following features:

[0022] The communication unit is capable of communicating with the remote control; and

[0023] The control circuit controls the outrigger drive and the end effector drive based on the signals received by the communication unit.

[0024] (3) The tool device as described in (2) above, wherein,

[0025] The communication unit is capable of wireless communication with the remote controller.

[0026] The first rod component is an electrically insulating rod component.

[0027] The tools mentioned are electrical construction tools.

[0028] (4) The tool device as described in any one of (1) to (3) above, further comprising:

[0029] The second member; and

[0030] The first connecting part connects the second rod member and the first rod member.

[0031] The first connecting portion connects the second rod member and the first rod member in a manner that allows the angle between the first rod member and the second rod member to be changed.

[0032] (5) The tool device as described in (4) above, wherein,

[0033] The angle between the first rod member and the second rod member can be changed manually.

[0034] (6) The tool device as described in (4) above, wherein,

[0035] The first connecting part includes:

[0036] A locking mechanism to prevent the first rod member from tilting relative to the second rod member; and

[0037] The lock release operation unit releases the lock of the locking mechanism.

[0038] (7) The tool device as described in (4) above, wherein,

[0039] The first connecting part is provided with a tilting speed suppression mechanism. When the first rod member tilts relative to the second rod member due to the gravity acting on the tool or the first rod member, the tilting speed suppression mechanism suppresses the tilting speed of the first rod member relative to the second rod member.

[0040] (8) The tool apparatus as described in (4) above further comprises:

[0041] A retaining portion is provided in the first connecting portion and is capable of retaining the first rod member; and

[0042] The first operating unit is capable of changing the state of the holding unit between a first state and a second state, wherein the first state is a state in which the holding unit holds the first rod member, and the second state is a state in which the holding unit releases the holding unit from the first rod member.

[0043] (9) The tool device as described in (4) above, wherein,

[0044] The first rod member is supported by the second rod member through the first connecting portion so that it can rotate about the central axis of the second rod member.

[0045] (10) The tool device as described in any one of (1) to (3) above, wherein,

[0046] The tool has a holding mechanism capable of holding the object to which the force is applied.

[0047] The holding mechanism has:

[0048] First Control Department; and

[0049] The second gripping part, driven by the end effector drive device, is capable of moving relative to the first gripping part.

[0050] The end effector includes the holding mechanism.

[0051] (11) The tool device as described in any one of (1) to (3) above, wherein,

[0052] The tool has a rotating body driven by the end effector drive device, which is capable of rotating about a first rotation axis.

[0053] The end effector includes the rotating body.

[0054] (12) The tool device as described in any one of (1) to (3) above, wherein,

[0055] The tool has a tool holding part, which is separately disposed from the end effector and can hold other tools in a detachable manner.

[0056] (13) A tool that has:

[0057] The mounting part can be installed on the rod component;

[0058] The support arm is rotatably supported by the mounting portion;

[0059] The end effector, supported by the arm, applies force to the object to which the force is applied.

[0060] A support arm drive mechanism that rotates the support arm relative to the mounting portion; and

[0061] An end effector drive device drives the end effector.

[0062] Utility Model Effect

[0063] This invention provides a tool device and a tool that enable the tool to easily approach a target. Attached Figure Description

[0064] Figure 1 This is a schematic perspective view of the tool apparatus in the first embodiment.

[0065] Figure 2 This is a schematic side view of the tool apparatus in the first embodiment.

[0066] Figure 3 This is a schematic side view of the tool apparatus in the first embodiment.

[0067] Figure 4 This is a schematic side view of the tool device in the second embodiment.

[0068] Figure 5 This is a schematic side view of a portion of the tool apparatus in the second embodiment.

[0069] Figure 6 This is a diagram that schematically illustrates an example of a locking mechanism.

[0070] Figure 7 This is a schematic perspective view showing a portion of the tool apparatus in the second embodiment.

[0071] Figure 8 This is a schematic front view showing a portion of the tool apparatus in the second embodiment.

[0072] Figure 9 This is a schematic diagram showing a portion of the tilting speed suppression mechanism.

[0073] Figure 10 This is a schematic side view of the tool device in the second embodiment.

[0074] Figure 11 This is a schematic perspective view showing a portion of the tool apparatus in the second embodiment.

[0075] Figure 12 This is a diagram that schematically illustrates an example of a retaining part.

[0076] Figure 13 This is a schematic top view of the tool device in the second embodiment.

[0077] Figure 14 This is a schematic side view of a portion of the tool apparatus in the second embodiment.

[0078] Figure 15 This is a schematic front view showing a portion of the tool apparatus in the second embodiment.

[0079] Figure 16 This is a schematic side view showing a portion of the tool device in a first variation of the second embodiment.

[0080] Figure 17 This is a schematic side view showing a portion of the tool device in a second variation of the second embodiment.

[0081] Figure 18 This is a schematic side view of a portion of the tool apparatus in the second embodiment.

[0082] Figure 19 This is a schematic side view of the tool in the third embodiment.

[0083] Figure 20 This diagram schematically illustrates the process of adjusting the position during the operation.

[0084] Figure 21 This is a flowchart illustrating an example of how to use the tool device in the embodiment. Detailed Implementation

[0085] The tool device 1, the tool 2, and the method of using the tool device 1 in the embodiments will be described in detail below with reference to the drawings. Furthermore, in this specification, components with the same function will be given the same or similar symbols. Also, for components already given the same or similar symbols, repeated descriptions may be omitted.

[0086] (First Implementation)

[0087] Reference Figures 1 to 3 The tool device 1A in the first embodiment will be described. Figure 1 This is a schematic perspective view of the tool device 1A in the first embodiment. Figure 2 and Figure 3 This is a schematic side view of the tool device 1A in the first embodiment.

[0088] like Figure 1 As illustrated, the tool device 1A in the first embodiment includes a first rod member 3 and a tool 2 mounted on the first rod member 3.

[0089] The first rod member 3 is telescopic. By extending the first rod member 3, the tool 2 can be brought closer to the target D. The target D is, for example, an overhead power line or other tools. However, in the embodiment, the target D is not limited to an overhead power line or other tools, but can be any object.

[0090] As the first lever member 3 retracts, the tool 2 approaches the base end 3b of the first lever member 3. In this case, it is easier to move the tool device 1A. Furthermore, since the tool 2 is close to the operator, it is easier for the operator to perform adjustment operations on the tool 2 (e.g., installing other tools onto the tool 2). In addition, although it is conceivable that the operator is present at the base end of the first lever member 3, if the tool device 1A is a fully automatic device, it is also possible that no operator is required.

[0091] The first rod member 3 is, for example, made of FRP (in other words, made of fiber-reinforced composite material). When the tool 2 is an electrical construction tool, the first rod member 3 is preferably an electrically insulating rod member.

[0092] Tool 2 includes: mounting part 21, outrigger 22, end effector 25, outrigger drive device AM (more specifically, outrigger drive motor MT), and end effector drive device M1 (more specifically, first motor MT1).

[0093] Mounting part 21 is installed on the first rod member 3. Figure 1 In the example shown, the mounting part 21 is mounted on the front end 3a of the first rod member 3. The mounting part 21 is composed of multiple parts.

[0094] The support arm 22 is rotatably supported by the mounting part 21. The support arm 22 can be composed of a single part or multiple parts.

[0095] The end effector 25 is supported by the arm 22. The end effector 25 applies force to the object to which the force is applied. For example, when the end effector 25 includes a gripping mechanism G1, the end effector 25 applies a gripping force to the object to which the force is applied. Furthermore, when the end effector 25 includes a rotating part with a hook or the like, the end effector 25 applies a rotational force to the object to which the force is applied. For example, when the object to which the force is applied is the operating ring of another tool, the end effector 25 applies a rotational force to the operating ring to rotate it. The end effector 25 can be composed of a single part or multiple parts. In this specification, an end effector refers to a mechanical element that applies any force, such as a gripping force, a cutting force, or an operating force, to an object.

[0096] exist Figure 1 In the example shown, the target D that brings tool 2 closer is the same as the object to which force is applied from the end effector 25. Alternatively, target D and the object to which force is applied can be different. For example, the end effector 25 of tool 2 can hold another tool, bringing that other tool closer to the wire. In this case, the "other tool" is the object to which force is applied from the end effector 25, and the "wire" is target D.

[0097] The outrigger drive unit AM rotates (more specifically, tilts) the outrigger 22 relative to the mounting portion 21. By driving the outrigger drive unit AM, the outrigger 22 rotates relative to the mounting portion 21, thereby enabling the tool 2 to approach the target D.

[0098] The end effector drive unit M1 drives the end effector 25. By driving the end effector 25 through the end effector drive unit M1, the end effector 25 can apply force to the object to which the force is applied.

[0099] The tool device 1A in the first embodiment includes: a first lever member 3, a mounting portion 21 mounted on the first lever member 3, a support arm 22 rotatable relative to the mounting portion 21, and an end effector 25 supported by the support arm 22. In this case, by extending and retracting the first lever member 3 and rotating the support arm 22, the tool 2 can easily approach the target D. Since the support arm 22 can rotate relative to the mounting portion 21, the tool 2 can approach the target D from, for example, the back side of the target D (e.g., an electrical wire).

[0100] The tool device 1A in the first embodiment includes an arm drive device AM, which rotates the arm 22 relative to the mounting portion 21. In this case, even when the mass of the tool 2 is large (or when the mass of other tools supported by the tool 2 is large), the arm 22 can be easily rotated relative to the mounting portion 21. Furthermore, the tool device 1A in the first embodiment includes an end effector drive device M1 that drives the end effector 25. In this case, regardless of the position or posture of the tool 2, the end effector drive device M1 can be used to apply the desired force to the object being applied by the end effector 25.

[0101] Furthermore, in the tool device 1A of the first embodiment, since at least a portion of the work is performed by the drive device (M1, AM), the desired work can be performed using the tools of the tool device 1A with fewer workers or in an unmanned manner.

[0102] Furthermore, since the outrigger drive unit AM is located in tool 2, the drive force transmission system that transmits driving force from the outrigger drive unit AM to the outrigger 22 can be made compact. Additionally, since the end effector drive unit M1 is located in tool 2, the drive force transmission system that transmits driving force from the end effector drive unit M1 to the end effector 25 can be made compact.

[0103] Next, refer to Figure 2 and Figure 3 This describes any additional structures that can be used in the tool device 1A in the first embodiment (or the tool device 1B in the second embodiment described later, or the tool 2 in the third embodiment described later).

[0104] (Communications section 27 and control circuit 28)

[0105] like Figure 2 As illustrated in (a), tool 2 may also have a communication unit 27 and a control circuit 28.

[0106] The communication unit 27 can communicate with the remote controller C. Furthermore, the control circuit 28 controls the outrigger drive unit AM and the end effector drive unit M1 based on signals received from the remote controller C by the communication unit 27. The control circuit 28 can also be included in a control chip or in a minicomputer.

[0107] When tool 2 is equipped with communication unit 27 and control circuit 28, the operator can use remote control C to remotely operate tool 2.

[0108] exist Figure 2In the example shown in (a), when the arm operating unit C1 of the remote controller C is operated, the remote controller C sends a first operation signal to the communication unit 27. The control circuit 28, based on the first operation signal received by the communication unit 27, controls the arm drive device AM. In this way, the arm drive device AM causes the arm 22 to rotate relative to the mounting part 21 (see reference). Figure 2 (b)). Furthermore, in Figure 2 In the example shown in (a), when the end effector operation unit C2 of the remote controller C is operated, the remote controller C sends a second operation signal to the communication unit 27. The control circuit 28 controls the end effector drive unit M1 based on the second operation signal received by the communication unit 27. In this way, the end effector drive unit M1 drives the end effector 25 (see reference 25). Figure 2 Arrow AR1 in (b). Figure 2 In the example shown, the operator can rotate the outrigger 22 and drive the end effector 25 simply by operating the remote control C.

[0109] The communication unit 27 is preferably capable of wireless communication with the remote controller C. When the communication between the communication unit 27 and the remote controller C is wireless, it is not necessary to configure a communication line along the first rod member 3. In this case, since it is not necessary to configure a communication line along the first rod member 3 when installing the tool 2, the tool assembly 1A can be assembled with less labor time. Furthermore, since no communication line is configured along the first rod member 3, even if the tool 2 is an electrical construction tool, current from the wire will not be transmitted to the base end 3b of the first rod member 3 through the communication line. Therefore, electric shock to the operator can be prevented. For example, by making the first rod member 3 an electrically insulating rod member, electric shock to the operator can be reliably prevented.

[0110] (First battery E1)

[0111] exist Figure 2 In the example shown in (a), tool 2 has a first battery E1 that supplies power to the outrigger drive unit AM and the end effector drive unit M1. When tool 2 is equipped with a communication unit 27 and a control circuit 28, the first battery E1 supplies power to the communication unit 27 and the control circuit 28 in addition to supplying power to the outrigger drive unit AM and the end effector drive unit M1. The first battery E1 can be composed of a single battery or multiple batteries.

[0112] (Rotation of support arm 22 around the first axis AX1)

[0113] exist Figure 2 In the example shown in (a), the support arm 22 is supported by the mounting portion 21 so that it can rotate relative to the mounting portion 21 about the first axis AX1. Figure 2In the example shown in (a), the support arm 22 rotates relative to the mounting portion 21 only about one axis, namely the first axis AX1. Furthermore, in Figure 2 In the example shown in (a), the first axis AX1 is an axis perpendicular to the long side of the first rod member 3. Alternatively, the support arm 22 can be supported by the mounting portion 21 via a universal joint. In this case, the support arm 22 can rotate about any axis relative to the mounting portion 21.

[0114] exist Figure 2 In the example shown in (b), the movable angle α of the support arm 22 about the first axis AX1 relative to the mounting portion 21 is less than 360 degrees, more specifically about 180 degrees. Alternatively, the support arm 22 may also rotate 360 ​​degrees about the first axis AX1 relative to the mounting portion 21.

[0115] (Extension and contraction of the first member 3)

[0116] exist Figure 3 In the example shown in (a), the tool device 1A includes a third motor MT3 for extending and retracting the first lever member 3. Alternatively, the extension and retraction of the first lever member 3 can also be performed manually.

[0117] exist Figure 3 In the example shown in (a), the third motor MT3 is driven based on instructions from the remote controller C. The tool device 1A preferably includes: a second communication unit 37 capable of communicating with the remote controller C; and a second control circuit 38 that controls the third motor MT3 based on signals received from the remote controller C by the second communication unit 37.

[0118] exist Figure 3 In the example shown in (a), the first rod member 3 has: a first shaft 31 having a base end 3b; and a second shaft 32 having a front end 3a. A portion of the second shaft 32 is inserted into the inside of the first shaft 31. Furthermore, the second shaft 32 can be moved relative to the first shaft 31 in a direction parallel to the central axis AT1 of the first rod member 3 by being driven by a third motor MT3 (or manually).

[0119] exist Figure 3In the example shown in (a), a portion of the first shaft 31 overlaps with a portion of the second shaft 32, and no other shafts are disposed between the first shaft 31 and the second shaft 32. In other words, the first rod member 3 is composed of two shafts. In this case, the length of the first rod member 3 is obtained by subtracting the length of the overlapping portion between the first shaft 31 and the second shaft 32 from the sum of the lengths of the first shaft 31 and the second shaft 32. Alternatively, the first rod member 3 can also be a rod member capable of multi-stage telescoping (in other words, the first rod member 3 can also be composed of three or more shafts capable of relative movement).

[0120] The extension and retraction of the first rod member 3 driven by the third motor MT3 can be achieved using a ball screw mechanism, a rack and pinion mechanism, or other mechanisms.

[0121] exist Figure 3 (a) shows the state of maximum contraction of the first rod member 3. Figure 3 (b) shows the first rod member 3 in its maximum extended state. The difference between the length of the first rod member 3 in its maximum extended state and the length of the first rod member 3 in its maximum contracted state (in other words, the extension / retraction stroke L1 of the first rod member 3) is preferably, for example, 10 cm or more, 20 cm or more, or 30 cm or more. Furthermore, the extension / retraction stroke L1 is preferably, for example, 300 cm or less, 200 cm or less, or 100 cm or less.

[0122] exist Figure 3 In the example shown in (a), the tool device 1A has a second battery E2 that supplies power to the third motor MT3. When the tool device 1A has a second communication unit 37 and a second control circuit 38, the second battery E2 supplies power to the second communication unit 37 and the second control circuit 38 in addition to supplying power to the third motor MT3.

[0123] (Second Implementation)

[0124] Reference Figures 4 to 18 The tool device 1B in the second embodiment is described below. Figure 4 This is a schematic, schematic side view of the tool device 1B in the second embodiment. Additionally, in Figure 4 In the image, the fixed object B and the operator are shown by dashed lines. Figure 5 This is a schematic side view of a portion of the tool device 1B in the second embodiment. Figure 6 This is a schematic diagram illustrating an example of the locking mechanism 50. Figure 7 This is a schematic perspective view of a portion of the tool device 1B in the second embodiment. Figure 8This is a schematic front view of a portion of the tool device 1B in the second embodiment. Figure 9 This is a schematic diagram showing a portion of the tilting speed suppression mechanism 55. Figure 10 This is a schematic side view of the tool device 1B in the second embodiment. Figure 11 This is a schematic perspective view of a portion of the tool device 1B in the second embodiment. Figure 12 This is a schematic diagram illustrating an example of the retaining part 60. Figure 13 This is a schematic top view of the tool device 1B in the second embodiment. Figure 14 This is a schematic side view of a portion of the tool device 1B in the second embodiment. Figure 15 This is a schematic front view of a portion of the tool device 1B in the second embodiment. Figure 16 This is a schematic side view showing a portion of the tool device 1B in the first variation of the second embodiment. Figure 17 This is a schematic side view showing a portion of the tool device 1B in a second variation of the second embodiment. Figure 18 This is a schematic side view of a portion of the tool device 1B in the second embodiment.

[0125] In the second embodiment, the tool device 1B, in addition to the tool 2 and the first rod member 3, also includes a second rod member 4, which is different from the tool device 1A in the first embodiment.

[0126] In the second embodiment, the description focuses on the differences from the first embodiment, and descriptions that are repeated in the first embodiment will be omitted. Therefore, even if not explicitly stated in the second embodiment, matters described in the first embodiment can still be used in the second embodiment.

[0127] (Second member 4)

[0128] exist Figure 4 In the example shown, tool device 1B includes a second rod member 4. The second rod member 4 is made of, for example, FRP (in other words, fiber-reinforced composite material). Furthermore, tool device 1B includes a first connecting portion 5 that connects the second rod member 4 to the first rod member 3. The first connecting portion 5 connects the second rod member 4 and the first rod member 3 in a manner that allows for changing the angle between the first rod member 3 and the second rod member 4.

[0129] When the tool device 1B has a second rod member 4 and a first connecting part 5 and is able to change the angle between the first rod member 3 and the second rod member 4, the options for the path by which the tool 2 approaches the target D will increase.

[0130] like Figure 4 As illustrated, it is preferable that the angle between the first lever member 3 and the second lever member 4 can be changed manually. When the angle between the first lever member 3 and the second lever member 4 can be changed manually, the position of the tool 2 can be adjusted quickly. For example, consider the following situations: when the position of the tool 2 does not reach the desired position near the target D due to the extension of the first lever member 3 or the rotation of the support arm 22, or when the position of the target D moves due to external disturbances such as wind. In these cases, by manually changing the angle between the first lever member 3 and the second lever member 4, the position of the tool 2 can be quickly adjusted toward or following the positional changes of the target D.

[0131] like Figure 4 As illustrated, it is envisioned that the angle between the first lever member 3 and the second lever member 4 can be changed manually, and the tool 2 includes: a communication unit 27 capable of communicating with a remote controller C; and a control circuit 28 that controls the outrigger drive device AM and the end effector drive device M1 based on the signals received by the communication unit 27. In this case, while supporting the base end 3b of the first lever member 3 with one hand and adjusting the angle of the first lever member 3 relative to the second lever member 4, the other hand can be used to operate the remote controller C to rotate (more specifically, tilt) the outrigger 22 relative to the first lever member 3.

[0132] Next, refer to Figures 4 to 18 This describes any additional structures that can be used in the tool device 1B in the second embodiment (or the tool device 1A in the first embodiment, or the tool 2 in the third embodiment described later).

[0133] (Rotation of the first link component 3 around the second axis AX2)

[0134] exist Figure 4 In the example shown, the first rod member 3 is connected to the second rod member 4 via a first connecting portion 5, so that it can rotate relative to the second rod member 4 about the second axis AX2. Figure 4 In the example shown, the second axis AX2 is an axis perpendicular to the long side of the second member 4. Furthermore, the second axis AX2 is also perpendicular to the long side of the first member 3. Alternatively, the first member 3 can be supported by the second member 4 via a first connection in the form of a universal joint. In this case, the first member 3 can rotate relative to the second member 4 about any axis.

[0135] exist Figure 4In the example shown, the movable angle β of the first link member 3 relative to the second link member 4 about the second axis AX2 is less than 360 degrees and less than 180 degrees, more specifically about 120 degrees. Alternatively, the first link member 3 can rotate 360 ​​degrees relative to the second link member 4 about the second axis AX2.

[0136] Alternatively, it can be configured such that, when the second rod member 4 is arranged vertically, rotating the first rod member 3 around the second axis AX2 makes the long side of the first rod member 3 parallel to the vertical direction (more specifically, the front end 3a of the first rod member 3 can be located vertically above the base end 3b of the first rod member 3). Furthermore, it can be configured such that, when the second rod member 4 is arranged vertically, rotating the first rod member 3 around the second axis AX2 makes the long side of the first rod member 3 parallel to the horizontal direction.

[0137] (First connecting part 5)

[0138] exist Figure 4 In the example shown, the first connecting part 5 connects the first rod member 3 and the second rod member 4 so that the first rod member 3 can tilt about the second axis AX2 relative to the second rod member 4.

[0139] The first connecting portion 5 has a first part 51 mounted on the first rod member 3 and a second part 52 mounted on the second rod member 4. Furthermore, the first part 51 is connected to the second part 52 in a manner that allows it to rotatably relative to the second part 52. Figure 4 In the example shown, the first part 51 is composed of multiple parts, and the second part 52 is composed of multiple parts.

[0140] like Figure 5 As illustrated in (a), the first connecting portion 5 may include: a locking mechanism 50 to prevent the first rod member 3 from tilting relative to the second rod member 4; and a locking release operation portion 53 to release the locking mechanism 50. Figure 5 In the example shown in (a), the locking mechanism 50 prevents the first rod member 3 from rotating about the second axis AX2 relative to the second rod member 4.

[0141] The locking mechanism 50 includes: a first engaging portion 510 (e.g., a pawl 510a) and a second engaging portion 520 (e.g., a gear 520a) that can engage with the first engaging portion 510. The engagement state of the first engaging portion 510 and the second engaging portion 520 (see reference). Figure 5 (a) corresponds to the locked state, which prevents the first lever member 3 from rotating about the second axis AX2 relative to the second lever member 4, and the state in which the engagement between the first engaging part 510 and the second engaging part 520 is released (see reference). Figure 5(b) corresponds to the unlocked state. The engagement between the first engaging part 510 and the second engaging part 520 is released by operating the unlocking operation part 53. Figure 5 In the example shown in (a), the first engaging part 510 and the locking release operation part 53 are provided in the first part 51, and the second engaging part 520 is provided in the second part 52.

[0142] When the first connecting part 5 is equipped with the locking mechanism 50, the angle between the first rod member 3 and the second rod member 4 will not change even when the operator's hand leaves the first rod member 3. Furthermore, when the first connecting part 5 is equipped with the lock release operation part 53, the angle between the first rod member 3 and the second rod member 4 can be changed after the lock of the locking mechanism has been released.

[0143] Alternatively, in the locked state described above, rotation of the first lever member 3 relative to the second lever member 4 around the second axis AX2 in the first rotation direction R1 can be prohibited, but rotation around the second axis AX2 in the second rotation direction R2 (the second rotation direction R2 is opposite to the first rotation direction R1) can be permitted. For example, in the locked state described above, rotation of the first lever member 3 around the second axis AX2 can be prohibited, causing the front end portion 3a of the first lever member 3 to move downwards, but rotation of the first lever member 3 around the second axis AX2 can be permitted, causing the front end portion 3a of the first lever member 3 to move upwards. For example, by setting the gear 520a as a ratchet gear, rotation of the first lever member 3 in the first rotation direction R1 can be prohibited, while rotation of the first lever member 3 in the second rotation direction R2 can be permitted.

[0144] Alternatively, in the above-mentioned locked state, the first rod member 3 may be prohibited from rotating relative to the second rod member 4 about the second axis AX2 in the first rotation direction R1, and may also be prohibited from rotating about the second axis AX2 in the second rotation direction R2 (the second rotation direction R2 is opposite to the first rotation direction R1).

[0145] exist Figure 6 In the example shown in (a), the first connecting portion 5 has a force-applying member 54 (more specifically, a spring) that applies force to one of the first engaging portion 510 and the second engaging portion 520 in the direction of the other. In this case, with the locking release operation portion 53 not operated, the first engaging portion 510 and the second engaging portion 520 are engaged with each other by the force applied by the force-applying member 54. On the other hand, as Figure 6 As shown in (b), when the locking release operation unit 53 is operated, the first engaging part 510 and the second engaging part 520 separate from each other against the force applied by the force-applying member 54, so as to release the engagement between the first engaging part 510 and the second engaging part 520.

[0146] (Tilting speed suppression mechanism 55)

[0147] With the locking mechanism 50 released (or, if the tool device 1B does not have the locking mechanism 50), if the operator's hand leaves the first lever member 3, the first lever member 3 may rotate around the second axis AX2 (refer to...) due to the force acting on the tool 2 or the gravity of the first lever member 3. Figure 4 It tilts at a relatively high angular velocity. Therefore, in Figure 7 In the example shown, the first connecting portion 5 includes a tilting speed suppression mechanism 55. When the first rod member 3 tilts relative to the second rod member 4 due to the force acting on the tool 2 or the gravity of the first rod member 3, this tilting speed suppression mechanism 55 suppresses the tilting speed of the first rod member 3 relative to the second rod member 4. Preferably, the tilting speed suppression mechanism 55 suppresses the tilting speed of the first rod member 3 relative to the second rod member 4 around the second axis AX2 (see reference). Figure 4 The mechanism for the tilting speed. Additionally, in Figure 7 Although the first rod member 3 is not explicitly described in the text, it is installed on the first part 51 when the tool device 1B is used.

[0148] exist Figure 8 In the example shown, the tilting speed suppression mechanism 55 has a friction plate 56 and a pressing member 57 that presses against the friction plate 56. One of the friction plate 56 and the pressing member 57 is disposed in the first part 51, and the other of the friction plate 56 and the pressing member 57 is disposed in the second part 52. In this case, the rotational speed of the first part 51 relative to the second part 52 can be suppressed by the contact between the friction plate 56 and the pressing member 57, and the tilting speed of the first rod member 3 relative to the second rod member 4, which is mounted in the second part 52, and the first rod member 3 is mounted in the first part 51.

[0149] The tilting speed suppression mechanism 55 may have a force-applying member 58 (e.g., a spring 58a) that applies pressure between the friction plate 56 and the pushing member 57. Furthermore, the tilting speed suppression mechanism 55 may have a pressure adjustment portion 59 (e.g., a pressure adjustment handle 59a) that adjusts the pressure acting between the friction plate 56 and the pushing member 57. Figure 8 In the example shown, when the pressure adjustment handle 59a is operated in the first operating direction, the pushing member 57 moves towards the friction plate 56, compressing the spring 58a. This increases the pressure acting between the friction plate 56 and the pushing member 57. Conversely, when the pressure adjustment handle 59a is operated in the second operating direction, opposite to the first operating direction, the pushing member 57 moves away from the friction plate 56, reducing the compression of the spring 58a. This reduces the pressure acting between the friction plate 56 and the pushing member 57.

[0150] exist Figure 8 In the example shown, the pressing member 57 includes: a pressing part 57a, a pressing friction plate 56; and a screw 57b connecting the pressing part 57a and the pressure adjustment handle 59a. Furthermore, in Figure 8 In the example shown, a guide member 515 is provided on the first part 51, which engages with the screw 57b to guide the movement of the screw 57b. In this case, by rotating the pressure adjustment handle 59a and the screw 57b relative to the guide member 515, the pushing member 57 is moved toward (or away from) the friction plate 56. In this way, the pressure acting between the friction plate 56 and the pushing member 57 can be adjusted.

[0151] like Figure 9 As illustrated, the first connecting portion 5 (more specifically, the second portion 52) may have a shaft 525 supporting the friction plate 56. Figure 9 In the example shown, the friction plate 56 is supported by the shaft 525 such that the friction plate 56 cannot rotate relative to the shaft 525, but can slide along the axis of the shaft 525 (see arrow AR2). As the friction plate 56 slides along the axis of the shaft 525, the force applied by the force-applying member 58 (more specifically, the compression of the spring 58a) changes.

[0152] When the first connecting part 5 is equipped with the tilting speed suppression mechanism 55, even if the operator's hand leaves the first lever member 3, it can prevent the tool 2 and the first lever member 3 from tilting together around the second axis AX2 at a relatively fast angular velocity. Therefore, the safety of the operator can be ensured, and damage to the tool 2 or other components due to collisions can be prevented.

[0153] (Rotation of the first link member 3 around the central axis AT1 of the first link member 3)

[0154] like Figure 10 As illustrated, the first link member 3 can be supported by the first connecting portion 5, thereby allowing it to rotate about the central axis AT1 of the first link member 3 (refer to arrow AR3). In this case, the extension direction of the first axis AX1 can be changed to any direction within a plane perpendicular to the central axis AT1. Therefore, the extension direction of the first axis AX1 can be adjusted in accordance with the position or orientation of the target D.

[0155] exist Figure 11 In the example shown, the adjustment of the rotation angle of the first link member 3 about its central axis AT1 can be performed manually. More specifically, in Figure 11In the example shown, the tool device 1B includes: a holding part 60 disposed in the first connecting part 5 and capable of holding the first rod member 3; and a first operating part 61 for changing the state of the holding part 60. The first operating part 61 changes the state of the holding part 60 between a first state in which the holding part 60 holds the first rod member 3, and a second state in which the holding part 60 releases the holding of the first rod member 3.

[0156] When the retaining part 60 is in the first state, it prevents the first rod member 3 from rotating about the central axis AT1 of the first rod member 3. On the other hand, when the retaining part 60 is in the second state, it allows the first rod member 3 to rotate about the central axis AT1 of the first rod member 3.

[0157] By manually operating the first operation unit 61, the state of the holding unit 60 can be switched to the second state (see reference). Figure 12 (c) Furthermore, when the holding part 60 is in the second state, the rotation angle of the first rod member 3 around the central axis AT1 is adjusted by manually rotating the first rod member 3 around the central axis AT1.

[0158] exist Figure 11 In the example shown, the first operating unit 61 is an operating unit that switches the state of the holding unit 60 from a first state to a second state by being gripped by an operator. The first operating unit 61 may have a first lever 61a and a second lever 61b that is movable relative to the first lever 61a. Figure 11 In the example shown, when the first operation unit 61 is operated to reduce the gap between the first rod 61a and the second rod 61b, the state of the holding unit 60 will switch from the first state to the second state.

[0159] exist Figure 12 In the example shown, the retaining part 60 has a first retaining member 60a and a second retaining member 60b that is movable relative to the first retaining member 60a. By reducing the gap between the first retaining member 60a and the second retaining member 60b, the retaining part 60 holds the first rod member 3 (see reference 60a). Figure 12 (a) and Figure 12 (b)). On the other hand, by widening the gap between the first retaining member 60a and the second retaining member 60b, the retaining part 60 releases the retaining part 60 from the first rod member 3 (see reference). Figure 12 (c)). In Figure 12 In the example shown, by grasping the first operating part 61, the gap between the first holding member 60a and the second holding member 60b is widened, and the state of the holding part 60 switches from the first state to the second state.

[0160] exist Figure 12 In the example shown, tool device 1B has a force-applying member 62 (e.g., a spring) that applies force to the holding portion 60 or the first operating portion 61 to maintain the state of the holding portion 60 in a first state. Figure 12 In the example shown, the force-applying member 62 is positioned between the first rod 61a and the second rod 61b.

[0161] When a first operation unit 61 is provided that switches the state of the holding part 60 between a first state and a second state, the adjustment of the rotation angle of the first lever member 3 around the central axis AT1 of the first lever member 3 and the maintenance of the rotation angle can be easily performed. The first state is the state in which the first lever member 3 is held by the holding part 60, and the second state is the state in which the holding part 60 releases the holding of the first lever member 3. Furthermore, when the tool device 1B has a force-applying member 62 that applies force to the holding part 60 or the first operation unit 61, the state of the holding part 60 can be maintained in the first state and the rotation angle of the first lever member 3 around the central axis AT1 of the first lever member 3 can be maintained simply by removing the hand from the first operation unit 61.

[0162] In addition, Figure 10 and Figure 11 In the example shown, although the rotation angle of the first rod member 3 around the central axis AT1 of the first rod member 3 can be adjusted manually, the adjustment of the rotation angle can also be performed by a motor.

[0163] (Anti-detachment component 64)

[0164] exist Figure 12 In the example shown in (c), the first connecting portion 5 has a detachment prevention member 64, which prevents the first rod member 3 from detaching from the first connecting portion 5 when the retaining portion 60 is in the second state. The detachment prevention member 64 is configured, for example, to surround the first rod member 3. When the retaining portion 60 is in the second state, the detachment prevention member 64 allows relative movement between the retaining portion 60 and the first rod member 3. To allow relative movement between the retaining portion 60 and the first rod member 3, it is preferable to form a gap between the inner surface 64n of the detachment prevention member 64 and the outer surface of the first rod member 3.

[0165] (Second Locking Mechanism 66)

[0166] like Figure 11 As illustrated, the tool device 1B may include: a second locking mechanism 66 to prevent the gap between the first lever 61a and the second lever 61b from narrowing; and a second locking release operation part 67 to release the lock of the second locking mechanism 66.

[0167] exist Figure 12In the example shown in (a), the second locking mechanism 66 has a threaded member 66a that prevents the gap between the first rod 61a and the second rod 61b from narrowing, and the second locking release operation part 67 has a knob part 67a for rotating the threaded member 66a. Figure 12 In the example shown in (a), the threaded member 66a is screwed into the first rod 61a.

[0168] When the front end of the threaded member 66a is in contact with the second rod 61b, the gap between the first rod 61a and the second rod 61b cannot be reduced (refer to...). Figure 12 (a)). In other words, the state in which the front end of the threaded member 66a contacts the second rod 61b corresponds to a locking state that prevents the gap between the first rod 61a and the second rod 61b from narrowing.

[0169] exist Figure 12 In the example shown in (a), when the second locking release operation part 67 (more specifically the knob part 67a) is rotated, the front end of the threaded member 66a separates from the second rod 61b (see reference). Figure 12 (b)). When the front end of the threaded member 66a is separated from the second rod 61b, the gap between the first rod 61a and the second rod 61b can be reduced. In other words, the state in which the front end of the threaded member 66a is separated from the second rod 61b corresponds to the lock-released state that allows the gap between the first rod 61a and the second rod 61b to be reduced.

[0170] In the unlocked state (in other words, the second locking mechanism 66 is unlocked), when the operator grasps the first operating part 61 (more specifically, the first lever 61a and the second lever 61b), the state of the holding part 60 changes from the first state (refer to...). Figure 12 (b)) switches to the second state (refer to) Figure 12 (c)).

[0171] In addition, Figure 12 In the example shown in (a), the second locking mechanism 66 can maintain the state of the retaining part 60 in the first state (i.e., the first state of the first rod member 3 is maintained by the retaining part 60) with a force greater than that of the force-applying member 62. More specifically, by rotating the second locking release operation part 67 (more specifically, the knob part 67a), the threaded member 66a pushes the second rod 61b, thereby increasing the force that maintains the state of the retaining part 60 in the first state. By increasing the force that maintains the state of the retaining part 60 in the first state, it is possible to more reliably prevent the first rod member 3 from accidentally moving relative to the retaining part 60 (more specifically, sliding or rotating relative to the retaining part 60).

[0172] exist Figure 12 (a) and Figure 12 In the example shown in (b), the second locking mechanism 66 can be switched to the following state: a state in which the magnitude of the force maintaining the state of the holding part 60 in the first state is substantially equal to the magnitude of the force exerted by the force-applying member 62 (see reference). Figure 12 (b) Switching to a state where the magnitude of the force that maintains the state of the holding part 60 in the first state is greater than the magnitude of the force applied by the force-applying member 62 (see reference). Figure 12 (a)

[0173] (Slippage of the first member 3)

[0174] like Figure 10 As illustrated, the first rod member 3 can be supported by the first connecting portion 5, allowing the first rod member 3 to slide relative to the first connecting portion 5 along its long side (refer to arrow AR4). In this case, the distance from the first connecting portion 5 to the front end 3a of the first rod member 3 can be adjusted. For example, when it is difficult to bring the tool 2 closer to the target D using only the extension and retraction of the first rod member 3, the sliding of the first rod member 3 relative to the first connecting portion 5 and the extension and retraction of the first rod member 3 can be combined to bring the tool 2 closer to the target D.

[0175] exist Figure 11 In the example shown, the sliding of the first rod member 3 relative to the first connecting portion 5 is performed manually. More specifically, the first operating unit 61 is operated manually to switch the state of the holding portion 60 from the first state to the second state. Furthermore, when the holding portion 60 is in the second state, the first rod member 3 is moved manually along its long side, thereby causing the first rod member 3 to slide relative to the first connecting portion 5.

[0176] (Rotation of the first link member 3 around the central axis AT2 of the second link member 4)

[0177] exist Figure 10 In the example shown, the first rod member 3 is supported by the second rod member 4 via the first connecting portion 5, so that it can rotate about the central axis AT2 of the second rod member 4 (refer to arrow AR5). In this case, the position of the tool 2 mounted on the front end 3a of the first rod member 3 can be changed in a plane perpendicular to the central axis AT2. More specifically, the position of the tool 2 mounted on the front end 3a of the first rod member 3 in top view can be changed.

[0178] The angular position of the first link member 3 around the central axis AT2 of the second link member 4 can be maintained by a locking member. Alternatively, a locking member to maintain this angular position may not be provided.

[0179] Preferably, the rotation of the first rod member 3 about the central axis AT2 of the second rod member 4 can be performed manually. Because it can be performed manually, the position of the tool 2 about the central axis AT2 of the second rod member 4 can be quickly adjusted. However, in this embodiment, the use of a motor to perform the rotation of the first rod member 3 about the central axis AT2 is not excluded.

[0180] The movable angle of the first rod member 3 around the central axis AT2 of the second rod member 4 is preferably 180 degrees or more. The first rod member 3 can rotate 360 ​​degrees around the central axis AT2 of the second rod member 4.

[0181] For example, by rotating the first rod member 3 180 degrees around the central axis AT2 of the second rod member 4, the tool 2 (see reference) located outside the cage B1 of the aerial work platform when viewed from above can be positioned... Figure 13 (a) Move to the vicinity of the aerial work platform's cage B1 when viewed from above (or, the inside of the aerial work platform's cage B1) (see reference). Figure 13 (b)). In this case, since tool 2 is close to the operator inside the cage B1, it is easier for the operator to perform adjustment work on tool 2 (e.g., installing other tools onto tool 2).

[0182] (Extension and contraction of the second member 4)

[0183] like Figure 10 As illustrated, the second rod member 4 is preferably telescopic (refer to arrow AR6). When the second rod member 4 is telescopic, the position of the first rod member 3 in the height direction can be adjusted. For example, when the target D is in a higher position, the second rod member 4 can extend, thereby moving the first rod member 3 and the tool 2 supported by the first rod member 3 upwards.

[0184] Furthermore, by retracting the second rod member 4, the first rod member 3 approaches the base end 4b of the second rod member 4. In this case, the handling of the tool device 1B becomes easier. In addition, since the tool 2 supported by the first rod member 3 is close to the operator, it is easier for the operator to perform adjustment operations on the tool 2 (e.g., operations such as installing other tools onto the tool 2).

[0185] like Figure 10As illustrated, the tool device 1B may include a fourth motor MT4 for extending and retracting the second lever member 4. The fourth motor MT4 is driven, for example, based on commands from a remote controller C. In other words, the tool device 1B may include: a third communication unit 47 capable of communicating with the remote controller C; and a third control circuit 48 that controls the fourth motor MT4 based on signals received from the remote controller C by the third communication unit 47. The extension and retraction of the second lever member 4 can be performed manually, instead of using the driving force of the fourth motor MT4.

[0186] exist Figure 14 In the example shown in (b), the second rod member 4 has: a third shaft 41 having a base end 4b; and a fourth shaft 42 having a front end 4a. A portion of the fourth shaft 42 is inserted into the inside of the third shaft 41. Furthermore, the fourth shaft 42 can be moved relative to the third shaft 41 in a direction parallel to the central axis AT2 of the second rod member 4 by being driven by the fourth motor MT4 (or manually).

[0187] exist Figure 14 In the example shown in (b), a portion of the third shaft 41 overlaps with a portion of the fourth shaft 42, and no other shafts are positioned between the third shaft 41 and the fourth shaft 42. In other words, the second rod member 4 is composed of two shafts. In this case, the length of the second rod member 4 is obtained by subtracting the length of the overlapping portion between the third shaft 41 and the fourth shaft 42 from the sum of the lengths of the third shaft 41 and the fourth shaft 42. Alternatively, the second rod member 4 can be a multi-stage telescopic rod member (in other words, the second rod member 4 can be composed of three or more shafts that can move relative to each other).

[0188] The extension and retraction of the second rod member 4 driven by the fourth motor MT4 can be achieved using a ball screw mechanism, a rack and pinion mechanism, or other mechanisms.

[0189] exist Figure 14 (a) shows the state of maximum contraction of the second rod member 4. Figure 14 (b) shows the second rod member 4 at its maximum extension. The difference between the length of the second rod member 4 at its maximum extension and the length of the second rod member 4 at its maximum contraction (in other words, the extension stroke L2 of the second rod member 4) is preferably 10 cm or more, 20 cm or more, or 30 cm or more. Furthermore, the extension stroke L2 is preferably, for example, 300 cm or less, 200 cm or less, or 100 cm or less.

[0190] exist Figure 14In the example shown in (a), the tool device 1B has a third battery E3 that supplies power to the fourth motor MT4. When the tool device 1B has a third communication unit 47 and a third control circuit 48, the third battery E3 supplies power to the third communication unit 47 and the third control circuit 48 in addition to supplying power to the fourth motor MT4.

[0191] (Base 7 and second connecting part 8)

[0192] like Figure 10 As illustrated, the tool device 1B may include: a base 7, and a second connecting portion 8 that connects the second rod member 4 to the base 7.

[0193] The base 7 is fixed to the fixed object B (e.g., the safety cage B1 of an aerial work platform). Figure 10 In the example shown, the base 7 has a base body 71 and a pressing member 72 that is movable relative to the base body 71. The base body 71 and the pressing member 72 constitute a fixing part 70 for fixing the base 7 to the fixing object B.

[0194] The base 7 may have a push member operating portion 73 (e.g., a handle 73a) for moving the push member 72. Figure 10 In the example shown, when the operating part 73 of the pressing member (more specifically, the handle 73a) is operated, the gap between the pressing member 72 and the base body 71 is reduced, and the object B is clamped by the pressing member 72 and the base body 71. In this way, the base 7 is fixed to the object B. Furthermore, the structure of the fixing part 70 that fixes the base 7 to the object B is not limited to... Figure 10 The example shown can be arbitrary. In other words, the base 7 can be fixed to the fixed object B in any way.

[0195] When the tool device 1B has a base 7 that supports the second rod member 4, the second rod member 4 is stably supported by the base 7. Furthermore, when the base 7 is fixed to the fixed object B, the second rod member 4 is stably supported by both the base 7 and the fixed object B.

[0196] exist Figure 15 In the example shown in (a), the second connecting part 8 connects the second rod member 4 to the base 7, such that the second rod member 4 can move relative to the base 7 along a first direction DR1 (e.g., horizontal direction) perpendicular to the long side direction of the second rod member 4 (refer to arrow AR7).

[0197] The second connecting portion 8 has a third portion 81 mounted on the second rod member 4 and a fourth portion 82 mounted on the base 7. Furthermore, the third portion 81 is connected to the fourth portion 82 in a manner that allows it to move relative to the fourth portion 82 along a first direction DR1. Figure 15 In the example shown in (a), the third part 81 consists of multiple parts, and the fourth part 82 consists of multiple parts.

[0198] exist Figure 15 In the example shown in (a), the third part 81 has: a support 811 supporting the second rod member 4; and a slider 812 connected to the support 811 and movable along a first direction DR1. The slider 812 may have multiple rollers 812a.

[0199] exist Figure 15 In the example shown in (a), the fourth part 82 has a guide member 822 that guides the slider 812 to move along the direction of the first direction DR1. The guide member 822 may include a guide rail 822a that guides the movement of a plurality of rollers 812a.

[0200] like Figure 15 As illustrated in (a), the second connecting portion 8 may have a movement operation portion 84 that moves the third portion 81 along the first direction DR1. The movement operation portion 84 may be, for example, a handle 84a. Figure 15 In the example shown in (a), when the moving operation unit 84 (more specifically, the handle 84a) is operated in the first operation direction, the third part 81 moves relative to the fourth part 82 in the first direction DR1. On the other hand, in Figure 15 In the example shown in (b), when the moving operation unit 84 operates in the second operation direction opposite to the first operation direction, the third part 81 moves relative to the fourth part 82 in the second direction DR2 opposite to the first direction DR1.

[0201] exist Figure 15 In the example shown in (a), the screw 85 is connected to the moving operating part 84, and the external thread of the screw 85 engages with the internal thread of the third part 81. In this case, when the moving operating part 84 is rotated, the screw 85 rotates about the axis of the screw 85. When the screw 85 rotates about the axis of the screw 85, the third part 81 moves along the screw 85. In this way, the third part 81 and the second rod member 4 mounted on the third part 81 move along the first direction DR1.

[0202] exist Figure 15 In the example shown in (a), the mechanism for moving the third part 81 includes the external thread of the screw 85, the internal thread of the third part 81, the guide rail 822a, and the slider 812. Alternatively, one of the external thread of the screw 85, the internal thread of the third part 81, the guide rail 822a, and the slider 812 may be omitted. As another alternative, the mechanism for moving the third part 81 may include a rack and pinion instead of the external and internal threads.

[0203] When the tool device 1B has the second connecting part 8 that connects the second rod member 4 and the base 7, the position of the second rod member 4 in the lateral direction can be easily adjusted.

[0204] exist Figure 15 In the example shown, the second rod member 4 can move laterally relative to the base 7 (in other words, in a direction parallel to the first direction DR1), but the second rod member 4 may also be unable to move laterally relative to the base 7. Furthermore, in Figure 15 In the example shown, the relative movement of the second rod member 4 relative to the base 7 is performed manually, but the relative movement of the second rod member 4 relative to the base 7 can also be performed using a motor.

[0205] (First gripping section 25a and second gripping section 25b)

[0206] exist Figure 2 or Figure 10 In the example shown, tool 2 has a gripping mechanism G1 capable of gripping the object to which force is applied. Furthermore, the gripping mechanism G1 includes a first gripping part 25a and a second gripping part 25b capable of moving relative to the first gripping part 25a.

[0207] exist Figure 2 or Figure 10 In the example shown, the gripping mechanism G1 is supported by the arm 22. Furthermore, the gripping mechanism G1 constitutes at least a part of the end effector 25, which applies force to the object to which the force is applied. In other words, the end effector 25 includes the gripping mechanism G1. Figure 2 or Figure 10 In the example shown, the second gripping part 25b is driven by the end effector drive device M1, thereby moving relative to the first gripping part 25a.

[0208] exist Figure 2 or Figure 10 In the example shown, tool device 1 (more specifically tool 2) includes: an arm drive device AM that rotates the arm 22 relative to the mounting portion 21; and an end effector drive device M1 that drives the second gripping portion 25b. In this case, for example, by using the arm drive device AM to rotate the arm 22 relative to the mounting portion 21, tool 2 is brought closer to target D. Then, by using the end effector drive device M1 to drive the second gripping portion 25b, the desired gripping force can be applied to the object of force application, i.e., target D. Alternatively, the second gripping portion 25b can be moved by driving the end effector drive device M1, thereby causing the gripping mechanism G1 to grip the object of force application, i.e., another tool. Then, by using the arm drive device AM to rotate the arm 22 relative to the mounting portion 21, the other tool is brought closer to target D, such as an electrical wire.

[0209] exist Figure 2 or Figure 10 In the example shown, tool 2 includes: a screw 201 screwed into the internal thread of a second gripping portion 25b; and a guide shaft 202 guiding the movement of the second gripping portion 25b. In this case, the end effector drive device M1 (more specifically, the first motor MT1) rotates the screw 201 in a first rotational direction, thereby moving the second gripping portion 25b screwed into the screw 201 toward the first gripping portion 25a. Furthermore, the end effector drive device M1 (more specifically, the first motor MT1) rotates the screw 201 in a second rotational direction opposite to the first rotational direction, thereby moving the second gripping portion 25b screwed into the screw 201 away from the first gripping portion 25a.

[0210] exist Figure 2 or Figure 10 In the example shown, the first gripping part 25a is a fixed gripping part not driven by the end effector drive device M1, and the second gripping part 25b is a movable gripping part driven by the end effector drive device M1. Alternatively, the first gripping part 25a and the second gripping part 25b can be connected by a linkage mechanism, thereby allowing the end effector drive device M1 to drive both the first gripping part 25a and the second gripping part 25b. In other words, both the first gripping part 25a and the second gripping part 25b can be movable gripping parts. Furthermore, any attachments can be mounted on the first gripping part 25a and / or the second gripping part 25b to match the shape of the object being gripped by the gripping mechanism G1. As another alternative, the tool 2 has a first blade replacing the first gripping part 25a, and a second blade driven by the end effector drive device M1 replacing the second gripping part 25b. In other words, the tool 2 can also be a cutting tool with a first blade and a second blade.

[0211] (Rotating body 25c)

[0212] like Figure 16 As illustrated, in the first, second, or third embodiment described later, the tool 2 may have a rotating body 25c driven by an end effector drive device M1 (more specifically, a first motor MT1) and capable of rotating about a first rotation axis AS1.

[0213] exist Figure 16In the example shown, the rotating body 25c is supported by the arm 22. Furthermore, the rotating body 25c constitutes at least a portion of the end effector 25, which applies force to the object to which the force is applied. In other words, the end effector 25 includes the rotating body 25c. In this case, for example, by using the arm drive device AM to rotate the arm 22 relative to the mounting portion 21, thereby bringing the tool 2 closer to the target D, and then by using the end effector drive device M1 to rotate the rotating body 25c, the desired rotational force can be applied to the object to which the force is applied, i.e., the target D.

[0214] exist Figure 16 In the example shown, tool 2 has a shaft 203 that connects an end effector drive M1 (more specifically, a first motor MT1) to a rotating body 25c. In this case, the end effector drive M1 (more specifically, the first motor MT1) rotates the shaft 203, thereby causing the rotating body 25c to rotate about a first rotation axis AS1.

[0215] exist Figure 16 In the example shown, the rotating body 25c has a hook 251c. In this case, for example, the front end of the hook 251c is inserted into the operating ring of another tool, and then the operating ring of the other tool is operated by rotating the hook 251c about the first rotation axis AS1. Alternatively, the rotating body 25c may have a driver screwdriver capable of engaging with the head of a threaded component, or a wrench capable of engaging with the head of a nut or bolt. As another alternative, the rotating body 25c may have a blade for separating the coating of an electrical wire from its core.

[0216] (Multiple end effectors (25, 25'))

[0217] In the first, second, or third embodiment described later, the tool 2 may have a plurality of end effectors (25, 25') driven by the end effector drive device M1.

[0218] exist Figure 17 In the example shown, tool 2 has a first end effector 25 and a second end effector 25', and the end effector drive device M1 has a first motor MT1 and a second motor MT2. The drive of the first motor MT1 is controlled by the control circuit 28, for example, based on the operation signal of the remote controller C, and the drive of the second motor MT2 is controlled by the control circuit 28, for example, based on the operation signal of the remote controller C.

[0219] exist Figure 17In the example shown, the first end effector 25 includes a gripping mechanism G1. A second gripping portion 25b of the gripping mechanism G1 moves relative to the first gripping portion 25a by being driven by a first motor MT1. Figure 17 In the example shown, the second end effector 25' includes a rotating body 25c. The rotating body 25c is driven by a second motor MT2 to rotate about a first rotation axis AS1. The rotating body 25c may include a hook 251c, or it may include a screwdriver, a wrench, or a blade.

[0220] When tool 2 has multiple end effectors (25, 25'), multiple different jobs can be performed using a single tool device 1. For example, jobs performed using the first end effector 25 and jobs performed using the second end effector 25' can be performed selectively or continuously.

[0221] (Tool holding part 23)

[0222] exist Figure 2 or Figure 10 In the example shown, tool 2 has a tool holding part 23 (in other words, a tool holding part 23 that can hold other tools in a replaceable manner). This tool holding part 23 is separately provided from the end effector 25 and holds other tools in a detachable manner. The tool holding part 23 can selectively hold the hook part 24 (see reference). Figure 18 Tools such as screwdrivers, wrenches, and socket compression tools.

[0223] When tool 2 is equipped with tool holding part 23, any tool can be mounted on tool holding part 23, and the tool can be brought close to target D using first lever member 3 and support arm 22. Furthermore, when tool 2 is equipped with end effector 25 and tool holding part 23, operations performed using end effector 25 and operations performed using tool held by tool holding part 23 can be performed selectively or continuously.

[0224] (Third Implementation)

[0225] Reference Figures 1 to 19 This describes tool 2 in the third embodiment. Figure 19 This is a schematic side view of tool 2 in the third embodiment.

[0226] In the third embodiment, the description focuses on the differences from the first and second embodiments, and descriptions that are repeated in the first or second embodiments will be omitted. Therefore, even if not explicitly described in the third embodiment, matters described in the first or second embodiments can still be used in the third embodiment.

[0227] like Figure 19 As illustrated, the tool 2 in the third embodiment includes (1) a mounting portion 21 that can be mounted on a rod member, (2) a support arm 22 that is rotatably supported by the mounting portion 21, (3) an end effector 25 supported by the support arm 22 that applies force to the object to which the force is applied, (4) a support arm drive device AM that rotates the support arm 22 relative to the mounting portion 21, and (5) an end effector drive device M1 that drives the end effector 25.

[0228] The tool 2 of the third embodiment may have the same structure as the tool 2 in the tool device 1A of the first embodiment, or it may have the same structure as the tool 2 in the tool device 1B of the second embodiment. The descriptions of each structure of the tool 2 (e.g., mounting part 21, support arm 22, end effector 25, tool holding part 23, communication part 27, control circuit 28, first battery E1, etc.) refer to those of the first or second embodiments, and repeated descriptions of each structure of the tool 2 are omitted.

[0229] (How to use tool device 1)

[0230] Next, refer to Figures 1 to 21 The method of using tool device 1 in the embodiment is explained. Figure 20 This diagram schematically illustrates the process of adjusting the position during the operation. Figure 21 This is a flowchart illustrating an example of how to use the tool device 1 in the embodiment.

[0231] In the method of using the tool device 1 in the embodiment, the tool device 1 can be the tool device 1A of the first embodiment, the tool device 1B of the second embodiment, or other tool devices.

[0232] The tool device 1 includes (1) a telescopic first lever member 3 and (2) a tool 2 mounted on the first lever member 3. The tool 2 includes (3) a mounting portion 21 mounted on the first lever member 3, (4) a support arm 22 rotatably supported by the mounting portion 21, (5) an end effector 25 supported by the support arm 22, (6) a support arm drive device AM that rotates the support arm 22 relative to the mounting portion 21, and (7) an end effector drive device M1 that drives the end effector 25. (8) The tool device 1 may have a second lever member 4 and a first connecting portion 5 that connects the first lever member 3 and the second lever member 4. (9) The tool device 1 may have a holding portion 60 that can hold the first lever member 3 and a first operating portion 61 that changes the state of the holding portion 60. (10) The tool device 1 may have a third motor MT3 that extends and retracts the first lever member 3 and / or a fourth motor MT4 that extends and retracts the second lever member 4. (11) The tool device 1 may have a base 7 and a second connecting part 8 that connects the second rod member 4 and the base 7. Since the "first rod member 3", "tool 2", "second rod member 4", "first connecting part 5", "holding part 60", "first operating part 61", "third motor MT3", "fourth motor MT4", "base 7" and "second connecting part 8" have been described in the first or second embodiment, repeated descriptions of these structures are omitted.

[0233] In the first step ST1, tool device 1 is prepared. The first step ST1 is a preparation process. The tool device 1 prepared in the preparation process can be tool device 1A of the first embodiment, tool device 1B of the second embodiment, or other tool devices.

[0234] When tool 2 is separated from the first lever member 3, the preparation process (first step ST1) may include the step of installing the mounting part 21 of tool 2 to the front end 3a of the first lever member 3. Furthermore, when tool device 1 has a base 7, the preparation process (first step ST1) may include the step of fixing the base 7 to the fixed object B (e.g., the cage B1 of an aerial work platform). Furthermore, when tool device 1 has a tool holding part 23, the preparation process (first step ST1) may include the step of installing other tools (e.g., hook 24, screwdriver, wrench, socket compression tool, etc.) to the tool holding part 23. Furthermore, in tool device 1, when the end effector can be replaced with another end effector 25, the preparation process (first step ST1) may include the step of replacing the end effector configured on tool 2 with another end effector 25.

[0235] In the second step ST2, the tool 2 installed at the front end 3a of the first rod member 3 approaches the target D. The second step ST2 is an approaching process. The approaching process includes: performing a step that extends the first rod member 3 (see reference...). Figure 3 The steps of rotating tool 2 relative to mounting part 21 using outrigger drive device AM (more specifically outrigger drive motor MT) and using outrigger drive device AM (more specifically outrigger drive motor MT) (see) Figure 2 At least one of the steps in the process of bringing tool 2 closer to target D.

[0236] The rotation of the support arm 22 is performed, for example, by the support arm drive device AM, based on a first operation signal from the remote controller C. The extension of the first rod member 3 can be performed by the third motor MT3 moving the second shaft 32 of the first rod member 3 relative to the first shaft 31, based on a third operation signal from the remote controller C, or it can be performed manually.

[0237] When the tooling device 1 has a second rod member 4 connected to the first rod member 3 via the first connecting part 5, the approach process (second step ST2) may include a step of extending the second rod member 4 (see reference). Figure 14 (Arrow AR6 in the diagram). The extension of the second lever member 4 can be performed by the fourth motor MT4 moving the fourth axis 42 of the second lever member 4 relative to the third axis 41 based on the fourth operation signal of the remote controller C, or it can be performed manually.

[0238] When the tooling device 1 has a second rod member 4 connected to the first rod member 3 via the first connecting portion 5, the approach process (second step ST2) may include a step of sliding the first rod member 3 entirely relative to the first connecting portion 5 (see reference). Figure 11 (Arrow AR4 in the diagram). The step of sliding the first rod member 3 as a whole can be performed using the driving force of a motor or manually.

[0239] exist Figure 11 In the example shown, the approach process (second step ST2) includes: (1) changing the state of the holding part 6 from a first state to a second state by operating the first operating part 61, the first state being the state in which the first rod member 3 is held by the holding part 60, and the second state being the state in which the holding part 60 releases the holding of the first rod member 3; (2) in the second state, causing the first rod member 3 to slide relative to the first connecting part 5 as a whole (refer to arrow AR4); and (3) changing the state of the holding part 6 from the second state to the first state by operating the first operating part 61 (more specifically, removing the hand from the first operating part 61), the first state being the state in which the first rod member 3 is held by the holding part 60.

[0240] When the tooling device 1 has a second rod member 4 connected to the first rod member 3 via the first connecting part 5, the approach process (second step ST2) may include: rotating the first rod member 3 relative to the first connecting part 5 about the central axis AT1 of the first rod member 3 (refer to...). Figure 11 (See arrow AR3 in the image). Rotating the first rod member 3 around the central axis AT1 can be done using the driving force of a motor or manually.

[0241] exist Figure 11 In the example shown, the approach process (second step ST2) includes the following steps: (1) changing the state of the holding part 60 from the first state to the second state by operating the first operating part 61; (2) in the second state, rotating the first rod member 3 relative to the first connecting part 5 about the central axis AT1 of the first rod member 3 (refer to arrow AR3); and (3) changing the state of the holding part 60 from the second state to the first state by operating the first operating part 61 (more specifically, removing the hand from the first operating part 61).

[0242] When the second rod member 4 is a telescopic rod member, the approach process (second step ST2) may include a step of extending the second rod member 4 (see reference). Figure 14 The extension of the second rod member 4 can be performed by driving the fourth motor MT4 based on the fourth operation signal of the remote controller C, or it can be performed manually.

[0243] When the tooling device 1 has a base 7 connected to the second rod member 4 via the second connecting part 8, the approach process (second step ST2) may include: a step of moving the entire second rod member 4 relative to the base 7 in a direction perpendicular to the second rod member 4 (see reference). Figure 15 The step of moving the second rod member 4 relative to the base 7 can be performed using the driving force of a motor or manually.

[0244] In the third step ST3, the position of the tool 2 installed at the front end 3a of the first rod member 3 is adjusted by manually operating the first rod member 3. The third step ST3 is a position adjustment process. The position adjustment process can be performed after the approach process (second step ST2), simultaneously with the approach process (second step ST2), or before the approach process (second step ST2).

[0245] The position adjustment process (third step ST3) may include: manually changing the angle between the first rod member 3 and the second rod member 4. Changing the angle between the first rod member 3 and the second rod member 4 may include: moving the base end portion 3b of the first rod member 3 to rotate the first rod member 3 around the second axis AX2 (see reference). Figure 20 (Arrow AR8 in the image).

[0246] The position adjustment process (third step ST3) may include: manually rotating the first rod member 3 around the central axis AT2 of the second rod member 4 (see reference). Figure 13 (a)). Rotating the first rod member 3 about the central axis AT2 can be performed manually by moving the base end 3b of the first rod member 3.

[0247] In the fourth step ST4, a force is applied to the object by the end effector 25. The fourth step ST4 is the force application process. This force application process is performed by using the end effector drive unit M1 to drive the end effector 25. When the end effector 25 has a holding mechanism G1 (see...), Figure 2 , Figure 10 ,or Figure 17 The end effector 25 applies a holding force to the object to which the force is applied. Furthermore, when the end effector 25 has a rotating body 25c (see reference...), Figure 16 or Figure 17 The end effector 25 applies a rotational force to the object to which force is applied. Furthermore, when the end effector 25 has a blade body, a cutting force is applied to the object from the end effector 25.

[0248] The force applied to the object by the end effector 25 is executed by the end effector drive device M1, for example, based on the second operation signal of the remote controller C.

[0249] The force application process (fourth step ST4) can be performed after the approach process (second step ST2) and the position adjustment process (third step ST3). For example, when the object to be force applied is the same as the target D (e.g., when applying force to the target D such as an overhead wire), the end effector 25 is brought close to the target D by the execution of the approach process and the position adjustment process, and then the force application process is performed to apply force to the target D from the end effector 25.

[0250] Alternatively, the force application step (fourth step ST4) can be performed before the approach step (second step ST2) and the position adjustment step (third step ST3). For example, when the object of force application is different from the target D (e.g., when other tools held by tool 2 act on target D), the force application step drives the end effector 25 to make tool 2 hold other tools, and then the approach step and the position adjustment step bring the other tools held by tool 2 closer to target D.

[0251] The method of using the tool device 1 in the embodiment includes: (1) bringing the tool 2 closer to the target D by performing at least one of the steps of extending the first rod member 3 and rotating the support arm 22 relative to the mounting portion 21 using the support arm drive device AM; and (2) adjusting the position of the tool 2 by manually operating the first rod member 3. Therefore, for example, if the position of the tool 2 does not reach the desired position near the target D by extending the first rod member 3 or rotating the support arm 22, or if the position of the target D moves due to external interference such as wind, the position of the tool 2 can be quickly adjusted by manually operating the first rod member 3.

[0252] This utility model is not limited to the above-described embodiments or modifications. Within the scope of the technical concept of this utility model, it should be clear that appropriate modifications or alterations can be made to the embodiments or modifications. Furthermore, any constituent elements used in the embodiments or modifications can be combined with other embodiments or modifications. In addition, any constituent elements can be omitted in the embodiments or modifications.

[0253] Industrial availability

[0254] The tool device, tool, and method of using the tool device of this invention enable the tool to easily access the target. Therefore, this invention is useful to operators who use tools to manipulate targets and to manufacturers of tool devices or tools.

[0255] Figure label:

[0256] 1, 1A, 1B: Tooling devices

[0257] 2: Tools

[0258] 3: First member

[0259] 3a: Front end

[0260] 3b: Base end

[0261] 4: Second rod component

[0262] 4a: Front end

[0263] 4b: Base end

[0264] 5: First connecting part

[0265] 7: Base

[0266] 8: Second connecting part

[0267] 21: Installation Department

[0268] 22: Outrigger

[0269] 23: Tool Holding Section

[0270] 24: Hook

[0271] 25: End effector

[0272] 25': Second end effector

[0273] 25a: First Control Section

[0274] 25b: Second Control Section

[0275] 25c: Rotational body

[0276] 27: Ministry of Communications

[0277] 28: Control Circuit

[0278] 31: First shaft

[0279] 32: Second shaft

[0280] 37: Second Department of Communications

[0281] 38: Second control circuit

[0282] 41: Third shaft

[0283] 42: Fourth shaft

[0284] 47: Third Department of Communications

[0285] 48: Third control circuit

[0286] 50: Locking mechanism

[0287] 51: Part One

[0288] 52: Part Two

[0289] 53: Lock / Unlock Operation Section

[0290] 54: Force-applying components

[0291] 55: Tilting speed suppression mechanism

[0292] 56: Friction plate

[0293] 57: Pushing component

[0294] 57a: Pushing section

[0295] 57b: Screw

[0296] 58: Force-applying components

[0297] 58a: Spring

[0298] 59: Pressure Adjustment Section

[0299] 59a: Pressure adjustment handle

[0300] 60: Maintaining section

[0301] 60a: First retaining member

[0302] 60b: Second retaining member

[0303] 61: First Operations Department

[0304] 61a: First shot

[0305] 61b: Second shot

[0306] 62: Force-applying components

[0307] 64: Anti-detachment components

[0308] 64n: inner surface

[0309] 66: Second locking mechanism

[0310] 66a: Threaded component

[0311] 67: Second Lock Release Operation Unit

[0312] 67a: Knob section

[0313] 70: Fixing part

[0314] 71: Basic ontology

[0315] 72: Push-press component

[0316] 73: Pushing component operating section

[0317] 73a: Handle

[0318] 81: Part Three

[0319] 82: Part Four

[0320] 84: Mobile Operations Department

[0321] 84a: Handle

[0322] 85: Screw

[0323] 201: Screw

[0324] 202: Guide shaft

[0325] 203: Shaft

[0326] 251c: Hook

[0327] 510: First Card Combination Section

[0328] 510a: Claw

[0329] 515: Guiding Components

[0330] 520: Second Card Combination

[0331] 520a: Gear

[0332] 525: Shaft

[0333] 811: Support section

[0334] 812: Slider

[0335] 812a: Roller

[0336] 822: Guiding Components

[0337] 822a: Guide rail

[0338] AM: Outrigger drive unit

[0339] B: Fixed object

[0340] B1: Cage

[0341] C: Remote control

[0342] C1: Outrigger Operating Section

[0343] C2: End effector operating unit

[0344] D: Target

[0345] E1: First Battery

[0346] E2: Second battery

[0347] E3: Third Battery

[0348] G1: Controlling Institution

[0349] M1: End effector drive unit

[0350] MT: Support Arm Drive Motor

[0351] MT1: First Motor

[0352] MT2: Second Motor

[0353] MT3: Third Motor

[0354] MT4: The fourth motor.

Claims

1. A tool device comprising: The first member is telescopic; and The tool is installed on the first rod member. The tool has the following features: The mounting part is installed on the first rod component; The support arm is rotatably supported by the mounting portion; The end effector, supported by the arm, applies force to the object to which the force is applied. A support arm drive device causes the support arm to rotate relative to the mounting portion; as well as An end effector drive device drives the end effector.

2. The tool apparatus as claimed in claim 1, wherein, The tool has the following features: The communication unit is capable of communicating with the remote control; and The control circuit controls the outrigger drive and the end effector drive based on the signals received by the communication unit.

3. The tool apparatus as claimed in claim 2, wherein, The communication unit is capable of wireless communication with the remote controller. The first rod component is an electrically insulating rod component. The tools mentioned are electrical construction tools.

4. The tool apparatus according to any one of claims 1 to 3, further comprising: The second member; and The first connecting part connects the second rod member and the first rod member. The first connecting portion connects the second rod member and the first rod member in a manner that allows the angle between the first rod member and the second rod member to be changed.

5. The tool apparatus as claimed in claim 4, wherein, The angle between the first rod member and the second rod member can be changed manually.

6. The tool apparatus as claimed in claim 4, wherein, The first connecting part includes: A locking mechanism to prevent the first rod member from tilting relative to the second rod member; and The lock release operation unit releases the lock of the locking mechanism.

7. The tool apparatus as claimed in claim 4, wherein, The first connecting part is provided with a tilting speed suppression mechanism. When the first rod member tilts relative to the second rod member due to the gravity acting on the tool or the first rod member, the tilting speed suppression mechanism suppresses the tilting speed of the first rod member relative to the second rod member.

8. The tool apparatus as claimed in claim 4, further comprising: A retaining portion is provided in the first connecting portion and is capable of retaining the first rod member; and The first operating unit is capable of changing the state of the holding unit between a first state and a second state, wherein the first state is a state in which the holding unit holds the first rod member, and the second state is a state in which the holding unit releases the holding unit from the first rod member.

9. The tool apparatus as claimed in claim 4, wherein, The first rod member is supported by the second rod member through the first connecting portion so that it can rotate about the central axis of the second rod member.

10. The tool apparatus according to any one of claims 1 to 3, wherein, The tool has a holding mechanism capable of holding the object to which the force is applied. The holding mechanism has: First Control Department; as well as The second gripping part, driven by the end effector drive device, is capable of moving relative to the first gripping part. The end effector includes the holding mechanism.

11. The tool apparatus according to any one of claims 1 to 3, wherein, The tool has a rotating body driven by the end effector drive, which is capable of rotating about a first rotation axis. The end effector includes the rotating body.

12. The tool apparatus as claimed in any one of claims 1 to 3, wherein, The tool has a tool holding part, which is separately disposed from the end effector and can hold other tools in a detachable manner.

13. A tool that possesses: The mounting part can be installed on the rod component; The support arm is rotatably supported by the mounting portion; The end effector, supported by the arm, applies force to the object to which the force is applied. A support arm drive device causes the support arm to rotate relative to the mounting portion; as well as An end effector drive device drives the end effector.

Images