JPH0520236B2 - - Google Patents
Info
- Publication number
- JPH0520236B2 JPH0520236B2 JP23126284A JP23126284A JPH0520236B2 JP H0520236 B2 JPH0520236 B2 JP H0520236B2 JP 23126284 A JP23126284 A JP 23126284A JP 23126284 A JP23126284 A JP 23126284A JP H0520236 B2 JPH0520236 B2 JP H0520236B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- chuck
- detection sensor
- robot arm
- drive source
- 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
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Cable Installation (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、ロボツトを用いて高所作業する工事
用設備の工具自動交換装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic tool changer for construction equipment that uses a robot to perform work at high places.
（従来技術）
最近、活線状態のまま高圧配電線から分岐線を
引出したりするため高所作業車のブームに搭載さ
れたロボツトによつて高所で活線作業を行なう工
法が提案されている。この場合、ロボツトの監視
及びロボツトへの位置教示は高所作業車に乗つて
いる作業者が行なつている（特願昭59−26922号
参照）。この工法では作業者が直接高圧配電線に
接触することがないが、ロボツトの監視及び教
示、工具の交換を作業者が行なうので作業者の負
担が多く自動化が充分でなかつた。(Prior art) Recently, a method has been proposed in which a robot mounted on the boom of an aerial work vehicle performs live line work at height in order to pull out branch lines from high-voltage distribution lines while the lines are still live. . In this case, the robot is monitored and the position is taught to the robot by a worker riding on an aerial work vehicle (see Japanese Patent Application No. 59-26922). In this construction method, workers do not come into direct contact with high-voltage power distribution lines, but the workers are responsible for monitoring and teaching the robots and replacing tools, which places a heavy burden on the workers and does not allow for sufficient automation.
（発明の目的）
本発明の目的は、工具の交換を自動化して作業
者の負担を軽減することができる工事用設備の工
具自動交換装置を提供することにある。(Objective of the Invention) An object of the present invention is to provide an automatic tool changing device for construction equipment that can automate tool changing and reduce the burden on workers.
（発明の構成）
本発明の工事用設備の工具自動交換装置は、高
所作業車のブームによつて支持されたバスケツト
上に搭載され複数の工具が収納された工具ボツク
スとこの工具ボツクスの所定位置に移動して１つ
の工具を着脱する固定爪及びその開閉用の爪駆動
源を有するロボツトアームとから成つていて、工
具ボツクスはその各工具収納位置に相応する工具
を把持する工具チヤツクとこの工具チヤツクを開
閉するチヤツク駆動源と工具が工具収納位置に搬
入されてきたことを検出する工具検出センサとロ
ボツトアームが工具収納位置内にあることを検出
するロボツトアーム検出センサとを有し、チヤツ
ク駆動源は工具検出センサとロボツトアーム検出
センサとに接続され、また、爪駆動源は工具検出
センサとロボツトアーム検出センサとに接続され
ていることを特徴としている。(Structure of the Invention) The automatic tool changer for construction equipment of the present invention includes a tool box that is mounted on a basket supported by the boom of an aerial work vehicle and stores a plurality of tools, and a predetermined location of the tool box. The tool box consists of a fixed claw that moves to a position to attach or remove a tool, and a robot arm that has a drive source for opening and closing the claw. It has a chuck drive source that opens and closes the tool chuck, a tool detection sensor that detects that the tool has been carried into the tool storage position, and a robot arm detection sensor that detects that the robot arm is in the tool storage position, The chuck drive source is connected to the tool detection sensor and the robot arm detection sensor, and the claw drive source is connected to the tool detection sensor and the robot arm detection sensor.
この工具自動交換装置によれば、所定の工具は
工具ボツクス内で自動的にロボツトアームから受
けたりロボツトアームに渡されるから工具を自動
的に交換して高所での作業者の負担を軽減し、作
業を安全且つ効率よく行なうことができる。 According to this automatic tool changer, specified tools are automatically received from and passed to the robot arm in the tool box, so the tools are automatically exchanged to reduce the burden on workers working in high places. , work can be done safely and efficiently.
（実施例）
本発明の実施例を図面を参照して詳細に説明す
ると、第１図は本発明に係る工具自動交換装置１
０を備えた活線工事用設備１２の一部を示し、活
線工事用設備１２は図示しない高所作業車から延
びるブーム１６の頂部に取付けられてブーム１６
の移動で高圧配電線１に接近することができるバ
スケツト１８の上に搭載され複数の関節接続され
たロボツトアーム２０から成るロボツト２２とこ
のロボツト２２を作業者２４が操作する操作盤２
６とバスケツト１８上に搭載され複数の工具がを
収納された工具ボツクス２８とを備えている。工
具ボツクス２８は、第２図に示すように、図示の
実施例では３段にしてあつて３つの異なる工具３
０Ａ，３０Ｂ，３０Ｃ（以下代表して符号３０で
表わす）がそれぞれ収納されている。ロボツトア
ーム２０は、第２図及び第３図に示すように、工
具３０を固定する複数の固定爪３２を有するリス
ト３４を含み、この固定爪３２はモータ３６と減
速機３８とを含む爪駆動源４０によつて開閉して
工具３０を着脱するようになつている。尚、第１
図において符号２は低圧線、符号３は装柱であ
る。また、工具３０Ａ，３０Ｂ，３０Ｃは、例え
ば、それぞれケーブルの皮剥工具、コネクタ取付
工具及びカバー取付工具とすることができる。(Example) An example of the present invention will be described in detail with reference to the drawings. Fig. 1 shows an automatic tool changer 1 according to the present invention.
0, the live line construction equipment 12 is attached to the top of a boom 16 extending from an unillustrated aerial work vehicle.
A robot 22 consisting of a plurality of articulated robot arms 20 mounted on a basket 18 that can approach the high-voltage power distribution line 1 by moving the robot 22, and an operation panel 2 on which a worker 24 operates the robot 22.
6 and a tool box 28 mounted on the basket 18 and storing a plurality of tools. As shown in FIG.
0A, 30B, and 30C (hereinafter representatively represented by reference numeral 30) are housed, respectively. The robot arm 20 includes a wrist 34 having a plurality of fixing claws 32 for fixing a tool 30, as shown in FIGS. The tool 30 is opened and closed by a power source 40 to attach and detach the tool 30. Furthermore, the first
In the figure, numeral 2 is a low-voltage line, and numeral 3 is a pillar installation. Further, the tools 30A, 30B, and 30C can be, for example, a cable stripping tool, a connector installation tool, and a cover installation tool, respectively.
本発明の工具自動交換装置１０は、第２図以下
に詳細に示され、工具ボツクス２８はその各工具
収納位置に相応する工具、例えば工具３０Ａを把
持するように支点４１，４１′で枢支された一対
の相対する固定ブラケツト４２，４２′から成る
工具チヤツク４４とこの工具チヤツク４４を開閉
するチヤツク駆動源４６とを有する。チヤツク駆
動源４６は、図示の実施例では各固定ブラケツト
４２，４２′を開閉する単一のシリンダ４８，４
８′から成つている。 The automatic tool changer 10 of the present invention is shown in detail in FIG. The tool chuck 44 includes a pair of opposing fixed brackets 42, 42', and a chuck drive source 46 for opening and closing the tool chuck 44. The chuck drive source 46, in the illustrated embodiment, is a single cylinder 48, 4 that opens and closes each fixed bracket 42, 42'.
It consists of 8'.
工具ボツクス２８は、また、工具３０が工具収
納位置に搬入されてきたことを検出するリミツト
スイツチから成る工具検出センサ５０とロボツト
アーム２０のリスト３４が工具収納位置内にある
ことを検出するリミツトスイツチから成るロボツ
トアーム検出センサ５２とを有する。工具検出セ
ンサ５０の操作アーム５０ａは、通常ではばね５
４によつて工具チヤツク４４内に突出する操作片
５６に接触している。工具チヤツク４４が工具検
出センサ５０の動作で閉じられ、ロボツトアーム
検出センサ５２の動作で開かれるようにチヤツク
駆動源４６は図示しない制御回路を介して工具検
出センサ５０とロボツトアーム検出センサ５２と
に接続され、またロボツトアーム２０の固定爪３
２がロボツト検出センサ５２の動作で閉じられ、
工具検出センサ５０の動作で開かれるように爪駆
動源４０は同じく制御回路を介して工具検出セン
サ５０とロボツトアーム検出センサ５２とに接続
されている。 The tool box 28 also includes a tool detection sensor 50, which is a limit switch that detects that the tool 30 has been carried into the tool storage position, and a limit switch that detects that the wrist 34 of the robot arm 20 is in the tool storage position. It has a robot arm detection sensor 52. The operating arm 50a of the tool detection sensor 50 is normally operated by a spring 5.
4 contacts an operating piece 56 which projects into the tool chuck 44. The chuck drive source 46 is connected to the tool detection sensor 50 and the robot arm detection sensor 52 via a control circuit (not shown) so that the tool chuck 44 is closed by the operation of the tool detection sensor 50 and opened by the operation of the robot arm detection sensor 52. The fixed claw 3 of the robot arm 20
2 is closed by the operation of the robot detection sensor 52,
The claw drive source 40 is also connected to the tool detection sensor 50 and the robot arm detection sensor 52 via a control circuit so as to be opened by the operation of the tool detection sensor 50.
次に本発明の工具交換装置の動作をのべると、
例えば、既に工具３０が把持されているリスト３
４を第５図及び第６図の右側から矢印で示すよう
に移動してくると、工具３０が操作片５６をばね
５４に抗して押し、このため工具検出センサ５０
が閉じてチヤツク駆動源４６が動作し工具チヤツ
ク４４を閉じて工具３０が工具チヤツク４４に把
持される。次いで、リスト３４の固定爪３２が開
いてこのリストを第５図及び第６図の手前に引き
工具ボツクス２８から脱出すると、ロボツトアー
ム検出センサ５２が開いて動作の終了が確認され
る。 Next, the operation of the tool changing device of the present invention will be described as follows.
For example, the list 3 in which the tool 30 is already gripped
4 is moved from the right side of FIGS. 5 and 6 as shown by the arrow, the tool 30 pushes the operating piece 56 against the spring 54, and therefore the tool detection sensor 50
is closed, the chuck drive source 46 is operated, the tool chuck 44 is closed, and the tool 30 is gripped by the tool chuck 44. Next, when the fixing claw 32 of the wrist 34 opens and the wrist is pulled forward in FIGS. 5 and 6 to escape from the tool box 28, the robot arm detection sensor 52 opens and the end of the operation is confirmed.
一方、このようにして空になつたロボツトアー
ム２０のリスト３４に所定の工具を把持すべく工
具ボツクス２８の他の工具収納位置に第５図及び
第６図の手前からリスト３４を挿入すると、先ず
ロボツトアーム検出センサ５２が閉じ、チヤツク
駆動源４６を反対方向に駆動してその工具３０を
工具チヤツク３０から解放し、次いで爪駆動源４
０が動作して工具３０はリスト３４の固定爪３２
に把持される。その後、リスト３４は第５図及び
第６図の右側に移動して工具３０を把持したまま
工具ボツクス２８から脱出され、このとき工具検
出センサ５０が開いてその動作が確認される。 On the other hand, when the wrist 34 of the robot arm 20, now empty, is inserted into another tool storage position of the tool box 28 from the front in FIGS. 5 and 6 in order to grip a predetermined tool, First, the robot arm detection sensor 52 is closed, the chuck drive source 46 is driven in the opposite direction to release the tool 30 from the tool chuck 30, and then the claw drive source 4 is driven in the opposite direction to release the tool 30 from the tool chuck 30.
0 operates and the tool 30 locks the fixed claw 32 of the wrist 34.
is grasped by. Thereafter, the wrist 34 moves to the right side in FIGS. 5 and 6 and escapes from the tool box 28 while holding the tool 30. At this time, the tool detection sensor 50 opens and its operation is confirmed.
（発明の効果）
本発明によれば、上記のように、工具を自動的
にロボツトアームに渡したりロボツトアームから
受け取つたりするので作業者の負担が軽減され、
作業を完全且つ効率よく行なうことができる実益
がある。(Effects of the Invention) According to the present invention, as described above, tools are automatically passed to and received from the robot arm, which reduces the burden on the operator.
There is a practical benefit in that the work can be done completely and efficiently.
第１図は本発明に係る工具自動交換装置の備え
た活線工事用設備の一部の概略側面図、第２図は
本発明の工具自動交換装置の側面図、第３図はロ
ボツトアームの先端部の拡大側面図、第４図及び
第５図はそれぞれ１つの工具収納位置での本発明
の要部を示す正面図及びその左側面図、第６図本
発明の要部の拡大側面図である。
１０……工具自動交換装置、１２……活線工事
用設備、２０……ロボツトアーム、２２……ロボ
ツト、２８……工具ボツクス、３０，３０Ａ，３
０Ｂ，３０Ｃ……工具、３２……固定爪、３４…
…リスト、４０……爪駆動源、４４……工具チヤ
ツク、４６……チヤツク駆動源、５０……工具検
出センサ、５２……ロボツトアーム検出センサ。
FIG. 1 is a schematic side view of a part of live line construction equipment equipped with an automatic tool changer according to the present invention, FIG. 2 is a side view of the automatic tool changer according to the present invention, and FIG. 3 is a diagram of a robot arm. FIGS. 4 and 5 are a front view and left side view showing the main parts of the present invention in one tool storage position, respectively. FIG. 6 is an enlarged side view of the main parts of the present invention. It is. 10... Automatic tool exchange device, 12... Equipment for live line work, 20... Robot arm, 22... Robot, 28... Tool box, 30, 30A, 3
0B, 30C...Tool, 32...Fixed claw, 34...
...List, 40...Claw drive source, 44...Tool chuck, 46...Chuck drive source, 50...Tool detection sensor, 52...Robot arm detection sensor.
Claims (1)
ケツト上に搭載され複数の工具が収納された工具
ボツクスと前記工具ボツクスの所定位置に移動し
て１つの工具を着脱する固定爪及びその開閉用の
爪駆動源を有するロボツトアームとから成る工事
用設備において、前記工具ボツクスはその各工具
収納位置に相応する工具を把持する工具チヤツク
と前記工具チヤツクを開閉するチヤツク駆動源と
前記工具が前記工具収納位置に搬入されてきたこ
とを検出する工具検出センサと前記ロボツトアー
ムが前記工具収納位置内にあることを検出するロ
ボツトアーム検出センサとを有し、前記チヤツク
駆動源は前記工具検出センサとロボツトアーム検
出センサとに接続され、また前記爪駆動源は前記
工具検出センサとロボツトアーム検出センサとに
接続されていることを特徴とする工事用設備の工
具自動交換装置。1. A tool box that is mounted on a basket supported by the boom of an aerial work vehicle and stores a plurality of tools, and a fixed claw that moves to a predetermined position of the tool box to attach and detach one tool, and for opening and closing the tool box. In construction equipment, the tool box includes a tool chuck that grips a tool corresponding to each tool storage position, a chuck drive source that opens and closes the tool chuck, and a robot arm that has a claw drive source, and the tool box has a tool chuck that grips a tool corresponding to each tool storage position, a chuck drive source that opens and closes the tool chuck, and a robot arm that has a claw drive source. The chuck drive source has a tool detection sensor that detects that the tool has been carried into the tool storage position, and a robot arm detection sensor that detects that the robot arm is in the tool storage position, and the chuck drive source is connected to the tool detection sensor and the robot arm. An automatic tool changer for construction equipment, characterized in that the claw drive source is connected to the tool detection sensor and the robot arm detection sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231262A JPS61111895A (en) | 1984-11-05 | 1984-11-05 | Tool automatic exchanger for facility for construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231262A JPS61111895A (en) | 1984-11-05 | 1984-11-05 | Tool automatic exchanger for facility for construction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61111895A JPS61111895A (en) | 1986-05-29 |
| JPH0520236B2 true JPH0520236B2 (en) | 1993-03-18 |
Family
ID=16920856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59231262A Granted JPS61111895A (en) | 1984-11-05 | 1984-11-05 | Tool automatic exchanger for facility for construction |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61111895A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103150223A (en) * | 2013-03-06 | 2013-06-12 | 上海斐讯数据通信技术有限公司 | Method for preventing epon terminal equipment from being damaged and epon terminal equipment |
| WO2024062983A1 (en) * | 2022-09-22 | 2024-03-28 | 中村留精密工業株式会社 | Hand unit attachment structure for conveyance device |
-
1984
- 1984-11-05 JP JP59231262A patent/JPS61111895A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103150223A (en) * | 2013-03-06 | 2013-06-12 | 上海斐讯数据通信技术有限公司 | Method for preventing epon terminal equipment from being damaged and epon terminal equipment |
| WO2024062983A1 (en) * | 2022-09-22 | 2024-03-28 | 中村留精密工業株式会社 | Hand unit attachment structure for conveyance device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61111895A (en) | 1986-05-29 |
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