JP2541613B2 - Live line work equipment - Google Patents
Live line work equipmentInfo
- Publication number
- JP2541613B2 JP2541613B2 JP5753688A JP5753688A JP2541613B2 JP 2541613 B2 JP2541613 B2 JP 2541613B2 JP 5753688 A JP5753688 A JP 5753688A JP 5753688 A JP5753688 A JP 5753688A JP 2541613 B2 JP2541613 B2 JP 2541613B2
- Authority
- JP
- Japan
- Prior art keywords
- work
- tip
- auxiliary arm
- shaft
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Electric Cable Installation (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 ＜産業上の利用分野＞ この発明は高所での配電線工事を活線状態で行うため
の活線作業装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a hot wire working apparatus for carrying out distribution line work at a high place in a hot wire state.
＜従来の技術＞ 従来高所における活線作業は絶縁ブームを有する高所
作業車を用い、この作業車のバケット部に搭乗した作業
者がホットステイックの先端に工具を取付けて間接的に
作業を実施していた。<Prior art> Conventionally, live line work in high places uses an aerial work vehicle with an insulated boom, and an operator who rides on the bucket of the work vehicle attaches a tool to the tip of the hot stick to perform the work indirectly. It was carried out.
また、近年高所作業車のブームの先端のポストに取付
けたマニピュレータをバケット部の作業者が肉眼で目視
しながら遠隔操作して配電線の活線作業を行う方法が各
所で検討されている。Further, in recent years, various methods have been studied in various places to perform live-wiring work of distribution lines by remotely operating a manipulator attached to a post at the tip of a boom of an aerial work vehicle while visually inspecting with a naked eye.
このような活線作業を行うために用いる作業装置に
は、高所へ移動するための昇降装置と共に、マニピュレ
ータを概略作業容易な箇所に迅速に臨ませることが要求
される。The working device used for performing such live-line work is required to promptly move the manipulator to a position where the work is generally easy, together with an elevating device for moving to a high place.
又、マニピュレータには、その先端に取付けた工具を
作業箇所に接近されて動作可能な状態にすることが要求
される。Further, the manipulator is required to bring a tool attached to its tip close to a work place so that it can be operated.
一方、操作に当る作業者にはマニピュレータを操作
し、肉眼で判断しながら、その先端の工具を適切な作業
箇所に到達させ、工具を作動して所定の作業を行わせる
ことが要求される。On the other hand, an operator who operates the manipulator is required to operate the manipulator to make a tool at the tip of the manipulator reach an appropriate work place while operating the tool to perform a predetermined work while making a judgment with the naked eye.
そして、補助作業にあたるもう一人の作業者にはホッ
トステイックでマニピュレータによる作業を補助する等
して作業の迅速か、効率化を図ることが要求される。Then, the other worker who is the auxiliary work is required to assist the work by the manipulator with a hot stick to improve the work speed or efficiency.
＜発明が解決しようとする課題＞ 上記のように、従来のマニピュレータを用いる活線作
業装置はマニピュレータを操作する主作業者とホットス
テイックを操作する補助作業者の二人が必要であるた
め、バケットを二人が搭乗できる大きさのものとする必
要があり、ブームもこの大きな重いバケットを支えるだ
けの強度が必要となる等の問題があった。<Problems to be Solved by the Invention> As described above, the live-line working apparatus using the conventional manipulator requires two persons, a main operator who operates the manipulator and an auxiliary operator who operates the hot stick, and therefore the bucket. Had to be large enough for two people to board, and the boom also had to have the strength to support this large and heavy bucket.
この発明はこのような問題点を解決して一人の作業者
によって従来と同様の作業をなし得る装置を提供するこ
とを目的とするものである。SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide an apparatus capable of performing the same work as a conventional work by one worker.
＜課題を解決するための手段＞ 上記の目的を達成する為に、この発明は高所作業車の
ブームの上端に設けたポストの上方に、複数のマニピュ
レータ、下方に補助アームを旋回、起伏、伸縮自在に取
付けたものである。<Means for Solving the Problems> In order to achieve the above-mentioned object, the present invention provides a plurality of manipulators above a post provided at the upper end of a boom of an aerial work vehicle, and swivels and hoists an auxiliary arm below. It is attached so that it can expand and contract.
又、上記補助アームの取付け部に旋回、起伏が自在な
駆動手段と作業軸を設け、更に補助アームの先端部に旋
回、起伏が自在な作動部を設ける。Further, a drive means and a work shaft capable of freely swiveling and undulating are provided at the mounting portion of the auxiliary arm, and an operating portion capable of swiveling and undulating is provided at the tip of the auxiliary arm.
そして、補助アームの先端部にはカメラ装置及び把持
器が着脱可能に取付けられるようにしたものである。The camera device and the gripper are detachably attached to the tip of the auxiliary arm.
＜作用＞ 高所作業車のバケット上に搭乗した作業員は遠隔操作
装置の操作レバーを操作してブームを伸ばし、作業を行
うに概略適当な箇所にバケット及びマニピュレータを移
動する。<Operation> An operator who rides on the bucket of the aerial work vehicle operates the operation lever of the remote control device to extend the boom, and moves the bucket and the manipulator to an appropriate place for performing the work.
次に、作業者は作業状況に応じてマニピュレータの先
端ハンドに適当な工具を取付けた後、マニピュレータを
操作し、その先端の工具を適切な作業箇所に誘導する
が、バケット部の作業者からの視線では工具が確実に作
業対象にはまっているかどうかが判断しがたい場合があ
る。Next, the operator attaches an appropriate tool to the tip hand of the manipulator according to the work situation and then operates the manipulator to guide the tool at the tip to an appropriate work location. It may be difficult to judge from the line of sight whether or not the tool is definitely fitted into the work target.
このとき、作業者はカメラ装置を有する補助アームを
操作し、伸縮、起伏、旋回等の機構を作動させて概略適
当な箇所にテレビカメラをセットすると共に先端部の起
伏、旋回の機能を有する作動部を動作させて、作業対象
をとらえ、バケット部に設けたモニターテレビを見なが
ら確実な判断をしてから工具を作動する。At this time, the operator operates an auxiliary arm having a camera device to operate a mechanism such as expansion / contraction, undulation, and swiveling to set the television camera at an approximately appropriate position, and an operation having the functions of undulating and swiveling the tip. The part is operated to catch the work target, and the tool is operated after making a reliable judgment while watching the monitor TV set on the bucket part.
テレビカメラを設置する箇所としては、バケット部に
いる作業者の視線に対し、反対方向乃至下方からカメラ
でキャッチできる箇所が好ましい。As a place to install the television camera, a place where the camera can catch from the direction opposite to or below the line of sight of the worker in the bucket is preferable.
又、カメラのズーム機構を作動させて、作業箇所を拡
大して見ることができるようにしておくと、微細な作業
を行う場合に効果がより大きくなる。Further, by operating the zoom mechanism of the camera so that the work area can be magnified and viewed, the effect becomes greater when performing fine work.
＜実施例＞ 以下、この発明の実施例を添付図面にもとづいて説明
する。<Embodiment> An embodiment of the present invention will be described below with reference to the accompanying drawings.
第１図はこの活線作業装置の一実施例の全体を示すも
ので、作業車１上に水平旋回自在に取付けた旋回台２上
に起伏及び伸縮自在のブーム３を取付け、その上端に軸
４を中心に揺動自在のポスト５を設ける。FIG. 1 shows an entire embodiment of this live-line working apparatus. A hoisting and retractable boom 3 is mounted on a swivel base 2 which is mounted on a working vehicle 1 so as to be horizontally rotatable, and a shaft 3 is attached to the upper end of the boom 3. Provided is a post 5 which can be swung around 4.
このポスト５はブーム３がどのような角度に傾斜して
も常に垂直を保持するような機構を有するもので、この
ポスト５上にバケット６を設け、このバケット６の前部
にマニピュレータ７の取付台８を設けている。The post 5 has a mechanism that always keeps the vertical position regardless of the angle of the boom 3. The bucket 6 is provided on the post 5, and the manipulator 7 is attached to the front portion of the bucket 6. A stand 8 is provided.
ここで、マニピュレータの作動第１軸21は、垂直面内
での回転を自在とするもので、駆動手段を有する取付台
８に設置され、該作動第１軸21に固定された取付台９に
は作動第２軸22が、第１軸と直交する水平面内での回転
を自在に装着され、この第２軸22は取付台９に設けた駆
動手段により駆動される。Here, the operating first shaft 21 of the manipulator is freely rotatable in a vertical plane, and is installed on a mounting base 8 having a driving means, and is mounted on a mounting base 9 fixed to the operating first shaft 21. The operating second shaft 22 is mounted so as to freely rotate in a horizontal plane orthogonal to the first shaft, and the second shaft 22 is driven by the driving means provided on the mount 9.
作動第３軸23は該第２軸22と一体の台10上の装着さ
れ、その作動第３軸23は、第１軸及び第２軸と直交する
垂直面内での回転を自在としている。The working third shaft 23 is mounted on the base 10 integral with the second shaft 22, and the working third shaft 23 is freely rotatable in a vertical plane orthogonal to the first shaft and the second shaft.
31は、第１軸アームで該第３軸23により回動されるも
ので、その先端に作動第４軸24によって第２アーム32が
回動自在に取付けてある。Reference numeral 31 denotes a first shaft arm which is rotated by the third shaft 23, and a second arm 32 is rotatably attached to the tip thereof by an operating fourth shaft 24.
そして、該第２アーム32の先端に作動第５軸25により
先端ハンド33が装着されている。Then, the tip hand 33 is attached to the tip of the second arm 32 by the fifth operating shaft 25.
又、該第３軸23、第４軸24、第５軸25や、その他の軸
は適宜の駆動手段により駆動される。The third shaft 23, the fourth shaft 24, the fifth shaft 25, and other shafts are driven by appropriate driving means.
前記作動第４軸24より先端にはさらに３か所に軸を適
当に配置して全作動軸数を７軸としている。The total number of operating shafts is seven by further arranging shafts in three places at the tip of the fourth operating shaft 24.
尚、先端にはクリッパまたはツール28を設けている
が、このクリッパまたはツール28はマニピュレータ７に
対して着脱自在として、他の種々のツールと交換するこ
ともできる。Although a clipper or tool 28 is provided at the tip, this clipper or tool 28 can be detachably attached to the manipulator 7 and can be replaced with various other tools.
物をクリッパでつかんで回転するという作業の多いこ
とを配慮すればハンド33の最先端の第７軸27は連続回転
可能にしておくのがよい。Considering that there are many operations in which an object is gripped and rotated by a clipper, it is preferable that the 7th shaft 27 at the tip of the hand 33 is capable of continuous rotation.
更に、作業者の安全と配電線の線間短絡及び地絡事故
防止を配慮してマニピュレータの第１アーム31及び第２
アーム32の長手方向には絶縁物を介在させている。Further, in consideration of worker's safety and prevention of short circuit between distribution lines and prevention of ground fault, the first arm 31 and the second arm of the manipulator
An insulator is interposed in the longitudinal direction of the arm 32.
この絶縁物としてはERP、セラミックス、エポキシ樹
脂等の機械的強度にも優れたものを使用する。As the insulator, ERP, ceramics, epoxy resin, or the like having excellent mechanical strength is used.
又、雨天の下での使用を考慮して、アームやブームに
水切笠を取付けることもできる。Also, in consideration of use in rainy weather, a drainage cap can be attached to the arm or boom.
35は、前記ポスト５に固定した補助アーム取付台で、
この台35に垂直の軸を中心に旋回する旋回機構36により
旋回台37を設け、この台37に水平の軸からなる起伏機構
38により補助アーム39と取付けてある。35 is an auxiliary arm mount fixed to the post 5,
A swivel platform 37 is provided on the platform 35 by a swivel mechanism 36 that swivels around a vertical axis, and an undulating mechanism consisting of a horizontal axis is provided on the platform 37.
It is attached to the auxiliary arm 39 by 38.
この補助アーム39は大小のパイプを摺動自在にはめ合
わせて適宜の駆動手段により伸縮自在としたもので、そ
の先端には先端旋回機構40と、先端起伏機構41とを設け
て、この起伏機構41上にカメラ装置42又は第３図の把持
器43が着脱自在に装着される。The auxiliary arm 39 is made by slidably fitting large and small pipes and can be expanded and contracted by an appropriate drive means. A tip turning mechanism 40 and a tip undulating mechanism 41 are provided at the tip of the auxiliary arm 39. A camera device 42 or a gripper 43 shown in FIG. 3 is detachably mounted on 41.
上記のカメラ装置42はテレビカメラとし、このカメラ
に自動焦点調節機構やモータズームレンズを取付けてお
くと作業が容易になる。The above-mentioned camera device 42 is a television camera, and if an automatic focus adjustment mechanism and a motor zoom lens are attached to this camera, the work becomes easy.
又、該カメラ装置42により撮影した映像を写し出すモ
ニターテレビ44をバケット６上に取付、マニピュレータ
７及び補助アーム39、カメラ装置42等の遠隔操作装置45
もバケット６に設けて作業者46がこれらを自在に遠隔操
作できるようにする。Further, a monitor television 44 for displaying an image taken by the camera device 42 is mounted on the bucket 6, and a manipulator 7 and an auxiliary arm 39, a remote control device 45 such as the camera device 42 and the like.
Is also provided in the bucket 6 so that the operator 46 can freely operate these remotely.
更に、カメラ装置42に無線送信機を組み込んでおくこ
とにより、バケット６部のモニターテレビ44で映像をキ
ャッチするだけでなく、地上においても高所での作業状
況をとらえることができるので、地上から高所の作業者
に対する指示も的確にできる。Furthermore, by incorporating a wireless transmitter in the camera device 42, not only can the image be captured by the monitor TV 44 in the bucket 6 section, but also the work situation at a high place on the ground can be grasped. It is also possible to give accurate instructions to workers in high places.
尚、補助アーム39やカメラ装置42、把持器43の駆動に
は作業装置の油圧源やバケット６部に搭載した油圧発電
機やバッテリ等の各種の動力源を利用できる。また補助
アームを屈伸型とすることも有り得る。For driving the auxiliary arm 39, the camera device 42, and the gripper 43, various power sources such as a hydraulic power source of the working device, a hydraulic power generator mounted on the bucket 6 and a battery can be used. Further, the auxiliary arm may be of a bending type.
＜効果＞ 以上のように、この発明によると、マニピュレータの
他に補助アームを取付けているので、この補助アームの
先端部にカメラ装置を取付ければ作業者の視覚補助がで
き、この補助アームの先端に把持器を取付ければ作業補
助ができるので、高所作業車に用いる活線作業を容易か
つ効率的に行うことができる。<Effect> As described above, according to the present invention, the auxiliary arm is attached in addition to the manipulator. Therefore, if a camera device is attached to the tip end of the auxiliary arm, visual assistance for the operator can be obtained. Since the work can be assisted by attaching the gripper to the tip, it is possible to easily and efficiently perform the live-line work used for the aerial work vehicle.
又、従来の活線作業装置では、バケット部には作業者
が二人必要であったが、この発明により一人の作業者で
も作業可能となり、省人化にも役立つ、更に、搭乗者は
一人でよいのでバケットを小型軽量にできる等の大きな
効果が得られる。Further, in the conventional hot-line work device, two bucket workers required two workers, but this invention allows one worker to work, which is also useful for labor saving. Furthermore, one passenger is required. Since it is sufficient, a large effect such as making the bucket small and lightweight can be obtained.
第１図はこの発明の活線作業装置の一実施例を示す全体
の側面図、第２図は同上要部の拡大側面図、第３図は補
助アームの先端部に取付ける把持器の一例を示す側面図
である。 １……作業者、２……旋回台 ３……ブーム、６……バケット ７……マニピュレータ、39……補助アーム 42……カメラ装置、43……把持器FIG. 1 is an overall side view showing an embodiment of the hot-line working apparatus of the present invention, FIG. 2 is an enlarged side view of the essential parts of the same, and FIG. 3 is an example of a gripper attached to the tip of an auxiliary arm. It is a side view shown. 1 ... Worker, 2 ... Revolving platform 3 ... Boom, 6 ... Bucket 7 ... Manipulator, 39 ... Auxiliary arm 42 ... Camera device, 43 ... Grasping device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 奥園 努 福岡県福岡市中央区渡辺通２丁目１番82 号 九州電力株式会社内 (72)発明者 古川 博康 大阪府大阪市此花区島屋１丁目１番３号 住友電気工業株式会社大阪製作所内 (72)発明者 加藤 邦友 大阪府大阪市此花区島屋１丁目１番３号 住友電気工業株式会社大阪製作所内 (72)発明者 川上 謹司 香川県高松市新田町甲34番地 株式会社 多田野鉄工所内 (72)発明者 田嶋 篤彦 香川県高松市新田町甲34番地 株式会社 多田野鉄工所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tsutomu Okono, 2-82 Watanabe-dori, Chuo-ku, Fukuoka-shi, Fukuoka Kyushu Electric Power Co., Inc. (72) Hiroyasu Furukawa 1-chome, Shimaya, Osaka, Osaka 1-3, Sumitomo Electric Industries, Ltd., Osaka Works (72) Inventor, Kunitomo Kato, 1-3-1, Shimaya, Konohana-ku, Osaka City, Osaka Prefecture Sumitomo Electric Industries, Ltd., Osaka Works (72) Inventor, Kenji Kawakami, Kagawa Prefecture 34, Koda, Nitta-cho, Takamatsu City, Tadano Iron Works Co., Ltd. (72) Inventor, Atsuhiko Tajima, 34, Koda, Nitta-machi, Takamatsu City, Kagawa Prefecture, Tadano Iron Works, Ltd.
Claims (4)
の上方に、複数のマニピュレータ、下方に補助アームを
旋回、起伏、伸縮自在に取付けたことを特徴とする活線
作業装置。1. A live-line working apparatus comprising a plurality of manipulators above a post provided at an upper end of a boom of an aerial work vehicle, and auxiliary arms below the post, which can be swung, raised, and retracted.
自在な駆動手段と作動軸を設けたことを特徴とする請求
項１記載の活線作業装置。2. The hot wire working apparatus according to claim 1, wherein the mounting portion of the auxiliary arm is provided with a drive means and an operating shaft which can be swung and raised and lowered freely.
在な作動部を設けたことを特徴とする請求項１又は２記
載の活線作業装置。3. The hot wire working apparatus according to claim 1, wherein the auxiliary arm has a distal end portion provided with an actuating portion capable of freely swiveling and undulating.
把持部が着脱自在に取付けられるようにしたことを特徴
とする請求項１乃至３のいずれかに記載の活線作業装
置。4. The hot wire working apparatus according to claim 1, wherein a camera device and a grip portion are detachably attached to a tip portion of the auxiliary arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5753688A JP2541613B2 (en) | 1988-03-10 | 1988-03-10 | Live line work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5753688A JP2541613B2 (en) | 1988-03-10 | 1988-03-10 | Live line work equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01231800A JPH01231800A (en) | 1989-09-18 |
| JP2541613B2 true JP2541613B2 (en) | 1996-10-09 |
Family
ID=13058482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5753688A Expired - Lifetime JP2541613B2 (en) | 1988-03-10 | 1988-03-10 | Live line work equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2541613B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102317076B1 (en) * | 2020-11-16 | 2021-10-22 | 호원대학교산학협력단 | Multu work vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0646959Y2 (en) * | 1990-01-22 | 1994-11-30 | 新明和工業株式会社 | Aerial work vehicle |
| JPH03126581U (en) * | 1990-04-06 | 1991-12-19 | ||
| JPH0434810U (en) * | 1990-07-05 | 1992-03-24 | ||
| JP2556892Y2 (en) * | 1990-07-05 | 1997-12-08 | 株式会社 小林搬送機器 | Aerial work vehicle |
| JPH0443324U (en) * | 1990-08-07 | 1992-04-13 | ||
| JPH0443323U (en) * | 1990-08-07 | 1992-04-13 | ||
| JPH0443397U (en) * | 1990-08-07 | 1992-04-13 | ||
| JPH0443322U (en) * | 1990-08-07 | 1992-04-13 | ||
| US5215202A (en) * | 1990-09-05 | 1993-06-01 | Aichi Sharyo Co., Ltd. | Mobile vehicular apparatus with aerial cabin |
| US5183168A (en) * | 1990-09-05 | 1993-02-02 | Aichi Sharyo Co. Ltd. | Mobile vehicular apparatus with aerial cabin |
| US5268591A (en) * | 1990-09-21 | 1993-12-07 | Kabushiki Kaisha Aichi Corporation | Upper power supply arrangement for mobile vehicular apparatus with aerial platform |
| US5107954A (en) * | 1990-10-31 | 1992-04-28 | Aichi Sharyo Co. Ltd. | Control device for mobile vehicular apparatus with aerial platform |
| US5286159A (en) * | 1990-11-08 | 1994-02-15 | Kabushiki Kaisha Aichi Corporation | Mobile vehicular apparatus with aerial working device |
| US5200674A (en) * | 1990-11-16 | 1993-04-06 | Aichi Sharyo Co., Ltd. | Electric power supply device for mobile vehicular apparatus with aerial cabin having force-feedback manipulator |
| JP5002756B2 (en) * | 2006-07-11 | 2012-08-15 | 株式会社 帝国設計事務所 | In-vehicle remote inspection device |
| SE537318C2 (en) * | 2012-02-01 | 2015-04-07 | Strihl Scandinavia Ab | System for changing street lighting fixtures |
| CN106737668A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot teleoperation method based on virtual reality |
| CN113172646A (en) * | 2021-05-10 | 2021-07-27 | 安徽恒创智能装备有限公司 | Breaking-in robot for decomposing furnace |
| WO2023215615A1 (en) * | 2022-05-06 | 2023-11-09 | Oshkosh Corporation | Lift device with robotic welding attachment |
| US20230356402A1 (en) * | 2022-05-06 | 2023-11-09 | Oshkosh Corporation | Lift device with robotic welding attachment innovations |
-
1988
- 1988-03-10 JP JP5753688A patent/JP2541613B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102317076B1 (en) * | 2020-11-16 | 2021-10-22 | 호원대학교산학협력단 | Multu work vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01231800A (en) | 1989-09-18 |
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