JPH0640415Y2 - Wire processing equipment for distribution lines - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to an electric wire processing apparatus for a distribution line, which performs a skinning operation or a skinning operation and a polishing operation of a distribution line in a live state.

[Conventional technology]

In order to carry out the work of distribution lines, it is essential to remove the coating of the wires.

Conventionally, when a distribution line is stripped by a robot, a stripping blade is diagonally fixed to a fixed frame fixed to the robot and a rotatable frame sandwiched between them, and an opening is made in the hollow part of the rotary frame. The robot was moved along the electric wire while inserting the electric wire from the robot and rotating the rotating frame, and the skin was spirally peeled.

FIG. 6 ((a) is a front view and (b) is a side view) shows a conventional power stripping apparatus. A robot wrist flange 2 located at the tip of the robot arm 1 is fixed with a fixing frame 4 of the skin removing device and a driver 3 for generating power via a mounting flange 9. The power of the driver 3 is the rotating frame 6 by the gear train.
The peeling attachment 8 fixed to the rotary frame 6 is rotated. A stripping blade 5 is obliquely set on the stripping attachment 8 as shown in FIG. 6, and the sheath of the electric wire 7 inserted into the opening 6a of the rotary frame 6 can be stripped off by rotating in the direction of the arrow. . Actually, the robot arm 1 is moved along the electric wire 7, and the section is stripped while the spiral-shaped scraps are generated.

As a device having a function of polishing the surface of the electric wire after the peeling work, there is a device in which a polishing attachment having a brush is attached to a rotary frame having a peeling blade (for example, see JP-A-56-141708). .

This is because once the skin is removed, the robot returns to the work implement exchange position, where it is replaced with a polishing attachment, and the skinned section is moved along the electric wire while rotating the brush again to perform the polishing work. It is something to do.

[Problems to be solved by the device]

In the conventional apparatus shown in FIG. 6 described above, when the electric wire is peeled off, the robot arm 1 is moved along the electric wire 7 while rotating the rotary frame 6, and the peeling of a proper section is completed. When the rotating frame 7 is stopped at an arbitrary position, the electric wire 7 is completely or partially surrounded by the rotating frame 6 and the fixed frame 4 as shown by a dashed line in FIG. 6, and cannot be detached from the electric wire 7 as it is. Often occurred.

In this state, since it is difficult to detach from the electric wire, the rotating frame is detached by rotating the rotating frame until it is opened by remote control from the operation panel of the robot or the like.

However, this operation was very delicate and required skill.

Further, in the case of performing the polishing work by exchanging the polishing attachment after the peeling work as described in the above-mentioned JP-A-56-141708, if the skinning and polishing work is frequently performed, the replacement should be performed. The time required accounted for a large proportion of the total work time. Therefore, it is difficult to reduce the total work time even if the actual work time is shortened.

Therefore, the first object of the present invention is to realize the function of stopping the opening of the rotary frame simply in the open state, which was difficult with the conventional skin removing device. The purpose of FIG. 2 is to shorten and improve efficiency.

[Means for Solving the Problems]

In order to achieve the first object, an electric wire processing device for a distribution electric wire according to the present invention is provided with a cylindrical rotating frame having a rotatable and opening for inserting an electric wire in a fixed frame fixed to a wrist of a robot. In the electric wire processing device for a distribution line, a skin removing blade is fixed to an end face of the rotary frame, and the robot is moved along the electric wire while rotating the rotary frame to spirally strip the electric wire. A notch and a claw which are engaged at the time when the rotating frame is reversely rotated are provided in the rotating frame and the fixed frame, respectively, at a position where the opening of the rotating frame becomes a position where the electric wire can be inserted. A feature is that a torque transmitter is provided.

In addition, in order to achieve the second object, the wire processing apparatus for a distribution wire of the present invention is a cylindrical rotating frame that is rotatable on a fixed frame fixed to a wrist of a robot and has an opening for inserting an electric wire. In the electric wire processing apparatus for a distribution line, which is provided with a fixed stripping blade on the end face of the rotating frame, and which moves the robot along the electric line while rotating the rotating frame to strip the electric wire in a spiral shape, A detection ring for detecting the presence or absence of coating of the electric wire is provided on the outer side of the rotary frame, and a mechanism for moving the brush for electric wire up and down according to the movement of the detection ring is provided.

〔Example〕

 Hereinafter, the present invention will be described in detail based on examples.

1 (a) and 1 (b) are a front view and a side view showing an embodiment corresponding to the invention described in claim 1 of the present invention.
In the figure, components having the same functions as those of the conventional device shown in FIG.

In FIG. 1, the peeling blade 5 is attached to the peeling attachment 8 so that the peeling blade 5 peels only in the direction of the arrow and the blade 5 escapes when it is rotated in the reverse direction. Further, the rotary frame 6 is provided with a notch 15, and the notch 15 is attached to the fixed frame 4 via the spring 14 so as to engage with the claw 16 which is engaged only during reverse rotation (a direction opposite to the rotation direction of the peeling work). This makes it possible to always stop at the opening at a fixed position for each rotation as shown in the figure.

When rotating in the peeling direction, the power from the driver 3 is bevel gear.
The rotary frame 6 is transmitted from the bevel gear 10 to the spur gear 11 via 101, and is fixed to the rotary frame 6 via the intermediate spur gear by the spur gear 112.
The torque of the shaft 17 is transmitted to the spur gear 11 via the one-way torque transmitter 121. During reverse rotation, the torque transmission collar 12 is fixed to the shaft 17, and the spur gear 11 and the ball 13 pressed by the spring 14
The shape of the hole which is connected to the ball 13 at a position facing the ball 13 transmits a minimum torque for rotating the rotary frame 6. When torque exceeding that value is transmitted from the load side, the balls 13 escape and cause the spur gear 11 to slip, so the gears may be damaged by the action of the notch 15 and the pawl 16 even if an impulsive reverse load is applied at the time of stop. Absent.

2 to 5 show an embodiment of the invention described in claim 2. In FIG. 2, the peeling attachment 8 attached to the fixed frame 4 has three rings, namely a brush ring 22, a transmission ring 23 and a detection ring 24.
A polishing attachment consisting of is connected by pin 27. The detection ring 24 shown in Fig. 3 is a pin with a split structure.
With the spring 25 as a fulcrum, it can be closely attached to the electric wire 7 by the spring 26, and its movement is transmitted to the detection pin 32. The transmission plate 33 in the transmission ring 23 shown in FIG. 4 can move the movable pin 30 with a larger stroke according to the movement of the detection pin 32 with the fulcrum pin 31 as a support point.

The brush ring 22 shown in FIG. 5 is also divided into two parts, and the brushes 29 are attached to the inside of each, and the position of the brush 29 can be changed according to the movement of the movable pin 30.

Therefore, if the wire 7 in the detection ring 24 has the coating 7b peeled off and the wire 7a, the split ring is pushed inward by the spring 26, so that the detection pin 32 also moves inward, and accordingly, finally. The brush 29 is pressed against the wire portion by the pressure of the spring 26, and the polishing work becomes possible.

[Effect of device]

As described above, according to the invention of claim 1 of the present application, the opening of the rotary frame is provided by providing the rotary frame with the notch effective in the reverse rotation in which the peeling blade does not work and the claw on the fixed frame. The part can be stopped so that it is always open.
Therefore, the efficiency of the stripping work of the distribution line performed by the robot is improved, and the skill level of the robot operator is not required.

Further, according to the invention of claim 2 of the present application, since the polishing attachment can be attached to the rear of the attachment for peeling work and the polishing work can be performed at the same time as the peeling work, the distribution line peeling performed by the robot can be performed. The work time for stripping and polishing can be significantly reduced.

[Brief description of drawings]

1 is a front view and a side view showing an embodiment of the present invention, and FIG.
FIG. 4 is a side view showing another embodiment of the present invention, FIG. 3 is a front view showing a portion of a detection ring, FIG. 4 is a front view showing a portion of a transmission ring, and FIG. 5 is a portion showing a brush ring. A front view and FIG. 6 are a front view and a side view showing a conventional device. 1: Robot arm 2: Robot wrist flange 3: Driver, 4: Fixed frame 5: Peeling blade, 6: Rotating frame 7: Electric wire, 7a: Wire 7b: Cover 8: Peeling attachment 9: Mounting flange, 10,101 : Bevel gear 11,112: Spur gear, 12 ... Torque transmission collar 121: One-way torque transmitter 13: Ball, 14: Presser spring 15: Notch, 16: Claw 17: Shaft, 18: Sliding bearing 22: Brush ring, 23 : Transmission ring 24: Detection ring, 25: Pin 26: Spring, 27: Pin 29: Brush, 30: Movable pin 31: Support pin, 32: Detection pin 33: Transmission plate

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yusuke Hirano Inventor Yusuke Hirata, Kitakyushu City, Fukuoka 2346 Fujita, Yasukawa Electric Co., Ltd. No. 82 in Kyushu Electric Power Co., Inc. (56) Reference JP-A-56-141708 (JP, A) JP-A-62-230312 (JP, A) JP-A-1-91609 (JP, A) Actual development Sho-63- 187512 (JP, U) Actual flat 1-11-1510 (JP, U)

Claims (2)

[Scope of utility model registration request] 1. A rotation frame having a cylindrical shape, which is rotatable and has an opening for inserting an electric wire, is provided on a fixed frame fixed to a wrist of a robot, and a peeling blade is fixed to an end surface of the rotation frame, and the rotation frame is rotated. In a wire processing device for a distribution line, which moves a robot along a wire while rotating the frame to strip the wire in a spiral shape, in the position where the opening of the rotating frame becomes a position where the wire can be inserted, the reverse of the rotating frame. A notch and a claw that engage at the time of rotation are provided in the rotary frame and the fixed frame, respectively, and a one-way torque transmitter is further provided in the rotational force transmission path of the rotary frame. apparatus. 2. A rotation frame having a cylindrical shape, which is rotatable and has an opening for inserting an electric wire, is provided on a fixed frame fixed to a wrist of a robot, and a peeling blade is fixed to an end surface of the rotation frame, and the rotation is performed. In the electric wire processing device for a distribution line, which moves the robot along the electric wire while rotating the frame to peel the electric wire in a spiral shape, a detection ring for detecting the presence or absence of the electric wire coating is provided on the outside of the rotating frame, An electric wire processing device for a distribution electric wire, comprising a mechanism for moving an electric wire polishing brush up and down according to the movement of a detection ring.