JPS62178108A - Robot for construction of distribution - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a power distribution work robot for performing live line work at high places.

<Conventional technology> Recently, in order to improve the occupational safety conditions for high-altitude live-line work in power distribution construction, automation of live-line work has been considered in various places. gives commands to this robot, which performs tasks such as stripping high-voltage wires, cutting and connecting wires, etc.

By the way, robots used for high-altitude live wire work must pass the tool at the tip of the parallel high-voltage wires without coming into contact with them and reach the desired work position. It is necessary to have a degree of freedom in moving the work vehicle, and it also needs to be long enough to keep the work vehicle's packet at a sufficient distance from the high-voltage power lines to protect workers from danger.

Conventionally, robots proposed for high-altitude live wire work as described above are formed into a multi-joint structure in which a plurality of arms are pivotally connected so as to be able to bend and extend, as in Japanese Patent Application Laid-Open No. 60-29286. It has a structure with a wrist for attaching tools to the cutting edge arm.

<Problems to be solved by the invention> However, the multi-jointed robot as described above
Because the wire holding function during work was replaced by a tool attached to the wrist, only a single task could be performed; for example, when cutting or connecting wires, the wires had to be held by manual means. In addition, it is difficult to perform linked operations such as insertion and crimping of the sleeve for connecting electric wires, resulting in a lack of flexibility in work.

This invention was made in order to solve the above-mentioned problems, and is an invention for power distribution work that allows work to be carried out while holding the electric wire in a position separate from the tool, and that allows multiple works to be carried out in conjunction. The purpose is to provide robots.

<Means for Solving the Problems> In order to solve the above-mentioned problems, the present invention includes a work arm that can freely move up and down at the upper end of an upright body, and a direction perpendicular to the up and down movement of the work arm. Attach a horizontal shaft extending to C, attach a wrist for attaching power distribution work tools to the tip of the working arm, attach a holding arm for electric wires, etc. to the shaft, and rotate this holding arm around the shaft. This allows for free movement and movement along the axial direction of the shaft.

<Function> By raising and lowering the working arm attached to the upper end of the body, the tool on the wrist attached to the tip can be brought to the desired working position on the electric wire, and the shaft is held parallel to the electric wire. Work is carried out by holding the wire to be worked on using the arm.

<Example> Hereinafter, an example of the present invention will be described based on the accompanying drawings.

As shown in the figure, a drive mechanism 4 is installed on a pedestal 3 of a bucket 2 that allows the work vehicle 1 to move up and down, and a work arm 6 is mounted on the upper end of a body 5 erected on the drive mechanism 4 so that it can move up and down. installed.

The body 5 is given turning and raising and lowering motions by the drive mechanism 4, and on both sides of the upper end of the body 5 extends in a direction perpendicular to the raising and lowering motion of the work arm 6, and is a fulcrum of the raising and lowering motion of the work arm 6. The shaft 7 is horizontally arranged coaxially with
．． 7' is provided protrudingly, and a working arm 6 is attached to the shaft 7.7'.
A pair of holding arms 8.8' are attached on both sides of the holding arm 8.8'.

The working arm 6 is formed to be extendable and retractable like a cylinder, and is attached to its tip so as to be able to rise and fall and rotate freely, and tools for power distribution work are set on the strike 9.

The holding arm 8.8' includes a base arm 8a whose base end side is attached to the shaft 7.7', a tip arm 8b attached to the tip of the base arm 8a so as to be able to rise and fall, and an electric wire attached to the tip of the tip arm 8b. and a clamp 8C that holds the wire connection sleeve, and both holding arms 8.8'
is the rotation about shaft 7.7' and the rotation about shaft 7.
．． 7' along the axial direction.

FIG. 3 is an explanatory diagram of the degrees of freedom of the robot, in which the tool can move in two directions up and down by the up-and-down movement of the body 5, and can move in the front and back y-directions by extending and contracting the work arm 6.
Furthermore, the holding arm 8.8' will move in the horizontal direction
Raising and lowering movements of the working arm 6 and the holding arm 8.8' are additionally required.

Although the holding arms 8,8' are provided on both sides of the work arm 6, they may be provided only on either the left or right side depending on the content of the work.

The robot of the present invention has the above-mentioned configuration, and when the buckets 1 and 2 are raised to a desired height, the body 5 moves up and down and rotates to raise the shirt] to 7.7' substantially parallel to the electric wire 10. to provide a fixed support point, move the holding arms 8.8' on both sides along the shaft 7.7', and tighten the clamp 8 at the tip.
Both sides of the electric wire 10 are held at the working position at C, and then the working arm 6 is extended/contracted and raised and lowered to carry out predetermined work on the electric wire using the tool of the wrist 9.

FIG. 4 shows the case of connecting electric wires, in which one stripped electric wire 10a is supported by one holding arm 8, and the compression sleeve 11 supported by the other holding arm 8' is attached to the shaft 7'. By moving the holding arm 8' along
direction and insert the sleeve 11 into the conductor of the electric wire 10a.

After inserting the sleeve 11, the holding arm 8' is withdrawn, and a compression tool attached to the wrist 9 of the working arm 6 is used to compress the sleeve 11.

<Effects> As described above, according to the present invention, the holding arm is arranged side by side with the work arm for attaching the power distribution tool, and the holding arm is given the ability to rotate and move toward and away from the work arm.
Work can be carried out while holding the wire, and work such as cutting and connecting wires can be carried out safely and efficiently.

In addition, since the holding arm is movable along the shaft, if the shirts 1 to 1 are placed approximately parallel to the electric wire, the holding arm can be moved parallel to the electric wire, and the fixed support for holding the electric wire can be moved. Points can be easily set.

Furthermore, since the holding arm is movable along the shaft,
It is possible to add work using the movement of the holding arm to work using tools on the work arm, making it possible to perform a wide variety of work.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a robot for power distribution work according to the present invention;
FIG. 2 is a front view showing the same usage state as above, FIG. 3 is an explanatory diagram of the degree of freedom of the robot, and FIG. 4 is an explanatory diagram showing the state when electric wires are connected. 5...Body 6...Work arm 7.
...Shaft 8...Holding arm 9...
list

Claims (3)

[Claims] (1) A list of installing a work arm that can freely move up and down and a horizontal shaft extending in a direction perpendicular to the up and down movement of the work arm to the upper end of the upright body, and attaching tools for power distribution work to the tip of the work arm. A robot for power distribution work, in which a holding arm for holding electric wires, etc. is attached to the shaft, and the holding arm can freely rotate around the shaft and move along the axial direction of the shaft. (2) The power distribution work according to claim 1, wherein the shaft is provided so as to protrude from both sides of the body, and the wire holding arms are arranged on both sides of the work arm and are attached to the respective shafts. robot. (3) The power distribution work robot according to claim 1, wherein the work arm is extendable and retractable in the longitudinal axis direction.