JPH06144220A - Trolley wire changing method and device - Google Patents

Abstract

PURPOSE:To automate trolley wire changing work by arranging a double-arm robot provided with a complex tool at the tip, various position sensors and a temporary hanger automatic supply and storing device on a common base which can move along the trolley wire and installing them on trolley work car. CONSTITUTION:A common base 16 with guide rail is stopped at a work position, a new trolley line 3 is supported by a guide roller and then, guided to a temporally hanger automatic supply and storing device 15, and a temporary hanger 7 is supplied in the state that the new wire 3 is suspended. A robot 11 extends the temporary hanger to an auxiliary suspended trolley 6 according to a signal of a range finer 13 in the state that the new line 3 is suspended at the temporary hanger 7. Then, a main hanger 8 is detected, a car is stopped and the position of the new line 3 is detected by the range finder 13. The main hanger 8 is held by the left robot 11, while bolts and nuts of the main hanger 8 is loosened by the right robot 11 so as to remove an old line 4, the new line 3 is held. Then, the main hanger 8 is inserted into a tool holding the new line 3, and the bolts and nuts are tightened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for automating the work of replacing a trolley wire, which is one of the maintenance works for Shinkansen.

[0002]

2. Description of the Related Art To replace a conventional trolley wire, a specialized worker gets into an overhead line work vehicle composed of a driver's cab, a rest room, a workbench and a workbench lifter, and installs a temporary hanger and from this hanger. Removal of old trolley wire and installation of new trolley wire,
A series of operations such as temporary hanger removal are manually performed (see Japanese Patent Publication No. 58-15333). An outline of the trolley wire replacement method will be described with reference to FIGS. 14 to 17.
Vehicles Nos. 1 and 6 are wire extension vehicles, and vehicles Nos. 2, 3, 4, and 5 are overhead line work vehicles subject to the present invention. Car No. 1 loaded with drums wound with the new trolley wire advances while releasing the new trolley wire 3 (Fig. 14 (a)). Car 2 following Car 1 is 1
The new trolley wire 3 is hung on the auxiliary suspension wire 6 by the temporary hanger 7 shown in FIG. 13 so that the new trolley wire 3 released from the car is not dropped (FIG. 14 (b)). After erection of the new trolley wire 3 by the temporary hanger 7, the 2nd to 5th cars carry out the work of removing the metal fittings of the main hanger 8 fixing the old trolley wire 4 (Fig. 15 (a)). At this time, the new trolley wire 3 and the old trolley wire 4 are switched every other temporary hanger 7 on which the new trolley wire 3 is hung so that the old trolley wire 4 does not fall (Fig. 1
5 (b)). After removing all the metal fittings of the main hanger 8, attach the new trolley wire 3 to the metal fittings of the main hanger 8 (Fig. 16). Finally, while the second car collects the temporary hanger 7, and the first car winds the old trolley wire 4 around the drum, it returns to the first place and the work is completed (FIG. 17).

[0003]

The overhead line work vehicle is a work which requires 6 persons and 24 persons as a whole, which requires a great deal of manpower. Furthermore, this work is a work in a severe environment in which trains must be carried out as planned from midnight when train operations stop until dawn, even in bad weather, and there is concern about securing future personnel. Therefore, the problem to be solved by the present invention is to achieve labor saving effect, automation of work, and achievement of work efficiency and economy by automation of work.

[0004]

In order to solve the above-mentioned problems, a trolley wire re-arrangement method of the present invention is provided with front and rear wire drawing vehicles and an intermediate overhead line work vehicle, and a drum around which a new trolley wire is wound is loaded. The car at the beginning of the line progresses while releasing the new trolley wire along the old trolley line hung on the hanger, re-installing the old and new trolley lines, and then the old trolley line. A trolley wire replacement method in which the trolley wire is replaced by returning to the original position while winding it around the drum of the trolley, and in the overhead wire work vehicle, a dual-arm robot capable of cooperative operation and attached to the tip of the robot Combined tool for performing actual work, various sensors for detecting the position of the overhead line work vehicle and the position of the work target, a temporary hanger used when replacing the old and new trolley wires, and an automatic supply and storage device for this temporary hanger, Along the trolley wire And a common base for dynamic set up,
To replace the old and new trolley wires, hang a temporary hanger with the new trolley wire on the auxiliary suspension wire at intervals, and then hold the main hanger with one arm of the dual-arm robot, and then use the other tool with the composite tool. Then, remove the old trolley wire, grab the new trolley wire with the other arm, attach the new trolley wire to this hanger with a compound tool, and then collect the temporary hanger. Further, the trolley wire re-arrangement device of the present invention is a trolley wire re-arrangement device including front and rear wire drawing vehicles and an intermediate overhead line work vehicle, wherein the overhead line work vehicle is a dual-arm robot capable of cooperative operation, A composite tool that is attached to the tip of the robot to perform actual work, various sensors that detect the position of the overhead line work vehicle and the position of the work target, a temporary hanger used when replacing the old and new trolley wires, and this temporary hanger The automatic supply and storage device and the common base that moves along the trolley wire are installed. The temporary hanger is preferably configured such that a guide portion for receiving the old trolley wire is provided on the back of the temporary hanger body having a pulley for receiving the new trolley wire. The main hanger is preferably configured to have an immovable portion and a movable portion which is bolted to the immovable portion and grips a trolley wire at a lower portion, and the immovable portion and an engaging portion due to unevenness of the movable portion. The engagement length is assumed to be long in the bolt axial direction. The immovable part of the hanger has an idling attached to prevent loosening of bolts for tightening the movable part. The idling preferably has six folded portions on the periphery and two opposite sides. It is assumed that the folded-back part of is made higher than the other side.

[0005]

With the above construction, the mounting of the temporary hanger, the replacement of the old and new trolley wires, the collection of the temporary hanger, and the winding operation of the old trolley wire are automatically performed by the operation of the robot and various sensors. By providing a guide part on the back of the temporary hanger body, when replacing the old and new trolley wires, attach the temporary hanger with the new trolley wire on the pulley side to the auxiliary suspension overhead wire,
The old trolley wire that has been removed is hung on the guide section on the opposite side of the new trolley wire to facilitate work. By increasing the engagement length between the immovable portion and the movable portion of the hanger, the rotation of the movable portion due to the disengagement of the engaging portion when the bolt is loosened by the robot is prevented. By making the folded-back portions of the two opposite sides of the idling provided on the immovable portion of the hanger to prevent the bolts from loosening, the idling can be easily attached by the tool attached to the robot.

[0006]

EXAMPLES The present invention will be specifically described below based on examples. 1 is a side view showing an embodiment of an overhead line work vehicle equipped with the device according to the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a front view, and FIG. 4 is a perspective view. In these drawings, a dual-arm robot 11 that can autonomously and cooperatively operate based on a signal from a sensor, a compound tool 12 attached to the tip of the robot 11 for actual work, recognition of a temporary hanger attachment position, and a book A range finder 13 that accurately detects the positions of hangers, old and new trolley wires, and recognizes the positions of temporary hangers, an overall control system 14 that incorporates a vision sensor 20 and a sensor feedback control system, and automatically supplies temporary hangers to a robot. Automatic hanger automatic supply and storage device 15 for storing again after the work is completed, common base 16 with guide rails for stopping the robot at the work position, ultrasonic wave for detecting the utility pole to count the number of passing utility poles and issue a work start / end command Sensor 17, vehicle speed detecting tachometer 18 for automatically stopping the vehicle near the work position Temporary hanger, the contact sensor 21 for passing recognition by the present hanger is constituted by the passage sensor 45 and the overhead line work vehicle 19 equipped with these photoelectric or laser type.

An example of the overall control block diagram is shown in FIG.
In the figure, 31 is a main controller, 32 is a dual-arm robot controller that controls the dual-arm robot 11, the temporary hanger automatic supply / storage device 15, 33 is a vision controller that controls the range finder 13 and the light-emitting panel 13a, and 34 is a main controller. 31 is a console for operating, 35 is a main hanger position, sensors for detecting passage, 3
6 is a vehicle control device.

The details of the automation work flow by this apparatus are shown in FIGS. 6, 8, 10, and 11. FIG. 6 shows a work flow for mounting the temporary hanger. Explaining with reference to FIG. 7, first, the new trolley wire 3 is supported at a predetermined position by the guide roller 44, and then the temporary hanger automatic supply / storing device 15 is guided. To do. The temporary hanger automatic supply / storing device 15 supplies the temporary hanger 7 with the new trolley wire 3 suspended. Robot 11
Is the temporary hanger 7 with the new trolley wire 3 suspended on the temporary hanger 7.
To receive. Further, the position at which the temporary hanger 7 is applied is recognized by the range finder 13. The robot 11 hangs the temporary hanger 7 on the auxiliary suspension wire 6 according to the signal from the range finder 13.

Next, FIGS. 8 and 10 show a work flow for removing the old line from the hanger and attaching the new line. Conventionally, this work is done after completely removing the old wire from the hanger,
The new line was attached to this hanger. However, in this process, the old line is removed from the hanger and the new line is immediately attached so that the robot can work easily. Explaining with reference to FIG. 9, the range hanger 13 or the passage sensor detects the main hanger 8 and stops the vehicle. The range finder 13 accurately detects the positions of the main hanger 8 and the new trolley wire 3. The main hanger 8 is gripped by the left robot 11L. Next, the robot 11R on the right combines the tools, loosens the bolts and nuts of the hanger 8, removes the new wire, and then retracts and grips the new wire. Next, as shown in FIG. 10, by inserting the tool holding the new trolley wire 3 again, the hanger 8 is inserted,
Tighten the bolts and nuts of the hanger 8. FIG. 11 shows each work flow for removing the temporary hanger. Explaining with reference to FIG.
Recognize the position of the auxiliary suspension line 6. Then, the temporary hanger 7 is gripped and removed by the robot 11. Temporary hanger 7 removed
Are automatically stored in the temporary hanger automatic supply / storage device 15. The touch sensor 21 can be used to detect the vehicle stop command, the temporary hanger attachment position, and the temporary hanger 7 position, and the vision sensor 20 can be used to accurately detect the position of the main hanger 8.

As described above, in the case of causing the robot to perform the trolley wire replacement work, in the temporary hanger of the conventional structure as shown in FIG. 13, the old trolley wire is applied to the temporary hanger to which the new trolley wire is applied. The replacement work is a difficult work to make into a robot and wastes work time. Therefore, in FIG.
As shown in FIG. 8, a pulley 2 for receiving the old trolley wire 4 is provided on the back of the temporary hanger 7 having a pulley 1 for receiving the new trolley wire 3 similar to the conventional one, and its guide portion 7a is widened. is there. In FIG. 18, (a) shows a state in which the new trolley wire 3 is hung on the auxiliary suspension wire 5 by a temporary hanger. Figure 1
8 (b) shows a state in which the old trolley wire 4 is hooked on the temporary hanger. The old trolley wire 4 removed from the hanger 8 is guided by the guide portion 7a located below, and is caught on the pulley 2 to prevent falling. FIG. 18C shows an application example in which the pulley 2 is omitted and the weight is reduced. As described above, by using the temporary hanger having the structure as shown in FIG. 18, it is possible to omit the replacement of the temporary hanger in the trolley wire replacement work, so that the working time can be shortened. Further, the temporary hanger replacement work is a difficult work for the robot, but this structure makes it easier to convert the trolley wire replacement work into a robot.

19A and 19B show the structure of the hanger 8, wherein FIG. 19A is a side view and FIG. 19B is a front view. An immovable part 8a of the hanger is provided at the bottom of the hanger body,
The movable portion 8b for sandwiching the trolley wire 3 (4) is tightened by the bolt 41. In the figure, 42 is a spring washer, and 43 is an idling for preventing the bolt 41 from loosening. As shown in FIGS. 20 and 21, in the conventional hanger, the immovable portion 8a is provided with a semicircular protrusion 8c in the axial direction of the bolt 41, and the movable portion 8b is provided with a semicircular recess 8d in the axial direction of the bolt 41. When you tighten the bolt 41,
The unevenness is designed to be united. However, in the conventional structure, as shown in FIG. 22, when the bolt 41 is loosened to separate the trolley wire 3, the movable portion 8b and the immovable portion 8a are separated from each other,
The movable portion 8b may rotate in the circumferential direction of the bolt shaft, and when the bolt 41 is tightened again, the movable portion 8b is returned to its original position so that the concave portion of the movable portion 8b meshes with the convex portion of the stationary portion 8a. Bolt 41 must be tightened. This is a problem that makes it difficult to automatically remove the trolley wire 3 (4) and realize automatic mounting. In order to solve this, as shown in FIGS. 23 and 24, the semicircular recess 8 of the movable portion 8b is formed at the contact portion between the stationary portion 8a and the movable portion 8b.
The engaging length of the engaging portion by d and the semicircular protrusion 8c of the immovable portion 8a is increased in the bolt axial direction. As a result, even if the bolt 41 is loosened, the concave and convex portions of the movable portion 8b and the immovable portion 8a are meshed with each other, so that the movable portion 8b does not rotate, and FIG.
As shown in FIG. 7, when tightening the bolt 41, the position of the movable portion 8b does not have to be returned to the original position. As described above, by deeply fitting the concave and convex portions of the immovable portion 8a and the movable portion 8b, it is not necessary to align the position of the movable portion when tightening the hanger, and thus unnecessary work is eliminated in automation by the robot. You can As described above, the idling ring 43 for preventing the loosening of the bolt 41 shown in FIG. 19 is a simplified hexagonal nut as shown in FIG. With such a simple shape, there is a problem that it is difficult to adapt to the gripping and mounting by the robot in automating the mounting and dismounting work of the hanger. Therefore, FIG.
As shown in FIG. 6, of the six sides of the idling 43, the folded-back portions of the opposite two sides 43a are made higher than the other sides. When this idling is attached to the hanger main body, as shown in FIGS. 28 and 29, a tool 44 having a rectangular tip is inserted between the two sides 43a having high folds and rotated.

FIG. 30 shows another embodiment. Idling 4
Of the six sides of 3, the folded portions of the three sides 43b that are not adjacent to each other are made higher than the other sides, and the ends thereof are each bent outward. When this idling is attached to the hanger body, as shown in FIGS. 31 and 32, a tool 4 having a rod-shaped tip 4 is attached to the side surface of the portion 43b bent outward.
Apply 5 and rotate. In this way, since the protrusions are provided on the outer periphery of the idling and at several places, it is possible to easily fulfill the required work by exerting an action on that portion. Therefore, accuracy (precision) such as indexing of the idling position and alignment of the idling position with the tool is not required so much, and the load of detection in automation can be reduced. Further, the function and shape of the installation tool can be simplified without requiring any movement other than the main shaft.

[0013]

As described above, the present invention has the following effects. (1) 2-3 tasks that conventionally required 6 people per vehicle
Since it can be done by a person, 1 for a 6-car train
A labor saving effect of 2 to 16 people can be obtained. (2) Work efficiency and economic effects can be achieved by reducing the number of workers and the work time. (3) Most of the work is autonomously performed by the robot, and the worker only monitors the work, gives work instructions by button operation and assists the autonomous work, and is free from heavy labor. (4) Many workers are freed from the work in a severe adverse environment at night and under all weather conditions. (5) Work safety and work quality can be improved. (6) By providing the guide portion on the back of the temporary hanger body, the work of replacing the old and new trolley wires can be smoothly performed. (7) By increasing the engagement length between the immovable portion and the movable portion of the hanger, it is possible to prevent rotation of the movable portion due to disengagement of the engaging portion when the bolt is loosened by the robot. (8) By facilitating the attachment of the idling with the tool attached to the robot by making the folded part of the two opposite sides of the idling provided to the immovable part of this hanger to prevent the bolts from loosening than the other side You can

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of an overhead line work vehicle equipped with the device according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a front view of FIG.

4 is a perspective view of FIG. 1. FIG.

FIG. 5 is an overall control block diagram of the device according to the present invention.

FIG. 6 is a temporary hanger attachment automation work flow chart.

FIG. 7 is an explanatory diagram of work.

[Fig. 8] Fig. 8 is a work flow diagram for removing an old line and mounting a new line.

FIG. 9 is an explanatory diagram of work.

FIG. 10 is a work flow diagram for removing an old line and mounting a new line.

FIG. 11 is a temporary hanger attachment automation work flow chart.

FIG. 12 is an explanatory diagram of work.

FIG. 13 is a diagram showing a conventional temporary hanger.

FIG. 14 is a diagram showing a work of extending a new trolley wire.

FIG. 15 is a diagram showing a work of removing the old trolley wire.

FIG. 16 is a diagram showing a work of attaching a new trolley wire.

FIG. 17 is a diagram showing an old trolley wire winding operation and a temporary hanger recovery operation.

FIG. 18 is a diagram showing an example of a temporary hanger.

FIG. 19 is a side view and a front view showing an example of the hanger.

FIG. 20 is a side view of a main part of a conventional hanger of the related art.

FIG. 21 is a plan view of a main part of a conventional hanger according to the related art.

22A and 22B are a front view and a side view showing a problem of the conventional hanger.

FIG. 23 is a side view of a main part of the improved hanger.

FIG. 24 is a plan view of an essential part of the improved hanger.

FIG. 25 is a side view showing the operation of the improved hanger.

FIG. 26 is a perspective view of conventional idling.

FIG. 27 is a perspective view showing an example of improved idling.

FIG. 28 is a side view showing a mounted state of the improved idling.

29 is a cross-sectional view taken along the line X of FIG. 28.

FIG. 30 is a perspective view showing another example of the improved idling.

FIG. 31 is a side view showing a mounted state of the idling of FIG. 30.

32 is a cross-sectional view taken along the line Y of FIG.

[Explanation of symbols]

1, 2 pulley, 3 new trolley line, 4 old trolley line, 5
Hanging wire, 6 auxiliary hanging wire, 7 temporary hanger, 7a guide part, 8 hanger, 11 double-arm robot, 12 compound tool, 13 range finder, 14 whole control system, 15 temporary hanger automatic supply and storage device, 16 common base, 17 ultrasonic sensor, 18 tachometer, 19 overhead line work vehicle, 20 vision sensor, 21 touch sensor, 31 main controller, 32 double-arm robot controller, 33 vision controller, 34 operation console, 35 sensors, 36 vehicle control device, 41 volt , 42 spring washer, 43 idling, 44 guide roller, 45 passage sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Koji Nakayama Inventor Koji Kurosaki, No. 2 Kurosaki Shiroishi, Hachimansai-ku, Kitakyushu, Fukuoka Prefecture (72) Shunichi Itoyama No. 2 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu, Fukuoka Yasukawa Denki Co., Ltd. (72) Inventor Satoshi Takeshita 2-1, Kurosaki Shiroishi, Hachiman Nishi-ku, Kitakyushu, Fukuoka Prefecture (72) Inventor Banno Sowa, 1-1, Mei Station, Nakamura-ku, Nagoya, Aichi Prefecture No. 4 Tokai Passenger Railway Co., Ltd. (72) Inventor Toshinori Miyazaki 1-4-1, Mei Station, Nakamura-ku, Nagoya, Aichi Prefecture Tokai Passenger Railway Co., Ltd. (72) Inventor Kakudaira Iwa Nakamura-ku, Aichi Prefecture Station 1-4-1 Tokai Passenger Railway Co., Ltd. (72) Inventor Izumiichiro Konagai 1-4-1 Mei Station Nakamura-ku, Aichi Prefecture Tokai Passenger Railway In the expression company

Claims (5)

[Claims] 1. A front wire-drawing vehicle equipped with front and rear wire-drawing vehicles and an intermediate overhead wire work vehicle, and a drum on which a new trolley wire is wound is installed along the old trolley wire hung on this hanger. As the trolley wire is released, the old and new trolley wires are replaced, and then the old trolley wire is wound around the drum of the leading wire drawing vehicle and returned to its original position to replace the trolley wire. In the trolley wire re-arrangement method, the overhead line work vehicle, a dual-arm robot capable of cooperative operation, and a composite tool attached to the tip of the robot for actual work,
Various sensors that detect the position of the overhead line work vehicle and the position of the work target, a temporary hanger used when replacing the old and new trolley wires, an automatic supply / storing device for the temporary hanger, and a common base that moves along the trolley wire are provided. Install and replace the old and new trolley wires with the temporary hangers with the new trolley wires hung on the auxiliary suspension wire at intervals, and then hold the hanger with one arm of the double-arm robot and use the composite tool. The old trolley wire is removed with the other arm, the new trolley wire is grasped with the same other arm, the new trolley wire is attached to the main hanger with a composite tool, and then the temporary hanger is recovered. Replacement method. 2. A trolley wire re-arrangement device comprising front and rear extension vehicles and an intermediate overhead line work vehicle, wherein the overhead line work vehicle is equipped with a dual-arm robot capable of collaborative operation and is attached to the tip of the robot. For performing the actual work, various sensors for detecting the position of the overhead line work vehicle and the position of the work target, a temporary hanger used when replacing the old and new trolley wires, an automatic supply and storage device for the temporary hanger, and a trolley. A trolley wire re-arrangement device having a common base that moves along a line. 3. The temporary hanger comprises a temporary hanger main body having a pulley for receiving a new trolley wire, and a guide portion for receiving an old trolley wire provided on the back of the main body of the temporary hanger. 2. The trolley wire realignment device according to 2. 4. The main hanger is configured to have an immovable portion and a movable portion which is bolted to the immovable portion and grips a trolley wire at a lower portion thereof, and the immovable portion and the movable portion are engaged by unevenness. 3. The trolley wire realignment device according to claim 2, wherein the engagement length of the portion is increased in the bolt axial direction. 5. The immovable portion of the hanger includes an idling ring that is attached to prevent loosening of a bolt that tightens the movable portion. The idling ring has six folded portions around it and faces each other. The folded portion of two sides is formed to be higher than the other side.
The trolley wire replacement device described.