JPH06133429A - Method and apparatus for conductor treatment in wire connecting robot - Google Patents

Abstract

PURPOSE:To provide a robot which performs various works for connecting a branch wire to a main wire and performs conductor treatment such as separator removal and brushing securely with a simple movement. CONSTITUTION:A wire connecting robot presses heat knives 55 against the circumference of a separator on the circumference of a conductor C at two positions apart from each other by a certain distance, turns the heat knives 55 along the circumference of the conductor C, melts the separator at the two positions to form the annular separator part and then applies a brush which rotates along the circumference of the conductor to the annular separator part. With this constitution, the separator can be brushed off and the conductor can be polished.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric wire core processing method for a robot apparatus and an apparatus therefor for automatically connecting a branch line and the like to a main line in an electric wire connection processing operation.

[0002]

2. Description of the Related Art Conventionally, to connect a branch line to a main line of a wire, such as connecting a PD line to a high-voltage line in an overhead power distribution line, to strip the wire, brush the core wire, or connect a wire to a connector or sleeve. It requires various work such as mounting and the like, and each of these work is done by a worker by hand. However, since it is necessary to perform these operations during hot line, in recent years, each tool is attached to the tip of the hot stick to perform the above operations. This work using the hot stick is performed by an operator who places the hot stick on a bucket for work at high places or the like and manually operates the hot stick.

[0003]

However, even with the electric wire connection processing work using these hot sticks,
There is a risk of electric shock due to erroneous operation by the operator, and it is incomplete in terms of safety. Further, a tool is attached to the tip of the hot stick for each work described above, and the worker works by holding the hot stick from a bucket for work at high places or the like, which requires a great deal of labor and is inferior in workability.

The present invention has been made in view of these points, and in a robot apparatus for performing various works when connecting the branch line to the main line of the electric wire, after the electric wire is stripped by a simple operation. An object of the present invention is to solve the above-mentioned problems by providing a method and an apparatus for performing core wire treatment such as removal of the core wire separator and brushing.

[0005]

As a method for treating the core wire of an electric wire, two outer peripheral portions of a separator having a constant width on the outer periphery of the core wire are melted in an annular shape with a heater, and the outer periphery of the core wire is brushed with a rotating brush. As a result, the separator is scraped off and the core wire is polished.

An apparatus used in the above core wire treating method is
In the electric wire connection processing robot device, the separator heat unit is laid horizontally in the axial direction by connecting the outer circumference of the electric wire stripped with a brush to the core wire brush unit.
These units are rotatably provided around the electric wire to be processed, and a drive device for rotating these units is provided. A heat knife that can come into contact with the outer circumference of the electric wire is provided, and the core wire brush unit is provided with a brush of a certain width that comes into contact with the outer circumference of the core wire of the electric wire on the side surface of the electric wire to be treated.

Further, in the above apparatus, a separator heat unit is connected to the core brush unit in the axial direction, and an electric wire insertion groove is provided at the center upper end of each unit through these units. A drive device is provided which is rotatable about the insertion groove and further rotates and inverts these units in the forward and backward directions. Heat knives that can come into contact with the outer circumference of the electric wire are provided opposite to each other, and the core wire brush unit has brushes of a certain width that come into contact with the outer circumference of the core wire of the electric wire opposite to each other on both sides of the electric wire to be treated. It may be provided.

[0008]

In the method of treating the core wire of the electric wire, two separators having a constant width, which are wound around the outer periphery of the core wire, are melted by heat in an annular shape, and the separator portion having the constant width is separated from the other portion. As a result, the separator having the constant width is rotatable around the axis of the core wire around the core wire and is also slidable in the axial direction. Then, a brush with a constant width is applied, and this brush is rotated around the core wire for brushing. As a result, the separator having a constant width is scraped off, removed, and further brushed to scratch the outer circumference of the core wire.

Further, in the apparatus for treating the core wire of the electric wire, first, the coating is peeled off and the exposed core wire portion is positioned in the separator heat unit, and the heat knife is brought into contact with two side surfaces of the separator coated on the outer periphery of the core wire. In this state, the separator heat unit integral with the core brush unit is rotated around the core wire. As a result, the two outer peripheral portions of the separator are melted in an annular shape by heat, and the separator portion having the constant width is separated from the other portions.
In this state, the separator having the constant width is rotatable around the core wire and is slidable in the axial direction around the core wire.

Then, the device is moved or the electric wire is moved to locate the exposed core wire portion on the core wire brush unit, a brush with a constant width is applied to the core wire portion, and the brush is rotated about the core wire to brush the brush. To do. As a result, the above-mentioned constant width separator is scraped off and removed,
By further brushing, the outer circumference of the core wire is scratched.

Further, in an apparatus for treating the core wire of the electric wire, which has a drive device for rotating the core wire brush unit and the separator heat unit in the forward direction, the reverse direction, and the oscillating rotation, first, in the wire insertion groove of each unit. Put the electric wire, locate the exposed core wire location by peeling off the coating, in the separator heat unit, and contact the heat knife with two locations on both sides of the separator coated on the outer periphery of the core wire,
In this state, the separator heat unit integrated with the core brush unit is oscillated and rotated around the electric wire insertion groove. As a result, the two outer peripheral portions of the separator are melted in a ring shape by heat, and the separator portion having the constant width is separated from the other portions. In this state, the separator having the constant width is rotatable around the axis of the core wire on the outer periphery of the core wire and is also slidable in the axial direction.

Then, the device or the electric wire is moved to position the exposed core wire portion on the core wire brush unit, and brushes having a constant width are applied to both sides of the core wire portion to insert the core wire brush unit rotating integrally with the separator heat unit into the electric wire. Swing and rotate around the groove for brushing. As a result, the above-mentioned constant width separator is scraped off and removed,
By further brushing, the outer circumference of the core wire is scratched.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a work state in which the robot apparatus of the present invention is used for PD line connection work. One end of the PD line P is connected to the primary side of the transformer T, and the PD line P is connected to the high voltage line W. When connecting the other end with a connector (not shown), the robot apparatus 1 of the present invention is suspended on the high-voltage wire W for connection work.

Next, FIG. 2 shows a schematic perspective view of the robot apparatus 1 of the present invention. The robot apparatus 1 has a main body 2, a feeder unit 3, a coating stripping unit 4, a separator heating unit 5, a core wire brush unit 6, and the like. The connector mounting unit 7 and the first electric wire gripping unit 8 are horizontally provided in this order, and a control unit 9 is provided below the main body 2.

Further, two male screws 10 and 11 project from one side surface of the feeding device unit 3 so as to extend and contract, and the second wire gripping unit 12 is provided at the tips of these male screws 10 and 11.
And the power supply unit 13 is supported on the outer side surface thereof.
Therefore, the male screw 1 is operated by the operation of the feeder unit 3.
0 and 11 expand and contract, and as a result, the second wire gripping unit 1
The power source unit 2 and the power source unit 13 move toward and away from the main body 2. Further, guide rods 14 that support and guide the second electric wire gripping unit 12 and the power supply unit 13 are provided on both sides of the main body 2. An electric wire insertion groove 15 is provided in the center of the upper surface of each unit through each unit.

To perform a wire connection process using this robot apparatus 1, the wire to be connected is put into the wire insertion groove 15 and the wire is gripped by the first wire gripping unit 8 and the second wire gripping unit 12. At that time, the male screws 10 and 11 are extended, and the second electric wire gripping unit 12 and the power supply unit 13 are connected to the main body 2
And the coating stripping unit 4 is positioned at the electric wire portion to which the connector is to be connected, and the electric wire is gripped.

Then, the coating stripping unit 4 is operated to strip the coating of the electric wire, and the first electric wire gripping unit 8
The electric wire gripping is released and the feeder unit 3 is operated to shrink the male screws 10 and 11, and the separator heat unit 5 is moved to the position where the coating is stripped off, and the first electric wire gripping unit 8 is used at the position. Hold the wire again and heat the separator around the core of the wire to melt it.

Further, the core wire brush unit 6 is moved to the relevant portion in the same manner as above, and the exposed outer periphery of the core wire is brushed. In addition, the connector mounting unit 7 is moved to the brushed core wire portion in the same manner as above, and the connector mounting unit 7 in which the connector to which the PD line P has been temporarily fixed is previously fitted is operated to mount the connector on the core wire. . An insulating cover is previously integrally formed on the outer periphery of the connector.

As described above, in the robot apparatus 1, a series of electric wire connection processing is performed while moving each unit in the longitudinal direction of the electric wire, and the PD wire or the like is connected to the electric wire.

Next, FIGS. 3 to 6 show the first electric wire gripping unit 8 or the second electric wire gripping unit 1 in the robot apparatus 1.
It is explanatory drawing of 2, and since these 1st electric wire holding | grip units 8 and 2nd electric wire holding | grip units 12 have the same structure, below, the 1st electric wire holding | grip unit 8 is demonstrated. The first electric wire gripping unit 8 is provided with two unit side plates 16 and 16 facing each other, and a shaft 17 is provided below the electric wire insertion groove 15 between the unit side plates 16 and 16. A gripping body 18 is pivotally supported on 17. On one side of the grip body 18, three gears 19, 20, and 21 are provided in a gear train. The gear 19 at the bottom is the motor 2
2 are connected, and shafts 23 and 24 are respectively provided on one side of the middle and uppermost gears 20 and 21 so as to project therefrom, and these shafts 23 and 24 have eccentric cam-shaped gripping claws 25 and 26, respectively.
Are fixed respectively.

Therefore, the rotation of the motor 22 causes each gear 1 to rotate.
9, 20, and 21 rotate, and the grip claws 25 and 26 rotate. Further, a motor 27 is provided below the grip body 18,
A bolt shaft 28 is provided integrally with the drive shaft of the motor 27. Further, a link 30 having one end rotatably supported is provided on a guide pipe 29 which penetrates the lower part of one side of the two unit side plates 16 and 16, and a rotary nut 31 rotatably provided on a free end of the link 30. The bolt shaft 28 is screwed.

Therefore, when the motor 27 is rotated, the bolt shaft 28 is rotated and the rotating nut 31 screwed to the bolt shaft 28 is moved, so that the link 30 is rotated around the guide pipe 29, as shown in FIG. The gripping body 18 rotates about the shaft 17 and tilts. The rotation width of the grip body 18 is such that the stopper / limit switch 3 located on both sides of the link 30.
It is regulated by 2.

As a result, the grip body 18 and the grip claws 25, 26 are removed from the wire insertion groove 15. When the electric wire W is put into the electric wire insertion groove 15 in this state and the motor 27 is rotated in the reverse direction again, the grip body 18 and the grip claws 25 and 26 return to the positions shown in FIG. In this state, the electric wire W is located between the two upper and lower gripping claws 25 and 26 as shown in FIG. When the motor 22 is further rotated, the grip claws 25 and 26 are rotated as shown in FIG. 6, and the electric wire W is held between the outer peripheral surfaces having large diameters. Reference numeral 33 in FIGS. 3 and 4 denotes a guide pipe that penetrates the upper sides of the two unit side plates 16 and 16 on the other side.

7 and 8 show a feeder unit 3, which is composed of two unit side plates 3.
4, 34 are provided to face each other, and these unit side plates 34
On one side lower part and the other side upper part between the gears 35 and 34,
6 is rotatably provided, and a drive gear 37 is provided in parallel with the gears 35 and 36. The drive gear 37 extends a drive shaft 39 of a motor 38 provided on the back of one unit side plate 34 between the unit side plates 34 and 34, and is fixed to this extension portion. And these gears 35, 3
A belt 40 with a gear is hung on 6 and 37, and pulleys 41, 42 and 43 are provided at appropriate places. The gears 35, 36
Screw holes 35a and 36a are provided at the center of the male screw, and the male screws 10 and 11 are respectively screwed into the screw holes 35a and 36a.

Further, the pulley 43 can be slidably fixed in the vertical direction by a certain width, whereby the tension of the geared belt 40 can be adjusted.

The drive gear 37 is rotated by the rotation of the motor 38, and the gear 3 is rotated via the geared belt 40.
5, 36 rotate. Due to the rotation of the gears 35 and 36, the male screws 10 and 11 are respectively moved in the axial direction. Since the second electric wire gripping unit 12 and the power supply unit 13 are fixed to the tips of these male screws 10 and 11, Unit moves closer to or farther from the main body 2. Further, one side of the male screws 10 and 11 is inserted into the guide pipes 29 and 33 fixed through the unit side plates of the main body 2.

Therefore, the robot apparatus 1 is suspended on the electric wire W by the first electric wire gripping unit 8 and the second electric wire gripping unit 12 as described above, and the electric wire is suspended by the first electric wire gripping unit 8 and the second electric wire gripping unit 12. Although various work of wire connection processing is performed by gripping W, when it is desired to move each working unit along the wire W, the motor 22 of the first wire gripping unit 8 is rotated to move the gripping claws 25 and 26. Rotate it,
The gripping of the gripping claws 25 and 26 on the electric wire W is released, and in this state, the motor 38 of the feeding device unit 3 is driven to rotate the gears 35 and 36, and the male screws 10 and 11 are attached to one side of the main body 2. The first electric wire gripping unit 8 is moved while being suspended from the electric wire W by expanding and contracting from the main body 2
It is moved closer to or farther from the electric wire gripping unit 12.

FIG. 9 and FIG. 10 show the separator heat unit 5, which is provided between unit side plates 45, 45 which face each other. A motor 46 is provided between the unit side plates 45, 45, and a gear 48 fixed to a drive shaft 47 of the motor 46 meshes with a gear 50 fixed to a shaft 49 provided in parallel with the drive shaft 47. is doing. Two slide bases 51 are respectively screwed to the screw parts of the shaft 49 on both sides of the wire insertion groove 15 of the unit side plate 45. When the shaft 49 rotates, the slide bases 51 move in opposite directions. , Approaching and leaving.

A support frame 52 is provided on each of the slide bases 51, and heat holders 53 are loosely fitted in grooves provided on both sides of each of the support frames 52. The rear end of each heat holder 53 is supported by a spring 54 having one end fixed to the slide base 51. In addition, a heat knife 55 having a built-in heat therein is inserted into the heat holder 53, and the knife portion at the end thereof is projected from the heat holder 53. Further, the arm-shaped lead wire holder 56 is projected from the upper part of the heat holder 53, and the heater lead wire 57 led out from the rear end of the heat knife 55 is supported by the lead wire holder 56. Further, each heat holder 53 is provided with protrusions 58 from both sides, and each protrusion 58 is loosely fitted in an elliptical hole 59 formed in the inner wall of each groove of the support frame 52.

Then, the electric wire W is put into the electric wire insertion groove 15 and
When the motor 46 is rotated, the two slide bases 51 come close to each other along the shaft 49, the knife portion of the heat knife 55 is pressed against the core wire C of the electric wire W, and the separator S wound around the outer circumference of the core wire C is melted by heat. In this state, the separator heat unit 5 swings as will be described later, so that the outer periphery of the separator S is annularly heated at two positions by the heat knife 55.
Will be melted by.

Further, a core wire brush unit 6 of FIG. 11 is provided adjacent to the separator heat unit 5, but the core wire brush unit 6 has unit side plates 60, 6
0 are provided facing each other, the motor 61 is fixed between them, and the gear 63 fixed to the drive shaft 62 of the motor 61 is fixed to the gear 65 fixed to the shaft 64 provided in parallel with the drive shaft 62. It is in mesh. Slide bases 66 are respectively screwed to the screw portions of the shaft 64 on both sides of the electric wire insertion groove 15 of the unit side plate 60, so that the rotation of the shaft 64 causes the slide bases 66 to move toward and away from each other. It has become. Each of these slide bases 66 is provided with a brush storage groove 67 on its opposite side surface, and brush holders 69 each having a curved brush 68 are detachably fitted therein.

When the electric wire W is inserted into the electric wire insertion groove 15 and the motor 61 is rotated, the two slide bases 66 come close to each other along the shaft 64, and the two brushes 68 press-contact with the core wire C of the electric wire W. In this state, when the core wire brush unit 6 is swung as described later, the two brushes 68 scrape the outer periphery of the core wire C of the electric wire W, first peel off the separator S, and brush the exposed core wire C.

The separator heat unit 5 and the core brush unit 6 are integrally provided as shown in FIG. 12, and the disks 70 provided on both outer surfaces of these are connected to the unit side plates 71 of the adjacent stripping unit 4. The tool mounting unit 7 is rotatably fitted into a hole formed in the unit side plate 72. A gear 76 fixed to a drive shaft 75 of a motor 74 is meshed with a curved tooth 73 provided on the outer circumference of one of the disks 70, and the motor 74 is rotated to repeat the forward rotation and the reverse rotation so that two units are formed. 5 and 6 are made to swing and rotate.

In the above embodiment, the robot apparatus 1 for performing various work of wire connection processing is provided with various types of units, but the present invention does not necessarily include all of the above types of units.

[0036]

The invention described in claim 1 of the present invention is
It is possible to remove the core wire separator and brush the core wire with a very simple operation. Therefore, the core wire can be surely processed even by a simple operation by the operation of a robot or the like, which is the most suitable method for automatic processing without manual labor.

According to the second aspect of the present invention, a heat knife is brought into contact with two portions of the core wire to be processed having a constant width, and in this state, the separator heat unit is rotated along the outer circumference of the core wire. Melt two separators with a constant width of the core wire in a ring shape, apply a brush of a constant width to the outer circumference of the core wire, and rotate the core wire brush unit to scrape and remove the separator, and then remove the core wire itself. This is brushing, and the core wire can be processed reliably and efficiently with an extremely simple operation.

The invention according to claim 3 is a heat knife or a brush, wherein the separator heat unit according to claim 2 and the core wire brush unit integrated with the separator heat unit are rotated in the normal direction, inverted, and oscillated to rotate. The core can be rotated along the outer circumference of the core wire to melt the separator in an annular shape, and the separator can be scraped off to evenly polish the outer circumference of the core wire, which enables more reliable core wire processing and is suitable for automatic processing by a robot or the like. Is.

[Brief description of drawings]

FIG. 1 is a perspective view showing a working state using a robot apparatus according to the present invention.

FIG. 2 is a schematic perspective view of the robot apparatus according to the present invention.

FIG. 3 is a front view of a gripping unit in the robot apparatus of the present invention.

FIG. 4 is a front view of a state in which the grip body of the grip unit in the robot apparatus of the present invention is rotated.

FIG. 5 is a side view of a gripping unit in the robot apparatus of the present invention.

FIG. 6 is a side view showing a state in which the grip claws of the grip unit of the robot apparatus of the present invention are rotated.

FIG. 7 is a front view of a feeder unit in the robot apparatus of the present invention.

FIG. 8 is a side view of a feeding device unit in the robot apparatus of the present invention.

FIG. 9 is a front view showing a usage state of a separator heat unit in the robot apparatus of the present invention.

FIG. 10 is a plan view showing a usage state of a separator heat unit in the robot apparatus of the present invention.

FIG. 11 is a front view showing a usage state of the core wire brush unit in the robot apparatus of the present invention.

FIG. 12 is a side view of a separator heat unit and a core wire brush unit in the robot apparatus of the present invention.

FIG. 13 is a rear view of a core wire brush unit in the robot apparatus according to the present invention.

[Explanation of symbols]

 1 Robot Device 2 Main Body 5 Separator Heat Unit 6 Core Wire Brush Unit 15 Electric Wire Insertion Groove 46 Motor 49 Shaft 51 Slide Base 53 Heat Holder 55 Heat Knife 61 Motor 64 Shaft 66 Slide Base 68 Brush 70 Disk 73 Curved Teeth 74 Motor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical indication location H02G 1/14 C 7028-5G (71) Applicant 391011386 Japan Burnday Co., Ltd. 3 Takanawa, Minato-ku, Tokyo No. 26-33 (71) Applicant 000005186 Fujikura Co., Ltd. 1-5-1, Kiba, Koto-ku, Tokyo (71) Applicant 591265633 Kayo Denki Kogyo Co., Ltd. 2-6-1, Hamamatsucho, Minato-ku, Tokyo (71) ) Applicant 000001890 Sanwa Techchi Co., Ltd. 6-5-19 Minami-Shinagawa, Shinagawa-ku, Tokyo (72) Inventor Masaaki Ito 1-3-1, Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Noriyuki Umihara 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. In the company (72) Inventor Tomio Obata 87 Nishi-Kuroda, Oyama, Tochigi Prefecture Saneisha Research Institute (72) Inventor Akira Tanabe 3-26-33 Takanawa, Minato-ku, Tokyo Within Japan Berni Co., Ltd. (72 ) Inventor Koichi Machida 1-5-1, Kiba, Koto-ku, Tokyo Within Fujikura Electric Wire Co., Ltd. (72) Inventor Kazumi Wakamatsu 1-8-1, Daisaku, Sakura-shi, Chiba Stock company Shayoyo Electric Works Sakura Factory (72) Inventor Koji Kasai 2703 Nakaokamoto, Kawachi-cho, Kawauchi-gun, Yamanashi Sanwa Tech Co., Ltd. Kofu Factory

Claims (3)

[Claims] 1. In an electric wire connection processing robot apparatus, two separators having a constant width on the outer periphery of a core wire are melted by a heater in an annular shape, and the core wire is brushed with a rotating brush from above to separate the separator. A method for treating a core wire, comprising scrubbing and polishing the core wire. 2. In an electric wire connection processing robot apparatus, a separator heat unit is axially provided in a horizontal direction by connecting a core wire brush unit for scraping an outer periphery of an electric wire with a brush and connecting the separator heat unit in an axial direction. The electric wire to be rotated is provided so as to be rotatable, and a drive device for rotating these units is provided. A core wire processing apparatus, wherein a flexible heat knife is provided, and the core wire brush unit is provided with a brush of a constant width, which is abuttable on the outer periphery of the core wire of the wire, on the side surface of the wire to be processed. 3. In an electric wire connection processing robot apparatus, a separator heat unit is axially laid horizontally by connecting to a core wire brush unit for scraping the outer periphery of the core wire with a brush and scraping the outer circumference of the core wire. An electric wire insertion groove is provided at the upper end of the center of the unit, these units are provided so as to be rotatable around the electric wire insertion groove, and a drive device for oscillating and rotating these units in the forward direction, the reverse direction, and the separator heat is provided. The units are provided with heat knives, whose tips are in contact with the outer circumference of the electric wire, on both sides of the electric wire to be treated at two positions with a constant width, respectively, and the core wire brush unit is provided on both sides of the electric wire to be treated. A core wire processing device, characterized in that brushes of a certain width, which can freely come into contact with the outer circumference of the core wire, are provided facing each other.