JPH0686419A - Robotic technique for wire-connection processing and device thereof - Google Patents

Abstract

PURPOSE:To efficiently and safely carry out wire-connection processing jobs by the use of a robotic device that processes various jobs by a series of operations when a branch line is connected to a main electrical line. CONSTITUTION:A robotic device 1 comprises an electrical wire holding unit, a coating removing unit, a cable conductor brushing unit, a connector mounting unit, and a control unit for controlling operation of each unit. The robotic device 1 is fixedly suspended from an electrical wire W by the electrical wire holding unit, and each of the units is sequentially moved to a certain position. The coating removing unit peels off a coating of the electrical wire W to a predetermined width, and the cable conductor brushing unit scrubs the external periphery of a cable conductor. The connector mounting unit previously holds a branch line temporarily, and a connector fitted in the connector mounting unit is attached to the cable conductor of the electrical wire. The external periphery of this connector is also coated with an insulating cover, and the operation of each of these units is executed under the control of the control unit.

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 automatically performing a wire connecting process for connecting a branch line or the like to a main line by a robot.

[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 provided with a robot apparatus that processes various works when connecting the branch line to the main wire of the electric wire by a series of operations, and uses this device to perform electric wire connection processing. An object of the present invention is to solve the above-mentioned problems by providing a construction method and an apparatus for performing the work.

[0004]

In order to solve the problem, therefore, the robot construction method uses a robot apparatus having an electric wire gripping unit, a coating stripping unit, a core wire brush unit, a connector mounting unit and a control unit for controlling the operation of each unit. Suspended and fixed to the electric wire by a unit, sequentially moving each unit to a fixed position of the electric wire, in the coating stripping unit, strip the coating of a certain width of the wire,
In the core wire brush unit, the outer periphery of the core wire after scraping off the coating is rubbed with a brush, the branch wire is temporarily fixed in advance in the connector fitting unit, and the connector fitted in the connector fitting unit is attached to the wire. The connector was attached to the core wire portion, the outer peripheral surface of the connector was covered with an insulating cover, and the operation of each of these units was controlled by the control unit.

The device used in this robot construction method is
An electric wire gripping unit that can hold the electric wire and support the main body to the electric wire on an appropriate main body, a coating stripping unit that strips the coating of a certain width of the electric wire, and a core wire that scrapes the outer sheath of the electric wire with a brush A brush unit, a fitting to which one end of a branch line is temporarily fixed is fitted in advance, the fitting is fitted and fixed to a core wire portion of the electric wire, and an outer circumference of the fitting is covered with an insulating cover, and a fitting fitting unit, and The coating stripping unit, the core wire brush unit, the connecting device mounting unit respectively provided with a drive device for moving to a fixed position of the electric wire,
Further, the main body is provided with a control unit for controlling the operation of each of the above units and devices.

[0006]

In the robot apparatus, the electric wire gripping unit grips an electric wire such as an overhead distribution wire, thereby fixing a certain width of the electric wire.

Since the electric wire is fixed in this manner, the coating stripping unit, the core wire brush unit, and the connector mounting unit are sequentially brought close to a certain portion of the electric wire, and even if various work is performed, the electric wire at the portion is Withstands the operating load of each unit, and can perform the above various operations.

This device is not limited to being suspended by an overhead distribution line, but it is also possible to place it on the floor in a factory or the like for work, but especially when the robot device is suspended by a tensioned line. , Easily stabilize the wire.

[0009]

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

FIG. 1 shows a working state in which the construction method 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 other end of the PD line P is connected to the high voltage line W. When connecting with a connector (not shown), the robot apparatus 1 according to the first embodiment of the present invention is hung on the high-voltage line W for connection work.

Next, FIG. 2 is a schematic perspective view of a robot apparatus 1 according to the first embodiment of the present invention. The robot apparatus 1 includes a main body 2, a feeder unit 3, a coating stripping unit 4, a separator heat unit 5, A core wire brush unit 6, a connector mounting unit 7, and a first electric wire gripping unit 8 are horizontally arranged 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 expand and contract, and the second electric 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.

Accordingly, the male screws 10 and 11 are expanded and contracted by the operation of the feeding device unit 3, whereby the second electric wire gripping unit 12 and the power supply 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 inserted 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 location 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 attached to the brushed core wire portion.
Is moved in the same manner as described above, and the connector mounting unit 7 in which the connector to which the PD wire is temporarily fixed is fitted in advance is operated to mount the connector to 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.

FIG. 3 is a schematic perspective view of the robot apparatus 20 according to the second embodiment of the present invention. This robot device 20 has wire insertion grooves 22 on both side walls of a box-shaped frame main body 21, and an electric wire gripping unit 23 beside each of these electric wire insertion grooves 22. Further, in the frame-shaped main body 21, the coating stripping unit and the core wire brush unit 24 are provided on both sides of the electric wire gripping groove 2.
A connector attachment unit 25 for movably and rotatably in a straight line connecting the two and for sleeve compression and cover attachment is movably provided in the same direction as the sheath stripping unit and the core wire brush unit 24. ing. Furthermore, the frame main body 21 is provided with a control unit 26 for controlling the operation of each unit.

In this robot device 20, the frame main body 21 is fixed while the electric wire is held by the electric wire holding units 23 on both sides of the frame main body 21, and each unit is moved in the frame main body 21 in the electric wire direction. It is a work.

FIG. 4 is a schematic perspective view of the robot apparatus 30 according to the third embodiment of the present invention. This robot device 30 is provided with an electric wire locking portion 32 and an electric wire gripping portion 33 on both sides of a frame main body 31, and these electric wire locking portion 32 and electric wire gripping portion 33 are provided.
The stripping and stripping of the electric wire stripping tool, the core brush portion 34, and the connector mounting portion 35 composed of the compressor for the connector are provided to face each other in a direction perpendicular to the straight line connecting the The take-up / core wire brush portion 34 and the connector mounting portion 35 are movable and fixed in the above-mentioned right-angle direction along a slide rail 36 provided on the frame main body 31.

The robot device 30 locks an electric wire on the electric wire holding portion 32 and the electric wire holding portion 33, and the electric wire holding portion 33.
By gripping the electric wire with, the whole frame main body 1 is supported and fixed to the electric wire. Then, the coating stripping and core wire brush section 34 and the connector mounting section 35 are moved in the direction perpendicular to the electric wire and brought closer to each other, and the respective work is performed.

FIG. 5 is a schematic perspective view of a robot apparatus 40 according to the fourth embodiment of the present invention. This robot device 40
An electric wire insertion groove 42 having a substantially L-shaped cross section is provided on one side of the box-shaped body 41, and has electric wire gripping portions 43 at both ends of the electric wire insertion groove 42. In the box-shaped main body 41, the coating stripping and core wire brush portions 44 are formed above and below the wire insertion groove 42.
A connector shrinkage part 45 made of a connector and a connector fitting part 46 made of a connector tightening part are provided respectively, and the stripping and core wire brush part 44 and the connector fitting part 46 are provided vertically in the box-shaped body 41. It can be moved in the vertical direction by the vertical movement ball screw 47. A connector tightening drive unit 48 is provided in the box-shaped body 41.

This robot device 40 inserts an electric wire into the electric wire insertion groove 43 and holds the electric wire with the electric wire gripping portions 43 at both ends of the box-shaped main body 41 to support and fix the entire box-shaped main body 41 to the electric wire. Various operations are performed by moving the stripping and core wire brush portion 44, the connector mounting portion 46, and the like in the direction perpendicular to the electric wire.

In the robot apparatus of the first to fourth embodiments, the corresponding members are referred to as "units" or "sections", but these are different in expression and are substantially the same. It is a thing. In addition, in the connector fitting unit or connector fitting part, concretely, the connector is tightened or the sleeve is compressed to attach it to the core wire, and the outer peripheral surface of these connectors and sleeves is covered with an insulating cover. However, there are some cases where these insulating covers are previously integrally coated on the outer circumference of the connector or the sleeve or are separately coated later.

Next, in each of the embodiments of the robot apparatus, the first
Each part of the robot apparatus 1 of the embodiment will be described in detail. 6 to 9 are explanatory views of the wire gripping unit 8 or 12 in the robot apparatus 1.
Since 12 has the same structure, the wire gripping unit 8 will be described below. This electric wire gripping unit 8 is provided with two unit side plates 50, 50 facing each other, and a shaft 51 is provided below the electric wire insertion groove 15 between these unit side plates 50, 50. The grip body 52 is pivotally supported. Three gears 5 are provided on one side of the grip body 52.
3, 54 and 55 are provided in a gear train. A motor 56 is connected to the lowermost gear 53, and the shaft 5 is attached to one side of the middle and uppermost gears 54 and 55.
7, 58 projecting from the respective shafts 57, 58
Eccentric cam-shaped gripping claws 59 and 60 are respectively fixed to the.

Therefore, each gear 5 is rotated by the rotation of the motor 56.
3, 54, 55 rotate, and the grip claws 59, 60 rotate. Further, a motor 61 is provided below the grip body 52,
A bolt shaft 62 is provided integrally with the drive shaft of the motor 61. Further, a link 64 whose one end is axially supported is provided in a guide pipe 63 that penetrates the lower part of one side of the two unit side plates 50, 50, and a rotary nut 65 is rotatably provided at the free end of the link 64. The bolt shaft 62 is screwed on.

Therefore, when the motor 61 is rotated, the bolt shaft 62 is rotated, and the rotating nut 65 screwed to the bolt shaft 62 is moved, so that the link 64 is rotated around the guide pipe 63, as shown in FIG. The grip body 52 rotates about the shaft 51 and tilts.

The rotation width of the grip body 52 is restricted by stopper / limit switches 66 located on both sides of the link 64.

As a result, the grip body 52 and the grip claws 59 and 60 are removed from the wire insertion groove 15. When the electric wire is put in the electric wire insertion groove 15 in this state and the motor 61 is rotated in the reverse direction again, the grip body 52 and the grip claws 59 and 60 return to the positions shown in FIG. In this state, the electric wire W is located between the two upper and lower gripping claws 59 and 60 as shown in FIG. 8, and when the motor 56 is rotated, the gripping claws 59 and 60 rotate as shown in FIG. The electric wire W is held between the outer peripheral surfaces of the diameter. Reference numeral 67 in FIGS. 6 and 7 denotes two unit side plates 50, 50.
Is a guide pipe that penetrates above the other side.

10 and 11 show a feeder unit 3, which is composed of two unit side plates 6.
8 and 68 are provided facing each other, and these unit side plates 68
And 68 on one side lower part and the other side upper part,
0 is rotatably provided, and a drive gear 71 is provided in parallel with the gears 69 and 70. The drive gear 71 extends a drive shaft 73 of a motor 72 provided on the back of one unit side plate 68 between the unit side plates 68 and 68, and is fixed to this extension portion. And these gears 69, 7
A belt 74 with a gear is hung on 0 and 71, and pulleys 75, 76 and 77 are provided at appropriate places. The gears 69, 70
The screw holes 69a and 70a are provided at the center of the male screw, and the male screws 10 and 11 are screwed into the screw holes 69a and 70a, respectively.

The rotation of the motor 72 causes the geared belt 74 to rotate, which causes the gears 69 and 70 to rotate. Due to the rotation of the gears 69 and 70, the male screws 10 and 11 are respectively moved in the axial direction, and the tips of the male screws 10 and 11 are fixed to the second electric wire gripping unit 12 and the power supply unit 13. Unit moves closer to or farther from the main body 2. Further, one side of the male screws 10 and 11 is inserted into guide pipes 63 and 67 which are fixed by penetrating the unit side plates of the main body 2.

FIGS. 12 to 18 show the coating stripping unit 4. The coating stripping unit 4 is provided with two unit side plates 78, 78 facing each other. It is provided. That is, the motor 79 is fixed to the lower part between them, and the motor 79
A shaft 81 is projectingly provided at the tip of the drive shaft via a speed reducer 80, and a gear 82 is fixed to the shaft 81. This gear 8
2, gears 83 and 84 forming a vertical gear train are sequentially meshed with one side of the unit side plate 78, and a nut portion 85 is fitted in the center of the gear 84.
6 is screwed onto the bolt shaft 86, and a “H” -shaped presser plate 87 is fixed to one end of the bolt shaft 86. The rotation of the motor 79 causes the gears 82, 83, 84 to rotate, which causes the bolt shaft 86 to move at a right angle to the gear 84 and the pusher 87 to move left and right in FIG.

The center shaft 88 of the gear 83 extends laterally along the unit side plate 78, extends below the electric wire insertion groove 15 to the opposite side of the unit side plate 78, and the gear 89 extends at the outer end. A nut portion (not shown) is fitted in the center hole of the gear 90 which is fixed and meshes with the gear 89, and a bolt shaft 92 protruding from one side of the presser plate 91 is screwed to the nut portion. . The presser 91 is opposed to the presser 87 with the wire insertion groove 15 in between.

Therefore, when the motor 79 is rotated, the two pushers 87 and 91 come close to or away from each other via the gears 82, 83 and 84, the central shaft 88 and the gears 89 and 90. A peeling adapter storage section 93 is provided between them.

The peeling adapter 94 to be mounted in the peeling adapter housing portion 93 is shown in FIGS. 14 to 18. Electric wire insertion groove 95 corresponding to the electric wire insertion groove 15
Two sets of cutter blade holders 96, 96 are provided on both sides between the two side plates 95, 95 having a, 95a.
The cutter blade holders 96, 96 are axially supported by vertical cutting teeth 98, 98, respectively. Each of these two sets of cutter holders 96, 96 has a spring 9
9 are provided and are biased to close each longitudinal cutting tooth 98, 98. A roller 100 is provided at the outer center of each cutter blade holder 96. Further, the cutter blade holders 96 of each set on the left and right sides are supported by the slide substrates 101, 101, respectively.
01 and 101 are slidable along the lower shaft 102, and each slide board 1 is always driven by a spring 103.
01 and 101 are urged in the direction to separate.

Located inside each of the two side plates 95,
On both sides of the slide substrates 101, 101, a wheel cutting blade 104 and a stopper plate 105 each having a semi-circular cutout are provided, and the left and right wheel cutting blades 104, 104 are positioned so as to be close to each other to form a circular cutout. is doing.

Then, the stripping adapter 94 is fitted into the stripping adapter accommodating portion 93 of the coating stripping unit 4, the wire W is inserted into the wire insertion grooves 15 and 95a, the motor 79 is rotated, and the pushers 87 and 91 are pushed. When the pressing blades 87 and 91 are brought close to each other, the pressing rollers 87 and 91 push the rollers 100 of the cutter blade holders 96 of each set on the left and right sides, respectively, as shown in FIG. As a result, the slide substrates 101, 10
1 moves along the shaft 102 against the force of the springs 103 and approaches each other.

Then, as shown in FIG. 15, the vertical cutting blades 98, 98 at the tips of the cutter blade holders 96 of each set are connected to the electric wire W.
The coating H on both sides is difficult to insert. At the same time, the respective wheel cutting blades 104, 104 are pushed into the coatings H on both sides of the electric wire W, whereby the two coatings H having a certain width of the electric wire W are cut in an annular shape, and both sides of the coating H between them are cut. Is cut in the axial direction.

When the pressers 87 and 91 are further pressed, the pressers 87 and 91 have a taper edge, and therefore the rollers 100 and 100 of the cutter blade holders 96 of each set are pressed against the force of the spring 99. , The rollers 100, 100 approach each other. As a result, as shown in FIG. 16, each set of cutter blade holders 96 is opened around the shaft 97, the closed vertical cutting blades 98, 98 are opened, and the coating H is peeled off from the core wire of the electric wire W. In this way, the coating H is stripped from the electric wire W by a certain width.

19 and 20 show the separator heat unit 5, which is formed between the unit side plates 106, 106 which face each other. A motor 107 is provided on the unit side plates 106, 106, and a gear 109 fixed to a drive shaft 108 of the motor 107 is connected to the drive shaft 10
Gear 111 fixed to 110 provided in parallel with 8
Meshes with. The slide bases 112 are respectively screwed to the screw portions of the shaft 110 on both sides of the electric wire insertion groove 15 of the unit side plate 106.
The rotation of 10 causes each slide base 112 to move in the opposite direction so as to move toward and away from each other.
A support frame 113 is projectingly provided on each of the slide bases 112, and a heat holder 114 is loosely fitted in a groove provided on each side of each of the support frames 113. The rear end of each of the heat holders 114 is supported by a spring 115 having one end fixed to the slide base 112. In addition, a heat knife 116 having a built-in heat therein is inserted into the heat holder 114, and a knife portion at an end thereof is projected from the heat holder 114. Further, from the upper part of the heat holder 114, a lead wire holder 117 in the form of a armband is formed.
The heater lead wire 118 led out from the rear end of the heat knife 116 is supported by the lead wire holder 117. Further, each heat holder 114 is provided with protrusions 119 protruding from both sides, and each protrusion 119 is loosely fitted in an elliptical hole 120 formed in the inner wall of each groove of the support frame 113.

Then, the electric wire W is put into the electric wire insertion groove 15,
When the motor 107 is rotated, the two slide bases 11
2 close to each other along the shaft 110, and the heat knife 11
The knife portion 6 presses the core wire C of the electric wire W under pressure to melt the separator S wound around the core wire C 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 melted in an annular shape by the heat knife 116.

Further, the core wire brush unit 6 of FIG. 21 is provided adjacent to the separator heat unit 5, but the core wire brush unit 6 includes the unit side plate 121,
Gears 1 are provided with 121 facing each other, a motor 122 is fixed between them, and the drive shaft 123 of this motor 122 is fixed.
24 is meshed with a gear 126 fixed to a shaft 125 provided in parallel with the drive shaft 123. The electric wire insertion groove 1 of the unit side plate 121 of the shaft 125
The slide bases 127 are respectively screwed to the threaded portions on both sides of the slide base 5, and the rotation of the shaft 125 causes the slide bases 127 to move closer to and farther from each other. Each of these slide bases 127 is provided with a brush storage groove 128 on its opposite side surface, and a brush holder 130 having a curved brush 129 is detachably fitted therein.

When the electric wire W is inserted into the electric wire insertion groove 15 and the motor 122 is rotated, the two slide bases 12 are moved.
7 along the shaft 125, the two brushes 12
9 is pressed against the core wire C of the electric wire W. When the core wire brush unit 6 is swung in this state as described later, the two brushes 129 rub the outer circumference of the core wire C of the electric wire W to first peel off the separator S and brush the exposed core wire C.

The separator heat unit 5 and the core wire brush unit 6 are integrally provided as shown in FIG. 22, and the disks 131 provided on both outer surfaces of the separator heat unit 5 and the unit side plate 78 of the adjacent coating stripping unit 4 are described later. It is rotatably fitted in the hole formed in the unit side plate 136 of the connector attachment unit 7. And one disk 13
A gear 135 fixed to a drive shaft 134 of a motor 133 is meshed with a curved tooth 132 provided on the outer periphery of the motor 1. By rotating and reversing the motor 133, the two units 5 and 6 are rocked. It has become.

24 to 26 show the connector mounting unit 7, wherein two unit side plates 136,
136 are provided so as to face each other, a motor 137 is provided between them, and a drive shaft 138 of the motor 137 has a lowermost gear 1 of the three gears 139, 140, 141 forming a gear train.
39 is fixed and these gears 139, 140, 1
41 is supported by a gear frame 142, and the motor 137 is also supported by this gear frame 142.

Further, the shaft 1 of the uppermost gear 141
43 extends to one side, and a driver 144 is fixed to the tip. In addition, the motor 14 is arranged substantially parallel to the motor 137.
5 is fixed in the unit side plates 136, 136,
A torque limiter 147 that does not transmit rotation when the torque exceeds a certain level at the tip of the drive shaft 146 of the motor 145.
Is provided. From the torque limiter 147, the bolt shaft 1
48 is protruding. A bolt shaft 148 is screwed onto a nut 149 fixed to the gear frame 142.

A guide rod 150 is fixed in parallel with the bolt shaft 148, and the lower end groove of the gear frame 142 is fitted to the guide rod 150. Therefore, the motor 1
When 45 is rotated, the bolt shaft 148 rotates, the gear frame 142 to which the nut 149 screwed to the bolt shaft 148 is fixed moves, and slides in the axial direction of the driver 144.

Guide fittings 151 are provided at appropriate places in the connector mounting unit 7, and a bolt connector 153 having an outer periphery covered with an insulating cover 152 is detachably mounted. The PD line P is temporarily fixed to the bolt connector 153.

The wire insertion groove 1 of the unit side plate 136
When the electric wire W is inserted into the motor 5, and the motors 137 and 145 are rotated, the driver 144 is rotated and moved forward, and the bolt 154 of the bolt connector 153 is rotated to bring the left and right bolt connector pieces close to each other. Hold in. As a result, the bolt connector 153 is attached to the electric wire W.

The driver 144 is an insulating cover 1
It enters from the cylindrical part 155 of 52, and further enters from the notch of the notched seal 156. Then, the bolt 154 is fitted into the fitting groove of the head of the bolt 154 and turns the bolt 154. Then, when the bolt connector 153 is tightened, the torque increases, and the torque limiter 147.
Therefore, the rotation of the motor 145 is not transmitted and the driver 1
44 does not move forward.

In this way, the bolt connector 1 is attached to the electric wire W.
When only the motor 145 is rotated in the reverse direction after the 53 is mounted, the driver 144 and the gear frame 142 retract, and the driver 144 is disengaged from the cylindrical portion 155 of the insulating cover 152.

[0050]

EFFECT OF THE INVENTION The present invention has the above-described structure, and by simply suspending the robot device on an electric wire, the coating of the electric wire can be stripped,
The core wire can be brushed, the connector can be attached to the core wire, and the outer periphery of the connector of the insulating cover can be attached, and a series of connection processing work to the electric wire of the branch line can be automatically performed without an operator,
The work can be omitted. Moreover, since the worker does not work in this way, the work is extremely safe.

[Brief description of drawings]

FIG. 1 is a perspective view showing a working state of a construction method of the present invention.

FIG. 2 is a schematic perspective view of a robot device according to a first embodiment of the invention.

FIG. 3 is a schematic perspective view of a robot device according to a second embodiment of the present invention.

FIG. 4 is a schematic perspective view of a robot device according to a third embodiment of the invention.

FIG. 5 is a schematic perspective view of a robot device according to a fourth embodiment of the invention.

FIG. 6 is a front view of a gripping unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 7 is a front view of the grip unit of the robot apparatus according to the first embodiment of the present invention in a state where the grip body is rotated.

FIG. 8 is a side view of a gripping unit in the robot apparatus according to the first embodiment of the present invention.

FIG. 9 is a side view showing a state in which the grip claws of the grip unit in the first embodiment of the robot apparatus of the present invention are rotated.

FIG. 10 is a front view of the feeding device unit in the robot device according to the first embodiment of the invention.

FIG. 11 is a side view of a feeding device unit in the robot device according to the first embodiment of the present invention.

FIG. 12 is a partial cross-sectional front view of the coating stripping unit in the first embodiment of the robot apparatus of the present invention.

FIG. 13 is a side view of the coating stripping unit in the first embodiment of the robot apparatus of the present invention.

FIG. 14 is an operation explanatory view of the skin stripping adapter to be mounted on the coating stripping unit in the first embodiment of the robot apparatus of the present invention.

FIG. 15 is an operation explanatory view of a skin stripping adapter to be attached to the coating stripping unit in the first embodiment of the robot apparatus of the present invention.

FIG. 16 is an operation explanatory view of the skin stripping adapter to be mounted on the coating stripping unit in the first embodiment of the robot apparatus of the present invention.

FIG. 17 is a plan view of a skin stripping adapter to be mounted on the sheath stripping unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 18 is a side view of a skin stripping adapter to be attached to the sheath stripping unit in the robot device according to the first embodiment of the invention.

FIG. 19 is a front view showing a usage state of the separator heat unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 20 is a plan view showing the usage state of the separator heat unit in the first embodiment of the robot apparatus of the present invention.

FIG. 21 is a front view showing a usage state of the core wire brush unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 22 is a side view of the separator heat unit and the core brush unit in the robot device according to the first embodiment of the present invention.

FIG. 23 is a rear view of the core wire brush unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 24 is a partially sectional front view of the connector attachment unit in the first embodiment of the robot apparatus of the present invention.

FIG. 25 is a side view of the connector attachment unit in the first embodiment of the robot apparatus according to the present invention.

FIG. 26 is a front view of the essential parts of the connector mounting unit in the first embodiment of the robot apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot device 2 Main body 3 Feeder unit 4 Cover stripping unit 5 Separator heat unit 6 Core wire brush unit 7 Connector attachment unit 8 1st wire gripping unit 9 Control unit 12 2nd wire gripping unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 391011386 Japan Burnday Co., Ltd. 3-26-33 Takanawa, Minato-ku, Tokyo (71) Applicant 000005186 Fujikura Co., Ltd. 5-1-1 Kiba, Koto-ku, Tokyo (71) ) Applicant 591265633 Kayo Denki Kogyo Co., Ltd. 2-6-6 Hamamatsucho, Minato-ku, Tokyo (71) Applicant 000001890 Sanwa Techchi Co., Ltd. 6-5-19 Minami-Shinagawa, Shinagawa-ku, Tokyo (72) Inventor Masaaki Ito 1-3-3 Uchisaiwaicho, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Noriyuki Kaihara 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. (72) Inventor Tomao Obata 87 Nishikuroda, Oyama, Tochigi Prefecture Saneisha Research Laboratory (72) ) Inventor Akira Tanabe 3-23-33 Takanawa, Minato-ku, Tokyo Japan Burnie Co., Ltd. (72) Inventor Koichi Machida 1-5-1, Kiba, Koto-ku, Tokyo Fujikura Electric Line Co., Ltd. (72) Invention Person Kazumi Wakamatsu 1-8-1, Daisaku, Sakura-shi, Chiba Stock company Kayo Denki Kogyo, Sakura factory (72) Inventor Koji Kanishi 2703 Nakaokamoto, Kawachi-cho, Kawachi-gun, Yamanashi Sanwa Tech Co., Ltd. Kofu factory

Claims (2)

[Claims] 1. A robot apparatus having an electric wire gripping unit, a coating stripping unit, a core brush unit, a connector mounting unit, and a control unit for controlling the operation of each unit is suspended and fixed to an electric wire by the electric wire gripping unit. Sequentially move each unit to a fixed position of the electric wire, in the coating stripping unit, strip the coating of a constant width of the electric wire, and in the core wire brush unit, scrape the outer circumference of the core wire after stripping the coating, In the connector mounting unit, the branch line is temporarily fixed in advance, the connector fitted in the connector mounting unit is mounted on the core wire portion of the electric wire, and the outer peripheral surface of the connector is covered with an insulating cover. The electric wire connection processing robot construction method, wherein the operation of each unit is performed by the control of the control unit. 2. An electric wire gripping unit capable of gripping an electric wire to support the main body on the electric wire, a coating stripping unit for stripping a coating of a certain width of the electric wire, and an outer periphery of a core wire stripped of the coating of the electric wire on an appropriate main body. A core wire brush unit that is rubbed with a brush, a fitting to which one end of a branch line is temporarily fixed is fitted in advance, the fitting is attached and fixed to the core wire location of the electric wire, and an insulating cover is attached to the outer periphery of the fitting. The tool mounting unit, the coating stripping unit, the core brush unit, and the connector mounting unit are respectively provided with drive devices for moving them to fixed positions of the electric wires, and further, a control unit for controlling the operation of each unit and the device is provided in the main body. An electric wire connection processing robot device characterized by being provided.