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WO2015008923A1 - Dispositif de préhension pour réaliser une pose de fil - Google Patents

Dispositif de préhension pour réaliser une pose de fil Download PDF

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Publication number
WO2015008923A1
WO2015008923A1 PCT/KR2014/002778 KR2014002778W WO2015008923A1 WO 2015008923 A1 WO2015008923 A1 WO 2015008923A1 KR 2014002778 W KR2014002778 W KR 2014002778W WO 2015008923 A1 WO2015008923 A1 WO 2015008923A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire
gripper
laying
link
moving body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2014/002778
Other languages
English (en)
Korean (ko)
Inventor
김동호
김정민
서재원
정동현
김동수
박주이
김수호
박희환
임창호
이동준
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hanwha Ocean Co Ltd
Original Assignee
Daewoo Shipbuilding and Marine Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020130083233A external-priority patent/KR101595278B1/ko
Priority claimed from KR20130095411A external-priority patent/KR101484720B1/ko
Priority claimed from KR1020130099475A external-priority patent/KR101631570B1/ko
Priority claimed from KR1020130114512A external-priority patent/KR101451949B1/ko
Priority claimed from KR1020130116874A external-priority patent/KR101701274B1/ko
Priority claimed from KR2020140000478U external-priority patent/KR200478594Y1/ko
Application filed by Daewoo Shipbuilding and Marine Engineering Co Ltd filed Critical Daewoo Shipbuilding and Marine Engineering Co Ltd
Priority to SG11201600273TA priority Critical patent/SG11201600273TA/en
Publication of WO2015008923A1 publication Critical patent/WO2015008923A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle

Definitions

  • the present invention relates to a gripper device for laying wires, and more particularly, to a gripper device for laying wires that is installed by pulling a wire from a cable tray or the like of a ship.
  • each shipyard improves or develops an electric winch, feeder, etc., and uses it for wire laying work.
  • the utility is low in utility, and the necessity of miniaturization and light weight is also on the rise.
  • Korean Patent Publication No. 1205921 As a prior art document that can be referred to in this regard, according to Korean Patent Publication No. 1205921, it is difficult to install in a narrow space because the total length including the towing unit is long.
  • Korean Patent Publication No. 0819781 discloses disassembling a component, fixing one component to a tray bar, and then reassembling other components, thus requiring a lot of time and cost to install the wire laying apparatus.
  • An object of the present invention for improving the conventional problems as described above, the gripper for wire laying having a structure that is easy to move and use while being light in weight and easy to use efficiently even in a relatively narrow space is easy to install and use To provide a device.
  • Another object of the present invention is to allow the wire to proceed automatically during the reciprocating motion while performing the guide function of the wire.
  • Another object of the present invention is to improve the grip force regardless of the manufacturing error of the wire outer diameter to achieve accurate and smooth transfer.
  • the present invention is a device for applying the installation force to transfer the wire on the set path, the moving body having a link movable in the forward and backward direction of the wire and gripping the wire in connection with the link It characterized in that it comprises a gripping means provided with a gripper.
  • the link of the moving body moves with the wire only during the one-way movement.
  • a base in the apparatus for installing the electric wire, a base, a gripping means for connecting the lower base and the upper base in a link structure, and having a timing belt on the lower base and the upper base and And an actuator coupled to induce a reciprocating motion of the gripping means.
  • an electric wire is made to contact three points by two timing belts of the lower part of the said holding means, and one timing belt of the upper part.
  • the timing belt of the gripping means is provided to restrain one-way rotation via the one-way bearing.
  • the upper stand of the gripping means is connected to the opening, closing, tightening force fluctuation through the engaging rod and the knob on the lower stand.
  • the gripping means includes a support bar fixed to a predetermined height on both sides, and a friction shoe rotated within a certain angle range between the support bar.
  • the friction shoe is eccentrically fixed to the upper portion of the support bar, and includes a friction surface protruding in an elliptic shape so that the wire is moved by the friction force.
  • a fixing ring having a portion cut in length to wrap and fix the outer circumferential surface of the wire for installation, at least one gripper fitted to the fixing ring, rotatably fixed to the gripper through a roll shaft, It is characterized in that it comprises a roller in contact with the outer peripheral surface of the electric wire, the gripper, the one-way bearing to rotate the roll shaft in only one direction, and not to rotate in the opposite direction.
  • the locking end that can be locked and released by a hooking method is further provided at the cut end of the fixing ring can vary the radius of the fixing ring.
  • the gripper is formed in an H shape, the roll shaft and the roller is provided symmetrically two per gripper.
  • a moving body for supporting the outer peripheral surface of the lower side of the wire, rotatably hinged to both ends of the moving body, and fastened to each other in the form of wrapping the wire, the inner peripheral surface is downward in the moving direction of the wire
  • First and second guide rings each having an inclined inclined surface, inclined surfaces corresponding to the inclined surfaces, and fitted to each of the first and second gripper cars having a wedge-shaped assembly structure, the moving body and the first and second gripper cars
  • the one-way bearing is installed, the shaft is fixed in the middle of the length of the one-way bearing, characterized in that it comprises a roller in contact with the outer peripheral surface of the wire.
  • the ends of the first and second guide rings that face each other is provided with a fastening bolt and a fastening nut are fastened to each other in the form of fastening.
  • the one-way bearing is installed in pairs at both ends of the moving body and the first and second gripper cars, respectively.
  • an actuator that linearly reciprocates within a predetermined stroke, and is installed on an upper surface of the distal end of the actuator, the electric wire being connected to the actuator in a direction of movement of the actuator. It characterized in that it comprises a holding means for moving the wire by the stroke while the engagement state of the change.
  • the actuator is a housing, a guide rail protruding in the longitudinal direction on the upper surface of the housing, an operating plate sliding along the guide rail, fixed to the front end of the housing and has a linear stroke reciprocating movement And a connecting bracket for transmitting the kinetic force of the moving body to the operating plate to guide the operating plate to linearly reciprocate within the stroke range of the moving body.
  • the holding means is a base fixed to the upper end surface of the operation plate, protrudes on both sides of the upper surface of the base and the upper surface is formed in the concave in the shape of an arc, the support block formed with a ring bracket on one side, the support block A stopper protruding from the arc-shaped recess of the arc, an arc-shaped grip link having a pair of pivot rings seated on the arc-shaped recess of the support block so as to be rotatable, and a field formed in the pivot ring and to which the stopper is inserted. It comprises a link fixing pin having a holder to which a part of the grip link is inserted at one end while acting as a rotating shaft through the ball stopper groove, the ring bracket and the rotating ring.
  • FIG. 1 is a block diagram showing a laying apparatus according to the present invention
  • FIG. 2 is a schematic diagram showing the main parts of FIG. 1;
  • Figure 3 is a schematic diagram showing the installation state of the gripper for wire laying according to the present invention
  • FIG. 4 is an exploded perspective view illustrating the gripper of FIG. 3;
  • FIG. 5 is an exploded perspective view showing the main portion of the gripper of FIG.
  • 6 to 9 is a perspective view showing an operating state of the gripper of FIG.
  • FIG. 10 is a perspective view of a gripper for wire laying according to another embodiment of the present invention.
  • FIG. 11 is a perspective view illustrating a state in which a clamp of the gripper of FIG. 10 is rotated
  • FIG. 12 is a front view showing a state in which the wire is moved by the gripper of FIG.
  • FIG. 13 is a perspective view illustrating a state in which the operation cylinder of FIG. 10 is advanced
  • FIG. 14 is a perspective view illustrating a state in which the operation cylinder of FIG. 10 is reversed
  • FIG. 15 is a perspective view of a gripper for wire laying according to another embodiment of the present invention.
  • 16 is a configuration diagram showing an installation state of the gripper of FIG. 15;
  • FIG. 17 is a perspective view of a gripper for wire laying according to another embodiment of the present invention.
  • FIG. 18 and 19 are a front view and a plan view of FIG. 17, respectively;
  • FIG. 20 is a schematic diagram showing an operation example of the gripper according to FIG. 17;
  • 21 and 22 are perspective views of a wire wrapping gripper according to another embodiment of the present invention.
  • FIG. 23 is an exploded view showing a main configuration of the gripper device of FIG. 21;
  • FIG. 24 is a configuration diagram showing an operating state of the gripper device of FIG. 21; FIG.
  • FIG. 1 proposes an apparatus for laying wires 150 by applying a laying force onto a predetermined path.
  • the cable tray 100 for supporting the wire 150 is arranged in a horizontal, vertical, curved at a narrow, complex and high position.
  • the wire laying apparatus 160 of the present invention is intended for the cable tray 100 of ships and offshore plants having a poor installation environment, but is not necessarily limited thereto.
  • the wire laying apparatus 160 of the present invention includes the main body 210, the holding means 300, the driving means 400 as a main configuration.
  • the moving body 210 is a structure having a link 220 that is movable in the forward and backward directions of the wire 150.
  • the link 220 of the moving body 210 moves with the wire 150 only in one direction.
  • the hinge shaft 223 for connecting the movable body 210 and the link 220 is detachably installed through at least one of a split pin, a snap ring, a screw, and a key.
  • the holding means 300 according to the present invention is a structure having a gripper 310 to grip the wire 150 in association with the link 220.
  • the driving means 400 is a structure for applying the laying force to the wire 150 by causing the movement of the link 220 and the gripper 310.
  • the driving means 400 uses at least one of a hydraulic cylinder, a pneumatic cylinder, and an electric actuator, and includes a control means 500 for generating a reciprocating motion of the driving means 400 for wire laying at a set cycle.
  • Wire 150 is a large diameter, heavier weight heavyweights, but is not limited thereto.
  • a base 211 supports the lower base 321 of the gripping means 300, which will be described later, and is fixed to the actuator 450 with bolts.
  • the base 211 is preferably cut into a stainless steel sheet, but may be die cast with an aluminum alloy.
  • the holding means 300 having a timing belt 333 on the lower stand 321 and the upper stand 322 has a lower stand 321 and an upper stand 322 on the base 211. Connect to the link structure.
  • the lower stand 321 and the upper stand 322 are connected to the wire 150 to act as a laying force and are connected in a band-shaped link structure via a plurality of intermediate stands 323.
  • the lower stand 321 is coupled to the base 211 in the form of a Y-shaped cross section
  • the upper stand 322 is connected to both side ends of the base 211 in the form of a single cross-section.
  • Intermediate zone 323 is interposed in the form of a straight section or a cross section.
  • the lower stand 321 and the upper stand 322 have timing belts 333 formed of a wear resistant resin, respectively, to increase frictional force on the wire 150.
  • the timing belt 333 is installed on the support shaft 325 formed in the lower stand 321 and the upper stand 322.
  • the actuator 450 is coupled to cause the reciprocating motion of the gripping means 300.
  • the actuator 450 may use a pneumatic cylinder, a hydraulic cylinder, a linear motor and the like. According to the main drawing of the present invention illustrates a state in which the operating cylinder 455 is mounted on the housing 452.
  • the two-point support for installing the respective timing belts 333 at both side symmetrical positions of the lower base 321 may not have sufficient grip force on the wire 150.
  • the timing belt 333 by the upper stand 322 is further added to the three-point support method.
  • three-point support does not mean point contact, and in fact line contact occurs.
  • the timing belt 333 of the gripping means 300 is characterized in that it is installed to restrict the one-way rotation via the one-way bearing 335.
  • the pulley 331 is connected to the support shaft 325 via the one-way bearing 335 and the spacer 337, and the teeth of the timing belt 333 are engaged with each other on the pulley 331. do. Accordingly, one-way rotation of the timing belt 333 is constrained to transmit the installation force, and the rotation in the other direction is allowed to lose the installation force.
  • the upper stand 322 of the holding means 300 is connected to the opening, closing, tightening force fluctuation through the locking rod 326 and the knob 328 on the lower stand 321 It is characterized by.
  • a groove is formed on one side of the upper base 322, and the engaging rod 326 is installed on the other upper base 322 to be engaged with each other.
  • a knob 328 is held by the hand and a spring 338 is installed at the lower end of the locking rod 326 to maintain engagement. Accordingly, while holding the knob 328, the locking rod 326 can be inserted into or removed from the groove to perform opening and closing before and after laying.
  • the diameter of the gripping means 300 may be adjusted or the tightening force may be changed to correspond to the thickness of the wire 150. .
  • the holding means 300 is characterized in that rotatably coupled via the rotation shaft 215 of the base 211.
  • the installation resistance can be reduced in linkage with the installation direction of the wire 150.
  • the upper base 322 is opened, the wire 150 is raised to the lower base 321, the upper base 322 is covered, and the knob 328 is tightened to maintain the closed state.
  • FIG. 7 when the operation cylinder 455 starts to move finely, rotation of the one-way bearing 335 is constrained, thereby increasing the pressing force through the timing belt 333.
  • FIG. 8 the operation cylinder 455 moves forward while the wire 150 is gripped by the gripping means 300, thereby pulling the wire 150.
  • the one-way bearing 335 is allowed to rotate while the operation cylinder 455 moves backward, the force acting on the wire 150 is insignificant and maintained in the current state.
  • a plurality of grippers are installed at set intervals on the installation path of the wire 150, and the installation force acts on the wire 150 only during the forward operation while the operation cylinder 455 repeats the forward and backward movement.
  • the pneumatic method employing the pneumatic cylinder does not require strict synchronization due to the properties of the pneumatic.
  • the gripper of the present invention is simple in structure and hardly loses due to slip, and the operation of laying on the vertical tray proceeds smoothly.
  • the gripper for wire laying is a housing 212 having a predetermined length and width, an operation cylinder 455 reciprocating in one direction in the housing 212, and a direction opposite to the movement direction of the operation cylinder 455.
  • the friction shoe 343 rotated in the direction includes a holding means 300 is fixed.
  • the housing 212 of the present invention has a rectangular shape having a predetermined length and width, and an upper surface of the housing 212 is opened to install the operation cylinder 455 and one side of the operation cylinder is provided.
  • the piston rod 456 of 455 is open to protrude.
  • both side surfaces of the housing 212 are formed with protrusions 213 protruding by a predetermined length, respectively.
  • the protrusion 213 is protruded to be stably placed on the cable tray (not shown), the fixing portion 214 is fixed to the hole (not shown) formed in the cable tray (not shown) in the protrusion 213. Is fastened.
  • the holding means 300 is fixed to the upper surface of one side of the operation cylinder 455, the friction shoe 343 rotatably installed to move the wire in one direction.
  • FIG. 11 is a perspective view showing a state in which the clamp of the gripper for wire laying according to the present invention is rotated.
  • the holding means 300 is a support bar 341 which is fixed vertically at a position separated by a predetermined distance, an arc surface 342, the cable is seated between the support bar 341,
  • a friction shoe 343 is rotatably fixed between the support bars 341.
  • the support bars 341 are vertically fixed at positions spaced apart from each other by a predetermined distance, and the lower portions between the support bars 341 are formed with an arc surface 342 to seat the wires 150.
  • a friction shoe 343 is rotatably fixed to an upper portion of the support bar 341.
  • Friction shoe 343 is rotated in a direction opposite to the movement direction of the operation cylinder 455 to move in the movement direction of the operation cylinder 455 while maintaining the state in which the electric wire 150 is pressed.
  • Friction shoe 343 is formed in a substantially heart shape to move the wire 150, one side is formed with a friction surface 344 protruding in an ellipse shape to press the wire 150.
  • the housing 212 has a shape in which an operation cylinder 455 is embedded by opening an upper surface and one side thereof, and protrusions 213 are formed at both sides in the longitudinal direction of the housing 212. Is formed to protrude by a certain length.
  • the protrusion 213 is fastened to the fastener 214 for fixing the housing 212 to the cable tray (not shown), the protrusion 217 rotatable support roller 217 for stably supporting the wire 150 To be fixed.
  • An operation cylinder 455 is mounted in the inner space of the housing 212.
  • the operation cylinder 455 is operated by pneumatic, the piston rod 456 reciprocates in the longitudinal direction.
  • the holding means 300 is fixed to one side of the upper surface of the operation cylinder 455.
  • the support bar 341 is fixed to the upper surface of the operation cylinder 455 perpendicular to both sides, and an arc surface 342 is formed at the lower portion between the support bars 341 so that the wire 150 is stably seated.
  • the upper portion of the support bar 341 is rotatably fixed to the friction shoe 343 made of a heart shape, the friction shoe 343 is fixed to the support bar 341 eccentrically to one side. This is to allow the wire 150 to be moved while the friction shoe 343 is rotated within a predetermined angle range in accordance with the movement of the operation cylinder 455 to press the wire 150.
  • one side of the friction shoe 343 forms a friction surface 344 protruding in an oval shape so that frictional force is generated.
  • the housing 212 is fixed on a cable tray (not shown) with an operation cylinder 455 mounted thereto. Fixing of the housing 212 is a protrusion 213 is mounted on the crossbar (not shown) of the cable tray, and is fixed by fastening the fastener 214 to the crossbar and the protrusion 213. That is, the housing 212 is fixed so as not to move on the cable tray.
  • a plurality of grippers for wire laying are fixed at regular intervals on the cable tray, and is preferably applied to move the wire 150 horizontally.
  • the gripping means 300 is inserted into the wire 150 to be moved.
  • the wire 150 is sandwiched between the arc surface 342 and the friction shoe 343.
  • the wire 150 is operated by the operation cylinder 455 installed in the gripper in a state of being fitted to the gripping means 300 according to the control signal.
  • the holding means 300 fixed to the operation cylinder 455 also moves in the same direction as the piston rod 456.
  • the support bar 341 moves in the same direction as the operation cylinder 455 as the working cylinder 455 moves forward, and the friction surface 344 of the friction shoe 343 to which the electric wire 150 is pressed moves the electric wire 150. It is rotated in a direction opposite to the moving direction of the operation cylinder 455 to be pressed at a constant pressure.
  • the friction shoe 343 is rotated only at a predetermined angle so as to strongly press the wire 150.
  • the wire 150 is maintained in a pressed state by the arc surface 342 and the friction shoe 343.
  • the electric wire 150 is moved in the same direction as the movement direction of the operation cylinder 455 in a state in which the electric wire 150 is pressed between the arc surface 342 and the friction surface 344 by the rotation of the friction shoe 343.
  • the friction shoe 343 is simply rotated by a predetermined angle in a state of being in contact with the wire 150 at the time of reverse rotation, so that the friction shoe 343 does not press the wire 150 by friction, and thus the operation cylinder 455 is a wire Only the working cylinder 455 is retracted without moving the 150.
  • the operation cylinder 455 moves forward, the wire 150 moves in one direction (the direction to be moved), and when the operation cylinder 455 moves backward, the wire 150 is in place. Therefore, the electric wire 150 is moved by the operation cylinder 455 by a predetermined distance after being pressed by the friction shoe 343 when the operation cylinder 455 advances.
  • the electric wire 150 is repeatedly moved by a predetermined distance (advancing distance of the cylinder) in the direction to move by the advance of the operation cylinder 455 to be able to install the wire 150.
  • the cable gripper according to the present invention is installed in the power unit for reciprocating motion so that the wire 150 can automatically proceed during the reciprocating motion.
  • the one-way bearing 335 and the roller are used to reduce the friction between the wire 150 and the gripper when the gripper returns to the initial drive position.
  • the pressure applied to the wire 150 can be adjusted and used regardless of the thickness of the wire. Can be.
  • the size and number of grippers can be adjusted according to the size of the wire 150, it can be used effectively during manual wire laying work through a slight deformation.
  • three grippers 310 may be installed at 120 ⁇ intervals along the circumference of the wire 150.
  • the gripper 310 may have various shapes, but is preferably formed in the 'H' shape as shown in the sense of stability.
  • the gripper 310 in the 'H' shape through the embodiment is not limited to the shape of the right, the roll shaft 356 and the roller 354 to the gripper 310 formed in the H shape ) May be provided symmetrically two per gripper 310.
  • a roll shaft 356 is fitted to a part of the gripper 310, and a roller 354 is rotatably installed on the roll shaft 356.
  • the roller 354 has a larger diameter than the gripper 310 so that the gripper 310 is in contact with the wire 150 when the gripper 310 is installed on the wire 150. It should be able to be a roller 354 rather than.
  • the gripper 310 is provided with a one-way bearing 335, the one-way bearing 335 is rotated in one direction by controlling the rotation direction of the roll shaft 356, the opposite direction It is a known unit configured to stop the rotation.
  • the one-way bearing 335 is rotated together with the shaft in the rotation direction of one of the two rotation directions when one axis is made through two separate shafts, but only when the shaft rotates in the opposite rotation direction It refers to a bearing that rotates only in one known direction that transmits power to rotate. Since the one-way bearing 335 is a well-known unit having a well-known structure, the one-way bearing 335 is not necessarily described in the present invention. Shall be.
  • the gripper 310 is inserted into the fixing ring 350 to be configured to move in the radial direction of the fixing ring 350 along the fixing ring 350, a part of the fixing ring 350 is cut, The cut-out part is provided with a binding hole 352 having the shackle-type binding structure described above.
  • the fastener 352 is a kind of fastener, and a fixed length hook (not shown) is formed at both ends of the gripper 310, and the inner diameter of both ends of the fastener 352 is defined.
  • a hooking hook (not shown) provided by a spring is provided to prevent hooking when both ends of the gripper 310 are introduced into the binding hole 352, so that the hooking hook can be achieved by hooking when it exits. In case of release, it is possible to release the hooking state by pressing the knob by putting a separate knob.
  • the roller 354 does not rotate because the one-way bearing 335 operates to fix the roll shaft 356 in the direction in which the wire 150 proceeds.
  • the friction between the roller 354 and the wire 150 is so severe that the roller 354 can move and hold the wire 150.
  • the roller 354 smoothly rotates the wire 150.
  • the surface is in contact with the cloud. In this case, only the gripper can be moved.
  • the present invention is configured such that the one-way bearing 335 is installed on the moving body 210 and the first and second gripper cars 311 and 312 to rotate in one direction and not rotate in the opposite direction.
  • the moving body 210 may be configured to be located at a lower portion of the circumference of the wire 150.
  • the first guide ring 382 and the second guide ring 384 constituting the gripper car guide ring 380 are rotatably hinged to both ends of the moving body 210, respectively.
  • the gripper car guide ring 380 may be combined in a form in which two divided first and second guide rings 382 and 384 are combined with each other to surround the electric wire 150. 380 is configured.
  • first and second guide rings 382 and 384 are provided with fastening bolts 386 and fastening nuts 387 at opposite ends of the first and second guide rings 382 and 384 so that the first and second guide rings 382 and 384 are connected to each other. It is configured to bind while completely surrounding the outer peripheral surface of (150).
  • first and second guide rings 382 and 384 are bent vertically with respect to the longitudinal direction and then contacted with each other, and the vertical ends of the first guide rings 382 are approximately 'U' shaped.
  • the groove 389 is formed, the vertical end of the second guide ring 384 is provided with a hinge shaft 388 fitted in the width direction, the fastening bolt 386 is perpendicular to the hinge shaft 388 It is fixed to form a unity.
  • the fastening bolt 386 is configured to be rotatable through the hinge shaft 388, and the fastening nut 387 is inserted into the groove 389 and the vertical end of the first guide ring 382.
  • the gripper car guide ring 380 is fastened to the fastening bolt 386 protruding forward and tightly adhered to the front surface of the vertical end of the first guide ring 382, the gripper car guide ring 380 is firmly and securely attached to the outer circumferential surface of the wire 150. Will be.
  • connection portion 385 to be described later is also formed to be inclined to correspond to it so as to be engaged in a wedge shape in the direction of travel so that it can no longer move and move in the direction opposite to the direction of travel.
  • first and second gripper cars 311 and 312 having one-way bearings 335 having rollers 354 contacting the outer circumferential surface of the electric wire 150 are installed inside the first and second guide rings 382 and 384.
  • the first and second gripper cars 311 and 312 are disposed at intervals in a radial direction of the wire 150, have a substantially 'H' shape, and the one-way bearings 335 are installed on both sides in parallel.
  • the connecting portion 385 connecting the two parallel sides perpendicularly to each other is fitted to the inclined surface.
  • the shape of the connecting portion 385 is inclined to correspond to the inclined surface as shown in FIG.
  • the roller 354 is installed in the middle of the length of the one-way bearing 335, and is only in contact with the outer circumferential surface of the wire 150.
  • the one-way bearing 335 is installed at both ends of the first and second gripper cars 311 and 312, respectively, so that the two pairs are configured to form a pair.
  • the present invention constitutes the gripper car guide ring 380 and the first and second gripper cars 311 and 312 engaged with each other in a wedge structure so that the gripper car guide ring 380 and the first and second gripper cars 311 and 312 are wedge in the direction of towing the electric wire 150 and are completely tight even if there is an outer diameter error.
  • There is no loss of traction force because the towing is maintained while being engaged, and the grip force is remarkably improved, and when moving, the wedge structure is loosened so that it can be retracted smoothly. It can be seen that this is a marked improvement.
  • connection portion 385 of the first and second gripper cars 311 and 312 moves the wire 150. It is configured to slide down in the direction of the direction. As a result, the gripping force is rapidly increased since the first and second guide rings 382 and 384 move along the inclined surfaces and engage in a wedge shape, which allows the wire 150 to be pulled without loss.
  • the grip force decreases or the outer diameter is too large, and the traction failure is not caused, as the conventional, because the outer diameter is large, because the amount of movement along the slope is smaller and automatically adjusted to the outer diameter of the wire 150. .
  • the gripper device includes a housing 212 which is a kind of fixed plate, a guide rail 230 protruding in the longitudinal direction on the upper surface of the housing 212, and the guide rail 230.
  • the operating plate 232 which is slid along, the moving body 210 fixed to the front end of the housing 212 and linearly reciprocating with a predetermined stroke, and transfers the kinetic force of the moving body 210 to the operating plate 232
  • the operation plate 232 is configured to include a connecting bracket 234 for guiding the linear reciprocating motion within the stroke range of the moving body 210.
  • the guide rail 230 is preferably formed to have a wedge shape narrower than the upper side while inclined downward so that the operation plate 232 is not easily separated and separated.
  • the moving body 210 is provided with a driving rod 233 to reciprocate within a predetermined stroke in accordance with the power change, the connection bracket 234 is fixed to the end of the driving rod 233, the connection bracket 234 One side of the operation plate 232 is fixed to the other part of).
  • the holding means 300 is fixed to the upper end surface of the operation plate 232 to grip and move the wire 150 is provided.
  • the gripping means 300 transfers the wire 150 by gripping only when the operation plate 232 moves forward and backward within the stroke range, and releases the gripping when moving backward. 150) does not retract. This makes it easy to install the wires even in a very narrow space.
  • the holding means 300 is a base 211 fixed to the top surface of the front end of the operation plate 232, protrudes on both sides of the upper surface of the base 211 and the upper surface is formed in a concave shape arc and one side ring
  • a support block 361 having a bracket 362 formed therein, a stopper 225 protruding from the arc-shaped recess of the support block 361, and a rotatable recess of the support block 361 are rotatably mounted.
  • An arc-shaped grip link 363 having a pair of rotating rings 364 provided therein, a long stopper groove 365 formed in the rotating ring 364 and in which the stopper 225 is removed, and the ring bracket It comprises a link fixing pin (366) having a holder (367) is inserted into a portion of the grip link (363) at one end through the 362 and the rotating ring (364) to serve as a rotation axis.
  • the pivot ring 364 is rotatably held by the link fixing pin 366 as a rotation axis in a state in which the pivot ring 364 is seated on the arc-shaped recess of the support block 361.
  • the stopper 225 is caught by the front end of the stopper groove 365.
  • the stopper groove 365 itself is slightly long, so there is play with the rear end of the stopper groove 365, so that it stops smoothly, that is, without jamming. You will be guided to become.
  • the grip link 363 is to advance the operation plate 232 when the actuator is advanced, wherein the wire 150 is fitted to the grip link 363 and the lower end of the wire 150 is the link fixing pin ( 366), the link fixing pin 366 rotates counterclockwise due to mutual friction.
  • the link retaining pin 366 rotates clockwise, so that the grip grip 363 also rotates clockwise and vertically. It is built to be. However, at this time, the stopper 225 on the support block 361 is fitted to the long stopper groove 365 of the rotation ring 364 and is prevented from rotating any further because it is caught by the front end of the stopper groove 365.
  • the link fixing pin 366 is returned to the home position of the actuator while slipping in the line contact with the lower end of the wire 150, wherein the grip link 363 is in an up state, that is, without interference with the wire 150 Since the wire 150 remains as it is while it is still in the state, only the grip link 363 retreats and moves. Subsequently, when the actuator moves forward again, the wire 150 is pulled while repeating the above-described process as it is, and after the return, the actuator is pulled again.
  • the wire 150 can be moved smoothly and can be installed easily and conveniently.

Landscapes

  • Clamps And Clips (AREA)
  • Transmission Devices (AREA)
  • Electric Cable Installation (AREA)

Abstract

La présente invention se rapporte à un dispositif permettant d'appliquer une force de pose de telle sorte qu'un fil soit transféré le long d'un trajet prédéterminé, le dispositif comprenant : un corps mobile comprenant une liaison qui peut se déplacer vers lavant/vers l'arrière du fil ; et un moyen de préhension qui comprend une pince pour travailler conjointement avec la liaison et, de ce fait, saisir le fil. Le dispositif peut être rendu compact et léger pendant une opération de pose de fil, ce qui rend l'installation dans un espace étroit facile et le dispositif est facile à utiliser et présente une structure simple, ce qui permet d'améliorer de façon avantageuse la fiabilité et de faciliter la maintenance.
PCT/KR2014/002778 2013-07-16 2014-04-01 Dispositif de préhension pour réaliser une pose de fil Ceased WO2015008923A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SG11201600273TA SG11201600273TA (en) 2013-07-16 2014-04-01 Gripper device for wire laying

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
KR1020130083233A KR101595278B1 (ko) 2013-07-16 2013-07-16 원웨이 클러치 베어링을 이용한 케이블 그리퍼
KR10-2013-0083233 2013-07-16
KR10-2013-0095411 2013-08-12
KR20130095411A KR101484720B1 (ko) 2013-08-12 2013-08-12 쐐기 구조와 원웨이 클러치 베어링을 이용한 케이블 그리퍼
KR10-2013-0099475 2013-08-22
KR1020130099475A KR101631570B1 (ko) 2013-08-22 2013-08-22 자동 전선 포설용 그리퍼 장치
KR1020130114512A KR101451949B1 (ko) 2013-09-26 2013-09-26 그리핑 방식의 전선포설 장치
KR10-2013-0114512 2013-09-26
KR10-2013-0116874 2013-09-30
KR1020130116874A KR101701274B1 (ko) 2013-09-30 2013-09-30 일방향 클러치와 타이밍 벨트를 이용한 전선포설용 그립퍼
KR20-2014-0000478 2014-01-21
KR2020140000478U KR200478594Y1 (ko) 2014-01-21 2014-01-21 전선 포설용 그리퍼

Publications (1)

Publication Number Publication Date
WO2015008923A1 true WO2015008923A1 (fr) 2015-01-22

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PCT/KR2014/002778 Ceased WO2015008923A1 (fr) 2013-07-16 2014-04-01 Dispositif de préhension pour réaliser une pose de fil

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JP (1) JP5832577B2 (fr)
CN (1) CN104300437B (fr)
SG (1) SG11201600273TA (fr)
WO (1) WO2015008923A1 (fr)

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CN107681544B (zh) * 2017-09-30 2024-05-14 合保电气（芜湖）有限公司 J型电线线夹安装工具
CN110815265A (zh) * 2019-11-09 2020-02-21 南宁学院 一种机器人夹持器
CN112202128B (zh) * 2020-09-17 2021-09-14 江苏方洋能源科技有限公司 一种架空线路绝缘横担用上抗式线夹
CN112324123A (zh) * 2020-12-03 2021-02-05 新乡市英昊建工机械有限公司 一种球罐内壁摆臂式施工吊篮
CN115064993B (zh) * 2022-08-19 2022-11-04 国网瑞嘉(天津)智能机器人有限公司 接线辅助装置
CN119154142B (zh) * 2024-11-18 2025-03-07 福建盼得明电力器材有限公司 一种电缆管道内部大小可调节式巡检机器人

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CN104300437B (zh) 2017-03-29
JP5832577B2 (ja) 2015-12-16
SG11201600273TA (en) 2016-02-26
JP2015023790A (ja) 2015-02-02

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