Wire-passing robot

Abstract

To provide a wire line robot capable of reducing the burden associated with wiring work of an electric wire.SOLUTION: A wiring device for passing an electric wire through a conduit includes a drive portion including a gripping unit that expands radially while contracting axially to reach the inner wall of the conduit by the supply of the fluid, and grips the inner wall by generating friction with the inner wall of the conduit, a pulling unit that expands radially while contracting in the axial direction without reaching the inner wall of the conduit due to the supply of fluid, and exerts a traction force that draws the electric wire into the conduit, a connection unit that bendably connects the gripping unit and the pulling unit, and a fluid flow tube through which fluid for inflating the gripping unit and the pulling unit, and the drive portion is arranged in the conduit in the direction of the wire passing through the gripping unit, and the wire is configured to be fixed to the pulling unit and extends in the direction opposite to the wire passing direction while expanding the gripping unit and the pulling unit in a predetermined order and wiring them into the conduit.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a wire threading robot, and particularly provides a wire threading robot capable of reducing the burden of wire threading work into a wire conduit.

Background Art

[0002] Conventionally, wires for supplying electric power in offices, houses, factories, etc. are threaded through wire conduits pre-laid in a building. The wire threading work into the wire conduit is performed, for example, by passing a wire threading tool called a guide cable or the like as shown in Patent Document 1 from one end side to the other end side of the wire conduit, and then fixing the end of the wire to be threaded to one end side of the guide cable, and pushing the wire into the wire conduit from one end side while pulling the guide cable from the other end side.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when threading wires into a wire conduit, multiple wires are often bundled together, and sufficient space is not always ensured between the wires to be laid and the wire conduit. In addition, the route of the wire conduit is laid by combining straight pipes and curved pipes along, for example, a wall surface, etc., and the friction between the wire and the inner wall of the wire conduit is also large. For this reason, even if an operator pulls the guide cable from one end side of the wire conduit and pushes the wire from the other end side, it cannot be pushed in successfully, and it requires multiple people to work, which places a great burden on the operator. In particular, on the side where the electric wire is pushed in, if the friction of the electric wire in the electric wire conduit or the resistance in the curved conduit is large, simply causing the electric wire to undulate in the electric wire conduit will not contribute to the wire threading operation. For example, it has been reported that in some sites, it is difficult to thread the wire even when workers apply the total weight of 2 to 3 people on the pulling side. Also, in the wire threading operation into the electric wire conduit, the working location is often a narrow or dark place. Having multiple people perform the above-mentioned burden at high or dark places may easily lead to accidents.

[0005] An object of the present invention is to provide a wire threading robot capable of reducing the burden associated with the wire threading operation of an electric wire in order to solve the above problems.

Means for Solving the Problems

[0006] As a configuration of a wire threading robot for solving the above problems, it is a wire threading robot for threading an electric wire into an electric wire conduit, which, by supplying fluid, expands in the radial direction while contracting in the axial direction so as to reach the inner wall of the electric wire conduit, generates friction with the inner wall of the electric wire conduit, and has a gripping unit for gripping the inner wall, and, by supplying fluid, expands in the radial direction while contracting in the axial direction without reaching the inner wall of the electric wire conduit, and has a traction unit for applying a pulling force for pulling the electric wire into the electric wire conduit, a connecting unit for flexibly connecting the gripping unit and the traction unit, and a fluid flow pipe through which fluid for expanding the gripping unit and the traction unit flows. The drive unit includes a gripping unit disposed in the electric wire conduit in the wire threading direction, and the electric wire is fixed to the traction unit and extends in the direction opposite to the wire threading direction. By expanding the gripping unit and then expanding the traction unit while maintaining the expanded state of the gripping unit, It is configured to thread the electric wire into the electric wire conduit. According to this configuration, since the wire threading robot pulls the electric wire in the electric wire conduit, the burden associated with the wire threading operation can be reduced. Also, during wire threading, the fluid flow pipe is configured to penetrate the electric wire conduit in the wire threading direction. According to this configuration, the fluid flow pipe can be used as a calling wire for wire threading like a conventional guide cable, and the wire threading operation can be performed jointly by the worker and the wire threading robot. Therefore, the burden on the worker in the wire threading operation can be reduced. In addition, the drive unit is configured to include a guide cable provided through the wire conduit. According to this configuration, even when the friction between the wire conduit and the electric wire is large, the wire threading operation can be performed jointly by the operator and the wire threading robot, so that the burden on the operator regarding the wire threading operation can be reduced in the wire threading operation. In addition, the gripping unit, the traction unit, and the connecting unit are configured to have a hollow space that allows the guide cable to pass through. According to this configuration, it becomes possible to directly attach the electric wire to the guide cable, the force by the operator can be directly transmitted to the electric wire, and the electric wire can be pulled by the pulling force of the wire threading robot, so that the burden on the operator regarding the wire threading operation can be reduced in the wire threading operation.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0008] Hereinafter, the present invention will be described in detail through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential for the solution means of the invention, and the embodiments include selectively adopted configurations.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the respective drawings. FIG. 1 is a schematic view showing a wire threading operation of threading an electric wire into an electric wire duct using the wire threading robot 1 according to this embodiment. In FIG. 1, an operator A and an operator B are respectively arranged at both ends of an electric wire duct 2 laid in a building or the like, and an electric wire is attached to a guide cable 4 passed through the electric wire duct 2 via the wire threading robot 1. While the operator B pulls the guide cable A, the operator A pushes the electric wire 6, and the wire threading robot 1 pulls the electric wire 6 from the side of the operator A to the side of the operator B, showing a state where the operators A and B and the wire threading robot 1 cooperate to thread the electric wire 6 into the electric wire duct 2.

[0010] That is, the wire threading robot 1 according to this embodiment includes a drive unit 1A configured to be movable within the electric wire duct 2, and a control unit 1B provided outside the electric wire duct 2 for controlling the operation of the drive unit 1A. The wire threading robot 1 is, for example, attached to a guide cable 4 previously passed through the electric wire duct 2 as a calling wire for threading an electric wire into the electric wire duct 2, and is used as a wire threading assisting device that cooperates with the operation of the guide cable 4 by the operator to draw the electric wire 6 into the electric wire duct 2.

[0011] FIG. 2 is an axial cross-sectional view of the drive unit 1A according to this embodiment. The drive unit 1A includes a gripping unit 10 that generates a frictional force between the inner wall surface of the electric wire duct 2, a traction unit 40 that generates a traction force on the electric wire 6, and a connecting unit 80 that connects the gripping unit 10 and the traction unit 40.

[0012] As shown in FIG. 1(b), the gripping unit 10 is formed as a so-called axially fiber-reinforced actuator generally composed of an inner cylinder 12, an outer cylinder 14, and end members 16 and 18. The inner cylinder 12 is formed as a cylinder that blocks ventilation from the outer peripheral side to the inner peripheral side by covering the outer periphery of a coil spring 20 with an aluminum vapor deposition sheet 22. Note that the coil spring 20 is a compression spring.

[0013] The sheet-like member wound around the outer periphery of the coil spring 20 is not limited to the aluminum vapor deposition sheet 22, and any sheet-like material that allows deformation accompanying the expansion and contraction of the coil spring 20 and has airtightness and non-elasticity is acceptable. Also, the inner cylinder 12 is not limited to the above configuration, and may be configured as a cylinder that can expand and contract in the axial direction and hardly expands or contracts in the radial direction with respect to the pressure from the outer periphery.

[0014] The outer cylinder 14 is provided so as to form a double tube with the inner cylinder 12. The outer cylinder 14 is formed by enclosing a plurality of fibers so as to extend in the axial direction in a cylindrical tube body made of an elastic material. The fibers reach, for example, from one end side to the other end side of the tube body and are enclosed so as to be evenly distributed in the circumferential direction.

[0015] The end members 16; 18 are fixed to the ends of the inner cylinder 12 and the outer cylinder 14, and maintain the coaxial arrangement of the inner cylinder 12 and the outer cylinder 14. The end members 16:18 are provided with an inner cylinder fixing portion 24 for fixing the inner cylinder 12 and an outer cylinder fixing portion 26 for fixing the outer cylinder 14.

[0016] The inner cylinder fixing portion 24 is formed as a concave portion that is recessed in a circular shape in the axial direction from one end face side of the end members 16; 18. The end of the inner cylinder 12 is inserted into the inner cylinder fixing portion 24, and the outer periphery of the inner cylinder 12 is fixed to the end members 16; 18 in an airtight state.

[0017] The outer cylinder fixing portion 26 is formed as a groove that continuously depresses along the circumferential direction on the outer periphery of the end members 16; 18. The end members 16; 18 are inserted into the respective ends of the outer cylinder 14 so as to pass over the outer cylinder fixing portion 26, and for example, a non-elastic string-like fixing member 28 is wound around and tightened corresponding to the outer cylinder fixing portion 26 from the outer peripheral side of the outer cylinder 14, thereby fixing the outer cylinder 14 in a liquid-tight manner. As a result, a fluid chamber S1 closed between the outer periphery of the inner cylinder 12 and the inner periphery of the outer cylinder 14 is formed.

[0018] One end member 16 is provided with an air supply / discharge hole 30 for enabling air supply and discharge to / from the fluid chamber S1. The air supply / discharge hole 30 is formed as a through hole with one end opening at the end face opposite to the end face where the inner cylinder fixing portion 24 is formed and the other end opening on the fluid chamber S1 side rather than the outer cylinder fixing portion 26, and communicates with the fluid chamber S1. One end of a tube (fluid circulation pipe) 102 for supplying and discharging air to / from the fluid chamber S1 is firmly connected to the air supply / discharge hole 30. Note that being firmly connected means a state where the tube 102 does not come out of the gripping unit 10 even when pulled.

[0019] The other end member 18 is provided with a connecting portion 32 for connecting to the connecting unit 80. The connecting portion 32 is formed as a male screw protruding axially from the end face opposite to the end face where the inner cylinder fixing portion 24 is formed. In this embodiment, a guide cable 4 is attached to the gripping unit 10. The guide cable 4 is attached to the gripping unit 10, for example, by passing one end side of the guide cable 4 through the inner periphery of the gripping unit 10, passing a pin 5 through the twisted wire structure of the guide cable 4 on the penetrated end side, and locking the pin 5 to the end face of the end member 18 that is coupled to the connecting unit 80.

[0020] FIG. 3 is a diagram showing the operation of the gripping unit 10. As shown in FIG. 3(a), the gripping unit 10 supplies air through the air supply / discharge hole 30 and applies air pressure to the fluid chamber S1 from a state where no air pressure is applied to the fluid chamber S1, so that the air supplied to the fluid chamber S1 presses the inner cylinder 12 and the outer cylinder 14 in the radial direction. As described above, the inner cylinder 12 is configured not to contract in the radial direction, while the outer cylinder 14 is configured to allow deformation in the radial direction due to its elasticity. Therefore, the air pressure applied to the fluid chamber S1 presses the outer cylinder 14 from the inner peripheral side to the outer peripheral side. On the other hand, since the outer cylinder 14 contains fibers to restrain its axial elongation, its deformation is restricted. The deformation of the outer cylinder 14 is such that the contained fibers are fixed to the end members 16; 18 by the fixing members 28; 28. Starting from the fixing members 28; 28, as shown in Fig. 3(b), while changing the extension path of the fibers in an arc shape, the outer diameter expands from D1(10) to D2(10) in the radial direction and the axial length contracts from L1(10) to L2(10). And the gripping unit 10 is configured such that the outer diameter of the outer cylinder 14 during expansion is equal to or greater than the inner diameter of the conduit, thereby generating friction with the inner wall of the conduit and being able to grip the inner wall. Also, by discharging the air supplied to the fluid chamber S1 through the supply / discharge holes 30, due to the restoring force of the elasticity of the outer cylinder 14 and the coil spring 20 of the inner cylinder 12, as shown in Fig. 3(a), it contracts in the radial direction while elongating in the axial direction and returns to its original state. In the following description, the state where the gripping unit 10 contracts in the axial direction and expands in the radial direction is referred to as the gripping state, and this state may also be referred to as the gripping and releasing state.

[0021] The traction unit 40 is formed as a so-called axially fiber-reinforced actuator, which is generally composed of an inner cylinder 42, an outer cylinder 44, end members 46; 48, and a restraint member 64, similar to the gripping unit 10. The inner cylinder 42 is formed as a cylinder that blocks ventilation from the outer peripheral side to the inner peripheral side by covering the outer periphery of the coil spring 50 with an aluminum-deposited sheet 52. Note that the coil spring 50 is a compression spring.

[0022] The outer cylinder 44 is provided so as to form a double tube with the inner cylinder 42. The outer cylinder 44 is formed by enclosing a plurality of fibers axially extending in a cylindrical tube body made of an elastic material. The fibers reach from one end side to the other end side of the tube body, for example, and are enclosed so as to be evenly distributed in the circumferential direction.

[0023] The end members 46; 48 are fixed to the ends of the inner cylinder 42 and the outer cylinder 44, and maintain the coaxial arrangement of the inner cylinder 42 and the outer cylinder 44. In this embodiment, the end members 46; 48 are formed in a cylindrical shape, and are provided with an inner cylinder fixing portion 54 for fixing the inner cylinder 42 and an outer cylinder fixing portion 56 for fixing the outer cylinder 44, respectively.

[0024] The inner cylinder fixing portion 54 is formed as a concave portion that is recessed in a circular shape in the axial direction from one end face side of the end members 46; 48. The end of the inner cylinder 42 is inserted into the inner cylinder fixing portion 54, and the outer periphery of the inner cylinder 42 is fixed to the end members 46; 48 in an airtight state.

[0025] The outer cylinder fixing portion 56 is formed as a groove that continuously recesses along the circumferential direction on the outer periphery of the end members 46; 48. The end members 46; 48 are inserted into the respective ends of the outer cylinder 44 so as to pass over the outer cylinder fixing portion 56, and from the outer peripheral side of the outer cylinder 44, for example, a non-stretch string-like fixing member 58 is wound around and tightened corresponding to the outer cylinder fixing portion 56, so that the outer cylinder 44 is fixed to the end members 46; 48 in a liquid-tight manner. Thereby, a fluid chamber S2 closed between the outer periphery of the inner cylinder 42 and the inner periphery of the outer cylinder 44 is formed.

[0026] One of the end members 46 is provided with a connecting portion 62 for connecting to the connecting unit 80. The connecting portion 62 is formed as a male screw that protrudes in the axial direction from the end face opposite to the end face where the inner cylinder fixing portion 54 is formed.

[0027] Further, the end member 46 is provided with an air supply / discharge hole 60 for enabling the supply and discharge of air to and from the fluid chamber S2. One end of the air supply / discharge hole 60 is opened at the end face of the connecting portion 62, and the other end is formed as a through hole that is opened between the inner cylinder 42 and the outer cylinder 44 on the end face where the inner cylinder fixing portion 54 is formed, and communicates with the fluid chamber S2. A tube (fluid circulation pipe) 104 for supplying and discharging air to and from the fluid chamber S2 is firmly connected to the air supply / discharge hole 60. Note that being firmly connected means a state where the tube 104 does not come off from the traction unit 40 even when pulled. This tube 104 penetrates through the space on the inner peripheral side of the gripping unit 10 and the connecting unit 80 and is connected to the air supply / discharge hole 60.

[0028] On the other end member 48 of the other party, a wire attachment portion for attaching the wire 6 is provided. The wire attachment portion can be configured using, for example, an eye bolt 7, a swivel 8 (a swivel ring), etc. as shown in FIG. 2. The eye bolt 7 uses a hook eye bolt having a notch in the ring portion, and is fixed, for example, by screwing into a screw hole 48A provided through the end member 48 in the axial direction. One ring portion of the swivel 8 is attached to the eye bolt 7, and the wire 6 is attached to the other stem portion. By configuring the wire attachment portion in this way, when the wire 6 is threaded into the wire conduit 2, the swivel 8 absorbs the rotation of the guide cable 4 and the drive unit 1A, and it is possible to prevent an increase in friction and twisting associated with the threading operation that causes the wire 6 to rotate within the wire conduit 2. Note that the method of attaching the wire 6 to the drive unit 1A is not limited to this, and may be changed as appropriate.

[0029] The restraining members 64 are provided in a plurality (three in this example) on the outer periphery of the outer cylinder 44. The restraining members 64 are formed in an annular shape so as to have the same inner diameter as the outer diameter of the outer cylinder 44 in its natural state, and are made of a material having a strength that does not deform due to the expansion of the outer cylinder 44, such as metal. The restraining members 64 are provided at equal intervals, for example, between the fixing members 58; 58 that fix the outer cylinder 44 to the end members 46; 48, and are fixed to the outer periphery of the outer cylinder 44 by fixing means such as adhesion. The restraining members 64 are provided so as to regulate the integral expansion of the outer cylinder 44 and form a plurality of bumps partitioned by the restraining members 64 when air is supplied into the fluid chamber S2 (see FIG. 4(b)). Note that the restraining members 64 are not limited to being made of metal, and may be non-stretchable cord-like ones as long as they can obtain sufficient strength against a predetermined tension, and the material thereof is not limited. Also, the quantity of the restraining members 64 can be changed as appropriate.

[0030] FIG. 4 is a diagram showing the operation of the traction unit 40. As shown in Fig. 4(a), the traction unit 40 supplies air through the supply and discharge hole 60 from a state where no air pressure is applied to the fluid chamber S2, and applies air pressure to the fluid chamber S2, so that the air supplied to the fluid chamber S2 presses the inner cylinder 42 and the outer cylinder 44 in the radial direction. As described above, the inner cylinder 42 is configured not to contract in the radial direction, and the outer cylinder 44 is configured to allow radial deformation due to its elasticity. Therefore, the air pressure applied to the fluid chamber S2 presses the outer cylinder 44 from the inner peripheral side to the outer peripheral side. On the other hand, since fibers are included in the outer cylinder 44 to restrain the axial elongation of the outer cylinder 44, its deformation is restricted. The deformation of the outer cylinder 44 is such that the included fibers are fixed to the end members 46; 48 by the fixing members 58; 58, and a plurality of restraining members 64 are provided on the outer periphery. Therefore, starting from the fixing members 58; 58 and the plurality of restraining members 64, as shown in Fig. 4(b), while changing the extension path of the fibers in a wave shape, the outer diameter expands from D1(40) to D2(40) in the radial direction, and the axial length contracts from L1(40) to L2(40). The axial contraction of the outer cylinder 44 overcomes the axially outward biasing force of the coil spring 50 that constitutes the inner cylinder 42, and the inner cylinder 42 also contracts axially. The traction unit 40 is configured such that the outer diameter of the outer cylinder 44 during expansion is smaller than the inner diameter of the wire conduit, so that a traction force can be generated inside the wire conduit without generating friction with the inner wall of the wire conduit. Also, by discharging the air supplied to the fluid chamber S2 through the supply and discharge hole 30, due to the restoring force of the elasticity of the outer cylinder 44 and the coil spring 50 of the inner cylinder 42, as shown in Fig. 4(a), it contracts in the radial direction while expanding in the axial direction and returns to the original state.

[0031] As the material of the cylinder body constituting the outer cylinder 14 of the gripping unit 10 and the outer cylinder 44 of the traction unit 40 described above, an elastic material having airtightness and stretchability such as synthetic rubber such as silicone rubber or natural rubber such as natural latex rubber is suitable.

[0032] In addition, as the material of the fibers contained therein, a material with little axial expansion and contraction is preferable. For example, materials with extensibility such as aramid fibers, carbon fibers, glass fibers, nylon, polyamide-based fibers, polyolefin-based fibers, and metal fibers can be appropriately selected and used. In addition, in order to improve the adhesion to the cylinder body, the fibers may be subjected to appropriate primer treatment, surface oxidation treatment, etc. Also, the form of the fibers can be used in any form such as filaments, yarns (span yarns and filament yarns), strands, etc. Furthermore, it is also possible to use untwisted fibers converged without twisting, or fibers created by twisting a plurality of these fibers. Depending on the type of fiber, different fibers or fibers with different forms of two or more types of materials may be combined.

[0033] In addition, as the form of the fibers contained therein, each fiber may be provided so as to continuously extend from one end side to the other end side along the axis. Fibers shorter than the axial length of the outer cylinder 14 of the gripping unit 10 or the outer cylinder 44 of the traction unit 40 may be distributed in a plurality of overlapping manners in the axial direction so as to reach from one end side to the other end side.

[0034] In addition, the thickness of the cylinder body and the arrangement of the fibers in the outer cylinder 14 of the gripping unit 10 and the outer cylinder 44 of the traction unit 40 are determined in consideration of the stretching force during air discharge.

[0035] Figure 5 is an external perspective view of the connecting unit 80. The connecting unit 80 is a so-called universal joint (universal coupling), and generally includes a pair of mounting bodies 82, a connecting body 84 that connects the mounting bodies 82; 82 to each other, and a coil spring 86.

[0036] The mounting body 82 includes a cylindrical base 82A and projecting pieces 82B; 82B that face each other and extend in parallel on one side of the cylindrical base 82A. The base 82A is provided with a unit connection part 83 that enables connection to the traction unit 40. The unit connection part 83 penetrates from one end side to the other end side along the axis of the base 82A, and is formed as a threaded hole capable of connecting to the connection part 32 of the gripping unit 10 and the connection part 62 of the traction unit 40.

[0037] The combined body 84 is formed as an annular member with an octagonal outer peripheral side and a circular inner peripheral side. The combined body 84 is provided with a coupling part 84a that couples to each attachment body 82. The coupling part 84a is formed in a planar shape parallel to the center line on the outer peripheral side having an octagonal shape, and four locations are provided so as to be sandwichable by the protruding pieces 82B; 82B extending from each attachment body 82. A shaft 86 extending in the normal direction is provided in each coupling part 84a. The shafts 86 provided in each coupling part 84a are arranged to be coaxial with each other in the opposing coupling parts 84a.

[0038] Each attachment body 82 has the protruding pieces 82B; 82B facing each other, and the protruding pieces 82B; 82B are rotated 90° with respect to each other and attached to the coupling part 84a of the combined body 84. Each attachment body 82 is coupled to the combined body 84 so as to be rotatable around the axis of the shaft 86 by the shaft 86 extending in the normal direction passing through the coupling part 84a corresponding to the protruding pieces 82B; 82B.

[0039] The coil spring 86 is a so-called compression spring, penetrates the inner peripheral side of the combined body 84, and is provided such that each end seats on the base 82A of each combined body 84. By providing the coil spring 86 in this way, the two attachment bodies 82 connected to the combined body 84 are arranged on one straight line in the natural state by the biasing force of the coil spring 86, and a restoring force that tries to return to the natural state can be imparted when the two attachment bodies 82 rotate relative to the combined body 82. Therefore, by adjusting the spring rigidity of the coil spring 86, a flexible structure can be realized that allows the gripping unit 10 and the traction unit 40 connected via the connection unit 80 to pass smoothly in the curved pipe portion constituting the wire conduit 2 while suppressing buckling in the wire conduit 2.

[0040] The control unit 1B is composed of, for example, a compressor that generates compressed air serving as the driving source for the gripping unit 10 and the traction unit 40, a regulator that regulates the pressure of the compressed air generated by the compressor to a predetermined pressure, a valve system that electrically controls the supply, stop, or discharge of the compressed air regulated by the regulator to the fluid chamber S1 of the gripping unit 10 or the fluid chamber S2 of the traction unit 40, a computer that electrically controls the operation of the valve system, and tubes 102; 104 etc. that are individually connected to the valve system and connected to the gripping unit 10 and the traction unit 40 to form the air supply and discharge flow paths. The tubes 102; 104 are provided to penetrate the wire conduit 2 together with the guide cable 4, for example, in the operation of inserting and penetrating the guide cable 4 into the wire conduit 2.

[0041] FIG. 6 shows the operation of the drive unit 1A in the wire-passing robot 1. The advancing direction of the wire-passing robot 1 is from right to left in the drawing as indicated by the arrow in the figure. Also, although omitted in the figure, the guide cable 4 is attached to the end member 16 on the front side in the wire-passing direction of the gripping unit 10 as shown in FIG. 2, and the electric wire 6 is attached to the swivel 8 attached to the end member 48 on the rear side in the wire-passing direction of the traction unit 40 as shown in FIG. 2.

[0042] The wire-passing robot 1 pulls the electric wire 6 by operating the gripping unit 10 and the traction unit 40 Figure 6 in the order of (a) to (d). Figure 6 The state shown in (a) indicates the initial state where the wire-passing robot 1 is not operating. First, Figure 6 from the state of (a), air pressure is applied only to the gripping unit 10, Figure 6 and as shown in (b), the gripping unit 10 is expanded in the radial direction to grip the wire conduit 2. Next, while maintaining the expanded state of the gripping unit 10, air pressure is applied to the traction unit 40, Figure 6 and as shown in (c), it is contracted in the axial direction to pull the electric wire 6. Next, while maintaining the axially contracted state of the traction unit 40, the application of pneumatic pressure to the gripping unit 10 is stopped, and air is discharged from the gripping unit 10, thereby Figure 6 as shown in (d), the radial expansion of the gripping unit 10 is contracted to release the gripping of the wire conduit 2. Next, the application of pneumatic pressure to the traction unit 40 is stopped, and air is discharged from the gripping unit 10, thereby Figure 6 as shown in (e), the axially contracted state of the traction unit 40 is released. Along with the release of this contracted state, the entire robot moves forward using the frictional force generated between the electric wire 6 and the wire conduit 2 as a reaction force. Figure 6 (a) to (e) (substantially Figure 6 (a) to (d)) By repeating the operations, the installation of the electric wire 6 can be assisted.

[0043] As described above, according to the wire threading robot 1 having the above configuration, in the operation of threading the electric wire 6 into the wire conduit 2, the electric wire 6 can be pulled and drawn into the wire conduit 2. Pulling the electric wire 6 by the wire threading robot 1 inside the wire conduit 2 means pulling the electric wire 6 from a position close to the place where the greatest friction occurs, and the pulling force obtained by the wire threading robot 1 can be efficiently transmitted to the electric wire 6. And even when the friction of the electric wire 6 inside the wire conduit 2 and the resistance in the curved pipe increase, and on the side where the electric wire 6 is pushed in, the electric wire 6 sags inside the wire conduit 2, the wire threading robot 1 can pull the sagging electric wire 6 deeper into the wire conduit 2. Therefore, even in a situation where it would not contribute to the wire threading operation conventionally, the wire threading operation of the electric wire 6 can be efficiently performed in cooperation with the operator, and the burden on the operator can be reduced. Therefore, while reducing the number of operators required for the wire threading operation, the wire threading operation can be safely performed even if the work place is a narrow space, a dark place, a high place, etc.

[0044] In the above-described embodiment, the guide cable 4 is attached so as to be locked to the end member 16 on the rear side in the wire-passing direction of the gripping unit 10 (see FIG. 2), but the present invention is not limited to this, and it may be attached to the end member 16 on the front side in the wire-passing direction. Alternatively, the guide cable 4 may be passed through the inner peripheral side of the gripping unit 10 and attached to any of the connecting units 80, or may be passed through the inner peripheral sides of the gripping unit 10 and the connecting unit 80 and attached to the end member 48 on the front side or the rear side in the traveling direction of the traction unit 40.

[0045] Also, although the electric wire 6 has been described as being attached to the end member 48 on the rear side in the wire-passing direction of the traction unit 40, for example, the end member 48 on the rear side in the wire-passing direction of the traction unit 40 formed in a disc shape is formed in a cylindrical shape, and the gripping unit 10, the connecting unit 80, and the traction unit 40 are configured to have a hollow space passing therethrough, and the guide cable 4 may be passed through this hollow space and the electric wire 6 may be directly attached to the guide cable 4. In this case, it is only necessary that the guide cable 4 or the electric wire 6 be fixed to the end member 48 on the rear side in the wire-passing direction of the traction unit 40. Even with this configuration, the traction force obtained by the traction unit 40 can be transmitted to the electric wire 6 via the guide cable 4 in the electric wire duct 2.

[0046] Also, the drive unit 1A in the wire-passing robot 1 may be integrally configured with the guide cable 4.

[0047] In the wire-passing operation, when the electric wire duct 2 is thin, that is, when it is assumed that the friction between the electric wire duct 2 and the electric wire 6 is small, the guide cable 4 may be omitted, and the tubes 102; 104 may be used as a calling wire in place of the guide cable 4. Also, the wire-passing operation by the operator using the calling wire may be eliminated, and the wire-passing operation may be executed only by the wire-passing robot 1.

Explanation of Reference Numerals

[0048] 1 wire-passing robot, 1A drive unit, 1B control unit, 2 wire conduits, 4 guide cables, 10 gripping units, 40 traction units, 80 connection units.

Claims

1. A wire threading robot for threading a wire through a wire conduit, comprising: a gripping unit that expands in the radial direction while contracting in the axial direction by the supply of a fluid so as to reach the inner wall of the wire conduit, generating friction with the inner wall of the wire conduit to grip the inner wall; a traction unit that expands in the radial direction while contracting in the axial direction without reaching the inner wall of the wire conduit by the supply of a fluid, and applying a traction force for drawing the wire into the wire conduit; a connecting unit that flexibly connects the gripping unit and the traction unit; a driving unit having a fluid flow pipe through which a fluid for expanding the gripping unit and the traction unit flows; the driving unit is disposed in the wire conduit with the gripping unit facing in the wire threading direction; the wire is fixed to the traction unit and extends in the direction opposite to the wire threading direction, and the wire is threaded through the wire conduit by expanding the traction unit while maintaining the expanded state of the gripping unit after expanding the gripping unit.

2. The wire threading robot according to claim 1, wherein the fluid flow pipe is provided to penetrate the wire conduit in the wire threading direction during wire threading.

3. The wire threading robot according to claim 1 or claim 2, wherein the driving unit includes a guide cable provided to penetrate the wire conduit.

4. The wire threading robot according to claim 3, wherein the gripping unit, the traction unit, and the connecting unit have a hollow space that allows the guide cable to pass through.

Images