JP5801105B2 - Self-propelled wire inspection device - Google Patents

Description

  The present invention relates to a self-propelled electric wire inspection device that inspects the state of an electric wire while sliding on an aerial wire (for example, a power transmission line).

  Electric cables installed overhead such as power transmission lines are subject to external damage and internal corrosion due to aging, so it is necessary to inspect them regularly. Conventionally, such inspection of power transmission lines has been carried out by people on the power transmission lines. However, the inspection work by humans is dangerous and the work efficiency is poor because it is necessary to temporarily stop power transmission. Under such circumstances, a self-propelled electric wire inspection device that inspects the state of the transmission line while traveling on the transmission line has been developed (for example, Patent Document 1). In other words, the electric wire inspection apparatus disclosed in Patent Document 1 inspects each electric wire of an overhead power transmission line in which four electric wires including two upper and two lower wires are arranged in parallel.

  As shown in FIG. 6, the electric wire inspection device of Patent Document 1 includes two pulley rotation shafts 101 extending in the electric wire width direction, two upper pulleys 102 attached to each pulley rotation shaft 101, and two And a connecting arm 103 for connecting the pulley rotation shaft 101. An upper upper wire inspection unit 104 that detects an abnormality such as damage to the upper electric wire is attached to the pulley rotating shaft 101, and the upper pulley 102 is engaged with the upper two electric wires A1 so that the apparatus automatically operates. Driving while adjusting the balance.

  A base shaft 105 extends in a direction (vertical direction) perpendicular to the electric wire to the connecting arm 103, can be rotated around the base shaft 105, and can be rotated around the base shaft 105. Two sensor arms 107a and 107b extending in a direction orthogonal to the lower wire arm 106 from the wire arm 106, and a lower wire inspection provided at the tips of the sensor arms 107a and 107b to check the state of the lower wire A2. It consists of sections 108a and 108b. The lower wire inspection portions 108a and 108b include lower pulleys 109a and 109b that engage with the lower wire A2 and cameras 110a and 110b. The sensor arms 107a and 107b are configured by leaf springs or the like.

  FIG. 7A shows a state where the lower wire inspection portions 108a and 108b are retracted from the electric wire. When inspecting the lower electric wire from this state, as shown in FIG. 7B, the lower electric wire arm 106 is rotated around the base shaft 105 so as to be orthogonal to the electric wire. At this time, the lower pulleys 109a and 109b are arranged above the lower electric wire A2. When inspecting the lower electric wire A2, the lower pulleys 109a and 109b travel on the lower electric wire.

JP 2010-220346 A

  In the running of the electric wire inspection device as in Patent Document 1, the upper pulley 102 is engaged with the upper electric wire A1, so that the weight of the device is supported only by the upper electric wire A1. For this reason, the weight of the device is applied to the upper electric wire A1, while the weight of the device is not applied to the lower electric wire A2. Thereby, as shown to Fig.8 (a), upper side electric wire A1 falls below by the gravity of an apparatus. The phantom line indicates the position of the upper electric wire A1 in a state where the upper pulley 102 is not engaged.

  On the other hand, the lower electric wire A2 is not lowered, and its position is maintained at a substantially constant position. Therefore, as shown in FIG. 8A, the vertical distance X2 between the upper electric wire A1 and the lower electric wire A2 in a state in which the upper pulley 102 is engaged with the upper electric wire A1, the upper pulley 102 is related to the upper electric wire A1. It becomes narrower than the space | interval X1 of the up-down direction of upper side electric wire A1 and lower side electric wire A2 in the state which is not combined. Further, as shown in FIG. 8B, the position of the upper electric wire A1 when the upper pulley 102 is engaged with the upper electric wire A1 is the upper electric wire A1 when the upper pulley 102 is not engaged with the upper electric wire A1. For example, Y may deviate from the position of. The vertical spacing and the horizontal displacement of the upper electric wire A1 vary depending on the location of the electric wire, and the vertical and horizontal relative positional relationship between the upper electric wire A1 and the lower electric wire A2 varies depending on the location. . In this case, if the sensor arms 107a and 107b are configured by leaf springs, the sensor arms 107a and 107b cannot follow the position of the lower electric wire A2, and unnecessary loads are continuously applied in the vertical direction and the horizontal direction. It sometimes deformed.

  Further, when the lower pulleys 109a and 109b travel on the lower electric wire A2, the lower pulleys 109a and 109b are subjected to friction in the electric wire twisting direction, and a load is applied in a direction in which the lower pulleys 109a and 109b are twisted. to continue. Due to this, the sensor arms 107a and 107b may be deformed or removed.

  When the sensor arms 107a and 107b are deformed in this way, the lower wire inspection portions 108a and 108b are not arranged at appropriate positions, and the image of the lower wire A2 becomes unclear or an image of the lower wire A2 is obtained. For example, the inspection accuracy of the lower electric wire A2 is deteriorated.

  The subject of this invention is providing the self-propelled electric wire inspection apparatus which a lower side electric wire inspection part can track the position of a lower electric wire, and can inspect a lower electric wire with high precision.

The self-propelled electric wire inspection device of the present invention includes a drum-shaped rotating body that engages with an upper electric wire of electric wires arranged above and below, and a lower electric wire inspection unit that inspects the state of the lower electric wire, and the rotation A self-propelled electric wire inspection device that inspects the state of the electric wire while the body slides with respect to the upper electric wire, the vertical movement means that allows the vertical movement of the lower electric wire inspection unit, and the lower electric wire inspection unit A reciprocating means that allows horizontal reciprocating movement, and a lowering wire inspection section that follows the position of the lower electric wire is provided , and the reciprocating means extends in the lower electric wire inspection state. An inspection portion support rod that is orthogonal to the direction and extends in the horizontal direction, wherein the vertical movement means includes a first shaft portion that connects a base portion and one end portion of the inspection portion support rod, and the base portion and the inspection portion support portion. A second shaft portion that connects the other end portion of the rod, with the base portion at the center. And provided with the lower wire inspection portion on the inspection portion support rod on the distal end side of the oscillation shaft, and along the axial direction of the inspection portion support rod, The lower wire inspection section reciprocates .

In the self-propelled electric wire inspection device of the present invention, since a follow-up mechanism that allows vertical movement and horizontal reciprocation of the lower electric wire inspection unit is provided, the lower electric wire inspection unit moves flexibly in all directions. can do. Thereby, even if the relative positional relationship of an upper side electric wire and a lower side electric wire changes with places, the lower side electric wire inspection part can track the position of a lower side electric wire. Thereby, an underline electric wire inspection part is arrange | positioned in an appropriate position in a lower side electric wire. Moreover, the first shaft portion, the second shaft portion, and the inspection portion support rod are triangular. As a result, the first shaft portion and the second shaft portion improve the proof stress in the vertical direction, and the inspection portion support rod causes the horizontal direction and the rotational force (the friction in the wire twist direction when the rotating body travels). Torsional force) is improved.

In this case, the outer circumference of the inspection portion supporting rod can be provided with elastic members having an elastic force in the axial direction. As a result, the lower electric wire inspection part is pressed against the lower electric wire by pressing the lower electric wire inspection part against the lower electric wire from the direction orthogonal to the direction in which the lower electric wire extends by applying the compressive force and tensile force of the elastic member. Can be prevented from shifting. Therefore, the lower electric wire inspection part can move the lower electric wire without rattling, and the followability can be further improved.

  According to the present invention, since the underline electric wire inspection part is arranged at an appropriate position in the lower side electric wire, the lower electric wire can be inspected with high accuracy.

  If the first shaft portion, the second shaft portion, and the inspection portion support rod are triangular, the strength of the swing shaft in the vertical, horizontal, and circumferential directions can be improved and deformation of the swing shaft can be prevented. it can. Thereby, the inspection precision of a lower side electric wire can be improved, and an apparatus can be made long life. In addition, since the swing shaft is compact, the apparatus can be miniaturized and the processing cost can be reduced.

It is a simplified perspective view of the electric wire running state of the electric wire inspection device of the present invention. It is a perspective view of a lower inspection unit (retracted state). It is a perspective view of a lower side inspection unit (inspection state). It is the elements on larger scale of FIG. 2a and FIG. 2b. It is a perspective view which shows the state which cut | disconnected the lower side inspection unit. It is a principal part expansion perspective view of a lower side inspection unit. It is the principal part simplification top view of the lower side inspection unit which shows the electric wire running state of the electric wire inspection apparatus of this invention, (a) is the figure which the lower side electric wire located in the center of the inspection part support rod, (b) It is the figure which the lower electric wire was located in the edge part of an inspection part support rod. It is a simplified perspective view of the electric wire running state of the conventional electric wire inspection device. (A) And (b) is a simplified top view for demonstrating operation | movement of a lower side inspection unit. (A) And (b) is sectional drawing which shows the position of the electric wire at the time of an electric wire inspection apparatus drive | working.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In FIG. 1, the state which has arrange | positioned the electric wire inspection apparatus 1 concerning one Embodiment of this invention on the power transmission line A (4 conductors A) which arrange | positioned four electric wires in parallel is shown. The electric wire inspection apparatus 1 includes a sliding portion 10 that slides on the electric wire A1 while inspecting the upper two electric wires A1, an underline inspection unit 20 that inspects the lower two electric wires A2, and a gravity center adjusting portion 30. And mainly. In the following description, the traveling direction of the wire inspection device, that is, the direction in which the wire A extends is referred to as the front-rear direction, the vertical direction is referred to as the up-down direction, and the direction orthogonal to these directions is referred to as the width direction. Moreover, in FIG. 1, the electric wire inspection apparatus 1 shall advance in the direction approaching the spacer S (right direction in a figure).

  The sliding portion 10 connects two pulley rotating shafts 11 extending in the width direction, two upper rotating bodies (upper pulleys) 12 attached to each pulley rotating shaft 11 and two pulley rotating shafts 11. And a connecting arm 14 to be connected. The pulley 12 is rotatably attached to the pulley rotating shaft 11 and is arranged on the pulley rotating shaft 11 so as to be separated in the width direction by the same amount as the width between the two electric wires A1. Each pulley rotating shaft 11 is attached to both ends of the connecting arm 14 via a connecting shaft 13. The connecting shaft 13 incorporates a motor (not shown), and the pulley rotating shaft 11 can be rotated around the connecting shaft 13 by rotationally driving the motor.

  The sliding portion 10 is provided with an upper electric wire inspection portion 15 for inspecting the state of the upper electric wire A1. In the illustrated example, a support 16 extending forward from both widthwise sides of each pulley 12 of the rear pulley rotation shaft 11 is attached, and the upper wire inspection portion 15 is attached to the pulley rotation shaft 11 via the support 16. The upper electric wire inspection unit 15 is for inspecting the state of the electric wire with a camera, for example, and the photographing data is recorded in a recording unit provided in the battery box 34. The support 16 is rotatably attached to the outer peripheral surface of the pulley rotation shaft 11, and the upper wire inspection unit 15 can be moved up and down by rotating the pulley rotation shaft 11. The illustrated example shows a state in which the electric wire A1 can be inspected by the upper electric wire inspection unit 15. If the upper electric wire inspection unit 15 is moved upward from this state, the upper electric wire inspection unit 15 and an obstacle such as a spacer Can be avoided.

  As shown in FIGS. 2A, 2B, and 2C, a connecting member 20a is provided at the upper end portion of the base shaft 21, and the lower inspection unit 20 is connected via the connecting member 20a. It is attached to the arm 14. As shown in FIG. 1, the underline inspection unit 20 includes a base shaft 21 extending in a direction orthogonal to the electric wire (vertical direction in the illustrated example), and a vertical rotation axis M1 such as FIG. A drive rotating wheel 22 and a driven rotating wheel 23 that are arranged side by side, and a rotating arm that extends horizontally from the driven rotating wheel 23 and is rotatable around the base shaft 21 together with the driven rotating wheel 23. 24 and two follow-up mechanisms 50 provided on the rotary arm 24. The follower mechanism 50 is provided with a lower electric wire inspection unit 26 that inspects the state of the lower electric wire A2.

  The drive rotary wheel 22 is rotationally driven by a motor (not shown) built in the base shaft 21, and the driven rotary wheel 23 is attached to the base shaft 21 so as to be freely rotatable. As shown in FIGS. 2A to 2C, the driving rotating wheel 22 is provided with a cam 27, and the rotating arm 24 is provided with a roller follower 28 that engages with the cam 27. As shown in FIG. 2A, the cam 27 has a recess 27a into which the roller follower 28 is fitted, and a shoulder surface 27b provided on the left side of the recess 27a (on the reverse rotation direction side of the drive rotating wheel 22). Provided. As shown in FIG. 2A, the roller follower 28 is provided on the outer peripheral surface of the base end portion (end portion on the base shaft 21 side) of the rotating arm 24 so as to protrude in the outer diameter direction of the rotating arm 24 and be rotatable. Yes. As shown in FIG. 2C, the roller follower 28 is rotatably attached around the rotary arm 24 via a follower support portion 28b. The follower support portion 28 b is an annular member provided on the outer periphery of the rotary arm 24, and can be rotated around the base shaft 21 together with the rotary arm 24 and can be rotated around the rotary arm 24. The follower support portion 28b is connected to a cylindrical member 25a that is rotatably provided on the outer periphery of the rotary arm 24 as shown in FIGS. As shown in FIG. 3, the cylindrical member 25a is provided with an elastic member 60 made of a coil spring as an urging means, and the elastic force of the elastic member 60 causes the cam follower support portion 28b to move in the reverse direction around the rotary arm 24 (see FIG. A constant force is always applied in the counterclockwise direction 2 (a) and (b).

  As shown in FIG. 2C, the base shaft 21 is provided with a stopper 21a for restricting the rotation of the driven rotating wheel 23 around the base shaft 21 at a predetermined position. In the present embodiment, a first pin 23 a that protrudes downward from the driven rotating wheel 23 and a first stopper 21 a that protrudes from the outer peripheral surface of the base shaft 21 are provided. When the first pin 23a and the first stopper 21a come into contact with each other and engage around the base shaft 21, the driven rotating wheel 23 and members attached thereto (the rotating arm 24, the roller follower 28, and the follower support portion 28b). The rotation around the base shaft 21 is restricted. The follower support portion 28b is provided with a second stopper 28c for restricting the rotation of the follower support portion 28b around the rotating arm 24 at a predetermined position.

  As shown in FIG. 4, the follow-up means 50 includes a vertical movement means 51 that allows the lower wire inspection portion 26 to move up and down, and a reciprocation means 52 that allows the lower wire inspection portion 26 to move in the horizontal direction. Consists of.

  The vertical movement means 51 includes a block body 53 that is rotatably fitted to the rotary arm 24, and a swing shaft 25 provided on the block body 53. The two block bodies 53 constituting each follower means 50 are connected via a cylindrical member 25 a provided on the outer periphery of the rotary arm 24. The swing shaft 25 is composed of two shaft members (a first shaft portion 54 and a second shaft portion 55) configured by an aluminum pipe, and includes a first shaft portion 54 and a second shaft portion 55. The one end is connected to the block body 53, and the other ends of the first shaft portion 54 and the second shaft portion 55 are separated from each other as the distance from the block body 53 increases. The portion 54 and the second shaft portion 55 are arranged so as to have a square shape.

  The swing shaft 25 freely rotates around the outer periphery of the rotary arm 24 with the block body 53 as a base. That is, the block body 53 is provided on the base end portion (end portion on the rotating arm 24 side) side of the swing shaft 25, and the swing shaft 25 is supported by the block body 53 from below, so that the weight of the swing shaft 25 is reduced. The rotation by is regulated. That is, by rotating the block body 53 around the rotary arm 24, the swing shaft 25 can rotate around the rotary arm 24 as shown by an arrow A in FIG. In the state shown in FIG. 2A, the block body 53 connected to the follower support portion 28b is stationary by the engagement of the cam 27 and the roller follower 28, and the tip of the swing shaft 25 is at the upper end position (this embodiment). In the horizontal position).

  As shown in FIGS. 4 and 5, the reciprocating means 52 includes an inspection unit support rod 56 that is orthogonal to the direction in which the lower electric wire A2 extends in the lower electric wire inspection state and extends in the horizontal direction, and the inspection unit support rod. An elastic member (in this embodiment, a coil spring) 57 wound around the outer periphery of 56, and a slide member 58 fitted on the inspection unit support rod 56 and the coil spring 57 are provided. One end portion of the inspection unit support rod 56 is connected to the swing side tip portion of the first shaft portion 54, and the other end portion is connected to the swing side tip portion of the second shaft portion 55. A slide member 58 is externally fitted to the inspection unit support rod 56 and the coil spring 57, and the lower wire inspection unit 26 is fixed to the slide member 58. As a result, the lower wire inspection section 26 is provided on the tip side of the swing shaft 25, and the slide member 58 and the lower wire inspection section 26 support the inspection section as shown by an arrow B in FIG. It can reciprocate integrally along the axial direction of the rod 56.

  The lower electric wire inspection unit 26 includes a support frame 59 attached to the slide member 58, a pair of lower pulleys 61a and 61b attached to the support frame 59, and a pair of cameras 62a and 62b. That is, the lower pulleys 61a and 61b are rotatably attached to the support frame 59 along the direction in which the electric wire A2 extends in the lower electric wire inspection state. Thus, when inspecting the lower electric wire A2, the lower pulleys 61a and 61b are disposed before and after the lower electric wire A2 and engaged above the lower electric wire A2. When inspecting the lower electric wire A2, the cameras 62a and 62b are attached to the support frame 59 so as to be disposed with the lower electric wire A2 interposed therebetween. When the state of the lower electric wire A2 is photographed by the cameras 62a and 62b, the photographing data is recorded in a recording unit provided in the battery box 34.

  The center-of-gravity adjustment unit 30 is provided at the lower end of the base shaft 21 (see FIG. 1), and includes a first arm 31, a second arm 32, a connecting shaft 33, and a battery box 34. One end of the first arm 31 is attached to the lower end of the base shaft 21, and the other end of the first arm 31 is attached to the end of the second arm 32 via the connecting shaft 33. The battery box 34 is attached to the second arm 32. A motor (not shown) that rotates the first arm 31 around the base shaft 21 is provided inside the base shaft 21, and the second arm 32 is connected to the first arm 31 inside the connection shaft 33. A motor that rotates around the shaft 33 is provided. The battery box 34 includes a battery that supplies power to each motor and the inspection unit, and a recording unit that records the image of the electric wire photographed by the inspection unit and the curvature data of the outer peripheral surface.

  Next, a method for inspecting the lower electric wire A2 by the lower electric wire inspection unit 26 will be described. Initially, the lower electric wire inspection part 26 is in a retracted state from the lower electric wire A2, and the lower pulleys 61a and 61b are not engaged with the lower electric wire A2 (FIG. 7A). State). Further, the tip of the swing shaft 25 is disposed at an upper position (approximately horizontal position in the present embodiment) (see FIG. 2A). At this time, the roller follower 28 of the rotating arm 24 is fitted in the recess 27 a of the cam 27 of the drive rotating wheel 22. When the drive rotating wheel 22 is rotated from this state, the rotation of the follower support portion 28b around the rotation arm 24 is regulated by the elastic force of the spring (biasing means) 60, so that the follower support portion 28b does not rotate. In other words, the driven rotating wheel 23, the rotating arm 24, the swinging shaft 25, and the lower wire inspection section 26 are integrally rotated around the base shaft 21 while keeping the tip of the swinging shaft 25 at the upper position.

  When the driven rotating wheel 23 rotates until the lower wire inspection portion 26 comes above the lower electric wire A2 (state shown in FIG. 7B), as shown in FIG. The pin 23a contacts the first stopper 21a of the base shaft 21, and the rotation of the driven rotary wheel 23 and the rotary arm 24 around the base shaft 21 is restricted. When the driving rotating wheel 22 (cam 27) is further rotated in this state, the cam 27, the first pin 23a, and the first stopper 21a cooperate to resist the elastic force of the spring 60 and follower support portion 28b. And the block body 53 rotates, and thereby the swing shaft 25 rotates in the direction in which the tip is lowered due to its own weight. When the rotation of the roller follower 28 proceeds, as shown in FIG. 2B, the roller follower 28 is detached from the recess 27a of the cam 27, and the roller follower 28 is pressed from above by the shoulder surface 27b. Thus, the follower support 28b rotates around the rotary arm 24. Accordingly, the action of the vertical movement means 51 of the follow-up mechanism 50, that is, the rotation of the block body 53 lowers the tip of the swing shaft 25 and lowers the lower wire inspection portion 26. And if the lower pulley 61 of the lower electric wire inspection part 26 is arranged above the lower electric wire A2, the swing shaft 25 stops descending. In this way, the vertical movement means 51 can cause the lower electric wire inspection section 26 to follow the vertical direction of the lower electric wire A2.

  At the same time, as shown in FIG. 5B, the reciprocating means 52 of the follow-up mechanism 50, that is, the slide body 58 moves in the axial direction on the coil spring 57 wound around the inspection portion support rod 56. Then, the horizontal position is displaced. Then, the slide body 58 reciprocates until the lower pulleys 61a and 61b are aligned with the horizontal position of the lower electric wire A2, thereby displacing the horizontal position of the lower electric wire inspection unit 26. At this time, as shown in FIG. 5A, when the slide body 58 is positioned at the center of the inspection portion support rod 56, the coil spring 57 is in a free state. On the other hand, as shown in FIG. 5B, when the slide body 58 is displaced from the center of the inspection unit support rod 56, a tensile force in a direction returning to the center of the inspection unit support rod 56 acts on the slide body 58. In this manner, the compression force and the tensile force of the coil spring 57 are applied in a direction (horizontal direction in the present embodiment) orthogonal to the direction in which the lower wire A2 extends to lower the lower wire inspection unit 26 from the horizontal direction. By pressing against the side electric wire A2, the lower side electric wire inspection unit 26 can be prevented from being shifted in the horizontal direction with respect to the lower side electric wire A2. Therefore, the lower electric wire inspection unit 26 can move the lower electric wire A2 without rattling, and the followability can be further improved.

  Thus, since the follow-up mechanism 50 that allows the vertical movement and the horizontal reciprocation of the lower electric wire inspection unit 26 is provided, the lower electric wire inspection unit 26 can move flexibly in all directions. . Thereby, even if the relative positional relationship of upper side electric wire A1 and lower side electric wire A2 changes with places, the lower side electric wire inspection part 26 can track the position of lower side electric wire A2. Thereby, since the underline electric wire inspection part 26 is arrange | positioned in an appropriate position in the lower side electric wire A2, it can inspect the lower side electric wire A2 with high precision.

  Moreover, since the first shaft portion 54, the second shaft portion 55, and the inspection portion support rod 56 have a triangular shape, the first shaft portion 54 and the second shaft portion 55 have improved yield strength in the vertical direction, The inspection section support rod 56 improves the proof strength against the horizontal direction and rotational force (when the lower pulleys 61a and 61b travel, twisting force due to friction in the wire twisting direction).

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the case where the present invention is applied to an electric wire inspection apparatus that inspects four conductors is shown. However, the number of electric wires is not particularly limited, The invention can be applied.

12 Upper pulley 26 Lower wire inspection part 52 Oscillating shaft 50 Tracking mechanism 51 Vertical movement means 52 Reciprocation means A Transmission line 54 First shaft part 55 Second shaft part 56 Inspection part support rod 57 Elastic member A Transmission line A1 Upper side Electric wire A2 Lower electric wire

Claims (2)

A drum-shaped rotating body that engages with the upper wires of the wires arranged above and below;
A self-propelled electric wire inspection device for inspecting the state of the electric wire while having the lower electric wire inspection unit inspecting the state of the lower electric wire and the rotating body sliding with respect to the upper electric wire,
The lower wire inspection section includes vertical movement means that allows vertical movement of the lower wire inspection section, and reciprocation means that allows horizontal reciprocation of the lower wire inspection section. Provide a follow-up mechanism to follow the position ,
The reciprocating means includes an inspection part support rod that is orthogonal to the direction in which the electric wire extends in the lower electric wire inspection state and extends in the horizontal direction,
The vertical movement means includes a first shaft portion that connects a base portion and one end portion of the inspection portion support rod, and a second shaft portion that connects the base portion and the other end portion of the inspection portion support rod. A rocking shaft having a tip rocking around the base,
The lower wire inspection portion is provided on the inspection portion support rod on the tip side of the swing shaft, and the lower wire inspection portion reciprocates along the axial direction of the inspection portion support rod. Self-propelled electric wire inspection device. The self-propelled electric wire inspection device according to claim 1, wherein an elastic member having an elastic force in the axial direction is provided on an outer periphery of the inspection portion support rod.

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