JPH0765928A - Compression tool for manipulator - Google Patents

Abstract

(57) [Abstract] [Purpose] Suitable for manipulators for work robots,
(EN) Provided is a manipulator compression tool which can easily operate a manipulator, can improve workability of power distribution work, and can shorten a working time. [Structure] The compression tool 26 is attached to the manipulator 10 of the work robot in an upright state with respect to the tip thereof. The compression tool 26 has a built-in actuator that operates by receiving supply of fluid pressure from a drive source. A pair of clamps 32, which are opened and closed by being rotated in opposite directions by the operation of an actuator, are provided on the tip side of the compression tool 26.
Then, the pair of clamps 32 has a compression sleeve 22 between them.
From above, close and crimp the compression sleeve 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator compression tool suitable for caulking work of a compression sleeve that is attached to a manipulator of a work robot and that attaches a branch line to a distribution line.

[0002]

2. Description of the Related Art In power distribution work for overhead lines, in order to carry out work while supplying electric power to consumers, live work is often carried out while electricity is supplied. Therefore, in recent years, an indirect method of performing work by a work robot manipulator system (hereinafter, work robot) has been adopted for power distribution work.

This work robot has a boom that is hydraulically driven by a vehicle body and is capable of turning and expanding and contracting, a cabin arranged at the upper end of the boom, an operation lever arranged in the cabin, and this operation lever. Manipulator vehicle equipped with a manipulator operated by
The operator can board the cabin and operate the manipulator with the operation lever to perform power distribution work. According to this construction method, it is possible to safely perform various kinds of work that are difficult by manual work, one worker can perform complicated work, and the work efficiency is very high.

Tools suitable for various power distribution work can be connected to the manipulator of the work robot.
For example, these tools include hand tools for grasping electric wires, electric wire cutter tools for cutting electric wires, peeling and brushing tools for stripping off the electric wire coating and polishing the oxide film, and distribution wires. There is a compression tool or the like for crimping the compression sleeve that connects the branch lines.

The compression tool is used for mounting a new switch on the electric pole. In this work, a switch is installed on a telephone pole, and a plurality of connecting electric wires, that is, branch lines, which are led out from the switch are connected to the middle of a distribution line via a compression sleeve. Conventionally, this type of compression tool includes a frame having a U-shape, and a pair of clamp halves, which are arranged at both ends in the frame so as to face each other with a space between them, and the ring members are halved. The clamp half is fixed to one end of the frame, and the other clamp half is connected to a hydraulically driven actuator provided on the other end of the frame.

According to this compression tool, the pair of clamp halves are opened transversely to the direction of operation of the actuator, and the compression sleeve is received from the open side between the pair of clamp halves, and Actuating the actuator can close the pair of clamp halves and crimp the compression sleeve. Therefore, fit the compression sleeve in the open state where the branch line is already connected to the distribution line,
Then, by caulking the compression sleeve with a compression tool, the distribution line and the branch line can be connected.

[0007]

By the way, since the actuator is of a hydraulic drive type, a hydraulic pressure supply port is provided at its base end, and a high pressure hose extending from a drive source is connected to the supply port. Has been done. Therefore, the compression tool is generally installed upright with respect to the tip of the manipulator, that is, with its base end facing down.
When manipulating the manipulator, avoid interference between the manipulator and the high pressure hose. Further, the compression tool is attached to the tip of the manipulator so that the opening between the pair of clamp halves faces the cabin side, whereby the operator on the cabin can operate the pair of clamp halves of the compression tool. The manipulator can be operated to receive the compression sleeve between the pair of clamp halves while visually observing the relative position of the body and the compression sleeve on the distribution line. However, in this case, in order to receive the compression sleeve in the compression tool, the compression tool of the manipulator wraps around from below the distribution line, and is positioned on the side facing the distribution line. However, such manipulator operation is not only extremely difficult, but also has poor workability and a long working time.

The present invention has been made based on the above-mentioned circumstances, and its object is to be suitable for a manipulator of a work robot, and the manipulator can be easily operated to improve workability of power distribution work. And moreover,
An object of the present invention is to provide a compression tool for a manipulator, which can reduce working time.

[0009]

In order to achieve the above object, the compression tool for a manipulator according to the present invention crimps a compression sleeve arranged between a first electric wire and a second electric wire, and these electric wires are compressed with each other. A compression tool that is electrically connected via a tool body that can be installed upright at the tip of the manipulator of the work robot, and the tool body that is built into the tool body and receives the supply of fluid pressure from the drive source to operate And a pair of clamp pawls provided at the tip of the tool body, which are opened and closed by rotating the actuators in opposite directions by the operation of the actuator. The compression sleeve is sandwiched between these clamp pawls. And a compression clamp for crimping.

[0010]

According to the above-described manipulator compression tool, when the tool body is mounted in a standing state at the tip of the manipulator, the compression clamp provided at the tip of the tool body is
The manipulator can be manipulated to receive the compression sleeve between a pair of upwardly opening clamp pawls. Then, by the operation of the actuator, the pair of clamp claws pivot in opposite directions to each other and close, and the compression sleeve received can be caulked.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
It will be described in detail based on. Fig. 1 shows the situation of distribution work for overhead lines. This power distribution work is an indirect method using the work robot 2. The work robot 2 has a boom that is hydraulically driven by a vehicle body and is capable of turning and expanding / contracting, a cabin 6 arranged at an upper end of the boom 4, an operation lever 8 arranged in the cabin 6,
Manipulator 10 operated by this operation lever 8
A manipulator vehicle (aerial work vehicle) including the above is provided, and an operator rides on the cabin 6 and operates the manipulator 10 with the operation lever 8 to perform power distribution work. According to this construction method, various kinds of work that are difficult to perform manually can be safely performed, complicated work can be performed by at least one worker, and work efficiency is very high. In addition, since the worker is in the cabin 6,
There is no danger of falling, and there is an advantage that you can work even in bad weather such as a rainy day.

In the power distribution work shown in FIG. 1, the utility pole 1
The work of newly installing the switch 18 on the 2 is performed. In this work, a plurality of connecting electric wires, that is, branch wires 20 led out from the switch 18 are connected to the respective distribution electric wires 16 via the compression sleeves 22. The tool attached to the tip of one manipulator 10 of the work robot 2 is a hand tool 24 for gripping an electric wire or the like, and the tool attached to the tip of the other manipulator 10 is
A compression tool 26 for crimping the compression sleeve 22.

FIG. 2 shows the compression tool 26 in an enlarged manner. The compression tool 26 is detachably connected to the tip of the manipulator 10 via a bracket 28. First, before describing the compression tool 26, the crimp sleeve 22 crimped by the compression tool 26 will be described. The compression sleeve 22 is a branch sleeve for connecting the branch line 20 to the distribution line 16, and is made of a conductive material.

As shown in FIGS. 5 and 6, the compression sleeve 22 has a first connecting portion 23 for connecting the branch line 20 and a second connecting portion 25 for connecting the distribution line 16.
The first connecting portion 23 is composed of the second connecting portion 2
5 extends obliquely downward from one end side. First connecting portion 23
Has a cylindrical shape with an open end, and the tip of the branch line 20 with the coating removed is inserted. On the other hand, as shown in FIG. 6, the second connecting portion 25 has a U-shaped cross section and is open at the top. Then, the compression sleeve 22 is held by applying the second connecting portion 25 to the portion of the distribution line 16 where the coating is stripped from the open side of the second connecting portion 25.

The compression sleeve 22 has its first and second
By crimping the portions of the symbols Δ and ▽ shown in FIGS. 5 and 6 of the connecting portions 23 and 25, the electric wires inserted into the inside are compressed and fixed, and the distribution line 16 and the branch line 2
It can be electrically connected to both 0s. In addition to the compression sleeve (branch sleeve) 22 described above, a compression sleeve 27 as shown in FIG. 7 is also prepared. The compression sleeve 27 is a cylindrical jumper sleeve with both ends open, and is for connecting the ends of the pair of electric wires 29. The compression sleeve 27 corresponds to the branch sleeve 2
Similar to 2, by caulking the parts marked with △ and ▽ in Fig. 7,
Each electric wire 29 inserted inside is compressed and fixed,
Connect both electrically.

Next, the compression tool 26 will be described.
As shown in FIGS. 3 and 4, the compression tool 26
Is equipped with a compression clamp composed of a tool body 30 in which a fluid pressure or hydraulic actuator is built in, and a pair of clamps 32. A bracket 28 for connecting to the manipulator 10 is provided at the base end of the tool body 30. Are connected.

The actuator is composed of a cylinder hole 34 provided in the tool body 30 and a power rod 36 connected to a plunger 34a in the cylinder hole 34. A pressure chamber 35 is formed in the cylinder hole 34 by the plunger 34a, and a supply port 38 communicating with the pressure chamber 35 is provided on the base end side of the tool body 30. As shown in FIG. 2, a high pressure hose 39 extending from a hydraulic pressure source (not shown) is connected to the supply port 38, and the hydraulic pressure from the drive source, that is, the hydraulic pressure source is introduced into the pressure chamber 35 through the high pressure hose 39. It is being supplied. Therefore, when the oil pressure is supplied from the oil pressure source into the pressure chamber 35 through the supply port 38, the power rod 36 moves in the direction of arrow A in FIG. The tip of the power rod 36 is formed in a wedge shape, and the inclined surfaces facing each other form a pair of cam surfaces 40.

On the other hand, the tip of the tool body 30 is divided into two parts, and a pair of frame plates 4 facing each other in parallel are provided.
It is supposed to be 2. Each frame plate 42 is provided with two shaft holes 44, respectively.
Are spaced perpendicularly to the longitudinal direction of the tool body 30,
In addition, the shaft holes 4 of each frame plate 42 corresponding to each other.
4 is positioned coaxially.

As shown in FIG. 4, shaft pins 46 are inserted into the corresponding shaft holes 44, and these shaft pins 46 are inserted.
A pair of clamps 32 are axially supported via. These clamps 32 are located between the frame plates 42, and the clamps 32 are pivotally supported at their central portions. The pair of clamps 32 are normally urged by springs (not shown), and their ends are open, as shown in FIG.

A cam roller 48 is provided at the base end of the clamp 32.
Is rotatably supported by these cam rollers 48.
Are positioned to face each other between the frame plates 42. The tip of the power rod 36 can be inserted between the cam rollers 48. Therefore, when the above-mentioned power rod 36 is moved in the direction of arrow A, the cam surface 40 at the tip of the power rod 36 enters the two clamp rollers 48 while being guided by the cam rollers 48, and enters each clamp roller. The base end of 32 is spread in the direction of arrow B in FIG. 3 about the central shaft pin 46. Therefore, the clamp 32
3 is rotated in the direction of arrow C in FIG. 3, and the pair of clamps 32 is closed.

On the other hand, a pair of press dies 50 are mounted on the holding surface of each clamp 32. The press dies 50 are each formed with a semicircular caulking groove 52. The press dies 50 abut each other when the tip ends of the pair of clamps 32 are closed, and each caulking groove 5 is formed.
2 forms a circular hole. The diameter of the circular hole is smaller than the diameter of the caulking portion of the compression sleeve 22, that is, the first and second connecting portions 23 and 25.

Note that these press dies 50 can be replaced with other press dies having different caulking groove sizes depending on the size of the compression sleeve 22. That is, by exchanging each press die 50, it is possible to easily deal with compression sleeves having different shapes and sizes of caulking portions. From this, regarding the connection between the distribution line 16 and the branch line 20, the caulking work of the compression sleeve 22 (FIG. 5) by the compression tool 26 will be described.

First, the core wire of the branch wire 20 is compressed into the compression sleeve 2.
The branch line 20 is connected to the compression sleeve 22 by inserting the second connecting part 23 into the second connecting part 23 and crimping the second connecting part 23. The caulking work is performed on the ground in advance. Next, with the hand tool 24 of one manipulator 10, the compression sleeve 22 to which the branch line 20 is connected
And hold the second manipulator 10 by operating the manipulator 10 from the open side of the second connecting part 25 of the compression sleeve 22 so as to apply the second connecting part 25 to the part of the distribution line 16 where the coating is stripped off. .

Thereafter, the other manipulator 10 is operated to bring the compression tool 26 closer to the second connecting portion 25 of the compression sleeve 22 from the lower side of the distribution line 16, and the compression sleeve 22 is moved from the opened side to the compression tool 26. It is received between the pair of clamps 32. Then, the hydraulic pressure from the hydraulic pressure source is supplied to the pressure chamber 35 of the compression tool 26, and the power piston 36 is operated to close the pair of clamps 32. As a result, the second connecting portion 25 of the compression sleeve 22 received between the clamps 32 is clamped by the caulking groove 52 of the press die 50 by the caulking groove 52. After that, the supply of hydraulic pressure to the compression tool 26 is stopped, and the compression sleeve 22 is released from between the clamps 32 of the compression tool 26.

By caulking the necessary portions of the compression sleeve 22 in this manner, the work of connecting the branch line 20 and the distribution line 16 is completed. After this, around the compression sleeve 22,
It is covered with an insulating member such as polyethylene and electrically insulated. Next, a case where the compression sleeve 27 (jumper sleeve) shown in FIG. 7 is used will be described.

First, one electric wire 29 and the compression sleeve 27
One end of is connected beforehand on the ground. Next,
The manipulator 10 is operated to grasp the other electric wire 29 with the hand tool 24 and temporarily hold the other end of the compression sleeve 27 between the clamps 32 of the compression tool 26, while the other electric wire 29 is attached to the other end of the compression sleeve 27. insert.

Then, the hydraulic pressure from the hydraulic pressure source is supplied to the pressure chamber 35 of the compression tool 26 to supply the pressure chamber 35 with the power rod 3.
6 is actuated, the clamp 32 is closed and the compression sleeve 27 is crimped. After that, the supply of the hydraulic pressure to the compression tool 26 is stopped, and the compression sleeve 2 is pressed between the clamps 32 of the compression tool 26.
Release 7. .

By caulking the necessary portions of the compression sleeve 27 in this manner, the work of connecting the electric wires 29 to each other is completed. After that, the area around the compression sleeve 72 is covered with an insulating member such as polyethylene and electrically insulated.
As described above, according to this compression tool for manipulator, when the compression tool 26 is mounted on the tip of the manipulator 10 in an upright state, the compression tool 26 operates the manipulator so that the pair of the tools opened upward. The compression sleeve 22 can be received between the clamps 32, and the pair of clamps 32 can be rotated in the opposite directions to be closed by the operation of the actuator to crimp the received compression sleeve 22. Such an operation of the manipulator 10 has good visibility for an operator and can be performed very easily, and further, not only the workability of the power distribution work is improved, but also the work time can be shortened. effective.

[0029]

Since the compression tool for a manipulator of the present invention is constructed as described above, when the tool main body is installed in a standing state at the tip of the manipulator, the compression clamp provided at the tip of the tool body is , The manipulator can be operated to receive the compression sleeve between the pair of clamp pawls that are open upward, and the actuation of the actuator causes the pair of clamp pawls to rotate in the opposite directions to each other to close and The sleeve can be crimped. Therefore, such manipulator operations are highly visible to the operator and can be easily performed. Moreover, not only the workability of the distribution work is improved, but also the working time can be shortened, which is an excellent effect. Play.

[Brief description of drawings]

FIG. 1 is a perspective view showing a situation of an indirect construction method using a work robot.

FIG. 2 is an enlarged view of II in FIG.

FIG. 3 is a plan view of a compression tool (caulking tool) with a part broken.

FIG. 4 is a side view of the compression tool with a part broken away.

FIG. 5 is a side view of a compression sleeve (branch sleeve).

6 is a cross-sectional view taken along line VI-VI in FIG.

FIG. 7 is a side view of a jumper sleeve.

[Explanation of symbols]

 2 Working robot 4 Boom 6 Cabin 10 Manipulator 16 Distribution line 18 Switch 20 Connection line (branch line) 22 Compression sleeve (branch sleeve) 23 First connection part 25 Second connection part 26 Compression tool 30 Tool body 32 Clamp 34 Cylinder 35 pressure chamber 36 power rod 48 cam roller 50 caulking die

Claims (1)

[Claims] 1. A compression tool for crimping a compression sleeve arranged between a first electric wire and a second electric wire, and electrically connecting these electric wires to each other through the compression sleeve, wherein a tip of a manipulator of a working robot is provided. Tool body that can be installed in an upright position, an actuator that is built in the tool body and that operates by receiving fluid pressure from a drive source, and a tool body that is installed at the tip of the tool body. A compression tool for a manipulator, comprising a pair of clamp claws that are rotated and opened and closed, and a compression clamp that clamps a compression sleeve between the clamp claws and crimps the compression sleeve.