JPH0347375Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an improvement of a robot arm for high-voltage power distribution work, such as branch connection of high-voltage power distribution lines.

(Prior Art) Recently, high-voltage distribution work such as branch connection of high-voltage distribution lines has been developed so that workers can work on the ground away from high-voltage distribution lines to avoid dangers from high voltage. Robots are used. This type of robot arm for high voltage power distribution work is
An arm consisting of multiple articulated arm bodies, a wrist mechanism installed on the most advanced arm body of this arm, and an end effector (JISB0134 industrial robot terminology) attached to the tip of this wrist mechanism.
(Refer to No. 2025), the arm body and wrist mechanism are driven so that the end effector reaches a predetermined working position on the high voltage distribution line, and then the end effector is driven by a pneumatic or hydraulic actuator. I'm trying to drive it. In conventional robot arms, the entire arm is insulated in order to insulate the ground-side equipment portion that is directly touched by workers from high-voltage power distribution lines. However, insulating the entire arm has the disadvantage that the structure becomes complicated and the entire robot becomes expensive.

Therefore, it is preferable that the robot arm can be insulated at the part that has the wrist mechanism attached to the tip of the arm, but since the wrist mechanism is the part that actually moves the tool and performs the work, it is difficult to insulate the robot arm in both the longitudinal and radial directions. It is also required to be small and lightweight.

(Purpose of the invention) The purpose of the invention is to create a lightweight and highly reliable robot for high-voltage power distribution work that does not require special insulation of the arm itself and does not require the tip of the arm to be enlarged in either the longitudinal or radial direction. The aim is to provide an arm.

(Structure of the invention) The robot arm for high-voltage power distribution work according to the invention consists of an arm consisting of a plurality of jointed arm bodies, a wrist mechanism provided on the most advanced arm body of this arm, and a wrist mechanism provided at the tip of this wrist mechanism. an attached end effector, and a crown insulator attached between the wrist mechanism and the end effector.

In this way, when the crown insulator is installed between the wrist mechanism and the end effector, the wrist mechanism and the end effector are insulated by the crown insulator over a long creepage distance. The arm can be reliably insulated from the end effector that comes into contact with the arm, and the insulator is positioned such that the crowned tubular part covers the wrist mechanism or the end effector, depending on the orientation of the opening. A sufficient insulation distance can be obtained without increasing the dimensions in the direction and radial direction, and the weight does not increase.

(Embodiment) An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a robot arm 10 for high-voltage power distribution work according to the present invention, and this robot arm has the following features:
It is equipped with an arm 14 consisting of a plurality of arm bodies 12 connected by joints, a wrist mechanism 16 provided on the most advanced arm body 12A of this arm 14, and an end effector 18 attached to the tip of this wrist mechanism 16. .

Robotic arm 10 for high voltage power distribution work of the present invention
As shown in detail in FIG. 2, the extension rod 22 extending from the tip of the wrist mechanism 16 and the end effector 1
8 and surrounding the extension rod 22. In particular, as shown in FIG. 3, the crown-shaped insulator 24 has annular metal sprayed layers 26, 26' on its inner and outer mounting surfaces,
Fixing fittings 28, 2 are attached to the metal sprayed layers 26, 26'.
8' is fixed by silver brazing, and the extension rod 22
The flange 22a and the mounting surface 18 of the end effector 18
a means bolts 30,
30' respectively. still,
Coronary insulator 24 may be attached to wrist mechanism 16 and end effector 18 by bonding means, such as gluing, cementing, or the like.

In this way, the end effector 18 and the wrist mechanism 16 are insulated by the crown-shaped insulator 24, so that the arm 14 located on the ground side from the wrist mechanism 16
It is not necessary to insulate the insulating material 24.
Since the cylindrical part is arranged in a crown shape so as to partially cover the wrist mechanism 16, it is possible to avoid increasing the distance between the wrist mechanism 16 and the end effector 18 and the diameter of the insulator. A large coastal distance can be obtained and thus the arm can be reliably isolated from the end effector 18 that contacts the high voltage distribution lines.

In the above embodiment, the opening of the crown-shaped insulator 24 is directed toward the wrist mechanism 16, but it may be arranged toward the end effector 18.

(Effects of the invention) According to the invention, as described above, the arm can be reliably insulated from the end effector that comes into contact with the high-voltage distribution line by the crown-shaped insulator with a large creepage distance, and therefore the arm can be The work can be done safely without necessarily insulating the material, and since the insulator has a crown shape, the cylindrical part can be placed to cover a part of the wrist mechanism or end effector. Therefore, the creepage distance can be increased without increasing the length and diameter of the insulator, and the weight and length of the part that includes the wrist mechanism and end effector, which are the parts that move the tool to perform work. and without increasing the diameter,
Able to perform work well.

[Brief explanation of the drawing]

Fig. 1 is a schematic side view of a robot arm for high-voltage power distribution work according to the present invention, Fig. 2 is an enlarged cross-sectional view of the main parts of the present invention, and Fig. 3 is a cross-section of one half of the crown-shaped insulator used in the present invention. It is a diagram. 10...Robotic arm for high voltage power distribution work, 12
...Arm body, 12A... Cutting edge arm body, 14... Arm, 16... Wrist mechanism, 18...
...End effector, 22...Extension rod, 24...
Coronary insulator, 26, 26'...metal sprayed layer, 28,
28'...Fixing metal fittings.

Claims (1)

[Claims for Utility Model Registration] (1) An arm consisting of a plurality of jointly connected arm bodies, a wrist mechanism provided on the most advanced arm body of the arm, and an end effector attached to the tip of the wrist mechanism. A robot arm for high voltage power distribution work, comprising: a crown-shaped insulator attached between the wrist mechanism and the end effector. (2) The crown insulator has a sprayed metal layer on its mounting surface, and the wrist mechanism and the end effector are attached to a fixing fitting that is welded to the sprayed metal layer of the crown insulator. A robot arm for high-voltage power distribution work according to claim 1 of the patent registration claim.