JPH0520237B2 - - Google Patents

Description

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.

(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. 59-26955). 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. In particular, when using tools on the basket of an aerial work vehicle, it is difficult to set the tools accurately due to the vibration and bending of the basket, and it is dangerous if the tools fall from a high place to the ground. It is desirable to be strongly restrained in places. However, if the tool is transferred directly from the tool chuck in the tool box to the wrist of the robot arm with strong force, the tool may be damaged or
There was a drawback that the robot arm was bent.

(Objective of the Invention) The object of the present invention is to provide an automatic tool changing device for construction equipment that can automate tool changing to reduce the burden on workers, and can smoothly transfer tools. It's about doing.

(Structure of the Invention) The automatic tool changing device for construction equipment of the present invention comprises a tool box that is mounted on a basket supported by a boom of an aerial work vehicle and stores a plurality of tools, and a tool box that is installed on a basket supported by a boom of an aerial work vehicle, and a tool box in which a plurality of tools are stored. It consists of a robot arm that grips tools and works at heights.
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, a tool detection sensor that detects when a tool has been carried into the tool storage position, and a robot arm that holds the tool. The chuck drive source is connected to the tool detection sensor and the robot arm detection sensor, and the chuck drive source is connected to the tool chuck so as to weakly grip the tool chuck. It consists of a first drive source that drives the chuck and a second drive source that firmly grips the tool chuck.
The drive source is characterized by being driven by the operation of a robot arm detection sensor.

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. The work can be carried out safely and efficiently, and since the tool is transferred between the tool chuck and the wrist of the robot arm while being held weakly, the tool and the robot arm are not damaged.

(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 FIGS. 2 and 3, the tool box 28 has three stages in the illustrated embodiment and stores three different tools 30A, 30B, and 30C (hereinafter representatively represented by the reference numeral 30). has been done.
The robot arm 20 is shown in FIGS. 2 and 4 A and B.
As shown in FIG.
is a claw drive source 40 including a motor 36 and a reducer 38;
The tool 30 can be attached and detached by opening and closing the opening. In FIG. 1, reference numeral 2 indicates a low voltage line, and reference numeral 3 indicates a column. In addition, tools 30A, 30B,
30C is a cable stripping tool, a connector installation tool, and a cover installation tool, respectively, in the case of high-voltage line branch connection work, for example.

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. In the illustrated embodiment, the chuck drive source 46 is configured to operate the tool 30A even when each fixed bracket 42, 42' is opened and closed.
fixing brackets 42, 4 so as to weakly grip the
The first cylinder (drive source) directly connected to 2'
48A, 48'A and then a second cylinder (drive source) 48 disposed proximate to the stationary brackets 42, 42' to drive the stationary brackets 42, 42' to firmly grip the tool chuck 44.
B, 48'B. In this way, the tool 30 can be moved from the wrist 34 or tool chuck 44 of the robot arm 20 to the tool chuck 44 or the tool chuck 44 while the tool 30 is still tightly gripped.
It is possible to prevent the tool 30 and the robot arm 20 from being damaged during transfer.

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 controls 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 detection operation of the tool detection sensor 50 and opened by the detection operation of the robot arm detection sensor 52. The pawl driving source 40 is also connected to the tool detecting device via the control circuit so that the fixed pawl 32 of the robot arm 20 is closed by the detecting operation of the robot detection sensor 52 and opened by the detecting operation of the tool detecting sensor 50. It is connected to a sensor 50 and a robot arm detection sensor 52. Note that the first cylinders 48A, 48'A of the tool chuck 44 operate to close the tool chuck 44 by the detection operation of the tool detection sensor 50, and the second cylinders 48B,
48'B is driven in the direction of further closing the tool chuck 44 by the detection operation of the robot arm detection sensor 52.

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 moves in the direction indicated by arrow a in FIG. The cylinders 48A, 48' operate to close the tool chuck 44 and restrain the tool 30 in a loose grip in the tool chuck 44 (see FIG. 6A). Next, fixing claw 3 of wrist 34
2 opens and pulls this list in the direction of arrow b in FIG. 3 to escape from the tool box 28, the robot arm detection sensor 52 opens and the second cylinder
B, 48'B operate to strongly tighten the tool 30.

On the other hand, when the wrist 34 of the robot arm 20, now empty, is inserted into another tool storing position of the tool box 28 from the direction of the arrow c in FIG. The second cylinders 48B, 48'B of the source 46 are driven in the opposite direction to cause the tool 30 to be restrained by the tool chuck 30, but in a weak grip, so that the wrist 34 is inserted deeper and the pawl drive source 40 is driven in the opposite direction.
When the tool 30 is gripped by the fixed claw 32 of the wrist 34, the robot arm detection sensor 52 detects it and the first cylinders 48A, 48'A completely release the tool 30 from the tool chuck 44. (See Figure 6B). Then list 34 becomes the third
The user moves in the direction of arrow d in the figure 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.

From the above, as shown in FIG. 7, the tool 30 is transferred between two springs in principle, and the tool 30 and the robot arm 20 are not damaged during transfer. 30
This means that they are being restrained.

(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.
The work can be done safely and efficiently, and the tool is restrained when passing between the tool chuck and the wrist of the robot arm, but the tool is held loosely, which may damage the tool and the robot arm. Never.

[Brief explanation of the drawing]

Fig. 1 is a schematic side view of a part of the live line work equipment provided with the 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 side view of a tool box. FIG. 4 is an enlarged perspective view of the wrist of the robot arm; FIGS. 5 and 6 are a front view and left side view of the main parts of the present invention in one tool storage position, and FIG. FIGS. A and B are explanatory diagrams showing the operation of the present invention, and FIG. 8 is an explanatory diagram showing the principle of the present invention. 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, 48A, 48
B, 48'A, 48'B...first and second cylinders, 50...tool detection sensor, 52...robot arm detection sensor.

Claims (1)

[Claims] 1. A construction equipment consisting of 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 robot arm that grasps a specified tool from the tool box and performs work at altitude. In the equipment, the tool box includes a tool chuck for gripping a tool corresponding to each tool storage position, a chuck drive source for opening and closing the tool chuck, and a tool detector for detecting when the tool has been carried into the tool storage position. the chuck drive source is connected to the tool detection sensor and the robot arm detection sensor, and the chuck drive source is connected to the tool detection sensor and the robot arm detection sensor; a first drive source that drives the tool chuck so as to grip the tool chuck weakly; and a second drive source that grips the tool chuck tightly; An automatic tool changing device for construction equipment, characterized in that it is driven by the operation of a detection sensor, and the second drive source is driven by the operation of the robot arm detection sensor.