JP3137398B2 - High pressure underline construction robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The high-voltage underline construction robot of the present invention is used to connect a high-voltage underline for drawing high voltage into a pole transformer to a mains line which is overheadly distributed.

[0002]

2. Description of the Related Art As shown in FIG. 19, in order to draw a high voltage from a main line A, which is aerially distributed, to a transformer C installed on a utility pole B, a high voltage down line D is connected between the main line A and the transformer C. I was doing it. In this case, the connection of the high-voltage underline D to the main line A has been performed through the following steps. Peeling of the coating layer of the main line A using a knife (peeling: about 5 cm). For removing residues of the coating layer, aluminum oxide film, rust, dirt, etc. adhering to the outer peripheral surface of the inner conductor E of the main line A exposed by peeling (the separator is also removed when the main line is an OC electric wire). Brushing. Holding of high pressure underline (PD line) C. Main line A by compressing sleeve F (FIG. 20)
And high-voltage underline D. Attach a protective cover (mainly for prevention of electric shock: mainly made of polyethylene) to the outside of the sleeve F. Tape wrap around the connection to prevent waterproofing and disconnection. Connection of the high-voltage underline D by a binding line for stopping the high-voltage underline D. Conventionally, these connecting operations are performed by a worker using a bucket truck (a high-altitude working vehicle) or climbing on a utility pole.

[0003]

However, the conventional connection method described above has the following problems. Depending on the worker, the peeling of the coating is insufficient, the compression of the sleeve F is insufficient, the clamping of the main line A is insufficient, and the attachment of the high-pressure underline D to the main line A is inclined. , The connection finish (connection quality) varies. Since each work is manual work, it takes time,
The installation of the protective cover is particularly time-consuming and requires a lot of effort. Since the operation is performed at a high place, it is difficult to perform the operation, and there is a danger that the operation may be dropped. . When working with a high voltage flowing through the main line A (in a live state), there is a danger of electric shock and this is dangerous. . In order to pressurize the sleeve F, a portable hydraulic fastener or the like is required, and it has to be placed on a bucket truck and pushed up. Become. . Prior to the connection work, a safety net, a low-pressure protection sheet, a high-pressure protection sheet, and the like must be provided before connection, and the connection must be removed after the connection is completed.

An object of the present invention is to automatically perform the above-mentioned connection work without the worker climbing on the telephone pole, and to reduce the danger even if the work is performed while the main line is in a live state. It is an object of the present invention to provide a high-voltage pull-down line construction robot that can omit part of the work, save work efficiency, save labor, and have a stable connection quality and stable connection.

[0005]

According to a first aspect of the present invention, there is provided a high-voltage underline construction robot according to the first aspect, in which a high-voltage underline 2 (FIG. 5) connected to an overhead distribution main line 1 (FIG. 1) is temporarily provided. Compression die 4 for setting held sleeve 3 (FIG. 5)
(FIG. 6), a cover loading section 6 (FIG. 7) for loading a cover 5 (FIG. 7) put on the outside of the sleeve 3, and a hanging section 7 (FIGS. 1 and 2) for hanging the main line 1. Coating layer 8 of main line 1
Peeling mechanism 9 for peeling (FIG. 2) (FIGS. 10 and 11)
A brushing mechanism 12 (FIGS. 2 and 15) for brushing the outer peripheral surface of the inner conductor 10 (FIG. 2) exposed by peeling; and a sleeve 3 compressed by pressing the compression die 4 to compress the sleeve 3. And a pressurizing mechanism 13 (FIGS. 2 and 7) for pressing the cover 5 to cover the outside of the sleeve 3 by sandwiching and fixing the internal conductor 10 to the outside.

According to a second aspect of the present invention, a high pressure underline construction robot is provided with a cartridge loading section 14 (FIGS. 1 and 7) in the high pressure underline construction robot according to the first aspect. The cartridge 15 on which the compression die 4 and the cover 5 are set can be loaded and removed.

According to a third aspect of the present invention, there is provided a high-pressure underline construction robot according to the first aspect, wherein each of the brushing mechanism 12, the compression die 4, and the cover 5 can be moved to the position of the internal conductor 10. .

According to a fourth aspect of the present invention, the brushing mechanism 12 according to the first or third aspect is capable of moving the brushing mechanism 12 to the position of the inner conductor 10 (the position in FIG. 2B). The compression die 4 and the cover 5 can be moved to the position of the internal conductor 10 (the position in FIG. 2C) and can be moved up and down to the side of the pressing mechanism 13 by the elevating mechanism 16 (FIG. 7). is there.

According to a fifth aspect of the present invention, there is provided a high-voltage underline construction robot according to claim 1, wherein the high-voltage underline construction robot according to claim 1, 3, or 4 is suspended from the main line 1.
7 (FIGS. 1 and 2), and a movable table 18 (FIG. 2) provided in the same housing 17 so as to be able to reciprocate along the main line 1.
The moving table 18 is provided with the compression die 4, the peeling mechanism 9, the brushing mechanism 12, the pressing mechanism 13, the cartridge loading unit 14, and the elevating mechanism 16.

[0010]

In the high-voltage underline construction robot of the present invention, the following preparations are made before the robot is suspended from the main line 1. Sleeve 3 temporarily holding high-pressure underline 2 as shown in FIG.
Is set on the compression die 4 as shown in FIG. 6, and the compression die 4 and the cover 5 (FIG. 7) are loaded into the cartridge 15 (FIG. 7). In this state, the robot of the present invention is temporarily suspended from the main line 1 which is overhead-distributed as shown in FIG. This temporary suspension is performed by locking the temporary suspension tools 19 attached to both outer sides of the housing 17 of FIG.

In this state, when a start switch (not shown) is pressed, the hanging portion 7 shown in FIG. 2 grips the main line 1 and the covering layer 8 of the main line 1 is moved by the peeling mechanism 9 as shown in FIG. The inner conductor 10 is peeled (skinned) and exposed to the outside.

Next, as shown in FIG. 2B, the brushing mechanism 12 moves to the position of the internal conductor 10 and performs brushing.

Next, as shown in FIGS. 2C and 7A, the compression die 4 moves to the position of the inner conductor 10, and
As shown in (b), the compression die 4 is raised to the side of the pressure mechanism 13 and the compression die 4 is pressed by the pressure mechanism 13 at that position to compress the sleeve 3 as shown in FIG.
To be fixed. At this time, the high-voltage underline 2 temporarily held by the sleeve 3 is also fixed to the sleeve 3 as shown in FIG. 17, and the main line 1 and the high-pressure underline 2 are connected via the sleeve 3.

Thereafter, as shown in FIG. 7 (c), the cover 5 descends to the side of the pressing mechanism 13, and at this position, the pressing mechanism 13 presses the cover 5 to move the cover 5 out of the sleeve 3 as shown in FIG. Then, the two covers 5 are fitted and fixed to each other.

As described above, the robot can connect the high-voltage underline 2 to the main line 1 while keeping the main line 1 fixed at the peeling position.

When the work up to the covering of the cover 5 is completed as described above, the main grip of the main line 1 is released by the hanging portion 7, and the worker removes the robot from the main line 1.

[0017]

1 to 16 show an embodiment of a high-voltage underline construction robot according to the present invention. Of these, 1 shown in FIGS. 1 to 3 is a main line which is aerially distributed, 17 is a robot housing, and 18 is a moving table mounted in the housing 17.

The housing 17 is formed in a horizontally long box shape by a metal plate, and a U-shaped notch 22 (FIG. 1) for passing the main line 1 is formed in both side plates 21 thereof. Two guides 23 (FIGS. 2 and 3), such as round pipes, are installed in parallel between them, and a screw shaft 24 (FIG. 3) is arranged between the lower ends of both side plates 21.

The movable table 18 has a guide holder 25 (FIGS. 2 and 3) slidably connected to the guide 23 and a shaft holder 26 (FIG. 3) connected to the screw shaft 2.
4 screwed.

When the pulley 28 of the screw shaft 24 is rotated by rotation of a motor 27 (FIG. 3) mounted on the housing 17, a driven pulley 29 (FIG. 3) mounted on the screw shaft 24 rotates. It is made to rotate.

When the screw shaft 24 rotates, the shaft holder 26 screwed with the screw shaft 24 moves along the screw shaft 24, and accordingly, the moving table 18 moves along the guide 23 in the direction of arrow x in FIG. I do. When the motor 27 rotates in the reverse direction, the screw shaft 24 also rotates in the reverse direction, and the moving table 18 moves in the reverse direction (the direction of the arrow y in FIG. 2).

A cartridge loading section 1 in which a cartridge 15 (FIGS. 2 and 7) can be loaded and removed from the movable table 18 is provided.
4 (FIGS. 2 and 7), the cartridge 15 has a compression die 4 for setting a sleeve 3 for connecting the main line and the high-pressure pull-down line as shown in FIG. 7, and a cover for covering the outside of the sleeve 3. 5 can be set.

Before the sleeve 3 is set on the compression die 4, as shown in FIG.
Is temporarily stored.

As shown in FIG. 5, the sleeve 3 has a U-shaped main line holding portion 33 for holding the main line 1 at an upper portion thereof.
Below this, a round hole-shaped high-voltage underline sandwiching portion 34 for sandwiching the high-voltage underline 2 is formed. As shown in FIG. 5B, the high-pressure underline sandwiching portion 34 has a large-diameter covering portion insertion hole 35 for inserting the covering portion of the high-pressure underline 2 at the entrance side, and the high-pressure underline 2 A small diameter internal conductor insertion hole 36 for inserting the internal conductor is connected, and a slit 37 (FIG. 5) is formed at a position facing the peripheral wall of the covering portion insertion hole 35.

Then, as shown in FIG. 5 (e), the internal conductor of the high-voltage underline 2 is inserted into the internal conductor insertion hole 36, and the coating of the high-voltage underline 2 is inserted into the coating insertion hole 35.
Is crushed from the slit 37 so that the high-pressure underline 2 can be temporarily held.

The cover 5 set in the cover loading portion 6 of the cartridge 15 (FIG. 7) is formed of plastic or the like. When the cover 5 is put on the outside of the sleeve 3 as shown in FIG. It is formed so as to be fitted and fixed.

As shown in FIG. 6, two compression dies 4 set in the cartridge 15 are opposed to each other, and each of the compression dies 4 has a receiving portion 41 for receiving the main line holding portion 33 of the sleeve 3 inside. The movable piece 43 is supported by a support shaft 42 erected below the movable shaft 43 so as to be able to move up and down. The movable piece 43 is pushed upward by a spring 44 arranged on the outer periphery of the support shaft 42.

When the sleeve 3 is set on the compression die 4, as shown in FIG. 6B, the movable piece 43 is pushed down by the bottom surface of the sleeve 3 while being pushed down. When the pushing of the moving piece 43 by the sleeve 3 is released and the moving piece 43 is released, the moving piece 43 is pushed back by the spring 44 to push up the sleeve 3, and the sleeve 3 is moved between the upper edge of the accommodating portion 41 and the moving piece 43. And is stabilized.

The cartridge 15 is mounted on the moving table 18 shown in FIG.
The frame 15 is fixed to an elevating screw 46 rotatably attached to the frame 45 (FIG. 7). When the elevating screw 46 is rotated forward and reverse by forward and reverse rotations of the elevating motor M, the cartridge 15 is moved up and down. Each of the sleeve 3 and the cover 5 which are set at the position is positioned between two opposing pressing mechanisms 13 as shown in FIG.

If the cartridge 15 is used, the sleeve 3
When the size of the cover 5 or the cover 5 changes, the cartridge 15 can be exchanged according to the size, which is convenient. However, in the present invention, without using the cartridge 15, the compression die 4 can be directly incorporated into the frame 45 (FIG. 7) of the movable base 18 and the cover loading portion 6 can be formed directly on the frame 45.

The robot in which the compression sleeve 4 and the cover 5 are set as shown in FIG. 7 is temporarily suspended on the main line 1 by the temporary suspension section 19 as shown in FIG. As shown in FIG. 4, the temporary suspending device 19 has an L-shaped distal end, is rotatably attached to the outer surface of the housing 17 by a pin 30, and its lower end is pulled to the left by a spring 31. ing.

Then, as shown in FIG. 4 (b), when the upper end of the temporary suspension portion 19 is tilted to the left and locked on the main line 1 as shown in FIG. The side is pulled to the left by a spring 31 and the upper end is held in a state of being locked to the main line 1.

When the start switch (not shown) is turned on in the temporarily suspended state as described above, the robot of the present invention is fully gripped by the main line 1 and suspended by the suspension section 7 shown in FIGS. As shown in FIG. 2, the hanging portions 7 are installed at both ends in the longitudinal direction of the housing 17 so as to face each other with the main line 1 interposed therebetween, and a DC motor (shown in FIG. The main line 1 is moved forward and backward with respect to the main line 1 when the main line 1 is rotated forward and backward, and the main line 1 is gripped by the hanging portion 7 facing the main line 1 when the main line 1 is moved forward. Also,
The holding surface of the hanging portion 7 is V-shaped so that the gripped main line 1 is difficult to come off.

Next, the robot gripped by the main line 1
The covering layer 8 of the main line 1 is peeled (peeled) by the peeling mechanism 9 mounted on the moving table 18 in FIG. In this case, the moving table 18 moves to the peeling position in FIG.

The peeling mechanism 9 includes a coating layer 8 as shown in FIG.
The cuts 8a and 8b are made in two places, and the cuts 8c and 8d are made horizontally between the cuts 8a and 8b, and the peeling portion 8e inside the cuts 8a to 8d is made into a half-shape. It peels off.

In the skinning mechanism 9, two blades 50 shown in FIG. 10 are opposed to each other with the main line 1 interposed therebetween as shown in FIG. The blade 50 is attached to two blade mounts 52 and 53 that are openably and closably connected by a rotation center shaft 51.
/ 4-shaped ring cutting blades 54 are combined two by two and attached so as to form an inwardly curved semicircle.
Two straight horizontal blades 55 are vertically combined between them so that the side surface shape is triangular.

As shown in FIG. 11, the cutting tool 50 to which the wheel cutting blade 54 and the horizontal blade 55 are attached has a main line so as to face the mounting table 56 of the disc-shaped rotary gear 55 with the main line 1 interposed therebetween. When the blade feed motor 57 is rotated, the feed screw 61 is rotated via gears 58, 59 and 60 meshing with each other, and the two blades 50 are moved toward the main line 1 with the rotation. Moving forward, the cutting edge 54 cuts into the coating layer 8 and cuts, and at the same time, the horizontal blade 55 cuts into the coating layer 8 and cuts horizontally. When the blade feed motor 57 is rotated in the reverse direction, the gears 58, 59, 60 and the feed screw 61 rotate in the reverse direction as described above, and the wheel cutting blade 54 and the horizontal blade 55 are retracted from the main line 1 and are removed from the coating layer 8. It is like that. In addition,
The feed screw in the left half not shown in FIG. 11 is a reverse screw to the feed screw 61 shown.

The blade 50 includes a wheel cutting blade 54 and a horizontal blade 55.
Is rotated in the circumferential direction of the main line 1 while being cut into the coating layer 8 so that the peeled portion 8e (FIG. 8) of the coating layer 8 is floated from the internal conductor 10.

For this reason, as shown in FIGS. 11 and 12, when the disk-shaped rotary gear 55 is engaged with the drive gear 62 and the drive gear 62 is rotated by a motor, the rotary gear 55 is rotated as shown in FIG.
2 (a), (b), (c), and (a), the blade 50 attached to the rotating gear 55 rotates, and the wheel cutting blade 54 and the horizontal blade 55 rotate.

Next, the blade feed motor 57 (FIG. 11)
Is rotated in the reverse direction to retract the blade 50, and the wheel cutting blade 54 and the horizontal blade 55 are removed from the coating layer 8 of the main line 1. At the time of this retreat, the horizontal blade 55 is opened up and down as shown in FIG. 9 (c), and the peeling portion 8e of FIG. 8 floating from the inner conductor 10 as described above is opened up and down as shown in FIG. 9 (c). To

Therefore, as shown in FIGS. 13 and 14, two open / close claws 64 having a tapered rear end surface 63 are attached to the outer surfaces of the blade mounts 52, 53, and a spring 65 is attached to the outside thereof. , An interrupting projection 66 which is pushed out toward the blade 50 is arranged. As a result, the blade 50 is moved to the main line 1
As shown in FIG. 14D, when the blade is further retracted, the interrupting protrusion 66 is interrupted between the two opening / closing claws 64, and the blade mounts 52, 53 are opened up and down, and at the same time, the blade mount 5 is opened.
The horizontal blade 55 attached to 2, 53 is shown in FIG.
As shown in FIG. 9 (c), the peeled portion 8e which has been opened up and down and which has been floated from the inner conductor 10 is opened up and down as shown in FIG. 2 (a)
It can be exposed to the outside as shown in FIG.

The opening / closing pawl 64 has a tapered rear end face 63 as shown in FIG. 13, but a vertical front end face 67, and a front end face 68 of the interrupting projection 66 is located in front of the moving direction of the blade 50. From the side toward the front (from right to left in FIG. 13), a taper is formed that gradually projects toward the blade 50 side,
Since the interrupting projection 66 is pushed out toward the blade 50 by the spring 65, the blade 50 is moved to the position shown in FIGS.
As shown in FIGS. 14 (e) to 14 (g), when the main body 1 is moved forward, the interrupting projection 66 is pushed back outward by the opening / closing claw 64 as shown in FIGS.

Next, the moving table 18 moves from the peeling position in FIG. 2A to the brushing position in FIG. 2B, and the outer peripheral surface of the inner conductor 10 which is peeled and exposed to the outside as described above. The brush 11 is brushed by a brushing mechanism 12 mounted on a moving table 18 to remove residues of the coating layer 8 adhered to the outer peripheral surface 11, aluminum oxide film, rust, dirt, and the like. When the main line 1 is an OC electric wire, the separator provided on the outer peripheral surface 11 is also removed.

As shown in FIG. 15, the brushing mechanism 12 has a belt sander 73 mounted on a driving wheel 71 and a driven wheel 72, and the belt sander 73 is rotated when the driving wheel 17 is rotated by a driving motor 74. Book spinning file 7
5 are arranged so as to face each other, and an insertion portion 76 is provided between the two rotating files 75 so as to allow the internal conductor 10 to enter therein. Further, the lower ends of the opposed rotating files 75 are brought closer to each other to form an inverted C-shape. Thus, the inner conductor 10 is easily inserted into the insertion portion 76, and the outer peripheral surface 11 of the inserted inner conductor 10 is surely brought into contact with the belt sander 73.

When the inner conductor 10 is inserted into the insertion portion 4 and the belt sander 73 is rotated, the outer peripheral surface 11 of the inner conductor 10 is rubbed. At this time, if the two rotating files 75 are fixed at a fixed position, only a fixed portion of the outer peripheral surface 11 can be brushed. Therefore, the rotating file 75 is rotated in the circumferential direction of the inner conductor 10 to completely cover the outer peripheral surface 11. Make sure your lap is rubbed.

For this reason, as shown in FIG. 16, two rotary files 75 are attached to the back side of the disk-shaped rotary gear 55 (the same rotary gear as the rotary gear 55 in FIGS. 11 and 12) (the blade shown in FIGS. 11 and 12). When the driving gear 62 meshing with the rotating gear 55 is rotated by a motor, the rotating gear 55 rotates, and the rotating gear 55 is attached to the rotating gear 55 accordingly. The rotating file 75 rotates around the outer periphery of the outer peripheral surface 11.

Next, the moving table 18 of FIG. 2 moves from the brushing position of FIG. 2B to the pressing position of FIG. 2C, and is set on the compression die 4 as shown in FIG. 7A. Then, the sleeve 3 set in the cartridge 15 is moved to a position directly below the brushed inner conductor 10.

At this position, the compression die 4 is pushed up by the elevating mechanism 16 to the position shown in FIG. 7B, that is, to the side of the pressurizing mechanism 13, and the internal conductor 10 is inserted between the main line clamping portions 33 of the sleeve 3. I do. Then, as shown in FIG. 7, the compression die 4 is pressed by the pressure mechanism 13 attached to the frame 45 of the movable base 18, and the sleeve 3 set on the compression die 4 is crushed, as shown in FIG. Internal conductor 10
Is fixed by a sleeve 3.

For the pressure mechanism 13, for example, a hydraulic cylinder or the like is used. The hydraulic cylinder is mounted on the frame 45 of the moving base 18 as shown in FIG. 7, and when the rod 76 is extended, it penetrates through the through hole 77 of the cartridge 15 to press the compression die 4, and the sleeve is moved by the compression die 4. 3 is crushed. At this time, as shown in FIG. 17, the high-pressure underline sandwiching portion 34 of the sleeve 3 is also compressed and crushed, and the high-pressure underlining 2 temporarily held by the high-pressure underline sandwiching portion 34.
Is pinched. Thus, the internal conductor 10 of the main line 1 and the high-voltage underline 2 are connected via the sleeve 3.

The compression die 4 automatically returns to the original position when the rod 76 is contracted.

The pressurizing mechanism 13 is provided for the cartridge 1.
7C is lowered by the lifting mechanism 16 to the position shown in FIG. 7C, and when the cover 5 mounted on the cartridge 15 is positioned outside the sleeve 3 with the internal conductor 10 clamped and fixed, the rod 76 extends to The cover 5 is pressurized through the 15 through holes 78 and is pushed out of the sleeve 3 so as to cover the outside of the sleeve 3 as shown in FIG. 18 so that the opposing covers 5 are fitted and fixed.

In FIG. 1, reference numeral 80 denotes a control unit attached to the outside of the housing 17, which includes the hanging device 7, the peeling mechanism 11 mounted on the moving table 10, and the brushing mechanism 1.
2, for electrically controlling the operations of the pressurizing mechanism 13, the cartridge loading section 14, the elevating mechanism 16, and the like.

[0053]

The high-voltage underline construction robot of the present invention has the following effects. . Since the main line 1 and the high-voltage underline 2 are automatically connected, the labor can be saved significantly. . Since the labor-saving surplus personnel can be transferred to other tasks, the workers can be used effectively. . The work near the high-voltage live line is only the work of hanging the robot on the main line, and there is almost no work on the pillars performed by the workers, so there is little danger associated with working at heights and near the high-voltage live line. Become. . Since there is almost no work on poles performed by workers, safety nets that were necessary to ensure the safety of workers working on poles,
There is no need to stretch or remove the low-pressure protection sheet, the high-pressure protection sheet, etc., which simplifies the operation and reduces the cost because those nets, sheets, etc. become unnecessary. . Since the peeling operation, the brushing operation, the crimping operation, and the like are automatically performed by a machine, the connection quality is stable and a stable connection portion can be obtained.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an example of a high-voltage underline construction robot according to the present invention.

2A to 2C are schematic plan views of the robot, FIG. 2A is a schematic plan view of a peeling position, FIG. 2B is a schematic plan view of a brushing position, and FIG. FIG.

3A is a schematic front view of the robot, and FIG. 3B is a schematic side view of the robot.

4 (a) is an explanatory view of the robot when the temporary suspending device is not used, FIG. 4 (b) is an explanatory diagram before the temporary suspending device is locked to the main line, and FIG. Explanatory drawing at the time of locking of a lowering tool to a main line.

5A is a perspective view of a state in which a high-pressure underline is temporarily held on a sleeve used in the robot, FIG. 5B is a longitudinal side view of FIG. 5A, and FIG. 5C is a front view of FIG. (D) is a perspective view of the sleeve, and (e) is a side view of a state where the high-pressure pull-down line is temporarily held in the sleeve.

6 (a) is a front view of a compression die in the robot, FIG. 6 (b) is an explanatory diagram when a sleeve is mounted on the compression die, and FIG. 6 (c) is an explanatory diagram after a sleeve is mounted on the compression die. FIG.

7A is a front view showing a state in which a compression die and a cover are mounted on a cartridge in the robot, FIG. 7B is a front view showing a state where the cartridge is raised, and FIG. 7C is a state where the cartridge is lowered. FIG.

FIG. 8 is an explanatory view of peeling by the robot of the present invention.

9 (a) to 9 (c) are explanatory views of peeling of the robot in the same robot, FIG. 9 (a) is an explanatory view before cutting a blade into a coating layer of a main line, FIG. (C) Explanatory drawing at the time of separating a coating layer.

FIG. 10A is a perspective view of a blade in the robot,
(B) is a side view of the blade.

FIG. 11 is an explanatory view of the operation of a blade in the robot of the present invention.

12 (a) to 12 (c) are explanatory diagrams showing the rotating state of the blade when peeling the skin in the robot, FIG. 12 (a) is an explanatory diagram before rotation, and FIG. Explanatory diagram,
(C) is an explanatory view of a state rotated by 270 degrees.

FIG. 13 is a perspective view of a blade in the robot of the present invention.

14 (a), (b) and (c) are side views of the same robot when the blade is advanced to the main line side, (e) is (a), (f) is (b) and (g) is (C) is a partial plan view, (d) is a side view in the case of retreating the blade from the main line, and (h) is a partial plan view of (d).

FIG. 15 is a perspective view of a brushing mechanism in the robot of the present invention.

16 (a) to 16 (c) are explanatory diagrams showing a rotating state of a brushing mechanism in the robot, FIG. 16 (a) is an explanatory diagram before rotation, FIG. 16 (b) is an explanatory diagram showing a state rotated by 90 degrees,
(C) is an explanatory view of a state rotated by 270 degrees.

FIG. 17 is a front view of a state in which the sleeve is compressed by the robot to hold the main line and the high-pressure underline.

FIG. 18 is a front view of a state where a cover is put on the outside of the sleeve by the robot.

FIG. 19 is an explanatory diagram of a state where a main line and a pole transformer are connected by a high-voltage underline.

FIG. 20 is an explanatory diagram of a conventional connection state between a main line and a high-voltage underline.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main line 2 High-pressure underline 3 Sleeve 4 Compression die 5 Cover 6 Cover loading part 7 Hanging part 8 Coating layer 9 Peeling mechanism 10 Inner conductor 11 Outer peripheral surface 12 Brushing mechanism 13 Pressure mechanism 14 Cartridge loading part 15 Cartridge 16 Lifting mechanism 17 Housing 18 Moving table

──────────────────────────────────────────────────続 き Continued on the front page (73) Patent holder 391011386 FCI Japan Co., Ltd. 3-28-10 Minamioi, Shinagawa-ku, Tokyo (73) Patent holder 000005186 Fujikura Co., Ltd. 1-5 Kiba, Koto-ku, Tokyo No. 1 (73) Patent holder 591265633 Huayo Electric Industrial Co., Ltd. 2-6-1 Hamamatsucho, Minato-ku, Tokyo (73) Patent holder 000001890 Sanwa Tekki Co., Ltd. 6-5-19 Minamishinagawa, Shinagawa-ku, Tokyo (72) Inventor Masaaki Ito 1-3-3 Uchisaiwai-cho, Chiyoda-ku, Tokyo Inside Tokyo Electric Power Company (72) Inventor Noriyuki Kaihara 4-33, Shibaura 4-chome, Minato-ku Tokyo ) Inventor Yoshiaki Abe 2-6-1 Marunouchi, Chiyoda-ku, Tokyo Inside Furukawa Electric Co., Ltd. (72) Inventor Tomoo Obata 87 Nishikuroda 87 Nishikuroda, Oyama City, Tochigi Prefecture Within the Research Institute (72) Inventor Akira Tanabe 3-26-33 Takanawa, Minato-ku, Tokyo Japan Bundy Corporation (72) Inventor Koichi Machida 1-5-1 Kiba, Koto-ku, Tokyo Fujikura Electric Wire Co., Ltd. (72) Inventor Kazumi Wakamatsu 1-8-1, Daisaku, Sakura City, Chiba Prefecture Inside Sakura Plant of Huayang Electric Industrial Co., Ltd. Inside the factory (56) References JP-A-3-164011 (JP, A) JP-A-3-195313 (JP, A) JP-A-3-86721 (JP, U) (58) Fields investigated (Int. . ^7, DB name) H02G 1/02 B25J 15/08 H01R 4/00 H01R 43/048

Claims (5)

(57) [Claims] 1. A compression die 4 for setting a sleeve 3 on which a high-voltage underline 2 connected to an overhead power distribution main line 1 is temporarily held, and a cover loading section for loading a cover 5 placed on the outside of the sleeve 3. 6, a hanging portion 7 suspended from the main line 1, a peeling mechanism 9 for peeling off the coating layer 8 of the main line 1, and a brushing mechanism 12 for brushing the outer peripheral surface of the inner conductor 10 of the main line 1 exposed by peeling. , Compression dies 4
A pressurizing mechanism 13 for compressing the sleeve 3 by pressurizing the inner conductor 10 to clamp and fix the inner conductor 10 to the sleeve 3, and pressurizing the cover 5 to cover the outer side of the sleeve 3. High pressure underline construction robot. 2. The high-pressure underline construction robot according to claim 1, further comprising a cartridge loading section, wherein a cartridge in which the compression die and the cover can be set can be loaded into and removed from the cartridge loading section. High-voltage underline construction robot. 3. The high-voltage underline construction robot according to claim 1, wherein each of the brushing mechanism, the compression die, and the cover is movable to a position of the internal conductor. 4. The brushing mechanism 12 according to claim 1 is movable to a position of said internal conductor 10, said compression die 4 and said cover 5 are movable to a position of said internal conductor 10 and pressurized by an elevating mechanism 16. A high-pressure underline construction robot, which can be moved up and down to the side of the mechanism 13. 5. A housing 1 in which the high-voltage underline construction robot according to claim 1, 3 or 4 is suspended from the main line 1.
7 and a moving table 18 provided in the same housing 17 so as to be able to reciprocate along the main line 1. The moving table 18 includes the compression die 4, the cover loading section 6, the peeling mechanism 11, and the brushing mechanism 12. , A pressure mechanism 13, a cartridge loading unit 14, and an elevating mechanism 16 are mounted.