Method for positioning electric wire tool and electric wire construction device

Abstract

A method for positioning a wire tool includes measuring a distance from a range finder provided on a telescopic arm to a wire or an attachment member attached to the wire by rotating the telescopic arm so as to tilt or erect the telescopic arm at a position below the wire, extending the telescopic arm on the basis of the distance measured by the range finder, and positioning the wire tool on the basis of the distance measured by the range finder. Furthermore, the rotation angle of the telescopic arm is set on the basis of the rotation angle of the telescopic arm when the distance is measured by the range finder, and a wire tool provided on the telescopic arm is positioned on the wire or the mounting member.

Description

Technical Field

[0001] The present invention relates to a positioning method of a tool for electric wires and an electric wire construction device. Background Art

[0002] There are known electric wire construction devices for constructing electric wires (see, for example, Japanese Patent Application Laid-Open Nos. 64-060211, 9-225884, 9-131678, and 2001-88074).

[0003] The electric wire construction device (live wire robot) disclosed in Japanese Patent Application Laid-Open No. 64-060211 includes: a multi-jointed arm for installing tools for electric wires; a first ultrasonic sensor for measuring the distance to the ground; and a second ultrasonic sensor for measuring the distance to the electric wires. Summary of the invention

[0004] Technical problem to be solved by the invention

[0005] In the electric wire construction device disclosed in Japanese Patent Application Laid-Open No. 64-060211, the multi-jointed arm is controlled based on the distance to the ground measured by the first ultrasonic sensor and the distance to the electric wire measured by the second ultrasonic sensor to position the electric wire tool relative to the electric wire. Therefore, the structure of the electric wire construction device may be complicated.

[0006] The present disclosure takes the above-mentioned facts into consideration and aims to simplify the structure of the electric wire construction device.

[0007] Technical solutions to solve problems

[0008] The first technical solution involves a method for positioning a tool for electric wires, comprising: rotating a telescopic arm to tilt or stand up the telescopic arm at a position below the electric wire, measuring the distance from the telemeter to the electric wire or a mounting component installed on the electric wire by a distance meter provided on the telescopic arm, extending the telescopic arm based on the distance measured by the distance meter, and setting a rotation angle of the telescopic arm based on the rotation angle of the telescopic arm when the distance is measured by the distance meter, so as to position the tool for electric wires provided on the telescopic arm to the electric wire or the mounting component.

[0009] According to the positioning method of the electric wire tool involved in the first technical scheme, first, at a position lower than the electric wire, the telescopic arm is rotated to make it tilt or stand up, and the distance from the distance meter to the electric wire or the installation component installed on the electric wire is measured by the distance meter set on the telescopic arm.

[0010] Next, the telescopic arm is extended based on the distance to the wire etc. measured by the distance meter, and the rotation angle of the telescopic arm is set based on the rotation angle of the telescopic arm when the distance is measured by the distance meter, so that the wire tool provided on the telescopic arm is positioned on the wire etc.

[0011] Thus, in the present technical solution, the distance to the electric wire or the like is measured by the distance meter while the telescopic arm is rotated. That is, in the present technical solution, the direction of the distance meter is changed by the rotation mechanism of the telescopic arm. Therefore, in the present technical solution, the structure of the electric wire construction device can be simplified compared to the case where the direction of the distance meter is changed by a mechanism different from the rotation mechanism of the telescopic arm.

[0012] In addition, in the present technical solution, the extension amount and the rotation angle of the telescopic arm are controlled to position the wire tool on the wire, etc. Therefore, in the present technical solution, the positioning control of the wire tool relative to the wire, etc. can be simplified compared to the case where the wire tool is positioned on the wire, etc. by controlling the multi-joint arm, for example.

[0013] Furthermore, the position of the wire or the like is represented by polar coordinates based on the distance to the wire or the like measured by the distance meter and the rotation angle of the telescopic arm when measuring the distance. Therefore, calculations for positioning the wire tool on the wire or the like can be simplified.

[0014] The second technical solution involves a method for positioning a wire tool. In the method for positioning a wire tool involved in the first technical solution, the telescopic arm is capable of being telescoped along an imaginary line passing through the center of the rotating shaft, as viewed from the axial direction of the rotating shaft of the telescopic arm, and the rangefinder includes a laser rangefinder, and the laser rangefinder irradiates laser along the imaginary line as viewed from the axial direction of the rotating shaft.

[0015] According to the positioning method of the electric wire tool according to the second aspect, the telescopic arm is telescopic along the imaginary line passing through the center of the rotation axis when viewed from the axial direction of the rotation axis of the telescopic arm.

[0016] In addition, the rangefinder includes a laser rangefinder. The laser rangefinder irradiates a laser along an imaginary line from the axial direction of the rotation axis of the telescopic arm, receives reflected light from the electric wire, etc., and thereby measures the distance from the laser rangefinder to the electric wire, etc. That is, the laser rangefinder measures the distance to the electric wire, etc. in the telescopic direction of the telescopic arm.

[0017] Therefore, in the present technical solution, compared with the case where the laser rangefinder measures the distance to the electric wire or the like in a direction different from the extension direction of the telescopic arm, it is possible to easily find the extension amount of the telescopic arm when positioning the electric wire tool on the electric wire or the like. Therefore, the positioning control of the electric wire tool relative to the electric wire or the like can be further simplified.

[0018] A third aspect of the present invention relates to a method for positioning a wire tool according to the second aspect of the present invention, wherein a positioning reference point of the wire tool positioned on the wire or the mounting member is disposed on the imaginary line when viewed in the axial direction of the rotation shaft.

[0019] According to the method for positioning the electric wire tool according to the third aspect, the positioning reference point of the electric wire tool positioned on the electric wire or the like is arranged on the imaginary line when viewed in the axial direction of the rotation axis of the telescopic arm.

[0020] Thus, the extension amount of the telescopic arm when positioning the wire tool on the wire etc. can be determined based on the difference between the distance to the wire etc. measured by the laser distance meter and the distance from the laser distance meter to the positioning reference point of the wire tool.

[0021] In addition, in the present technical solution, the rotation angle of the telescopic arm when positioning the wire tool on the wire, etc. is consistent with the rotation angle of the telescopic arm when the distance to the wire, etc. is measured by the laser rangefinder. Therefore, the rotation angle of the telescopic arm when positioning the wire tool on the wire, etc. can be easily obtained. Therefore, the positioning control of the wire tool relative to the wire, etc. can be further simplified.

[0022] The fourth technical solution involves an electric wire construction device comprising: a device body, which is arranged at a position lower than the electric wire; a telescopic arm, which rotates relative to the device body in a tilted or upright manner with the rotation axis as the center; a tool mounting part, which is arranged on the front end side of the telescopic arm and is used to install tools for electric wires; and a distance meter, which is arranged on the telescopic arm and measures the distance to the electric wire or the mounting component installed on the electric wire while rotating integrally with the telescopic arm.

[0023] According to the electric wire construction device involved in the fourth technical solution, the telescopic arm rotates in a tilted or upright manner with respect to the device body arranged at a position lower than the electric wire, with the rotation axis as the center. A tool mounting portion for mounting a tool for electric wires is provided at the front end side of the telescopic arm. In addition, a distance meter is provided on the telescopic arm. The distance meter measures the distance to the electric wire or the mounting component mounted on the electric wire while rotating integrally with the telescopic arm.

[0024] Thus, in the present technical solution, the distance to the electric wire or the like is measured by the distance meter while the telescopic arm is rotated. That is, in the present technical solution, the direction of the distance meter is changed by the rotation mechanism of the telescopic arm. Therefore, in the present technical solution, the structure of the electric wire construction device can be simplified compared to the case where the direction of the distance meter is changed by a mechanism different from the rotation mechanism of the telescopic arm.

[0025] The wire construction device involved in the fifth technical solution is provided with a control unit in the wire construction device involved in the fourth technical solution, wherein the control unit extends the telescopic arm based on the distance measured by the distance meter, and sets the rotation angle of the telescopic arm based on the rotation angle of the telescopic arm when the distance is measured by the distance meter, so as to position the wire tool on the wire or the installation component.

[0026] According to the electric wire construction device involved in the fifth technical solution, the control unit extends the telescopic arm based on the distance to the electric wire, etc. measured by the distance meter. In addition, the control unit sets the rotation angle of the telescopic arm based on the rotation angle of the telescopic arm when the distance to the electric wire, etc. is measured by the distance meter. Thus, the control unit positions the electric wire tool on the electric wire or the installation component.

[0027] Thus, in the present technical solution, the wire tool is positioned on the wire or the mounting component by controlling the extension amount and the rotation angle of the telescopic arm. Therefore, in the present technical solution, the positioning control of the wire tool relative to the wire or the like can be simplified compared to, for example, the case where the wire tool is positioned on the wire or the like by controlling the multi-jointed arm.

[0028] Furthermore, the position of the wire or the like is represented by polar coordinates based on the distance to the wire or the like measured by the distance meter and the rotation angle of the telescopic arm when measuring the distance. Therefore, calculations for positioning the wire tool on the wire or the like can be simplified.

[0029] The wire construction device involved in the sixth technical solution is the wire construction device involved in the fourth technical solution or the fifth technical solution, wherein the telescopic arm is telescopic along an imaginary line passing through the center of the rotating shaft as viewed from the axial direction of the rotating shaft, and the rangefinder includes a laser rangefinder, and the laser rangefinder irradiates laser along the imaginary line as viewed from the axial direction of the rotating shaft.

[0030] According to the electric wire construction device involved in the sixth technical solution, the telescopic arm is telescopic along the imaginary line passing through the center of the rotation axis, as viewed from the axial direction of the rotation axis of the telescopic arm.

[0031] In addition, the rangefinder includes a laser rangefinder. The laser rangefinder irradiates a laser along an imaginary line from the axial direction of the rotation axis of the telescopic arm, receives reflected light from the electric wire, etc., and thereby measures the distance from the laser rangefinder to the electric wire, etc. That is, the laser rangefinder measures the distance to the electric wire, etc. in the telescopic direction of the telescopic arm.

[0032] Therefore, in the present technical solution, compared with the case where the laser rangefinder measures the distance to the electric wire or the like in a direction different from the extension direction of the telescopic arm, it is possible to easily find the extension amount of the telescopic arm when positioning the electric wire tool on the electric wire or the like. Therefore, the positioning control of the electric wire tool relative to the electric wire or the like can be further simplified.

[0033] The wire construction device according to the seventh technical solution is the wire construction device according to the sixth technical solution, wherein the positioning reference point of the wire tool positioned on the wire or the mounting component is arranged on the imaginary line when viewed from the axial direction of the rotating shaft.

[0034] According to the electric wire construction device involved in the seventh technical solution, the positioning reference point of the electric wire tool positioned on the electric wire or the like is arranged on the imaginary line when viewed from the axial direction of the rotation axis of the telescopic arm.

[0035] Thus, the extension amount of the telescopic arm when positioning the wire tool on the wire etc. can be determined based on the difference between the distance to the wire etc. measured by the laser distance meter and the distance from the laser distance meter to the positioning reference point of the wire tool.

[0036] In addition, in the present technical solution, the rotation angle of the telescopic arm when positioning the wire tool on the wire, etc. is consistent with the rotation angle of the telescopic arm when the distance to the wire, etc. is measured by the laser rangefinder. Therefore, the rotation angle of the telescopic arm when positioning the wire tool on the wire, etc. can be easily obtained. Therefore, the positioning control of the wire tool relative to the wire, etc. can be further simplified.

[0037] Effects of the Invention

[0038] As described above, according to the present disclosure, the structure of the electric wire construction device can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a side view showing an electric wire construction device involved in one embodiment.

[0040] Figure 2 yes Figure 1 Magnified side view of .

[0041] Figure 3 yes Figure 2 3-3 line cross-sectional view.

[0042] Figure 4 yes Figure 2 An exploded side view of the operating lever and wire tool is shown.

[0043] Figure 5 Yes means Figure 2 A side view of a wire tool with a pair of clamps opened is shown.

[0044] Figure 6 yes Figure 2 6-6 line cross-sectional view.

[0045] Figure 7 The hardware structure diagram of a control device in one embodiment.

[0046] Figure 8 The present invention is a system block diagram of an electric wire construction device according to an embodiment of the present invention.

[0047] Fig. 9 This is a flowchart showing a wire construction control process according to one embodiment.

[0048] Fig.10 is a diagram showing the working state of the electric wire installation device according to one embodiment. Figure 1 Corresponding side view.

[0049] Fig.11 is a diagram showing the working state of the electric wire installation device according to one embodiment. Figure 1 Corresponding side view.

[0050] Fig.12 is a diagram showing the working state of the electric wire installation device according to one embodiment. Figure 1 Corresponding side view.

[0051] Fig.13 It is a side view showing a modification of the electric wire tool according to one embodiment. DETAILED DESCRIPTION

[0052] Hereinafter, an electric wire construction device according to an embodiment will be described with reference to the drawings.

[0053] (Electric wire construction equipment)

[0054] exist Figure 1 3 shows a wire construction device 30 according to the present embodiment. The wire construction device 30 is, for example, a robot mounted on a bucket 20 of an aerial work vehicle and used to construct wires (live wires) 10 installed on a utility pole (not shown). The wire construction device 30 includes a device body 40, a telescopic arm 70, a laser rangefinder 122, and a camera 124.

[0055] In addition, arrows W appropriately shown in the respective figures indicate the width direction of the electric wire construction device 30. In addition, arrows F indicate the front side of the telescopic arm 70 in the front-rear direction (telescopic direction). In addition, unless otherwise specified in the specification, each component of the electric wire construction device 30 is not limited to one, and a plurality of components may exist.

[0056] (Device body)

[0057] like Figure 2 and Figure 3 As shown in FIG. 1 , the device body 40 is mounted on the bucket 20. In addition, the device body 40 supports the telescopic arm 70 in a manner that it can move in the width direction (arrow W direction) of the electric wire construction device 30. The device body 40 includes a frame 42 and a lateral movement mechanism 50. In addition, the bucket 20 is set on the boom 22 (see FIG. 1 ) that can be raised and lowered and rotated. Figure 1 ) at the front end portion.

[0058] like Figure 3 As shown, the frame 42 is formed into a box shape, and the width direction (arrow W direction) is arranged as the wire 10 (see Figure 1 ) in the longitudinal direction. The frame 42 has a pair of side frames 42S. The pair of side frames 42S are formed in a plate shape and are opposed to each other in the width direction of the electric wire construction device 30. The frame 42 is provided with a lateral movement mechanism 50.

[0059] As an example, the lateral movement mechanism 50 is a feed screw mechanism that reciprocates the telescopic arm 70 relative to the frame 42 in the width direction (arrow W direction) of the electric wire construction device 30. The lateral movement mechanism 50 includes a plurality of guide shafts 52, a slide table 60, a feed screw 54, a feed nut 56, and a lateral movement motor 58.

[0060] The plurality of guide shafts 52 are arranged along the width direction of the device body 40 and are mounted on the pair of side frames 42S. Two guide shafts 52 are provided at the upper and lower parts of the frame 42. The slide table 60 is slidably supported by the guide shafts 52.

[0061] The slide table 60 is formed in a box shape and is accommodated inside the frame 42. In addition, the lateral movement motor 58 is accommodated inside the slide table 60. The slide table 60 supports a telescopic arm 70 described later.

[0062] The feed screw 54 is arranged along the width direction of the device body 40 and is bridged between the pair of side frames 42S. In addition, a feed nut 56 is mounted on the feed screw 54.

[0063] The feed nut 56 is connected to the slide table 60. The feed nut 56 or the feed screw 54 is rotated or reversely rotated by the lateral movement motor 58, whereby the feed nut 56 reciprocates along the feed screw 54 in the width direction of the wire installation device 30. As a result, the slide table 60 reciprocates along the plurality of guide shafts 52 in the width direction of the wire installation device 30.

[0064] In addition, the lateral movement mechanism 50 is not limited to the feed screw mechanism, and can be modified as appropriate.

[0065] (Telescopic arm)

[0066] like Figure 2 As shown, the telescopic arm 70 extends from the device body 40. The electric wire tool 100 is detachably mounted on the front end side of the extension direction of the telescopic arm 70. In addition, the telescopic arm 70 is configured to be telescopic in the length direction (arrow F direction). Furthermore, the telescopic arm 70 is configured to be rotatable around a rotation axis 74 extending in the width direction of the electric wire construction device 30.

[0067] The telescopic arm 70 includes an arm body 72 , a telescopic mechanism 80 , and an operation unit 90 . The lower end of the arm body 72 is rotatably supported on the slide table 60 of the device body 40 via a rotation shaft 74 .

[0068] Specifically, if Figure 3 As shown, a pair of hinge bases 62 are provided on the slide table 60. The pair of hinge bases 62 protrude upward from the slide table 60 and are opposed to each other in the width direction of the electric wire construction device 30. In addition, a rotation shaft 74 extending in the width direction (arrow W direction) of the electric wire construction device 30 is provided on the pair of hinge bases 62. The lower end of the arm body 72 is rotatably supported on the rotation shaft 74.

[0069] like Figure 2 As shown, a rotation motor 76 is housed inside the arm body 72. The telescopic arm 70 is configured to be able to rotate in a tilted manner (arrow R1 side) or upright manner (arrow R2 side) around the rotation axis 74 by rotating or reversely rotating the rotation motor 76. In addition, an operating unit 90 is connected to the arm body 72 via the telescopic mechanism 80.

[0070] In addition, the telescopic arm 70 is not limited to being rotated by the rotating motor 76, and may be rotated by, for example, a damper, etc. In addition, the rotating mechanism of the arm body 72 can be changed as appropriate.

[0071] (Telescopic mechanism)

[0072] As an example, the telescopic mechanism 80 is a feed screw mechanism that reciprocates the operating unit 90 relative to the arm body 72 in the longitudinal direction (telescopic direction) of the telescopic arm 70. The telescopic mechanism 80 includes a plurality of guide shafts 82, a feed screw 84, a feed nut (not shown), and a telescopic motor 86.

[0073] The plurality of guide shafts 82 are arranged along the longitudinal direction of the telescopic arm 70. The plurality of guide shafts 82 are supported by the arm body 72 so as to be slidable in the longitudinal direction of the telescopic arm 70. The base frame 92 of the operation unit 90 is connected to the front end of the guide shafts 82.

[0074] The feed screw 84 is arranged along the longitudinal direction of the telescopic arm 70. A base frame 92 of an operation unit 90 described later is connected to the front end of the feed screw 84. A feed nut (not shown) is attached to the feed screw 84.

[0075] The feed nut is provided on the arm body 72. The feed nut is rotated or reversely rotated by the telescopic motor 86, whereby the feed screw 84 and the operating unit 90 connected to the front end of the feed screw 84 reciprocate in the longitudinal direction of the telescopic arm 70.

[0076] (Operation unit)

[0077] The electric wire tool 100 is detachably mounted on the operating unit 90. The operating unit 90 includes a base frame 92, an operating lever 94, and a tool motor 96.

[0078] A tool motor 96 for rotationally driving a drive shaft 94B described later is accommodated in the base frame 92. An operating lever 94 is provided on the front surface (arrow F side) of the base frame 92.

[0079] The operating rod 94 is arranged along the longitudinal direction of the telescopic arm 70. In addition, the central axis of the operating rod 94 coincides with the imaginary line V passing through the center C of the rotating shaft 74 when viewed from the axial direction of the rotating shaft 74.

[0080] like Figure 4 As shown, the operating rod 94 includes a shaft box 94A and a drive shaft 94B. The shaft box 94A is formed in a cylindrical shape and extends from the base frame 92 along the extension and retraction direction of the telescopic arm 70. The drive shaft 94B is rotatably accommodated inside the shaft box 94A.

[0081] A tool motor 96 (see FIG. 1 ) is connected to the end (lower end) of the drive shaft 94B. Figure 2 ). The drive shaft 94B is driven to rotate by the operation of the tool motor 96. In addition, a socket 98 is provided at the front end portion (upper end portion) of the drive shaft 94B.

[0082] The socket 98 has a polygonal connection hole 98A. A polygonal columnar connector 110 of a wire tool 100 described later is detachably inserted into the connection hole 98A. Thus, when the tool motor 96 rotates or reverses, the drive shaft 94B and the connector 110 rotate or reverses.

[0083] The socket 98 is an example of a tool mounting portion. The tool mounting portion is not limited to the socket 98, and may be appropriately changed according to the type of the electric wire tool.

[0084] (Electric wire tools)

[0085] like Figure 4 and Figure 5 As shown, the electric wire tool 100 is detachably mounted on the front end portion of the operating rod 94. As an example, the electric wire tool 100 is provided as a stripping tool for stripping the rubber coating 10B of the conductor 10A of the coated electric wire 10.

[0086] The electric wire tool 100 includes a pair of clamps 102 for holding the electric wire 10 , a cutting blade (not shown) for cutting the rubber coating 10B of the electric wire 10 , and a connector 110 .

[0087] The pair of clamps 102 are connected to each other in an openable and closable manner via a rotating shaft 104. The pair of clamps 102 form a ring shape surrounding the electric wire 10 in a closed state. In addition, a through hole 106 capable of accommodating the electric wire 10 is formed inside the pair of clamps 102.

[0088] On the other hand, Figure 5 As shown, when the pair of clamps 102 are opened, an opening 108 communicating with the through hole 106 is formed between the ends of the pair of clamps 102. The electric wire 10 can be inserted into the through hole 106 via the opening 108.

[0089] Here, in this embodiment, as an example, the center of the through hole 106 of the wire tool 100 is set as a reference point (hereinafter referred to as "positioning reference point P") when positioning the wire tool 100 on the wire 10. That is, the wire construction device 30 adjusts the positional relationship between the wire 10 and the positioning reference point P, thereby positioning the wire tool 100 relative to the wire 10.

[0090] In addition, the positioning reference point P is not limited to the center of the through hole 106, and can be changed as appropriate.

[0091] The pair of clamps 102 are connected to the connector 110 via a gear mechanism (not shown). Figure 2 ) causes the drive shaft 94B and the connector 110 to rotate or reversely rotate, thereby opening and closing a pair of clamps 102 around the rotating shaft 104.

[0092] (Laser distance meter)

[0093] like Figure 2 and Figure 6 As shown, a meter box 120 is provided on the side of the arm body 72 of the telescopic arm 70. The meter box 120 protrudes from the side of the arm body 72. A laser rangefinder 122 is provided on the front of the meter box 120. The laser rangefinder 122 is an example of a rangefinder.

[0094] like Figure 2 As shown in the figure, the laser rangefinder 122 is configured to be able to rotate integrally with the telescopic arm 70 around the rotation axis 74. In addition, the laser rangefinder 122 has an irradiation port 122A for irradiating the laser L and a light receiving port (not shown) for receiving the reflected light reflected by the measurement object. When viewed from the axial direction of the rotation axis 74, the laser rangefinder 122 is configured so that the irradiation port 122A faces the front side (arrow F side) of the telescopic arm 70.

[0095] In addition, the laser rangefinder 122 irradiates the laser light L along a virtual line V passing through the center C of the rotation shaft 74 and the positioning reference point P of the wire tool 100, as viewed from the axial direction of the rotation shaft 74. Fig.10 As shown, the laser rangefinder 122 irradiates the surface of the wire 10 as the measuring object from the irradiation port 122A with laser L, and receives reflected light from the surface of the wire 10 at the light receiving port, thereby measuring (calculating) the distance d1 from the irradiation port 122A to the surface of the wire 10.

[0096] (Camera)

[0097] like Figure 2 As shown, a camera 124 is provided in front of the meter box 120. The camera 124 is arranged so that its lens faces the front side (arrow F side) of the telescopic arm 70 as viewed from the axial direction of the rotation shaft 74 of the telescopic arm 70. The camera 124 captures images of the wire tool 100 and its surroundings.

[0098] (Control device)

[0099] like Figure 7 As shown, the control device 130 controls the overall operation of the electric wire construction device 30. The control device 130 is realized by, for example, a computer. The computer includes a CPU (Central Processing Unit) 132, a memory 134 as a temporary storage area, and a non-volatile recording unit 136.

[0100] The computer also includes an input / output device 138 and a display unit 140. The CPU 132, the memory 134, the recording unit 136, the input / output device 138, and the display unit 140 are connected to one another via a bus 142. The CPU 132 is an example of a control unit.

[0101] The recording unit 136 is implemented by, for example, a HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, or the like. A control program for causing the computer to function as the control device 130 is pre-stored in the recording unit 136 as a recording medium. In addition, the distance d0 (see FIG. 1 ) from the laser rangefinder 122 to the positioning reference point P of the electric wire tool 100 in the initial state of the telescopic arm 70 is pre-stored in the recording unit 136. Fig.10 ).

[0102] The CPU 132 reads out the control program from the recording unit 136 and expands it in the memory 134 , and sequentially executes each step of the control program, thereby controlling the operation of the electric wire construction device 30 .

[0103] The CPU 132 that executes the program is hardware. The functions implemented by the control program may be implemented by, for example, a semiconductor integrated circuit, more specifically, an ASIC (Application Specific Integrated Circuit).

[0104] like Figure 8 As shown, the control device 130 is electrically connected to the lateral movement motor 58, the rotation motor 76, the telescopic motor 86, the tool motor 96, the laser rangefinder 122, and the camera 124 in a wired or wireless manner. In addition, the control device 130 can be set in the vehicle of the aerial work vehicle, other control rooms, etc., and is not limited to the bucket 20 of the aerial work vehicle.

[0105] (How to position the wire tool)

[0106] Next, an example of a method of positioning the electric wire tool 100 implemented by the control device 130 will be described.

[0107] exist Figure 1 3 shows the initial state of the wire servicing device 30. In the initial state, the wire servicing device 30 is arranged obliquely below the wire 10, and the width direction (arrow W direction) is arranged as the length direction of the wire 10. In addition, the telescopic arm 70 of the wire servicing device 30 is retracted.

[0108] Furthermore, in the initial state of the electric wire construction device 30 , the operator can also operate the lateral movement mechanism 50 of the telescopic arm 70 to adjust the position of the telescopic arm 70 relative to the electric wire 10 in the width direction (direction of arrow W).

[0109] In addition, Figure 1In the embodiment, as an example, the telescopic arm 70 of the electric wire installation device 30 is arranged obliquely below the electric wire 10 and arranged in the up-down direction. However, in the initial state of the electric wire installation device 30, the arrangement and rotation angle of the telescopic arm 70 relative to the electric wire 10 can be appropriately changed.

[0110] from Figure 1 Starting from the initial state shown, the operator operates the input / output device 138 of the control device 130 to cause the CPU 132 to execute Fig. 9 The positioning process shown. In addition, the positioning process is an example of a positioning method of a wire tool.

[0111] First, the position detection process will be described. In step S10, the CPU 132 rotates the telescopic arm 70 while measuring the distance d1 to the wire 10 using the laser rangefinder 122 (see FIG. 1 ). Fig.10 ), thereby detecting the position of the wire 10.

[0112] Specifically, the CPU 132 operates the laser rangefinder 122 to irradiate the laser beam L from the irradiation port 122A (see FIG. Fig.10 ). In addition, the CPU 132 operates the camera 124 to display the electric wire tool 100 and the images of the electric wire tool 100 and its surroundings on the display unit 140. In this state, the CPU 132 rotates the rotation motor 76 in a predetermined direction.

[0113] Therefore, if Fig.10 As shown by arrow R1, the telescopic arm 70 rotates in a tilted manner around the rotation axis 74. In addition, the laser light L irradiated from the irradiation port 122A of the laser rangefinder 122 crosses the electric wire 10. At this time, the reflected light reflected from the surface of the electric wire 10 enters the light receiving port of the laser rangefinder 122. As a result, the distance d1 from the laser rangefinder 122 to the surface of the electric wire 10 is measured in the laser rangefinder 122. In addition, the laser rangefinder 122 outputs the measured distance d1 to the CPU 132.

[0114] The CPU 132 stores the distance d1 input from the laser distance meter 122 and the rotation angle θ1 of the telescopic arm 70 when the distance d1 is input from the laser distance meter 122 in the memory 134 .

[0115] The rotation angle θ1 of the telescopic arm 70 is obtained based on, for example, the rotation speed of the rotation motor 76. When the distance d1 from the laser distance meter 122 to the electric wire 10 is measured by the laser distance meter 122, the operator confirms that the electric wire 10 to be constructed is displayed on the display unit 140 as needed. When there are a plurality of electric wires 10, a plurality of distances d1 may be measured by the laser distance meter 122. In this case, the operator selects the distance d1 of the electric wire 10 to be constructed from the plurality of measured distances d1, for example, based on the positional relationship of the plurality of electric wires 10, and inputs the distance d1 to the control device 130 (input / output device 138).

[0116] Next, the CPU 132 reversely rotates the rotation motor 76. As a result, as shown in the direction of arrow R2, the telescopic arm 70 rotates around the rotation shaft 74 so as to stand upright, and returns to the initial state.

[0117] Next, the elongation calculation process is described. In step S12, the CPU 132 calculates the elongation d2 of the telescopic arm 70. Specifically, the elongation d2 of the telescopic arm 70 is calculated by subtracting the distance d0 from the distance d1 from the laser rangefinder 122 (= distance d1 - distance d0). In addition, the distance d0 is the distance from the laser rangefinder 122 to the positioning reference point P of the electric wire tool 100. Then, the CPU 132 stores the calculated elongation d2 of the telescopic arm 70 in the memory 134.

[0118] Furthermore, when calculating the extension amount d2 of the telescopic arm 70 , the CPU 132 may correct the distance d1 to the distance from the laser rangefinder 122 to the center of the wire 10 by, for example, adding the distance d1 to the radius of the wire 10 .

[0119] Next, the positioning process will be described. In step S14, the CPU 132 extends the telescopic arm 70 based on the calculated extension amount d2 of the telescopic arm 70. Specifically, the CPU 132 rotates the telescopic motor 86 in a predetermined direction, such as Fig.11 As shown, the operation unit 90 is moved toward the front side (arrow F side) of the telescopic arm 70 relative to the arm body 72 .

[0120] Next, in step S16, the CPU 132 operates the wire tool 100 to set it to a state where the wire tool 100 can be positioned on the wire 10. Specifically, the CPU 132 rotates the tool motor 96 in a predetermined direction to open the pair of clamps 102. Thus, an opening 108 capable of accommodating the wire 10 is formed between the ends of the pair of clamps 102.

[0121] Next, in step S18 , the CPU 132 rotates the telescopic arm 70 about the rotation axis 74 based on the rotation angle θ1 of the telescopic arm 70 stored in the memory 134 , and positions the electric wire tool 100 relative to the electric wire 10 .

[0122] Specifically, if Fig.12 As shown, the CPU 132 rotates the rotation motor 76 in a predetermined direction so that the rotation angle of the telescopic arm 70 becomes the rotation angle θ1 stored in the memory 134. As a result, as shown by the arrow R1, the telescopic arm 70 rotates around the rotation axis 74 in a tilted manner, and the wire 10 is inserted into the through hole 106 of the pair of clamps 102 from the opening 108.

[0123] Next, the installation process is described. In step S20, the CPU 132 operates the wire tool 100, and the wire tool 100 is installed on the wire 10. Specifically, the CPU 132 rotates the tool motor 96 in the reverse direction. As a result, the pair of clamps 102 rotate around the rotation axis 104, and the opening 108 is closed. As a result, the wire tool 100 is installed on the wire 10.

[0124] Next, the processing step (operation step) is described. In step S22, the CPU 132 operates the wire tool 100 to peel off the rubber coating 10B of the wire 10. Specifically, the CPU 132 further rotates the tool motor 96 in the reverse direction. In addition, the CPU 132 rotates the lateral movement motor 58 to move the wire tool 100 along the wire 10. Thus, a predetermined range of the rubber coating 10B of the wire 10 is cut off in a spiral shape by the cutting tool (not shown) of the wire tool 100.

[0125] Here, when the rubber coating 10B of the wire 10 is cut by the wire tool 100, the current value of the tool motor 96 changes (decreases). Then, the CPU 132 monitors the current value of the tool motor 96, stops the tool motor 96 at the time when the current value changes, and ends the processing step.

[0126] Next, the removal process is described. In step S24, the CPU 132 operates the wire tool 100 to remove the wire tool 100 from the wire 10. Specifically, the CPU 132 rotates the tool motor 96 in a predetermined direction. As a result, the pair of clamps 102 rotate around the rotation shaft 104, and the opening 108 opens.

[0127] Next, the CPU 132 reversely rotates the rotation motor 76. As a result, the telescopic arm 70 rotates about the rotation shaft 74 to stand upright, and the electric wire 10 passes through the opening 108 of the pair of clamps 102. As a result, the electric wire tool 100 is removed from the electric wire 10.

[0128] (Effect)

[0129] Next, the effects of this embodiment will be described.

[0130] According to this embodiment, first, Fig.10 As shown, at a position below the electric wire 10 , while the telescopic arm 70 is rotated to be tilted, the distance d1 to the electric wire 10 is measured by the laser distance meter 122 of the telescopic arm 70 .

[0131] Then, if Fig.11 and Fig.12 As shown, the telescopic arm 70 is extended based on the distance d1 measured by the laser rangefinder 122 , and the rotation angle of the telescopic arm 70 is set based on the rotation angle θ1 of the telescopic arm 70 when the distance d1 is measured by the laser rangefinder 122 , so that the wire tool 100 provided on the telescopic arm 70 is positioned on the wire 10 .

[0132] Thus, in this embodiment, the distance d1 to the electric wire 10 is measured by the laser distance meter 122 while the telescopic arm 70 is rotated. That is, in this embodiment, the direction of the laser distance meter 122 is changed by the rotation mechanism of the telescopic arm 70. Therefore, in this embodiment, the structure of the electric wire construction device 30 can be simplified compared to the case where the direction of the laser distance meter 122 is changed by a mechanism different from the rotation mechanism of the telescopic arm 70.

[0133] In addition, in the present embodiment, the electric wire tool 100 is positioned on the electric wire 10 by controlling the extension amount and the rotation angle of the telescopic arm 70. Therefore, in the present embodiment, for example, compared with the case where the electric wire tool 100 is positioned on the electric wire 10 by controlling the multi-jointed arm, the positioning control of the electric wire tool 100 relative to the electric wire 10 can be simplified.

[0134] Furthermore, the position of the electric wire 10 is represented by polar coordinates based on the distance d1 to the electric wire 10 measured by the laser rangefinder 122 and the rotation angle θ1 of the telescopic arm 70 when the distance d1 is measured. Therefore, the calculation for positioning the electric wire tool 100 on the electric wire 10 can be simplified.

[0135] In addition, if Fig.10As shown, the telescopic arm 70 can be extended and retracted along an imaginary line V passing through the center of the rotating shaft 74, as viewed from the axial direction of the rotating shaft 74. In addition, as viewed from the axial direction of the rotating shaft 74 of the telescopic arm 70, the laser distance meter 122 irradiates the laser light L along the imaginary line V, receives the reflected light reflected by the electric wire 10, and thereby measures the distance d1 from the laser distance meter 122 to the electric wire 10. That is, the laser distance meter 122 measures the distance d1 from the laser distance meter 122 to the electric wire 10 in the extension direction (arrow F direction) of the telescopic arm 70.

[0136] Therefore, in this embodiment, compared with the case where the laser rangefinder 122 measures the distance d1 to the electric wire 10 in a direction different from the extension direction of the telescopic arm 70, it is easy to find the extension amount d2 of the telescopic arm 70 when the electric wire tool 100 is positioned on the electric wire 10. Therefore, the positioning control of the electric wire tool 100 relative to the electric wire 10 can be further simplified.

[0137] In addition, in the present embodiment, the positioning reference point P of the electric wire tool 100 is arranged on the imaginary line V when viewed from the axial direction of the rotation axis 74 of the telescopic arm 70. Therefore, based on the difference between the distance d1 measured by the laser distance meter 122 and the distance d0 from the laser distance meter 122 to the positioning reference point P of the electric wire tool 100, the extension amount d2 of the telescopic arm 70 when the electric wire tool 100 is positioned on the electric wire 10 can be obtained.

[0138] Furthermore, in the present embodiment, the rotation angle of the telescopic arm 70 when the electric wire tool 100 is positioned on the electric wire 10 is consistent with the rotation angle θ1 of the telescopic arm 70 when the distance d1 is measured by the laser rangefinder 122. Therefore, it is possible to easily find the rotation angle of the telescopic arm 70 when the electric wire tool 100 is positioned on the electric wire 10. Therefore, the positioning control of the electric wire tool 100 relative to the electric wire 10 can be further simplified.

[0139] (Variation Example)

[0140] Next, modifications of the above-described embodiment will be described.

[0141] In the above-described embodiment, the electric wire tool 100 is provided as a stripping tool for stripping the rubber coating 10B of the electric wire 10. However, the electric wire tool 100 is not limited to a stripping tool, and may be another electric wire tool.

[0142] For example, Fig.13 The electric wire tool 150 shown is provided as a clamping tool for clamping the insulating cover 12 attached to the conductor 10A of the electric wire 10. In addition, the insulating cover 12 is an example of an attachment member.

[0143] The insulating cover 12 is formed of an insulating resin or the like. The insulating cover 12 includes a pair of split cover materials 14 that cover the conductor 10A of the electric wire 10 after the rubber coating 10B is stripped off. The pair of split cover materials 14 are connected to each other via a hinge portion 14A so as to be openable and closable. In addition, flange portions 14B are provided on each of the pair of split cover materials 14.

[0144] One of the pair of flanges 14B is provided with a connecting pin 16. The other of the pair of flanges 14B is formed with a connecting hole 18. By inserting the connecting pin 16 into the connecting hole 18, the pair of flanges 14B are connected.

[0145] The wire tool 150 includes a pair of clamps 152 and a connector 110. The pair of clamps 152 are connected to each other in an openable and closable manner via a rotating shaft 154. The connector 110 is detachably inserted into the connection hole 98A of the socket 98. The pair of clamps 152 are opened and closed by rotating or reversely rotating the connector 110.

[0146] Here, in the initial state of the wire servicing device 30, the wire servicing device 30 is disposed below the wire 10 and the insulating cover 12, and the width direction (arrow W direction) is disposed as the length direction of the wire 10. In addition, the telescopic arm 70 of the wire servicing device 30 is retracted.

[0147] When positioning the electric wire tool 150 relative to the insulating cover 12 from this state, first, the CPU 132 measures the distance to the pair of flange portions 14B of the insulating cover 12 with the laser distance meter 122 while rotating the telescopic arm 70 .

[0148] Next, the CPU 132 extends the telescopic arm 70 based on the distance to the pair of flanges 14B measured by the laser rangefinder 122, and arranges the pair of clamps 152 of the wire tool 150 on both sides of the pair of flanges 14B. Thus, the wire tool 150 is positioned relative to the insulating cover 12. In addition, the positioning reference point is set at the center between the pair of clamps 152, for example.

[0149] Next, the CPU 132 drives the tool motor 96 (see Figure 2 ) is rotated in a predetermined direction to close the pair of clamps 152. As a result, the pair of flanges 14B of the insulating cover 12 are clamped by the pair of clamps 152, and the pair of flanges 14B are connected. As a result, the insulating cover 12 is attached to the conductor 10A of the electric wire 10.

[0150] The electric wire tools 100 and 150 mounted on the telescopic arm 70 can be appropriately changed. This allows construction to be performed in accordance with the type of electric wire tool. Therefore, the versatility of the electric wire construction device 30 is improved.

[0151] In addition, the wire tool may be, for example, a knife tool, a hook tool, a tape tool, a cleaning brush tool, a wire holding tool, or a wire cutting tool. In addition, the positioning reference point of the wire tool is appropriately set according to the type of wire tool. In addition, the mounting component is not limited to the insulating cover 12. The mounting component may also be, for example, a metal sleeve used when reconnecting a cut wire, a metal connector used when connecting two different sizes of wires, a metal binder used when fixing a resin cover on a wire, a metal clamp used when pulling the wire to a pole, a resin belt used when fixing a resin cover on a wire, a resin cover (insulating cover) used when covering a metal sleeve, connector, or clamp installed on a wire, a resin sheet (insulating sheet) used to prevent electric shock accidents of workers near the wire, and a resin clip used when fixing a resin sheet on a wire. In addition, the initial state of the wire construction device 30 may be appropriately changed according to the type of wire tool.

[0152] In addition, in the above embodiment, if Fig.10 As shown by arrow R1, the telescopic arm 70 in the upright state is tilted while the distance d1 to the wire 10 is measured by the laser distance meter 122. However, for example, as shown by arrow R2, the telescopic arm 70 in the tilted state may be erected while the distance d1 to the wire 10 is measured by the laser distance meter 122.

[0153] In addition, in the above embodiment, the positioning reference point P of the electric wire tool 100 is arranged on the imaginary line V passing through the center C of the rotating shaft 74, as viewed in the axial direction of the rotating shaft 74 of the telescopic arm 70. In addition, in the above embodiment, the telescopic arm 70 is configured to be telescopic along the imaginary line V, as viewed in the axial direction of the rotating shaft 74. Further, in the above embodiment, the laser rangefinder 122 irradiates the laser light L along the imaginary line V, as viewed in the axial direction of the rotating shaft 74.

[0154] However, the positioning reference point P of the electric wire tool 100 may be offset from the imaginary line V passing through the center C of the rotating shaft 74, as viewed from the axial direction of the rotating shaft 74 of the telescopic arm 70. In addition, as viewed from the axial direction of the rotating shaft 74, the telescopic arm 70 may be configured to be telescopic in a direction intersecting the imaginary line V. Furthermore, the laser rangefinder 122 may irradiate the laser light L in a direction intersecting the imaginary line V, as viewed from the axial direction of the rotating shaft 74.

[0155] In this case, the CPU 132 calculates the extension amount and rotation angle of the telescopic arm 70 when the wire tool 100 is positioned on the wire 10 based on, for example, the distance d1 to the wire 10 measured by the laser rangefinder 122, the rotation angle θ1 of the telescopic arm 70 when measuring the distance d1, the position of the positioning reference point P of the wire tool 100, the extension direction of the telescopic arm 70, and the irradiation direction of the laser L of the laser rangefinder 122.

[0156] In addition, in the above-mentioned embodiment, the rangefinder is set as the laser rangefinder 122. However, the rangefinder is not limited to the laser rangefinder 122, and may be, for example, an ultrasonic rangefinder, or a two-dimensional or three-dimensional laser profile sensor. In addition, the rangefinder may be a combination of a laser rangefinder, an ultrasonic rangefinder, and a two-dimensional or three-dimensional laser profile sensor.

[0157] In addition, the entire disclosure of Japanese Patent Application No. 2022-064743 filed on April 8, 2022 is incorporated into this specification by reference.

[0158] All documents, patent applications, and technical standards described in this specification are incorporated herein by reference to the same extent as if each document, patent application, or technical standard was specifically and individually indicated to be incorporated by reference.

[0159] An embodiment of the present disclosure has been described above, but the present disclosure is not limited to such an embodiment, and it is apparent that one embodiment and various modifications may be appropriately combined for use, and the present disclosure may be implemented in various forms within the scope not departing from the spirit of the present disclosure.

Claims

1. A method for positioning a tool for an electric wire, wherein: include: At a position below the electric wire, the telescopic arm is rotated to be tilted or raised, and a distance from the distance meter provided on the telescopic arm to the electric wire or a mounting member mounted on the electric wire is measured by the distance meter provided on the telescopic arm. The telescopic arm is extended based on the distance measured by the distance meter, and the rotation angle of the telescopic arm is set based on the rotation angle of the telescopic arm when the distance is measured by the distance meter, so that the wire tool provided on the telescopic arm is positioned on the wire or the mounting component.

2. The method for positioning a wire tool according to claim 1, wherein: From the axial direction of the rotation axis of the telescopic arm, the telescopic arm can be extended and retracted along an imaginary line passing through the center of the rotation axis. The distance meter includes a laser distance meter, and the laser distance meter irradiates laser light along the imaginary line when viewed from the axial direction of the rotation shaft.

3. The method for positioning a wire tool according to claim 2, wherein: A positioning reference point of the electric wire tool positioned on the electric wire or the mounting member is disposed on the imaginary line when viewed in the axial direction of the rotation shaft.

4. A wire construction device, wherein: have: a device body disposed below the electric wires; A telescopic arm, which rotates relative to the device body in a tilting or standing manner around a rotation axis; A tool installation portion, which is arranged at the front end side of the telescopic arm and is used to install a tool for electric wires; as well as The distance meter is provided on the telescopic arm, and measures the distance to the electric wire or a mounting member mounted on the electric wire while rotating integrally with the telescopic arm.

5. The electric wire construction device according to claim 4, wherein: A control unit is provided, which extends the telescopic arm based on the distance measured by the distance meter, and sets the rotation angle of the telescopic arm based on the rotation angle of the telescopic arm when the distance is measured by the distance meter, so as to position the wire tool on the wire or the mounting component.

6. The electric wire construction device according to claim 4 or 5, wherein: From the axial direction of the rotation axis, the telescopic arm can be extended and retracted along an imaginary line passing through the center of the rotation axis. The distance meter includes a laser distance meter, and the laser distance meter irradiates laser light along the imaginary line when viewed from the axial direction of the rotation shaft.

7. The electric wire construction device according to claim 6, wherein: A positioning reference point of the electric wire tool positioned on the electric wire or the mounting member is disposed on the imaginary line when viewed in the axial direction of the rotation shaft.

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