JPH08126143A - Robot for distribution line stringing work - Google Patents

Abstract

PURPOSE: To realize a safety work by providing a unit for automatically discharging the working base part when the derricking shaft of boom moves down the horizontal level thereby eliminating the possibility of electric shock. CONSTITUTION: A working base 3 having a frame 3a is fixed through an insulator to the forward end of a swinging, derricking and telescopic boom 2 supported on a vehicle 1. The working base 3 rotates at the joint to the boom 2 and when the boom derricking shaft 2b moves down a horizontal level, an actuator 14b is operated by positional information detected through a derricking shaft position sensor 13. Consequently, a conductor terminal 14a is elongated to touch a conductor terminal 3b on the side of the working base 3 which is thereby discharged. This constitution eliminates the possibility of electric shock and ensures a safety work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for aerial power distribution work for safely performing live work on aerial power distribution lines by remote control.

[0002]

2. Description of the Related Art In recent years, most of the overhead power distribution work is being performed in an energized state in response to the growing need for uninterruptible power. In conventional high-voltage live line construction, the direct live line construction method in which workers wear rubber gloves and rubber boots to prevent electric shock and indirect live line construction methods using hot sticks (hot line operation rods) Has been applied. However, these overhead distribution line construction methods are dangerous because they require work outdoors at a high place, and there is a risk of electric shock. Furthermore, it is exposed to severe heat in the summer and severe cold in the winter, and it is forced to perform heavy work that is cramped and unstable, resulting in poor work efficiency and a great feeling of fatigue.

In order to improve such a severe working environment and save labor and ensure safety, recently, a robot for aerial power distribution work has been developed which performs live work by remote control. The robots for overhead power distribution work that have been developed so far are equipped with a dual-arm robot arm at the tip of the boom of an aerial work vehicle, and the operator remotely operates the robot arm to indirectly perform high-voltage live work. It is to be implemented. The robot arm has 6 to 7 degrees of freedom, and has a predetermined electric insulation performance to support live work.

Depending on the position operated by the operator, it can be classified into an on-vehicle operation type and a ground operation type. In the on-vehicle operation type, the operator rides on a bucket at the tip of the boom and works while looking directly at the robot arm and the working area. In the ground operation type, the operator operates the robot arm while observing the image of the camera installed at the tip of the boom on the ground (the place is not specified).

By the way, in the overhead power distribution line construction by the robot vehicle, the construction is performed in the energized state regardless of whether it is an on-board operation type or a ground operation type. The working base may be charged. For this reason, it is common practice to install an electrical insulation section in the middle of the boom in the overhead distribution line construction vehicle so that a ground fault with the ground does not occur even if it is charged. .

However, the weight of the working base portion in the robot vehicle is about 600 to 700 kg,
It has a large capacitance. Therefore, when it is charged, the electric charge is accumulated in the working base portion, and the ground worker does not keep the working base in the working base when the working base is lowered to the ground, the equipment is replaced, the tool is replaced, or the boom is stored. If you touch it, you may get an electric shock. Even if it is unlikely to be electrocuted, the shock given to the worker will be quite large.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot for aerial power distribution work which can carry out work safely without danger of electric shock. .

[0008]

In order to achieve the above-mentioned object, the first aspect of the present invention provides a vehicle, a boom attached to the vehicle so as to be capable of expanding, contracting, turning, and undulating, and attached to the tip of the boom. In the aerial power distribution work robot that remotely operates the working base and the manipulator, crane, and other equipment installed on the working base to perform wiring work in an energized state, the boom hoisting axis of the boom is below the horizontal direction. A charge discharging device for automatically discharging the electric charge charged to the working base portion when the battery is moved to the position.

According to a second aspect of the present invention, in the robot for overhead power distribution work according to the first aspect, a charge detection sensor and a lamp display device are provided in the working base portion so that the state confirmation of the presence or absence of the charge can be seen directly. It is characterized by being configured.

[0010]

[Operation] According to the aerial power distribution construction robot having the above configuration,
Workers can carry out safe and efficient work without any worries at the time of equipment supply for power distribution work, tool change, or boom storage work.

[0011]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of a robot for overhead power distribution work according to an embodiment of the present invention.

As shown in FIG. 1, a working base 3 having a frame 3a is attached to an end portion of a boom 2 supported by a vehicle 1 so as to be capable of turning, undulating and expanding and contracting via an insulator. The working base 3 can rotate (pivot) at the connecting portion with the boom 2. The boom 2 is engaged with the boom 2 by a balancing cylinder (not shown) so that the posture of the working base 3 can be maintained even if the hoisting angle of the boom 2 changes.

A pair of slave manipulators 5 each having a dedicated tool 4 attached to the tip thereof are provided on both sides of the lower portion of the frame 3a of the working base 3, respectively.
Manipulator moving mechanisms 6 attached to both sides of the work support the work to be movable in the front-rear direction.

Further, a stereoscopic camera 7 is mounted above the frame 3a via a stereoscopic camera moving mechanism 8 and support legs 9 so as to be movable in a direction orthogonal to the front direction of the working base 3. An entire surveillance camera 10 is attached to the top of the working base 3 via a stereoscopic camera moving mechanism 8. The overall monitoring camera 10 can monitor the relative positions of the slave manipulator 5, the front surface of the working base 3, and the target mounting column.

On the other hand, a workstation 12 is arranged in the passenger seat portion of the driver's seat 11 of the vehicle 1. The workstation 12, the boom 2, the manipulator moving mechanism 6, the overall monitoring camera 10, the stereoscopic camera moving mechanism 8, etc.,
It is equipped with all the operating devices for operating the robot system.

The boom 2 also includes a swing shaft 2a and a hoisting shaft 2b.
Also, the telescopic shaft 2c has joint degrees of freedom, and by moving in combination with the motions of these degrees of freedom, it is possible to approach a utility pole portion having a height of about 11 m above the ground, which is a work target location. The telescopic shaft 2c has a three-stage telescopic configuration, and the final stage portion 2d
In regard to the above, the ground vehicle part and the working base 3 part are made of an insulating material in order to achieve electrical insulation. The hoisting shaft position detection sensor 1 is attached to the rotation center shaft of the boom hoisting shaft 2b.
3 are provided. In addition, the final stage 2 of the boom telescopic shaft 2c
Discharge device 14 is installed inside d.

As shown in FIG. 2, the discharge device 14 is composed of an actuator 14b for moving the conductor terminal 14a in a longitudinal direction of the boom 2 by receiving a position signal from the undulating shaft position detecting sensor 13 and extending and retracting the conductor terminal 14a. The vehicle 1 is mounted on the conductor terminal 14a.
Is electrically connected to the conductor 14c and is connected to the ground through the vehicle earth rod 15 via the body of the vehicle 1. Further, the conductor terminal 3b on the side of the working base 3 is arranged at a position facing the conductor terminal 14a.

By the way, when the rotation position of the boom hoisting shaft 2b is above the horizontal position, the conductor terminal 14a is in a contracted state, and the distance from the conductor terminal 3b on the working base 3 side is maintained and insulation is secured. It On the other hand, boom hoisting axis 2
When b is moved below the horizontal direction, the actuator 14b is actuated by the position information of the undulation axis position detection sensor 13 and the conductor terminal 14a is extended to cause the working base 3 to move.
The conductive base 3b on the side is brought into contact with the working base 3
Discharges the electric charge charged in the part to the ground.

Further, a charge detection sensor 16 and a lamp display device 17 which operates in response to a detection signal of the charge detection sensor 16 are installed in the working base 3 part, and electrostatic charges are present in the working base 3 part. Then, the state is confirmed by the lamp display.

As described above, according to this embodiment, the hoisting shaft position detecting sensor 13 for detecting the position of the boom hoisting shaft 2b is installed, and the discharging device 14 which operates in conjunction with the position detecting sensor 13 is provided. When the boom hoisting shaft 2b is in a horizontal position or less, the conductor terminal 14a of the discharge device 14 extends and moves to come into contact with the working base side conductor terminal 3b to electrically connect to the working base 3 through the vehicle ground rod 15. Discharges electric charges into the ground. When the boom hoisting shaft 2b is at the horizontal position or above, the discharge device 14
The conductor terminal 14a is reduced so that the required insulation distance between the working base 3 side and the vehicle 1 side is maintained.

Further, since the charge detection sensor 16 and its lamp display device 17 are provided in the working base 3 portion, if electrostatic charge is present in the working base 3 portion, the charge state can be confirmed by the lamp display. You can look straight.

[0022]

As described above, according to the aerial power distribution construction robot of the present invention, the charged electric charge is automatically discharged, so that the equipment supply, the tool replacement, or the boom for the power distribution work on a live line can be performed. Workers can perform safe and efficient work without any worries during storage work.

[Brief description of drawings]

FIG. 1 is a side view showing the overall configuration of a robot for overhead power distribution work according to an embodiment of the present invention.

FIG. 2 is a side view of the discharge device of FIG.

[Explanation of symbols]

1 ... Vehicle, 2 ... Boom, 2a ... Boom rotation axis, 2b ... Boom undulation axis, 2c ... Boom extension / contraction axis, 2d ... Boom extension / contraction axis final stage part, 3 ... Working base, 3a ... Working base frame, 3b ... Working base Conductor terminals, 4 ...
Dedicated tools, 5 ... Slave manipulator, 6 ... Manipulator moving mechanism, 7 ... Stereoscopic camera, 8 ... Stereoscopic camera moving mechanism, 9 ... Support leg, 10 ... Overall monitoring camera, 11 ... Driver's seat, 12 ... Workstation, 13 ... Undulating Axial position detection sensor, 14 ... Discharge device, 14a ... Conductor terminal, 14b ...
Actuator, 14c ... conductor, 15 ... vehicle ground rod,
16 ... Charge detection sensor, 17 ... Lamp display device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tadashi Ogawa 2-4 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Toshiba Keihin Office (72) Inventor Shinichi Miyagawa 2-suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa No. 4 Toshiba Corporation Keihin Office

Claims (2)

[Claims] 1. A vehicle, a boom attached to the vehicle so as to be capable of expanding, contracting, turning, and undulating, a working base attached to the tip of the boom, and a device such as a manipulator or a crane installed on the working base. In a robot for aerial power distribution work that remotely operates to perform wiring work in an energized state, when the boom hoisting axis of the boom moves below the horizontal direction, a charge discharge that automatically discharges the electric charge charged in the working base A robot for aerial power distribution work, characterized by the installation of a device. 2. The robot for overhead power distribution work according to claim 1, wherein a charge detection sensor and a lamp display device are provided in the working base portion so that the state of the presence or absence of the charge can be directly seen. Robot for overhead power distribution work.