JPH0568165B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a live line work device for carrying out work on distribution lines at high places while the lines are live.

<Conventional technology> In the past, live wire work was carried out directly by workers wearing rubber gloves or insulating clothing, or indirectly using hot sticks (insulator operating sticks).
In recent years, with the aim of improving labor safety, improving work efficiency, and changing working environment conditions, aerial work vehicles have been equipped with manipulators, and workers operate the manipulators by operating the operating device installed on the bucket part of the work vehicle. Various places are considering ways to carry out live-line work.

A working device used for performing such live line work is required to have an elevating function to move to a high place and to be able to quickly bring the manipulator to a location where the work is easy.

In addition, the manipulator is required to take a posture that facilitates work according to the column mounting configuration, and to bring the tool attached to the tip of the manipulator close to the work site so that it can be operated.

<Problems to be Solved by the Invention> Incidentally, in the original device of this type, only one manipulator was installed, and complex operations such as gripping and cutting an electric wire could not be performed in some cases. There were many.

In addition, a system equipped with two manipulators has been developed, but simply mounting two manipulators would require a vertical arrangement of distribution lines and a wide variety of pole mounting configurations, so it is difficult to adapt to any situation. It has been found that there is a problem in that it is difficult to perform tasks efficiently.

The object of the present invention is to solve these problems and provide a live line working device that can be used in a wide variety of situations.

<Means for Solving the Problems> In order to achieve the above object, the present invention includes a plurality of manipulators mounted on the upper end of the boom of an aerial work vehicle, and remote control from the bucket part or the lower part of the vehicle. In the live-line working equipment, the manipulator's mount portion is freely rotatable in the vertical plane of the first axis of operation among the manipulator's operating axes, and the manipulator's mount portion provided on the first shaft is rotated freely. The second axis of operation can freely rotate within a horizontal plane orthogonal to the first axis, and the third axis of operation and the fourth axis of operation can rotate freely in a horizontal plane perpendicular to the first axis.
Preferably, the shaft is free to rotate in a vertical plane perpendicular to the first and second axes.

Further, there are cases in which three axes are further arranged at the tip of the manipulator, making the total number of axes seven, excluding the clipper and tool.

Further, from the viewpoint of safety, it is preferable that the first arm that operates around the third axis or the second arm that operates around the fourth axis is made of an insulator.

<Function> A worker mounted on the bucket of the aerial work vehicle operates the operating device or operating lever to extend the boom and move the bucket and manipulator to an approximately appropriate location to perform work.

At this time, since the first axis of the manipulator is free to rotate within the vertical plane, the operator can select the most appropriate basic posture by viewing the work situation and operating the manipulator.

This position is suitable for work in a horizontal plane or when there are several obstacles, such as when working on horizontal wiring.
Make it into an elbow up type or an elbow down type.

In addition, when there is work to be done in the vertical direction of the utility pole or when passing the arm between narrow vertical wires,
Furthermore, if there are no obstacles on the horizontal surface, it is better to work in the elbow side type.

Furthermore, since the arm can be moved horizontally, vertically, and forward and backward using the three basic axes from the second to the fourth axes, the tool attached to the tip of the manipulator can be brought close to the appropriate work location. .

The three operating axes of the tip hand can operate in orthogonal planes, that is, up and down, left and right, and rotation, so you can make fine adjustments to the direction of the clipper or tool relative to the workpiece. I can do it. If you often have to grip and rotate an object, placing the rotation axis at the tip will make the work easier.

<Example> Hereinafter, an example of the present invention will be described based on the accompanying drawings.

Figures 1 and 2 show the first part of the live-line working equipment, respectively.
and a second embodiment is shown, in which a boom 3 that can be raised and retracted is attached to a swivel base 2 that is attached to a working vehicle 1 so as to be able to rotate horizontally, and a shaft 11 is attached to the upper end of the boom 3.
A bucket 4 and a mounting base 5 for a manipulator 7 are provided, which can swing freely around the center.

FIG. 3 shows the mounting method of the manipulator 7 and its shaft configuration, where the solid line shows the elbow-up type, the one-dot chain line shows the elbow-down type, and the two-dot chain line shows the elbow-side type.

Here, the first operating shaft 21 of the manipulator is rotatable in a vertical plane, and is installed on a mounting base 5 having a driving means, and is attached to a mounting base 6 fixed to the first operating shaft 21. The second operating shaft 22 is
The second shaft 22 is mounted so as to be freely rotatable in a horizontal plane orthogonal to the shaft, and this second shaft 22 is driven by a driving means provided on the mounting base 6.

Further, the third operating shaft 23 is mounted on the base 10 that is integrated with the second shaft 22, and the third operating shaft 23 is attached to the first
It is freely rotatable within a vertical plane orthogonal to the axis and the second axis.

Reference numeral 31 denotes a first arm which is rotated by the third shaft 23, and a second arm 32 is rotatably attached to the tip of the arm by a fourth operating shaft 24.

A hand 33 is attached to the tip of the second arm 32 by a fifth operating shaft 25.

The third shaft 23, fourth shaft 24, fifth shaft 25, and other shafts are driven by appropriate driving means.

Further, a sixth shaft 26 and a seventh shaft 27 are appropriately arranged at two locations at the tip of the fifth operating shaft 25, making the total number of operating axes seven.

In addition, a clipper or tool 28 (No. 8) is attached to the tip.
This clipper or tool 28 can be attached to and detached from the manipulator 7 by, for example, a fluid pressure cylinder mechanism that detachably fixes or releases the tool from the tool pot. It can also be exchanged with

Furthermore, considering that there is a lot of work in which objects are gripped and rotated with grippers, it is preferable that the seventh shaft 27 at the most extreme end of the hand 33 be made capable of continuous rotation.

Furthermore, insulators are interposed in the longitudinal direction of the first arm 31 and the second arm 32 of the manipulator in consideration of worker safety and prevention of line-to-line short circuits and ground faults in the distribution lines.

As this insulator, a material with excellent mechanical strength such as FRP, ceramics, or epoxy resin is used.

Additionally, a draining shade can be attached to the arm for use in rainy weather.

<Effects> As described above, according to the present invention, since the first work axis can freely rotate in the vertical plane, the third work axis
You can easily switch between the elbow-up and elbow-down postures as shown in the figure.

Therefore, when the manipulator is used for work on power distribution equipment having various and complicated pole mounting configurations, the posture of the manipulator can be freely changed, making it easy to avoid obstacles.

In addition, the configuration of the second to fourth axes allows for forward and backward, up and down, and left and right movements, making it easy to approach the work object and perform effective work.

In addition, when storing the manipulator, the arm can be stored downward by operating each operating axis, so it does not interfere with driving while mounted on the vehicle, and by lowering the center of gravity, the vehicle This has the effect of making it easier to clear the test regarding the maximum stable inclination angle.

Furthermore, the insulation of the first arm and the second arm is effective in ensuring the safety of workers and preventing phase-to-phase short circuits and ground faults in the distribution line during live line work.

[Brief explanation of the drawing]

1 and 2 are side views showing first and second embodiments of the present invention, and FIG. 3 is an enlarged side view showing the mounting structure and shaft configuration of the manipulator. 1...Work vehicle, 2...Swivel base, 3...Boom,
4... Bucket, 5, 6... Manipulator mounting base, 7... Manipulator, 8... Operating unit, 21...
...First axis of operation, 22...Second axis of operation, 23...Third axis of operation, 24...Fourth axis of operation, 25...Fifth axis of operation, 26...Sixth axis of operation, 27...Operation 7th
Axis, 28...Gripper or tool (operating No. 8
axis), 31...first arm of the manipulator, 32
...2nd arm, 33...hand.

Claims (1)

[Claims] 1. In a live-line working device in which a plurality of manipulators are mounted on the upper end of the boom of an aerial work vehicle and can be remotely controlled from the bucket part or the lower part of the vehicle, one of the operating axes of the manipulators is The first axis of operation of the mount part of the manipulator is rotatable in a vertical plane, and the second axis of operation of the manipulator of the mount part provided on the first axis is rotatable in a horizontal plane orthogonal to the first axis of operation. A live wire working device characterized in that the third axis and the fourth axis of operation are freely rotated in a plane orthogonal to the first axis and the second axis. 2. The live wire working device according to claim 1, wherein three further axes are arranged at the tip of the manipulator, making the total number of axes seven, excluding the clipper and the tool. 3. The live wire working device according to claim 1 or 2, further comprising a mechanism for attaching and detaching tools such as a clipper and a tool at the tip of the manipulator. 4. The live-line working device according to claim 1, wherein the first arm that operates around the third axis or the second arm that operates around the fourth axis is made of an insulating material. .