JPH047607Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to a device that is installed on an automatic arm of a working robot or the like and holds a power transmission/distribution work tool.

``Prior art'' As the installation work and maintenance and inspection work for overhead power transmission and distribution lines is work done at heights and is carried out with live lines as necessary, it is possible to use automated systems such as robots. It is desirable to use machines and unmanned operations.

However, when installing or replacing an insulator, various work tools are required, such as an insulator gripping tool and a rotating tool for an insulator installation nut. Preparing robots is extremely disadvantageous economically.

Therefore, for example, it may be possible to prepare an automatic arm that performs movements similar to those of a human arm, and to replace only the work tools attached to the tip of the automatic arm depending on the task. When attempting to attach a predetermined working tool to the tip, there is a problem in that relative positioning between the automatic arm and the working tool is extremely difficult.

This idea was proposed in view of the above circumstances.
It is an object of the present invention to provide a tool holding device that allows easy attachment and detachment of working tools and has a simple structure.

"Means for Solving the Problems" In order to achieve the above object, the present invention provides a method in which a pair of holding arms each having a holding hole that engages with a protrusion provided on the side of a power transmission/distribution work tool are moved closer to each other. A driving means is provided for biasing them and separating them from each other against the bias, and further, between the holding hole on the holding arm side and the engagement protrusion on the tool side,
A tapered guide portion is provided to align these with each other.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 3 show an embodiment of the present invention, and reference numeral 1 in the figures indicates a holding arm. This holding arm is used by being attached to the tip of an automatic arm (not shown) of a working robot, and is provided parallel to each other and connected to each other via a pantograph 2. That is, the pantograph 2 is rotatably connected to the holding arm 1 via a pin 3, and is connected so as to be movable in opposite directions while keeping the holding arms 1, 1 parallel to each other.

A biasing means (the illustrated example shows a tension spring) 4 is provided between the pair of holding arms 1, and the biasing means 4 is arranged between the pair of holding arms 1.
are urged in the direction of approaching each other. Further, between the pair of holding arms 1, the biasing means 4
A driving means (the illustrated example shows an air cylinder) 5 is provided in parallel to the
It has the function of widening the mutual spacing of the support arms 1 against the biasing means 4 by extending the support arms 1 .

Further, two holding holes 6 are provided on each opposing surface of the holding arm 1, and these holding holes 6 include a cylindrical space 6a and a conical space 6b at the tip thereof. It consists of

On the other hand, the power transmission/distribution work tool 10 (which includes various tools such as a nut rotating tool, a hole punching tool, and a parts gripping tool) held by the holding device includes:
A joint part 11 is provided, and the joint part 11 is provided with projections 7 that engage with the holding holes 6, respectively.The engagement of the holding holes 6 and the projections 7 allows the projections 7 to move in the vertical direction, horizontal direction, and the projections 7. Displacement in the rotational direction around the center is restricted. Although two holding holes 6 are provided on each of the holding arms 1 on both sides, one holding hole 6 may be provided on one holding arm 1.

The tool holding device configured as described above holds the working tool 1 in a state where the driving device 5 is extended and the holding arms 1 are spaced apart from each other as shown in FIG.
0 and the supply of operating air to the drive device 5 is cut off with the joint portion 11 disposed between the holding arms 1 and 1.
The holding arms 1, 1 approach each other due to the elastic force of the biasing means 4. And the conical part 7b of the projection 7
When it comes into contact with the holding hole 6, the two move along the taper of their surfaces and are aligned so that their axes coincide, and the working tool 10 is held in an engaged state.

On the other hand, when the working tool 10 is to be removed, the drive device 5 may be driven again to separate the holding arms 1, 1 from each other.

Next, FIG. 4 shows another embodiment of the present invention, in which a curved holding arm 1A as shown in the figure is used in place of the straight holding arm 1 of the previous embodiment, and the above-mentioned embodiment is also used. Example pantograph 2
In place of the connection mechanism using the holding arm 1A,
A support shaft 12 is provided to rotatably connect the holding arms 1A, and a biasing means (in the illustrated example, a U-shaped (a curved leaf spring is used) 4A on both retaining arms 1
A driving means 5 is provided between the holding arms 1A and 1A, and is further provided to move one end of the holding arms 1A and 1A toward each other against the biasing means 4A and to move the other ends of the holding arms 1A and 1A apart from each other. It is composed of

In the case of the holding device of this embodiment, the drive device 5
A working tool is placed between the holding arms 1A in a contracted state, and then the drive device 5 is released and both holding arms 1 are moved by the urging force of the urging means 4A.
The working tool is held by urging A and 1A toward each other.

In addition, in the above embodiment, the tip of the protrusion is formed into a conical shape to function as a guide member, but conversely, a conical surface is formed at the entrance of the holding hole so that the tip of the protrusion (It does not matter whether it is conical or not) may be guided.

"Effects of the Invention" As is clear from the above explanation, the present invention urges a pair of holding arms, each having a holding hole that engages with a protrusion provided on the power transmission/distribution work tool, toward each other. In addition, a driving device is provided to separate these from each other against the bias as necessary, and furthermore, a drive device is provided to separate these from each other against the biasing force, and further, between the holding hole on the holding arm side and the engagement protrusion on the working tool side, these are separated from each other. Since it is provided with a tapered guide section for positioning, it is suitable for use in automatic arms of robots, etc., and various power transmission and distribution work tools can be easily attached to and detached from the automatic arms. This has the effect of significantly improving the work efficiency of power distribution work.

[Brief explanation of the drawing]

Figures 1 to 3 show one embodiment of the present invention, where Figure 1 is a plan view, Figure 2 is a front view, and Figure 3 is a front view.
The figure is a plan view of a state in which a working tool is held by the holding arm, and FIG. 4 is a plan view showing another embodiment of the present invention. 1, 1A...holding arm, 2...pantograph, 3...pin, 4, 4A...biasing means, 5...
Drive means, 6... holding hole, 7... protrusion, 7a...
Cylindrical part, 7b... Conical part, 10... Tool for power transmission and distribution work, 11... Joint part.

Claims (1)

[Scope of utility model registration request] In a power transmission/distribution work tool holding device that is installed on an automatic arm of a work robot and holds a work tool, a pair of holding arms 1 and 1A are provided so as to be movable in opposite directions, and a A biasing means 4 for biasing these toward each other and a driving means 5 for separating them from each other against the bias are provided, and the power transmission and distribution work tool 10 is provided on the opposing surface of the holding arm. At least one of the holding arms is provided with a plurality of the holding holes, and at least one of the holding hole and the projections is provided with a holding hole 6 into which the engaging protrusion 7 is inserted. A holding device for a tool for power transmission and distribution work, characterized in that a tapered guide portion 7b is provided to guide the hole.