JPH05236619A - Apparatus for overhead distribution line work and method for wiring work - Google Patents

Abstract

PURPOSE:To realize unmanned work for the installation of an overhead distribution line or the maintenance work thereof. CONSTITUTION:A robot traveling rail 15 is fixed to a pole 10 in a specific positional relation with respect to the pole 10. There is provided a work robot 16 which ascends or descends on the robot traveling rail 15. The work robot 16 has a work arm 19. A gripping tool 28 for gripping an objective work equipment 11 or a work tool 30 for installing the objective work equipment 11 on the pole 10 or removing the equipment from the pole is detachably mounted to the leading end of the work arm 19. The work arm 19 is arranged to operate the installation of the objective work equipment 11 on the pole 10 or the like by a built-in controller in an action suitable for the relative positional relationship between the robot traveling rail 15 and the pole 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial distribution line work device for performing facility work and maintenance work of an aerial power distribution line, and mainly for attaching or detaching power distribution equipment to or from a utility pole, and this aerial distribution line work device. The present invention relates to an overhead wire work method for performing an overhead wire work on an electric wire.

[0002]

2. Description of the Related Art Conventionally, the work to install an overhead power distribution line is
While installing insulators, transformers, etc. on the utility pole to support or connect the wires, it is generally done manually from the bucket on the boom of the aerial work platform. However, labor saving,
In order to save labor, in recent years, as shown in FIG. 12, a master / slave manipulator 4 is mounted on the working base 3 at the upper end of the boom 2 of the aerial work vehicle 1 and installed on the working base 3. A method has been developed in which a person operates the master arm 4a of the manipulator 4 in the operator's cabin 5 to perform work with the slave arm 4b that operates in proportion to the master arm 4a. In FIG. 12, reference numeral 6 indicates a telephone pole, and reference numeral 7 indicates an equipment unit in which the insulator 7a and the mounting member 7b are integrated.

[0003]

[Problems to be Solved by the Invention]
The slave system is a working base 3 and equipment unit 7
, The relative positional relationship with the telephone pole 6 is fixed,
Therefore, since the relative positional relationship between the slave arm 4b and the equipment unit 7 is not determined, it is necessary for the operator to visually guide the slave arm 4b when performing the work, and a completely automatic unmanned operation should be achieved. There is a drawback that you cannot do it.

Further, since the manipulator 4 is mounted on a vehicle, the vehicle must be parked near a telephone pole during work, which causes a problem of road traffic congestion.

Further, the equipment to be mounted on the electric pole must be mounted in the cabin 5 on which the operator rides, but since the space inside the cabin and the mountable weight are limited by the allowable moment of the boom 2, etc., it can be handled at once. There are drawbacks such as the limited number of equipment that can be used and the installation of heavy equipment.

Further, since the operator needs to perform the operation in the cabin 5 that has been raised to the vicinity of the upper part of the electric pole, the working environment for working at high places cannot be improved.

The present invention has been made in order to solve the above-mentioned conventional drawbacks, and enables unmanned work such as installation of power distribution equipment on a power pole, thereby further saving labor in overhead power distribution line facility work. It is an object of the present invention to provide an overhead power distribution line work device capable of saving labor, and an efficient overhead line work method performed using this overhead power distribution line work device.

[0008]

A work device for an overhead power distribution line according to the present invention, which solves the above problems, is a rail for moving a robot attached to a utility pole in a fixed relative positional relationship to the utility pole, and a robot moving rail. And a work robot for moving up and down the rail. The work robot directly or indirectly detects a lifting drive unit for moving up and down along the rail for moving the robot, and a mounting height position of a work target device on a telephone pole. The present invention is characterized by including a height position detecting means and an operation arm in which a grip tool for gripping a work target device or a work tool for mounting or removing the work target device on or from an electric pole is detachable.

According to a second aspect of the present invention, the operation arm of the work apparatus for an overhead power distribution line according to the first aspect attaches or detaches work target equipment to or from an electric pole by an operation that conforms to the relative positional relationship between the robot moving rail and the electric pole. Is set to perform.

According to a third aspect of the present invention, in the work apparatus for an overhead power distribution line according to the first aspect, a pair of left and right operation arms of a work robot are provided, the operation tool is attached to one operation arm, and the other operation arm is provided. It is characterized in that a grip tool for gripping the work target equipment is attached to the.

According to a fourth aspect of the present invention, in the work apparatus for an overhead power distribution line according to the first aspect, the work robot main body of the work robot has a structure in which a work target material is directly placed on the work robot body to move up and down.

According to a fifth aspect of the present invention, in the work device for an overhead power distribution line according to the first aspect, an equipment moving rail for guiding up and down of the equipment to be operated is provided on the electric pole.

According to a sixth aspect of the present invention, in the work apparatus for an overhead power distribution line according to the fourth aspect, the work target equipment is structured to be lifted and lowered by being guided by the robot moving rail.

An overhead wire working method according to claim 7 is a method for performing the overhead wire work of a fixed length insulated wire having connecting connectors at both ends, using the overhead power distribution line working device according to claim 1. The work robots according to claim 1 are respectively arranged on rails for moving robots on electric poles on both sides of an overhead wire section, and end portions of the fixed-length insulated wire are attached to work arms attached to tips of operation arms of both work robots. Grip each of the connection connectors, raise both work robots almost in synchronism, and stop at a predetermined position, then make the operation arm perform a predetermined operation and insert the connection connector into the plug-in type insulator. Is characterized by.

[0015]

In the above construction, since the robot moving rail is attached to the telephone pole in a fixed relative positional relationship, the work robot that moves up and down on the robot moving rail is mounted on the telephone pole at the work object mounting height position. When is detected, the relative positional relationship between the work robot and the work target equipment mounting position is established. As a result, the work robot can automatically perform work such as mounting the target equipment on the power pole. In this case, the working arm of the work robot functions as a gripping arm that grips the work target device when the grip tool is attached to the tip of the work robot, and the work arm attaches or detaches the work target device to or from the utility pole when the work tool is attached. Functions as a working arm.

According to a second aspect of the present invention, the operation arm is set so as to attach or detach the work target equipment to or from the power pole by an operation that matches the relative positional relationship between the robot moving rail and the power pole. According to the operation pattern set for each equipment, the work to attach the equipment to be worked to the power pole is automatically performed by sequence control.

According to the fourth aspect of the present invention, when the work target equipment is directly placed on the work robot body and moved up and down, it is possible to eliminate the operation arm for gripping the work target equipment. Moreover, since it is not necessary to increase the strength of the operation arm, the structure of the work robot is simplified. Also,
It is possible to easily move up and down even with heavy work equipment.

When the electric pole is provided with the equipment moving rail for guiding the work target equipment, the load on the operation arm for gripping and lifting the work target equipment with the grip tool is reduced. ..

When the work robot has a structure in which the work target equipment is directly placed on the work robot to move up and down and the work target equipment is guided by the robot moving rails, the work target equipment is operated by the operation arm. It is possible to lift and lower the work target equipment in a stable manner without gripping.

According to the overhead wire work method of the seventh aspect, the electric wires in one overhead wire section are installed all at once, and the overall labor saving of the overhead wire work is further realized.

[0021]

Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 shows a side view of a working device for an overhead power distribution line according to an embodiment of the present invention. In the figure, reference numeral 10 is a reinforced concrete electric pole, and is provided with equipment mounting portions 10a and 10b which are screw holes for mounting. In this embodiment, a work of attaching a work target equipment 11 composed of an equipment unit in which a material (gaishi) 13 is previously fixed to an attachment member (equipment attachment plate) 12 to the utility pole 10 will be described. This mounting work is performed by screwing and tightening a mounting tool 14 made up of fixing bolts that pass through mounting holes 12a provided in upper and lower parts of the equipment mounting plate 12 into the equipment mounting portions 10a and 10b of the electric pole 10.
The work target equipment 11 is fixed to the electric pole 10.

In the present invention, the robot moving rail 15 is fixed to the electric pole 10 in a fixed relative positional relationship with respect to the electric pole 10. In the illustrated example, the robot moving rail 15 is connected to the electric pole 10.
Is fixed to the surface opposite to the equipment mounting portions 10a and 10b. As shown in FIGS. 3 and 4, the rail 15 for moving the robot has a brim 15a protruding on both sides and a rack 15b formed at the center.

As shown in the perspective view of FIG. 2, the work robot 16 has a grip tool 38 for gripping the work target equipment 11 or a work tool 30 for mounting or removing the work target equipment 11 on or from the utility pole 10. A left and right pair of detachable operation arms 19 are provided. In addition, as shown in FIGS. 3 and 4, the work robot 16 has an elevating / lowering drive unit 17 for elevating / lowering along the robot moving rail 15.
Built in. In addition, the equipment mounting portion 10a or 1 as the equipment unit mounting height position on the telephone pole 10
A height detecting notch 15c for indirectly detecting the height position of 0b is opened in the robot moving rail 15.
Height position detecting means (height position detector) 20 for detecting the notch hole 15c is provided on the upper part of the work robot body 16a. As the height position detecting means 20, a suitable device such as a micro switch or an optical sensor can be used. A rail detachment prevention roller 21 is provided on the surface of the work robot body 16a on the electric pole 10 side to prevent the rail 15 for robot movement from coming off the rail 15 by coming into contact with the collar portion 15a.

The elevating / lowering drive unit 17 integrally has a motor 17a for driving the elevating / lowering drive unit, a worm 17b fixed to an output shaft of the elevating / lowering drive motor 17a, and a worm wheel 17c meshing with the worm 17b. A gear 17d that meshes with 15 racks 15b is provided. Further, a position detector 17e for detecting the rotation angle of the lifting drive driving motor 17a for detecting the lifting distance of the work robot 16 is provided. Also,
In FIG. 3, reference numeral 23 is a power source, and reference numeral 24 is a control device for controlling the overall operation of the work robot 16.

The operating arm 19 is rotatably attached to the work robot main body 16a as shown in FIG. 4, and has a first joint 27 at the base end thereof, a second joint 28 at the distal end side thereof, and A third joint 29 is provided, and each joint 27, 2
8 and 29, joint drive motors 27a, 28a, 29a
Is provided, and position detectors 27b, 28b, 29b for detecting the rotation angles of the joints 27, 28, 29 are provided. As described above, the working tool 30 is attached to the tip of the one operation arm 19, and the grip tool 38 is attached to the tip of the other operation arm 19. Each of the operation arms 19 is attachable / detachable to / from either the work tool 30 or the grip tool 38, and the types of the grip tool 38 and the work tool 30 may be various according to the type of work target equipment. Can be installed. The working tool 30 of the illustrated example is a bolt tightening tool, and is driven by a working tool driving motor 30a to perform bolt tightening work.

The control system of the work robot 16 is shown in a block diagram in FIG. The control device 24 stores an operation pattern for each type of work target equipment as a sequence control program. When the type of work target equipment is designated and the start button 16b is pressed, an operation pattern corresponding to the work target equipment is created. Each drive motor (17a, 27a ...) Is operated by the indicated amount. Of course, it is also possible to operate the remote controller instead of the start button.

The work for attaching the work target equipment 11 composed of the equipment unit to the electric pole 10 by the work robot 16 is performed as follows. The work robot 16 is a utility pole 1
Set it on the robot movement rail 15 near 0 on the ground,
Work target equipment 11 is grip tool 3 of operation arm 19
8 to hold. Positioning of the work target device 11 when gripping the grip tool 38 may be performed manually. Next, when the start button 16b is pressed, the work robot 16 starts to move up, and when the work robot 16 moves up to the position of the notch hole 15c provided in the robot moving rail 15, the height position detecting means 2
0 detects the cutout hole 15c, and thereafter, the work robot 1 receives a signal from the position detector 17e of the lifting drive unit 17.
The up-and-down distance of 6 is accurately grasped. Since the cutout hole 15c of the robot moving rail 15 is located at a fixed distance from the equipment mounting portion 10a or 10b formed of a mounting screw hole, the work robot 16 is suitable for working on the equipment mounting portion 10a or 10b. It is possible to move to a certain position, that is, the specified work equipment mounting height position, and stop. Subsequently, the other operation arm 19 having the work tool 30 mounted thereon operates according to the sequence control by the controller 24. As described above, the control device 24 stores the operation pattern suitable for the work target equipment for each type of the work target equipment, and performs the work target operation by the operation suitable for the relative positional relationship between the robot moving rail 15 and the electric pole 10. Installation work of the equipment 11 to the telephone pole 10 is performed. That is, the attachment tool 14 made of a fixing bolt is operated by the work tool 30 at the tip of one of the operation arms 19 to attach the attachment tool 14 to the attachment member 1 made of the attachment plate of the work target equipment 11.
The work target equipment 11 is fixed to the electric pole 10 by passing through the two mounting holes 12a and screwing and tightening to the equipment mounting portion 10a or 10b consisting of mounting screw holes. Next, the grip tool 38 of the other operation arm 19 releases the work target equipment 11, the elevating and lowering drive unit 17 operates, and it descends to the ground. From the above, the utility pole 10 of the target equipment 11
Installation work is completed. In addition, the work for removing the work target equipment attached to the telephone pole 10 is also performed by the control device 24.
The same operation can be performed in accordance with the predetermined operation pattern set in.

The work performed by the work robot 16 is not limited to the work target equipment 11 including the equipment unit having the insulator 13 described above, but the work target equipment including the transformer unit in which the mounting member and the transformer body are integrated. Attachment and detachment work to the utility pole can be similarly performed according to the same operation pattern as this embodiment.

FIG. 6 shows an embodiment of a work apparatus for an overhead power distribution line according to claim 5 in which an equipment moving rail 31 for guiding up and down of the work equipment 11 is provided on the electric pole 10. On the equipment mounting plate 12 of the work equipment 11, the equipment moving rail 3
1 is provided with a guided portion 12b slidably fitted. Further, in the illustrated example, the work target equipment 11 is not directly fixed to the equipment mounting portion formed of the mounting screw holes provided on the utility pole 10 but is formed of the mounting screw holes provided on the equipment moving rail 31. It is fixed to the mounting portion 31a by a mounting tool 14 composed of a fixing bolt. According to this structure, the load on the operation arm 19 for holding and lifting the work target equipment 11 by the grip tool 38 is reduced. Further, in the illustrated example, since the work target equipment 11 is attached not to the utility pole 10 directly but to the equipment moving rail 31, it is possible to take a wide installation place of the equipment. The other points are the same as those of the above-described embodiment.

FIG. 7 shows an embodiment of a working device for an overhead power distribution line according to claims 4 and 5. In this embodiment, the work target equipment 11 is directly placed on the equipment receiving portion 16c on the upper surface of the work robot body 16a and is raised and lowered. Then, the work target equipment 11 that has been raised to a predetermined position is attached to the equipment moving portion 15d that is a mounting screw hole provided on the rail 15 for moving the robot
Fix at 4. Although not clearly shown in the figure, the work target equipment 11 is slidably fitted to the robot moving rail 15 and the work target equipment 11 is guided to the robot moving rail 15 when moving up and down. Has become. According to this structure, it becomes unnecessary to hold the work target equipment 11 by the operation arm 19, and the structure of the work robot 16 is simplified. However, it is of course possible to mount the work target equipment 11 directly on the work robot main body 16a and support the work target equipment 11 by the operation arm 19 having the grip tool 38 mounted thereon.

FIG. 8 shows an embodiment of the overhead line work method of claim 7. In this case, as the electric wire to be extended, a standard length insulated electric wire 33 having connection connectors 32 attached at both ends is used.
A dedicated work tool 30A is attached to the tip of one of the operation arms 19 of the work robot 16 described above. The work robots 16 are provided on the utility poles 10 on both sides of the overhead line section, respectively.
Are set, the work tools 30A of the operation arms 19 of both work robots 16 are made to grip the connection connectors 32 at both ends of the standard length insulated wire 33, respectively, and the start buttons 16b are pressed. After moving up in synchronism with it and stopping at a predetermined position, the operation arm 19 performs a predetermined operation to insert the connector 32 into the jumper / lead wire terminal built-in plug-in type tension insulator 34, A fixed-length insulated electric wire 33 is installed between the electric poles 10, 10.
The utility pole 10 in the illustrated example is provided with an equipment moving rail 31 that also serves as equipment attachment, like the utility pole 10 shown in FIG. 6, and the equipment moving rail 31 also serves as equipment attachment. The work target equipment 11 including the equipment unit provided, the cutout / arrestor built-in transformer 35, the arrester built-in switch 36, and the like are attached. The cutout / arrestor built-in transformer 35, the arrester built-in switch 36, and the like can be attached and detached by the work robot 16 of the present invention.

Other examples of the rails for moving the robot for raising and lowering the work robot 16 are shown in FIGS. 9 to 11, respectively.
In the robot moving rail 41 shown in FIG. 9, when a square pipe is used as the electric pole 40, holes 41a are formed on one surface of the square pipe at regular intervals, and the surface having the holes 41a is used as the robot moving rail. It is a thing. According to this structure,
Since it is not necessary to separately provide a rail for moving the robot, the structure is simplified.

The robot moving rail shown in FIG. 10 is provided with a groove 51, the inside of which extends, in a reinforced concrete utility pole 50, and the groove 51 is used as a robot moving rail. This structure also simplifies the structure because it is not necessary to separately provide a rail for moving the robot.

The robot moving rail 61 shown in FIG. 11 is a telescopic robot moving rail parallel to the electric pole 60.
In this case, the work robot 16 is attached to the upper end of the telescopic robot moving rail 61. The telescopic drive mechanism of the telescopic robot moving rail 61 is composed of a rail base 61.
It may be provided in a.

The overhead distribution line work apparatus of the present invention can be applied not only to the work of attaching or removing the work target equipment to the utility pole but also to various works including the overhead wire work shown in FIG.

[0036]

According to the present invention, the work robot moves on the robot moving rail attached to the electric pole in a fixed relative positional relationship, and detects the work object mounting height position on the electric pole. Therefore, it is possible to easily determine the relative positional relationship between the work robot and the mounting position of the work target equipment, and it is possible to automatically perform the work of mounting or removing the work target equipment from or on the utility pole. This enables unmanned operation during work, which saves labor and manpower.

According to the second aspect of the present invention, the operation arm is set so as to attach or detach the work target equipment to or from the utility pole by an operation suitable for the relative positional relationship between the robot moving rail and the utility pole. , It is possible to easily fully automate the work of attaching the work target equipment to the power pole according to the operation pattern set for each work target equipment.

Since the working tool and the gripping tool can be attached to and detached from the tip of the operation arm, it is possible to smoothly attach or remove a wide variety of work target equipment.

Since the work robot automatically performs work at height, work at height such as master arm operation in the conventional master / slave system is also eliminated, and the working environment and safety are improved.

Further, since the work robot moves up and down on the robot moving rail to carry the work target equipment, it is only necessary to arrange the equipment on the ground, and it is not necessary to carry the equipment collectively to a high place. Also, unlike a cantilevered boom such as an aerial work vehicle, it can support a large weight, and the restrictions on the weight of equipment are reduced. These will solve the problem of equipment supply.

Since it is not necessary to park the vehicle during the work, the problem of obstructing road traffic does not occur.

According to the fourth aspect of the present invention, when the work target equipment is directly placed on the work robot body and is moved up and down, the operation arm for gripping the work target equipment can be eliminated. Moreover, since it is not necessary to increase the strength of the operation arm, the structure of the work robot is simplified. Also,
It is possible to easily move up and down even with heavy work equipment.

When the electric pole is provided with the equipment moving rail for guiding the work target equipment, the load on the operation arm for gripping the work target equipment with the grip tool and moving it up and down is reduced. ..

When the work robot has a structure in which the work target equipment is directly placed on the work robot to move up and down and the work target equipment is guided by the robot moving rail as in claim 6, the work target equipment is the operation arm. It is possible to lift and lower the work target equipment in a stable manner without gripping.

According to the overhead wire work method of the seventh aspect, the electric wires in one overhead wire section are installed at a stretch, and the overall labor saving of the overhead wire work is further realized.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a work device for an overhead power distribution line of the present invention.

FIG. 2 is a perspective view of the same.

FIG. 3 is an enlarged view of an essential part showing a part of the work robot shown in FIGS.

FIG. 4 is a plan view of the work robot in FIG.

FIG. 5 is a schematic block diagram of a control system of a work device for an overhead power distribution line of the present invention.

FIG. 6 is a perspective view showing an embodiment of a work device for an overhead power distribution line according to claim 5;

FIG. 7 is a perspective view showing an embodiment of a work device for an overhead power distribution line according to claim 4;

FIG. 8 is a view for explaining the overhead line work method of claim 7 which is performed using the above-described overhead distribution line work device.

FIG. 9 is a perspective view showing another embodiment of the robot moving rail.

FIG. 10 is a perspective view showing still another embodiment of the robot moving rail.

FIG. 11 is a side view showing still another embodiment of the robot moving rail.

FIG. 12 is a side view showing a conventional overhead distribution line work device.

[Explanation of symbols]

10, 40, 50 Utility pole 10a, 10b Equipment mounting part 11 Work target equipment (equipment unit) 12 Mounting member (mounting plate) 13 Equipment (gaishi) 14 Mounting tool (fixing bolt) 15, 41, 51, 61 For robot movement Rail 15a Collar part 15b Rack part 15c Height detection notch 16 Work robot 16a Work robot body 16b Start button 16c Equipment receiving part 17 Lifting drive part 17a, 27a, 28a, 29a, 30a Driving motors 17e, 27b, 28b, 29b Position detector 19 Operation arm 20 Height position detecting means (height position detector) 21 Rail separation prevention roller 24 Control device 27 First joint 28 Second joint 29 Third joint 30 Working tool 31 Equipment movement rail 38 Grip tool

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Haruma Tezuka 1-5-1 Kiba, Koto-ku, Tokyo Inside Fujikura Electric Wire Co., Ltd.

Claims (7)

[Claims] 1. A robot moving rail (15) attached to a utility pole (10) in a fixed relative positional relationship with respect to the utility pole (10), and a work robot (16) for moving up and down the robot moving rail (15). ) And the work robot (16) is configured to move up and down along the robot moving rail (15).
And a height position detecting means (20) for directly or indirectly detecting the mounting height position of the work target equipment on the telephone pole, and a grip tool (38) or work target equipment (11) for gripping the work target equipment (11). ) To the utility pole (10) or a working tool (30) for attaching or detaching work to and from the utility pole (19) is detachable, and a working device for an overhead power distribution line. 2. The utility pole (10) of the work-target equipment (11) is moved by the operation arm (19) in accordance with a relative positional relationship between the robot moving rail (15) and the utility pole (10).
The work device for an overhead power distribution line according to claim 1, characterized in that the work device for overhead power distribution line is configured to be attached to or removed from the work. 3. A pair of left and right operation arms (19) of the work robot (16), one operation arm (19) to which the work tool (30) is attached, and the other operation arm (19). The work apparatus for an overhead power distribution line according to claim 1, wherein a grip tool (38) for gripping a work target device (11) is attached to the work piece (19). 4. The work apparatus for an overhead power distribution line according to claim 1, wherein the work robot main body (16a) of the work robot (16) has a structure in which a work target device (11) is directly placed on the work robot and lifted up and down. .. 5. The work apparatus for an overhead power distribution line according to claim 1, wherein an equipment moving rail (31) for guiding the lifting and lowering of the work target equipment (11) is provided on the utility pole (10). 6. The work apparatus for an overhead power distribution line according to claim 4, wherein the work target equipment (11) is structured to be lifted and lowered by being guided by the robot moving rail (15). 7. An overhead line work method for performing an overhead line work on a fixed length insulated electric wire (33) having connecting connectors (32) attached at both ends thereof, using the work device for overhead power distribution line according to claim 1. The work robot (1) according to claim 1, wherein the robot moving rails (15) of the electric poles (10) on both sides of the section are respectively provided.
6) is arranged and the work tools (30) attached to the tips of the operation arms (19) of both work robots (16) respectively.
In A), the connection connectors (32) at the ends of the standard length insulated wires (33) are respectively gripped, both work robots (16) are raised substantially in synchronism, and stopped at a predetermined position, and then the operation arm. An overhead wire working method, characterized in that (19) is caused to perform a predetermined operation to insert the connector (32) into a plug-in type insulator (34).