JPH0514649Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) This invention relates to tools for indirect live-line construction such as power transmission and distribution lines that are carried out under uninterrupted conditions, and is particularly applicable to tools that can be operated by robots to remove insulators, bolts, nuts, electric wires, etc. This invention relates to a gripping tool for indirect live wire work that grips a wire.

(Conventional technology) Various tools are used in the construction and replacement of power transmission and distribution lines, such as wire end processing tools and insulator gripping tools. Generally, work is carried out by riding on a bucket on a work vehicle and manipulating various tools suited to the work.

In recent years, in order to reduce worker labor and avoid the dangers from high voltage associated with indirect live wire work, a method has been developed in which a live wire robot is mounted on an aerial work vehicle and various special tools are attached to the end of the arm. is becoming popular. However, as conventional gripping tools used for this work, manual gripping tools are widely used, and various hydraulic gripping tools have also been proposed.

(Problems to be solved by the invention) The above-mentioned conventional manual indirect live wire work involves work at high places, and there is a risk that electric wires etc. may come into contact with the human body during this work, creating a risk of danger. I had the above problem.

In the case of a hydraulic type, the gripping force of the clamp jaws may become unstable due to the instability of the pressure oil from the valve on the robot side or the instability of the pressure oil from the oil chamber on the gripping tool side when the robot arm turns. There were many cases where the grip gradually weakened and the grip became loose, impairing workability and resulting in a lack of stability.

The present invention was devised to solve the above problems, and is a gripping device for indirect live wire work that uses a rotational drive system that can always provide a stable gripping force on the object to be gripped, and also allows for easy replacement of clamp claws. The purpose is to provide tools.

(Means for Solving the Problems) As a specific means for solving the above problems, a gripping tool that is installed at the tip of a robot (manipulator) and performs indirect live wire work by remote control etc. A worm wheel, in which a drive shaft with a worm fixedly fixed in the longitudinal direction is inserted and a link with a spring holder attached above the tool body is cooperatively connected, is provided to be swingable by a rotating shaft, and the worm The wheel and the worm are meshed and connected at the gear portion thereof, and a stopper holder provided at the tip of the body and the link is provided with a clamp support, respectively.
A fixed clamp claw is attached to the body side, and a movable clamp claw paired with the fixed clamp claw is movably attached to the link side, and a grasping force is applied to the grasping tool between the grasping tool and the drive section. This is a gripping tool for indirect live wire work, characterized by having a torque limiter interposed therein for setting (adjusting).

(Function) According to the gripping tool for indirect live wire construction with the above configuration,
Indirect live wire work can be performed by inserting a torque limiter into the base end of the drive shaft of the gripping tool and attaching a drive unit consisting of an oil motor fixed to the tip of the robot arm to the connecting rod of the torque limiter. That is, in the installed state as described above, the rotational driving force from the drive section consisting of an oil motor is transmitted to the torque limiter, and further transmitted to the drive shaft of the gripping tool body via this torque limiter, and the rotational drive force is transmitted to the drive shaft of the gripping tool body. The fixed worm is rotated. This rotational force is then transmitted to the worm wheel that meshes with the worm and operates back and forth. The link also operates in accordance with this movement, and the movable clamp claw attached to the tip of the link opens and closes, and the grip is set to align with the clamp claw attached to the tip of the body. Objects can be gripped with the movable clamp claw.

That is, by rotating the rotational driving force in the forward and reverse directions, the movable clamp claws are opened and closed, thereby performing gripping work in indirect live wire construction.

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

FIG. 1 is a vertical cross-sectional view of a main part of a gripping tool according to the present invention, and FIG. 2 is a plan view showing a cross-section of the main part. From this, in the central longitudinal direction of the body 2 of the gripping tool 1, an elongated bearing 4 and a sleeve 5 fitted into the handle 3 inserted and fixed to the proximal end of the body 2;
A drive shaft 7 is inserted and fixed between bearings 6 fitted inside the tip of the body 2 so as to be rotatable, and a worm 8 is inserted into the tip of the drive shaft 7 and fastened and fixed with a set screw 9. has been done. The worm 8 is provided with rollers 10 at both ends thereof.
and is held in sliding contact with the bearing ring 11.

On the other hand, the body 2 is covered with a cover 12.
A worm wheel 14 is provided inside the upper portion, which is supported by a rotating shaft 13 and is connected to the worm 8 so as to be able to swing freely. A spring 15 is fitted to the worm wheel 14, and a fork-shaped ink 18 is attached to the spring holder 17 having a spring guide 16 inserted therein, which operates to expand and contract. The ink 18 is connected to the worm wheel 14 by a connecting shaft 19 in a cooperative manner.

Stopper holders 20 and 21 are fixed to the body 2 and the tip of the link 18, respectively, and a clamp support 2 is provided on the body 2 side.
2, the fixed clamp claw 23 is connected to the link 1.
Movable clamp claws 25 that form a pair with the fixed clamp claws 23 are attached to the 8 sides via clamp supports 24, respectively. Both clamp claws 23 and 25 are formed in a symmetrical manner as shown in FIG. Also, this clamp claw 2
3 and 25 are attached to the clamp supports 22 and 24 by fixing pins 26 and 27 in a removable manner.
24 is the stopper holder 20, 2 shown in FIG.
After overlapping one end with the stopper part 28 of 1,
It is attached by inserting and fixing the fixing pin 30 into the stopper hole 29, and the fixed clamp claw 23 and the movable clamp claw 25 can be set in any desired position depending on the use position of the stopper hole 29.

Next, FIG. 4 shows a torque limiter 31 that is fitted and connected to one end of the drive shaft 7 of the gripping tool 1 configured as described above, and is used to adjust the rotational driving force transmitted to the gripping tool 1. Accordingly, the body of the torque limiter 31 is formed by a main body cap 32 and a main body case 33, and a connecting rod 34 for connecting to a drive section (not shown) is connected to the main body in the longitudinal direction of the proximal end of this body. The cap 32 is rotatably held by a bearing 35 fitted into the inner circumferential surface of the cap 32, and its distal end is inserted into and supported by a proximal recess 37 of an output shaft 36. On the other hand, the distal end side of the output shaft 36 is held by an elongated bearing 38 and a seal 39 provided on the inner peripheral surface of the main body case 33.

Further, a friction plate 4 is provided on the large diameter portion 40 of the output shaft 36.
1 is abutted, and further a bolt 43 is attached to the flange 42.
A brake portion is formed by bringing the other friction plate 45 into contact with a contact plate 46 in a manner that narrows the brake plate 44 fixedly attached to the brake plate 44 . This brake part is constructed by fitting a spring 48 around the output shaft 36 between a nut 47 screwed into the intermediate portion of the output shaft 36 and the abutment plate 46, and then tightening the nut 47 and the abutment plate 46. By being pressed by the spring force of the counter spring 48, they are placed in an appropriate pressure-contact state.
Parallel pins 49 and 50 are brought into contact with the inner circumferential surfaces of the flange 42 and the contact plate 46 to maintain their respective positions stably at all times. A lock button 51 is attached to the tip of the torque limiter 31, and when the gripping tool 1 is fitted and connected, the fixing pin 52 is tightened, and a set screw 53 is further tightened to prevent the fixing pin 52 from loosening. As a result, the drive shaft 7 of the gripping tool 1 is pressed to ensure reliable connection.

Thus, in the gripping tool for indirect live wire work constructed in this way, the rotational driving force from the drive unit (not shown) attached to the robot first rotates the connecting rod of the torque limiter 31 and A flange 42 having a brake plate 44 fixed thereon with a parallel pin 50 in contact rotates. Further, since the brake plate 44 is in a frictional relationship, the driving force is transmitted to the output shaft 36, and then to the drive shaft 7 which is fitted and connected to the output shaft 36.

Next, the rotational driving force transmitted to the drive shaft 7 rotates a worm 8 fixed to the tip of the drive shaft 7, and is meshed and connected to the worm by rotating the worm 8 in forward and reverse directions. Worm wheel 14
operate back and forth. Due to this movement, link 18
As a result, the movable clamp pawl 25 opens and closes at the tip of the link 18 via the stopper holder 21. Therefore, the gripping operation is performed by opening and closing the movable clamp claw 25, that is, the movable clamp claw 25 is in the open state (the position of the movable clamp claw 25' shown by the imaginary line in FIG. 1).
, the spring holder 17 located in the substantially opposite direction faces directly below (the position of the spring holder 17' shown by the imaginary line in FIG. 1), and the spring guide inserted into the spring holder 17 The tip top portion 16' of the handle 3 is brought into contact with one side 54 of the handle 3, and when the movable clamp claw 25 moves to the closed state, that is, the gripping state, by the reverse rotation of the worm 8, the above-mentioned A spring 15 fitted around the shaft of the spring guide 16 exerts a force to push it upward, thereby allowing the movable clamp claw 25 to move flexibly to the closed state. Furthermore, by moving and setting the fixed clamp claw 23 and the movable clamp claw 25, it is possible to grip various objects.

As described above, the gripping tool 1 for indirect live wire work is guided to an appropriate position where the work is to be performed by a robot operation of an aerial work vehicle (not shown). At this time, since the fixed clamp claw 23 is fixed to the clamp support body 22, positioning can be easily performed by bringing the contact surface 23A into contact with the object to be held when operating the robot. Contact surfaces 23A, 25 of both clamp claws 23, 25
The upper and lower ends in the plane of A are tapered surfaces 23B, 2
5B, so that it can be held in contact with, for example, a narrow groove in an insulator, etc., and it is also formed so that other electric wires can be gripped at the tip openings 55 of the clamp claws 23, 25.

The fixed clamp claw 23 and the movable clamp claw 25 may be made of plastic, or may be made of metal whose surface is coated with an insulating material such as plastic. It is not particularly limited as long as it has insulation properties.

(Effects of the invention) As explained above, the present invention is a gripping tool that is installed at the tip of a robot (manipulator) and performs indirect live wire work by remote control, etc., by fixing a worm in the longitudinal direction within the tool body. A worm wheel in which a drive shaft is inserted and a link with a spring holder attached above the tool body is cooperatively connected is provided so as to be able to swing freely by the rotating shaft, and the worm wheel and the worm are connected to the gear portion of the worm wheel. The stopper holders provided at the tips of the body and the link are connected via clamp supports, respectively, and a fixed clamp claw is provided on the body side, and a movable clamp paired with the fixed clamp claw is provided on the link side. For indirect live wire work, characterized in that the claws are attached movably and fixedly, and a torque limiter is interposed between the gripping tool and the drive unit for setting (adjusting) the gripping force for the gripping tool. By using a gripping tool, the following effects can be achieved.

(1) By being installed on a robot that can be remotely controlled, it can quickly, safely and accurately clamp objects (insulators, electric wires, binding wires, bolts, nuts, etc.) without the human body touching live wires. Indirect live line construction can be performed during uninterrupted power outages, greatly improving work efficiency.

(2) Since one of the clamp claws is fixed, the contact surface of the clamp claw can be connected to the object to be held, making it easy to position the tool during robot operation during work.

(3) As a means of operating the movable clamp claw, the meshing relationship between the worm and the worm wheel makes the opening/closing operation of the movable clamp claw more stable than in the conventional hydraulic system, and the clamping force does not affect the gripped object due to the strength or weakness of the clamping force. No problems will occur.

(4) By interposing a torque limiter between the gripping tool and the drive section, the rotational driving force from the drive section can be adjusted, and stable driving force can always be transmitted to the gripping tool.

[Brief explanation of the drawing]

Fig. 1 is a vertical cross-sectional view of the main parts of the gripping tool according to the present invention, Fig. 2 is a plan view showing the cross-section of the main parts as seen from above the body, and Fig. 3 is a side view of the stopper holder seen from the side A of Fig. 2. , FIG. 4 is a longitudinal sectional view of the torque limiter. DESCRIPTION OF SYMBOLS 1... Gripping tool, 7... Drive shaft, 8... Worm, 13... Rotating shaft, 14... Worm wheel, 16... Spring guide, 17... Spring holder, 18... Link, 20, 21... ... Stopper holder, 22, 24 ... Clamp support,
23... Fixed clamp claw, 25... Movable clamp claw, 31... Torque limiter, 34... Connecting rod, 36... Output shaft, 37... Recess, 41, 45
...Friction plate, 44...Brake plate.

Claims (1)

[Scope of Claim for Utility Model Registration] (1) A drive shaft in which a worm is fixed in the longitudinal direction within the tool body in a gripping tool that is installed at the tip of a robot (manipulator) and performs indirect live wire work by remote control, etc. A worm wheel in which a spring holder is inserted and a link with a spring holder attached above the tool body is cooperatively connected is provided so as to be swingable by a rotating shaft, and the worm wheel and the worm are meshed and connected at their gear parts. A fixed clamp claw is moved on the body side and a movable clamp claw that pairs with the fixed clamp claw is moved on the link side, respectively, through a clamp support to the stopper holder provided at the tip of the body and the link. A gripping tool for indirect live wire work, characterized by being fixedly attached. (2) A utility model registered as described in claim 1, characterized in that a torque limiter for setting (adjusting) the gripping force of the gripping tool is interposed between the gripping tool and the drive unit. Gripping tool for indirect live wire work.