JPH0345605B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a manipulator for live line work, which is used when working on parts kept at a high potential.

(Prior Art) For example, when working on a telephone pole, stopping power transmission each time the work is carried out would have a large impact on various areas. However, while it is not impossible for people to work on utility poles while power continues to be transmitted, it is dangerous. For this reason, attempts have been made to have humans perform dangerous work on manipulators. Among these manipulators, so-called live-line work manipulators, which are designed to directly perform work on parts kept at a high potential, have an electrical insulator between the arm and the wrist. This prevents any electrical influence from being exerted on the arm side.

By the way, when actually performing work using such a manipulator for working with live wires, the operator cannot get close to the manipulator's hand, making it difficult to accurately grasp the situation near the hand. . For this reason, in conventional manipulators for live line work, a position detector, typically a TV camera, is attached to the wrist, and the information obtained by this position detector is displayed on a monitor installed at the base of the arm. A method is adopted in which the operator controls the manipulator while looking at the monitor. As a power source for the position detector, a battery is used or a method is adopted in which power is sent from the arm side via an isolation transformer.

However, the manipulator for live line work constructed as described above has the following problems. In other words, if a battery is used as a power source for a position detector installed on the wrist,
The battery must be replaced and charged periodically, resulting in the problem of troublesome maintenance.
In addition, in cases where power is sent from the arm side via an isolation transformer, generally speaking, the higher the withstand voltage, the larger and heavier the isolation transformer becomes. There was a problem in that the arm and wrist had to be made larger.

(Problems to be Solved by the Invention) As described above, if a battery or an isolation transformer is used as a power source for a position detector, it is not possible to facilitate maintenance or reduce the size of the entire manipulator.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a manipulator for use in live line work, which can reduce the size and weight of a power source for a position detector and facilitate maintenance without adversely affecting insulation characteristics.

[Structure of the Invention] (Means for Solving the Problems) The manipulator for live line work according to the present invention has the following features:
A generator for generating the electric power necessary to operate the position detector is provided on the wrist, a motor is provided on the arm side, and power transmission means is provided for transmitting the rotational force of the motor to the generator in an electrically insulated state. It has become a thing.

(Operation) The rotational force of the motor is transmitted to the generator provided at the wrist by the above-mentioned power transmission means. Therefore, the power source for the position detector can be secured without affecting the electrical insulation characteristics of the manipulator. In this case, it is sufficient to use a generator, a motor, and a power transmission means that connects these with the capacity necessary to operate the position detector, and unlike the case where an isolation transformer is incorporated, the whole becomes larger. There is no such thing, and unlike when a battery is installed, maintenance does not become troublesome.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram showing only the main parts of a manipulator for live line work according to an embodiment of the present invention. In the figure, 1 indicates an arm, and 2 indicates a wrist portion attached to the tip of the arm 1. The wrist portion 2 and the arm 1 are connected by an insulator 3. A hand portion 4 is attached to the wrist portion 2, and the power of this hand portion 4 is generated by a pulley 5 provided on the wrist portion 2 and a pulley 6 provided on the arm 1.
It is applied from the drive shaft 10 via a rope 7 made of an insulating material such as aramid fiber, which is wrapped around the pulleys 6 and 8, and a rope 9 made of stainless steel, which is wrapped around the pulleys 6 and 8. In addition, the rotational force of the wrist portion 2 is controlled by the pulley 11.
It is applied from a drive shaft 14 via a rope 13 that is stretched between a pulley 12 and a pulley 12 .

On the other hand, the wrist portion 2 is equipped with a TV camera 15 as a position detector for photographing the work object P, and a generator 16 for supplying the power necessary to operate the TV camera 15. Arm 1
A motor 17 is fixed at a position opposite the generator 16 with the insulator 3 in between, and the rotating part of the motor 17 and the rotating part of the generator 16 are connected to a power transmission means, that is, a motor made of insulating material. They are connected by a rod 18. The input end of the motor 17 is selectively connected to a power source (not shown) via a lead wire 19.

Note that the TV camera 15 has a built-in converter that converts a video signal into an optical signal, and the optical output of this converter is introduced to the monitor 21 via the optical fiber cable 20. A controller 22 is provided near the monitor 21, and an operator can control the joystick 2 of the controller 22 while looking at the monitor 21.
3, the drive source 24 of the manipulator can be controlled.

With such a configuration, when the lead wire 19 is connected to a power source, the motor 17 rotates, and this rotation is transmitted to the generator 16 via the rod 18. Therefore, the generator 16 generates the power necessary to operate the TV camera 15. Therefore, the generator 16 can be driven while maintaining electrical insulation between the arm 1 and the wrist part 2, and thereby
This means that the power supply for the TV camera 15 can be secured.
In this case, only the generator 16 with the capacity necessary to operate the TV camera 15, the motor 17, and the rod 18 that connects these need to be provided, so it is much smaller than the case where an isolation transformer is provided. The weight can be reduced, and therefore, the arm 1 and wrist portion 2 do not become larger. Furthermore, maintenance can be made easier than when a battery is incorporated.

Note that the present invention is not limited to the embodiments described above. That is, instead of the rod 18, power may be transmitted by a combination of a pulley and an insulating belt or an insulating rope. Further, as shown in FIG. 2, the motor 17 drives the hydraulic pump 32, and a prime mover 33 is directly connected to the generator 16, and the insulating oil or insulating fluid sent out by the hydraulic pump 32 is transferred to the insulating pipe 32. , the prime mover 33, and the insulating pipe 35. Furthermore, the third
As shown in the figure, the compressor 36 may be driven by the motor 17, and the high-pressure air sent out from the compressor 36 may be guided to the prime mover 33 via the insulating pipe 34 to drive the generator 16. Also, TV
Electromagnetic waves may be used as a means for transmitting video signals from the camera 15. Further, an element for supplying electric power such as a motor or a generator may be incorporated into the arm.

[Effects of the Invention] As described above, according to the present invention, the wrist portion can be improved without impairing the electrical insulation between the arm and the wrist portion, and without increasing the overall size or complicating maintenance. It is possible to provide a manipulator for live line work that can secure power for the position detector mounted on the machine and contribute to safe work.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing only the main parts of a manipulator for live line work according to an embodiment of the present invention, and FIGS. 2 and 3 are diagrams for explaining different power transmission means, respectively. . 1...Arm, 2...Wrist part, 3...Insulator, 4...Hand part, 15...TV camera, 16
... Generator, 17 ... Motor, 18 ... Rod made of insulating material, 21 ... Monitor, 22 ... Controller, 3
2... Hydraulic pump, 33... Prime mover, 34, 35
... Pipe made of insulating material, 36 ... Compressor.

Claims (1)

[Scope of Claims] 1. A manipulator for live wire work in which an arm and a wrist portion are insulated with an electrical insulator, comprising: a position detector provided on the wrist portion; and a position detector provided on the wrist portion. a generator that generates the electric power necessary to operate the motor; a motor provided on the arm side; a power transmission means for transmitting the rotational force of the motor to the generator in an electrically insulated state; for live line work, characterized by comprising means for converting the received information into electromagnetic waves or optical signals and transmitting it to the arm side, and means for receiving and processing the information transmitted by this means on the arm side. Manipulator. 2. The manipulator for live wire work according to claim 1, wherein the power transmission means is mainly constituted by a rod made of an insulating material. 3. The manipulator for live line work according to claim 1, wherein the power transmission means is mainly composed of a rope or a belt made of an insulating material. 4. The power transmission means includes a pump driven by the motor, a prime mover connected to the generator, and a pipe made of an insulating material that circulates an insulating fluid between the prime mover and the pump. A manipulator for live line work according to claim 1, characterized in that: 5. The power transmission means includes a compressor driven by the motor, a prime mover connected to the generator, and a pipe made of an insulating material that guides high-pressure air sent from the compressor to the prime mover. A manipulator for live wire work according to claim 1, characterized in that the manipulator is comprised of: 6. The manipulator for live line work according to claim 1, wherein the position detector is a television camera.