JPH1023629A - Manipulator for power distribution work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily perform power distribution works of a horizontally wide scope, without any movement of a boom, by making two-arm type manipulators, for performing the high-lift works of aerial distribution lines freely crossable. SOLUTION: Providing on the same shaft as a post 11 present at the end of a boom 2 of a high-lift working device, two slewable first arms 12, 12' of two upper and lower stages for constituting upper and lower manipulators, these respective first arms 12, 12' are made crossable. Thereby, the positions of powered tools 17, 17' attached to the ends of hand portions 16, 16' can be exchanged right and left with each other. Providing sliding arms 15, 15' in second arms 14, 14' respectively, the forward and backward strokes of the powered tools 17, 17' can be made maximum, both by the extensions and contractions of the sliding arms 15, 15' and by the slewings of the first arms 12, 12'.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power distribution manipulator for working overhead distribution lines at high places.

[0002]

2. Description of the Related Art In recent years, due to social demands for securing work safety, improving the working environment, and performing uninterrupted work in overhead distribution line work, a manipulator is mounted on the end of a boom of an aerial work vehicle, and an operator operates the manipulator. A boarding operation type robot system and a method in which an operator operates a manipulator with an operation device from an operation room on the ground side to perform hot-line work have been developed and put into practical use.

As such a manipulator, as shown in FIGS. 6 and 7, a boom 2 provided on an aerial work vehicle 1 is used.
A gantry 3 is provided at the end of the gantry 3, and pivot shafts 4 are provided at both ends of the gantry 3.
A dual-armed type equipped with a manipulator 5 that turns around the center has been developed.

In addition, there have been developed ones in which the gantry 3 to which each of the manipulators 5 is attached slides independently in the front-rear direction.

[0005]

In the above-mentioned conventional manipulator system, since the two arms are installed at the same height, the two arms cannot cross each other. Therefore, wiring work with the two arms crossed is not currently performed.

However, work is often performed by attaching different power tools such as an impact wrench and a gripper to the tip of each manipulator of the double arm, and it is necessary to change the position according to the progress of the work. , Power tools are not easily replaced.

[0007] For this reason, there is a problem that the work efficiency is reduced because the problem is dealt with by changing the position of the power tool by moving the boom.

Further, even when the gantry itself is slid in the front-rear direction, the stroke length is generally about 500 mm. Therefore, when constructing a horizontal wiring wire, only one side of the wire is required. In this approach, the manipulator may not be able to reach the wire of the outermost phase located farthest away.

In such a case, conventionally, it is necessary to deal with the problem by moving the boom, so that the working efficiency is reduced.

An object of the present invention is to provide a dual-arm manipulator system in which the left and right arms can be crossed to perform any operation without moving the boom. It is to be.

[0011]

Means for Solving the Problems In order to solve the above-mentioned problems, a means adopted by the present invention is to provide two arms in two stages, upper and lower, on the same axis as the post at the end of the boom of the work equipment at height. Each of the upper and lower arms pivots independently of each other, and the respective arms can cross each other. A second arm is attached to a tip of a first arm attached to a pivot shaft concentric with the post at the end of the boom. The pivot shaft is attached, and the second arm attached to the second pivot shaft is provided with a telescopic function.

[0012]

Since the present invention has the above-described structure, different power tools are attached to manipulators having two upper and lower arms at the end of a boom of a high-altitude working device, and these two power tools are used during wiring work. If it is necessary to change the position of one power tool, crossing the two arms in the upper and lower stages will cause the position of the manipulator at the tip to be switched left and right, which is the same result as replacing the power tool.

Since the arm is provided with a telescopic function, if the manipulator does not reach the outermost electric wire of the outermost phase, the manipulator can be moved closer to the electric wire simply by extending the arm without moving the boom. Let me work.

[0014]

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

In FIGS. 1 to 3, the structure of the portion below the boom 2 is the same as that of the conventional example shown in FIGS.

In this embodiment, a vertical post 11 is provided at the upper end of the boom 2 and upper and lower manipulators are respectively formed on a turning axis (first turning axis) 10 around the post. That is, the left and right first arms 12 and 12 ′, which are independently rotatable, are attached to the post 11 vertically. And the first of both
Arms 12 and 12 'are provided with second pivot shafts 13 and 13', respectively.
4 'are mounted so as to be pivotable.

Slide arms 15, 15 'operated by a cylinder or the like which is operated by hydraulic pressure, air or the like are mounted on the second arms 14, 14' so as to be able to advance and retreat, respectively. Power tools 17, 17 'operated by hydraulic pressure, air, etc., such as an impact wrench and a gripper, are detachably attached to the tip.

Each of the first arms 12, 12 ', the second arm
The arms 14, 14 'pivot with hydraulic pressure, air, or the like.

Each of the first arms 12, 12 'mounted on the post 11 rotates within a range of 300 °, and the second arms 14, 14' mounted on the second rotary shafts 13, 13 'have a rotation of 24.
The structure turns around 0 °.

At the upper end of the post 11, there is provided a turntable 18 which turns independently of other arms by hydraulic pressure, air, or the like. A three-arm 21 is provided, and a slide arm 22 operated by a cylinder or the like operated by hydraulic pressure, air, or the like is provided at the tip of the arm 21 so as to be expandable and contractible. A hook 25 is attached to the tip of 24.

Further, arms 26, 26 'extending left and right are provided at the upper end of the post 11, and a surveillance camera 2 is provided at the upper end of vertical columns 27, 27' provided at the ends of the arms 26, 26 '.
8, 28 'are fixed.

In the above embodiment, the first arms 12, 12 'and the second arms 14, 14' attached to the post 11 on the boom 2 have different mounting heights.
The arms 14, 14 'can intersect as shown in FIG.

When they intersect in this manner, the power tool 17 at the tip of the hand portion 16 of the first arm 12 located above in FIG. 1 and the second arm 14 'located below in FIG. The position of the power tool 17 'at the tip of the hand portion 16' can be switched to the opposite side.

As shown in FIG. 4, one of the first arms 1
2 is rotated rearward about the post 11 to move the second arm 14 rearward, the slide arm 15 is contracted, and the other first arm 12 ′ is rotated forward about the post 11 to When the arm 14 'is moved forward and the slide arm 15' is extended, the power tools 17, 1
The stroke in the front-rear direction 7 'can be maximized.

That is, the length of the first arms 12, 12 'is set to 5
Assuming that the stroke is 80 mm and the stroke of the slide arms 15 and 15 ′ is 500 mm, the maximum stroke in the state of FIG. 4 is 1370 mm, which is the internal phase attached to the arm 31 of the utility pole 30 as shown in FIG. This is equivalent to the distance between the inner phase 35 and the outer phase 37 in a three-phase electric wire having a horizontal wiring of 35, a middle phase 36 and an outer phase 37.

Therefore, in the case of the above horizontal wiring work,
The approach from the left side in FIG. 5 allows the power tool 17 or 17 'at the tip to easily approach the farthest right outer phase 37.

Further, since the heavy object is lifted by the hook 25 at the end of the rope 24 of the hoisting machine 23 at the end of the third arm 21 which can be swung and raised and lowered, the heavy object can be lifted and lowered freely, which is extremely convenient. is there.

[0028]

As described above, according to the present invention, two upper and lower two-stage arms constituting upper and lower manipulators are provided coaxially with the post at the end of the boom of the aerial work apparatus. By turning independently of each other, and by allowing the arms to cross each other, the upper and lower arms cross each other, so that the positions of the power tools attached to the tips of both manipulators can be switched to the left and right. Therefore, when it becomes necessary to change the left and right tools during the operation, the left and right tools can be changed very easily.

Further, one of the first arms is rotated backward about the post to move the second arm backward, the slide arm is contracted, and the other first arm is rotated forward about the post. When the second arm is moved forward and the slide arm is extended, the front-rear stroke of the power tool at the tip can be maximized. This stroke is comparable to the distance between the inner, middle and outer phases of a three-phase wire.

Therefore, in the case of the above horizontal wiring work,
By approaching from one side, the power tool at the tip can easily approach the farthest right outer phase.

[Brief description of the drawings]

FIG. 1 is a plan view of an embodiment.

FIG. 2 is a side view of the above.

FIG. 3 is a plan view showing a state in which arms are crossed.

FIG. 4 is a plan view showing a state where the same stroke is maximized.

FIG. 5 is a partially cutaway front view showing an example of the arrangement of electric wires.

FIG. 6 is a side view of a conventional example.

FIG. 7 is a plan view of a main part of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 1st rotation axis 11 Post 12 1st arm 12 '1st arm 13 2nd rotation axis 13' 2nd rotation axis 14 2nd arm 14 '2nd arm 15 Slide arm 15' Slide arm 16 Hand part 16 'Hand part 17 power tool 17 'power tool

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Tsuyoshi Inoue 1-3-1 Shimaya, Konohana-ku, Osaka-shi, Osaka Sumitomo Electric Industries, Ltd. Osaka Works (72) Inventor Toshiro Shimada Shimoya, Konohana-ku, Osaka-shi, Osaka 1-3-3, Sumitomo Electric Industries, Ltd., Osaka Works (72) Inventor Toru Matsumura 1-3-1, Shimaya, Konohana-ku, Osaka, Osaka Prefecture, Japan Sumitomo Electric Industries, Ltd. Osaka Works (72) Inventor: Hiroyasu Furukawa Osaka 1-3-3 Shimaya, Konohana-ku, Osaka Sumitomo Electric Industries, Ltd., Osaka Works (72) Inventor Naoto Aomori 1-3-1, Shimaya, Konohana-ku, Osaka-shi, Osaka Sumitomo Electric Industries, Ltd. Osaka Works (72) Inventor Noboru Chen 1-3-1 Shimaya, Konohana-ku, Osaka-shi, Osaka Sumitomo Electric Industries, Ltd. Osaka Works (72) Inventor Yasunori Ando 1 Chubu Electric Power Co., Inc., Higashi-ku, Higashi-ku, Nagoya-shi, Aichi (72) Inventor Takehiro Ikeda 1-20-31 Sakae, Naka-ku, Nagoya-shi, Aichi Prefecture Toenec Corporation (72) Inventor Takashi Mori Ageo, Saitama 1152 Yamashita, Ryoke-ji, Aichi-shi, Aichi Corporation Ageo Works

Claims (2)

[Claims] 1. A two-stage upper and lower arm is provided coaxially with a post at the end of a boom of an aerial work apparatus, and each of the upper and lower arms rotates independently and crosses each arm. A manipulator for power distribution work, characterized in that it is made possible. 2. A pivot arm of a second arm is attached to a tip of a first arm attached to a pivot shaft concentric with the post at the tip of the boom, and a second arm attached to the second pivot shaft has a telescopic function. The manipulator for power distribution work according to claim 1, wherein the manipulator is provided.