Work assistance device

Abstract

This invention provides a work assistance device that allows for fine adjustment of the movement of the gripping part that holds the tool, thereby improving work efficiency. [Solution] A work assistance device comprising a gripping unit 5 that grips an object to be gripped 90 with a plurality of roller units 55, 56, wherein a displacement mechanism is provided to displace the object to be gripped 90 in the axial direction of the roller units 55, 56 while the object to be gripped 90 is being gripped by the plurality of roller units 55, 56.

Description

Technical Field

[0001] The present invention relates to a work assisting device.

Background Art

[0002] When an operator performs work at a high place, a work assisting device for supporting work tools and the like is used. As such a work assisting device, for example, a work assisting device for use in the construction of an indirect live wire method for overhead distribution lines is disclosed in Patent Document 1. In the work assisting device described in Patent Document 1, a gantry is fixed to the bucket part of an aerial work platform, and a multi-joint arm is attached to the fixed gantry. Further, a gripping part for gripping the above-described work tools and the like is attached to the end of the multi-joint arm on the side opposite to the gantry part.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, in the above-described indirect live wire method, a work tool having a hand part attached to the upper end of an insulating rod-shaped part is used. That is, with such a work tool gripped by a gripping part provided at the tip of a multi-joint arm, the operator operates the work tool, for example, to grip an electric wire with the hand part of the work tool.

[0005] However, due to the structure of the multi-joint arm, the gripping part is limited to movement along an arc-shaped trajectory within the same plane, resulting in reduced freedom of movement during operation. For example, when gripping an electric wire with the hand of a work tool, the wire usually bends under its own weight, and it is necessary to make fine adjustments to the position of the work tool to match the bending of the wire. However, as mentioned above, the movement of the multi-joint arm (gripping part) is restricted, which makes handling the work tool difficult. Furthermore, Patent Document 1 does not address these problems and therefore cannot solve them.

[0006] This invention has been made in view of the above circumstances, and aims to provide a work assistance device that can finely adjust the movement of the gripping part that holds the tool, thereby improving work efficiency. [Means for solving the problem]

[0007] The work assistance device according to the present invention is a work assistance device comprising a gripping section that grips an object to be gripped with a plurality of roller sections, and further comprising a displacement mechanism that displaces the object to be gripped in the axial direction of the roller sections. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a work assistance device that can finely adjust the movement of the gripping part that holds the tool, thereby improving work efficiency. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view showing a work assistance device according to Embodiment 1. [Figure 2] This is a perspective view showing the gripping part, holding part, wrist part, and gripping part of the work assistance device according to Embodiment 1. [Figure 3] This is a view taken along the arrows in Figure 2. [Figure 4] This is a cross-sectional view showing the gripping portion and gripping portion holding portion of the work assistance device according to Embodiment 1. [Figure 5] This is a half-sectional view of the fixed roller portion of the work assistance device according to Embodiment 1. [Figure 6]This is an explanatory diagram illustrating the movement of the rollers and the object being gripped in the gripping state of the work assistance device according to Embodiment 1. [Figure 7] This is a perspective view showing the gripping part, holding part and gripping part of the work assistance device according to Embodiment 2. [Figure 8] This figure shows the gripping portion of the work assistance device according to Embodiment 3. [Modes for carrying out the invention]

[0010] Hereinafter, work assistance devices according to embodiments of this disclosure will be described with reference to the drawings. However, this disclosure is not limited to these examples, and is intended to include all modifications within the meaning and scope of the claims, as indicated by the claims. Furthermore, at least some of the embodiments described below may be arbitrarily combined.

[0011] (Embodiment 1) Figure 1 is a perspective view showing a work assistance device 1 according to Embodiment 1. In this embodiment, the work assistance device 1 is fixed to the wall of the bucket of an aerial work platform and assists the operator in operating tools. The work assistance device 1 comprises a fixing part 2 that fixes the work assistance device 1 to the bucket of the aerial work platform, a vertical articulated arm 4 with one end held by the fixing part 2, and a gripping part 5 provided at the other end of the arm 4 for gripping the object, such as a tool.

[0012] The fixing section 2 consists of two U-shaped plates 20 that are open downwards and inverted, with a gap between them. One or more column-shaped reinforcing members are horizontally positioned between the two U-shaped plates 20. A clamping pad 221 is interposed between the two opposing portions 21 and 22 of each U-shaped plate 20. The clamping pad 221 is rectangular in shape and is positioned from one U-shaped plate 20 to the other. Specifically, the clamping pad 221 is positioned with its thickness direction intersecting the opposing direction of the two U-shaped plates 20, and extends from between the two opposing portions 21 and 22 of one U-shaped plate 20 to between the two opposing portions 21 and 22 of the other U-shaped plate 20.

[0013] In each U-shaped plate 20, the inner edge of one opposing portion 21 is bent toward the other U-shaped plate 20, and a moving mechanism 23 is provided between the other opposing portions 22 to move the clamping pad 221 toward and toward one of the opposing portions 21. The moving mechanism 23 includes a holding portion fixed to the other opposing portion 22 and a rotating moving portion screwed into a screw hole that penetrates the holding portion in the aforementioned intersecting direction, and the clamping pad 221 is attached to one end of the rotating moving portion. By rotating the other end, the rotating moving portion moves toward and toward one of the opposing portions 21, and as the rotating moving portion moves, the clamping pad 221 also moves toward and toward one of the opposing portions 21.

[0014] In other words, by appropriately operating the moving mechanism 23, the clamping pad 221 moves in a direction that approaches one of the opposing portions 21, and the bent portion of one of the opposing portions 21 of each U-shaped plate 20 and the clamping pad 221 clamp the wall of the bucket of the aerial work platform, thereby clamping the work support device 1. For example, the bent portion of each U-shaped plate 20 clamps the bucket wall from the inside, and the clamping pad 221 clamps the bucket wall from the outside.

[0015] The arm 4 is fixed to the fixing part 2 via a sliding mechanism 3. The sliding mechanism 3 includes two opposing plate members, one of which is attached to the arm 4 and the other to the fixing part 2. For example, one plate member has an engaging portion (not shown) protruding from its opposing surface facing the other plate member, extending in the opposing direction of the two U-shaped plates 20, and the other plate member has an engaged portion (not shown) protruding from its opposing surface facing the first plate member, which engages with the engaging portion of the first plate member.

[0016] In the slide mechanism 3 having the above configuration, only one plate member attached to the arm 4 is guided by the engagement portion and can move in the opposing direction of the two U-shaped plates 20. As this one plate member moves, the arm 4 connected to the one plate member also moves. Therefore, in the work assistance device 1 according to Embodiment 1, the position of the arm 4 can be shifted as needed.

[0017] On one of the plate members of the slide mechanism 3, an arm 4 is provided on the upper surface opposite to the facing surface. The arm 4 is a vertically articulated arm and has a base portion 41, a first arm portion 43, and a second arm portion 45. The first arm portion 43 and the second arm portion 45 are connected via a joint portion 44. At the tip of the arm 4, a gripping portion 5 is provided via a wrist portion 6.

[0018] That is, the base portion 41 is attached to one of the plate members of the slide mechanism 3, and the first arm portion 43, the joint portion 44, the second arm portion 45, the wrist portion 6, and the gripping portion 5 are connected in this order from the base portion 41 toward the tip side.

[0019] The base portion 41 has a columnar shape and extends upward from the fixing portion 2. The base portion 41 is rotatable (swiveling) around its axis. That is, the arm 4 is rotatable around the axis of the base portion 41.

[0020] One end of the first arm portion 43 is connected to the upper part of the base portion 41, and the joint portion 44 is connected to the other end. The first arm portion 43 has a first upper link 431 and a first lower link 432. The first upper link 431 and the first lower link 432 face each other in the vertical direction and constitute a so-called parallel link. Both ends of the first upper link 431 and the first lower link 432 are pivotally supported by the base portion 41 and the joint portion 44, respectively, by rotation axes extending in a direction intersecting with the axial direction of the base portion 41 (hereinafter simply referred to as the intersecting direction). Therefore, the first arm portion 43 is swingable (oscillatable) in the vertical direction.

[0021] In addition, a spring (not shown) that generates a substantially constant reaction force when compressed or generates a reaction force when pulled is installed inside the first arm portion 43. The repulsive force of such a spring acts in a direction to push up the first arm portion 43 against gravity.

[0022] The joint portion 44 is a rectangular plate shape and is formed, for example, by cutting a metal block. The joint portion 44 is interposed between the first arm portion 43 and the second arm portion 45, with the intersecting direction being the thickness direction.

[0023] The second arm section 45 has one end connected to the joint section 44 and the other end connected to the wrist section 6. The second arm section 45 also includes a second upper link 451 and a second lower link 452. The second upper link 451 and the second lower link 452 form a parallel link facing each other in the vertical direction. Both ends of the second upper link 451 and the second lower link 452 are pivotally supported to the joint section 44 and the wrist section 6, respectively, by a rotation axis extending in the aforementioned intersecting direction. In other words, the joint section 44 is connected to the wrist section 6 via the second arm section 45.

[0024] Similar to the first arm section 43, the second arm section 45 has a spring built in, and the repulsive force of this spring acts to push the second arm section 45 upward against gravity.

[0025] With the above configuration, the second arm portion 45 is swingable in the vertical direction, and the wrist portion 6 is displaceable in the vertical direction independently of the joint portion 44, and in this case, the wrist portion 6 can maintain its posture.

[0026] Figure 2 is a perspective view showing the gripping part holding part 7, the wrist part 6, and the gripping part 5 of the work assistance device 1 according to Embodiment 1, and Figure 3 is a view taken in the direction of the arrow in Figure 2. As described above, the gripping part 5 is connected to the second arm part 45 via the wrist part 6. The wrist section 6 comprises a wrist base 61, a swing-holding section 62, a fixing mechanism 64, and a cushioning mechanism 66.

[0027] As described above, the wrist base 61 is connected to the second arm portion 45 so as to be able to swing in the vertical direction. The wrist base 61 is a frame having an opening on the side opposite to the second arm portion 45, and has two support brackets on the second arm portion 45 side that support the pivot axis related to the swing. The two support brackets are provided separated in the intersecting direction and are inserted into the second upper link 451 of the second arm portion 45 and connected to the second upper link 451 by the pivot axis.

[0028] A disc member 69 is housed inside the wrist base 61, with the aforementioned intersecting direction as the thickness direction. The disc member 69 is fitted with a wrist rotation shaft 68 that penetrates the wrist base 61 in the aforementioned intersecting direction. That is, both ends of the wrist rotation shaft 68 are pivotally supported by the wrist base 61.

[0029] A portion of the disc member 69 protrudes outward through the opening in the wrist base 61. A swing-holding portion 62 is provided on the circumferential surface of this portion of the disc member 69. That is, the swing-holding portion 62 is attached to the wrist base 61 via the disc member 69 so as to be able to swing around the wrist rotation axis 68.

[0030] In the aforementioned intersecting direction, a fixing mechanism 64 for fixing the position of the swinging holding part 62 is provided on one side wall of the wrist base 61. For example, the fixing mechanism 64 has a clamp lever (not shown) and a disc wheel (not shown) that is fitted with the wrist rotation shaft 68. By rotating the clamp lever and applying frictional force to the disc wheel, the rotation of the wrist rotation shaft 68 is prevented and the swinging holding part 62 is fixed.

[0031] In the aforementioned intersecting direction, a buffer mechanism 66 is provided on the other side wall of the list base 61. The buffer mechanism 66 is, for example, a rotary damper with a built-in one-way clutch, and is configured to provide a reaction force to the oscillating holder 62 in the direction opposite to the direction of movement. That is, the buffer mechanism 66 is configured to apply a force in a direction that opposes the movement (rotation) of the oscillating holder 62. More specifically, the buffer mechanism 66 is configured to apply a force that opposes the rotation of the oscillating holder 62 only when the oscillating holder 62 moves downward. The buffer mechanism 66 prevents events from occurring in which the oscillating holder 62 is suddenly displaced downward.

[0032] The swinging holding portion 62 has a support portion 627 to which the gripping portion 5 is attached via the gripping portion holding portion 7. The support portion 627 is made of metal and has a mounting plate portion 626 which is a roughly rectangular plate shape with rounded corners on both upper sides. On one surface of the mounting plate portion 626, one end of the gripping portion holding portion 7, which will be described later, is rotatably attached, and on the other surface opposite to the aforementioned surface, a disc member 69 is connected as described above.

[0033] A bearing hole (bearing) is formed in the center of the mounting plate portion 626. The bearing hole has screw threads formed on its inner surface and is screwed into the gripping portion rotation shaft 72 of the gripping portion holding portion 7, which will be described later, thereby fixing the gripping portion rotation shaft 72 so that it can rotate.

[0034] Furthermore, the mounting plate portion 626 has bottomless engagement grooves 624 formed at both ends in the aforementioned intersecting direction. That is, the two engagement grooves 624 are formed on both sides of the bearing hole in the aforementioned intersecting direction, separated from the bearing hole. Each engagement groove 624 is circular in shape and penetrates the mounting plate portion 626 in the thickness direction.

[0035] Furthermore, on the mounting plate portion 626, a projection 629 is provided at the lower end below the bearing hole and the two engagement groove portions 624, along the lower end, i.e., in the intersecting direction. The projection 629 is made of metal and is integrally formed with the mounting plate portion 626, for example. In the intersecting direction, the vertical dimension (hereinafter referred to as height) of the projection 629 gradually decreases as it moves away from the intermediate position. That is, the projection 629 is highest in height at a position directly below the bearing hole, and decreases in height as it approaches both ends in the intersecting direction. In other words, the upper surface of the projection 629 on the bearing hole side (or engagement groove portion 624 side) forms an inclined surface 625.

[0036] As described above, the gripping portion 5 is supported by the wrist portion 6 via the gripping portion holding portion 7. That is, the gripping portion holding portion 7 extends from the support portion 627 toward the gripping portion 5, with one end of the gripping portion holding portion 7 in the longitudinal direction attached to the mounting plate portion 626 of the support portion 627, and the other end holding the gripping portion 5.

[0037] Figure 4 is a cross-sectional view showing the gripping portion 5 and gripping portion holding portion 7 of the work assistance device 1 according to Embodiment 1. For the sake of explanation, Figure 4 shows the gripping portion holding portion 7 attached to the gripping portion 5.

[0038] The gripping portion holder 7 is made of metal and has a roughly rectangular plate portion 71. The plate portion 71 has a semicircular shape at one end, and the other end of the plate portion 71 has a mounting disc 74 to which the gripping portion 5 is attached. The plate portion 71 is provided in the center of one surface of the mounting disc 74, perpendicular to the mounting disc 74. In addition, both main surfaces of the plate portion 71 are parallel to the aforementioned surface of the mounting plate portion 626, and one main surface faces the aforementioned surface of the mounting plate portion 626.

[0039] A first through-hole 711 is formed at one end of the plate portion 71, penetrating the plate portion 71 in the thickness direction. The gripping portion rotating shaft 72 is inserted into the first through-hole 711 via a bush. The gripping portion rotating shaft 72 has, for example, a retaining head and a threaded portion 721, with a reduced diameter portion formed at the tip of the threaded portion 721. On the threaded portion 721, threads are formed only on the circumferential surface of this reduced diameter portion. The first through-hole 711 of the plate portion 71 aligns with the bearing hole of the support portion 627 in the through-direction, and the gripping portion rotating shaft 72 (threaded portion 721) is inserted into the first through-hole 711 from the other main surface side of the plate portion 71 so as to be perpendicular to the wrist rotating shaft 68. The reduced diameter portion of the threaded portion 721 is screwed into the bearing hole.

[0040] Furthermore, the plate portion 71 is provided with an angle limiting portion 73 at a position opposite the engagement groove portion 624, separated from the gripping portion rotation axis 72 on the gripping portion 5 side (mounting disc 74 side). The angle limiting portion 73 is, for example, a so-called index plunger having a knob and an engagement fin 731. The engagement fin 731 is inserted via a bush into a second through hole 712 that penetrates the plate portion 71 in the thickness direction. The angle limiting portion 73 has a spring built into it, and the engagement fin 731 moves forward and backward through the second through hole 712 in conjunction with the operation of pulling the knob or releasing the hand. For example, the engagement fin 731 protrudes beyond the plate portion 71 towards the support portion 627 and retracts into the second through hole 712.

[0041] For example, when the knob of the angle limiting section 73 is pulled, the engaging fin 731 retracts and moves into the second through hole 712, allowing the gripping section 5 to rotate freely around the gripping section rotation axis 72. In this case, the gripping section 5 can rotate freely within the range from one inclined surface 625 to the other inclined surface 625.

[0042] Furthermore, when the user releases their hand from the knob on the angle limiting section 73, the engaging fin 731 advances and protrudes beyond the plate section 71 towards the support section 627, where it is inserted into the engaging groove section 624 and engages with the engaging groove section 624. In this case, the plate section 71 (gripping section 5) becomes unable to rotate and is fixed in place.

[0043] The mounting disc 74 is disc-shaped, and as described above, a plate portion 71 is provided on one side. The mounting disc 74 is attached from the other side to the case member 51 (case) of the gripping portion 5, which will be described later. Specifically, the mounting disc 74 is fastened with screws at multiple locations along its edge in the circumferential direction.

[0044] The gripping section 5 comprises a case member 51, a movable roller section 55, a fixed roller section 56, and a gripping adjustment mechanism 54, and grips a rod-shaped object to be gripped 90. The object to be gripped 90 is, for example, a tool called a hot stick, used in indirect live-line construction methods. The hot stick has, for example, a rod-shaped section (not shown) made of an insulating material, and a hand section (not shown) attached to the upper end of the rod-shaped section for gripping, for example, an electric wire.

[0045] The case member 51 has the shape of a housing with an opening 57 on one side, and houses two fixed roller sections 56 (a pair of roller sections) and two movable roller sections 55 (another pair of roller sections).

[0046] The fixed roller section 56 includes a roller 561, a washer 562 (cushion ring), a collar 563 (annular member), a rotating shaft 564, and a bearing 565. Figure 5 is a diagram illustrating the fixed roller section 56 and bearing 565 of the work assistance device 1 according to Embodiment 1. Figure 5A is a half-section view of the fixed roller section 56, and Figure 5B is a cross-sectional view of the bearing 565 along its axial length.

[0047] The roller 561 includes a cylindrical portion 561a and a contact portion 561b that is fitted onto the cylindrical portion 561a and directly contacts the object to be gripped 90. The cylindrical portion 561a and the contact portion 561b have the same length in the axial direction, and both are shorter in the axial direction than the rotating shaft 564. The cylindrical portion 561a is made of metal, for example, and the contact portion 561b is made of rubber, polyurethane resin, or the like. The contact portion 561b is fixed to the cylindrical portion 561a and rotates together with the cylindrical portion 561a around the rotating shaft 564, and the roller 561 is also movable along the rotating shaft 564.

[0048] Two bearings 565 are fitted inside the roller 561 (cylindrical portion 561a). The two bearings 565 are provided at a predetermined distance apart in the axial direction of the roller 561, at both ends of the cylindrical portion 561a. A spacer cylinder 566 is interposed between the two bearings 565.

[0049] Each bearing 565 includes an outer cylindrical member 565a (second cylindrical member) that fits with the cylindrical portion 561a, and an inner cylindrical member 565b (first cylindrical member) that is located inside the outer cylindrical member 565a and on the same axis as the outer cylindrical member 565a.

[0050] In the inner cylindrical member 565b, several small balls 565c are each rotatably held by cages. Each cage is a cavity with a curved surface corresponding to the ball 565c and has communication holes on the inner and outer surfaces of the inner cylindrical member 565b. Since the diameter of each communication hole is smaller than the diameter of the ball 565c, each ball 565c is held without falling out of the cage, even though it protrudes from the inner and outer surfaces of the inner cylindrical member 565b.

[0051] The rotating shaft 564 is a round bar that is inserted through the roller 561, and as described above, its axial length is longer than that of the roller 561. The rotating shaft 564 is made of metal, for example, and both ends in the axial length direction are fixed to the case member 51. The rotating shaft 564 is inserted through the inner cylindrical member 565b of the bearing 565, and the circumferential surface of the rotating shaft 564 is in contact with the ball 565c (see Figure 5B). When the roller 561 moves along the rotating shaft 564, the ball 565c rotates and slides on the circumferential surface of the rotating shaft 564.

[0052] The collar 563 (annular member) is made of metal and has a cylindrical shape with an inner diameter slightly larger than the diameter of the rotating shaft 564 and an outer diameter slightly smaller than the outer diameter of the roller 561. The collars 563 are provided on both ends of the roller 561 and are fitted onto the rotating shaft 564. Each collar 563 is movable along the rotating shaft 564 together with the roller 561, preventing the roller 561 from colliding with the case member 51 and causing malfunctions when the roller 561 moves.

[0053] The washer 562 (cushioning ring) is loosely fitted onto the rotating shaft 564 at both ends of the roller 561, between each collar 563 and the roller 561. The washer 562 is made of, for example, polyurethane resin to prevent scratches if it is made of metal and friction if it is made of rubber. The washer 562 has a hollow disc shape with an inner diameter slightly larger than the diameter of the rotating shaft 564 and an outer diameter approximately equal to that of the collar 563. The washer 562 is movable along the rotating shaft 564 together with the roller 561 and the collar 563, and prevents malfunctions from occurring when the roller 561 collides with the collar 563 during such movement.

[0054] The movable roller section 55 has the same configuration as the fixed roller section 56. Specifically, the movable roller section 55 includes a roller 551, a washer 552 (cushion ring), a collar 553 (annular member), a rotating shaft 554, and a bearing 555, which correspond to the roller 561, washer 562 (cushion ring), collar 563 (annular member), rotating shaft 564, and bearing 565 of the fixed roller section 56, respectively. Further explanation of the movable roller section 55 is omitted below.

[0055] The case member 51 has a first side wall 511 to which the gripping part holding part 7 (mounting disc 74) is attached, and a second side wall 512 facing the first side wall 511. The rotation axis 554 of the movable roller part 55 and the rotation axis 564 of the fixed roller part 56 extend in a direction perpendicular to the opposing direction of the first side wall 511 and the second side wall 512, and the movable roller part 55 and the fixed roller part 56 are mounted parallel to each other inside the case member 51 so as to rotate around their respective rotation axes 554 and 564.

[0056] More specifically, a third side wall 513 and a fourth side wall 514 are provided in directions perpendicular to the opposing directions of the first side wall 511 and the second side wall 512, respectively, and a rotating shaft 564 is pivotally supported on the third side wall 513 and the fourth side wall 514 so that the fixed roller portion 56 can rotate.

[0057] Two movable roller sections 55 are arranged side by side in opposing directions on the first side wall 511 and the second side wall 512, and two fixed roller sections 56 are also arranged side by side in the same opposing direction. The pair of fixed roller sections 56 are provided near the opening 57, and the pair of movable roller sections 55 face the fixed roller sections 56 at a predetermined distance apart. The mounting disc 74 of the gripping part holding part 7 is attached to the first side wall 511, closer to the opening 57, and in a position corresponding to the fixed roller part 56.

[0058] Furthermore, the third side wall 513 and the fourth side wall 514 form a rectangle extending in the direction of separation between the pair of movable roller sections 55 and the pair of fixed roller sections 56 (hereinafter simply referred to as the separation direction). The fixed roller section 56 is positioned near one end of the third side wall 513 and the fourth side wall 514. In addition, only the rotating shaft 564 related to the pair of fixed roller sections 56 is pivotally supported by the third side wall 513 and the fourth side wall 514, and the pair of movable roller sections 55 are provided to be movable within the case member 51, as will be described later.

[0059] In the case member 51, an opening 57 is formed at one end of the third side wall 513 and the fourth side wall 514. A fifth side wall 515 is provided at the other end of the third side wall 513 and the fourth side wall 514. In the opening 57, a rod-shaped reinforcing member 516 is provided at an intermediate position between the opposing directions of the first side wall 511 and the second side wall 512. Both ends of the reinforcing member 516 are fixed to the third side wall 513 and the fourth side wall 514, respectively.

[0060] In the second side wall 512, a slit 52 is formed near the opening 57, at a position corresponding to the space between the pair of movable roller sections 55 and the pair of fixed roller sections 56 in the separation direction. The slit 52 extends in the axial direction of the movable roller section 55 and the fixed roller section 56.

[0061] Furthermore, notches 531 and 532 are formed in the third side wall 513 and the fourth side wall 514, respectively, near the opening 57 and corresponding to the space between the pair of movable roller sections 55 and the pair of fixed roller sections 56 in the separation direction. Each of the notches 531 and 532 communicates with the slit 52.

[0062] The movable roller portion 55 and the fixed roller portion 56 are partially exposed to the outside of the case member 51 through the notches 531, 532 and the slit 52. The object to be gripped 90 is inserted into and removed from between the pair of movable roller portions 55 and the pair of fixed roller portions 56 inside the case member 51 through the notches 531, 532 and the slit 52.

[0063] A gripping adjustment mechanism 54 is provided on the fifth side wall 515 side for moving a pair of movable roller sections 55. That is, in the separation direction, the gripping adjustment mechanism 54 is provided on the side opposite to the pair of fixed roller sections 56 relative to the pair of movable roller sections 55.

[0064] The gripping adjustment mechanism 54 includes a movable bearing section 543 that pivotally supports both ends of the respective rotation shafts 554 of the pair of movable roller sections 55, a threaded rod member 542 that moves the movable bearing section 543, and an operating section 541 (restricting section) that performs a rotational operation to move the threaded rod member 542. The gripping adjustment mechanism 54 adjusts the degree of gripping of the object to be gripped 90 by the pair of movable roller sections 55 and the pair of fixed roller sections 56, and also prevents the pair of rollers 551 and the pair of rollers 561 from moving along their respective rotation shafts 554 and 564.

[0065] The movable bearing portion 543 has a fixed plate portion 543a to which one end of a threaded rod member 542 is rotatably attached. The fixed plate portion 543a is a rectangle extending in the opposing directions of the third side wall 513 and the fourth side wall 514, and shaft support plates 543b are connected to both ends of the fixed plate portion 543a in the longitudinal direction. That is, the fixed plate portion 543a and the two shaft support plates 543b form an inverted C shape.

[0066] Each support plate 543b has two protrusions at its tip, and these two protrusions are formed separated in the opposing directions of the first side wall 511 and the second side wall 512. The ends of the rotating shaft 554 related to the pair of movable roller parts 55 are pivotally supported on the two protrusions of each support plate 543b. With the pair of movable roller parts 55 pivotally supported in this way, the movable bearing part 543 can move within the case member 51 in the separation direction.

[0067] The threaded rod member 542 is round in shape, and one end of the threaded rod member 542 is inserted and fixed through a through hole formed in the fixing plate portion 543a via a bushing, while the other end of the threaded rod member 542 is provided with an operating portion 541. Furthermore, threads are formed on the circumferential surface of the threaded rod member 542. When the operating portion 541 rotates, the threaded rod member 542 rotates along with it.

[0068] Furthermore, a through hole 515a is formed in the central part of the fifth side wall 515. A bush 544 is fitted inside the through hole 515a. Thread grooves corresponding to the threads of the threaded rod member 542 are formed on the inner circumferential surface of the bush 544. In other words, the bush 544 is screwed into the threaded rod member 542.

[0069] Therefore, in the gripping adjustment mechanism 54, the screw rod member 542 can move forward and backward in the separation direction by the rotation of the operating part 541. In addition, in accordance with the movement of the screw rod member 542, the pair of movable roller parts 55 (movable bearing part 543) move toward and away from the pair of fixed roller parts 56.

[0070] As a result, the object to be gripped 90 is gripped or released by the pair of movable rollers 55 and the pair of fixed rollers 56. Furthermore, while the object to be gripped 90 is gripped by the pair of movable rollers 55 and the pair of fixed rollers 56, the degree of gripping of the object to be gripped 90 is adjusted by appropriately rotating the operating unit 541.

[0071] With the above configuration, in the work assistance device 1 according to Embodiment 1, the pair of rollers 551 and the pair of rollers 561 can move along their respective rotation axes 554 and 564 while the object to be gripped 90 remains gripped.

[0072] Figure 6 is an explanatory diagram illustrating the movement of rollers 551 and 561 in the gripping state of the work assistance device 1 according to Embodiment 1. Figure 6A shows the case where the pair of rollers 551 and the pair of rollers 561 have moved to one end of their respective rotation axes 554 and 564, and Figure 6B shows the case where they have moved to the other end. Also, in Figure 6, roller 561 is shown with a dashed line for ease of explanation.

[0073] As described above, in the movable roller section 55 and the fixed roller section 56, the length of the rotating shafts 554 and 564 is longer than that of the rollers 551 and 561, bearings 555 and 565 are fitted inside the rollers 551 and 561, and the rotating shafts 554 and 564 are inserted through the bearings 555 and 565, so the rollers 551 and 561 can move along the rotating shafts 554 and 564.

[0074] For example, when the work assist device 1 is operated so that the fourth side wall 514 of the case member 51 is facing downwards while the object to be gripped 90 is being gripped, the weight of the object to be gripped 90 causes the pair of movable rollers 55 and the pair of fixed rollers 56 to move downwards to one end of their respective rotating shafts 554 and 564 (see Figure 6A). Furthermore, when the work assist device 1 is operated so that the third side wall 513 of the case member 51 faces downwards while the object to be gripped 90 is being gripped, the pair of movable roller sections 55 and the pair of fixed roller sections 56 move to the other side, to the other end of their respective rotating shafts 554 and 564.

[0075] Furthermore, in the work assistance device 1 according to Embodiment 1, the movement of the rollers 551 and 561 along the rotation axes 554 and 564 can be restricted by appropriately rotating the operating unit 541.

[0076] For example, if the gripping unit 541 is operated while the object to be gripped 90 is being gripped, causing the pair of movable roller units 55 to move closer to the pair of fixed roller units 56, a force greater than the force required to grip the object to be gripped 90 will be applied to each of the movable roller units 55 and fixed roller units 56. Such a force will be applied in a direction intersecting the axial length direction of the rotation axis 554 of the movable roller unit 55 and the rotation axis 564 of the fixed roller unit 56.

[0077] In other words, such a force acts in the bearing 565 of the roller 561 in a direction that narrows the gap between the cylindrical portion 561a and the inner cylindrical member 565b (see Figure 5B). As a result, each ball 565c is held between the cylindrical portion 561a and the rotating shaft 564 and becomes unable to rotate. As the balls 565c become unable to rotate, the movement of the roller 561 along the rotating shaft 564 is stopped. Since the same effect applies to bearing 555, a detailed explanation will be omitted.

[0078] As described above, in the work assistance device 1 according to Embodiment 1, the movable roller section 55 and the fixed roller section 56 are configured so that the rollers 551 and 561 can move along the rotation axes 554 and 564, so that the object to be gripped 90 can be moved vertically while being gripped by the movable roller section 55 and the fixed roller section 56. That is, in the work assistance device 1 according to Embodiment 1, the rollers 551 and 561 and the rotation axes 554 and 564 constitute a displacement mechanism that displaces the object to be gripped 90 in the axial direction of the movable roller section 55 and the fixed roller section 56. In the work assistance device 1 according to Embodiment 1, the range of displacement of the object to be gripped 90 is, for example, 2 to 5 cm.

[0079] Therefore, the position and orientation of the object to be gripped 90 (gripping part 5) can be finely adjusted, allowing the object to be gripped 90 to be positioned in a state suitable for the work. For example, in the case of gripping an electric wire by gripping the object to be gripped 90 with the work assistance device 1 in order to perform indirect live-line work, the degree of freedom of the work is increased by the distance that rollers 551 and 561 move, making it easier to grip even a bent electric wire.

[0080] Furthermore, in the work assistance device 1 according to Embodiment 1, as described above, a bearing 565 is interposed between the roller 561 and the rotating shaft 564, and a bearing 555 is interposed between the roller 551 and the rotating shaft 554, so that the rollers 551 and 561 can be moved at an appropriate speed, neither too fast nor too slow.

[0081] Furthermore, in the work assistance device 1 according to Embodiment 1, as described above, the movement of the rollers 551 and 561 along the rotation axes 554 and 564 can be restricted by rotating the operating unit 541. In other words, in the work assistance device 1 according to Embodiment 1, the worker can select, as needed, a state in which the rollers 551 and 561 are movable and a state in which the rollers 551 and 561 are stopped from moving, further increasing the degree of freedom in the work.

[0082] (Embodiment 2) Figure 7 is a perspective view showing the gripping part holding part 7 and gripping part 5 of the work assistance device 1 according to Embodiment 2.

[0083] In the work assistance device 1 according to Embodiment 2, the gripping part holding part 7 has a substantially rectangular plate portion 71, and a mounting disc 74 (movable member) to which the gripping part 5 is attached is provided on the other end of the plate portion 71, and a first through hole 711 (see Figure 4) is formed at one end of the plate portion 71, penetrating the plate portion 71 in the thickness direction, and the gripping part rotation shaft 72 is inserted into the first through hole 711 via a bush. In addition, an angle limiting part 73 is provided on the plate portion 71, separated from the gripping part rotation shaft 72 toward the mounting disc 74 side. The plate portion 71, gripping part rotation shaft 72, angle limiting part 73, mounting disc 74 and first through hole 711 in the work assistance device 1 according to Embodiment 2 are the same as in Embodiment 1, and a detailed explanation is omitted.

[0084] Furthermore, in the work assistance device 1 according to Embodiment 2, the gripping section 5 has a case member 51, a movable roller section 55, a fixed roller section 56, and a gripping adjustment mechanism 54, and grips a rod-shaped object to be gripped 90. The case member 51 houses two movable roller sections 55 and two fixed roller sections 56. The movable roller section 55, fixed roller section 56 and gripping adjustment mechanism 54 in the work assistance device 1 according to Embodiment 2 are the same as in Embodiment 1, and a detailed explanation is omitted.

[0085] As described above, the case member 51 has a slit 52 formed for inserting and removing the object to be gripped 90, and a first side wall 511 (other side wall) on which a gripping part holding part 7 (mounting disc 74) is attached to the outer surface, and a second side wall 512 (one side wall) opposite the first side wall 511. The case member 51 also has a third side wall 513 and a fourth side wall 514 that are in directions perpendicular to the opposing directions of the first side wall 511 and the second side wall 512, and that face each other in the axial direction of the movable roller part 55 and the fixed roller part 56.

[0086] Furthermore, the case member 51 has a fifth side wall 515 in a direction intersecting the opposing directions of the first side wall 511 and the second side wall 512, and the opposing directions of the third side wall 513 and the fourth side wall 514, and has an opening 57 on the opposite side of the fifth side wall 515. In other words, the fifth side wall 515 and the opening 57 are opposite each other in the direction of separation of the pair of movable roller parts 55 and the pair of fixed roller parts 56.

[0087] In the work assistance device 1 according to Embodiment 2, the case member 51 is provided with a displacement mechanism that displaces the object to be gripped 90 in the axial direction of the movable roller portion 55 and the fixed roller portion 56.

[0088] A rail 58 is attached to the outer surface of the first side wall 511 of the case member 51, extending in the axial direction of the movable roller section 55 and the fixed roller section 56. The rail 58 has two rail members 581 and 582 that are separated in the aforementioned separation direction. Both rail members 581 and 582 extend in the axial direction of the movable roller section 55 and the fixed roller section 56. One rail member 581 is positioned closer to the opening 57 and has an L-shape in plan view, while the other rail member 582 is positioned closer to the fifth side wall 515 and has an inverted L-shape in plan view.

[0089] Specifically, one rail member 581 has a projection that extends toward the other rail member 582 at the tip of the base that contacts the first side wall 511, and the other rail member 582 has a projection that extends toward the one rail member 581 at the tip of the base that contacts the first side wall 511. Therefore, the distance between the bases of one rail member 581 and the other rail member 582 is longer than the distance between the projections.

[0090] The distance between the bases of one rail member 581 and the other rail member 582 is slightly greater than the diameter of the mounting disc 74. Also, the distance from the outer surface of the first side wall 511 to the protruding portions of one rail member 581 and the other rail member 582 is slightly longer than the thickness of the mounting disc 74.

[0091] Furthermore, in the first side wall 511, stoppers 59 are provided between one rail member 581 and the other rail member 582, with stoppers 59 provided at both ends of each rail member 581 and the other rail member 582. The distance between the stoppers 59 is longer than the diameter of the mounting disc 74.

[0092] In the work assistance device 1 according to Embodiment 2, the mounting disc 74 of the gripping part holding part 7 is engaged with the rail 58. That is, in the separation direction, the edge of the mounting disc 74 is held by the first side wall 511 and the protruding parts of one rail member 581 and the other rail member 582. Therefore, the mounting disc 74 is guided by the rail 58 and can move between the stoppers 59 in the axial direction of the movable roller part 55 and the fixed roller part 56.

[0093] In other words, in the work assistance device 1 according to Embodiment 2, the gripping part 5 is held on the wrist part 6 of the arm 4 via the gripping part holding part 7, so that the gripping part 5 is movable in the direction of the arrow in Figure 7. That is, in the state of gripping the object to be gripped 90, the gripping part 5 is movable in the axial direction of the movable roller part 55 and the fixed roller part 56.

[0094] For example, if the work assist device 1 is operated so that the fourth side wall 514 of the case member 51 is facing downwards while the object to be gripped 90 is being gripped, the gripping portion 5 will be guided by the rail 58 and move downwards until it contacts one of the stoppers 59 due to the weight of the object to be gripped 90. Also, if the work assist device 1 is operated so that the third side wall 513 of the case member 51 is facing downwards while the object to be gripped 90 is being gripped, the gripping portion 5 will move downwards until it contacts the other stopper 59.

[0095] Thus, in the work assistance device 1 according to Embodiment 2, the gripping portion 5 is configured to be guided by the rail 58 and move within a predetermined range in the vertical direction, so that the position of the object to be gripped 90 can be displaced in the vertical direction while it remains gripped by the movable roller portion 55 and the fixed roller portion 56. In other words, in the work assistance device 1 according to Embodiment 2, the gripping part holding part 7 (mounting disc 74) and the rail 58 constitute a displacement mechanism that displaces the object to be gripped 90 in the axial direction of the movable roller part 55 and the fixed roller part 56.

[0096] Therefore, the position and orientation of the object to be gripped 90 (gripping part 5) can be finely adjusted, allowing the object to be gripped 90 to be positioned in a way that is suitable for the task. For example, in the case of gripping an electric wire by gripping the object to be gripped 90 with the work assistance device 1, the degree of freedom of the work is increased by the distance the gripping part 5 can move, making it easier to grip even a bent electric wire.

[0097] In the above description, we have used as an example the case in which the movable roller section 55 and the fixed roller section 56 of the work assistance device 1 according to Embodiment 2 are the same as those in Embodiment 1, that is, the case in which the rollers 551 and 561 can move along the rotation axes 554 and 564, but we are not limited to this. It goes without saying that even in a configuration in which the rollers 551 and 561 cannot move, the above-mentioned effects can be achieved.

[0098] Parts similar to those in Embodiment 1 are denoted by the same reference numerals, and detailed descriptions are omitted.

[0099] (Embodiment 3) Figure 8 shows the gripping portion 5 of the work assistance device 1 according to Embodiment 3. For the sake of explanation, Figure 8 illustrates the case in which the gripping portion 5 is gripping the object to be gripped 90.

[0100] In the work assistance device 1 according to Embodiment 3, the gripping section 5 has a case member 51, a movable roller section 55, a fixed roller section 56, and a gripping adjustment mechanism 54, and grips a rod-shaped object to be gripped 90. The case member 51 houses two movable roller sections 55 (one pair of roller sections) and two fixed roller sections 56 (one pair of roller sections). The movable roller section 55, the case member 51, and the gripping adjustment mechanism 54 in the work assistance device 1 according to Embodiment 3 are the same as in Embodiment 1, and a detailed explanation is omitted.

[0101] In the following, the fixed roller section 56 of the work assistance device 1 according to Embodiment 3 will be described in comparison to the movable roller section 55.

[0102] In the work assistance device 1 according to Embodiment 3, the fixed roller section 56 is arranged to face the movable roller section 55 in the separation direction, and while the movable roller section 55 is provided on the fifth side wall 515 (operating section 541) side, the fixed roller section 56 is provided on the opening 57 side.

[0103] The movable roller section 55, similar to Embodiment 1, includes a roller 551, a washer 552, a collar 553, a rotating shaft 554, and a bearing 555. Similarly to the movable roller section 55, the fixed roller section 56 includes a roller 561A, a washer 562, a collar 563, a rotating shaft 564, and a bearing 565. Note that in Figure 8, the washer 562, collar 563, rotating shaft 564, and bearing 565 are not shown.

[0104] In the work assistance device 1 according to Embodiment 3, the shape of the roller 561A of the fixed roller section 56 is different from that of the roller 551 of the movable roller section 55. Although roller 561A and roller 551 have the same diameter and cylindrical shape, their dimensions (lengths) in the axial direction are different. As shown in Figure 8, the length of roller 561A is longer than the length of roller 551.

[0105] Thus, in the work assistance device 1 according to Embodiment 3, the length of the roller 561A of the fixed roller section 56 is longer than the length of the roller 551 of the movable roller section 55, so that the object to be gripped 90 can be gripped more stably.

[0106] As described above, the work assistance device 1 is fixed to the wall of the bucket of the aerial work platform and operated by a worker riding inside the bucket. That is, when work is performed with the object to be gripped 90 being gripped by the gripping part 5, the operating part 541 of the gripping adjustment mechanism 54 faces the bucket side (hereinafter, rear), and the gripping part 5 faces the opposite side, the front.

[0107] Since work related to indirect live-line construction is performed at height, the falling of the object to be gripped 90, etc., could lead to a serious accident. However, when a worker operates the control unit 541 to move the movable roller unit 55 and press the object to be gripped 90 against the fixed roller unit 56 to grip it, if excessive force is applied to the fixed roller unit 56, the fixed roller unit 56 may bend in a direction intersecting the axial length direction. When bending occurs in this way, the contact area between the object to be gripped 90 and the roller 561A of the fixed roller unit 56 decreases, the gripping force weakens, and there is a risk of the object to be gripped 90 falling.

[0108] In contrast, in the work assistance device 1 according to Embodiment 3, as described above, the length of the roller 561A of the fixed roller section 56 in the axial direction is longer than the length of the roller 551 of the movable roller section 55. Therefore, even if deflection occurs in the fixed roller section 56, the contact area between the object to be gripped 90 and the roller 561A of the fixed roller section 56 can be secured, and the object to be gripped 90 can be prevented from falling.

[0109] Parts similar to those in Embodiment 1 are denoted by the same reference numerals, and detailed descriptions are omitted.

[0110] The technical features (constituent elements) described in Embodiments 1 to 3 are combinable with each other, and by combining them, new technical features can be conceived. The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the invention is indicated by the claims, not in the sense described above, and all modifications are intended to be in the sense and scope equivalent to the claims.

[0111] The matters described in each embodiment can be combined with each other. Furthermore, the independent and dependent claims described in the claims can be combined with each other in any combination, regardless of the form of reference. In addition, the claims use a form in which claims referencing two or more other claims (multi-claim form), but are not limited to this. A form in which multi-claims referencing at least one multi-claim (multi-multi-claim) may also be used. [Explanation of Symbols]

[0112] 1: Work assistance device, 5: Gripping part, 7: Gripping part holding part, 51: Case member (case), 52: Slit, 55: Movable roller part, 56: Fixed roller part, 58: Rail, 74: Mounting disc (moving member), 90: Gripping object, 511: First side wall, 512: Second side wall, 541: Operating part (restricting part), 551, 561, 561A: Rollers, 552, 562: Washers (cushion rings), 553, 563: Collars (annular members), 554, 564: Rotating shaft, 555, 565: Bearings, 565a: Outer cylindrical member (second cylindrical member), 565b: Inner cylindrical member (first cylindrical member), 565c: Ball

Claims

1. A work assistance device comprising a gripping section that grips an object to be gripped using multiple roller sections, A work assistance device comprising a displacement mechanism that displaces the object to be gripped in the axial direction of the roller portion.

2. Each roller section is, A cylindrical roller that contacts the object to be gripped, A rotating shaft is inserted through the aforementioned roller and has a length in the axial direction that is longer than that of the roller, The work assistance device according to claim 1, further comprising a bearing interposed between the roller and the rotating shaft.

3. The work assistance device according to claim 2, further comprising a limiting portion that applies an external force to each roller portion in a direction intersecting the axial length direction of the roller portion, thereby restricting the movement of the roller along the rotation axis.

4. In each roller section, The work assistance device according to claim 2, wherein an annular member that moves together with the roller is fitted onto the rotating shaft on both sides of the roller.

5. In each roller section, The work assistance device according to claim 4, wherein a buffer ring is loosely fitted on the rotating shaft between each annular member and the roller.

6. The aforementioned bearing is The work assistance device according to claim 2, comprising a first cylindrical member on which a plurality of balls are rotatably held on its outer circumferential surface, and a second cylindrical member fitted onto the first cylindrical member.

7. The gripping portion comprises a case in which four roller portions are housed in parallel. The pair of roller sections are fixed to the case at both ends in the axial direction. The other pair of rollers moves in the direction of approaching and separating from the pair of rollers by the limiting portion. The work assistance device according to claim 3, wherein the rollers of the pair of roller sections are longer than the rollers of the other pair of roller sections.

8. The gripping portion has one side wall with a slit formed therein for inserting and removing the object to be gripped, and comprises a case that houses the plurality of roller portions. A rail is provided on the other side wall opposite to the aforementioned one side wall, and extends in the axial direction of the roller portion, The work assistance device according to claim 1, further comprising a moving member that moves guided by the rail.

Images