JPH08289427A - Method and unit for overhead distribution line work - Google Patents

Abstract

PURPOSE: To provide a work unit functioning similarly to a manipulator through simple structure in which electric shock can be prevented without requiring expensive control system. CONSTITUTION: The overhead distribution line work unit 1 is fixed to a cabin 3 attached to the forward end of the boom 2 of a high position work truck 1. The high position work truck 1 is provided with an arm mechanism 11 comprising three insulating arms 5, 6, 7, for example, jointed sequentially through joint mechanisms 8, 9. The arm mechanism 11 is coupled, at the base end part, with the cabin 3 through a joint mechanism 10 and fixed, at the forward end part, with a tool 12. A worker 4 engages the forward end of an insulating rod 13, e.g. a hot stick, with the tool 12 and operates the insulating rod 13 to guide the tool 12 to a goal. Subsequently, overhead distribution line work is carried out using to tool 12. This unit requires no intricate control system and the cost is reduced through simplification of structure. Since no communication path for control is present between the operating side and the work side, electric shock through the communication path is eliminated.

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 and an overhead power distribution work method 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 overhead power distribution lines, a worker with a hot stick having an electrically insulating property rises to a utility pole or a worker with a hot stick works at a high place. By operating these hot sticks inside the cabin of a car, various overhead power distribution work such as bolt tightening, cutting of lead wires, installation / removal of power distribution equipment, etc. can be performed by tools attached to the tip of the hot stick. It is common.

However, in recent years, manipulators have been used as aerial power distribution work devices for reasons such as securing safety and omitting protection time for preventing electric shock to improve work efficiency. That is, as shown in FIG.
The master / slave manipulator 96 is mounted on the boom 95 of the robot, various tools 97 are attached to the tip of the slave arm 96a of the manipulator 96, and the worker 98 in the cabin 99 provided at the top of the boom 95 operates the manipulator. By operating the master arm 96b of 96, the slave arm 96a is operated, thereby moving the tools 97 at the tip thereof to a desired place, and various overhead power distribution work is performed by the tools 97. In order to prevent an electric shock to the operator and prevent a ground fault of equipment, the manipulator 96 is configured to maintain electrical insulation by configuring the slave arm 96a with resin, FRP, or the like, and to operate the manipulator 96. The control system is also configured to prevent electric shock as shown in FIG. That is, the master arm 96b and the main controller 96c on the operating side
, And between the slave arm 96a on the working side and the sub-controller 96d are electrical control systems, but an optical-electrical control is provided between the operating side and the working side, that is, between the main controller and the sub-controller. The control system is based on optical communication using a signal converter.

[0004]

The above-mentioned conventional manipulator incorporates an expensive optical communication technique using an optical-electrical signal converter between the operating side and the working side in order to prevent an electric shock accident. ， There is a drawback that the manipulator cost becomes high. Also, since the weight of this control system is heavy,
There is also a drawback in that the operating range of the boom is narrowed due to rigidity restrictions.

The present invention has been made in order to solve the above-mentioned problems of the prior art, and is capable of performing the same operation as a master / slave manipulator with a simple structure, and
It is possible to effectively prevent electric shock accidents without using a costly control system such as optical communication technology, and to reduce the weight of the control system to extend the operating range of the boom of an aerial work vehicle. An object is to provide an overhead power distribution work device and an overhead power distribution work method using the same.

[0006]

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, at least one connecting portion is provided with an arm mechanism in which a plurality of arms having electrical insulation performance are connected in a connecting manner having a joint mechanism and the base end side thereof is connected to a cabin or in the vicinity of the cabin, It is characterized in that it is provided with an insulating rod for guiding the tool to a desired place by engaging the tool attached to the tip of the arm mechanism or the vicinity thereof with the tool.

[0007]

In the above structure, the worker in the cabin holds the insulating rod, engages the tip of the insulating rod with the tool at the tip of the arm mechanism or in the vicinity thereof, and moves the insulating rod to guide the tool to a desired place. To do. At this time, the arm mechanism composed of a plurality of arms connected by a joint mechanism or the like moves following the movement of the tip portion guided by the insulating rod. In this case, since there is no communication path for control between the operating side and the working side,
There is no risk of electric shock via the communication path. Also,
Since each arm of the arm mechanism has electrical insulation performance, it is natural that no electric shock will occur via the arm mechanism.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a situation in which an overhead power distribution work is being performed at a utility pole 17 portion of an overhead power distribution line 16 using an overhead power distribution work apparatus 1 according to an embodiment of the present invention. This aerial power distribution work device 1 is used by a worker 4 to perform aerial power distribution work from inside a cabin 3 provided at a tip of a boom 2 of an aerial work vehicle, and has an electrical insulation performance, for example. Three arms 5,
An arm mechanism 11 is formed by connecting 6 and 7 via joint mechanisms 8 and 9, respectively, and connecting the base end side to the cabin 3 via a joint mechanism 10.
The tool 12 attached to the tip of the tool or an insulating rod 13 for guiding the tool 12 to a desired place by engaging the tip with the tool 12 or its vicinity. Insulation rod 13
Is basically a rod having electrical insulation performance and having a tool 12 at its tip or a hooking part near it, but tools attached to the tip (separate from tool 12) It is also possible to use a hot stick which has a mechanism capable of operating and is generally used for overhead power distribution work. After moving, the arm mechanism 11 is moved, for example, by providing a brake mechanism on the joint mechanisms 8, 9, 10 itself, or by providing a posture holding mechanism using various actuators such as a spring, an air cylinder, a hydraulic cylinder, and an electric motor. It is preferable to have a configuration capable of maintaining that posture. The arm mechanism 11 may be substantially the same as the slave arm portion in the conventional manipulator except that it does not have a control unit such as the main controller and sub-controller shown in FIG.

In the overhead power distribution work device 1 described above, the worker 4 in the cabin 3 has an insulating rod 3, and the tip of the worker is at or near the tools 12 at the tip of the arm mechanism 11 (the tip of the arm mechanism 11 itself). ) And move the insulating rod 13 to guide the tools 12 to a desired position. At this time, the arm mechanism 11 that can freely rotate in the joint mechanisms 8, 9, 10 of the arms 5, 6, 7 moves following the movement of the tip portion guided by the insulating rod 13, and the parts of the tools 12 are moved. Can move to the desired place smoothly. Further, after the tools 13 have moved to the target location, the tools 12 are held at that position by a posture holding mechanism (not shown) such as a brake mechanism or an actuator. Therefore, the worker can shift to another operation. In this case, at the same time when the worker performs the predetermined work with the tools 12,
It is also possible to operate a hot stick having other tools attached to its tip to work on the same object, that is, to perform a cooperative work between the overhead power distribution work device 31 and a person. In the above work, since there is no communication path for control between the operation side (worker side) and the work side (tools 12 side), there is no risk of electric shock accidents via the communication path. Further, since each of the arms 5, 6, 7 of the arm mechanism 11 has an electric insulation performance, it is natural that an electric shock accident does not occur via the arm mechanism 11.

FIG. 2 shows an embodiment of the overhead power distribution work apparatus of claim 2. This overhead power distribution work device 31 is used for the cabin 3
The arm mechanism 38 is attached to each of the pair of bases 32 provided on the side portions of the. Each arm mechanism 38 is
A parallel link 34 including a support portion 33 rotatably provided on the base 32 about a vertical axis in a horizontal plane, and two parallel links 34a rotatably connected to the support portion 33 in a vertical plane. And a horizontal arm 35 rotatably provided in the connecting portion 39 at the end of the parallel link 34 in the horizontal plane about the vertical axis.
A tool 36 is rotatably attached to the tip of the tool 36 about a horizontal axis. Further, an air cylinder 37 is provided in parallel with the parallel link 34, and the attitude (angle) of the parallel link 34 is held by the air cylinder 37. Further, friction brakes are provided on the respective shafts of the support portion 33, the connecting portion 39, and the tools 36 so that the posture can be maintained. In addition, a hose is used for the air or hydraulic passage serving as a drive source for driving the tools 36 at the tip,
Alternatively, a passage may be formed by forming a through hole inside the link 34a and the horizontal arm 35.

In the above-mentioned overhead power distribution work device 31, a worker grips an insulating rod such as a hot stick from the inside of the cabin 3 and hooks the tip end thereof with the tools 36 to guide the tools 36 to a desired location. . Then, the work such as bolting is performed by the tools 36, or the power distribution equipment is held at the work place. Also in this case, at the same time when the tools 36 perform a predetermined work, the worker can operate the hot stick to which another tool is attached from the cabin 3 to perform the cooperative work.

FIG. 3 shows an embodiment of the overhead power distribution work apparatus of claim 3. This overhead power distribution work device 41 is used for the cabin 3
The arm mechanism 44 is attached to the bracket 43 fixed to the winch sub-boom attachment portion 42 installed on the side of the. The insulating rod 13 for hooking the tool 12 at the tip of the arm mechanism 44 and guiding the tool 12 to a target location is the same as that described above. As shown in detail in FIG. 4, the arm mechanism 44 includes a support part 46 rotatably provided on the bracket 43 in a horizontal plane about a vertical axis and a support part 46 rotatably in a vertical plane. The first parallel link 47 is connected, the second parallel link 49 is also rotatably connected in the vertical plane via the connecting portion 48 at the tip of the first parallel link 47, and the second parallel link. The tool mounting portion 51 is provided at the tip of 49 through the connecting portion 50 so as to be rotatable in the horizontal plane about the vertical axis. The tools attachment part 51 is a base part 51 attached to a vertical axis of the connection part 50.
and a tool attachment / detachment portion 51b rotatably attached to the base portion 51a about a horizontal axis.
In addition, each of the parallel links 47 and 49 described above is a FRP or the like.
It is made up of book pipes. Further, the first parallel link 47 is supported by the supporting portion 46 by the spring 54a, and the second parallel link 49 is supported by the connecting portion 48 by the spring 54b.
As a result, the postures (angles) of both parallel links 47 and 49 can be held. Further, when a friction brake is provided on each of the vertical axis of the support portion 46, the vertical axis of the connecting portion 50, and the horizontal axis of the tool attachment / detachment portion 51b, the posture around the rotation axis can be maintained. In addition, in FIG.
Reference numeral 60 is a hydraulic and pneumatic pressure supply unit for operating the tools 12, 61 is a hydraulic hose, and 62 is an air hose.

In each of the drawings of the embodiments, the tip of the insulating rod is shown to be directly engaged with the tools, but it is not always necessary to directly engage with the tools. The tool may be guided by engaging with the tip portion.

In the embodiment, the arm mechanism is a joint mechanism, that is, a joint mechanism in which the joint portions of the respective arms are rotatably joined, but the present invention is not limited to this. You can also

[0015]

According to the present invention, a tool is attached to the tip of an arm mechanism in which a plurality of arms having electrical insulation performance are connected and the base end of which is connected to the cabin side. Engage the tip of the insulating rod in its vicinity,
Since the tools are guided to the desired place, the work similar to the master / slave manipulator can be performed with an extremely simple structure. Further, the cost of the overhead power distribution work device can be remarkably reduced and maintenance is easy as compared with the conventional one using a high cost control system such as optical communication technology. Further, there is no problem that the operating range of the boom of the aerial work vehicle is narrowed due to the weight of the control system. Further, since there is no communication path for control between the operating side and the working side, there is no problem that an electric shock accident occurs via the communication path. Also, since each arm of the arm mechanism has electrical insulation performance, it is natural that no electric shock will occur via the arm mechanism.

According to the second or third aspect, since the parallel link is used as the arm of the arm mechanism, the rigidity of the arm can be increased, and the arm mechanism can be easily balanced. The burden on the worker can be reduced and the movement can be smoothed.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overhead power distribution work apparatus according to an embodiment of the present invention, and is a perspective view showing a situation in which a worker is performing overhead power distribution work using the overhead power distribution work apparatus.

FIG. 2 is a perspective view showing another embodiment of the overhead power distribution work device of the present invention.

FIG. 3 is a perspective view showing still another embodiment of the overhead power distribution work device of the present invention.

FIG. 4 is a front view showing details of the arm mechanism in FIG.

FIG. 5 is a perspective view showing a conventional example and showing a situation in which overhead power distribution work is being performed by a master / slave manipulator.

6 is a block diagram illustrating a control system in the manipulator of FIG.

[Explanation of symbols]

 1,31,41 Overhead power distribution work device 2 Boom of work vehicle 3 Cabin 4 Worker 5,6,7 Arms 8,9,10 Joint mechanism 11,38,44 Arm mechanism 12,36 Tools 13 Hot stick ( Insulation rod) 33,46 Support portion 34 Parallel link 35 Horizontal arm 37 Air cylinder 47 First parallel link 49 Second parallel link 48 Connection portion 50 Connection portion 51 Tools attachment portion 51a Base portion 51b Tools attachment / detachment portion 54a, 54b Spring

Claims (4)

[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 equipped with an arm mechanism in which at least one connecting portion is connected in a connecting manner having a joint mechanism, and the base end side thereof is connected to the cabin or the vicinity of the cabin, and tools attached to the tip of this arm mechanism or the vicinity thereof An aerial power distribution work device comprising an insulating rod for engaging the tip of the tool to guide the tools to a desired place. 2. The arm mechanism includes a support portion rotatably provided on the cabin side about a vertical axis in a horizontal plane, a parallel link rotatably connected to the support portion in a vertical plane, and The overhead power distribution work device according to claim 1, comprising a horizontal arm rotatably provided in a horizontal plane about a vertical axis at a tip portion of the parallel link. 3. The arm mechanism includes a support portion rotatably provided on the cabin side about a vertical axis in a horizontal plane, and a first portion connected to the support portion rotatably in a vertical plane.
A parallel link, a second parallel link that is also rotatably connected to the tip of the first parallel link in a vertical plane, and a tip of the second parallel link is rotatable in a horizontal plane about a vertical axis. The overhead power distribution work device according to claim 1, further comprising a tool attachment portion provided. 4. A method of overhead power distribution work performed by a worker in a cabin provided at the tip of a boom of an aerial work vehicle using the overhead power distribution work device according to claim 1, wherein the rear end of the insulating rod is used. A power distribution work characterized by gripping a part and engaging the tip of the tool with a tool at the tip of the arm mechanism or its vicinity and moving the insulating rod to guide the tool to a desired place. Method.