KR101765087B1 - Apparatus for separating and connecting elbow connector for transformer - Google Patents

Abstract

The present invention relates to a device to attach and detach an elbow connector, capable of improving the operational efficiency of the device and the workability of attaching and detaching an elbow connector by enabling one or more elbow connectors to be attached or detached. The present invention includes: an upper installation member; a lower installation member; an elevating device installed in the upper and lower installation members to be able to be slid toward an elbow connector; a sliding device installed on the rear surface of the elevating device to be elevatable; a central attachment and detachment device moving forward and backward to combine or separate first, second, and third sliding members and a central elbow connector with or from a bushing; and upper and lower attachment and detachment devices installed in the left and right sides of the central attachment and detachment device, and connected with the first, second, and third sliding members and supported to move forward and backward and elevated to combine or separate upper and lower elbow connectors with or from the bushing. When the first sliding member is slid leftward and rightward, the central attachment and detachment device and the upper and lower attachment and detachment devices are also slid leftward and rightward.

Description

[0001] APPARATUS FOR SEPARATING AND CONNECTING ELBOW CONNECTOR FOR TRANSFORMER [0002]

More particularly, the present invention relates to an elbow joint detachment device, and more particularly, to a device for detachably attaching a plurality of elbow joints to one or two or more teeth, thereby improving the workability of the elbow joint and the operation efficiency of the detachment device. To an elbow joint detachment device having an improved structure.

Generally, a transformer should be replaced with a new transformer for the purpose of replacing / repairing internal equipment due to long-term use, such as aging, and for overloading or overloading the transformer to increase the capacity of the transformer.

When replacing such a transformer, it is necessary to use an uninterruptible transformer replacement vehicle to connect the power source to the live state, and to provide an uninterrupted power supply system, such as a home, office, or factory, And the uninterrupted replacement work of the ground transformer utilizing it is performed.

In this uninterrupted power supply method, the extra-high voltage side cable and the low-voltage side cable of the transformer are separated from each other, and the transformer is replaced with the abnormal (faulty) transformer while continuously supplying power to the transformer vehicle.

Especially, as shown in FIG. 1A, the extra high-voltage side cable (primary side) of such a transformer has left and right elbow connecting members H1A to H3A (H1B to H3B) As shown in FIG. 1B, the heights of the three phases are differently formed and connected to the bushing insert B / I of each bushing B. The elbow joint is connected to the bushing insert B / 2, the left elbow connecting members H1A to H3A are connected to the cable junction 5, one end of which is already connected to the transformer 1 and is connected to the transformer 1, The right elbow connecting members H1B to H3B are connected to the insulation plug SOP 6 and separated.

At this time, in the above-described method of replacing the uninterruptible power transformer, it is most important to separate the elbow connecting member connected to the transformer into a live state.

Conventionally, the opening and closing of the elbow joint has been separated and connected by a manual operation of a worker using a hot stick in a live line state.

Such a manual method has a drawback in that, in addition to a safety accident that damages an operator due to an arc generated when the elbow joint is opened, a power failure or an arc ground fault occurs.

The reason for this is that when the elbow joint is separated (pulled out) from the transformer, precise horizontal movement due to rapid and precise centering, as well as the separation distance of at least 250 mm, There is a problem that frequent safety accidents occur due to the difficulty in performing such precise work and distance maintenance as well as rapid separation work.

Accordingly, 'Elbow connecting live wire opening / closing device' which can separate and connect the elbow connecting material according to the uninterrupted replacement of the ground transformer by remote control outside the safety distance in an active state, accurately and quickly, thereby maximizing safety and workability is disclosed Publication No. 2007-0122001 (published on Dec. 28, 2007, hereinafter referred to as the first prior art document) has been devised.

1 and 2, the elbow joint connected to the bushing B of the transformer 1 will be described in detail. The cable junction 5 connected to the mobile cable car is connected to the transformer 1 The left elbow joint member H1A separated into the live wire state in the state of being temporarily mounted with the toggle clamp T to the junction fixture 3 mounted using the parking stand 4 of the vehicle The remaining elbow joints (H2A, H2A) are separated in a live state by repeating the process of connecting to and separating from the bushing insert.

The left elbow joint members H1B to H3B are separated and connected to the insulation plug 6 mounted on the parking stand 4 of the transformer 1 in the same manner as described above, The elbow connection member is connected to the transformer to be replaced.

However, the 'Elbow connection live wire opening / closing device' disclosed in the above-mentioned cited document is provided by a single body composed of complicated components, so that it can be installed and dismantled by a plurality of persons in the transformer, / Deconstruction workability is poor.

In addition, by attaching a left and right (X-axis) coordinate system to the top of the transformer and attaching a coordinate setting probe for setting the position of the elbow restraint part of the elbow opening / closing means and setting the coordinates by aligning with the operation ring of the elbow, The time consumed, of course, was less accurate.

Further, since the apparatus is complicated in configuration, it is difficult to secure a view due to the movement of the elbow opening / closing means, so that the opening and closing operation of the elbow connecting member is extremely inconvenient.

In order to solve the problem of the first prior art document, it is easy to set the coordinates of the elbow joint at the time of uninterruptible replacement of the transformer, An "elbow connection live wire opening and closing device" was devised.

The improved 'Elbow connection active wire opening / closing device' is disclosed in Patent Registration No. 10-0842321 (Registered on June 26, 2008, hereinafter referred to as the second prior art).

However, in the second prior art 'Elbow connection live wire opening / closing device', the configuration is too complicated to operate and the size of the device is too large to move the device very easily.

Particularly, there is a problem that the transformer opening / closing door must be detached from the transformer due to the structure of the apparatus when the apparatus is used to separate the elbow connecting member.

Also, as another prior art document, there is an 'elbow joint separating device' of Registered Patent Publication No. 10-1041732 (registered on June 06, 2011, hereinafter referred to as the third preceding document).

Although this third prior art document is simpler than the first and second prior art devices, it is still difficult to operate (or operate) due to the complicated structure of the device, the movement of the device is difficult and the opening / closing door of the transformer must be removed from the transformer There still exists a problem that the device can be operated.

An apparatus for removing and removing an elbow connection member that solves such a problem is disclosed in Patent Registration No. 10-1656805 (registered on September 6, 2016).

The above-described patent has an advantage that the structure of the apparatus is simple, the operation of separating the elbow joint is convenient, the movement of the apparatus is easy, and both the elbow joints can be separated at the same time.

However, since the above-described patent discloses that all of the elbow joint members are simultaneously detached, for example, when only one or two elbow joint members are detached from the three elbow joint members, the housing for holding the other one or two elbow joint members is detachably attached Removal (or separation) from the device is required.

As a result, the detachment operation is very inconvenient.

In addition, when only one or two elbow joint members are detached, the three devices simultaneously operate, thereby reducing unnecessary electric waste and the lifetime of the detachment device.

As a result, the operation efficiency of the desorption apparatus drops.

Since the three devices operate at the same time, the operation of the device must be very precise. If one of the three devices has an assembly error, for example, all three devices can not be used. .

Accordingly, the precision of the desorption apparatus must be high, so that the production cost of the desorption apparatus is increased, and the workability is reduced.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide an apparatus and a method for disassembling a three- And it is an object of the present invention to provide an elbow joint detachment device which can reduce the production cost of the apparatus and improve the workability.

According to another aspect of the present invention, there is provided an elbow joint detachment apparatus comprising: an upper elbow joint member disposed in a V-shaped configuration, And an elbow joint detachment device for separating the lower elbow joint member from the bushing of the transformer and engaging with the bushing,

An upper mounting member provided on the frame, the upper mounting member having an upper sliding bar for sliding the elbow connecting / detaching device back and forth;

A lower mounting member installed at a lower portion of the frame, the lower mounting member having a lower sliding bar for sliding the elbow connection / detachment device with the upper sliding bar forward and backward;

An elevating device installed on the upper mounting member and the lower mounting member and slidably installed on the elbow joint;

A sliding device installed on the rear surface of the lift device so as to be movable up and down;

A first sliding member provided on the rear surface of the sliding device so as to be slidable in the left and right directions;

A second sliding member provided behind the first sliding member and interlocked with the first sliding member;

A third sliding member connected to the first and second sliding members at the rear of the second sliding member;

A forward / backward driving device installed on a rear surface of the third sliding member for holding the first sliding member to advance and backward;

A center detachment device connected to and supported by the first, second, and third sliding members, for holding the center elbow connection member to separate from the bushing and moving forward and backward to engage the bushing;

The upper and lower elbow joint members are separated from the bushing and are coupled to the first, second and third sliding members so as to move forward and backward And an upper and lower detachment device that is operated to move up and down,

And the central detachment device and the upper and lower detachment device also slide left and right when the first sliding member slides left and right.

In the present invention, a plurality of connecting members for integrally connecting the first, second, and third sliding members are provided in parallel to the first, second, and third sliding members, And is installed to be interlocked with the upper and lower detachment devices.

In the present invention, the first, second, and third sliding members are provided with a plurality of support members for supporting the first, second, and third sliding members integrally.

According to the embodiment of the present invention, the three devices for detaching and attaching the three elbow joint members can be individually operated, so that the detachment operation can be performed in units of one, two or three elbow joint members, .

In addition, since one, two or three desorption devices can be operated individually or simultaneously, the operating efficiency of the desorption device is improved.

In addition, since the desorption apparatus is individually operated as compared with the prior art, the precision of the desorption apparatus is not required to be high, so that the production cost of the desorption apparatus can be reduced and the workability during the desorption operation can be remarkably reduced.

FIG. 1A is a front view showing an extra high voltage cable connection structure of a transformer; FIG.
1B is an excerpt side view showing the "A" portion of FIG. 1A.
Fig. 2 is an example of the installation of junctions and insulation plugs in a transformer. Fig.
3 is a rear perspective view of the elbow joint detachment device according to the present invention viewed from the rear side.
Fig. 4 is a side perspective view of the elbow joint detachment device according to the present invention shown in Fig. 3, viewed from the side. Fig.
Fig. 5 is a front perspective view of the elbow joint detachment device according to the present invention shown in Fig. 3 when viewed from the front; Fig.
Fig. 6 is a schematic perspective view of the essential part of the elbow joint material removing apparatus according to the present invention shown in Fig. 3; Fig.
FIG. 7 and FIG. 8 are explanatory views showing the operating state of the center detachment device and the upper and lower detachment devices of the elbow connection material detachment device of FIG. 6 according to the present invention.
FIG. 9 and FIG. 10 are perspective views showing the fastening state of the housing and the elbow joint of the elbow joint detachment device according to the present invention. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 3 is a rear perspective view of the elbow joint detachment apparatus according to the present invention, and FIG. 4 is a side perspective view of the elbow joint detachment apparatus according to the present invention as viewed from the side of FIG. 3 is a front perspective view of the elbow joint detachment device according to the present invention seen from the front.

FIG. 6 is a perspective view showing a substantial part of the essential part of the apparatus for removing and connecting an elbow joint according to the present invention shown in FIG.

7 and 8 are perspective views showing the operating state of the center detachment device and the upper and lower detachment device of the elbow connection material detachment device according to the present invention shown in Fig. 6, respectively.

9 and 10 are perspective views showing a state of engagement between the housing and the elbow joint of the elbow joint detachment apparatus according to the present invention.

Prior to the description, the constitution of the transformer 1 is schematically shown in the drawings referred to hereinafter, and in the following drawings, the same reference numerals as those of the reference numerals shown in Figs. 1A to 2 show the same members, The description of which will be made with reference to Figs. 1A and 2, and the description thereof will be omitted.

Referring to FIGS. 1 to 10, an elbow connection / material detachment apparatus according to the present invention is characterized in that three portions, one on the lower side and the other on the lower side from the upper portion of the inner wall surface 1a of the frame 1 of the transformer, The upper elbow connecting members H1A and H1B and the central elbow connecting members H2A and H2B and the lower elbow connecting members H3A and H3B are separated from the bushing B of the transformer, to be.

In detail, the elbow joint detachment device according to the present invention includes an upper installation member provided on an upper portion of the frame 1 and having an upper sliding bar 23 for sliding the elbow joint detachment device back and forth, And a lower mounting member provided at a lower portion of the frame 1 and having a lower sliding bar 26 for sliding the elbow connection / detachment device with the upper sliding bar 23 in the forward and backward directions.

The upper mounting member includes an engaging member 21 mounted on an upper portion of the frame 1, a pushing member 22 provided so as to be pushed up and down on the engaging member 21, And the upper bar supporting member 24 is provided.

The lower mounting member includes a fixing member 25 for fixing the lower sliding bar 26 to the inner wall surface 1a of the frame 1 and a lower member 25 for fixing the front portion of the lower sliding bar 26. [ And a support member (27).

The fixing member 25 is composed of a magnet fixed to the inner wall surface 1a of the frame 1.

However, if the fixing member 25 is fixed to the inner wall surface 1a of the body of the transformer 1 and can be easily removed after the work, the fixing member 25 But is not limited to a magnet member.

The elbow connecting member removing apparatus according to the present invention is provided on the upper bar supporting member 24 of the upper mounting member and the lower bar supporting member 27 of the lower mounting member and the elbow connecting members H1A, H2A, H3A, H1B 32B and 33B provided on the rear side of the elevating devices 31, 32 and 33 so as to be slidable toward the front side .

The elevating device and the sliding device include an LM guide device, a ball screw device, and an LM guide device and a driving unit for driving the ball screw device.

The elbow joint detachment device according to the present invention comprises a first sliding member 41 provided on the rear surface of the sliding device so as to be slidable in the left and right direction and a second sliding member 41 disposed behind the first sliding member 41 A third sliding member 43 connected to the first and second sliding members at the rear of the second sliding member 42 and a third sliding member 43 connected to the first and second sliding members 42, 43 for moving the first sliding member 41 forward and backward.

The front and rear driving device includes a driving member 45 fixed to the rear surface of the third sliding member 43 and a cylinder 44 for holding the first sliding member 41 by the driving member 45 to advance and retreat ).

The elbow connection / detachment device according to the present invention is connected to and supported by the first, second and third sliding members 41, 42 and 43 to hold the center elbow connection materials H2A and H2B, A central detachment device 60 for moving forward and backward in order to separate and connect to the bushing B, and a central detachment device 60 arranged side by side on the left and right sides of the center detachment device 60, H1B, H3A, and H3B) to be separated from the bushing (B) and to be coupled to the bushing (B). The upper and lower elbow joints And an upper and lower attaching / detaching device 50 that is operated to move forward, backward, and up and down.

When the first sliding member 41 is slid to the left and right, the center detachment device 60 and the upper and lower detachment device 50 are also slidable together.

In addition, the elbow connection / dismounting device according to the present invention is characterized in that the first, second and third sliding members 41, 42 and 43 are provided with a first, second and third sliding members 41, A plurality of connecting members 71 are provided in parallel to one another and the connecting member 71 is installed to be interlocked with the central detachment device 60 and the upper and lower detachment device 50.

The first, second and third sliding members 41, 42 and 43 have a plurality of support members 72 for supporting the first, second and third sliding members 41, Are installed side by side.

The center detachment device 60 includes a central housing 61 for housing the central elbow connecting members H2A and H2B and a central fixed portion 61 provided at the rear of the central housing 61 to fix the central housing 61 A central connecting member 63 connecting the central housing 61 and the central fixing member 64 and a central connecting member 63 extending from the central housing 61 to the central connecting member 63, A central control unit 62 for controlling and driving the center housing 61 and a central portion driving unit 66 for driving the central housing 61 to move forward and backward.

The central part removing device 60 is provided with a central supporting part 65 for connecting the central part driving part 66 and the central part fixing part 64 and holding the central part fixing part 64.

The upper and lower attachment and detachment device 50 includes upper and lower housings 51 for accommodating the upper and lower elbow connecting members H1A, H1B, H3A and H3B, and upper and lower housings 51 provided at the rear of the upper and lower housings 51 The upper and lower connecting members 53 connecting the upper and lower housing 51 and the upper and lower lifting members 54 and the upper and lower connecting members 53 in the upper and lower housings 51, An upper and lower control unit 52 for controlling and driving the upper and lower connecting members 53 and an upper and lower driving unit 56 for driving the upper and lower housings 51 to move forward and backward.

The upper and lower lifting members 54 include an LM guide.

The upper and lower desorption apparatuses 50 are provided with upper and lower support members 55 for connecting the upper and lower drive units 56 and the upper and lower lift members 54 and holding the upper and lower lift members 54.

9 and 10, the upper and lower housing detachment device 50 and the central detachment device 60 are provided with an upper housing part 51 and a central housing part 52 by an upper and lower control part 52 and a central control part 62, (52a, 52b) for fastening and receiving the elbow connecting members (H1A, H2A, H3A) to the base plate (61).

9 and 10, since the opening and closing of the locking members 52a and 52b are performed in the same manner in the upper and lower detachment device 50 and the central detachment device 60 as shown in FIGS. 9 and 10, (50).

9, the locking members 52a and 52b are slidably mounted on the upper and lower control unit 52 and slidable left and right from the rear of the upper and lower housings 51. As shown in FIG.

10, when one of the elbow connecting members H1A and H3A is received in the upper and lower housing 51, the upper and lower control unit 52 is driven so that the locking members 52a and 52b And slides inside the upper and lower housing 51.

When the locking members 52a and 52b are slid, the locking members 52a and 52b enter the latch N provided at the rear end of the elbow connecting members H1A and H3A, and the elbow connecting members H1A and H3A And is fixedly fastened to the upper and lower housings 51.

The elbow connecting members H1A and H3A are detached by advancing or retracting the upper and lower housings 51 accommodating the elbow connecting members H1A and H3A.

In addition, although not shown in the drawings, the elbow connector detachment apparatus according to the present invention may further include a controller for remotely adjusting or controlling all the devices applied to the elbow connector detachment apparatus according to the present invention.

Hereinafter, the operation of the apparatus for removing and detaching an elbow joint according to the present invention will be described.

3 to 10, the elbow joint detachment device according to the present invention is installed in the frame 1 of the transformer and the elbow joints H1A, H2A, H3A, H1B, and H2B Operation of the upper and lower attaching / detaching devices 50 among the three attaching / detaching devices 50, 60 for attaching / detaching the elbow connecting members H1A, H2A, H3A, H1B, H2B, do.

The two upper elbow joint members H1A and H1B or the two lower elbow joint members H3A and H3B can be attached and detached by the upper and lower attaching / detaching devices 50, but only the elbow joint members H1A and H3A are detached / .

Therefore, in the following description, any one of the two elbow joints H1A and H3A is referred to when the reference numerals are not described in the elbow joint.

When the upper elbow connecting member H1A is detached from the upper housing member 51 and the upper and lower connecting members 53 in a state where the upper housing unit 51 and the upper and lower connecting members 53 accommodating the elbow connecting members H1A and H3A are connected When the lower elbow joint member H3A is detached, the upper and lower housings 51 are raised and lowered.

To this end, the upper and lower connecting members 53 are fixed to the upper and lower lifting members 54 to raise or lower the upper and lower housings 51, respectively.

Then, the upper and lower housings 51 are advanced or retracted to detach the elbow joint member.

At this time, as described above, the elbow joint member is fastened and fixed to the upper and lower housing 51 by driving and operating the upper and lower control unit 52 and the lock members 52a and 52b, and the upper and lower lifting members 54, The control unit 52 is driven and controlled remotely by the controller.

Since the left and right central elbow joint members H2A and H2B are disposed at the same height on the frame 1 in the central detachment device 60, the center housing 61 is moved up and down no need.

Thus, in the case of the central part detachment device 60, the upper and lower lifting members 54 of the upper and lower attaching / detaching devices 50 are not necessary, and only the central fixing member 64 fixing the central connecting member 63 is required.

The operation method of the center part detachment device 60 is the same as that of the upper and lower part detachment device 50 except that the center housing 61 does not move up and down.

The central detachment device 60 and the upper and lower detachment device 50 can be operated at the same time. However, the central detachment device 60 and the upper and lower detachment device 50 can be operated at the same time, The connection members H1A, H2A, H3A or H1B, H2B, and H3B can be detached at the same time.

Since the elbow joint members H1A, H2A, H3A, H1B, H2B and H3B are arranged on the inner wall surface 1a of the frame 1 at three positions on one side and the other side in a V-shape, When it is necessary to move the upper and lower attaching / detaching devices 50 to the left and right, the sliding device as shown in Figs. 3 to 5 may be driven.

The first sliding member 41 is linked to the sliding device and the connecting member 71 and the supporting member 72 are connected to the first sliding member 41 and the second sliding member 41. [ 3 sliding members 41 and 42 and the central detachment device 60 and the upper and lower detachment device 50 are connected to each other, All of the devices will slide to the left and right.

Accordingly, the elbow connecting members H1A, H2A, H3A, H1B, H2B, and H3B on one side and the other side can be easily detached.

The elbow joint members H1A, H2A, H3A, H1B, H2B, and H3B of the transformer can be easily attached and detached by the simple configuration and operation as described above.

Particularly, the elbow joint material removing apparatus according to the present invention is provided so that all the devices are interlocked with the frame 1, thereby providing a cause of easy operation.

Since the upper and lower sliding bars 23 and 26 are fixed to the fixing member 25 such as the fastening member 21 and the magnet member which are easily attached to and detached from the upper portion of the frame 1, It is very easy and convenient to install and detach the elbow joint detachment device according to the present invention.

Further, it is easy to adjust the position of the elbow connector detachment device according to the present invention, which is very convenient.

As described above, the apparatus for removing and connecting the elbow joint members H1A, H2A, H3A, H1B, H2B and H3B of the transformer 1 according to the present invention has been described as an embodiment, The replacement of the ground transformer and the switchgear can also be replaced by using the detachment of the connection material.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. .

Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

1. Frame
21. Engaging member
22. The jaw member
23. Top sliding bar
24. Upper bar support member
25. Fixing member
26. Lower sliding bar
27. The lower bar supporting member
41. A sliding device
42. The sliding member
43. The third sliding member
45. Drive member
50. Top and bottom detachment device
60. Center detachment device
71. Connecting member
72. Support member
B. Bushing
H1A, H2A, H3A, H1B, H2B, H3B. Elbow joint

Claims (7)

The upper elbow joints H1A and H1B, the central elbow joints H2A and H2B and the lower elbow joints H3A and H2B arranged in a V-shape are disposed so as to be opposed to each other at one side and the other side downward from the upper portion of the wall surface of the frame 1, (H3A, H3B) from a bushing (B) of a transformer and coupling the bushing (B) to the bushing (B)
An upper mounting member provided at an upper portion of the frame 1 and having an upper sliding bar 23 for allowing the elbow connecting / detaching apparatus to slide forward and backward;
A lower installation member provided at a lower portion of the frame 1 and having a lower sliding bar 26 for sliding the elbow connection / detachment device with the upper sliding bar 23 back and forth;
Elevating devices (31, 32, 33) provided on the upper and lower mounting members and slidably mounted on the elbow connecting members (H1A, H1B, H2A, H2B, H3A, H3B);
Sliding devices (35, 37, 38) installed on the rear surface of the elevating devices (31, 32, 33) so as to be able to move up and down;
A first sliding member (41) provided on the rear surface of the sliding devices (35, 37, 38) so as to be slidable in the left and right directions;
A second sliding member (42) provided in the rear of the first sliding member (41) and interlocked with the first sliding member (41);
A third sliding member 43 connected to the first and second sliding members 41 and 42 at the rear of the second sliding member 42;
A forward / backward driving device installed on the rear surface of the third sliding member 43 to hold the first sliding member 41 to move forward and backward;
The first and second sliding members 41, 42 and 43 are connected to and supported by the first, second and third sliding members 41 and 42 to separate the central elbow connecting members H2A and H2B from the bushing B, A center detachment device (60) for forward and backward movement to allow the user to perform the operation;
The upper and lower elbow joint members H1A, H1B, H3A, and H3A are installed side by side on the left and right sides of the center part detachment device 60 and are connected to and supported by the first, second and third sliding members 41, , And H3B to be separated from the bushing (B) and to move forward, backward, and up and down to engage the bushing (B)
The center detachment device 60 includes a central housing 61 for accommodating the center elbow joints H2A and H2B; A central fixing member (64) installed at the rear of the central housing (61) to fix the central housing (61); A central connecting member (63) connecting the central housing (61) and the central fixing member (64); A central control unit (62) for controlling and driving the central connecting member (63) so that the central connecting member (63) is detachably driven in the central housing (61); A central portion driving portion 66 for driving the central portion housing 61 to move forward and backward; A center support 65 for supporting the center portion fixing member 64 to connect the center portion driving portion 66 and the center portion fixing member 64,
The upper and lower attachment / detachment device 50 includes upper and lower housings 51 for housing the upper and lower elbow joints H1A, H1B, H3A, and H3B; An upper and lower lifting member (54) installed at the rear of the upper and lower housing (51) to raise and lower the upper and lower housing (51); An upper and lower connecting member 53 connecting the upper and lower housing 51 and the upper and lower lifting members 54; A top and bottom control unit 52 for controlling and driving the upper and lower connecting members 53 so that the upper and lower connecting members 53 are detachably driven in the upper and lower housings 51; An upper and lower drive unit 56 for driving the upper and lower housings 51 to move forward and backward; And an upper and lower support 55 for connecting the upper and lower drive portions 56 and the upper and lower lifting members 54 and holding the upper and lower lifting members 54,
Wherein the center detachment device (60) and the upper and lower detachment device (50) also slide left and right when the first sliding member (41) slides left and right. The method according to claim 1,
The first, second and third sliding members 41, 42 and 43 are provided with a plurality of connecting members 71 for integrally connecting the first, second and third sliding members 41, However,
Wherein the connecting member (71) is installed so as to be interlocked with the central part removing device (60) and the upper and lower part removing device (50). The method according to claim 1,
The first, second and third sliding members 41, 42 and 43 are provided with a plurality of support members 72 for supporting the first, second and third sliding members 41, And an elbow joint member detachably attached to the elbow joint member. delete delete delete delete

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