Remote work system, work device, and control device

Abstract

To improve mobility of a work device.SOLUTION: A remote work system 1 includes a work device 100, a control device 200 for controlling operation of the work device 100, and a cable 300 for connecting the work device 100 and the control device 200. The work device 100 has a fluid pressure drive mechanism 110 driven by the pressure of fluid 500, an electric mechanism 120 for adjusting the drive amount of the fluid pressure drive mechanism 110 by being driven by power 600, and a mechanism control part 130 for controlling the operation of the electric mechanism 120. The control device 200 sends the power 600, the fluid 500 used in driving of the fluid pressure driving mechanism 110 and fluid 501 to which a fluid signal 502 used in control of the mechanism control part 130 is applied, through a cable 300 to the work device 100. The fluid signal 502 becomes a signal of an arbitrary pattern formed by applying the pressure to the fluid 501.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a remote operation system, a working device, and a control device.

Background Art

[0002] Conventionally, in work in relatively harsh working environments such as power plants, plants, and disaster sites, a remote operation system using a working device (robot) instead of a worker is utilized. Since the working device may pass through narrow areas, miniaturization is required. On the other hand, high output is required for the working device, such as gripping rubble and moving on uneven ground. In addition, there are places with a relatively high radiation dose as a relatively harsh working environment. However, precision electronic devices such as step motors used for driving the working device and semiconductor sensors used for control are vulnerable to radiation. Therefore, it is difficult for the working device to be used for a long time in a place with a high radiation dose. Therefore, it is desired that the working device uses as few electronic devices such as motors and sensors as possible.

[0003] For these reasons, it is preferable that the working device is driven by fluid pressure with a high energy density. Therefore, a control device is installed in a maintenance environment away from the working environment, and the control device and the working device are connected by a cable to provide a remote operation system configured to drive the working device by fluid pressure. The remote operation system of this configuration can improve the miniaturization of the working device and the environmental resistance such as dustproofness, waterproofness, and radiation resistance by supplying power from a remote location to the working location.

[0004] In relation to the remote operation system of this configuration, in order to reduce the cable being caught by an unintended obstacle, for example, the technique described in Patent Document 1 has been proposed. Patent Document 1 describes a technique for reducing the influence on the mobility of the cable of a working device driven by fluid pressure by floating the cable. The conventional technique described in such Patent Document 1 can eliminate the influence on mobility due to the friction between the floor surface and the cable by floating the cable.

Prior Art Documents

Patent Document

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the prior art described in Patent Document 1, in order to increase the reachable range of the working device, when the cable is lengthened, a large number of intermediate nozzles for floating / moving the cable must be provided. As a result, the number of electrical signal lines for controlling the intermediate nozzles increases, and the weight and thickness of the cable increase. That is, in the prior art described in Patent Document 1, since a plurality of electrical signal lines for control signals connecting the control device and the working device must be provided, the weight and thickness of the cable increase. Thereby, the inertia of the cable and the friction with the floor surface increase, or the flexibility (flexibility) of the cable decreases. Therefore, the mobility of the working device that pulls the cable is reduced.

[0007] The present invention has been made to solve the above-described problems, and a main object thereof is to provide a remote work system, a working device, and a control device that improve the mobility of the working device.

Means for Solving the Problems

[0008] To achieve the above object, the present invention provides a remote operation system, comprising: a working device; a control device for controlling the operation of the working device; and a cable for connecting the working device and the control device. The working device includes a fluid pressure driving mechanism driven by the pressure of a fluid, an electric mechanism driven by electric power to adjust the driving amount of the fluid pressure driving mechanism, and a mechanism control unit for controlling the operation of the electric mechanism. The control device sends, via the cable, electric power, a fluid used for driving the fluid pressure driving mechanism, and a fluid with a fluid signal added thereto for controlling the mechanism control unit to the working device. The fluid signal is a signal of an arbitrary pattern formed by applying pressure to the fluid. Other means will be described later.

Advantages of the Invention

[0009] According to the present invention, by eliminating the electric signal line for control signals connecting the control device and the working device and reducing the weight and thickness of the cable, the mobility of the working device can be improved.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention (hereinafter referred to as "the present embodiment") will be described in detail with reference to the drawings. Note that each drawing only schematically shows the present invention to an extent that it can be sufficiently understood. Therefore, the present invention is not limited only to the illustrated examples. Also, in each drawing, common components and similar components are denoted by the same reference numerals, and redundant descriptions thereof are omitted.

[0012] [Embodiment 1] <Configuration of Remote Work System> Hereinafter, with reference to FIGS. 1 to 4, the configuration of the remote work system 1 according to the first embodiment will be described. FIG. 1 is a schematic configuration diagram of the entire remote work system 1 according to the first embodiment. FIG. 2 is an internal block diagram of the remote work system 1. FIG. 3 is a schematic internal configuration diagram of the remote work system 1. FIG. 4 is an operation explanatory diagram of the remote work system 1.

[0013] As shown in FIG. 1, the remote work system 1 includes an operation device 10, a work device 100, a control device 200, and a cable 300 in order to perform a predetermined work remotely on a work target.

[0014] The operation device 10 is a device operated by the operator 2. The operation device 10 receives an operation input by the operator 2 and presents work information to the operator 2.

[0015] The work device 100 is a device such as a robot that moves to the vicinity of the work target to perform work. The work device 100 has a plurality of joint portions 101. Each joint portion 101 is driven by the pressure of a fluid 500 (FIG. 3) (fluid pressure) and electric power 600 (FIG. 3).

[0016] The control device 200 is a device that controls the operation of the work device 100 according to the operation input of the operation device 10. The control device 200 adjusts the fluid and electricity based on the operation input to the operation device 10 by the operator 2 and outputs it to the work device 100.

[0017] The cable 300 is a member that connects (links) the control device 200 and the working device 100. The cable 300 transmits fluid and electricity from the control device 200 to the working device 100.

[0018] As shown in FIG. 2, the control device 200 has a fluid pressure source 210, a power source 220, and a fluid signal transmitting means 230 in order to drive and control the working device 100.

[0019] The fluid pressure source 210 is a component that outputs fluids 500, 501 (FIG. 3) to the fluid transmission path 310. The fluid pressure source 210 is constituted by, for example, a pump, an accumulator, a tank for storing fluid, or the like. Note that pressure is applied to the fluids 500, 501 (FIG. 3). A higher pressure is applied to the fluid 500 than to the fluid 501. Therefore, in the fluid transmission path 310, a tube through which the fluid 500 flows is thicker than a tube through which the fluid 501 flows. In other words, a tube through which the fluid 501 flows is thinner than a tube through which the fluid 500 flows.

[0020] The power source 220 is a component that outputs electric power 600 (FIG. 3) to the electric power transmission path 320. The power source 220 is constituted by, for example, a battery, a power generation device, or the like. The electric power 600 is the rated power consumption (that is, the maximum output power that the devices can safely achieve under specified conditions).

[0021] The fluid signal transmitting means 230 is a component that generates a fluid signal 502 (FIG. 3) and transmits it to the working device 100. The fluid signal transmitting means 230 transmits the fluid signal 502 to the working device 100 via the fluid 501 by adding (superimposing) the generated fluid signal 502 to the fluid 501 inside the fluid transmission path 310.

[0022] The fluid signal 502 (Fig. 3) is a signal that propagates (passes through) the fluid 501 inside the fluid transmission path 310 and reaches the working device 100 from the control device 200. The remote working system 1 can use pressure, vibration, sound, light, etc. as the fluid signal 502. Here, the case where the remote working system 1 uses pressure as the fluid signal 502 will be described by way of example.

[0023] In addition, when receiving supply of pressure or power from the outside, the control device 200 can be configured not to include a fluid pressure source 210 or a power source 220 inside.

[0024] The working device 100 has a joint part 101, a fluid pressure drive mechanism 110, an electric mechanism 120, and a mechanism control unit 130 in order to move to the vicinity of the work object and perform work.

[0025] The fluid pressure drive mechanism 110 is a component that is driven by the pressure (fluid pressure) of the fluid 500 (Fig. 3). The fluid pressure drive mechanism 110 has a system of one or more flow paths and receives supply of the fluid 500 from the control device 200 for each system. The fluid pressure drive mechanism 110 has one or more actuators 110a (Fig. 4). The actuator 110a is constituted by, for example, a fluid pressure cylinder (Fig. 5A) or a fluid pressure motor (Fig. 5B). Each actuator 110a is related to the operation of the corresponding joint part 101, and the joint part 101 moves when the actuator 110a moves. The joint part 101 is an arm, a leg, or a crawler (endless track), etc. of the working device 100.

[0026] The electric mechanism 120 is a component driven by the output power 610 (Fig. 3). The electric mechanism 120 switches its operation according to the power 600 input from the control device 200 and the fluid signal 502. The electric mechanism 120 has one or more systems, and each system receives the supply of the output power 610 from the output adjustment unit 132 of the mechanism control unit 130. For each system, the electric mechanism 120 is driven by the output power 610 to open and close the electromagnetic valve 120a of the system (the corresponding system) specified by the fluid signal 502 by the instructed opening and closing amount. Thereby, the electric mechanism 120 adjusts the driving amount (operating amount) of the actuator 110a (Fig. 4) of the corresponding system provided in the fluid pressure driving mechanism 110, and enables the actuator 110a of the corresponding system to be driven by the adjusted driving amount. The electric mechanism 120 is composed of, for example, parts that move electrically and parts that perform calculations. The electric mechanism 120 is, for example, an actuator that drives one or more joint parts 101 such as arms, legs, and crawlers, an electromagnetic valve, a PTZ camera, or the like. Since the actuator and the electromagnetic valve have excellent responsiveness, it is advisable for the working device 100 to use the actuator and the electromagnetic valve for the electric mechanism 120.

[0027] The mechanism control unit 130 is a component that switches the operation of the electric mechanism 120 according to the fluid signal 502 (Fig. 3). The mechanism control unit 130 has a fluid signal detection unit 131 and an output adjustment unit 132. The fluid signal detection unit 131 is a component that detects the fluid signal 502 as an electrical signal. The fluid signal detection unit 131 is composed of, for example, a mechanical detector or a semiconductor sensor that detects pressure, vibration, sound, light, or the like. The output adjustment unit 132 is a component that adjusts the voltage and current of the power 600 based on the fluid signal 502 detected as an electrical signal and outputs it as the output power 610 (Fig. 3) to the electric mechanism 120 for each system. The output adjustment unit 132 is composed of, for example, a relay or a semiconductor element that adjusts the electrical output.

[0028] As shown in Fig. 3, the cable 300 transmits fluid and electricity from the control device 200 to the working device 100. As a component for that, the cable 300 has, inside, a fluid transmission path 310 for transmitting fluid and a power transmission path 320 for transmitting electricity.

[0029] The fluid transmission path 310 is a component for transmitting fluids 500 and 501. The fluid 500 is a fluid used to drive the fluid pressure drive mechanism 110 of the working device 100. The fluid 501 is a fluid to which a fluid signal 502 used as a control signal of the mechanism control unit 130 of the working device 100 is added. The fluid 500 and the fluid 501 can be configured as the same fluid or as separate fluids. Therefore, the fluid transmission path 310 can send the fluids 500 and 501 to the working device 100 as the same fluid or as separate fluids.

[0030] The fluid pressure drive mechanism 110 includes one or more independently driven systems. Therefore, the fluid transmission path 310 has the same number of separated flow paths as the systems of the fluid pressure drive mechanism 110, and supplies the fluid 500 from the control device 200 to the working device 100 for each system. The fluid transmission path 310 is composed of a hydraulic tube having characteristics such as flexibility, pressure resistance, and water resistance. The fluid transmission path 310 is formed in a cylindrical shape by, for example, resin or metal. Note that since the cable 300 covering the outside of the fluid transmission path 310 may also be used in a working environment with water, it is preferably composed of a hydraulic tube. Also, the fluid transmission path 310 and the cable 300 covering the outside of the fluid transmission path 310 are preferably composed of a radiation-resistant resin.

[0031] The remote operation system 1 may transmit a single fluid signal 502 from the control device 200 to the working device 100 using one flow path of the fluid transmission path 310, or may transmit a plurality of fluid signals 502 simultaneously or arbitrarily using a plurality of flow paths.

[0032] The power transmission path 320 is a component that supplies power 600 to the mechanism control unit 130 of the working device 100. The power transmission path 320 is composed of a metal wire such as copper, for example. The surface of the power transmission path 320 may be coated with a resin protective material. The power 600 is used for driving the electric mechanism 120. The electric mechanism 120, like the fluid pressure drive mechanism 110, includes one or more independently driven systems. However, the power transmission path 320 is a single path regardless of the number of systems of the electric mechanism 120.

[0033] As shown in FIG. 4, the control device 200 includes a tank 211 that stores fluids 500 and 501 in a fluid pressure source 210, and a pump 212 that applies pressure to the fluids 500 and 501. The working device 100 includes a solenoid valve 120a that adjusts the driving amount of the fluid pressure drive mechanism 110, and an actuator 110a that is driven by the pressure (fluid pressure) of the fluid 500. The control device 200 also includes a fluid signal transmitting means 230 that adds a fluid signal 502 to the fluid 501. By adding the fluid signal 502 to the fluid 501, the control device 200 indicates the system of the solenoid valve 120a to be driven by the working device 100 and the opening / closing amount of the solenoid valve 120a. In the working device 100, the solenoid valve 120a of the system indicated by the fluid signal 502 opens and closes by the indicated opening / closing amount, so that the driving amount of the actuator 110a of the fluid pressure drive mechanism 110 in the indicated system changes. Such a remote operation system 1 can eliminate (omit) the electric signal line (dedicated electric signal line) for the control signal for controlling the operation of the working device 100 between the control device 200 and the working device 100.

[0034] Figures 5A and 5B are schematic configuration diagrams of the actuator 110a used in the working device 100. In the example shown in FIG. 5A, the actuator 110a is configured as a fluid pressure cylinder 111. In the example shown in FIG. 5A, the fluid 500 is supplied to one space 111a of the fluid pressure cylinder 111, and the fluid 500 is discharged from the other space 111b, whereby the piston 111c is pushed out. Conversely, when the fluid 500 is discharged from one space 111a of the fluid pressure cylinder 111 and the fluid 500 is supplied to the other space 111b, the piston 111c is pulled out. The joint portion 101 of the working device 100 is driven according to the pushing amount or pulling amount of the piston 111c. In the example shown in FIG. 5B, the actuator 110a is configured as a fluid pressure motor 112. In the example shown in FIG. 5B, the fluid 500 is supplied to one space 112a of the fluid pressure motor 112, and the fluid 500 is discharged from the other space 112b, whereby the rotating shaft 112c rotates in the forward direction (the direction of the white arrow). Conversely, when the fluid 500 is discharged from one space 112a of the fluid pressure motor 112 and the fluid 500 is supplied to the other space 112b, the rotating shaft 112c rotates in the reverse direction. The joint portion 101 of the working device 100 is driven according to the forward rotation amount or reverse rotation amount of the rotating shaft 112c.

[0035] <Configuration of Fluid Signal> Hereinafter, the configuration of the fluid signal 502 will be described with reference to FIG. 6. FIG. 6 is an explanatory diagram of the opening / closing signal component of the solenoid valve 120a included in the fluid signal 502. Here, the case where the actuator 110a is configured as the fluid pressure cylinder 111 (FIG. 5A) will be assumed and described.

[0036] As shown in FIG. 6, the fluid signal 502 is configured to have signal components corresponding to multi-stage applied pressure values according to the operation content instructed to the working device 100. In the example shown in FIG. 6, the fluid signal 502 is configured to include signal components Pc1a, Pc1b, …, Pnb. The signal component Pc1a corresponds to the operation of extending the first cylinder. The signal component Pc1b corresponds to the operation of contracting the first cylinder. The signal component Pcnb corresponds to the operation of contracting the nth cylinder. The first cylinder and the nth cylinder are the hydraulic cylinder 111 (FIG. 5A) as the actuator 110a.

[0037] <Operation of the Remote Working System> Hereinafter, with reference to FIGS. 3 and 7, the operation of the remote working system 1 will be described. The operations described below are examples, and the operation of the remote working system 1 is not limited to the operations described below. FIG. 7 is an operation explanatory diagram of the remote working system 1.

[0038] First, the operator operates the operating device 10 (FIG. 1) to input the operation content of the working device 100. Then, the control device 200 starts operating. The control device 200 determines whether it is necessary to drive the hydraulic drive mechanism 110 based on the input operation content. When it is necessary to drive the hydraulic drive mechanism 110, the control device 200 supplies the fluid 500 to the fluid transmission path 310 by the hydraulic pressure source 210. Further, the control device 200 supplies the fluid 501 to the flow path corresponding to the system to be driven of the hydraulic drive mechanism 110 among the plurality of flow paths of the fluid transmission path 310 by the hydraulic pressure source 210. At this time, the hydraulic pressure source 210 pressurizes the fluid stored in the tank 211 with the pump 212 and sends it into the flow path as the fluids 500 and 501. The fluids 500 and 501 sent into the flow path are injected (water-injected) into the working device 100. The hydraulic drive mechanism 110 of the working device 100 is driven according to the fluid 500 supplied in the fluid transmission path 310. Note that the fluids 500 and 501 that are no longer needed in the working device 100 are discharged (drained) from the working device 100 to the control device 200.

[0039] Further, the control device 200 determines whether it is necessary to drive the electric mechanism 120 based on the input operation content. When it is necessary to drive the electric mechanism 120, the control device 200 supplies power 600 from the power supply 220 to the power transmission path 320. Further, the control device 200 adds a fluid signal 502 corresponding to the system and driving amount for driving the electric mechanism 120 to the fluid 501 inside the fluid transmission path 310 by the fluid signal transmitting means 230. As shown in FIG. 7, the fluid signal transmitting means 230 has an applied pressure control unit 230a that controls the applied pressure added to the fluid 501. The applied pressure control unit 230a switches the applied pressure added to the fluid 501 by the applied pressure switching means 230b. The applied pressure switching means 230b is a component that switches the applied pressure, and is constituted by, for example, a fluid pressure cylinder that temporarily takes in and out while pressurizing the fluid 501.

[0040] The fluid signal detection unit 131 of the working device 100 detects the fluid signal 502 from the fluid 501 inside the fluid transmission path 310 as an electric signal. The fluid signal detection unit 131 is constituted by, for example, a mechanical pressure switch with high resistance to radiation. The fluid signal detection unit 131 detects the signal component (pressure signal) of the applied pressure included in the fluid signal 502 as an electric signal. Then, the output adjustment unit 132 of the working device 100 adjusts the magnitude of the power 600 supplied in the power transmission path 320 according to the content of the detected pressure signal, and then supplies output power 610 (FIG. 3) to the system for driving the electric mechanism 120. The electric mechanism 120 of the working device 100 drives the electromagnetic valve 120a according to the supplied output power 610.

[0041] In such a configuration, the control device 200 sends the power 600 to the working device 100 via the power transmission path 320. Further, the control device 200 sends the fluid 500 and the fluid 501 with the fluid signal 502 added thereto to the working device 100 via the fluid transmission path 310.

[0042] Electric power 600 is supplied to the working device 100 and used to drive the mechanism control unit 130 and the electric mechanism 120. Fluid 500 is supplied to the fluid pressure drive mechanism 110 of the working device 100. Also, fluid 501 is supplied to the mechanism control unit 130 of the working device 100. The mechanism control unit 130 detects the fluid signal 502 added to the fluid 501 by the fluid signal detection unit 131. After that, the mechanism control unit 130 adjusts the voltage and current of the electric power 600 based on the detected fluid signal 502 by the output adjustment unit 132 and outputs the output electric power 610 to the electric mechanism 120 for each system.

[0043] The electric mechanism 120 is driven by the output electric power 610 for each system and opens and closes the electromagnetic valve 120a of the corresponding system (the relevant system) specified by the fluid signal 502 by the specified opening and closing amount. Thereby, the electric mechanism 120 adjusts the driving amount of the actuator 110a (FIG. 4) of the corresponding system provided in the fluid pressure drive mechanism 110 so that the actuator 110a of the corresponding system can be driven by the adjusted driving amount. After that, the fluid 500 drives the actuator 110a (FIG. 4) of the corresponding system provided in the fluid pressure drive mechanism 110 by the fluid pressure (the pressure of the fluid 500) by the adjusted driving amount. Thereby, the joint part 101 is driven.

[0044] Note that the remote operation system 1 (Fig. 4) according to the first embodiment has a configuration improved from the remote operation system 1old of the comparative example shown in Fig. 21. Here, the configuration of the remote operation system 1old of the comparative example shown in Fig. 21 will be described. The remote operation system 1old of the comparative example is the same as the remote operation system 1 according to the first embodiment, except that the electric signal line (dedicated electric signal line) for the control signal for controlling the operation of the working device 100 is omitted between the control device 200old and the working device 100old. As shown in Fig. 21, the remote operation system 1old of the comparative example includes a working device 100old, a control device 200old, and a cable 300old. The working device 100old has a plurality of actuators 110a corresponding to a plurality of systems. The control device 200old has a tank 211 and a pump 212, and also has a plurality of solenoid valves 213a corresponding to a plurality of systems. Here, the case where the actuator 110a is configured as a hydraulic cylinder 111 (Fig. 5A) will be described by way of assumption.

[0045] The control device 200old branches the flow path into a plurality of systems with the pump 212. In each system, two hydraulic tubes are provided for each actuator 110a (hydraulic cylinder 111). A liquid with a high pressure added by the pump 212 is supplied to each hydraulic tube. The control device 200old opens and closes the two hydraulic tubes with the solenoid valve 213a for each system. Thereby, the control device 200old switches the direction of the flow of the liquid injected into the actuator 110a of the working device 100old for each system. Thereby, the working device 100old drives the actuator 110a to drive the joint portion 101 (Fig. 1).

[0046] In such a remote operation system 1old of the comparative example, two hydraulic tubes are provided for each actuator 110a, and the actuator 110a of the working device 100old is driven by the liquid supplied to each hydraulic tube. A liquid with a high pressure added by a pump 212 is supplied to each hydraulic tube. Therefore, each hydraulic tube may undergo creep deformation. Creep deformation is a phenomenon in which, due to the applied pressure, the inner diameter deforms to widen and the deformation remains even after the applied pressure is released. When creep deformation occurs, the driving amount of the actuator 110a of the working device 100old changes, and the joint portion 101 (FIG. 1) of the working device 100old cannot be accurately driven and controlled.

[0047] Therefore, in the remote operation system 1old of the comparative example, it is desirable to make each hydraulic tube thick and robust so that creep deformation does not occur. However, when each hydraulic tube is made thick and robust, the cable 300old becomes heavy, and the flexibility (flexibility) of the cable 300old decreases. Therefore, the mobility of the working device 100old that pulls the cable 300old is reduced. Moreover, two hydraulic tubes are provided for each actuator 110a. Therefore, the mobility of the working device 100old is further reduced accordingly. Also, the cable 300old is more likely to be caught by an unintended obstacle.

[0048] On the other hand, for the remote operation system 1 (FIG. 4) according to the first embodiment, it is only necessary to make the hydraulic tube of the fluid 500 to which a high pressure is applied thick and robust. Therefore, the remote operation system 1 according to the first embodiment can make the cable 300 lighter than the remote operation system 1old of the comparative example and can improve the flexibility (flexibility). Therefore, the remote operation system 1 according to the present embodiment can improve the mobility of the working device 100. Also, the possibility that the cable 300 is caught by an unintended obstacle can be reduced.

[0049] In addition, the remote operation system 1old (Fig. 21) of the comparative example is configured to switch the flow direction of the fluid that drives the actuator 110a by switching the opening and closing of two hydraulic tubes with a solenoid valve 213a. However, a time lag is likely to occur when switching the flow direction of the fluid. Therefore, the remote operation system 1old of the comparative example reduces the responsiveness of the working device 100old.

[0050] On the other hand, the remote operation system 1 (Fig. 4) according to the first embodiment is configured to adjust the driving amount of the actuator 110a with a solenoid valve 120a having excellent responsiveness. Therefore, the remote operation system 1 according to the first embodiment can improve the responsiveness of the working device 100old.

[0051] As shown in Fig. 8, the fluid signal transmitting means 230 of the control device 200 adds a fluid signal 502 to the fluid 501 along the target pressure value P0. Fig. 8 is an operation explanatory diagram of the remote operation system 1. The mechanism control unit 130 of the working device 100 measures the actual pressure value P of the fluid 501 with the pressure detection means 131a and detects the opening and closing signal component of the solenoid valve 120a included in the fluid signal 502. The pressure detection means 131a is a component that detects the pressure of the fluid 501 supplied from the control device 200 to the working device 100. The mechanism control unit 130 outputs the detected opening and closing signal component of the solenoid valve 120a to the electric mechanism 120. The electric mechanism 120 controls the opening and closing amount of the solenoid valve 120a for each system according to the opening and closing signal component of the solenoid valve 120a. The actuator 110a is driven according to the opening and closing amount of the solenoid valve 120a. A load F is applied to the actuator 110a.

[0052] In the process of executing such an operation, when the solenoid valve 120a is closed and the actuator 110a is stationary, the control device 200 can control the applied pressure applied to the fluid 501. Therefore, in this case, the control device 200 can transmit a fluid signal 502 instructing the opening of the solenoid valve 120a to the working device 100. However, when the solenoid valve 120a is open and the actuator 110a is driven, the applied pressure applied to the fluid 501 may vary due to the load F applied to the actuator 110a. As a result, a phenomenon may occur in the control device 200 that inhibits the control of the applied pressure applied to the fluid 501. Therefore, in this case, the control device 200 may not be able to transmit a fluid signal 502 instructing the closing of the solenoid valve 120a to the working device 100. In this case, the control device 200 may not be able to properly control the operation of the working device 100.

[0053] FIG. 9 is an explanatory diagram of problems after the start of driving of the actuator 110a. In the example shown in FIG. 9, the relationship between the target value P0 of the pressure indicated by the broken line and the measured value P of the pressure indicated by the solid line is shown. When the solenoid valve 120a is closed and the actuator 110a is stationary, the control device 200 can transmit a fluid signal 502 instructing the opening of the solenoid valve 120a to the working device 100. Therefore, the working device 100 opens the solenoid valve 120a in response to the fluid signal 502. On the other hand, when the solenoid valve 120a is open and the actuator 110a is driven, a phenomenon occurs in the control device 200 that inhibits the control of the applied pressure applied to the fluid 501 due to the load F applied to the actuator 110a. Therefore, in this case, the control device 200 cannot transmit a fluid signal 502 instructing the closing of the solenoid valve 120a to the working device 100.

[0054] Therefore, the remote operation system 1 solves the problem shown in FIG. 9 (the phenomenon that inhibits the control of the applied pressure applied to the fluid 501) by performing the control shown in FIG. 10. FIG. 10 is an operation explanatory diagram of the working device 100 that solves the problem. In the example shown in FIG. 10, when the solenoid valve 120a is open and the actuator 110a is driven, the working device 100 automatically closes the solenoid valve 120a at a predetermined time (time). Then, while waiting for the closing signal or when receiving the closing signal, after the solenoid valve 120a is opened, the working device 100 repeatedly closes and opens the solenoid valve 120a at an arbitrary time interval to drive the actuator 110a in a pulsed manner. Thereby, the remote operation system 1 can avoid the occurrence of a phenomenon that inhibits the control of the applied pressure applied to the fluid 501 due to the load F applied to the actuator 110a. Therefore, the remote operation system 1 can appropriately control the operation of the working device 100.

[0055] <Main features of the remote operation system> The remote operation system 1 according to the present embodiment can be configured to have the following features. (1) As shown in FIG. 3, the remote operation system 1 according to the present embodiment includes a working device 100, a control device 200 that controls the operation of the working device 100, and a cable 300 that connects the working device 100 and the control device 200. The working device 100 includes a fluid pressure drive mechanism 110 driven by the pressure of the fluid 500, an electric mechanism 120 driven by the electric power 600 to adjust the driving amount of the fluid pressure drive mechanism 110, and a mechanism control unit 130 that controls the operation of the electric mechanism 120. The control device 200 sends the electric power 600, the fluid 500 used for driving the fluid pressure drive mechanism 110, and the fluid 501 to which the fluid signal 502 used for controlling the mechanism control unit 130 is added to the working device 100 via the cable 300. The fluid signal 502 is a signal of an arbitrary pattern formed by applying pressure to the fluid.

[0056] The remote operation system 1 according to this embodiment sends power 600, fluid 500, and fluid 501 with a fluid signal 502 added thereto from the control device 200 to the working device 100 via the cable 300. And the remote operation system 1 according to this embodiment is configured to use the fluid signal 502 as a control signal for the working device 100. Such a remote operation system 1 according to this embodiment can eliminate (omit) an electric signal line (a dedicated electric signal line) for a control signal between the control device 200 and the working device 100. Therefore, compared with the comparative example, while reducing the weight and thickness of the cable 300, the flexibility can be increased. Thereby, the remote operation system 1 according to this embodiment can improve the mobility of the working device 100. In addition, the possibility that the cable 300 gets caught on an unintended obstacle can be reduced.

[0057] (2) As shown in FIG. 3, in the remote operation system 1 according to this embodiment, it includes a fluid pressure source 210, a power source 220, and a fluid signal transmitting means 230. The fluid pressure source 210 is a component that applies pressure to the fluids 500 and 501. The power source 220 is a component that supplies power to the working device 100. The fluid signal transmitting means 230 is a component that generates a fluid signal 502 and transmits it to the working device 100. The cable 300 has a power transmission path 320 that sends power to the working device 100, and a fluid transmission path 310 that sends the fluid 500 used for driving and the fluid 501 with the fluid signal 502 added thereto to the working device 100 as the same fluid or as separate fluids.

[0058] The remote operation system 1 according to this embodiment realizes the transmission of a fluid signal 502 that functions as a control signal for controlling the operation of the electric mechanism 120 of the working device 100 via the fluid transmission path 310. Such a remote operation system 1 according to this embodiment can eliminate (omit) the electric signal line (dedicated electric signal line) for the control signal between the control device 200 and the working device 100. Therefore, while reducing the weight and thickness of the cable 300, the flexibility can be increased. As a result, the remote operation system 1 according to this embodiment can improve the mobility of the working device 100. In addition, the possibility that the cable 300 is caught by an unintended obstacle can be reduced.

[0059] (3) As shown in FIG. 3, in the remote operation system 1 having the configuration of (2) above, the fluid transmission path 310 is branched and provided in a plurality of systems inside the working device 100. The fluid pressure drive mechanism 110 has a plurality of actuators 110a (FIG. 4) driven by the pressure of the fluid 500. The electric mechanism 120 has a solenoid valve 120a (FIG. 4) that switches the flow of the fluid 500 in each system of the fluid transmission path 310.

[0060] The remote operation system 1 according to this embodiment transmits the fluid 501 with the fluid signal 502 added through the fluid transmission path 310 branched into a plurality of systems from the control device 200 to the working device 100. As a result, the remote operation system 1 according to this embodiment can finely control the electric mechanism 120 of the working device 100 for each system. Moreover, the remote operation system 1 according to this embodiment can control the electric mechanism 120 of the working device 100 without providing an electric signal line for the control signal. As a result, the remote operation system 1 can eliminate (omit) the electric signal line (dedicated electric signal line) for the control signal between the control device 200 and the working device 100. Therefore, while reducing the weight and thickness of the cable 300, the flexibility can be increased. As a result, the remote operation system 1 according to this embodiment can improve the mobility of the working device 100. In addition, the possibility that the cable 300 is caught by an unintended obstacle can be reduced.

[0061] (4) As shown in Fig. 3, the working device 100 according to the present embodiment includes a fluid pressure drive mechanism 110 driven by the pressure of a fluid 500, an electric mechanism 120 driven by electric power 600 to adjust the driving amount of the fluid pressure drive mechanism 110, and a mechanism control unit 130 that controls the operation of the electric mechanism 120. The working device 100 according to the present embodiment receives, from the outside via a cable 300, the electric power 600, the fluid 500 used for driving the fluid pressure drive mechanism 110, and the fluid 501 with a fluid signal 502 added thereto used for the control of the mechanism control unit 130. The fluid signal 502 is a signal of an arbitrary pattern formed by applying pressure to the fluid.

[0062] The working device 100 according to the present embodiment is configured to receive, from the outside (control device 200) via a cable 300, the electric power 600, the fluid 500, and the fluid 501 with the fluid signal 502 added thereto. The fluid signal 502 is used as a control signal for the working device 100. With such a working device 100 according to the present embodiment, an electric signal line (dedicated electric signal line) for the control signal can be eliminated (omitted) between the control device 200 and the working device 100. Therefore, while reducing the weight and thickness of the cable 300, the flexibility can be increased. As a result, the working device 100 according to the present embodiment can improve its mobility.

[0063] (5) As shown in Fig. 3, the control device 200 according to the present embodiment is a control device 200 that controls the operation of the working device 100. The control device 200 according to the present embodiment includes a fluid pressure source 210 that applies pressure to the fluid 500, a power source 220 that supplies the electric power 600 to the working device 100, and a fluid signal transmission means 230 that generates the fluid signal 502 and transmits it to the working device 100. The fluid signal 502 is a signal of an arbitrary pattern formed by applying pressure to the fluid.

[0064] The control device 200 according to such an embodiment has a fluid signal transmitting means 230 that generates a fluid signal 502 and transmits it to the working device 100. The fluid signal 502 is used as a control signal for the working device 100. The control device 200 according to such an embodiment can eliminate (omit) an electric signal line (a dedicated electric signal line) for the control signal between the control device 200 and the working device 100. Therefore, while reducing the weight and thickness of the cable 300, the flexibility can be increased. Thereby, the control device 200 according to this embodiment can improve the mobility of the working device 100.

[0065] (6) As shown in FIG. 3, in the remote operation system 1 according to this embodiment, the mechanism control unit 130 has an output adjustment unit 132 that adjusts the power supplied through the power transmission path 320 according to the pressure of the fluid signal 502 and outputs it to the electric mechanism 120.

[0066] The remote operation system 1 according to this embodiment can adjust the power supplied through the power transmission path 320 according to the pressure of the fluid signal 502 and output it to the electric mechanism 120. The remote operation system 1 according to such an embodiment can finely control the electric mechanism 120 of the working device 100.

[0067] As described above, according to the remote operation system 1 according to Embodiment 1, the mobility of the working device 100 can be improved.

[0068] [Embodiment 2] In the remote operation system 1 (FIGS. 2 and 3) according to Embodiment 1 described above, the fluid transmission path 310 has the same number of flow paths (FIG. 4) for a plurality of fluids 501 as the system of the fluid pressure drive mechanism 110, and supplies the fluid 501 to the working device 100 for each system. Therefore, the weight and thickness of the cable 300 increase by the number of flow paths (FIG. 4) for the plurality of fluids 501. The remote operation system 1 according to such Embodiment 1 has room for improving the mobility of the working device 100.

[0069] In contrast, in the second embodiment, a remote operation system 1A is provided which has a flow path for a single fluid 501 and distributes the fluid 501 for each system by the working device 100A.

[0070] Hereinafter, with reference to FIGS. 11 and 12, the configuration of the remote operation system 1A according to the second embodiment will be described. FIG. 11 is an internal block diagram of the remote operation system 1A according to the second embodiment. FIG. 12 is a schematic configuration diagram of the inside of the remote operation system 1A.

[0071] As shown in FIGS. 11 and 12, the remote operation system 1A according to the second embodiment is different from the remote operation system 1 (FIGS. 2 and 3) according to the first embodiment in the following points. (1) The fluid pressure drive mechanism 110 of the working device 100A has a plurality of systems. (2) The fluid transmission path 310 has only a flow path for a single fluid 501. (3) The electric mechanism 120 of the working device 100A has a fluid distribution unit 121. The fluid distribution unit 121 is a component that distributes the fluid 501 from a single flow path for the fluid 501 into a plurality of flow paths inside the electric mechanism 120. (4) The working device 100A supplies the fluid 501 distributed by the fluid distribution unit 121 to each system of the fluid pressure drive mechanism 110.

[0072] As shown in FIG. 12, the mechanism control unit 130 of the working device 100A detects the fluid signal 502 as an electric signal by the fluid signal detection unit 131. Further, the mechanism control unit 130 adjusts the voltage and current of the electric power 600 based on the fluid signal 502 detected as an electric signal by the output adjustment unit 132 and outputs the output electric power 610 to the electric mechanism 120 for each system.

[0073] The electric mechanism 120 of the working device 100A switches its operation according to the output power 610 and the fluid signal 502. At this time, the fluid distribution unit 121 of the electric mechanism 120 is driven by the output power 610 for each system and opens and closes the solenoid valve 120a of the system (the corresponding system) specified by the fluid signal 502 by the specified opening and closing amount. FIGS. 13A and 13B are respectively explanatory diagrams of the operation of the fluid distribution unit 121. FIGS. 13A and 13B show the states of the solenoid valves 120a to be opened and closed. The fluid distribution unit 121 has a configuration including, for example, flow paths divided for each system and means for switching the flow direction of the fluid. The switching means of the fluid distribution unit 121 is, for example, a solenoid valve, a relay, a semiconductor element, or the like. The fluid distribution unit 121 can switch the start and stop of the supply of the output fluid 510 for each system. The fluid distribution unit 121 switches the space of the actuator 110a that injects the fluid 500 by opening and closing an arbitrary solenoid valve 120a for each system. Thereby, the fluid distribution unit 121 adjusts the driving amount (operating amount) of the actuator 110a of the corresponding system provided in the fluid pressure driving mechanism 110 and drives the actuator 110a of the corresponding system by the adjusted driving amount. Then, the fluid distribution unit 121 distributes the fluid 500 supplied to the working device 100 for each system and supplies it to the fluid pressure driving mechanism 110 as the output fluid 510. The fluid pressure driving mechanism 110 is driven according to the supplied output fluid 510.

[0074] Such a remote operation system 1A controls the fluid distribution unit 121 by outputting output power 610 from the output adjustment unit 132 to the fluid distribution unit 121 based on the fluid signal 502. Then, the remote operation system 1A controls the operation of the fluid pressure drive mechanism 110 having a plurality of systems of the work device 100. That is, the remote operation system 1A supplies the fluid 501 to the work device 100A in a lump through the fluid transmission path 310 having only a single flow path, and then controls the operation of the fluid pressure drive mechanism 110 having a plurality of systems for each system. Such a remote operation system 1A can favorably control the fluid pressure drive mechanism 110 having a plurality of systems through the fluid transmission path 310 having only a single flow path. Therefore, the remote operation system 1A can further reduce the weight and thickness of the cable 300 and further improve the mobility of the work device 100A.

[0075] The remote operation system 1A according to the present embodiment can be configured to have the following features. (1) As shown in FIG. 11, in the remote operation system 1A according to the present embodiment, the fluid pressure drive mechanism 110 has a plurality of systems. The electric mechanism 120 has a fluid distribution unit 121 that distributes the fluid 500 from one flow path to a plurality of flow paths. The electric mechanism 120 distributes the fluid 500 supplied through the fluid transmission path 310 by the fluid distribution unit 121 for each system of the fluid pressure drive mechanism 110.

[0076] The remote operation system 1A according to the present embodiment can control the fluid pressure drive mechanism 110 having a plurality of systems through the fluid transmission path 310 having only a single flow path. Therefore, the remote operation system 1A can further reduce the weight and thickness of the cable 300 and further improve the mobility of the work device 100A.

[0077] (2) As shown in FIGS. 13A and 13B, in the remote operation system 1A according to the present embodiment, the working device 100 includes a plurality of solenoid valves 120a that open and close a flow path through which the fluid 500 flows, and a plurality of actuators 110a used for driving the joint portions. Similar to the remote operation system 1 (FIG. 10) according to the first embodiment, the remote operation system 1A according to the present embodiment opens the solenoid valve 120a to start driving the actuator 110a. After that, the remote operation system 1A repeatedly closes and opens the solenoid valve 120a at an arbitrary time interval, and further stops driving the actuator 110a while the solenoid valve 120a is closed.

[0078] Similar to the remote operation system 1 according to the first embodiment, the remote operation system 1A according to the present embodiment can avoid the control of the applied pressure applied to the fluid 501 being inhibited by the load F applied to the actuator 110a. Therefore, the remote operation system 1A according to the second embodiment can appropriately control the operation of the working device 100A. The remote operation system 1A according to the present embodiment can avoid the actuator 110a becoming unable to be stopped after the driving of the actuator 110a is started.

[0079] As described above, according to the remote operation system 1A according to the second embodiment, similar to the remote operation system 1 according to the first embodiment, the mobility of the working device 100 can be improved. Moreover, according to the remote operation system 1A according to the second embodiment, compared with the remote operation system 1 according to the first embodiment, the fluid pressure drive mechanism 110 having a plurality of systems can be controlled by the fluid transmission path 310 having only a single flow path. Therefore, the remote operation system 1A can further reduce the weight and thickness of the cable 300 while increasing the flexibility, and further improve the mobility of the working device 100A.

[0080] [Embodiment 3] As the fluid signal 502, for example, pressure, vibration, sound, light, or the like can be used. Among these, when pressure is used as the fluid signal 502, there may be a phenomenon that inhibits the control of the applied pressure applied to the fluid 501 due to the load F applied to the actuator 110a. The remote operation system 1A (FIG. 12) according to the above-described Embodiment 2 repeats the closing and opening of the solenoid valve 120a after the solenoid valve 120a is opened, and drives the actuator 110a in a pulsed manner to avoid the occurrence of such a phenomenon.

[0081] On the other hand, in the present Embodiment 3, a back pressure valve 131b is provided in the mechanism control unit 130 of the work device 100B, and a remote operation system 1B that avoids the occurrence of such a phenomenon by using the back pressure valve 131b is provided.

[0082] Hereinafter, with reference to FIG. 14, the configuration of the remote operation system 1B according to the present Embodiment 3 will be described. FIG. 14 is a schematic internal configuration diagram of the remote operation system 1B according to the present Embodiment 3.

[0083] As shown in FIG. 14, the remote operation system 1B according to the present Embodiment 3 is different from the remote operation system 1A (FIG. 12) according to Embodiment 2 in the following points. (1) The control device 200B has a pressurizing means 231 and a depressurizing means 232 in the fluid signal transmitting means 230. (2) The work device 100B has a pressure detecting means 131a and a back pressure valve 131b in the mechanism control unit 130. (3) The cable 300 has a path for transmitting the fluid 501a described later and a path for transmitting the fluid 501b described later in the fluid transmission path 310.

[0084] The pressurizing means 231 is a component that increases the applied pressure of the fluid 501 by injecting the fluid 501 into the fluid transmission path 310 until the target value is reached.

[0085] Figure 15A is a schematic configuration diagram of the pressurizing means 231. As shown in Figure 15A, the pressurizing means 231 pressurizes the fluid 500 and sends the fluid 500 from the fluid pressure source 210 to the cable 300. Figure 15B is an operation explanatory diagram of the pressurizing means 231. Figure 15B shows that the pressurizing means 231 is pressurizing the fluid 500 to the set value. Here, the "set value" is set to automatically close the back pressure valve 131b. The back pressure valve 131b is set to an arbitrary value of the set value according to the operation for automatic closing. Hereinafter, the "set value" may be referred to as the "closing set value".

[0086] Returning to Figure 14, the pressure reducing means 232 is a component that reduces the applied pressure of the fluid 501 by discharging the fluid 501 from the fluid transmission path 310.

[0087] Figure 16A is a schematic configuration diagram of the pressure reducing means 232. As shown in Figure 16A, the pressure reducing means 232 reduces the pressure of the fluid 500 and sends the fluid 500 from the fluid pressure source 210 to the cable 300. Figure 16B is an operation explanatory diagram of the pressure reducing means 232. Figure 16B shows that the pressure reducing means 232 is reducing the pressure of the fluid 500 to an arbitrary value.

[0088] Returning to Figure 14, the pressurizing means 231 and the pressure reducing means 232 are composed of, for example, a pressure reducing valve, a back pressure valve, a solenoid valve, etc. Hereinafter, the fluid 501 whose applied pressure has been increased by the pressurizing means 231 is referred to as "fluid 501a", and the fluid signal 502 added to the fluid 501a is referred to as "fluid signal 502a". Also, the fluid 501 whose applied pressure has been reduced by the pressure reducing means 232 is referred to as "fluid 501b", and the fluid signal 502 added to the fluid 501b is referred to as "fluid signal 502b".

[0089] The pressure detection means 131a is a component that detects the pressure of the fluids 500 and 501 in the fluid transmission path 310. The pressure detection means 131a is composed of, for example, a mechanical pressure detector such as a pressure switch or an electronic pressure detector such as a semiconductor sensor.

[0090] The back pressure valve 131b is a valve for maintaining the pressure of the fluid 501. The back pressure valve 131b is disposed between a primary side flow path (not shown) on the pressure detection means 131a side and a secondary side flow path (not shown) on the fluid distribution section 121 side. The back pressure valve 131b is a component for maintaining the pressure of the fluid 501 in the primary side flow path at a value equal to or greater than a preset value. The back pressure valve 131b opens when the pressure of the fluid 501 in the primary side flow path is greater than the set value, allowing the fluid 501 to pass from the primary side flow path to the secondary side flow path. Also, the back pressure valve 131b closes when the pressure of the fluid 501 in the primary side flow path is less than or equal to the set value, blocking the flow of the fluid 501 from the primary side flow path to the secondary side flow path.

[0091] The path for transmitting the fluid 501a and the path for transmitting the fluid 501b are each constituted by, for example, a hydraulic tube, and a plurality of them are provided for each system.

[0092] FIG. 17 is an operation explanatory diagram of the remote operation system 1B. As shown in FIG. 17, the working device 100B has a back pressure valve 131b between the pressure detection means 131a and the solenoid valve 120a. The remote operation system 1B operates in the same manner as the remote operation system 1 shown in FIG. 8. At this time, in the remote operation system 1B, the electric mechanism 120 controls the opening and closing amount of the solenoid valve 120a for each system according to the opening and closing signal component of the solenoid valve 120a detected from the fluid signal 502 by the pressure detection means 131a. At that time, if either the solenoid valve 120a or the back pressure valve 131b is closed, the control device 200 can suppress fluctuations in the applied pressure applied to the fluid 501 due to the load F applied to the actuator 110a. Therefore, the remote operation system 1B can avoid the occurrence of a phenomenon that inhibits the control of the applied pressure applied to the fluid 501 due to the load F applied to the actuator 110a.

[0093] FIG. 18 is an operation explanatory diagram of the solenoid valve 120a and the back pressure valve 131b. The example on the left side of FIG. 18 shows a state in which the fluid signal transmitting means 230 of the control device 200B can perform applied pressure control when the back pressure valve 131b is not provided. On the other hand, the example on the right side of FIG. 18 shows a state in which the fluid signal transmitting means 230 of the control device 200B can perform applied pressure control when the back pressure valve 131b is provided.

[0094] In both the example on the left side of FIG. 18 and the example on the right side of FIG. 18, when the solenoid valve 120a is closed, the fluid signal transmitting means 230 can perform applied pressure control. However, in the example on the left side of FIG. 18, when the solenoid valve 120a is open, the fluid signal transmitting means 230 cannot perform applied pressure control. Therefore, in this case, the control device 200B cannot generate the fluid signal 502 including the signal component for opening the solenoid valve 120a by the fluid signal transmitting means 230. On the other hand, in the example on the right side of FIG. 18, even when the solenoid valve 120a is open, if the back pressure valve 131b is closed, the fluid signal transmitting means 230 can perform applied pressure control. Therefore, in this case, the control device 200B can generate the fluid signal 502 including the signal component for opening the solenoid valve 120a by the fluid signal transmitting means 230. That is, when the pressure of the fluid 501 becomes equal to or lower than the closing set value, the remote operation system 1B automatically closes the back pressure valve 131b. Thereby, the remote operation system 1B avoids the occurrence of a phenomenon that inhibits the control of the applied pressure applied to the fluid 501 by the load F applied to the actuator 110a. Such a remote operation system 1B can transmit the closing signal of the solenoid valve 120a to the electric mechanism 120 by utilizing the pressure region equal to or lower than the closing set value.

[0095] Here, as shown in FIG. 17, the work device 100B measures the actual pressure value P detected by the pressure detection means 131a of the fluid signal detection unit 131 and detects the opening / closing signal component of the solenoid valve 120a included in the fluid signal 502. Then, the work device 100B opens and closes the solenoid valve 120a based on the detected opening / closing signal component of the solenoid valve 120a.

[0096] At this time, when the solenoid valve 120a is opened and the fluid 500 is supplied from the control device 200B to the working device 100B, the measured pressure value changes as shown in the example of FIG. 19A or the example of FIG. 19B, depending on whether the back pressure valve 131b is provided or not. Also, the operation of the working device 100 changes as shown in the example of FIG. 20A or the example of FIG. 20B, depending on whether the back pressure valve 131b is provided or not.

[0097] FIG. 19A is an explanatory diagram of the fluid signal 502 when the back pressure valve 131b is not provided. FIG. 19B is an explanatory diagram of the fluid signal 502 when the back pressure valve 131b is provided. In FIGS. 19A and 19B, the target value P0 of the pressure set by the pressure increasing means 231 or the pressure reducing means 232 is shown by a solid line, and the measured value P of the pressure detected by the pressure detection means 131a is shown by a two-dot chain line. Also, FIG. 20A is an operation explanatory diagram of the working device 100B when the back pressure valve 131b is not provided. FIG. 20B is an operation explanatory diagram of the working device 100B when the back pressure valve 131b is provided. In FIGS. 20A and 20B, the target value P0 of the pressure set by the pressure increasing means 231 or the pressure reducing means 232 is shown by a solid line, and the measured value P of the pressure detected by the pressure detection means 131a is shown by a broken line.

[0098] As shown in FIG. 19A, when the back pressure valve 131b is not provided and the fluid 500 is supplied to the working device 100B, the measured value P of the pressure detected by the pressure detection means 131a decreases to a value that balances the load applied to the actuator 110a. FIG. 20A shows the operation of the working device 100 in this case. In the example shown in FIG. 20A, when the solenoid valve 120a is opened, the measured pressure value P is decreasing. In this case, even if the closing signal component of the solenoid valve 120a is included in the fluid signal 502, the working device 100B cannot detect the closing signal component. Therefore, when the back pressure valve 131b is not provided, the working device 100B cannot appropriately perform the opening and closing control of the solenoid valve 120a.

[0099] On the other hand, as shown in FIG. 19B, when the back pressure valve 131b is provided, when the fluid 500 is supplied to the working device 100B, the measured value P of the pressure detected by the pressure detection means 131a changes in multiple stages near the set value of the back pressure valve 131b. FIG. 20B shows the operation of the working device 100 in this case. In the example shown in FIG. 20B, when the solenoid valve 120a is opened, the measured value P of the pressure changes so as to be maintained at the closing set value of the back pressure valve 131b. Thereafter, the measured value P of the pressure decreases to an arbitrary value following the closing signal component of the solenoid valve 120a included in the fluid signal 502. Thus, when the closing signal component of the solenoid valve 120a is included in the fluid signal 502, the working device 100B can detect the closing signal component. Therefore, when the back pressure valve 131b is provided, the working device 100B can appropriately perform the opening / closing control of the solenoid valve 120a.

[0100] The operation of such a working device 100B will be supplemented below. When the applied pressure applied to the fluid 500 is smaller than the assumed maximum load applied to the actuator 110a (FIG. 17), there is a possibility that a phenomenon occurs in which the actuator 110a is driven in a direction opposite to the original driving direction at the start of supply of the fluids 500 and 501. In order to avoid the occurrence of such a phenomenon, the remote working system 1B sets the applied pressure to a value sufficiently larger than the assumed maximum load applied to the actuator 110a before the start of supply of the fluids 500 and 501. Therefore, here, the case where the applied pressure increases after the start of supply of the fluids 500 and 501 will not be described, and only the case where the applied pressure decreases will be described.

[0101] The control device 200 of the working device 100B can pressurize or depressurize the fluid 501 when the output fluid 510 is not supplied to any system of the fluid pressure drive mechanism 110 regardless of the presence or absence of the back pressure valve 131b. That is, in a state where one side of the fluid transmission path 310 is a fixed wall surface closed by the fluid distribution unit 121, the control device 200 can inject or discharge the fluid 501 into or from the fluid transmission path 310 by the pressurizing means 231 and the depressurizing means 232. Thereby, the control device 200 can perform approval pressure control (control for adjusting the approval pressure of the fluid transmission path 310 to an arbitrary value). Then, the control device 200 transmits the approval pressure-controlled fluid signal 502 to the working device 100.

[0102] However, when the back pressure valve 131b is not provided and the supply of the fluids 500 and 501 to one or more systems is started, one side of the fluid transmission path 310 becomes a moving wall surface such as a fluid pressure cylinder of the fluid pressure drive mechanism 110. An external load on the fluid pressure drive mechanism 110 is applied to the moving wall surface of the hydraulic cylinder separately from the approval pressure of the fluid transmission path 310. Therefore, the moving wall surface moves depending on the magnitude relationship between the approval pressure and the external load, and the moving wall surface stops when it is balanced. The approval pressure at this time becomes a value that balances with the external load and cannot be specified in advance.

[0103] When the back pressure valve 131b is not provided and the pressurizing means 231 or the depressurizing means 232 injects or discharges the fluid 500 into or from the fluid transmission path 310, the moving wall surface of the fluid pressure drive mechanism 110 moves. In this case, the remote working system 1B cannot change the approval pressure of the fluid 501. Therefore, the remote working system 1B cannot transmit the approval pressure-controlled fluid signal 502 from the control device 200B to the working device 100B.

[0104] On the other hand, when the back pressure valve 131b is provided, after starting the supply of the fluids 500 and 501, when the applied pressure of the fluid 501 decreases to the closing set value of the back pressure valve 131b, the back pressure valve 131b closes. At this time, the applied pressure of the fluid 501 is maintained at the previously set closing set value of the back pressure valve 131b. After that, when the applied pressure of the fluid 501 further enters a pressure region below the set value of the back pressure valve 131b, the back pressure valve 131b maintains the closed state. At this time, similar to before the start of the supply of the fluids 500 and 501, one side of the fluid transmission path 310 becomes a fixed wall surface. In this case, the remote operation system 1B can control the applied pressure of the fluid 501 to an arbitrary value by the pressurizing means 231 and the decompressing means 232. Therefore, the remote operation system 1B can transmit the fluid signal 502 with the applied pressure controlled from the control device 200B to the working device 100B.

[0105] In such a remote operation system 1B, for example, the back pressure valve 131b of the working device 100 automatically closes at an arbitrarily set threshold value. After that, the decompressing means 232 of the control device 200 decompresses. Further thereafter, the pressurizing means 231 of the control device 200 increases the pressure. Thereby, the pressure of the fluid signal 502 can be returned to the original state.

[0106] The remote operation system 1B according to the present embodiment can be configured to have the following characteristics. (1) As shown in FIG. 14, the remote operation system 1B according to the present embodiment has a plurality of electromagnetic valves 120a that open and close a flow path through which a fluid 500 flows. The fluid signal transmitting means 230 of the control device 200 has a pressurizing means 231 that increases the pressure of the fluid signal 502 and a depressurizing means 232 that decreases the pressure of the fluid signal 502. The fluid signal transmitting means 230 controls the applied pressure of the fluid signal 502 by changing the pressure of the fluid 501 inside the fluid transmission path 310 by means of the pressurizing means 231 and the depressurizing means 232. The mechanism control unit 130 of the work device 100 has a back pressure valve 131b that automatically closes when the applied pressure is below an arbitrary set value, and a pressure detecting means 131a that detects the applied pressure of the fluid signal 502. When the back pressure valve 131b closes, the mechanism control unit 130 enables transmission of a closing signal of the electromagnetic valve 120a to the electric mechanism 120 in a pressure region below the set value.

[0107] Even when the fluid 500 is being supplied to the fluid pressure drive mechanism 110 by the fluid distribution unit 121, the remote operation system 1B according to the present embodiment can transmit the fluid signal 502.

[0108] (2) As shown in FIG. 14, in the remote operation system 1B according to the present embodiment, the mechanism control unit 130 has an output adjustment unit 132 that adjusts the power supplied in the power transmission path 320 according to the pressure of the fluid signal 502 and outputs it to the electric mechanism 120. The back pressure valve 131b is disposed between the pressure detecting means 131a and the fluid distribution unit 121.

[0109] The remote operation system 1B according to the present embodiment can adjust the power supplied in the power transmission path 320 according to the pressure of the fluid signal 502 and output it to the electric mechanism 120. The remote operation system 1B according to the present embodiment can finely control the electric mechanism 120 of the work device 100.

[0110] (3) As shown in FIG. 20B, in the remote operation system 1B according to the present embodiment, the value of the closing signal of the solenoid valve 120a is assigned to a pressure value equal to or lower than the set value for closing the back pressure valve 131b. Even when the solenoid valve 120a is open, the mechanism control unit 130 of the work device 100 can transmit a closing signal of the solenoid valve 120a to the electric mechanism 120 in a pressure region equal to or lower than the set value.

[0111] Such a remote operation system 1B according to the present embodiment can transmit a closing signal of the solenoid valve 120a to the electric mechanism 120 in a pressure region equal to or lower than the set value for closing the back pressure valve 131b even when the solenoid valve 120a is open.

[0112] As described above, according to the remote operation system 1B according to the third embodiment, the mobility of the work device 100 can be improved in the same manner as the remote operation system 1 according to the first embodiment. Moreover, according to the remote operation system 1B according to the third embodiment, compared with the remote operation system 1 according to the first embodiment, the applied pressure can be controlled by the pressurizing means 231 and the decompressing means 232 using a pressure region below the set value of the back pressure valve 131b. That is, even when the fluid distribution unit 121 supplies the output fluid 510 to the fluid pressure drive mechanism 110, the applied pressure can be controlled by the pressurizing means 231 and the decompressing means 232. Therefore, the fluid signal 502 can be favorably transmitted to the work device 100 as an applied pressure signal of the fluid transmission path 310, and the fluid pressure drive mechanism 110 can be stably controlled.

[0113] The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Also, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Also, for a part of the configuration of each embodiment, addition, deletion, or replacement with other configurations is possible.

[0114] Further, for example, some or all of the above-described respective configurations, functions, processing units, processing means, etc. may be realized by hardware by designing part or all of them using, for example, an integrated circuit. Also, the above-described respective configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as a program and a file for realizing each function can be stored in a semiconductor memory, a recording device such as an HDD (Hard Disc Drive) or an SSD (Solid State Drive), a recording medium such as an IC card, an SD card, or a DVD.

[0115] Also, the control lines and information lines show those considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it may be considered that almost all configurations are interconnected.

Description of Reference Numerals

[0116] 1, 1A, 1B, 1old Remote operation system 2 Operator 10 Operating device 100, 100old Working device 101 Joint part 110 Hydraulic drive mechanism 110a Actuator 111 Hydraulic cylinder 111a, 111b, 112a, 112b Space 111c Piston 112 Hydraulic motor 112c Rotating shaft 120 Electric drive mechanism 120a, 213a Solenoid valve (valve) 121 Fluid distribution unit 130 Mechanism control unit 131 Fluid signal detection unit 131a Pressure detection means 131b Back pressure valve 132 Output adjustment unit 200, 200old Control device 210 Hydraulic pressure source 211 Tank 212 Pump 220 Power supply 230 Fluid signal transmitting means 230a Applied pressure control unit 230b Applied pressure switching means 231 Pressurizing means 232 Depressurizing means 300, 300old Cable 310 Fluid transmission path 320 Power transmission path 500, 501, 501a, 501b Fluid 502, 502a, 502b Fluid signal 510 Output fluid 600 Electric power 610 Output electric power

Claims

1. An operating device, a control device that controls the operation of the operating device, and a cable that connects the operating device and the control device, and the operating device has a fluid pressure drive mechanism driven by the pressure of a fluid, an electric mechanism driven by electricity to adjust the drive amount of the fluid pressure drive mechanism, and a mechanism control unit that controls the operation of the electric mechanism, and the control device sends, via the cable, the electric power, the fluid used for driving the fluid pressure drive mechanism, and the fluid with a fluid signal added thereto used for controlling the mechanism control unit, to the operating device, the fluid signal is a signal of an arbitrary pattern formed by applying pressure to the fluid, characterized in that it is a remote operation system.

2. In the remote operation system according to Claim 1, the control device has a fluid pressure source that applies the pressure to the fluid, a power source that supplies the electric power to the operating device, and a fluid signal transmission means that generates the fluid signal and transmits it to the operating device, and the cable has an electric power transmission path that sends the electric power to the operating device, and a fluid transmission path that sends the fluid used for driving and the fluid with the fluid signal added thereto to the operating device as the same fluid or as separate fluids, characterized in that it is a remote operation system.

3. In the remote operation system according to Claim 2, the fluid transmission path is branched and provided in a plurality of systems inside the operating device, the fluid pressure drive mechanism has a plurality of actuators driven by the pressure of the fluid, the electric mechanism has a valve that switches the flow of the fluid in each system of the fluid transmission path, characterized in that it is a remote operation system.

4. In the remote operation system according to Claim 3, the fluid pressure drive mechanism has a plurality of systems, the electric mechanism has a fluid distribution unit that distributes the fluid from one flow path to a plurality of flow paths, and distributes the fluid supplied through the fluid transmission path to each system of the fluid pressure drive mechanism by the fluid distribution unit, characterized in that it is a remote operation system.

5. In the remote operation system according to Claim 4, the operating device has a plurality of solenoid valves that open and close the flow path through which the fluid flows, and a plurality of actuators used for driving the joint portions, and after opening the solenoid valve to start driving the actuator, repeatedly closes and opens the solenoid valve, and further stops driving the actuator while the solenoid valve is closed, characterized in that it is a remote operation system.

6. In the remote operation system according to claim 4, it has a plurality of solenoid valves for opening and closing a flow path through which the fluid flows, the fluid signal transmitting means of the control device has a pressurizing means for increasing the pressure of the fluid signal and a pressure reducing means for reducing the pressure of the fluid signal, and by changing the pressure of the fluid used for the fluid signal in the fluid transmission path by the pressurizing means and the pressure reducing means, the applied pressure of the fluid signal is controlled, the mechanism control unit of the working device has a back pressure valve that automatically closes when the applied pressure is equal to or lower than an arbitrary set value, and a pressure detection means for detecting the applied pressure of the fluid signal, and when the back pressure valve closes, it becomes possible to transmit a closing signal of the solenoid valve to the electric mechanism in a pressure region equal to or lower than the set value, A remote operation system characterized by the above.

7. In the remote operation system according to claim 6, the mechanism control unit has an output adjustment unit that adjusts the power supplied in the power transmission path according to the pressure of the fluid signal and outputs it to the electric mechanism, the back pressure valve is disposed between the pressure detection means and the fluid distribution unit, A remote operation system characterized by the above.

8. In the remote operation system according to claim 6, the value of the closing signal of the solenoid valve is assigned to a pressure value equal to or lower than the set value for closing the back pressure valve, even when the solenoid valve is open, the mechanism control unit of the working device can transmit a closing signal of the solenoid valve to the electric mechanism in a pressure region equal to or lower than the set value, A remote operation system characterized by the above.

9. A fluid pressure drive mechanism driven by the pressure of a fluid, an electric mechanism driven by electricity to adjust the driving amount of the fluid pressure drive mechanism, and a mechanism control unit for controlling the operation of the electric mechanism, receives, from the outside via a cable, the power, the fluid used for driving the fluid pressure drive mechanism, and the fluid to which a fluid signal used for controlling the mechanism control unit is added, the fluid signal is a signal of an arbitrary pattern formed by applying pressure to the fluid, A working device characterized by the above.

10. A control device for controlling the operation of a working device, a fluid pressure source for applying pressure to a fluid, a power source for supplying power to the working device, and a fluid signal transmitting means for generating a fluid signal and transmitting it to the working device, the fluid signal is a signal of an arbitrary pattern formed by applying pressure to the fluid, A control device characterized by the above.

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