JP2883474B2 - How to remove overhead tracks - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of removing a pre-tensioned overhead line (an overhead cable, a suspension line, etc.) by using a manipulator car which operates a robot arm mounted on an elevator from the ground. About.

[0002]

2. Description of the Related Art An overhead line removing operation involves removing cables (including suspension lines) which have become unnecessary due to the end of the service life or the increase in the number of lines and the new cable installation.

[0003] Aerial cables are broadly classified into self-supporting cables (hereinafter referred to as "SS cables") and round cables. All of these cables require workers to be moved up and down by a pillar or a bucket truck.

[0004] If the SS cable, the installation of the cable stretcher,
The removal of the tension wire, the hanging hardware, the cutting of the winding grip, the removal of the free band, and the collection of the cable were performed manually.

[0005] In addition, since a cable is laid over a suspension line using a cable ring in a round cable, it is necessary to remove the cable and the suspension line. First, removal of the spiral sleeve attached for cable protection, cutting of the cable, collection of the cable, etc. are done manually,
Next, the installation of the suspension cable, the suspension of the suspension cable, the cutting of the suspension cable, the removal of the cable ring, the collection of the suspension cable, and the like were performed manually.

[0006]

However, the conventional overhead line removal work involves a danger of falling because the worker must climb to a utility pole or go up to a high place using a bucket truck or the like. There was a problem of lack of sex.

[0007] In addition, in the work of relaxing the tension or the like, since the work involves handling a high tension of 1 t or more, there is a danger that the utility pole may be collapsed due to an incorrect procedure or may be involved in the collapse of an old utility pole.

Further, the weight of the recovered cable is 1 k
g / m or more. For example, if an overhead cable having a span of 50 m is collected, the weight of the cable becomes 50 kg. For that reason,
The recovery work by the worker is an extremely high degree of fatigue, and a more efficient removal method has been desired.

SUMMARY OF THE INVENTION It is an object of the present invention to secure the safety of workers and to improve the efficiency of work in removing overhead tracks.

[0010]

In order to achieve the above object, the present invention uses an manipulator car which operates a robot arm mounted on an elevator from the ground to connect an overhead line to which tension has been applied in advance. Remove using process.

That is, an extension tool is attached to an anchoring column and an overhead line that use the robot arm to hold the overhead line, and an overhead section between the installation section of the overhead line to which the extension tool is attached and the anchoring column. A step of relaxing the tension of the line and the winding grip, a step of cutting the overhead line or the winding grip with the relaxed tension using a cutting tool mounted on the robot arm, and the tensioning tool attached. A step of relaxing the tension applied to the overhead line by extending the space between the installation section of the overhead line and the staying column, and gripping the cut end of the overhead line,
Removing the extension wire tool attached to the staying column and the overhead line using the robot arm, removing the mounting hardware attached to the staying column using the robot arm, The method includes a step of cutting and collecting the overhead line by a cutting device while moving the vehicle along the overhead line.

In this case, in addition to the above-described six steps, an overhead wire is attached to the intermediate pillar suspending the overhead wire using a robot arm and the overhead wire, and the overhead wire to which the overhead wire tool is attached is attached. Relaxing the tension of the overhead line between the mounting portion of the intermediate pillar and the intermediate pillar; removing the mounting hardware attached to the intermediate pillar using the robot arm; A step of cutting the line using a cutting tool mounted on the robot arm, a step of removing the intermediate column and the extension tool attached to the overhead line using the robot arm, and a cutting end of the overhead line. Holding the unit and moving the manipulator vehicle along the overhead line, cutting and collecting the overhead line with a cutting device.

[0013]

Since the present invention is constructed as described above, the overhead line can be moved from the staying column or the intermediate column without including the step of the worker climbing to the high place using a pole or a bucket truck. It is easily removed.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for removing an overhead line according to one embodiment of the present invention will be described below with reference to the accompanying drawings. In the description, the same elements will be denoted by the same reference symbols, without redundant description. First, the outline of the removal system will be described. 1 and 2 show an outline of a removal system to which a method for removing an overhead line according to one embodiment can be applied. FIG. 1 is a side view of the manipulator vehicle as viewed from a direction orthogonal to the direction in which the overhead cables extend, and FIG. 2 is a front view of the manipulator vehicle as viewed from the direction in which the overhead cables extend. The manipulator car 1 has a manipulator 2 mounted on a rear portion of the vehicle, and a guide column 3 is disposed between a driver's seat 1a of the manipulator car 1 and a mounting portion of the manipulator 2. A waste cable carrier 4 is detachably attached to the manipulator vehicle 1. An operation room 5 is arranged on a side of the manipulator unit 2. Manipulator part 2
Is composed of an elevator (hereinafter, referred to as a “boom”) 2a and a boom-mounted device 2b, and is stored in a jig box on a base set to a predetermined height, direction, and angle by the boom. Access to hardware, cables, etc., depending on the equipment.

FIG. 3 shows an example of a boom-mounted device that can be used in the removal system. The boom-mounted device includes a slave arm 6, an upper camera 7, a central camera 8, a table camera 9, an X table 10, a jig box 11, a set table 12, a base 13, and a cable gripping arm 14.

FIG. 4 shows an example of an operation room that can be used in the above-mentioned removal system. The operation room includes a master arm 15, a control box 16, a foot switch 17
And a CRT 18.

The above-described boom-mounted device 2b and operation room 5
Accordingly, when the operator in the operation room operates the master arm 15 based on the visual information obtained from several cameras 7, 8, and 9, the slave arm 6 on the base 13 is operated, and the cable and the mounting hardware are removed. Can actually be done.

FIGS. 5 and 6 are process diagrams showing a method for removing the SS cable according to the first embodiment of the present invention. This removal method includes preparation for removal in the middle part (Figs. 7 to 9),
Removal of the terminal part (FIGS. 10 to 13), cutting of the SS cable (FIGS. 14 and 15), removal of the cable at the intermediate pillar (FIGS. 16 and 17), removal of the mounting hardware (FIGS. 18 and 19) It is included. First we will explain the whole process,
The specific operation will be described later with reference to FIGS.

A free band 20 is attached to the staying pole 19 by using a newly installed SS cable 21 and an SS cable 21 to be removed.
A cable 22 is attached. These SS cables 21 and 22 are laid over intermediate pillars 23, 24 and 25.

In the first step, preparation for removal of the intermediate pillar is performed. That is, the manipulator wheel 26 is stopped at the intermediate column 23 near the center of all spans, a balance wire is attached, and the right and left tensions are made uniform (FIG. 5A). afterwards,
Preparations for cable removal work are made outward from the intermediate column 23 (FIG. 9B).

In the second step, the terminal portion is removed. That is, the wire tensioner is attached to the staying column 19 using the slave arm of the manipulator wheel 26, and the winding grip is cut after the wire tensioning (FIG. 3 (c)). Next, the tension is relaxed and S
After setting the S-cable 22 in the cutting device, the stretcher is removed. (FIG. 2D).

In the third step, the SS cable 22 is cut. That is, first, S
The S cable 22 is cut by a cutting device mounted on the slave arm of the manipulator wheel 26, and the cut SS cable is collected (FIG. 6E). Next, the manipulator wheel 26 is moved along the direction in which the SS cable 22 intersects,
The SS cable between the intermediate column 24 and the intermediate column 23 is cut by a cutting device, and the cut SS cable is collected (FIG. 1F).

In the fourth step, the cable is removed from the intermediate column 23. That is, the intermediate pillar 23 is formed by the balanced wire drawing device.
The tension applied to the cable is relaxed, and the cable is further cut by a cutting device (FIG. 2G).

In the fifth step, the column hardware is removed. That is, after the SS cable 22 is collected, the fittings are removed from each telephone pole (FIGS. (H) and (i)).

Next, an example of the above-described removal preparation work in the intermediate section will be specifically described with reference to FIGS. First, the hanging hardware mounting device 27 is taken out and fixed on a set table (FIG. 7A), and the boom mounting device 28 is positioned with respect to the intermediate column 23 (FIG. 7B). Next, the balance stretcher 29 is taken out, and its main body is set on the hanging hardware 30 (FIG. 3C). Strand 2 of balance stretcher 29
9a and 29b are S
It is attached to the S cable 22 (FIG. 8D). Next, the tensioning portion 29c of the balance tensioning device 29 is wound up ((e) in the same figure), the hanging hardware 30 is loosened, and the SS
Remove the cable 22 (FIGS. 9 (f) and 9 (g)). Next, an example of the above-described removal operation of the terminal portion will be specifically described with reference to FIGS. First, the boom-mounted device 28 is positioned with respect to the retaining column 19 (FIG. 10A). After that, the cable cutting device 31 is placed on the set table,
The extension tool 32 is taken out (FIG. 2B). Next, the extension tool 32 is attached to the stay column 19 and the SS cable 22 (FIG. 3C). When the connection terminal box 33 is attached to the SS cable 22 near the staying column 19,
Is preferably attached to the SS cable 22 connected to the connection terminal box 33 on the opposite side. Next, the hand for the cable
A cutting tool is attached to the slave arm 28a (FIG. 11)
(D)), winding up the wire drawing tool 32 and SS cable 22
Is received by the drawing tool 32 (FIG. 3E). Thereafter, the winding grip 35 is cut using the cutting tool 34 (FIG. 6F). Next, the tension tool 32 is loosened, and the tension of the SS cable 22 is relaxed (FIG. 12 (g)). After that, the cut end 22a of the SS cable 22 is set on the cable cutting device 31 (FIG. 3 (h)),
Remove from the S cable 22 and the retaining column 19 (FIG. 13
(I)). Finally, the extension tool 32 is stored in the jig box (FIG. 10 (j)).

Next, an example of the above-described SS cable cutting operation will be specifically described with reference to FIGS. At the start, the cable cutting device 31 is set on the set table.
Is fixed, and the cut end of the SS cable 22 is held in the cable cutting device 31 (FIG. 14).
(A)). Next, the boom-mounted device 28 is moved to a position directly above the waste cable carrier 36 ((b) in the same figure), and the cable cutting device 31 is operated to insert the SS cable 22 of a fixed length ((c) in the same figure). ). Thereafter, the cutter 31a in the cable cutting device 31 is operated to cut the SS cable 22 (FIG. 15D). Thereafter, the movement of the manipulator wheel 37 and the disconnection of the SS cable 22 are repeated (FIG. 9E). At this time, it is effective to use the slave arm 28a auxiliary based on the direction of the SS cable 22.

Next, an example of the cable removing operation on the above-mentioned intermediate column will be specifically described with reference to FIGS. At the start, the cable cutting device 31 is fixed on the set table 28b, and the cut end of the SS cable 22 is gripped in the cable cutting device 31 (FIG. 1).
6 (a)). The SS cable 22 is cut and collected from the left side to the vicinity of the intermediate column 23. Next, loosen the tension portion 29c of the balance tensioner, and move the SS
The tension of the cable 22 is relaxed (FIG. 2B). Thereafter, the SS cable 22 on the right side of the intermediate column 23 is cut and set in the cable cutting device 31 (FIG. 17C). Further, the manipulator wheel 37 is moved toward the next telephone pole, and the work of cutting the SS cable 22 is continued (FIG. 4D).

Next, an example of the work of removing the above-mentioned mounting hardware will be specifically described with reference to FIGS. First,
The boom mounting device 28 is positioned with respect to the intermediate column 25, and the mounting hardware (such as a free band mounting device or a hanging metal mounting device) is placed on a set table (FIG. 18A).
Next, the balance stretching device 29 and the mounting hardware (free bands, suspension hardware, etc.) are removed from the intermediate pillar 25 (FIG. 18B).
FIG. 19 (c)). Further, the manipulator wheel 37 is moved toward the next telephone pole, and the work of removing the mounting hardware is continued (FIG. 19D).

FIGS. 20 to 22 are process diagrams showing a method for removing a round cable and a suspension wire according to a second embodiment of the present invention. This removal method includes removal of a round cable (FIGS. 23 and 24) and preparation for removal at an intermediate portion (FIGS. 25 to 2).
7), removal of the end part (FIGS. 28 to 31), cutting and removal of the suspension line (FIGS. 32 and 33), removal of the suspension line at the intermediate pillar (FIGS. 34 and 35), removal of the mounting hardware (FIG. 36 and FIG. 36). FIG. 37). First, the entire process will be described, and specific operations will be described later with reference to FIGS.

A round cable 41 newly installed and switched and a round cable 42 to be removed are laid on the retaining column 39 via a flexible band. The round cable 41 is suspended from a suspension line via a cable ring, and the retaining columns 39 are supported by branch lines 43 (see FIG. 20A).

In the first step, the round cable 42 is removed. That is, first, the round cable 42 is cut at the staying column 39, then the manipulator wheel 44 is moved to the adjacent intermediate column 45, and the other end of the round cable 42 is cut (FIG. 7A). Thereafter, the round cable 42 is pulled out from the cable ring, and the cut round cable 42 is cut.
Is collected (FIG. 2B). The work of pulling out the round cable uses, for example, a conventional round cable pulling device. The present device is provided with a pair of belts for holding the round cable from both sides, and by moving these belts in the pulling direction, the round cable can be pulled out from the cable ring. Since the belt interval can be changed, it can be applied to round cables of any thickness. Further, the manipulator wheel 44 is moved along the intermediate columns 46 and 47 while cutting and collecting the round cable 42 (FIG. 3C).

In the second step, preparation for removal of the intermediate pillar is performed. That is, removal of the suspension line 49 is started at the intermediate column 46 near the center of all spans. After that, the balance tensioner is attached, and the suspension wire 49 is removed from the suspension hardware. Further, the right and left tensions applied to the intermediate pillar 46 are made uniform by using a balanced wire drawing device (FIG. 4D). Next, work is performed outward from the intermediate column 46 (FIG. 21E).

In the third step, the terminal portion is removed. That is, a tensioning device is attached to the staying column 39, tension is applied to the left and right sides, and then the winding grip is cut (FIG. 9F).
Next, the tension of the suspension line 49 is relaxed ((g) in the figure), and the suspension line 4
After setting 9 in the cutting device, the wire tensioner is removed from the staying column 39.

In the fourth step, the suspension line is cut and removed. That is, the hanging wire 49 set in the cutting device is cut, and the cut hanging wire 49 is collected by the waste cable carrier 50 (FIG. 1H).

In the fifth step, the suspension line is removed from the intermediate pillar. That is, the suspension wire 49 is relaxed by the intermediate column 46 using a balance tensioner, and the suspension wire 49 is set in the cutting device (FIG. 22 (i)). Next, the suspension line 49 is cut and collected (FIG. 13 (j)).

In the sixth step, the mounting hardware is removed. That is, after the hanging wire 49 is collected, the fittings are removed from each utility pole ((k) and (l) in the figure). With the above steps, removal of the suspension line is completed.

Next, an example of the work for removing the above-mentioned round cable will be specifically described with reference to FIGS. The cable pulling device (round cable pulling device) 51 is taken out by the slave arm of the manipulator car and fixed on the set table. Next, the cutting tool 52 is attached to the slave arm (FIG. 23A). Next, the retaining pillar 39
Then, the boom-mounted device 53 is positioned (FIG. 13B), and the round cable 42 is cut in the vicinity of the retaining column 39 (FIG. 13C). Next, the manipulator wheel 44 is moved to the intermediate pillar located on the other side to cut the round cable 42, the round cable 42 is pulled out, and the round cable cut into the manipulator wheel 44 using the cable pulling device 51. 42 is collected (FIG. 24D).

Next, an example of the preparatory work for removing the above-mentioned intermediate pillar will be described in detail with reference to FIGS. First, the hanging hardware mounting device 54 is taken out by the slave arm of the manipulator car and fixed on the set table (FIG. 25A). Next, the boom-mounted device 53 is positioned with respect to the intermediate column 46 (FIG. 2B). afterwards,
Take out the balance tensioner 55, and attach the main body to the intermediate pillar 46.
Is set on the suspension metal fitting 56 attached to the device (FIG. 3C). The balance stretching device 55 includes the wire portions 55a,
5b is attached to the suspension wire 49 so as to be symmetrical with respect to the intermediate column 46 (FIG. 26D). Thereafter, the tensioning portion 55c of the balance tensioning device 55 is wound up ((e) in the same drawing), and the hanging hardware 56 is loosened by using the hanging hardware mounting device 54, so that the intermediate column 4 is loosened.
The hanging wire 49 is removed from 6 (FIGS. 27 (f) and 27 (g)).

Next, an example of the above-mentioned removal operation of the terminal portion will be specifically described with reference to FIGS. First, the boom-mounted device 53 is positioned with respect to the retaining column 39 (FIG. 28A). Next, the cable (suspension line) cutting device 57 is fixed on the set table using the slave arm 53a of the manipulator car, and the extension tool 58 is taken out (FIG. 8B). Next, the extension tool 58 is attached to the stay column 39 and the suspension line 49. When the connection terminal box 59 is attached to the suspension wire 49 near the stay column 39, it is preferable to attach the connection terminal box 59 to the suspension wire 49 connected to the connection terminal box 59 on the opposite side of the stay column 39 (FIG. 3C). Next, the extension wire hand 60 and the cutting tool 61 are attached to the slave arm 53a (FIG. 29D). Thereafter, the tensioning tool 58 is wound up, and the tension of the suspension wire 49 is received by the tensioning tool 58 (FIG. 9E). Next, the winding grip 62 is cut using the cutting tool 61, and the hanging wire 49 is cut at the connection terminal box 59. (Figure (f)). Thereafter, the tensioning tool 58 is loosened, and the tension of the hanging wire 49 is relaxed (FIG. 30 (g)). Next, the hanging wire 49 is set on the cable cutting device 57 ((h) in the same figure), and the extension tool 58 is removed from the stay pillar 39 and the hanging wire 49 (FIG. 31 (i)). Finally, the extension tool 58 is stored in the jig box (FIG. 10 (j)).

Next, an example of the above-described suspension wire cutting and removing operation will be specifically described with reference to FIGS. 32 and 33. FIG. At the start time, the cable cutting device 57 is fixed on the set table, and one end of the hanging wire is gripped in the cable cutting device 57 (FIG. 32A). First, the boom-mounted device 53 is moved onto the waste cable carrier 50 (FIG. 8B), and the cable cutting device 57 is operated to insert a suspension line 49 of a fixed length (FIG. 9C). Next, the cutter 57a in the cable cutting device 57 is operated to cut the suspension line 49 (FIG. 33D). Thereafter, the manipulator wheel 44 is moved, and the operation of cutting the suspension line 49 is repeated. At this time, the slave arm 53a may be used in an auxiliary manner depending on the direction of the suspension line 49 (FIG. 7E).

Next, an example of the operation of removing the hanging wire from the intermediate column will be described in detail with reference to FIGS. 34 and 35. At the start time, the cable cutting device 57 is fixed on the set table 53b, and one end of the hanging wire is held in the cable cutting device 57. Further, the suspension line is cut and collected from the left side to the vicinity of the intermediate column 46 (FIG. 34).
(A)). First, the tension portion 55c of the balance wire tensioner attached in preparation for removal at the intermediate column 46 is loosened, and the intermediate column 46 is loosened.
The tension of the suspension wire 49 on the right side is relaxed (FIG. 4B). Thereafter, the suspension wire 49 on the right side of the intermediate pillar 46 is cut and set on the cable cutting device 57 (FIG. 35 (c)). further,
The manipulator wheel 44 is moved toward the next utility pole, and the work of cutting the suspension line 49 is continued (FIG. 4D).

Next, an example of the work of removing the above-mentioned mounting hardware will be specifically described with reference to FIGS. 36 and 37. FIG. First,
For example, the boom-mounted device 53 is positioned with respect to the intermediate column 46 (FIG. 36A), and the column mounting hardware mounting device is placed on a set table. Thereafter, the balance stretching device 55 is removed, and the remaining suspension lines 49 are also removed at the same time ((b) in the same figure). Next, the mounting hardware such as the flexible band and the hanging support is removed (FIG. 37).
(C)). Thereafter, the work of removing the mounting hardware is continued toward the next telephone pole (FIG. 4D).

Finally, FIG. 38 shows an example of a balanced wire wrapping device that can be used in the above embodiment. This balance cable is
A pair of shielded wire portions 71 and 72 are connected to a wire winding portion 74 by a wire 73, and a lever 75 for gripping the wire 73 is attached. With this balance stretching device, it is possible to balance the uneven left and right tensions in the intermediate column during the cable removing operation, and to relax the cable tension at the time of removal.

It should be noted that the present invention is not limited to the above-described embodiment, and various modifications can be made according to the conditions of use, tools to be used, and the like.

It goes without saying that the order of each step is not limited to the order shown in the above embodiment. The order of the steps varies depending on the working conditions and the tools mounted on the robot arm. For example, the work of removing the extension tool and the work of removing the mounting hardware can be performed before or after collection of the overhead line.

[0046]

As described above, the present invention is constructed as described above, so that the efficiency of work for removing overhead tracks can be improved, and the safety of workers can be sufficiently ensured.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an outline of a removal system to which a method for removing an overhead line according to an embodiment of the present invention can be applied.

FIG. 2 is a front view of the manipulator vehicle as viewed from a direction in which an overhead cable is routed.

FIG. 3 is a side view showing an example of a boom-mounted device that can be used in the removal system shown in FIG.

FIG. 4 is a perspective view showing an example of an operation room that can be used in the removal system shown in FIG.

FIGS. 5A to 5D are process diagrams showing a method for removing the SS cable according to the first embodiment of the present invention.

FIGS. 6A to 6I are process diagrams (e) to (i) showing a method for removing the SS cable according to the first embodiment.

FIGS. 7A to 7C are process diagrams showing removal preparation work at an intermediate portion applicable to the SS cable removal method according to the first embodiment;
(C).

FIGS. 8 (a) and 8 (b) are process diagrams (d) and (e) showing a removal preparation work at an intermediate portion applicable to the SS cable removal method according to the first embodiment.

FIGS. 9A and 9B are process diagrams (f) and (g) showing a removal preparation work in an intermediate portion applicable to the SS cable removal method according to the first embodiment.

FIG. 10 is a process diagram (a) to (a) showing an operation for removing a terminal portion applicable to the method for removing an SS cable according to the first embodiment;
(C).

FIG. 11 is a process diagram (d) showing the removal operation of the terminal portion applicable to the SS cable removal method according to the first embodiment;
(F).

FIGS. 12A and 12B are process diagrams (g) and (h) showing an operation of removing an end portion applicable to the SS cable removing method according to the first embodiment.

FIGS. 13A and 13B are process diagrams (i) and (j) showing an operation of removing an end portion applicable to the SS cable removing method according to the first embodiment.

FIG. 14 is a process diagram (a) showing an SS cable cutting operation applicable to the SS cable removing method according to the first embodiment;
(C).

FIG. 15 is a process diagram (d) showing an SS cable cutting operation applicable to the SS cable removing method according to the first embodiment;
And (e).

FIGS. 16A and 16B are process diagrams (a) and (b) showing a cable removing operation on an intermediate pillar applicable to the SS cable removing method according to the first embodiment.

FIGS. 17 (a) and 17 (b) are process diagrams (c) and (d) showing a cable removing operation at an intermediate column applicable to the SS cable removing method according to the first embodiment.

FIGS. 18 (a) and 18 (b) are process diagrams (a) and (b) showing an operation of removing the mounting hardware applicable to the SS cable removing method according to the first embodiment.

FIGS. 19 (a) and 19 (b) are process diagrams (c) and (d) showing the work of removing the mounting hardware applicable to the SS cable removing method according to the first embodiment.

FIG. 20 is a process chart (a) to (d) showing a method for removing a round cable and a suspension wire according to the second embodiment of the present invention.

FIGS. 21A to 21H are process diagrams (e) to (h) illustrating a method of removing a round cable and a suspension wire according to the second embodiment.

FIGS. 22A to 22L are process diagrams (i) to (l) illustrating a method of removing a round cable and a suspension wire according to the second embodiment.

FIGS. 23A to 23C are process diagrams (a) to (c) showing a round cable removal operation applicable to the round cable and suspension line removal method according to the second embodiment.

FIG. 24 is a process diagram (d) showing an operation of removing the round cable applicable to the round cable and the method of removing the suspension wire according to the second embodiment.

FIGS. 25A to 25C are process diagrams (a) to (c) showing a removal preparation work at an intermediate portion applicable to the method for removing a round cable and a suspension wire according to the second embodiment.

26 (a) and 26 (b) are process diagrams (d) and (e) showing removal preparation work at an intermediate portion applicable to the method for removing a round cable and a suspension wire according to the second embodiment.

27 (a) and 27 (b) are process diagrams (f) and (g) showing removal preparation work at an intermediate portion applicable to the method for removing round cables and suspension wires according to the second embodiment.

FIG. 28 (a) is a process diagram showing an end-portion removing operation applicable to the method of removing the round cable and the suspension wire according to the second embodiment.
(C).

FIG. 29 is a process diagram (d) showing an end-portion removing operation applicable to the method of removing the round cable and the suspension wire according to the second embodiment.
~ (F).

FIG. 30 is a process diagram (g) showing a terminal-portion removing operation applicable to the method of removing the round cable and the suspension wire according to the second embodiment.
And (h).

FIG. 31 is a process chart (i) showing a terminal-portion removing operation applicable to the method of removing the round cable and the suspension wire according to the second embodiment.
And (j).

32 (a) to 32 (c) are process diagrams showing the work of cutting and removing the suspension line applicable to the method for removing the round cable and the suspension line according to the second embodiment.

FIG. 33 is process diagrams (d) and (e) showing a work for cutting and removing a suspension line applicable to the method for removing a round cable and a suspension line according to the second embodiment.

FIGS. 34A and 34B are process diagrams (a) and (b) showing a work for removing a suspension line at an intermediate pillar applicable to the method for removing a round cable and a suspension line according to the second embodiment.

FIGS. 35 (a) and 35 (b) are process diagrams (c) and (d) showing a work for removing a suspension line from an intermediate pillar applicable to the method for removing a round cable and a suspension line according to the second embodiment.

FIGS. 36 (a) and 36 (b) are process diagrams (a) and (b) showing the work of removing the mounting hardware applicable to the method of removing the round cable and the suspension wire according to the second embodiment.

FIGS. 37 (a) and 37 (b) are process diagrams (c) and (d) showing the work of removing the mounting hardware applicable to the method of removing the round cable and the suspension wire according to the second embodiment.

FIG. 38 is a diagram showing an example of a balanced wire drawing device applicable to the embodiment of the present invention.

[Explanation of symbols]

1, 26, 37, 44: Manipulator car, 2: Manipulator section, 3: Guide column, 4, 36, 50: Disposal cable carrier, 5: Operation room, 6: Slave arm, 7: Upper camera, 8: Center Camera, 9 ... Camera on the table, 1
0 ... X table, 11 ... Jig box, 12 ... Set table, 13 ... Base, 14 ... Cable gripping arm, 1
5 Master arm, 16 Control box, 17
... Foot switch, 18 ... CRT, 19, 39, 48 ...
Detained columns, 20: Flexible band, 21, 22: SS cable, 23, 24, 25, 45, 46, 47: Intermediate column, 2
7, 54: suspension hardware mounting device, 28, 53: boom mounting device, 29, 55: balanced cable stretching device, 30, 56: suspension hardware, 31: cable cutting device, 32, 58: tension tool, 33 , 59 ... connection terminal box, 34, 52, 61 ... cutting tool, 35, 62 ... winding grip, 41, 42 ... round cable, 43 ... branch line, 49 ... hanging wire, 51 ... cable pulling device (round cable pulling device) Device), 57: Cable (suspension line) cutting device, 60: Hand for tensioning wire, 71, 72: Wire portion, 73: Wire, 74: Wire winding portion, 75: Lever.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuo Asano 1 Tayacho, Sakae-ku, Yokohama-shi, Kanagawa Prefecture Sumitomo Electric Industries, Ltd. Yokohama Works (72) Inventor Tokio Kawanabe 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (72) Inventor Minoru Shiragata 1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (56) References JP-A-4-75406 (JP, A)

Claims (2)

(57) [Claims] 1. A method for removing a pre-tensioned overhead line using a manipulator vehicle that operates a robot arm mounted on an elevator from the ground, wherein the overhead line is used by using the robot arm. Attaching an extension wire tool to the staying column and the overhead line, and relaxing the tension of the overhead line and the winding grip between the installation portion of the overhead line to which the extension tool is attached and the staying column. Cutting the overhead line or the winding grip with relaxed tension using a cutting tool attached to the robot arm; and A step of relaxing the tension applied to the overhead line by increasing a space between the overhead line and the cut end of the overhead line; Removing the attached tensioning tool using the robot arm; removing the mounting hardware attached to the retaining column using the robot arm; moving the manipulator car along the overhead line And removing the overhead line by a cutting device while collecting the overhead line. 2. A method for removing a pre-tensioned overhead line using a manipulator vehicle that operates a robot arm mounted on an elevator from the ground, wherein the overhead line is provided using the robot arm. Attaching a tension tool to the intermediate column and the overhead line suspending the wire, and relaxing the tension of the overhead line between the mounting portion of the overhead line to which the tension tool is attached and the intermediate column, Removing the mounting hardware attached to the intermediate column using the robot arm; cutting the overhead line with relaxed tension using a cutting tool mounted on the robot arm; and And a step of removing the extension tool attached to the overhead line using the robot arm; and gripping a cut end of the overhead line to remove the manipulator vehicle. While moving along the overhead line, removing method of the overhead line, characterized in that it is configured to include a step of recovering by dividing the imaginary line in the cutting device.