JPH0631317U - Overhead electric wire work tool - Google Patents

Abstract

(57) [Abstract] [Purpose] Attach a dedicated adapter for wire work, attach it to the robot arm of the manipulator, and use a hydraulic motor drive to attach and remove work such as binding wire for wrapping around the electric wire on the skin and insulators. It is a work tool to be used, and it is easy to use because a dedicated adapter can be installed on both sides of the work tool tip, it has a good visual balance in the work of electric wires, and there is little movement operation of the work tool and work bucket, workability and safety Get a work tool for overhead wire that has excellent properties. [Structure] The rotation input from the hydraulic motor of the manipulator is converted 90 degrees by a set of bevel gears, then transmitted to the output gear at the tip, and the overhead cable is processed by the rotation of the dedicated adapter attached to the output gear. With the work tool, the driven gear coaxial with the second bevel gear is arranged on the axis of the first bevel gear and meshed with the output gear, so that dedicated adapters of the same shape can be mounted on both sides of the output gear. did.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a tip tool that is attached to the tip of a robot arm to perform power distribution work of overhead wires in indirect live work performed in an uninterrupted state.

[0002]

[Prior art]

 For indirect live wire construction, use a tip tool, that is, an overhead wire work tool with a dedicated adapter for wire work, such as peeling / polishing overhead wires and attaching / removing wound binding wires, Attached to the tip of the robot arm of the manipulator equipped in the work bucket of the robot, and while operating the manipulator on the work bucket, the hydraulic motor built in the tip of the robot arm drives the aerial wire to peel, polish, and insulator. It is used to attach and remove the binding wire that is wound around. Regarding an overhead wire working device in which a driving hydraulic motor is mounted on a manipulator and a dedicated adapter can be easily attached and detached, Japanese Patent Laid-Open No. 123408/1989 (Japanese Utility Model Application No. 63-18999) filed by the applicant of the present invention is disclosed. No.).

As shown in FIGS. 6 and 7, in this overhead wire working device C, a machine frame 70 holds a pair of bevel gears 71 and 72, and the first bevel gear 71 is a hydraulic motor equipped with a manipulator. The second bevel gear 71 is connected to a drive rotating shaft 73 that transmits rotation, and the second bevel gear 72 is meshed with the first bevel gear 71 so that the rotation angle can be converted by 90 degrees. A driven gear 74 is coaxially attached to the other side of the machine frame 70, and the driven gear 74 rotates the toothless gear 76 via two gears 75A and 75B which mesh simultaneously (FIG. 7). This tooth-chipped gear 76 lacks a part of teeth to form a slit opening 76a for inserting an electric wire, and is attached to a first cover plate 77 fixed to the machine frame 70 at the center of one side surface thereof. The electric wire holder 78 is fitted, and the gear holder 79 is fixed to the central portion on the opposite side so as to be fitted and held by the second cover plate 80 paired with the cover plate 77. The gear holder 79 is provided with a lock member 82 for preventing the special adapter 81 having the base inserted therein from coming off.

That is, in this overhead wire working device C, for example, when attempting to strip a covered electric wire, a dedicated adapter 81 consisting of a stripping device has its base inserted into the opening of the gear holder 79, By providing the lock member 82 to prevent the lock member 82 from coming off, the lock member 82 can be easily and surely attached. Further, if the manipulator is operated so as to insert the electric wire to be processed into the slit opening of the electric wire holder, and after the electric wire is inserted, the hydraulic motor of the manipulator is operated, whereby a pair of bevel gears 71 and 72, The toothless gear 76 rotates via the driven gear 74 and the two gears 75A and 75B, and the rotation of the toothless gear 76 causes the dedicated adapter 81 including an attached peeling device to rotate. With, the insertion wire is peeled off.

[0005]

[Problems to be solved by the device]

 However, in this overhead wire working device C, the two bevel gears 75A and 75B for changing the rotation angle are attached to the machine frame 70 having a substantially L-shaped cross section, and the driven gear 74 of the same shaft is The gear holder 79, which is attached to the outside with the machine frame 70 in between, is attached to the toothless gear 76 that meshes with the driven gear 74 via the two gears 75A and 75B. It is arranged on the outer side further away from the axis.

Therefore, when a dedicated adapter is attached to this overhead wire working device and attached to the robot arm of the manipulator, when the manipulator is operated on the work bucket to perform work, the wire is cut into openings in the dedicated adapter. When the electric wire work is performed by inserting the cable into the section and rotating the dedicated adapter, the work is visually performed, and the work point is located at a diagonally upper position, which is relatively distant from the operator. In order to avoid wire-to-line contact and landslide accidents due to inadvertent contact with the electric wires and utility poles of the work equipment and to perform work safely and reliably, work that involves relatively frequent movement of the robot arm and work bucket. It was necessary to confirm the points and work range, and there was a problem in workability. In particular, for those that have directionality, such as the work of attaching and detaching the binding wire for winding the overhead wire, it is necessary to change the front-back position of the overhead wire working device with the insulator position sandwiched. I had a problem with.

Therefore, according to the present invention, it is possible to easily attach a dedicated adapter for electric wire work, and at the time of the electric wire operation, the special adapter has a good visual balance, and the robot can be used to change the front-back position of the overhead wire work tool. There is no need to change the posture and movement of the arm and work bucket frequently, and it is an issue to improve workability by shortening work time and to provide an overhead wire working tool with excellent safety.

[0008]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, the present invention is a tool attached to the front end of a robot arm of a manipulator, which converts a rotation input from a hydraulic motor of the manipulator to a right angle direction. A driven gear that is mounted coaxially with the second bevel gear, two idle gears that mesh with the driven gear, two idle gears that mesh with the idle gear, and two idle gears at the same time. Partially toothed gear that fits a dedicated adapter for electric wire work with a slit opening for electric wire insertion, with some teeth cut off in a width that allows the maximum applicable electric wire to be inserted, provided that they are not separated A work tool including an output gear according to claim 1, wherein the driven gear is arranged such that a center plane of a tooth width of the driven gear overlaps with an axis of the first bevel gear (hereinafter, referred to as a work tool and a work tool). Called) Furthermore, a work tool is proposed in which the output gear is arranged so that the line connecting the axis of the driven gear and the axis of the output gear is perpendicular to the axis of the first bevel gear. To do.

[0009]

[Action]

 Fit a dedicated adapter for stripping / polishing or winding or attaching / removing binding wire of the wire into the slit opening that will be the shaft core of the output gear, and then attach this work tool to the robot arm tip of the manipulator. Attach to. Next, the manipulator is operated to insert the aerial wire by aligning the slit opening with the aerial wire, and the hydraulic motor of the manipulator is operated. The rotation output of this hydraulic motor is transmitted to the work tool through the robot arm. In this work tool, the rotation input is transmitted through the pair of first bevel gear and second bevel gear by 90 degree angle conversion to the driven gear, and the driven gear is transmitted through the two idle gears. Rotate the output gear. A dedicated adapter attached to this output gear rotates with the output gear to perform a given task.

Since the driven gear is arranged on the axis of the first bevel gear, the tooth width center plane of the driven gear and the tooth width center plane of the output gear are the same. That is, since the work tool is coaxial with the robot arm, the work point is well visually balanced, and workability and safety are improved. Also, even when the work has directionality, it is possible to install the dedicated adapters symmetrically on both sides of the output gear, and when performing work with the directionality described above, the robot arm or work bucket Workability is improved without the need for frequent movements. In addition, if the output gear is arranged in the direction perpendicular to the axis of the first bevel gear, the distance between the work point and the robot arm attachment / detachment part will be shortened, and the work confirmation range required by visual inspection will be reduced. Since it will be narrowed down, it is not necessary for the operator to confirm the position of a wide range of work tools and related units as in the past, and workability is improved.

[0011]

【Example】

 Hereinafter, the working tool of the present invention will be described with reference to the drawings. 1 is a front sectional view of a work tool according to a first embodiment of the present invention, and FIG. 2 is a side view of the work tool of FIG.

A base end portion of the work tool A is composed of a flange 1 which is joined to a tip end of a robot arm (not shown), and a connecting shaft 2 into which a rotary drive shaft by a spline shaft of the robot arm is fittedly fitted. And a connecting shaft 3 for rotatably holding the connecting shaft 2, which is connected to an input shaft 8 of a planetary gear reducer 7 via an insulating joint 4, a joint shaft 5 and a serration joint 6. On the other hand, the flange 1 is connected to the speed reducer cases 10A and 10B via an insulating holder 9.

A first bevel gear 12 is fitted and integrally fixed to the tip of the output shaft 11 of the planetary gear reducer 7. The first bevel gear 12 is attached to a joint 13 which is rotatably supported in the speed reducer case 10B. In the middle part of the work tool A, cover plates 14A and 14B are symmetrically attached to the left and right in connection with the reducer case 10B, and the rotary drive shaft 15 is attached to the center part of the cover plates 14A and 14B. On the rotary drive shaft 15, a large-diameter second bevel gear 16 meshing with the first bevel gear 12 and a driven gear 17 are integrally mounted. Driven gear 17, so that its tooth width center plane C ₁ passes through an intersection point P ₁ of the pitch conical line of the two bevel gears 12 and 16, i.e., the axis of the tooth width center plane C ₁ is the first bevel gear 12 It is arranged so as to overlap with l ₁ .

As shown in FIG. 2, the driven gear 17 is meshed with the output gear 19 via idle gears 18A and 18B arranged at right and left with a predetermined interval. The output gear 19 is formed as a toothless gear in which a part of the teeth is cut out and a slit opening 19a extending to the shaft core is provided, and the cutting width is the two idle gears 18A described above. , 18B, and the dimension between the meshing points with the gears, 18B is not exceeded, the output gear 19 is not separated from the two idler gears 18A, 18B at the same time, and the applicable maximum diameter wire insertion width is possible. It is as

The output gear 19 is sandwiched by gear brackets 21A and 21B rotatably held by face plates 20A and 20B connected to the cover plates 14A and 14B, and the surfaces thereof are covered with adapter brackets 22A and 22B. There is. The gear brackets 21A, 21B and the adapter brackets 22A, 22B are provided with slit openings 21a, 22a corresponding to the output gears 19, respectively. Positioning pins 23 protruding in the axial direction are provided on the inner wall surfaces of the shaft core portions of the output gear 19 and the gear brackets 21A and 21B, and a wire holder 24 and a dedicated adapter described later can be engaged with the positioning pins 23. Is done.

Two lock mechanisms 25 are attached to the surfaces of the adapter brackets 22A and 22B to prevent the special adapters having the bases fitted in the gear brackets 21A and 21B from coming off according to the work content. There is. The lock mechanism 25 is composed of a gate-shaped stopper plate 26 and a slide stopper 27 that can move the inside of the stopper plate 26 back and forth in the axial direction. The slide stopper 27 has recesses (not shown) at a few places on its back surface. A ball plunger (not shown) that can be engaged with this recess is embedded in the adapter brackets 22A and 22B. In the slide stopper 27, at the forward movement / engagement position, the tip claw portion 27a engages with the dedicated adapter into which the base portion is fitted so that the dedicated adapter can be securely locked. Further, the work tool A has a flange portion which is fitted to the tip of the robot arm of the manipulator in a one-touch manner so that the work tool A can be attached.

In the work tool A configured as described above, when the hydraulic motor equipped with the manipulator is operated, its rotation is transmitted to the connecting shaft 2 via the transmission mechanism in the robot arm, and further the connecting shaft 2 It is input to the planetary gear reducer 7 via 3, the insulating joint 4, the joint shaft 5, and the serration joint 6, and is greatly decelerated by the planetary gear reducer 7. This rotation output is further transmitted to the output shaft 11 and the first bevel gear 12, is decelerated by the second bevel gear 16, and the rotational surface is converted by 90 degrees, and the coaxial driven gear 17 is rotated to rotate the two idle gears. The output gear 19 is rotated via the gears 18A and 18B.

With respect to this work tool A, as an example, a case where the winding bind wire is attached to and removed from the insulator will be described with reference to FIG. The electric wire holder 24 suitable for the size of the electric wire to be processed is inserted and attached to the shaft core of the slit opening 19a of the output gear 19 of the work tool A. In addition, two sets of binding exclusive adapters for binding, that is, binding adapters 28A and 28B having a slit opening, each have a guide attachment 29 at the tip end, which is adapted to the size of the electric wire to be treated. , The holder 30 is attached to the inner intermediate portion. The bind adapters 28A and 28B have longitudinal guide grooves 31 at the bases thereof, and the electric wire holder 24 along the positioning pin 23 at the slit opening 21a of the gear brackets 21A and 21B, respectively. By inserting from both sides so as to be symmetrical with sandwiching, the slide stopper 27 of the retracted lock frame 25 is advanced, and its tip claw portion 27a is engaged with the brim portions of the bind adapters 28A and 28B. It can be locked securely.

In this work tool A, the tooth width center plane C ₁ of the driven gear 17 is located on the axis l ₁ of the first bevel gear 12, that is, the input axis from the connecting shaft 2 to the output shaft 11, and the work tool A Since the tip of the has a symmetrical structure with respect to the center line of the tooth width of the output gear 19 and there is no obstacle on the outer surface when the bind adapter is attached, the bind adapter can be attached on either side. Also, two bind adapters 28A and 28B can be attached at the same time.

In the bind adapters 28A and 28B thus positioned and attached, the slit opening portions of the output adapter 19 and the slit opening portions 19a and 21a of the gear brackets 21A and 21B coincide with each other. Next, the work bucket equipped with the manipulator and the manipulator are operated to insert the overhead wire into the slit opening of the bind adapter 28A, 28B. When attaching the winding bind wire, the tip of the bind adapter 28A, that is, the side of the guide attachment 29 is brought closer to the insulator side, and the straight bolt 32 attached to the guide attachment is hooked at the base side of the bind wire. Is operated to rotate the bind adapter 28A, and the work tool A, that is, the bind adapter 28A is moved to the insulator side in accordance with this rotation, whereby the bind wire can be attached to the overhead wire. The winding bind wire on the opposite side of the insulator can be attached by moving the work bucket to the opposite side of the insulator and performing a symmetrical operation with the bind adapter 28A by another bind adapter 28B.

In the case of removing the bind wire already wound around the insulator, the tip of the bind adapter 28A, that is, the guide attachment 29 is hooked on the tip of the bind wire, and the hydraulic motor is operated to rotate the bind adapter 28A. When the binding adapter 28A is moved to the insulator side, the binding adapter 28A acts so that the binding wire is raised by the guide attachment 29 portion and separated by the umbrella-shaped portion. The bind wire on the opposite side of the insulator can be easily removed by moving the actuating bucket along the overhead wire and causing the bind adapter 28B on the opposite side to operate symmetrically to the case of the bind adapter 28A. That is, in this work tool A, the two bind adapters 28A and 28B can be symmetrically attached to the tip working portion, so that the work tool A can be moved along the overhead wire at the minimum. Work can be performed by moving, improving workability and safety.

Next, a working tool of the present invention according to a second embodiment will be described with reference to FIGS. 3 to 5. 3 is a front sectional view of the work tool of the second embodiment, FIG. 4 is a sectional view taken along the line IVa-IVb-IVc-IVd of FIG. 3, and FIG. 5 is a partial sectional view taken along the line Va-Vb of FIG. It is a figure.

In the work tool B of the second embodiment, the base end portion is constituted by the flange 33 so that it can be connected to the tip end portion of the robot arm having the locking mechanism in a one-touch type. An insulating holder 34 and speed reducer cases 35A and 35B are connected to 33 to form a cylindrical body. A connecting shaft 36, a connecting shaft 37, an insulating joint 38, a joint shaft 39, a serration joint 40, and a planetary gear reducer 41 are connected and housed inside the output shaft 42 of the planetary gear reducer 41. The first bevel gear 43 is fixed to the.

Further, as shown in FIG. 4, the rotary drive shaft 45 supported by the pair of cover plates 44A, 44B connected to the speed reducer case 35B has a second drive gear 45 which meshes with the first bevel gear 43. A bevel gear 46 and a driven gear 47 are attached, and two idle gears 48A and 48B meshing with the driven gear 47 are arranged in parallel on the axis l ₂ of the first bevel gear 43 on the cover plates 44A and 44B. The idle gears 48A and 48B are meshed with an output gear 49 which is a toothless gear (FIG. 3). Both sides of the output gear 49 are sandwiched between gear brackets 50A and 50B, and the gear brackets 50A and 50B are rotatably held by face plates 51A and 51B connected to the cover plates 44A and 44B. Adapter brackets 52A and 52B are covered with the cover.

The slit opening 49a of the output gear 49 is opened on the side opposite to the driven gear (FIG. 3), and the wire holder 53 can be engaged with the slit opening 49a by a pin. Reference numeral 54 denotes a lock mechanism, which abuts on a slide stopper 56 fitted in a groove 55 formed in the adapter brackets 52A and 52b and slidably movable in the axial direction, and the upper surface of the slide stopper 56. The slide stopper 56 is composed of a stopper plate 57 screwed to the adapter brackets 52A and 52B, and is positioned by a ball plunger 58 embedded in the adapter brackets 52A and 52B. It is designed to engage with the attached special adapter to prevent it from coming off.

As described above, in the work tool B, the rotation of the hydraulic motor of the manipulator is decelerated and transmitted to the first bevel gear 43, and the combination of the first bevel gear 43 and the second bevel gear 46 is combined. In the case of the work tool A, the configuration is such that the rotation angle is converted by, the driven gear 47 provided coaxially with the second bevel gear 46 is rotated, and the output gear 49 is rotated through the two idle gears 48A and 48B. Is the same as. Further, the driven gear 47 is arranged so that its tooth width center plane C ₂ passes through the intersection point P ₂ of the pitch conical lines of the second bevel gear 46, that is, so as to overlap with the axis l ₂ of the first bevel gear 43. The same is true for the points.

However, in the work tool A, the output gear 19 is so arranged that the line connecting the axis of the driven gear 17 and the axis of the output gear 19 is aligned with the axis l ₁ of the first bevel gear 12. While the work tool B is arranged in the direction along the axis l ₁ via the two idle gears 18A and 18B, in the work tool B, as shown in FIG. The output gear 49 is arranged so that the line connecting the shaft center of the output gear 49 is perpendicular to the axis l ₂ direction of the first bevel gear 43, and the slit opening of the output gear 49 to which the dedicated adapter is attached The difference is that the position of the portion 49a approaches the robot arm attachment / detachment portion, the necessary work confirmation range by the operator operating the manipulator is reduced, and the workability is improved.

With respect to this work tool B, as an example, a case where the work of peeling the overhead wire and the work of polishing the wire after the peeling are performed will be described with reference to FIG. An electric wire holder 53 having an inner diameter suitable for the size of the overhead electric wire to be treated is inserted and fixed in alignment with the positioning pin 59 in the slit opening 49a of the output gear 49, and in the slit opening 50a of the gear bracket 50B. An electric wire guide 60 having an inner diameter adapted to the size of the treated electric wire and a guide groove 60a on the outer peripheral surface is fitted to the positioning pin 59, and the tip claw portion 56a of the slide stopper 56 of the lock mechanism 54 is engaged. Lock to.

A leather stripping / polishing adapter 61 is fitted and locked in the slit opening 50a of the gear bracket 50A on one side of the wire holder 53. That is, the skin-grinding / polishing adapter 61 is fitted in the slit opening 50a by aligning the base portion having the vertical guide groove 61a with the positioning pin 59, and fixed by the slide stopper 56 of the lock mechanism 54. The leather stripping / polishing adapter 61 is internally provided with a cutter attachment 62 adapted to the size of the treated electric wire, and the electric wire guide 60 and the electric wire holder 53 attached by the positioning pin 59 and the cutter attachment. The slit opening portions of 62 are arranged so that the opening directions thereof coincide with each other. In the leather stripping / polishing adapter 61, the polishing section (not shown) is composed of a sandwiching mechanism having a brush inside and is attached to the tip of the brush bracket 63, and is located at a predetermined distance from the cutter 64 of the leather stripping section. It is supposed to be.

After the work tool B is attached to the tip of the robot arm, the work bucket and the robot arm are operated, the electric wire to be treated is inserted into the slit opening of the work tool B, and the cutter 64 is brought into contact with the peeling portion. When the hydraulic motor is activated by the operation, the peeling / polishing adapter 61 rotates together with the output gear 49, and the cutter 64 peels the electric wire. By moving the work bucket or the robot arm along the overhead wire, it is possible to coordinately polish the bare wire after the peeling.

Similar to the work tool A, the work tool B has a structure in which the slit opening portion to which the dedicated adapter is attached is symmetrical with respect to the output gear 49, and the electric wire work adapter is provided on both sides of the slit opening portion. Since it does not have a protruding part or a bent part that obstructs the installation, it is possible to install an adapter of the same shape not only on one side but on both sides of the slit opening, and at a right angle to the axial direction of the first bevel gear. Since the output gear is arranged in the direction, the distance from the base end of the work tool B to the slit opening, that is, the work point can be shortened, the visibility of the work point is improved, and workability and work safety are improved. It has improved further.

[0032]

[Description of device]

 The work tool of the present invention has the following effects, in particular, when the driven gear coaxial with the second bevel gear is arranged on the axis of the first bevel gear. (1) A dedicated adapter can be attached to both sides of the output gear, improving usability. (2) There are no obstacles such as bends on both sides of the output gear, and it is possible to attach a large wire work adapter such as a bind adapter to both sides. (3) Dedicated adapters can be attached to both sides of the output gear at the same time. Even with a bound adapter that has directionality for work, by attaching this dedicated adapter symmetrically on both sides, robot arms and electric wires can be installed. The movement of the work bucket can be suppressed, and workability and safety are improved. (4) During work, the work point can be viewed from the front, improving the visibility, eliminating the need to check a wide range of positions, and reducing the movement of the robot arm and electric wire work bucket. And the safety is improved. (5) Further, the output gear is arranged so that the line connecting the axis of the output gear and the axis of the driven gear is perpendicular to the axis of the first bevel gear. Since the distance between the attachment / detachment parts is shortened and the work confirmation range of the operator is reduced, the visibility is good and the workability and safety are further improved.

[Brief description of drawings]

FIG. 1 is a front sectional view of an overhead wire working tool according to a first embodiment of the present invention.

2 is a side view of the overhead wire work tool of FIG. 1. FIG.

FIG. 3 is a front sectional view of an overhead wire working tool according to a second embodiment of the present invention.

4 is a sectional view taken along line IVa-IVb-IVc-IVd in FIG.

5 is a partial cross-sectional view taken along the line Va-Vb of FIG.

FIG. 6 is a front sectional view of a conventional overhead wire working device.

FIG. 7 is a right side view of the overhead wire working device of FIG. 6.

[Explanation of symbols]

A Overhead electric wire work tool B Overhead electric wire work tool C ₁ , C ₂ Tooth width center plane l ₁ , l ₂ Axis 1,33 Flange 2,36 Connection shaft 7,41 Planetary gear reducer 11,42 Output shaft 12,43 No. 1 Bevel gear 15,45 Rotational drive shaft 16,46 Second bevel gear 17,47 Driven shaft 18A, 18B, 48A, 48B Idle gear 19,49 Output gear 19a, 49a Split opening 23,59 Positioning pin 24,53 Electric wire Holder 25, 54 Lock mechanism 28A, 28B Bind adapter 61 Skin peeling / polishing adapter

Claims (2)

[Scope of utility model registration request] 1. A first bevel gear and a second bevel gear for converting rotational input from a hydraulic motor mounted on a manipulator to a right angle direction, a driven gear coaxially attached to the second bevel gear, and the driven gear. A pair of idle gears that mesh with each other; and an output gear that is a toothless gear that meshes with the two idle gears and that has a slit opening for inserting an electric wire and into which a dedicated electric wire work adapter is fitted. A work tool attached to the tip of a robot arm of a manipulator, wherein the driven gear has a tooth width center plane of the first gear.
An overhead wire work tool, which is arranged so as to overlap the axis line of a bevel gear. 2. The output gear is arranged so that a line connecting the axis of the driven gear and the axis of the output gear is perpendicular to the axis of the first bevel gear. Overhead electric wire work tool.