JPH0446053B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a robot used, for example, in power distribution work for extracting branch power lines from high-voltage power lines.

(Prior Art) In recent years, the construction work for distributing power from a high-voltage distribution line to a branch distribution line through a repeater called a dragonfly arm to a transformer has been carried out using the so-called hot steck construction method, which uses electrically insulating rods while the line is live.

However, working at heights requires many work steps, and the tool at the tip of the hot stick must be replaced each time these steps are performed, making the work dangerous and requiring a great deal of labor. It had the disadvantage of low efficiency.

In order to overcome this drawback, it has been proposed to use robots to perform power distribution work. When work is performed using a robot in this way, a worker rides on an aerial work vehicle to monitor and teach the robot.

To prevent the robot from coming into contact with high-voltage power lines during work and causing electric shock to the worker, an insulator is placed between the work platform on which the worker sits on the aerial work vehicle and the robot body to insulate the two. are doing.

However, if there is only one insulated point, there is a risk of electric shock to the worker if the insulation at that insulated point breaks down, and safety is not sufficient. In addition, since the safety is not sufficient, the operator has to be careful in the work, which has the disadvantage of slow work speed and low work efficiency.

(Objective of the present invention) The object of the present invention is to provide power distribution work that sufficiently ensures safety so that workers will not receive an electric shock even if a robot comes into contact with high-voltage power distribution lines, and that allows work to be carried out quickly. The aim is to provide robots for

(Structure of the Invention) A robot for power distribution work according to the present invention includes a robot main body mounted on a pedestal of an aerial work vehicle on which a worker rides, and the robot main body has a plurality of robots attached to the pedestal and mutually pivotally supported. The work arm is composed of a work arm, an actuator that drives the work arm, and a list attached to the tip of the work arm to which tools for power distribution work are attached. It is characterized in that an insulating part is provided, and the plurality of electrically insulating parts are made of hollow FRP.

(Example) An example of the present invention will be described in detail with reference to the drawings. Fig. 1 shows a robot 10 for power distribution work according to the present invention, and this robot 10 is a robot 10 for use in a bucket truck 12 which is an aerial work vehicle. It includes a pedestal 14 attached to a bucket 12a, and supports 16A, 16B, 16C.
A plurality of working arms 18A, 1 mutually pivoted at
The robot main body 20 consisting of 8B and 18C is mounted on the pedestal 14 with the lowermost working arm 18A attached to the pedestal 14. Each working arm 18A,
18B and 18C are actuators 22, respectively.
A, 22B, and 22C. The robot main body 20 further has a wrist 24 attached to the tip of the uppermost working arm 18C, and a tool 26 for power distribution work is detachably attached to the tip of the wrist 24. An operator rides on the bucket cart 12a to monitor and teach the robot 10.

The robot 10 of the present invention has a plurality of hollow FRP electrical insulating sections in the middle of the plurality of work arms 18A, 18B, 18C in order to electrically insulate between the worker and the high voltage distribution line 28 to be used for power distribution work. It has 30. That is, the electrically insulating section 30 includes an insulating arm portion 32C provided midway on the uppermost working arm 18C and an insulating arm portion 32B provided midway on the middle working arm 18B. These insulating arm portions 32C and 32B are hollow and made of FRP.

In this way, the plurality of work arms 18A, 18
If a plurality of electrical insulating parts 30 (insulating arm part 32C, insulating arm part 32B) are provided in the middle of B, 18C, the high voltage distribution line 28 and the bucket 12a are reliably and completely insulated, thereby preventing the worker from getting an electric shock. There's nothing to do. Therefore, safety is significantly improved. Further, since the electrical insulating section 30 is made of hollow FRP, the weight of the plurality of work arms can be reduced. Therefore, the robot can be moved quickly, and workability can be significantly improved along with improved safety.

Incidentally, the insulating arm portion 32B of the intermediate working arm 18B is particularly useful for preventing the worker from receiving an electric shock since the intermediate working arm 18B three-dimensionally intersects with a drop-down line or the like.

In this case, actuator 22C is attached to insulating arm portion 32B.

Although not shown, by providing electrical insulation such as an insulating cover to the lower work arms than the intermediate work arms, it is possible to prevent danger from surrounding the robot.

The robot 10 is driven by a drive system as shown in FIG. As shown in Figure 3,
The sensor 34 attached to the wrist 24 is connected to the electric wire 3
6 to a drive control unit 38 disposed within the insulating arm portion 32C.

The drive control unit 38 includes an A/D converter 40 that A/D converts the analog signal from the sensor 34, a counter 42 that counts the digital electric signal obtained in this way, and a control that receives the output of the counter 42. unit 44 and an E/O converter 4 that converts the output of the control unit 44 into an optical signal.
6 and a central processing unit 50 which receives the optical signal from the converter 46 via an optical cable 48.

A drive source 52 for the sensor 34 is also provided within the drive control section 38 . This drive system detects the position of the wrist 24 with the sensor 34 so that it is at a predetermined position with respect to the high-voltage distribution line 28, and the central processing unit 50
The actuators 22A to 22C are driven based on commands from the work arms 18A to 18C to move the work arms 18A to 18C.

Note that in the illustrated embodiment, the actuator 22
A to 22C consist of cylinders, and when these cylinders are controlled by servo valves, an electrically insulated manifold is installed between the cylinders and the servo valves to prevent short circuits in the servo valve drive circuits. It is preferable to provide

(Effects of the Invention) According to the present invention, as described above, since a plurality of electrically insulating parts are provided in the middle of a plurality of work arms,
The high voltage distribution line 28 and the bucket 12a can be reliably and completely insulated. Therefore, workers will not receive an electric shock, and power distribution work can be carried out safely. Further, since the plurality of electrical insulating parts 30 provided in the middle of the plurality of work arms are made of hollow FRP, it is possible to reduce the weight of the plurality of work arms. Therefore, the robot can be moved quickly, and work efficiency can be significantly improved along with improved safety.

[Brief explanation of the drawing]

Fig. 1 is a side view of a robot for power distribution work according to the present invention, Fig. 2 is an enlarged sectional view of the uppermost working arm having an electrically insulating part used in the present invention, and Fig. 3 is a side view of the robot used in the robot of the present invention. FIG. 2 is a schematic diagram of a drive system. 10 is a robot for power distribution work, 14 is a mount, 16
A to 16C are fulcrums, 18A to 18C are working arms, 22A to 22C are actuators, 24
is a list, 26 is a tool, 28 is a high voltage distribution line, 30
is the electrical insulation part, and 32B and 32C are the insulation arm parts.

Claims (1)

[Scope of Claims] 1. Consists of a robot body mounted on a pedestal of an aerial work vehicle on which a worker rides, and the robot body has a plurality of work arms attached to the pedestal and mutually pivotally supported, and the work arms. It is composed of an actuator to be driven and a list attached to the tip of the work arm to which a tool for wiring work is attached, and a plurality of electrically insulating parts are provided in the middle of the plurality of work arms, A robot for power distribution work, characterized in that the plurality of electrical insulation parts are made of hollow FRP. 2. The power distribution work robot according to claim 1, wherein the drive control section of the robot is provided in the electrical insulation section.