JPS62268312A - Robot for distribution installation - 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 Field of Industrial Application This defense relates to a power distribution work robot for performing live line work at high places.

<Prior Art> In order to improve bone motion safety conditions for high-altitude live line work in the most 'iX power distribution plants 11--, automation of live line work is being considered in various places.

That is, as shown in FIG. 4, a robot 2 is mounted on an aerial work vehicle 1, and an operator gives commands to the robot to strip the high-voltage wire 3, attach several connectors, and attach the connector. Installation of the cover involves the following operations.

By the way, the robot 1 used for high-altitude live wire work
-2, it is necessary to pass the tool 4 at the tip without touching the parallel high-voltage electric wire 3 and reach the desired working position. The bucket 5 of the work vehicle 1 is connected to a high-voltage electric
, ;13 is required to have a sufficient length.

Conventional robots proposed for high-altitude live wire work as described above are formed into a multi-jointed structure in which a plurality of arms are pivotally connected to be flexible and extendable, such as the invention described in Japanese Patent Application Laid-Open No. 60-29286. was.

<Problems to be solved by the invention> However, the conventional multi-jointed robots as described above do not allow the tool at the tip to be positioned at the working position by adjusting the angle of each arm individually. Because it doesn't happen,
If the distance between the upper and lower high-voltage wires is narrow, there is a risk that the arm or joint may come into contact with or get caught in the wires, and the maneuverability of moving the shellfish through the wires to reach the working position is poor. There is a problem.

In order to solve the above-mentioned problems, this invention
It provides a power distribution pot that can be set in the vertical position and has excellent forward movement, allowing for safe and efficient work at high places with live wires. The purpose is to

<Means for Solving the Problems> In order to solve the above-mentioned problems, the present invention provides a mechanism that extends and contracts downwardly on the base axis. a first telescoping arm, a hoisting arm, wheels and tracks that enable the robot to move laterally, a second telescoping arm that is supported in a horizontal state at the upper end of the parallelogram A structure and can be extended and contracted in the horizontal direction, and a hoisting arm. In order to maintain the height position of the second telescoping arm at a constant level, the first batting arm telescoping control device is constructed with a squirrel 1 at the tip of the second telescoping arm.
~ is installed so that it can be rotated and swung freely.

<Function> The telescoping arm is supported in a horizontal state at the upper end of the parallelogram mechanism installed on the frame of the work vehicle, and by raising and lowering the undulating arms of the parallelogram, the second telescoping arm is Move forward (while maintaining a horizontal position).

At this time, when the telescopic matrix 6II device of the first telescopic arm is interlocked, the second telescopic arm moves forward while maintaining a constant height position.

Next, by actuating the second telescoping arm, the tool attached to the tip of the wrist can be brought closer to a working position relative to the overhead power distribution line.

Furthermore, when inserting and compressing the wire connection sleeve into the wire, it is necessary to move the tool at the tip laterally along the wire, and at this time, the base arm mount must be moved on a track or the joint These operations can be easily performed by moving the parts along their axes.

<Examples> Examples of the present invention will be described below with reference to Figures 1 to 3 of the attached drawings.
This will be explained based on the diagram.

As shown in the figure, 11 is an automatic arm, 12 is 4 buckets installed on the work vehicle that can be lowered freely, a track 2/1 in the left and right direction is installed on the base 13 in the front part, and a mount 25 is the wheel of the lower part of the bucket. The first telescopic arm 14 (base arm) is provided on top of the first telescopic arm 14 (base arm), which is vertically telescopic.
The lower end shaft 19 of the undulating arm 15 is pivotally supported on the upper end head 14a of the first telescoping arm 14.

16 is a parallelogram I that moves up and down together with the up and down arm 15.
F! ! 'Wi, and the automatic arm 11 is composed of this parallelogram machine @1G and the second telescoping arm 17 supported horizontally at its upper end.

A tool 18a is attached to the tip of the second telescoping arm 17 (inserted into the pull wrist 18).

The parallelogram mechanism 16 has a rotating cylinder 22 that connects the rear end of a fixed arm 20 protruding from the rear surface of the upper head 14a and the rear end of a horizontal arm 21 pivoted to two ends of the undulating arm 15. When the undulating arm 15 moves up and down, the horizontal arm 21 maintains a horizontal state and changes its vertical height.

The oil second telescopic arm 17 is formed as a cylinder mechanism in which a large diameter arm 17a and a small diameter arm 17b are telescopically fitted together, and the large diameter arm 17a is fixed and integrated with the horizontal arm 21 so that its axis is horizontal. When the parallelogram i structure 16 is raised and lowered, it moves up and down in a horizontal state.

A cylinder 23 is installed on the side 16 of the parallelogram machine (between the pulling arm 15 and the large diameter arm 17a of the second telescoping arm 17).
is interposed to maintain the independent state of the parallelogram mechanism 16, and by extending and contracting this cylinder 23 and changing the angle of the hoisting arm 15 and the second telescoping arm 17, the parallelogram machine 11416 is raised and lowered. and the second telescoping arm 1
The height position of 7 can be adjusted.

The strike 18 attached to the tip of the small diameter arm 17b connected to the second telescoping arm 17 can be freely rotated and swung.
A power distribution work tool 18a is attached to the tip of the wrist 18, as described above, in accordance with the content of the work.

FIG. 3 is an explanatory diagram of the degrees of freedom of the automatic arm 11, in which the base arm, that is, the first telescoping arm 14 expands and contracts to move up and down Z.
Also, by expanding and contracting the second telescoping arm 17, movement in the horizontal X direction can be obtained, and the tool can be freely moved in the Y direction by combining the Z direction and the X direction.

Furthermore, by simultaneously controlling the rotation cylinder 22 centered on the first telescoping arm 14 in these degrees of freedom, the second telescoping arm 1
The vertical movement of the wrist 18 and the rotation and rocking of the wrist 18 can be observed, and the tool can be reliably positioned at the desired working position.

The height of the second telescoping arm 17 can be adjusted by vertically extending and contracting the first telescoping arm 14 by adjusting the height of the parallelogram 14 of the undulating arm 15.
Since it can be replaced with f416, the use of the first telescoping arm 14 may be omitted.

In addition to the means for moving the pedestal 25 along the track 24 as described above, for example, a squirrel 1-18 may be attached to the small diameter arm 17b.
The wrist 18 can also be moved laterally by means of moving the axis of the articulation of the automatic arm 11, such as the axis 26 on which the wrist 18 is pivoted.

This Jn Ming robot has the above-mentioned configuration, and its operation is as follows: The packet 12 is raised to make the automatic arm 11 reach the working height position, and then the cylinder 23 expands and contracts to form a parallelogram. [The height of the second telescoping arm 17 is adjusted by the vertical movement of 416 and the vertical extension/contraction of the first telescoping arm 14 so that it corresponds to the space between the high voltage electric currents 127 and 28 as shown in FIG. By extending the arm 17, the wrist 18 at the tip is connected to the high voltage electric wire 2.
When the wrist 18 passes between 7 and 28 and looks over the wire at the work position, the tool 18a is positioned by rotating or moving the wrist 18 laterally along the wire to perform the desired work. be.

<Effects of the Invention> As described above, according to the present invention, a wrist for holding a tool is attached to the tip of the second telescoping arm which is supported horizontally at the upper end of the parallelogram mechanism including the undulating arm on the first telescoping arm. Therefore, it has excellent vertical height position setting and forward straight movement, and even when the vertical distance between high-voltage electric wires is narrow, the wrist and tools can be seen at the working position without touching the electric wires. For work that requires lateral movement, the wrist and tools can be moved laterally, making it possible to perform high-altitude live wire work safely and efficiently.

[Brief explanation of drawings]

FIG. 1 is a front view of a robot for power distribution work according to the present invention;
FIG. 2 is a plan view of the same as above, FIG. 3 is an explanatory diagram showing the degree of freedom of the automatic arm (of same), and FIG. 4 is a front view of a conventional power distribution robot.

Claims (3)

[Claims] (1) In a robot for power distribution work, in which an automatic arm is mounted on an aerial work vehicle, and a wrist with a power distribution work tool at the end is attached to the tip of the automatic arm, the automatic arm is mounted on a lifting arm. a parallelogram mechanism that is provided with a lifting motion together with the lifting arm; and a telescoping arm that is supported in a horizontal state at the upper end of the parallelogram mechanism and is capable of expanding and contracting in the horizontal direction. A robot for power distribution work, characterized in that a wrist is attached to the tip of a telescoping arm so that it can rotate and swing freely. (2) The automatic arm includes a first telescoping arm that is vertically telescoping, a second telescoping arm that is horizontally telescoping, and a first telescoping arm for maintaining a constant height position of the second telescoping arm. The robot for power distribution work according to claim 1, characterized in that it is constituted by an expansion/contraction amount control device. (3) The robot for power distribution work according to claim 1 or 2, characterized in that a lateral movement mechanism is provided in the base arm mounting frame of the automatic arm or in the joint of the arm.