Remote Operation System

Abstract

To provide a remote work system which reduces weight of a hose connected to a working robot, and improves operation of the working robot.SOLUTION: A remote work system comprises: a water distributor 6 for operating a working robot 7; a main water hose 42 which supplies water to the water distributor 6; and a control device 4 which controls the water distributor 6, and controls the working robot 7. The water distributor 6 comprises: a gate valve which is included in each of a plurality of circulation hoses 431a to 431c branched from the main water hose 42, and opens / closes a flow channel to supply and stop water to the working robot 7; control hoses 41a, 41b which supply water for opening / closing the gate valve; and water feeding hoses 432a to 432c which supply flowing water, which is discharged from the gate valve, to the working robot 7. The gate valve comprises a first gate valve and a second gate valve, the first gate valve and the second gate valve are opened / closed by supplied water, thereby controlling supply and stop of water to the working robot 7.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a remote operation system for operating a work robot from a remote location. [Background technology]

[0002] One example of a technique proposed for reducing the load on a work robot's hose is the technique described in Patent Document 1. Patent Document 1 discloses a technique in which multiple intermediate nozzles that spray fluid are installed around the outer periphery of a water supply hose, and the hose is lifted / moved by the spray reaction force, thereby reducing the frictional force caused by contact between the moving surface and the hose. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-164069 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, as the hose becomes longer and the number of intermediate nozzles for floating / moving increases, power cables and signal cables for controlling the intermediate nozzles are required in addition to the power cables and signal cables necessary for driving the robot and sensors and sending and receiving signals, which poses a problem of increasing the cable diameter.For this reason, in Patent Document 1, the weight of the hose including the cable increases due to the increase in cable diameter, which could make handling the hose difficult during work.

[0005] An object of the present invention is to provide a remote operation system that reduces the weight of a hose connected to a work robot and improves the operation of the work robot. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a remote work system for remotely operating a work robot to perform work, comprising: a fluid distributor connected to a motion mechanism of the work robot and operating the work robot by fluid pressure; a fluid supply hose connected to the fluid distributor and supplying fluid; and a control device for controlling the work robot by controlling the fluid distributor, wherein the fluid distributor comprises a plurality of circulation hoses branched from the fluid supply hose and through which fluid flows, gate valves provided on each of the plurality of circulation hoses and opening and closing the flow paths of the plurality of circulation hoses to start and stop the supply of fluid to the work robot, and a control device for opening and closing the gate valves. Control hose for supplying fluid and a discharge hose that supplies the fluid discharged from the gate valve to the working robot, and the gate valve includes at least Multiple a first gate valve; Multiple Located downstream of the first gate valve Multiple a second gate valve; The control hose includes a first control hose that supplies fluid to communicate with the plurality of first gate valves and a second control hose that supplies fluid to communicate with the plurality of second gate valves, and the control device controls the fluid supplied to the first control hose and the second control hose to control the plurality of First gate valve and The plurality The supply and stop of fluid to the working robot is controlled by opening and closing the second gate valve. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a remote operation system that reduces the weight of the hose connected to the work robot and improves the operability of the work robot. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a configuration of a remote operation system according to an embodiment of the present invention; [Figure 2] 1 is a functional block diagram showing the overall configuration of a remote operation system according to an embodiment of the present invention; [Figure 3] 10A and 10B are explanatory diagrams illustrating the operation of a hydraulic actuator built into the work robot. [Figure 4] FIG. 10 is a diagram showing the configuration of a water distributor having two stages of gate valves. [Figure 5]FIG. 10 is a diagram showing the relationship between the water pressure application pattern to the control hose of a water distributor with two gate valve stages and the outlet hose through which water passes. [Figure 6] FIG. 10 is a diagram showing the configuration of a water distributor having three gate valve stages. [Figure 7] FIG. 10 is a diagram showing the relationship between the water pressure application pattern to the control hose of a water distributor with three gate valve stages and the outlet hose through which water flows. [Figure 8] 1A and 1B are diagrams showing the structure of a normally closed gate valve. [Figure 9] FIG. 1 is a diagram showing the structure of a normally open gate valve. [Figure 10] FIG. 10 is a diagram showing the configuration of a water distribution device that combines multiple water distributors with two stages of gate valves. [Figure 11] FIG. 10 is a diagram showing the configuration of a remote operation system according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Like elements are designated by like reference numerals and similar descriptions will not be repeated.

[0010] The various components of the present invention do not necessarily have to be independent entities, and it is acceptable for one component to be made up of multiple members, for multiple components to be made up of one member, for one component to be part of another component, or for part of one component to overlap with part of another component.

[0011] In the following description of the embodiment of the present invention, an example is assumed in which a work device removes an object present in a work environment. Figure 1 shows the configuration of a remote work system according to the embodiment of the present invention. The remote work system remotely controls a work robot 7 to perform a predetermined task.

[0012] 1, a work environment 9 includes a single work robot 7, which is a work device, and the work robot 7 performs the task of grasping and transporting an object to be removed 8. In this embodiment, the work robot 7 is configured to have a crawler type moving mechanism and a manipulator as a work mechanism, but is not limited to these.

[0013] The work robot 7 is connected to a control device 4 via a cable 5, and the control device 4 controls the movement mechanism and work mechanism. The control device 4 is then connected to an operation management device 3, controlling the overall work in the work environment 9, which is the site. An operator 1, who manages and monitors the work, inputs work instructions into a display device 2 and monitors the progress of the work and the status of the equipment during the work. The display device 2, operation management device 3, and control device 4 of the work robot 7 can be integrated or separated, and are not limited to the configuration of this embodiment. For example, the display device 2 and operation management device 3 can be integrated into a single device, or the control device 4 can be separated into one for the movement mechanism and one for the work mechanism. Furthermore, although each device is connected by a wired cable, a wireless system configuration is also possible. The work robot 7 also has a water distributor 6 (fluid distributor) connected to a cable 5.

[0014] FIG. 2 is a functional block diagram showing the overall configuration of a remote operation system according to an embodiment of the present invention.

[0015] In Figure 2, the display device 2 is equipped with a work instruction input unit 10 that takes in input from the operator 1 into the display device 2, an operation instruction unit 11 that breaks down the work instructions (objectives) into operation instructions for the work robot 7, a data transmission / reception unit 13 that manages the transmission and reception of data, and a display unit 12 that displays various data to the operator 1.

[0016] The operation management device 3 is equipped with a data transmission / reception unit 21 that manages the exchange of data between the display device 2 and the control device 4 of the work robot 7, a device state estimation unit 19 that estimates the state of the robot body (presence or absence of abnormalities in the moving mechanism or working mechanism, etc.) from sensor signals mounted on the work robot 7, a work state estimation unit 20 that estimates the work state (the transportation status of the object, etc.), a device operation change unit 18 that determines whether or not to change the initially set operation instructions based on the estimated device state and work state, a memory unit 15 that stores device specification information 14 and operation instruction information 16 before change that are used to determine whether or not to change the operation instructions in the device operation change unit 18, and a device operation generation unit 17 that generates the operation of the work robot 7 (trajectory planning for the moving mechanism and working mechanism, etc.) reflecting the determination result of whether or not to change the operation.

[0017] The control device 4 that controls the work robot 7 also includes a data transmitter / receiver 22 that exchanges data with the operation management device 3, a target value calculation unit 23 that calculates target control variables (crawler rotation speed of the mobile mechanism, joint angles of each joint of the work mechanism) for the work robot's mobile mechanism 30 (operation mechanism unit) and work mechanism 29 (operation mechanism unit) from the device operation (trajectory plan) generated by the operation management device 3, a robot control unit 25 that generates target command voltages for each drive unit using the calculated target values ​​and current angles calculated from signals from angle detectors 28 built into each drive unit of the robot, and an environment measurement unit 24 that takes in signals from various sensors mounted on the work robot 7, such as a shape measurement unit 26 and object recognition unit 27. The control device 4 also controls the work robot 7 by controlling a water distributor 6, which will be described later.

[0018] In this embodiment, the object recognizer 27 is equipped with a camera that captures image data of the surrounding environment, a laser sensor that measures the shape of the surrounding environment and the object, and a force / torque sensor that measures the force / torque applied to the robot's hand, but these can be changed as needed for different tasks. The shape measuring instrument 26 is equipped with an optical sensor such as a camera or laser, or an acoustic sensor such as a millimeter wave or microwave.

[0019] 3 is a diagram illustrating the operation of the hydraulic actuator built into the working robot. The working mechanism 29 and moving mechanism 30, which form the operating mechanism of the working robot 7, are made up of a hydraulic actuator 31.

[0020] As shown in Figure 3, the cylinder shaft 33 of the hydraulic actuator 31 is composed of a disk-shaped member 34 that moves inside the cylinder body 32, and an axis-shaped member 35 that extends axially (to the right in Figure 3) from the center of the disk-shaped member 34. A seal member 39 is provided on the outer periphery of the disk-shaped member 34, dividing the interior of the cylinder body 32 into two spaces. The cylinder body 32 is composed of an injection / drainage line (A) 37 connected to the bottom space 32a of the cylinder body 32, and an injection / drainage line (B) 38 connected to the upper space 32b of the cylinder body 32. The injection / drainage line (A) 37 and the injection / drainage line (B) 38 are connected via an electromagnetic valve unit (not shown) to a pump unit that incorporates a storage tank, a booster pump, and an electric motor that drives the booster pump.

[0021] Furthermore, pressure gauges and flow rate measuring instruments are installed between the hydraulic actuator and the solenoid valve unit, and between the solenoid valve unit and the pump unit, so that the pressure applied to the hydraulic actuator 31 and the amount of water supplied can be measured.

[0022] The hydraulic actuator 31 operates the disk-shaped member 34 by adjusting the amount of liquid supplied to and discharged from the bottom space 32a and upper space 32b of the cylinder body 32, and transmits driving force to the shaft-shaped member 35. The shaft-shaped member 35 is equipped with a connection part 36 that is connected to the arm or the like of the work robot 7, and the driving force of the hydraulic actuator 31 is transmitted to the work robot 7.

[0023] The water distributor 6 shown in Figures 1 and 2 is installed between the hydraulic actuator 31 and the pump unit, and in this embodiment is mounted on the work robot 7 as shown in Figure 1. The water distributor 6 operates under the control of the control device 4, and controls the work robot 7. The basic configuration and operating principle of the water distributor 6 will be explained using Figures 4 and 5.

[0024] FIG. 4 is a diagram showing the configuration of a water distributor with two gate valve stages. FIG. 5 is a diagram showing the relationship between the water pressure application pattern to the control hose of a water distributor with two gate valve stages and the water outlet hose through which water flows. Note that while this embodiment uses water as an example, other liquids or gases may also be used. In other words, the water distributor 6 operates the work robot using fluid pressure, and is not limited to liquids or gases, as long as it is a fluid.

[0025] A main water hose 42 (fluid supply hose) that supplies water is connected to the water distributor 6 (fluid distributor).

[0026] Water distributor 6 includes a plurality of circulation hoses 431a, 431b, 431c that branch off from main water hose 42 into a plurality of flow paths and through which water flows, three first-stage gate valves (first gate valves) provided on each of the plurality of circulation hoses 431a, 431b, 431c, three second-stage gate valves (second gate valves) located downstream of the first-stage gate valves, two control hoses 41a, 41b that supply water (driving means) that open and close the gate valves, and a plurality of water outlet hoses 432a, 432b, 432c (discharge hoses) that supply water discharged from the second-stage gate valves to work robot 7. A plurality of first-stage gate valves and second-stage gate valves are provided to match the number of circulation hoses.

[0027] The gate valves used are a normally closed gate valve 44 that is normally closed and opens when water flows in, and a normally open gate valve 45 that is normally open and closes when water flows in.

[0028] In FIG. 5, "1" indicates a state in which water is passed through the control hose, and "0" indicates a state in which water is not passed through the control hose.

[0029] Then, by arranging the normally closed gate valve 44 and the normally open gate valve 45 as shown in Figure 4 and passing water through the control hoses 41a and 41b in the pattern shown in Figure 5, it is possible to select the water that is discharged from the main water hose 42 via the circulation hoses 431a, 431b, and 431c and from the outlet hoses 432a, 432b, and 432c.

[0030] For example, when water is not passed through the control hoses 41a and 41b, all paths from the main water hose 42 to the circulation hoses 431a, 431b, and 431c are closed. 2 a,43 2 b,43 2 Water is not discharged from outlet hose 432a. Furthermore, when water is passed through only control hose 41b, second-stage normally-closed gate valve 44 opens and normally-open gate valve 45 closes, causing water to be discharged from water outlet hose 432a. In this embodiment, the supply and stop of water to work robot 7 is controlled by opening and closing the first-stage gate valve (first gate valve) and second-stage gate valve (second gate valve).

[0031] Here, in the case of a two-stage gate valve as shown in Fig. 4, the main water hose 47 and two control hoses are used to connect the outflow hoses, i.e., three hoses to the hydraulic actuator, so the effect of reducing the number of hoses is low. Therefore, it is recommended to use the configurations shown in Figs. 6 and 7.

[0032] Fig. 6 is a diagram showing the configuration of a water distributor with three gate valve stages. Fig. 7 is a diagram showing the relationship between the water pressure application pattern to the control hose of a water distributor with three gate valve stages and the outlet hose through which water flows.

[0033] 6 and 7, the water distributor 6 includes a plurality of circulation hoses 481a, 481b, 481c, 481d, 481e, 481f, and 481g that are branched into a plurality of flow paths from a main water hose 47 and through which water flows, seven first-stage gate valves (first gate valves) provided in each of the plurality of circulation hoses 481a, 481b, 481c, 481d, 481e, 481f, and 481g, and a second-stage gate valve (second gate valve) provided downstream of the first-stage gate valve. The system is equipped with seven first-stage gate valves (second gate valves), seven third-stage gate valves (third gate valves) located downstream of the second-stage gate valves, three control hoses 46a, 46b, 46c that supply water (driving means) to open and close each gate valve, and multiple water outlet hoses 482a, 482b, 482c, 482d, 482e, 482f, 482g (discharge hoses) that supply water discharged from the third-stage gate valves to the work robot 7. Multiple first-stage gate valves, second-stage gate valves, and third-stage gate valves are provided to match the number of circulation hoses.

[0034] When the normally closed gate valve 49 and the normally open gate valve 50 are arranged as shown in FIG. 6 and water is passed through the control hoses 46a, 46b, and 46c in the pattern shown in FIG. 7, it is possible to select the water to be discharged from the main water hose 47 via the circulation hoses 481a, 481b, 481c, 481d, 481e, 481f, and 481g and from the outlet hoses 482a, 482b, 482c, 482d, 482e, 482f, and 482g.

[0035] For example, when water is not passed through control hoses 46a, 46b, and 46c, all passages from main water hose 42 to circulation hoses 481a, 481b, 481c, 481d, 481e, 481f, and 481g are closed, and water is not discharged from water outlet hoses 48a, 48b, 48c, 48d, 48e, 48f, and 48g. Also, when water is passed only through control hose 46c, third-stage normally-closed gate valve 49 opens and normally-open gate valve 50 closes, and water is discharged from water outlet hose 482a, whose first and second-stage gate valves are open.

[0036] As shown in Figures 6 and 7, if the number of stages of the gate valve is increased to three, a total of four hoses (main water hose and three control hoses) can be used to connect seven hoses to the water outlet hoses, i.e., the liquid inlet / outlet line (A) 37 and the liquid inlet / outlet line (B) 38 of the hydraulic actuator 31, thereby reducing the number of hoses required.

[0037] Next, the structure of the gate valve will be described with reference to Figures 8 and 9. Figure 8 is a diagram showing the structure of a normally closed gate valve.

[0038] The gate valve is composed of a gate valve cylinder 51 connected to the control hose 46, a gate valve rod 52 that opens and closes the flow path of the distribution hose, a valve body 54 that is connected to the gate valve rod 52 and moves within the gate valve cylinder 51 by water supplied from the control hose 46, and an elastic means 53 (spring) that biases the valve body 54.

[0039] 8, when water flows into gate valve cylinder 51 from control hose 46 and water pressure is applied, valve element 54 is pressed upward against the biasing force of elastic means 53, which in turn moves gate valve rod 52 upward, opening the flow path. On the other hand, when pressure from control hose 46 is released, valve element 54 is pressed downward by the biasing force of elastic means 53, which in turn moves gate valve rod 52 downward, closing the flow path. In this way, a normally closed gate valve 49 is constructed.

[0040] Next, the structure of the normally open gate valve will be described. Figure 9 shows the structure of the normally open gate valve.

[0041] 9, when water flows into gate valve cylinder 51 from control hose 46 and water pressure is applied, valve element 54 is pressed downward against the biasing force of elastic means 53, and gate valve rod 52 also moves downward accordingly, closing the flow path. On the other hand, when pressure from control hose 46 is released, valve element 54 is pressed upward due to the biasing force of elastic means 53, and gate valve rod 52 also moves upward accordingly, opening the flow path. In this way, normally open gate valve 50 is constructed.

[0042] 8 and 9, in this embodiment, a gate valve that opens and closes when water pressure is applied is configured by changing the installation positions of the control hose 46 and the elastic means 53. Here, detection means for confirming that the gate valve is operating normally include, for example, a means for directly measuring the amount of movement of the gate valve rod 52 with a displacement meter, or a means for measuring the amount of water supplied to the gate valve with a flow meter attached to the control hose.

[0043] In this embodiment, a gate valve driven by water is used as an example of a driving means, but any other type that can remotely control the opening and closing of the flow path, such as an electromagnetic type using electricity as a driving source or a mechanical type using a wire or the like as a driving source, may be used.

[0044] Furthermore, by combining a plurality of water distributors each having two stages of gate valves, as explained with reference to FIGS. 4 and 5, the configuration shown in FIG. 10 is also possible.

[0045] FIG. 10 shows the configuration of a water distribution device that combines multiple water distributors with two stages of gate valves. In FIG. 10, the water distribution device 60 (flow distribution device) is composed of five water distributors, namely, the first water distributor 61 to the fifth water distributor 65. The first water distributor 61 to the fifth water distributor 65 are each provided with two-stage gate valves (first gate valve, second gate valve) on circulation hoses 721a to 721f and 741a to 741i, and each stage is provided with three gate valves (normally closed gate valve 80 or normally open gate valve 81). The control hoses 71a and 71b each branch and are connected to the gate valve of the first water distributor 61 and the gate valve of the second water distributor 62. The main water hose 76 also branches and is connected to the circulation hoses 721a to 721f and 741a to 741i of the first water distributor 61 to the fifth water distributor 65.

[0046] Water branched from the main water hose 76 flows into the first water distributor 61 and the second water distributor 62. In the first water distributor 61 and the second water distributor 62, the water flowing into the control hoses 71a and 71b is controlled to open and close gate valves, thereby controlling the water discharged from the water outlet hoses 722a to 722f.

[0047] The outlet hose 722a of the first water distributor 61 is connected to the control hose 73a of the third water distributor 63, the outlet hose 722b of the first water distributor 61 is connected to the control hose 73b of the third water distributor 63, the outlet hose 722c of the first water distributor 61 is connected to the control hose 73c of the fourth water distributor 64, the outlet hose 722d of the second water distributor 62 is connected to the control hose 73d of the fourth water distributor 64, the outlet hose 722e of the second water distributor 62 is connected to the control hose 73e of the fifth water distributor 65, and the outlet hose 722f of the second water distributor 62 is connected to the control hose 73f of the fifth water distributor 65. That is, in Figure 10, the outlet hose of one water distributor is connected to the control hose of another water distributor.

[0048] The water discharged from the water outlet hoses 72a to 72c of the first water distributor 61 and the water outlet hoses 72d to 72f of the second water distributor 62 is used to control the gate valves of the third water distributor 63 to the fifth water distributor 65. In the configuration of Fig. 10, the gate valves of the third water distributor 63 to the fifth water distributor 65 are controlled to control the water discharged from the water outlet hoses 742a to 742i of the third water distributor 63 to the fifth water distributor 65.

[0049] For example, when water is passed through only the control hose 71a, water is discharged from the water outlet hoses 722b and 722e by opening and closing the gate valves provided in the first water distributor 61 and the second water distributor 62. Because the water outlet hoses 722b and 722e are connected to the control hoses 73b and 73e, the water from the control hoses 73b and 73e opens and closes the gate valves provided in the third water distributor 63 and the fifth water distributor 65, and water is discharged from the water outlet hose 742a of the third water distributor 63 and the water outlet hose 742h of the fifth water distributor 65.

[0050] In the configuration shown in Figure 10, the main water hose 76 is branched and part of the water in the main water hose 76 is used to control the third water distributor 63 to the fifth water distributor 65, so that one main water hose and two control hoses can be used to branch into nine water outlet hoses, reducing the cable weight due to the increased number of hoses and providing a hydraulic control device for a remote operation system that reduces frictional force.

[0051] Figure 11 is a diagram showing the configuration of a remote work system according to a modified example of the present invention. In the configuration shown in Figure 1, the water distributor 6 is installed inside the work robot 7, but in Figure 11, the water distributor 6 is installed independently, separate from the work robot 7. In the configuration shown in Figure 11, the water distributor 6 and work robot 7 are connected by a water outlet hose 43.

[0052] According to the modified example, the water distributor 6 is installed separately from the work robot 7, so even if the type of work robot 7 is changed, it can be accommodated by changing the connection between the water outlet hose 43 and the work robot 7, and the water distributor 6 can be shared.

[0053] The effects of this embodiment configured as described above will be explained below. In the prior art, in addition to the power cables and signal cables required for driving the robot and sensors and sending and receiving signals, it was necessary to add a water supply channel to the spray nozzle around the hose to support the movement of the cables, which increased the cable diameter and could make cable handling difficult during work.

[0054] In contrast to this, in the remote work system of this embodiment, a water distributor consisting of multiple gate valves that close or open when water pressure is applied is placed between the hydraulic robot and the control device, and the water flow route of the main water hose is switched by controlling the opening and closing of the gate valves of the water distributor, thereby reducing the number of hoses themselves and the weight of the cables, thereby reducing frictional forces and improving the operability of robot movement.

[0055] The remote operation system of this embodiment uses various sensors. These sensors detect the amount of movement and rotation of the drive unit of the operation device, sensors that detect interaction with an object, sensors that detect the operation of the drive unit, and sensors that detect changes in the operation environment. Of these, the sensors that detect changes in the operation environment may be mounted on the operation device, but since these functions involve measuring the on-site environment, they may also be installed in a fixed location on-site. The other sensors can be said to be sensors for determining the operation of the operation device.

[0056] In addition, sensors that can be used to detect the amount of movement and rotation of the drive unit of the work equipment include laser rangefinders, encoders, potentiometers, inclinometers, geomagnetic sensors, and gyro sensors; sensors that can be used to detect interaction with objects include cameras, ultrasonic rangefinders, laser rangefinders, force / torque sensors, thermometers, and pressure sensors; sensors that can be used to detect the operation of the drive unit include current sensors; and sensors that can be used to detect changes in the work environment include pressure gauges, water leak detectors, thermometers, and radiation dosimeters.

[0057] 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 to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, some or all of the above-described configurations, functions, etc. may be realized by designing, for example, an integrated circuit. Furthermore, the above-described configurations, functions, etc. may be realized by software in which a processor interprets and executes a program that realizes each function. [Explanation of symbols]

[0058] 1...operator, 2...display device, 3...operation management device, 4...control device, 5...cable, 6...water distributor, 7...work robot, 8...object to be removed, 9...work environment, 10...work instruction input unit, 11...operation instruction unit, 12...display unit, 13...data transmission / reception unit, 14...device specification information, 15...memory unit, 16...operation instruction information, 17...device operation generation unit, 18...device operation change unit, 19...device state estimation unit, 20...work state estimation unit, 21...data transmission / reception unit, 22...data transmission / reception unit, 23...target Value calculation unit, 24...environment measurement unit, 25...robot control unit, 26...shape measurement device, 27...object recognition device, 28...angle detector, 29...work mechanism, 30...movement mechanism, 31...hydraulic actuator, 32...cylinder body, 32a...bottom space, 32b...upper space, 33...cylinder shaft, 34...disk-shaped member, 35...shaft-shaped member, 36...connection part, 37...liquid inlet / outlet line (A), 38...liquid inlet / outlet line (B), 39...sealing member, 41...control hose, 41a, 41b...control hose, 42...main Water hose, 43, 43a, 43b, 43c...outlet hose, 44...normally closed gate valve, 45...normally open gate valve, 46...control hose, 46a, 46b, 46c...control hose, 47...main water hose, 48a to 48g...outlet hose, 49...normally closed gate valve, 50...normally open gate valve, 51...gate valve cylinder, 52...gate valve rod, 53...elastic means, 54...valve body, 60...water distribution device, 61...first water distributor, 62...second water distributor, 63...third water distributor, 64...fourth water distributor, 65 ...Fifth water distributor, 71a, 71b...control hose, 72a to 72f...outlet hose, 73a to 73f...control hose, 76...main water hose, 80...normally closed gate valve, 81...normally open gate valve, 431a to 431c...distribution hose, 432a to 432c...outlet hose, 481a to 481g...distribution hose, 482a to 482g...outlet hose, 721a to 721f...distribution hose, 722a to 722f...outlet hose, 741a to 741i...distribution hose, 742 to 742i...outlet hose

Claims

1. In a remote work system in which a work robot is remotely controlled to perform work, a fluid distributor connected to an operating mechanism of the work robot and operating the work robot by fluid pressure, a fluid supply hose connected to the fluid distributor and supplying fluid, and a control device that controls the work robot by controlling the fluid distributor, the fluid distributor comprises a plurality of circulation hoses branching from the fluid supply hose and through which fluid flows; a gate valve provided on each of the plurality of circulation hoses and opening and closing the flow paths of the plurality of circulation hoses to start and stop the supply of fluid to the work robot; a control hose that supplies fluid to open and close the gate valve; and a discharge hose that supplies fluid discharged from the gate valve to the work robot, the gate valve includes at least a plurality of first gate valves and a plurality of second gate valves arranged downstream of the plurality of first gate valves; the control hoses include a first control hose that supplies fluid to communicate with the plurality of first gate valves, and a second control hose that supplies fluid to communicate with the plurality of second gate valves; a control device that controls the supply and stop of fluid to the work robot by controlling the fluid supplied to the first control hose and the second control hose to open and close the plurality of first gate valves and the plurality of second gate valves.

2. 2. The remote operation system according to claim 1, A remote operation system characterized in that the gate valve is either a normally closed gate valve that is normally closed and opens when a fluid flows in, or a normally open gate valve that is normally open and closes when a fluid flows in.

3. 3. The remote operation system according to claim 2, a gate valve cylinder connected to the control hose; a gate valve rod for opening and closing the flow path of the distribution hose; a valve body connected to the gate valve rod and moving within the gate valve cylinder by fluid supplied from the control hose; and elastic means for biasing the valve body.

4. 4. The remote operation system according to claim 3, A remote operation system characterized in that the fluid distributor is provided within the work robot.

5. 4. The remote operation system according to claim 3, A remote operation system characterized in that the fluid distributor is provided separately from the work robot.

6. 4. The remote operation system according to claim 3, A plurality of the fluid distributors are provided, A remote operation system characterized in that the discharge hose of one fluid distributor is connected to the control hose of another fluid distributor.

7. 4. The remote operation system according to claim 3, A remote operation system characterized by comprising a detection means for confirming that the gate valve has operated normally.

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