JPS63136908A - Apparatus for attaching and detaching insulator for overhead distribution wire - Google Patents
Apparatus for attaching and detaching insulator for overhead distribution wireInfo
- Publication number
- JPS63136908A JPS63136908A JP61280800A JP28080086A JPS63136908A JP S63136908 A JPS63136908 A JP S63136908A JP 61280800 A JP61280800 A JP 61280800A JP 28080086 A JP28080086 A JP 28080086A JP S63136908 A JPS63136908 A JP S63136908A
- Authority
- JP
- Japan
- Prior art keywords
- claw
- insulator
- attached
- fixed
- sliding frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012212 insulator Substances 0.000 title claims description 41
- 210000000078 claw Anatomy 0.000 claims description 42
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Electric Cable Installation (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は９例えば架空配電線を支持する碍子を活線状態
のまま鉄塔の腕金に取付けたり腕金から取外したりする
架空配電線用碍子脱着装置に関するものである。Detailed Description of the Invention (Industrial Field of Application) The present invention relates to an insulator for an overhead power distribution line, for example, in which the insulator supporting the overhead power distribution line is attached to or removed from the arm of a steel tower while the wire is in a live state. This relates to an attachment/detachment device.
（従来技術）
最近、架空配電線を放電クランプを介して装柱の腕金に
取付けて落雷による事故を防＋ｈすることが試みられて
いる。このような放電クランプを設置するためには従来
架空配を線を腕金に取付けている碍子を取外し、その後
この放電クランプ付碍子が取付けられる。最近このよう
な柱上での活線工事をロボットによって安全に行なうこ
とが提案されているが、この場合にロボットアームの先
端に取付けられるべき碍子脱着装置が要求される。(Prior Art) Recently, attempts have been made to attach overhead power distribution lines to cross arms of poles via discharge clamps to prevent accidents caused by lightning strikes. In order to install such a discharge clamp, the insulator that conventionally attaches the overhead wire to the cross arm is removed, and then the insulator with the discharge clamp is attached. Recently, it has been proposed to safely carry out live wire work on pillars using robots, but in this case, an insulator attachment/detachment device is required to be attached to the tip of the robot arm.
（発明の目的）
本発明の目的は、活線状態のまま碍子を腕金に対して容
易に脱着することができる架空配電線用碍子脱着装置を
提供することにある。(Object of the Invention) An object of the present invention is to provide an insulator removal device for an overhead power distribution line that can easily attach and detach an insulator to a cross arm while the wire is in a live wire state.
（発明の構成）
本発明に係る架空配′ｒＬ線用ナツト脱着装置は、ロボ
ットアームに取付けられる固定枠と、この固定枠に取付
けられた固定爪とこの固定爪に枢支された可動爪とを含
み固定爪と可動爪との間に脱着されるべき碍子を把持す
る爪把持手段と、固定枠に取付けられ可動爪に連結され
て可動爪を固定爪に対して開閉する爪開閉手段と。(Structure of the Invention) The nut attachment/detachment device for an overhead wiring line according to the present invention includes a fixed frame attached to a robot arm, a fixed claw attached to the fixed frame, and a movable claw pivotally supported by the fixed claw. a claw gripping means for grasping an insulator to be attached and removed between the fixed claw and the movable claw; and a claw opening/closing means attached to the fixed frame and connected to the movable claw to open and close the movable claw with respect to the fixed claw.
固定枠に摺動自在に支持された摺動枠と、固定枠に取付
けられ摺動枠を固定枠に対して摺動する摺動枠駆動手段
と、摺動枠に取付けられ爪把持手段に整列して設けられ
て碍子のねじに螺合されまたはこのねじから取外される
べきナツトを係入してナツトを碍子のねじに螺合したり
このねじから外したりするように回転する回転ソケット
と、摺動枠に取付けられ回転ソケットを可逆的に回転す
るソケット回転手段とを備えたことを特徴としている。a sliding frame slidably supported by the fixed frame; a sliding frame driving means attached to the fixed frame for sliding the sliding frame relative to the fixed frame; and a sliding frame drive means attached to the sliding frame and aligned with the claw gripping means. a rotary socket that rotates to engage a nut to be screwed into or removed from the screw of the insulator, and to screw the nut into or out of the screw of the insulator; , a socket rotating means attached to the sliding frame and reversibly rotating the rotating socket.
このように構成すると、ロボットアームによって碍子脱
着装置を架空配電線の碍子に近付けこの碍子を爪把持手
段に入れてその爪開閉手段を閉じ、また回転ソケット内
に碍子のナツトが係入するように摺動枠を前進し、その
後回転ソケットを回転しなから摺動枠をそのナツトのピ
ッチに合せて後退することによって碍子を腕金から取外
すことができる。また爪把持手段に碍子を把持し９回転
ソケットにナツトを係入して碍子を腕金の貫通孔に通す
ようにロボットアームを起動し、その後回転ソケットを
回転しながらナツトのピッチに合せて前進することによ
って碍子を腕今に取付けることができる。With this configuration, the robot arm brings the insulator removal device close to the insulator of the overhead distribution line, puts the insulator into the claw gripping means, closes the claw opening/closing means, and causes the nut of the insulator to engage in the rotating socket. The insulator can be removed from the cross arm by advancing the sliding frame, then rotating the rotary socket, and then retracting the sliding frame in accordance with the pitch of the nut. In addition, the robot arm is started to grip the insulator in the claw gripping means, engage the nut in the 9-turn socket, and pass the insulator through the through hole of the cross arm, and then move forward in accordance with the pitch of the nut while rotating the rotary socket. You can now attach the insulator to the arm by doing so.
（実施例）
本発明の実施例を図面を参照して詳細に説明すると、第
１図及び第２図は本発明に係る架空配電線用碍子脱着装
４１０を示し、また第３図は架空配電線用碍子脱着装置
ｌＯの使用状態を。(Embodiment) An embodiment of the present invention will be described in detail with reference to the drawings. FIGS. 1 and 2 show an insulator attachment/detachment device 410 for an overhead distribution line according to the present invention, and FIG. The usage status of the insulator removal device IO for electric wires.
示す、この架空配電線用碍子脱着装置１０は。This insulator attachment/detachment device 10 for overhead power distribution lines is shown.
ロボットアーム１２にフランジ結合される固定枠１４と
、この固定枠１４に取付けられた固定爪１６とこの固定
枠１４にピン１７で枢支された６７動爪１８とを含み固
定爪１６と可動爪１８との間に脱着されるべき碍子２０
を把持する爪把持手段２２と、固定枠１４に取付けられ
可動爪１８に連結されて可動爪１８を固定爪１６に対し
て開閉する爪開閉手段２４と、固定枠１４に摺動自在に
支持された摺動枠２６と、固定枠１４に取付けられ摺動
枠２６を固定枠１４に対して摺動する摺動枠駆動手段２
８と、摺動枠２６にブラケット２９を介して取付けられ
爪把持手段２２に整夕嗜して設けられて碍子２０のねじ
２０ａに螺合されまたはこのねじ２０ａから取外される
べきナツト２１を係入してナツト２１を碍子２０のねじ
２０ａに螺合したりこのねじ２０ａから外したりするよ
うに回転する回転ソケット３０と、摺動枠に取付けられ
回転ソケットを可逆的に回転するソケット回転手段３２
とを備えている。The fixed frame 14 includes a fixed frame 14 that is flange-coupled to the robot arm 12, a fixed claw 16 attached to the fixed frame 14, and a movable claw 18 that is pivoted to the fixed frame 14 with a pin 17. Insulator 20 to be attached and detached between 18 and 18
a claw gripping means 22 for grasping the fixed frame 14; a claw opening/closing means 24 attached to the fixed frame 14 and connected to the movable claw 18 for opening and closing the movable claw 18 with respect to the fixed claw 16; a sliding frame 26 and a sliding frame driving means 2 attached to the fixed frame 14 and sliding the sliding frame 26 relative to the fixed frame 14;
8, and a nut 21 which is attached to the sliding frame 26 via a bracket 29, is provided in a fixed manner to the claw gripping means 22, and is to be screwed into or removed from the screw 20a of the insulator 20. A rotary socket 30 that engages and rotates to screw the nut 21 into or unscrew the nut 21 from the screw 20a of the insulator 20, and a socket rotation means that is attached to a sliding frame and reversibly rotates the rotary socket. 32
It is equipped with
爪開閉手段２４は、固定枠１４に取付けられたエアシリ
ンダ３４から成り、そのピストンロッド３４ａは可動爪
１８の自由端１８ａに連結されている。従って、エアシ
リンダ３４のピストンロー、ド３４ａを伸長すると、可
動爪１８はピン１７を支点として第２図の時計方向に揺
動して開き、またエアシリンダ３４のピストンロッドを
収縮すると、可動爪１８はピン１７を支点として反時計
方向に揺動して閉じる。The pawl opening/closing means 24 consists of an air cylinder 34 attached to the fixed frame 14, the piston rod 34a of which is connected to the free end 18a of the movable pawl 18. Therefore, when the piston rod 34a of the air cylinder 34 is extended, the movable claw 18 swings clockwise in FIG. 18 swings counterclockwise using the pin 17 as a fulcrum and closes.
摺動枠駆動手段２８は固定枠１４に取付けら ・れたエ
アシリンダ３６から成り、そのピストンロッド３６ａは
摺動枠２６に連結されている。The sliding frame driving means 28 consists of an air cylinder 36 attached to the fixed frame 14, and its piston rod 36a is connected to the sliding frame 26.
従って、エアシリンダ３６のピストンロッド３６ａが伸
長すると、摺動枠２６は第１図の右方向に摺動し、また
エアシリンダ３６を収縮すると、摺動枠２６は第１図の
左方向に摺動する。Therefore, when the piston rod 36a of the air cylinder 36 extends, the sliding frame 26 slides to the right in FIG. 1, and when the air cylinder 36 contracts, the sliding frame 26 slides to the left in FIG. move.
ソケット回転手段３２は摺動枠２６に取付けられたエア
モータ３８とその出力軸３８ａと回転ソケット３０とを
連結するチーエン・スプロケット機構４０とから成って
いる。従って、工アモータ３８を一方向に駆動すると１
回転ソヶ’ント３０はその中のナツト２１を螺合方向に
回転され、またエアモータ３８を反対方向に回転すると
９回転ソケット３０はその中のナツト２１を取外し方向
に回転する。尚、第２図において符号４２はエアモータ
３８の消音器である。The socket rotation means 32 consists of an air motor 38 attached to the sliding frame 26 and a chain sprocket mechanism 40 that connects the output shaft 38a of the air motor 38 to the rotating socket 30. Therefore, if the motor 38 is driven in one direction, 1
The rotary socket 30 is rotated in the direction of threading the nut 21 therein, and when the air motor 38 is rotated in the opposite direction, the nine-turn socket 30 is rotated in the direction of unscrewing the nut 21 therein. Incidentally, in FIG. 2, reference numeral 42 indicates a muffler for the air motor 38.
次に本発明の碍子脱着装置の使用状態を第３図を参照し
てのべると１例えば、架空配電線を支持する碍子２０を
腕金４４から取外す場合にはロボット７−ム１２によっ
て爪上持手段２２が碍子２０を囲むように装置１０を移
動し、爪開閉手段２４のエアシリンダ３４を駆動して可
動爪１８を固定爪１６に対して閉じて碍子２０を把持す
る。一方、′ｔｔ！動枠駆動子駆動手段２８シリンダ３
６を駆動して回転ソケット３０を前進し、その中にナツ
ト２１が係入するようにする。この状態でナラ）２１の
ピッチに合せてソケット回転手段３２によって回転ソケ
ット３０を回転しながら摺動枠駆動手段２８によって回
転ソケット３０を後退させる。このようにしてナツト２
１ｔ−碍子２０から外した後ｉ１１子２０を把持したま
まロボットアーム１２によっテア１１子２０を腕金４４
から外すように移動する。また、爪上持手段２２に碍子
２０を把持し９回転ソケット３０にナラ）２１を係入し
て碍子２０を腕金４４の貫通孔に通すようにロボットア
ーム１２を起動し、その後前とは逆に回転ソケット３０
をソケット回転手段３２によって回転しながらナツト２
１のピッチに合せて摺動枠駆動手段２８によって前進す
ることによって碍子２０を腕金４４に取付けることがで
きる。Next, the usage state of the insulator removal device of the present invention will be described with reference to FIG. The device 10 is moved so that the means 22 surrounds the insulator 20, the air cylinder 34 of the claw opening/closing means 24 is driven, the movable claw 18 is closed against the fixed claw 16, and the insulator 20 is gripped. On the other hand, 'tt! Moving frame driver driving means 28 cylinder 3
6 to advance the rotary socket 30 so that the nut 21 is engaged therein. In this state, the rotating socket 30 is rotated by the socket rotating means 32 in accordance with the pitch of the oak 21, and the rotating socket 30 is moved backward by the sliding frame driving means 28. In this way Natsuto 2
After removing it from the 1t-insulator 20, while holding the i11 insulator 20, use the robot arm 12 to move the tear 11 insulator 20 to the armrest 44.
Move it to remove it. Also, the robot arm 12 is started so that the insulator 20 is gripped by the claw upper holding means 22, the Nara) 21 is engaged with the nine-turn socket 30, and the insulator 20 is passed through the through hole of the cross arm 44. Rotating socket 30 on the contrary
The nut 2 is rotated by the socket rotating means 32.
The insulator 20 can be attached to the cross arm 44 by moving it forward by the sliding frame driving means 28 at a pitch of 1.
（発明の効果）
本発明によれば、上記のように、架空配電線を支持する
碍子を活線状態で自動的に脱着することができる実益が
ある。(Effects of the Invention) According to the present invention, as described above, there is a practical advantage that the insulator supporting the overhead distribution line can be automatically attached and detached while the line is live.
第１図及び第２図は本発明に係る架空配電線用碍子脱着
装置の側面図及び正面図、第３図は装置本体の使用状態
を示す図である。
１０−−−−一架空配電線用碍子脱着装置、１２−一−
−−ロボットアーム、 １４−一−−−固定枠、１６−
−−−−固定爪、１８−−−−− ’ｕ７動爪、２０−
−−−−碍子、２０ａ−−−一−ねじ、 ２１−−−−
−ナツト、２２−−−一一爪把持手段、２４−−−−−
爪開閉手段。
２６−−−−−摺動枠、２Ｂ−−−−−摺動枠駆動手段
、 ３０−−−−一回転ソケット、３２−一一一一ソケ
ット回転手段。
１ｓ２図 １０1 and 2 are a side view and a front view of the insulator removal device for overhead power distribution lines according to the present invention, and FIG. 3 is a view showing the device main body in use. 10----1 Insulator removal device for overhead distribution line, 12-1-
--Robot arm, 14-1---Fixed frame, 16-
-----Fixed claw, 18-----'u7 moving claw, 20-
-----Insulator, 20a---One screw, 21---
-Nut, 22---One claw gripping means, 24------
Claw opening/closing means. 26---Sliding frame, 2B---Sliding frame driving means, 30---One rotation socket, 32-1111 socket rotation means. 1s2 diagram 10
Claims (1)
取付けられた固定爪と前記固定爪に枢支された可動爪と
を含み前記固定爪と可動爪との間に脱着されるべき碍子
を把持する爪把持手段と、前記固定枠に取付けられ前記
可動爪に連結されて前記可動爪を固定爪に対して開閉す
る爪開閉手段と、前記固定枠に摺動自在に支持された摺
動枠と、前記固定枠に取付けられ前記摺動枠を前記固定
枠に対して摺動する摺動枠駆動手段と、前記摺動枠に取
付けられ前記爪把持手段に整列して設けられて前記碍子
のねじに螺合されまたはこのねじから取外されるべきナ
ットを係入して前記ナットを前記碍子のねじに螺合した
りこのねじから外したりするように回転する回転ソケッ
トと、前記摺動枠に取付けられ前記回転ソケットを可逆
的に回転するソケット回転手段とを備えたことを特徴と
する架空配電線用碍子脱着装置。The robot arm includes a fixed frame attached to a robot arm, a fixed claw attached to the fixed frame, and a movable claw pivotally supported by the fixed claw, and grips an insulator to be attached and removed between the fixed claw and the movable claw. a claw gripping means; a claw opening/closing means attached to the fixed frame and connected to the movable claw to open and close the movable claw with respect to the fixed claw; a sliding frame slidably supported by the fixed frame; a sliding frame driving means attached to the fixed frame and sliding the sliding frame relative to the fixed frame; and a sliding frame driving means attached to the sliding frame and provided in alignment with the claw gripping means and attached to the screw of the insulator. a rotary socket that rotates to engage a nut to be screwed on or removed from the screw, and to rotate the nut to be screwed onto or removed from the screw of the insulator; and a rotating socket attached to the sliding frame. and socket rotation means for reversibly rotating the rotating socket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28080086A JPH07118850B2 (en) | 1986-11-27 | 1986-11-27 | Insulator mounting and demounting equipment for overhead distribution lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28080086A JPH07118850B2 (en) | 1986-11-27 | 1986-11-27 | Insulator mounting and demounting equipment for overhead distribution lines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63136908A true JPS63136908A (en) | 1988-06-09 |
| JPH07118850B2 JPH07118850B2 (en) | 1995-12-18 |
Family
ID=17630147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP28080086A Expired - Lifetime JPH07118850B2 (en) | 1986-11-27 | 1986-11-27 | Insulator mounting and demounting equipment for overhead distribution lines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07118850B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5520455A (en) * | 1993-04-05 | 1996-05-28 | Kabushiki Kaisha Kobeseikosho | Batch type kneader having specified parameters and chamfered lands |
-
1986
- 1986-11-27 JP JP28080086A patent/JPH07118850B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5520455A (en) * | 1993-04-05 | 1996-05-28 | Kabushiki Kaisha Kobeseikosho | Batch type kneader having specified parameters and chamfered lands |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07118850B2 (en) | 1995-12-18 |
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