JPH05184025A - Lifter for compressing dice, etc., of robot for high-voltage pulling-down line work - Google Patents

Abstract

PURPOSE:To automate the connection work between a main line and a high- voltage pulling-down line, and miniaturize a robot by lifting and lowering a compressing dice and a cover used for the connection. CONSTITUTION:This robot is provided with a compressing dice, which sets a sleeve, a cover loader, which loads a line with a cover, a hanging-down part 7, which holds a main line 1, a stripping mechanism 9, a brushing mechanism 12, which brushes the periphery of the inner conductor 10 of the main line 1, and a pressurizing mechanism 13, which pressurizes the compressing dice 4 and overlays a cover on the outside of the sleeve 3 by pressing it, and the compressing dice 4 and the cover can be lifted and lowered to the position of the pressurizing mechanism 13. A cartridge 15, wherein the compressing dice and the cover are set, can be lifted or lowered by the lifting mechanism 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The lifting device for a compression die of a high-voltage down line construction robot of the present invention is used to connect a high voltage down line for drawing high voltage to a pole transformer to a main line that is imaginarily distributed. In the robot described above, a sleeve for sandwiching and fixing the main line and the high-voltage pull-down line and a cover for covering the outside of the sleeve are moved up and down to a pressurizing position.

[0002]

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

[0003]

However, the above-mentioned conventional connection method has the following problems. Depending on the worker, peeling of the coating is insufficient, the compression of the sleeve F is insufficient, the main line A is not clamped sufficiently, or the high-voltage down line D is attached to the main line A at an inclination. , Connection quality (connection quality) varies. Since each work is a manual work, it takes time,
The installation of the protective cover is particularly time-consuming and requires a lot of effort. Since it is a work at a high place, it is difficult to work, and there is a risk of falling, which is dangerous. ． When working with the high voltage applied to the main line A (in a live line state), there is a risk of electric shock, which is dangerous. ． In order to pressurize the sleeve F, a portable hydraulic tightening tool or the like is required, and since it has to be mounted on a bucket truck and pushed up, a narrow work place at a high place is further occupied, and connection work is less likely to occur. Become. ． In order to ensure safety, it is necessary to put a safety net, a low-voltage protective sheet, a high-voltage protective sheet, etc. prior to the connection work, and to remove them after the connection is completed, so these works were also troublesome.

An object of the present invention is to press a sleeve and a cover for sandwiching and fixing the main line and the high voltage down line in a robot for high voltage down line construction in which the worker can automatically perform the connecting work without climbing up to the utility pole. The purpose is to reduce the width of the robot by allowing it to move up and down.

[0005]

As shown in FIG. 1, a lifting device such as a compression die for a robot for construction of a high voltage down line according to claim 1 of the present invention is connected to a main line 1 which is imaginarily distributed. Sleeve 3 that temporarily holds underline 2 as shown in FIG.
A compression die 4 (FIG. 6) for setting a cover, a cover loading section 6 (FIG. 7) for loading a cover 5 (FIG. 7) to cover the outside of the sleeve 3, and a suspension for holding the main line 1 as shown in FIG. A peeling mechanism 9 for peeling off the portion 7 (FIG. 2) and the coating layer 8 of the main wire 1.
(FIGS. 2 and 10), a brushing mechanism 12 (FIGS. 2 and 15) for brushing the outer peripheral surface 11 of the inner conductor 10 of the main wire 1 exposed by peeling, and the sleeve 3 by pressing the compression die 4. In the high-voltage underline construction robot, which is provided with a pressing mechanism 13 (FIG. 7) that compresses and fixes the inner conductor 10 to the sleeve 3 and presses the cover 5 to cover the outside of the sleeve 3, The compression die 4 and the cover 5 can be moved up and down to the position of the pressing mechanism 15 by the lifting mechanism 16 (FIG. 7).

According to a second aspect of the present invention, in a lifting device for a compression die or the like of a robot for high-voltage drawing work according to a second aspect, the compression die 4 and the cover 5 of the first aspect have a cartridge 15 as shown in FIG.
The cartridge 15 can be moved up and down to the position of the pressurizing mechanism 15 by the elevating mechanism 16.

[0007]

In the lifting device for the compression die of the high-voltage line construction robot of the present invention, the following preparations are made before suspending the robot on the main line 1.

As shown in FIG. 6, the sleeve 3 temporarily holding the high-pressure underline 2 as shown in FIG. 5 is set in the compression die 4, and the compression die 4 and the cover 5 (FIG. 7) are set in the cartridge 15 (FIG. 7). Load it.

In this state, the robot of the present invention is pushed up by a crane of an aerial work vehicle, or is lifted by an operator and temporarily hung on the main line 1 which is imaginarily 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.

When a start switch (not shown) is pressed in the above state, the hanging portion 7 of FIG. 2 finally grips the main line 1, and the covering layer 8 of the main line 1 is moved by the skinning mechanism 9 as shown in FIG. 2 (a). The inner conductor 10 is exposed by being peeled off (peeled).

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

Next, as shown in FIGS. 2C and 7A, the compression die 4 set in the cartridge 15 moves to the position of the internal conductor 10.

At this position, the cartridge 15 moves up and down.
6 (FIG. 7), the compression die 4 rises up to the side of the pressing mechanism 13 as shown in FIG. 7 (b). Here, the compression die 4 is pressed by the pressing mechanism 13 and the sleeve 3 is pressed.
Is compressed as shown in FIG. 17, and the main line 1 is clamped and fixed to the sleeve 3. At this time, the high-voltage pull-down wire 2 temporarily held by the sleeve 3 is also clamped and fixed to the sleeve 3 as shown in FIG. 17, and the main line 1 and the high-voltage pull-down wire 2 are connected via the sleeve 3.

Thereafter, the cartridge 15 is moved up and down by the lifting mechanism 16.
And the cover 5 is lowered to the side of the pressure mechanism 13 as shown in FIG. 7C. At that position, the pressing mechanism 13 pressurizes the cover 5 to cover the outside of the sleeve 3 as shown in FIG. 18, and the two covers 5 are fitted and fixed to each other.

As described above, the robot can connect the high-voltage pull-down wire 2 to the main line 1 while keeping the robot fixed at the peeling position of the main line 1. When the work up to the covering of the cover 5 is completed in this way, the main grip of the main line 1 by the suspending unit 7 is released. Then, the worker releases the temporary holding and removes the robot from the main line 1.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 7, a lifting device such as a compression die for a robot for high-voltage pulling wire construction according to the present invention has a lifting screw 46 rotatably attached to a frame 45 of a moving table 18, as shown in FIG.
And a lifting / lowering motor M for rotating the same forward / backward. When the lifting / lowering screw 46 rotates forward / reversely by the forward / backward rotation of the lifting / lowering motor M, the cartridge 15 moves up and down, and the compression set in the cartridge 15 is performed. The die 4 and the cover 5 are moved up and down.

The lifting device is specifically the lifting mechanism 16 shown in FIG.
This is shown in FIG. 7 (a) before pressurizing the compression die 4.
7 is pushed up, the compression die 4 set in the cartridge 15 is positioned beside the pressure mechanism 13 as shown in FIG. The inner conductor 10 is inserted. In this state, as shown in FIG. 7, the compression mechanism 4 attached to the frame 45 of the movable table 18 pressurizes the compression die 4, thereby compressing the sleeve 3 set in the compression die 4, thereby The inner conductor 10 can be clamped and fixed by the sleeve 3 as shown in FIG.

At this time, as shown in FIG. 17, the high-pressure draw wire holding portion 34 of the sleeve 3 is also compressed by the compression die 4, and the high-voltage draw wire holding portion 34 temporarily holds the high-voltage draw wire holding portion 34. Be worn. As a result, the internal conductor 10 of the main line 1 and the high-voltage pull-down line 2 are connected via the sleeve 3.

The lifting mechanism 16 has the compression die 4 as described above.
When the pressurization of is completed, the cartridge 15 is pulled down and the cover 5 set on the cartridge 15 is removed as shown in FIG.
It is positioned beside the pressure mechanism 13 as shown in (c). In this state, the cover 5 is pressed by the pressing mechanism 13 attached to the frame 45 of the moving table 18 as shown in FIG.
It can be extruded to the side to cover the outside of the sleeve 4 in FIG.

A high-voltage down line construction robot incorporating the lifting device is constructed as shown in FIGS. In FIG. 1 and FIG. 2, reference numeral 1 is a main line that is imaginarily distributed, 17 is a robot housing, and 18 is a movable table mounted in the housing 17.

The casing 17 is formed of a metal plate in the shape of a horizontally long box, and U-shaped notches 22 (FIG. 1) through which the main line 1 passes are formed on both side plates 21 of the upper side portion of the side plates 21. Two guides 23 (FIGS. 2 and 3) such as round pipes are installed in parallel with each other, and a screw shaft 24 (FIG. 3) is arranged between the lower ends of both side plates 21.

A guide receiving member 25 (FIGS. 2 and 3) of the movable table 18 is slidably connected to the guide 23, and a shaft receiving member 26 (FIG. 3) is attached to the screw shaft 2.
It is screwed to the No. 4.

When the pulley 28 of the screw shaft 24 is rotated by the rotation of the motor 27 (FIG. 3) attached to the housing 17, the driven pulley 29 (FIG. 3) attached to the screw shaft 24 is rotated. It is designed to rotate.

When the screw shaft 24 rotates, the shaft receiving member 26 screwed to the screw shaft 24 moves along the screw shaft 24, and the moving base 18 moves along the guide 23 in the direction of arrow x in FIG. To do. When the motor 27 rotates in the reverse direction, the screw shaft 24 also rotates in the reverse direction, and the movable table 18 moves in the reverse direction (direction of arrow y in FIG. 2).

A cartridge loading unit 1 in which a cartridge 15 (FIGS. 2 and 7) can be loaded and unloaded on the moving table 18.
4 (FIGS. 2 and 7) are provided, and the cartridge 15 has a compression die 4 for setting the sleeve 3 for connecting the main line and the high-voltage drawdown line to the cartridge 15, and a cover for covering the outer side of the sleeve 3. 5 can be set.

Before being set in the compression die 4 in the sleeve 3, as shown in FIG.
Is temporarily held.

As shown in FIG. 5, the sleeve 3 is formed with a U-shaped main line holding portion 33 for holding the main line 1 thereabove, and a round hole-like portion for holding the high-voltage pulling line 2 under the main line holding portion 33. The high-voltage draw line holding portion 34 is formed. High voltage down line pinching part 34
As shown in FIG. 5 (b), a large-diameter coating portion insertion hole 35 for inserting the coating portion of the high-voltage pull-down wire 2 is formed on the inlet side,
A small-diameter inner conductor insertion hole 36 into which the inner conductor of the high-voltage pull-down wire 2 is inserted is connected to the inside thereof, and a slit 37 (FIG. 5) is formed at a position facing the peripheral wall of the covering portion insertion hole 35.

As shown in FIG. 5E, after inserting the inner conductor of the high voltage down conductor 2 into the inner conductor insertion hole 36 and the covering portion of the high voltage down conductor 2 into the covering portion insertion hole 35, the covering portion insertion hole 35 is inserted.
Is crushed from the slit 37 so that the high-voltage underline 2 can be temporarily held.

The cover 5 set in the cover loading section 6 of the cartridge 15 (FIG. 7) is made of plastic or the like, and the two covers 5 are covered with each other when covered 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, the compression dies 4 set in the cartridge 15 are opposed to each other, and each compression die 4 has an accommodation portion 41 for accommodating the main line clamping portion 33 of the sleeve 3 inside. The movable piece 43 is supported by a support shaft 42 which is formed in a curved shape and is erected on the lower side thereof so as to be able to move up and down, and 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, the moving piece 43 is pushed down by the bottom surface of the sleeve 3 and pushed inward as shown in FIG. 6 (b). When the pressing is completed and the pressing of the moving piece 43 by the sleeve 3 is released, the moving piece 43 is pushed back by the spring 44 and pushes up the sleeve 3, and the sleeve 3 is held by the housing portion 41.
It is clamped and held between the upper edge and the moving piece 43 to be stable.

The cartridge 15 is a moving table 18 shown in FIG.
It is fixed to an elevating screw 46 rotatably attached to the frame 45 (FIG. 7). When the lifting screw 46 rotates forward and backward by the forward and reverse rotations of the lifting motor M, the cartridge 15 moves up and down, and the compression die 4 and the cover 5 set in the cartridge 15 face each other as shown in FIG. It is set between the two pressure mechanisms 13.

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

The robot with the compression sleeve 4 and the cover 5 set as shown in FIG. 7 is temporarily suspended on the main line 1 by the temporary suspending portion 19 as shown in FIG. As shown in FIG. 4, the temporary suspending tool 19 has an end bent in an L-shape, 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 suspending portion 19 is tilted to the left side and then locked to the main line 1 as shown in FIG. 4 (c), the lower end of the temporary suspending portion 19 is lowered. The side is pulled to the left by the spring 31 so that 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 such a state of temporary suspension, the robot of the present invention is fully gripped by the main line 1 and suspended by the suspending section 7 shown in FIGS. As shown in FIG. 2, the hanging portions 7 are installed so as to face each other at both ends in the longitudinal direction of the housing 17 with the main line 1 interposed therebetween, and a DC motor (not shown) connected to a screw shaft 7a thereof. No.) moves forward and backward with respect to the main line 1 when it rotates forward and reverse, and the main line 1 is gripped by the hanging portions 7 facing each other when moving forward. Also,
The holding surface of the hanging portion 7 is formed in a V shape so that the held main line 1 does not easily come off.

Next, the robot which is finally gripped on the main line 1
The covering layer 8 of the main line 1 is peeled off by the peeling mechanism 9 mounted on the moving table 18 of FIG. In this case, the moving table 18
Moves to the peeling position in FIG. 2 (a).

As shown in FIG. 8, the peeling mechanism 9 includes a coating layer 8
In the longitudinal direction of the two cuts 8a, 8b, and two cuts 8a, 8b between the cuts 8a, 8b in the longitudinal direction of the coating layer 8 in the longitudinal direction, the cuts 8a, 8d.
The peeling portion 8e on the inner side of 8b, 8c, 8d is divided into half and peeled.

Specifically, the peeling mechanism 9 includes two blades 50 shown in FIG. 10 which are opposed to each other with the main line 1 interposed therebetween as shown in FIG. This blade 50 is attached to two blade mounting bases 52 and 53 which are connected to each other by a rotation center shaft 51 so as to be openable and closable.
Attach two wheel cutting blades 54 in the shape of / 4 so as to form a semicircular shape that curves inward, and combine two horizontal blades 55 between the wheel cutting blades 54 vertically. It is attached so that the side 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 as described above is arranged so as to face the mounting base 56 of the disc-shaped rotary gear 55 with the main line 1 interposed therebetween. When the blade feed motor 57 is mounted on both sides of the No. 1, the feed screw 61 rotates through the gears 58, 59, 60 meshing with each other, and the two blades 50 are moved to the main line 1 side with the rotation. When moving forward, the circular cutting blade 54 bites into the coating layer 8 and makes circular cutting-shaped cuts 8a and 8b, and at the same time, the horizontal blade 55 bites into the coating layer 8 and cuts horizontally 8c and 8c.
Insert d.

When the blade feed motor 57 is rotated in the reverse direction, the gears 58, 59, 60 and the feed screw 61 are rotated in the opposite direction to the above case, and the wheel cutting blade 54 and the horizontal blade 55 are retracted from the main line 1 to move from the coating layer 8. It is designed to be removed. The left half feed screw not shown in FIG. 11 is a reverse screw to the shown feed screw 61.

The cutting tool 50 includes a wheel cutting blade 54 and a horizontal blade 55.
While the bite bites into the coating layer 8, it rotates in the circumferential direction of the main wire 1 so that the peeled portion 8e (FIG. 8) of the coating layer 8 floats from the internal conductor 10.

Therefore, as shown in FIGS. 11 and 12, when the disc-shaped rotary gear 55 and the drive gear 62 are engaged with each other and the drive gear 62 is rotated by the motor, the rotary gear 55 is moved to the position shown in FIG.
2 (a) (b) (c) and at the same time the blade 50 attached to the rotary gear 55 rotates to rotate the wheel cutting blade 5
4 and the horizontal blade 55 are adapted to rotate.

Next, the blade feed motor 57 (FIG. 11)
Is reversely rotated to retract the blade 50 to remove the wheel cutting blade 54 and the horizontal blade 55 from the coating layer 8 of the main line 1. At the time of this retreat, the horizontal blade 55 is opened vertically as shown in FIG. 9C and the peeling portion 8e of FIG. 8 floated from the internal conductor 10 as described above is opened vertically as shown in FIG. 9C. To

Therefore, as shown in FIGS. 13 and 14, two opening and closing claws 64 each having a tapered rear end surface 63 are attached to the outer surfaces of the blade mounting bases 52 and 53, and a spring 65 is provided on the outer side thereof. The interrupting protrusion 66 that is extruded on the side of the blade 50 is arranged. As a result, the blade 50 is moved to the main line 1
When retracted further, as shown in FIG. 14 (d), the interrupting protrusion 66 cuts in between the two opening / closing claws 64, so that the tool mounts 52 and 53 open vertically and at the same time, the tool mount 5
The horizontal blades 55 attached to 2, 53 are shown in FIG. 14 (d).
As shown in FIG. 9 (c), the peeling portion 8e which is opened up and down and floated from the inner conductor 10 is opened up and down as shown in FIG. 2 (a)
It can be exposed to the outside like.

As shown in FIG. 13, the opening / closing pawl 64 has a rear end surface 63 formed in a taper shape, but a front end surface 67 is formed vertically, and a front end surface 68 of the interrupting protrusion 66 is located in front of the moving direction of the cutting tool 50. The taper is formed so as to gradually project from the side toward the front (from the right to the left in FIG. 13) toward the blade 50. Moreover, since the interrupting protrusion 66 is pushed out toward the blade 50 by the spring 65, the blade 50 is moved to the position shown in FIG.
14 (e) to 14 (c), the interrupting protrusion 66 is moved by the opening / closing claw 64 when advanced to the main line 1 side as shown in (a) to (c).
It is pushed back to the outside as shown in (g). Therefore, the interrupting protrusion 66 does not hinder the forward movement of the blade 50.

Next, the movable table 18 is moved to the brushing position shown in FIG. 2B, and the outer peripheral surface 11 of the inner conductor 10 which is peeled off and exposed to the outside as described above is mounted on the movable table 18. Brushing is performed by the brushing mechanism 12 to remove the residue of the coating layer 8 attached to the outer peripheral surface 11, the aluminum oxide film, rust, dirt, and the like. When the main wire 1 is an OC electric wire, the separator provided on the outer peripheral surface 11 is also removed.

In the brushing mechanism 12, as shown in FIG. 15, a belt sander 73 is applied to a drive wheel 71 and a driven wheel 72, and when the drive wheel 17 is rotated by a drive motor 74, the belt sander 73 is rotated. Book rotation file 7
5 are arranged so as to face each other, and an insertion portion 76 having a width into which the inner conductor 10 is inserted is provided between both rotary files 75, and further, the lower ends of the opposing rotary files 75 are brought close to each other to form an inverted V shape. 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 rotary files 75 are fixed at fixed positions, only the fixed portion of the outer peripheral surface 11 can be brushed. Therefore, the rotary files 75 are rotated in the circumferential direction of the inner conductor 10 so that the entire outer peripheral surface 11 is covered. Make sure your lap is rubbed.

Therefore, as shown in FIG. 16, two rotary files 75 are provided on the back side of the disc-shaped rotary gear 55 (the same rotary gear as the rotary gear 55 of FIGS. 11 and 12) (the blades of FIGS. 11 and 12). When the drive gear 62, which is attached to the surface opposite to the surface on which 50 is attached and is meshed with the rotary gear 55, is rotated by a motor, the rotary gear 55 rotates, and accordingly, the rotary gear 55 is attached to the rotary gear 55. The rotating file 75 is adapted to rotate around the outer peripheral surface 11.

Next, the moving table 18 of FIG. 2 moves to the pressing position of FIG. 2C, and the compression die 4 is moved as shown in FIG. 7A.
Then, the sleeve 3 set in the cartridge 15 is moved to just 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 pressing mechanism 13, so that the inner conductor 10 is inserted between the main line clamping portions 33 of the sleeve 3. To do. Then, as shown in FIG. 7, the compression mechanism 4 attached to the frame 45 of the movable table 18 pressurizes the compression die 4, and the sleeve 3 set in the compression die 4 is crushed. Inner conductor 10
Is clamped and fixed by the sleeve 3.

For the pressurizing mechanism 13, for example, a hydraulic cylinder or the like is used. The hydraulic cylinder is attached to the frame 45 of the movable table 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 pressurize the compression die 4, and the compression die 4 sleeves. 3 is crushed. At this time, as shown in FIG. 17, the high-voltage drag line holding portion 34 of the sleeve 3 is also compressed and crushed, and the high-voltage drag line 2 temporarily held by the high-voltage drag line holding portion 34 is compressed.
Are sandwiched. As a result, the inner conductor 10 of the main line 1 and the high-voltage pull-down line 2 are connected via the sleeve 3.

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

The pressing mechanism 13 is the cartridge 1
5 is lowered to the position of FIG. 7C by the elevating mechanism 16, and when the cover 5 loaded in the cartridge 15 is located outside the sleeve 3 in which the inner conductor 10 is sandwiched and fixed, the rod 76 extends and the cartridge 5 extends. The cover 5 is pressed through the through holes 78 of 15 and is pushed out to the outside of the sleeve 3 to cover the outside of the sleeve 3 as shown in FIG. 18, so that the opposing covers 5 are fitted and fixed to each other.

Reference numeral 80 in FIG. 1 is a control unit attached to the outside of the housing 17, which is a hanging mechanism 7, a skinning mechanism 11 mounted on the moving table 10, and a brushing mechanism 1.
2, for electrically controlling the operation of the pressurizing mechanism 13, the elevating mechanism 16 and the like.

[0057]

EFFECTS OF THE INVENTION The lifting device for the compression die and the like of the robot for high-voltage line drawing work according to the present invention has the following effects. ． Since the compression die 4 and the cover 5 move up and down, the lateral movement distance of the moving table 18 decreases accordingly.
The width of the housing can be shortened, and the robot can be downsized.

The high-voltage drawing line construction robot incorporating the lifting device such as the compression die has the following effects. ． Since the main line 1 and the high-voltage pull-down line 2 are automatically connected, it is possible to save a great deal of labor, and the surplus personnel saved can be used for other work, so that the workers can be effectively utilized. ． Since the work near the high-voltage live line is only the work of suspending the robot on the main line, there is almost no pole work performed by the workers, so there is little danger associated with work at high places and work near the high-voltage live line. Become. ． Since there is almost no pole work performed by workers, the safety net that was necessary to ensure the safety of workers who work on poles,
Since it is not necessary to stretch or remove the low-voltage protective sheet, the high-voltage protective sheet, etc., the work is simplified, and since the nets, sheets, etc. are not required, the cost is reduced. ． Since the peeling work, brushing work, crimping work, etc. are automatically performed by the machine, there is no variation in connection quality and a stable connection can be obtained.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an example of a high-voltage underline construction robot incorporating the lifting device of 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. A schematic plan view.

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

4A is an explanatory view of the robot when the temporary suspending tool is not used, FIG. 4B is an explanatory view of the temporary suspending tool before being locked to the main line, and FIG. 4C is the temporary suspending tool. Explanatory drawing at the time of locking a lowering tool to the main line.

5A is a perspective view of a sleeve used in the robot in which a high-voltage underline is temporarily held, FIG. 5B is a vertical 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 the sleeve in which a high-voltage pull-down wire is temporarily held.

6A is a front view of a compression die of the robot, FIG. 6B is an explanatory view of when a sleeve is attached to the compression die, and FIG. 6C is an explanation after attaching a sleeve to the compression die. Fig.

FIG. 7 shows an embodiment of a lifting device for a high-voltage underline construction robot according to the present invention. (A) is a front view of a cartridge in which a compression die and a cover are loaded, and (b) is a view for lifting the cartridge. Front view of the device ascended, (c)
FIG. 3 is a front view of the same cartridge lowered by an elevating device.

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

9 (a) to 9 (c) are explanatory diagrams for stripping in the robot, FIG. 9 (a) is an explanatory diagram before the cutting of the blade into the coating layer of the main line, and FIG. 9 (b) is an explanatory diagram at the time of cutting. (C) is explanatory drawing at the time of separating a coating layer.

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

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

12 (a) to 12 (c) are explanatory views showing the rotating state of the blade when the robot is peeling the skin, (a) is an explanatory diagram before rotation, and (b) is a state rotated by 90 degrees. Illustration,
(C) is explanatory drawing in the state rotated by 270 degrees.

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

14 (a), (b) and (c) are side views for explaining a case where the blade of the robot is advanced to the main line side. (E) is (a), (f) is (b) and (g) is The partial plan view of (c), (d) is a side surface explanatory view when retracting 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.

16A to 16C are explanatory views showing a rotating state of a brushing mechanism in the robot, FIG. 16A is an explanatory view before rotation, and FIG.
(C) is explanatory drawing in the state rotated by 270 degrees.

FIG. 17 is a front view showing a state in which the main line and the high-voltage underline are sandwiched by compressing the sleeve by the robot.

FIG. 18 is a front view showing a state in which the sleeve is covered with a cover by the robot.

FIG. 19 is an explanatory diagram of a state in which the main line and the pole transformer are connected by a high-voltage pull-down line.

FIG. 20 is an explanatory view of a conventional connection state of a main line and a high-voltage pull-down line.

[Explanation of symbols]

 1 main line 2 high-pressure pull-down line 3 sleeve 4 compression die 5 cover 6 cover loading section 7 hanging section 8 coating layer 9 skinning mechanism 10 inner conductor 11 outer peripheral surface 12 brushing mechanism 13 pressurizing mechanism 14 cartridge loading section 15 cartridge 16 lifting mechanism 17 case 18 moving table

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 391011386 Japan Burnday Co., Ltd. 3-26-33 Takanawa, Minato-ku, Tokyo (71) Applicant 000005186 Fujikura Co., Ltd. 1-1-5 Kiba, Koto-ku, Tokyo (71) ) Applicant 591265633 Kayo Denki Kogyo Co., Ltd. 2-6-6 Hamamatsucho, Minato-ku, Tokyo (71) Applicant 000001890 Sanwa Techchi Co., Ltd. 6-5-19 Minami-Shinagawa, Shinagawa-ku, Tokyo (72) Inventor Masaaki Ito 1-3-3 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Noriyuki Kaihara 4-83-3 Shibaura, Minato-ku, Tokyo Kandenko Co., Ltd. (72) Inventor Yoshiaki Abe 2-6-1, Marunouchi, Chiyoda-ku, Tokyo Furukawa Electric Co., Ltd. (72) Inventor Tomao Obata 87 Nishikuroda, Oyama, Tochigi Prefecture Saneisha Research Institute (72 ) Inventor Akira Tanabe 3-26-33 Takanawa, Minato-ku, Tokyo, Japan Berndy Co., Ltd. (72) Inventor Koichi Machida 1-5-1, Kiba, Koto-ku, Tokyo Fujikura Electric Line Co., Ltd. (72) Invention Person Kazumi Wakamatsu 1-8-1, Daisaku, Sakura-shi, Chiba Stock company Kayo Electric Industry Co., Ltd. Sakura factory (72) Inventor Koji Kasai 810 Nakatetsu, Tamabo-cho, Nakakoma-gun, Yamanashi Sanwa Techchi Co., Ltd. Kofu factory

Claims (2)

[Claims] 1. A cover loading section for loading a compression die 4 for setting a sleeve 3 temporarily holding a high-voltage pull-down line 2 connected to a main line 1 which is imaginarily distributed, and a cover 5 for covering the outer side of the sleeve 3. 6, a suspension part 7 for holding the main wire 1, a peeling mechanism 9 for peeling off the coating layer 8 of the main wire 1, a brushing mechanism 12 for brushing the outer peripheral surface of the internal conductor 10 of the main wire 1 exposed by the peeling. The sleeve 3 is compressed by pressurizing the compression die 4, and the sleeve 3 is compressed.
In the robot for high-voltage pulling wire construction, the inner conductor 10 is sandwiched and fixed to the inner surface of the sleeve 3, and the cover 5 is pressed to cover the outside of the sleeve 3. An elevating device such as a compression die for a robot for high-voltage underline construction, wherein the elevating mechanism 16 can elevate to the position of the pressurizing mechanism 15. 2. The elevating mechanism 16 of claim 1 is a compression die 4.
And a cartridge 15 having the cover 5 set thereon can be moved up and down to the position of the pressurizing mechanism 15, which is a lifting device for a compression die of a robot for high-voltage drawing work.