JPH0681382B2 - Positioning method for robots for distribution work - Google Patents

Description

TECHNICAL FIELD The present invention relates to a work positioning method for a power distribution robot that performs live work at a high place.

<Prior art> In recent years, in order to improve the work safety condition of hot line work at high places in distribution work, automation of hot line work has been studied at various places. Gives commands to this robot to perform work such as stripping the wire, cutting the wire, and connecting the wire.

By the way, the method of performing live work at a high place with a robot does not require a worker to directly work on the electric wire.
Although the safety is improved, the tool attached to the robot must be accurately guided to the working point of the electric wire in order to facilitate the work. Therefore, the positioning method for moving the tool of the robot to a predetermined position. Will need to be adopted.

As a conventional positioning method, as shown in JP-A-60-17509, a short distance sensor attached to the wrist portion of the robot arm tip and a long distance sensor attached to the workbench are used, and the robot is detected by the information of both sensors. Is configured to operate.

<Problems to be solved by the invention> Conventionally, since a television camera and an image fiber are used for the short distance sensor and the long distance sensor of the above-mentioned positioning method, it takes time to guide the tool to the working point, and the work efficiency is improved. Also, there is a problem that the position detection accuracy is poor.

The present invention has been made to solve the above problems, and guides the tool of the robot based on the electric wire holding point, and can significantly improve the work efficiency and the positioning accuracy. An object of the present invention is to provide a positioning method for a robot for power distribution work.

<Means for Solving Problems> In order to solve the problems described above, the present invention has a list at the tip of which a tool for wiring work is attached, and has a degree of freedom to move back and forth with respect to an electric wire. Positioning arms that hold electric wires are installed side by side on the provided work arm, the electric wires are held by the positioning arm to set the work reference point, and the work arm is guided to the work point based on this work reference point. is there.

<Operation> First, the positioning arm is actuated, the vicinity of the working point of the electric wire is held by this arm to set a reference point, and then the working arm is actuated based on the above-mentioned reference point, and the tip attached to the working arm is set. Guide the tool of to the working point.

<Embodiment> An embodiment of the present invention will be described below with reference to the accompanying drawings.

As shown in the figure, a drive mechanism 1 is installed on a pedestal of a bucket which allows the work vehicle to move up and down, and a work arm 3 is attached to the upper end of a body 2 standing on the drive mechanism 1 so as to oscillate. ing.

The body 2 is swung and hoisted by the drive mechanism 1, and extends on both sides of the upper end of the body 2 in a direction perpendicular to the hoisting motion of the working arm 3 and further, the hoisting motion of the working arm 3 is performed. Shafts 4 and 5 which are arranged in a horizontal arrangement coaxial with the fulcrum are provided in a protruding manner, and a positioning arm 6 is attached to one shaft 4 and a holding arm 7 is attached to the other shaft 5.

The work arm 3 is formed to be expandable and contractable like a cylinder, and a tool for power distribution work is set on a wrist 8 attached to the tip of the work arm 3 so as to be capable of undulating and rotating.

The positioning arm 6 and the holding arm 7 have the same structure, and have a base arm 9 whose base end is attached to the shaft 4 or 5, a tip arm 10 attached to the tip of the base arm 9 so as to oscillate, and a tip arm. It is constituted by a clamp 11 attached to the tip of 10 so as to hold the electric wire A and the like, and both arms 6 and 7 rotate about the shafts 4 and 5 and move along the axial directions of the shafts 4 and 5. It is like this.

FIG. 2 is a diagram for explaining the degree of freedom of the robot. The tool can be moved up and down in the z direction by the hoisting motion of the body 2, and the work arm 3 can be expanded and contracted in the horizontal y direction.
Further, the positioning arm 6 and the holding arm 7 are moved in the horizontal x direction, and in addition to these movements, the turning around the body 2, the work arm 3, the positioning arm 6, and the raising and lowering movement of the holding arm 7 are added. Will be done.

A position detection mechanism is connected to the drive mechanism of the positioning arm 6, and the movement of the clamp 11 of the positioning arm 6 holding the electric wire A is electrically detected, and a signal for detecting the position of the electric wire is sent to the working arm 3 Then, the control device guides the working arm 3 and the wrist 8 to a position determined by the movement of the positioning arm 6.

In addition, guidance to the work point of the work arm 3 and the wrist 8
In addition to the position detecting mechanism as described above, for example, an oscillator 12 is attached to the tip of the positioning arm 6, and a signal from the oscillator 12 activates the control device of the working arm 3 and the wrist 8 to operate the wrist 8 at a working point. It is also possible to adopt a method of guiding to.

The work positioning method of the present invention is configured as described above, and the shafts 4 and 5 are made substantially parallel to the electric wire A by the hoisting motion and turning of the body 2 in a state where the bucket is raised to a predetermined height to form a fixed fulcrum. , The positioning arm 6 and the holding arm 7 are moved along the shafts 4 and 5, and the clamp 11 at the tip holds the position close to the working point of the electric wire A, and the holding point of the electric wire A is used as a reference according to the movement amount of the positioning arm 6. The work arm 3 and the wrist 8 are guided to a work point, and a predetermined work is performed with the tool of the wrist 8.

<Effect> As described above, according to the present invention, the positioning arm is provided side by side with the working arm attached to the upper end of the undulating body, and the working arm and the wrist are guided to the working point based on the wire holding point of the positioning arm. As a result, the work arm and the wrist can be electrically guided to the work point, and the efficiency of the guidance work can be greatly improved.

Further, since the work arm is guided with the wire holding point as a reference, the position detection accuracy of the work point becomes excellent.

[Brief description of drawings]

FIG. 1 is a perspective view of a power distribution construction robot that implements a work positioning method, and FIG. 2 is an operation explanatory diagram of the same. 2 ... Body, 3 ... Working arm 4, 5 ... Shaft, 6 ... Positioning arm 8 ... Wrist, 11 ... Clamp 12 ... Oscillator

Claims (3)

[Claims] 1. A positioning arm for holding an electric wire is provided side by side on a work arm having a wrist to which a tool for distribution work is attached, the working arm having a degree of freedom to move back and forth with respect to the electric wire. A work positioning method for a robot for electric power distribution work, which is characterized in that the work arm is held and a work reference point is set, and the work arm is guided to the work point based on the work reference point. 2. The movement of the positioning arm to the electric wire holding position is indexed by a position calculation device, and the working arm is guided to a working point based on the indexing result. Work positioning method for power distribution robots. 3. A work positioning method for a power distribution construction robot, wherein a work arm is guided to a work point by a signal from an oscillator attached to the tip of the positioning arm.