JPH0588890U - Power distribution work robot with automatic tool changer - Google Patents

Abstract

(57) [Summary] [Structure] A boom (4) capable of expanding and contracting and tilting is mounted on a vehicle, and a robot base (1) is attached to the tip of the boom, and the robot base is controlled by operation from the vehicle. A power distribution work robot apparatus with an automatic tool changing device, which is provided with a robot (2) and which is provided within an operation range of the robot in the robot base (1). Preferably, the automatic tool changer is provided with a sensor (10) for monitoring the position of the tool, and a spring (1) is attached to the automatic tool changer rack for holding and positioning the tool.
1) Give compliance by [Effect] Since a power distribution work robot apparatus capable of automatically changing tools can be realized, automation of power distribution work and remote operation are possible, and a worker's burden can be reduced when changing tools.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot device for performing power distribution work such as cutting and connecting a power distribution line.

[0002]

[Prior Art]

 Conventionally, in the power distribution work robot, the worker boarded in a bucket attached to the tip of the boom of the work vehicle to replace the work tool, but since the work content is diverse, there are many types of tools to work. It was difficult to replace it if necessary. Moreover, the function of the tool was increased in order to reduce the number of times of tool replacement.

[0003]

[Problems to be solved by the device]

 However, the conventional technique has a problem in that the worker must be near the robot to change the tool, which is dangerous and the worker cannot remotely operate the robot from a more comfortable place. Also, considering the work content, even a single-function tool weighs 3 kg or more, and if the functions are combined, the weight will increase. For this reason, there is a problem that even if the tool is lifted, the operator is extremely burdened and the operator is tired. Therefore, the problem to be solved by the present invention is to provide a power distribution work robot in which the robot can automatically and surely exchange tools without human intervention.

[0004]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, an electric power distribution work robot apparatus with an automatic tool changer of the present invention is equipped with a boom capable of expanding and contracting and tilting in a vehicle, a robot base is attached to a tip of the boom, and a robot base is attached to the robot base. A robot controlled by the operation of the vehicle is provided, and an automatic tool changer is provided within the operation range of the robot in the robot base. The automatic tool changer is provided with a sensor for monitoring the position of the tool. Further, in the automatic tool changer, the automatic tool changer rack for positioning and holding the tool is provided with compliance.

[0005]

[Action]

 In the present invention, it is possible to arrange the tools necessary for the work in a predetermined place within the operation range of the power distribution work robot, and teach the robots their positions in advance. This allows the robot to automatically change tools as needed. In addition, the rack in which the tools are placed is provided with a sensor for monitoring the attachment / detachment of the tools, and by having compliance, the tools can be reliably exchanged.

[0006]

【Example】

 Hereinafter, a specific embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a power distribution work robot apparatus embodying the present invention. In this device, a robot 2 and an ATC (automatic tool changer) rack 3 in which a plurality of required tools are set are installed on a robot base 1, and the robot base 1 is moved by a boom 4 near a distribution line for work. Be positioned at. The worker 5 does not need to work in a dangerous place such as a high place, a distribution line or the side of the robot, and operates the robot from the cabin 7 while watching the image of the surveillance camera 6 on the robot base 1. You can

FIG. 2 is a detailed view of the ATC rack 3, tool 8 and robot tip 9 on the robot base 1 of FIG. The tool 8 is detached from the robot tip 9, but the tool 8 is set on the ATC rack 3 as described above. Then, since each tool position is taught to the robot in advance, the robot automatically changes the tool when necessary. As shown in FIG. 2, the ATC rack 3 is provided with a sensor 10, which determines the presence or absence of the tool 8 and whether or not the robot is at the tool replacement position, and reliably performs the tool replacement. Further, the ATC rack 3 is provided with a spring 11 to provide compliance of inclination and deviation for the position determination during tool exchange, thereby facilitating the tool exchange positioning and further preventing the tool 8 from falling off. 12 are provided. In this embodiment, the ATC rack 3 on the robot base 1 is of a fixed type, but it may be of a rotary type in consideration of the arrangement, the work area, the number of tools, and the like.

[0008]

[Effect of the device]

 As described above, according to the present invention, it is possible to realize a power distribution work robot apparatus capable of automatically changing tools, which enables automation of power distribution work and remote control, and reduces the burden on the operator when changing tools. .

[Brief description of drawings]

FIG. 1 is a side view showing an entire embodiment of the present invention.

FIG. 2 is an exploded perspective view showing details of essential parts of the embodiment of the present invention.

[Explanation of symbols]

1: Robot base, 2: Robot, 3: ATC rack, 4: Boom, 5: Worker, 6: Surveillance camera, 7: Cabin, 8: Tool, 9: Robot tip, 10: Sensor,
11: Spring, 12: Clamp

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kacho Maruyama 2-82 Watanabe-dori, Chuo-ku, Fukuoka-shi, Fukuoka Kyushu Electric Power Co., Inc.

Claims (3)

[Scope of utility model registration request] 1. A boom capable of expanding and contracting and tilting is mounted on a vehicle, a robot base is attached to the tip of the boom, and a robot controlled by the operation of the vehicle is provided on the robot base, and the robot base. An automatic tool changer is provided within the operation range of the robot in, and a power distribution work robot apparatus with an automatic tool changer. 2. The automatic work changer according to claim 1, further comprising a sensor for monitoring the position of the tool, which is a power distribution work robot apparatus. 3. The power distribution work robot apparatus according to claim 1 or 2, wherein a plurality of automatic tool changer racks for positioning and holding tools are provided with compliance.