JPH08289426A - Overhead distribution line work unit - Google Patents

Abstract

PURPOSE: To provide a lightweight work unit for carrying out specified works, including replacement of various tools, smoothly without imposing any burden on a worker. CONSTITUTION: The inventive work unit is operated by a worker in a cabin 2 attached to the forward end of the boom of a high position work truck at the time of overhead distribution line work. An arm mechanism 17 comprises electrically insulated first through third arms jointed through joint mechanisms 2, 3. An arm (first arm 11) on the base end side of the arm mechanism is fixed to the cabin rotatably about the vertical shaft 1. An arm (third arm 13) on the forward end side of the arm mechanism is connected, at the rear end part with an operating rod 18 extending linearly to the cabin side. A worker in the cabin grips the operating rod 18 and operates the rod 18 to move the third arm integrally thus manipulating the tools fixed to the forward end.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an overhead power distribution work device for moving tools necessary for the work to a desired place during facility work or maintenance work of an overhead power distribution line.

[0002]

2. Description of the Related Art In conventional facility work and maintenance work on an overhead power distribution line, as shown in FIG.
3 or a worker with a hot stick rides in the cabin of an aerial work vehicle and operates these hot sticks, which are bolted by the tool attached to the tip of the hot stick, cutting the lead wire, It is common to perform various types of overhead power distribution work such as installation and removal of power distribution equipment.

Further, in recent years, for the reason that the safety is ensured and the protection time for preventing electric shock is omitted to improve work efficiency,
A manipulator is used as an overhead power distribution work device. That is, as shown in FIG. 4, the master-slave manipulator 96 is mounted on the boom 95 of the aerial work vehicle 94, various tools 97 are attached to the tip of the slave arm 96a of the manipulator 96, and the boom 9 is mounted.
An operator 98 in a cabin 99 provided at the top of the manipulator 5 operates the master arm 96b of the manipulator 96 to operate the slave arm 96a, thereby moving the tool 97 at the tip thereof to a desired place, and the tool 97 Perform various overhead power distribution work.

[0004]

However, in the above-mentioned conventional overhead power distribution work using the hot stick, when the worker 92 goes up directly to the utility pole 93, the long hot stick 91 is operated in an unreasonable posture, so It is burdensome on the hands, it is difficult to replace the tool at the tip of the hot stick 91, the position of the worker 92 is restricted, and various machines and devices on the power distribution line interfere with it. In addition, there is a problem that it may not be possible to take the tool to the intended work place.

Further, in the overhead power distribution work by the manipulator 96, when the worker 98 operates the master arm 96b, the operation is converted into an electric signal and processed by the control device, and the slave arm 96a is operated by this processing signal. For this reason, a time lag occurs between the operation of the master arm 96b of the worker 98 and the movement of the slave arm 96a, and when the slave arm 96a is made to perform a fine motion, a shift occurs between the operation of the worker and the psychology of the work. There was a problem of putting a burden on the subject. In addition, the manipulator 96 requires a device configuration such as a master arm 96b, a control device, and a slave arm 96a, which makes the equipment expensive, and the aerial work vehicle depends on the weight and size of these components. There were problems such as the boom operation being restricted, it was not possible to mount heavy equipment, and the lifting weight of the winch was restricted.

The present invention has been made in order to solve the above-mentioned conventional problems, and various tools can be replaced and predetermined work can be smoothly carried out without burdening a worker with a load. An object of the present invention is to provide an overhead power distribution work device that enables the same work as a manipulator to be performed with a simple and inexpensive device, and further can reduce the weight of the device to mount heavier equipment.

[0007]

SUMMARY OF THE INVENTION The present invention for solving the above problems is an overhead power distribution work apparatus for an overhead power distribution work to be performed by an operator from inside a cabin provided at the tip of a boom of an aerial work vehicle. In addition, a plurality of arms having electrical insulation performance are connected to each other in a connecting manner having a joint mechanism at at least one connecting portion to form an arm mechanism, and a base end side of the arm mechanism is provided in or near a cabin. Connect
It is characterized in that an operation rod extending directly to the cabin side, which extends toward the cabin side, near the rear end portion of the arm on the front end side of the arm mechanism is integrally connected.

According to a second aspect of the present invention, a slave arm of a master-slave manipulator is provided at the tip of the arm on the tip side of the arm mechanism, and a master arm for operating the slave arm according to the operation is provided at the operation arm. It is characterized by

[0009]

In the above structure, when a worker grips the operating rod in the cabin and moves it, the arm on the tip side moves integrally with the operating rod. The worker appropriately moves the operating rod to move the tip side arm together with the entire arm mechanism to move the tip end part of the tip side arm, that is, the tools at the tip part to a desired position, and the desired tools are used. Perform overhead power distribution work. In this case, since the base end side of the arm mechanism is connected to and supported by the cabin or in the vicinity of the cabin, the load of moving the arm mechanism with the operating rod is small.

According to a second aspect of the present invention, a slave arm of a master / slave type manipulator is provided at the tip of the arm on the tip side of the arm mechanism, and the master arm on the operating rod side can operate the slave arm. It is possible. Since the manipulator movement range in this case may be narrow, a small manipulator is sufficient, and an expensive large manipulator is not required.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an overhead power distribution work device 1 according to an embodiment of the present invention, which is provided integrally with a cabin 2 at the tip of a boom of an aerial work vehicle. The overhead power distribution work device 1 of this embodiment includes a vertical first arm 11 rotatably provided around a pair of bases 21 provided on the sides of a cabin 2 about a vertical first axis, and a first arm 11. A second arm 12 rotatably provided at the upper end of one arm 11 about a horizontal second axis, and at the tip of the second arm 12 rotatable about a third axis parallel to the second axis. An arm mechanism 17 including the provided third arm 13 is provided,
A bending mechanism 18a is provided on the arm on the distal end side of the arm mechanism 17, that is, on the base end side of the third arm 13 and the operation rod 18 that linearly extends to the cabin 2 side and can be gripped by a worker in the cabin 2. Are integrally connected via. When the operating rod 18 is not in use, it can be folded by the folding mechanism 18a and stored, so that it can be prevented that the operation of the worker in the cabin 2 is hindered. An air cylinder 19 is provided between the second arm 12 and the third arm 13 to support the own weight of the third arm 13 and its tip end portion. The operating rod 18 has the same purpose as that of the air cylinder 19, but a balance weight 20 for balancing the third arm 13 and its tip end side so that the operating rod 18 is not loaded. Is provided.

In this embodiment, the fourth arm 14 and the fifth arm 14 are rotatably provided around the fourth axis at the tip of the arm mechanism 17, that is, the tip of the third arm 13.
Fifth arm 1 rotatably provided around an axis
5, the slave arm 25 of the manipulator, which includes the sixth arm 16 rotatably provided about the sixth axis
Is provided. The master arm 26 for operating the slave arm 25 is attached to the operation rod 18. This master arm 26, as shown in FIG. 2 in an enlarged manner, includes an operating section 26a for the fourth axis and a fifth axis.
An operating section 26b for the shaft and an operating section 26c for the sixth axis are provided, and by rotating each operating section 26a, 26b, 26c, the fourth arm 14, the fifth arm 15, and the sixth arm 16 are It is designed to be rotationally driven in a predetermined direction by hydraulic-electric servo and hydraulic drive. Each of the arms 11, 12, 13, 14, 15, 16 described above is made of a material having electrical insulation.

Various tools for performing various overhead power distribution work can be attached to the arm on the distal end side of the slave arm 18, that is, the distal end of the sixth arm 16. Although detailed description and illustration are omitted, the operation mechanism of the tools may be either a hot stick method of operating the tool with a hot stick or a driving method using an actuator such as hydraulic pressure or pneumatic pressure.

The first arm 11, the second arm 12, and the second arm 12 are respectively attached to the shaft portions of the first shaft, the second shaft, and the third shaft.
It is preferable to provide a brake mechanism such as hydraulic pressure for stopping the third arm 13 in a predetermined posture. Also, the base 2
A winch portion 3 is provided at an intermediate portion of 1, and a winch body (not shown) for lifting equipment is attached to the winch portion 3.

In the above-mentioned overhead power distribution work device 1, when an operator grips the operating rod 18 in the cabin 2 and moves the operating rod 18, the distal end arm, that is, the third rod is integrated with the operating rod 18.
The arm 13 moves. The worker appropriately moves the operating rod 18 to move the third arm 13 together with the entire arm mechanism to move the tip of the third arm 13, that is, the slave arm 25 at the tip in this embodiment to a desired position. Let Then, the master arm 26 is operated to operate the slave arm 25 of the manipulator to move the tools at the tip thereof to a desired place. Then, the tools are operated to perform the desired overhead power distribution work.

During the above-mentioned overhead power distribution work, the arm mechanism 17
Since the base end side of is connected to and supported by the cabin 2,
In addition, since the device is balanced by the air cylinder 19 and the balance weight 20, the burden of the load when moving the arm mechanism 17 by the operation rod 18 is extremely small.

Further, in this overhead power distribution work device 1, since the arm mechanism 17 portion which takes a large amount of movement does not have a drive source such as a motor, a transmission mechanism, or a control device, the weight of the device can be made as small as possible and the cost is low. Can be made with.
Therefore, the hoisting weight of the winch can be increased, and the cabin 2 can be loaded with heavy equipment.

When the operating rod 18 is operated, the third arm 13 moves integrally with the operating rod 18, so that a time lag occurs between the operation of the master arm and the operation of the slave arm as in the conventional manipulator shown in FIG. Without this, the psychological burden due to the worker's time lag can be eliminated. Since the manipulator in this embodiment is provided at the tip of the arm mechanism 17 and makes a fine movement, the problems such as the time lag described above hardly occur.

In the embodiment, not only the arm mechanism 17, but also the tip side arm of the arm mechanism 17, that is, the third arm 13
Although a small manipulator is provided at the tip of, the tools can of course be directly attached to the tip of the third arm 13. Further, the arm mechanism 17 of the embodiment has a configuration having three joint mechanisms (first axis, second axis, third axis), but is not necessarily limited to this, and, for example, a configuration including an arm that performs a straight extension operation. Can also be Also,
The arm mechanism 17 of the embodiment is configured to have three arms, that is, a first arm 11, a second arm 12, and a third arm 13. For example, a base end portion of the second arm 12 is provided with a ball joint on the cabin 2 side. A structure having only two arms can be connected to each other through, and further, a structure having four or more arms can be used.

The master arm of the embodiment is the operating rod 1.
Although it is attached to the cabin 8, it may be installed on the cabin 2 side as shown in FIG. The illustrated master arm 26 'is of a joystick type, and can swing forward and backward and left and right and rotate about a vertical axis to cause the fourth arm 14,
The fifth arm 15 and the sixth arm 16 are operated respectively.
In the illustrated example, the master arm 26 'is attached in the vicinity of a corner or the like in the cabin 2.

[0021]

According to the present invention, since the base end side of the arm mechanism for supporting tools is connected to and supported by the cabin or in the vicinity of the cabin, various tools can be replaced without burdening the hands of workers. It becomes possible to smoothly perform a predetermined work. Moreover, since the arm on the tip side attached with the tools moves integrally with the operation rod operated by the worker, unlike the conventional master-slave manipulator, there is no lime lag between the operation point and the arm, which is psychological. It will not be a burden. In addition, the structure is significantly simpler than the conventional master-slave manipulator,
It can be manufactured at low cost. In addition, the weight is significantly reduced. The lighter weight makes it possible to mount heavier equipment in the cabin and increase the lifting weight of the winch. Further, since the overhead power distribution work device of the present invention can be easily detached from an aerial work vehicle, it is not necessary to use a dedicated device including an aerial work vehicle. Therefore, the present invention can be applied to an existing vehicle. can do.

According to the second aspect, the slave arm of the master-slave type manipulator is provided at the tip of the arm on the tip side of the arm mechanism, and the slave arm is operated by the master arm on the operating rod side. It is possible to perform finer movements. Since the manipulator in this case is not a large-scale one, it does not have to be expensive, and it is possible to obtain an inexpensive overhead power distribution work device having the same functions as those of the conventional master / slave manipulator. .

[Brief description of drawings]

FIG. 1 is a perspective view of an overhead power distribution work device according to an embodiment of the present invention.

FIG. 2 is an enlarged view of a master arm portion in FIG.

FIG. 3 shows another embodiment of the master arm and is a perspective view of a main part of the overhead power distribution work device.

FIG. 4 is an explanatory diagram illustrating a situation in which a worker directly climbs up to a utility pole to perform overhead power distribution work using a conventional hot stick.

FIG. 5 is an explanatory diagram illustrating a situation in which a conventional aerial work vehicle uses a manipulator to perform overhead power distribution work.

[Explanation of symbols]

 1 Overhead Power Distribution Work Device 2 Cabin 21 Base 11 First Arm 12 Second Arm 13 Third Arm 14 Fourth Arm 15 Fifth Arm 16 Sixth Arm 17 Arm Mechanism 18 Control Rod 19 Air Cylinder 20 Balance Weight 25 Manipulator Slave Arm 26 Manipulator master arm

Claims (2)

[Claims] 1. An aerial power distribution work device for an operator to perform aerial power distribution work from inside a cabin provided at the tip of a boom of an aerial work vehicle, the plurality of arms having electrical insulation performance. Is connected to at least one connecting portion in a connecting manner having a joint mechanism to form an arm mechanism, and the base end side of the arm mechanism is connected to the cabin or near the cabin, and the rear end of the arm on the front end side of the arm mechanism is connected. An aerial power distribution work device, characterized in that an operation rod extending directly to the cabin near the section for directly moving the tip side arm is integrally connected. 2. A slave arm of a master-slave type manipulator is provided at the tip of the arm on the tip side of the arm mechanism, and a master arm for operating the slave arm according to its operation is provided at the operating rod. The overhead power distribution work device according to claim 1.