JP2019170140A - Self-traveling electric wire inspection device - Google Patents

Abstract

To provide a technique capable of simplifying an operation for climbing over an iron tower in a self-traveling electric wire inspection device.SOLUTION: A self-traveling electric wire inspection device performing an inspection of an electric wire, while running along an overhead ground wire wired to iron towers, comprises: a running part capable of running on the overhead ground wire; a main body part arranged downstream of the running part; an arc-shaped arm coupled to the main body part so as to be relatively moved, and forming a bypass for moving the main body part so as to bypass each iron tower; and a pair of hook mechanisms provided to both end sides while interposing an intermediate part in a length direction of the arm for hooking the arm to the overhead ground wire. Each of the pair of hook mechanism is structured so as to have an open part into which the overhead ground wire can enter and exit, and to enable the movement of an entrance into/from which the overhead ground of the open part enters and exits to the other direction opposite to one side without directing it to a vertical direction from the direction of a horizontal direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a self-propelled electric wire inspection apparatus.

  In order to inspect electric wires such as power transmission lines laid between steel towers, there are cases where an operator gets on a suspension machine suspended from an overhead ground line and performs an inspection. However, the overhead ground wire is installed at a high place such as the top of the steel tower or in the vicinity thereof for the purpose of lightning protection such as an ultra-high voltage power transmission line, so that the inspection work of the worker is dangerous.

  Therefore, for example, Patent Document 1 describes a “self-propelled electric wire inspection device” that performs an inspection such as inspection by self-propelling on an electric wire. This self-propelled electric wire inspection device includes a traveling roller that rolls on the electric wire, and is configured to be able to travel on the electric wire by avoiding obstacles (such as an electric wire connecting sleeve) on the electric wire. However, it is not possible to move over the tower and move to the next passage.

  On the other hand, Patent Document 2 describes an “overhead wire moving device” that can move over metal towers such as an insulator and a clamp attached to an overhead wire and move over the steel tower to the next passage. . This overhead wire moving device is configured to include a main body, an arm, a hook mechanism, a vertical swing shaft, a traveling wheel support arm, and a clamp mechanism.

JP 2000-264100 A Japanese Patent No. 2859374

  A main object of the present invention is to provide a technique capable of simplifying the operation of a self-propelled electric wire inspection device over a tower.

According to one aspect of the invention,
A self-propelled electric wire inspection device that inspects electric wires while traveling along an overhead ground wire between steel towers,
A traveling unit capable of traveling on the imaginary ground wire;
A main body disposed below the traveling unit;
An arc-shaped arm that is connected to the main body portion so as to be movable relative to the main body portion, and forms a detour for moving the main body portion so as to bypass the steel tower;
A pair of hook mechanisms provided on both ends of the arm in the longitudinal direction to suspend the arm from the overhead ground wire;
With
Each of the pair of hook mechanisms has an opening through which the overhead ground wire can go in and out, and the one of the openings through which the overhead ground wire enters and exits is not directed vertically upward from one side in the horizontal direction. There is provided a self-propelled electric wire inspection device configured to be movable to the other side opposite to the other side.

  ADVANTAGE OF THE INVENTION According to this invention, the operation | movement which a self-propelled electric wire inspection apparatus gets over a steel tower can be simplified.

It is a perspective view which shows the structure of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention. (A) is a side view when traveling along a horizontal imaginary ground wire, (b) is a side view when traveling along an imaginary ground wire inclined vertically upward with respect to the traveling direction of the traveling unit, ( c) is a side view when traveling along an imaginary ground line inclined vertically downward with respect to the traveling direction of the traveling unit. (A) And (b) is a perspective view when a hook mechanism is disassembled, respectively. (A)-(e) is a perspective view which shows operation | movement from a hook mechanism holding | gripping an overhead ground wire to passing through this overhead ground wire. (A)-(c) is a top view which shows the overcoming operation | movement (S1-1)-(S1-3) of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention, respectively. (A)-(c) is a top view which shows the overcoming operation | movement (S1-4)-(S1-6) of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention, respectively. (A)-(c) is a top view which shows the overcoming operation | movement (S2-1)-(S2-3) of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention, respectively. (A)-(c) is a top view which shows the overcoming operation | movement (S2-4)-(S2-6) of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention, respectively. (A)-(b) is a top view which shows the overcoming operation | movement (S2-7)-(S2-8) of the self-propelled electric wire inspection apparatus which concerns on 1st Embodiment of this invention, respectively. (A)-(c) is a top view which shows the overcoming operation | movement (S3-1)-(S3-3) of the self-propelled electric wire inspection apparatus which concerns on 2nd Embodiment of this invention, respectively. (A)-(c) is a top view which shows the overcoming operation | movement (S3-4)-(S3-6) of the self-propelled electric wire inspection apparatus which concerns on 2nd Embodiment of this invention, respectively. (A)-(b) is a top view which shows the overcoming operation | movement (S3-7)-(S3-8) of the self-propelled electric wire inspection apparatus which concerns on 2nd Embodiment of this invention, respectively. It is a schematic front view which shows the modification of a hook mechanism.

<Knowledge obtained by the inventors>
The inventors of the present invention have found a new problem described below for a self-propelled electric wire inspection device.

  In the self-propelled electric wire inspection device configured to get over the tower, in order to get over the tower, for example, a state where a pair of hook mechanisms provided at both ends sandwiching the intermediate part in the length direction of the arm grips the overhead ground wire The main body moves along the arm.

  Here, as the above-mentioned hook mechanism, for example, a configuration in which an overhead ground wire is gripped in a reverse hand shape is conceivable. In such a case, in order to hold the aerial ground wire by the pair of hook mechanisms, for example, it is necessary to perform the following series of operations.

  For example, first, the main body part and the arm are tilted forward with respect to the traveling part with both ends of the arm facing forward. When the arm is tilted forward, one end of the arm is sent out, and a pair of hook mechanisms are passed under the overhead ground wire. When the pair of hook mechanisms are passed under the overhead ground wire, the main body portion and the arm are tilted backward with respect to the traveling portion, so that the hooks of the pair of hook mechanisms are displaced above the overhead ground wire. When the hooks of the pair of hook mechanisms are displaced above the overhead ground wire, the direction of the main body is changed with respect to the traveling unit, and the hooks of the pair of hook mechanisms are moved directly above the overhead ground wire. When the hooks of the pair of hook mechanisms come directly above the overhead ground wire, the main body and the arm are returned to the horizontal posture, and the hooks of the pair of hook mechanisms are hooked on the overhead ground wire. Thereby, an aerial ground wire can be grasped by a pair of hook mechanisms.

  Further, in the operation of releasing the holding of the overhead ground wire by the pair of hook mechanisms and returning to the traveling operation, the operation is performed in the reverse order to the operation of holding the overhead ground wire by the pair of hook mechanisms described above.

  As described above, when the hook mechanism is configured to grip the overhead ground wire in a reverse hand shape, the main body part and the arm are inclined forward or backward with respect to the traveling part, or the main body part and The operation | movement which raises / lowers an arm vertically was needed. For this reason, the operation of the self-propelled electric wire inspection device over the tower has been complicated.

  Since the operation of the self-propelled wire inspection device overcoming the tower has become complicated, when hooks of a pair of hook mechanisms are hooked on an aerial ground wire, it is necessary to accurately adjust the position of the hooks to an appropriate position The number of monitoring items may increase. Moreover, since the operation | movement over which a self-propelled electric wire inspection apparatus gets over a steel tower was complicated, there existed a possibility that the time concerning the said series of operation | movement might become long. As a result, there is a possibility that the electric wire inspection by the self-propelled electric wire inspection device becomes inefficient.

  In the present invention, the following configuration is adopted based on the above-described novel problem found by the present inventors.

A self-propelled electric wire inspection device that inspects electric wires while traveling along an overhead ground wire between steel towers,
A traveling unit capable of traveling on the imaginary ground wire;
A main body disposed below the traveling unit;
An arc-shaped arm that is connected to the main body portion so as to be movable relative to the main body portion, and forms a detour for moving the main body portion so as to bypass the steel tower;
A pair of hook mechanisms provided on both ends of the arm in the longitudinal direction to suspend the arm from the overhead ground wire;
With
Each of the pair of hook mechanisms has an opening through which the overhead ground wire can go in and out, and the one of the openings through which the overhead ground wire enters and exits is not directed vertically upward from one side in the horizontal direction. Self-propelled electric wire inspection device that can be moved to the other side opposite to the other side.
If this structure is employ | adopted, it can be made to pass through this aerial ground wire, gripping an aerial ground wire by a hook mechanism. As a result, it is possible to simplify the operation of the self-propelled electric wire inspection apparatus over the tower.

<First Embodiment of the Present Invention>
(1) Structure of self-propelled electric wire inspection apparatus The self-propelled electric wire inspection apparatus 100 of this embodiment is demonstrated using FIG. FIG. 1 is a perspective view showing the configuration of the self-propelled electric wire inspection apparatus according to the first embodiment of the present invention.

  FIG. 1 shows a case where the self-propelled electric wire inspection device 100 travels along an aerial ground wire 140 supported by a steel tower 120 (not shown in FIG. 1, not shown in FIG. 5 and thereafter) at a horizontal angle of 180 °. Indicates posture. The “horizontal angle” of the overhead ground wire 140 is an angle formed between the overhead ground wire 140 extending in one direction from the tower 120 and the overhead ground wire 140 extending in the other direction when the tower 120 is viewed from above. In other words, the angle formed by the pair of overhead ground wires 140 sandwiching the steel tower 120 can be referred to as “a sandwiched angle” or “a depression angle” of the overhead ground wire 140. In the following description, the term “horizontal angle” or the like means the smaller one of the two angles formed by the pair of aerial ground wires 140 sandwiching the tower 120.

  The illustrated self-propelled electric wire inspection apparatus 100 inspects electric wires (power transmission lines, power lines, etc.) while traveling along an overhead ground wire 140 wired between the towers 120. Self-propelled electric wire inspection device 100 has a function of getting over pylon 120, traveling unit 1 capable of traveling on aerial ground wire 140, main body unit 2 provided so as to hang from traveling unit 1, The arm 3 connected to the part 2 so as to be movable relative to each other, the bumper 40 provided on the inner side in the radial direction of the arm 3 and the intermediate part in the longitudinal direction of the arm 3 A pair of hook mechanisms 4 provided.

  A rail (safety rail) (not shown) is attached to the steel tower 120 as an accessory member of the steel tower 120. A safety device (not shown) is attached to the rail. The safety device is a device for connecting a safety belt worn by the worker when the worker climbs up and down the tower 120.

  The overhead ground wire 140 is wired between the steel towers 120 in a catenary manner or the like so as to pass through the plurality of steel towers 120 in order. In that case, the distance between the two towers 120 adjacent in the overhead line direction is called “span”, and the self-propelled electric wire inspection apparatus 100 travels from one tower 120 toward the other tower 120 through this span. Here, when the self-propelled electric wire inspection apparatus 100 gets over the tower 120, when there are two spans between the tower 120, the following is performed from the aerial ground wire 140 spanned between the two spans. This means that the self-propelled electric wire inspection device 100 is transferred to the overhead ground wire 140 extending between the spans. The diameter of the overhead ground wire 140 is, for example, not less than 10 mm and not more than 15 mm. In this embodiment, the overhead ground wire 140 is a single-line type as shown in the figure, and is attached to the top of the tower 120 in a tension system or a suspension system. However, the present invention can also be applied to a case where an electric wire is inspected while traveling along an overhead ground wire wired in a two-row type on a steel tower.

(Definition of direction)
Below, in order to clarify the relative positional relationship of each part of the self-propelled electric wire inspection apparatus 100, the direction of operation, directionality, etc., a direction is defined as follows. First, when the self-propelled wire inspection device 100 travels while checking the electric wire on the overhead ground wire 140 wired between the two adjacent towers 120, the posture of the self-propelled wire inspection device 100 is ideally set. Is maintained in a horizontal position without tilt. In that case, the height direction of the self-propelled electric wire inspection device 100 maintained in a horizontal posture is the vertical direction, the downstream side of the traveling direction (traveling direction) of the self-propelled electric wire inspection device 100 is the front (front side), and the upstream side. Is the rear (back side). When the self-propelled wire inspection device 100 is installed on the overhead ground wire 140, the direction parallel to the direction in which gravity works (vertical direction) is defined as the vertical direction, and the direction orthogonal thereto is defined as the horizontal direction. Further, the front-rear direction and the left-right direction of the self-propelled electric wire inspection device 100 are defined based on the orientation of the self-propelled electric wire inspection device 100 when traveling along the overhead ground wire 140 while maintaining the horizontal posture. For this reason, in FIG. 1, when the self-propelled electric wire inspection apparatus 100 travels in the direction of the arrow M, the direction indicated by the arrow M is the front, the opposite direction is the rear, and the left is facing the direction of the arrow M. Is on the left and the right is on the right.

  In the following, the “length direction” of the arm 3 refers to a direction along an arc formed by the arm 3, and can be rephrased as the “circumferential direction” of the arm 3. Further, the “radial direction” (radial direction) of the arm 3 refers to a direction from the center of an arc formed by the arm 3 toward the outer peripheral side.

(Running part 1)
The traveling unit 1 includes a traveling motor (not shown) serving as a driving source, a pair of wheels (toothed vehicles) 8 that rotate according to the driving of the traveling motor, and a frame 9 that supports the pair of wheels 8. . Each of the pair of wheels 8 has a V-shaped groove that engages with the overhead ground wire 140. The pair of wheels 8 has a chain (not shown) spanned along the outer periphery of the pair of wheels 8 and is configured to rotate in synchronization with each other by driving of a traveling motor (not shown).

(Main part 2)
The main body 2 is disposed below the traveling unit 1. The main body 2 is supported by the support mechanism 15 so as to hang down from the traveling unit 1. The support mechanism 15 includes an inclination control mechanism unit 16 and a shaft 17.

  The tilt control mechanism section 16 includes an arcuate guide rail 18 and a swing section 19 attached to the guide rail 18, and the swing section 19 swings along the guide rail 18. 2 and the inclination of the arm 3 can be controlled. The “tilt” described here refers to the tilt in the front-rear direction of the main body 2 and the arm 3 about the horizontal axis passing through the center of the arc of the guide rail 18.

  The guide rail 18 is arranged in a substantially U shape. Both ends (upper end portions) of the guide rail 18 are connected to the traveling unit 1. A rack (not shown) is formed on the outer surface of the guide rail 18. The swinging part 19 is movably attached to the guide rail 18. The swing portion 19 is provided with a pinion (not shown) that meshes with the rack of the guide rail 18 and a motor (not shown) that rotates the pinion. When the pinion is rotated by the motor, the swing part 19 swings (moves) along the guide rail 18 in accordance with the rotation direction and the rotation amount of the pinion. When the swinging part 19 swings, the inclination of the shaft 17 with respect to the traveling part 1 changes, and the inclinations of the main body part 2 and the arm 3 change accordingly. Therefore, the tilt control mechanism 16 can control (adjust) the tilt of the main body 2 and the arm 3.

  Here, a specific example of the operation by the tilt control mechanism unit 16 will be described with reference to FIGS. 2 (a) to 2 (c). 2A is a side view when traveling along a horizontal imaginary ground line, and FIG. 2B is a diagram when traveling along an imaginary ground line inclined vertically upward with respect to the traveling direction of the traveling unit. A side view and FIG.2 (c) are side views at the time of drive | working along the imaginary ground line which inclined in the perpendicular lower side with respect to the advancing direction of a driving | running | working part.

  As shown in FIG. 2A, when traveling along a horizontal overhead ground wire 140, the body portion 2 and the arm 3 are moved by the inclination control mechanism portion 16 (the arrangement of the pair of wheels 8 thereof). Direction). Thereby, the shaft 17 can be maintained vertically and the main body 2 and the arm 3 can be maintained in a horizontal posture. The horizontal posture of the main body 2 and the arm 3 here means a state in which the inclination of the main body 2 and the arm 3 with respect to the horizontal direction is substantially zero (no inclination). When traveling along the horizontal overhead ground wire 140, the hook 32 of the hook mechanism 4 is disposed at the same height as the overhead ground wire 140.

  As shown in FIG. 2 (b), when traveling along an imaginary ground line 140 that is inclined vertically upward with respect to the traveling direction of the traveling unit 1, the main body unit 2 and the arm 3 are moved by the tilt control mechanism unit 16. Is inclined forward relative to the traveling unit 1 by the inclination angle of the imaginary ground wire 140. The relative forward tilt of the main body 2 with respect to the traveling unit 1 here means that in the front-rear direction of the main body 2, the front side (arm support unit 21 side) of the main body 2 is vertically below the traveling unit 1 rather than the rear side. It means to tilt so that it becomes a position away in the direction. Due to the relative forward tilt of the main body 2 with respect to the traveling unit 1, the shaft 17 can be maintained vertically, and the main body 2 and the arm 3 can be maintained in a horizontal posture. When traveling along the overhead ground wire 140 inclined vertically upward with respect to the traveling direction of the traveling unit 1, the hook 32 of the hook mechanism 4 is disposed at a position lower than the overhead ground wire 140. It becomes.

  As shown in FIG. 2 (c), when traveling along an imaginary ground line 140 that is inclined vertically downward with respect to the traveling direction of the traveling unit 1, the tilt control mechanism unit 16 causes the main body unit 2 and the arm to move. 3 is inclined backward relative to the traveling unit 1 by the inclination angle of the aerial ground wire 140. Here, the relative backward tilt of the main body 2 with respect to the traveling portion 1 means that the front side (arm support portion 21 side) of the main body 2 is directed toward the traveling portion 1 rather than the rear side in the front-rear direction of the main body 2. Inclining to be close to the vertical direction. By the relative backward inclination of the main body 2 with respect to the traveling unit 1, the shaft 17 can be maintained vertically, and the main body 2 and the arm 3 can be maintained in a horizontal posture. Note that when traveling along the overhead ground wire 140 inclined vertically downward with respect to the traveling direction of the traveling unit 1, the hook 32 of the hook mechanism 4 is disposed at a position higher than the overhead ground wire 140. It will be.

  Thus, by controlling the inclination of the main body 2 and the arm 3 by the inclination control mechanism 16, the main body 2 and the arm 3 can be moved even when the imaginary ground wire 140 is inclined vertically upward and downward. It becomes possible to maintain a horizontal posture.

  The shaft 17 is arranged vertically with respect to the main body 2 and is connected to the swinging part 19 through the shaft connecting part 20. The position of the shaft 17 is set immediately below the center position between the two wheels 8 so that the own weight of the self-propelled electric wire inspection device 100 is equally applied to the two wheels 8 of the traveling unit 1. A ball screw groove and a ball spline groove are formed on the outer peripheral surface of the shaft 17. The shaft 17 is disposed so as to penetrate the main body 2 vertically.

  In the present embodiment, the main body unit 2 includes, for example, a device mounting unit 5, a mounting unit support unit 6, a lifting / lowering drive unit (not shown), an arm support unit 21, and a proximity sensor. .

  The equipment mounting unit 5 is equipped with equipment related to the inspection of electric wires, for example. The equipment related to the electric wire inspection includes, for example, a control unit, an electric wire inspection unit, and a battery.

  The control unit comprehensively controls the operation of each unit of the self-propelled electric wire inspection apparatus 100 based on a predetermined control program. The control unit has, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a storage device, and an I / O port. The RAM, the storage device, and the I / O port are configured to exchange data with the CPU. In addition, a transmission / reception unit that transmits and receives to / from the outside is connected to the control unit. The I / O port is connected to each part other than the main body part 2, an electric wire inspection part, and the like. The storage device is configured to store various data and programs related to the control of each unit described above, inspection results by the electric wire inspection unit, and the like. The RAM is configured to temporarily hold various data and programs read from the storage device by the CPU. The CPU is configured to control each unit described above by executing a predetermined program stored in the storage device.

  The electric wire inspection unit inspects electric wires such as a power transmission line overhead from the overhead ground wire 140 to the tower 120 and acquires inspection data. The inspection items performed by the electric wire inspection unit include, for example, the appearance of the electric wire, the separation distance between the electric wire and the tree, and the heat generation of the electric wire connecting pipe. In addition to this, it is also possible to check the appearance of the steel tower 120 by photographing it with a camera or the like. The inspection result may be recorded as electronic data in the above-described recording device, or may be processed by fetching data into an external device via a transmission / reception unit.

  The battery is configured to supply power to each part related to the operation of the self-propelled electric wire inspection apparatus 100.

  In the present embodiment, a pair of device mounting portions 5 are provided with the mounting portion support portion 6 interposed therebetween, for example. Thereby, the left-right balance of the main-body part 2 with respect to the advancing direction of the traveling part 1 can be improved.

  The mounting unit support unit 6 can move the device mounting unit 5 along the radial direction of the arm 3 (outside the radial direction of the arm 3) so as to adjust the distance of the device mounting unit 5 from the arm 3, for example. It is configured to support. The mounting portion support portion 6 is configured to move the device mounting portion 5 along a straight line by, for example, a rack and pinion mechanism. Thereby, the gravity center position of the self-propelled electric wire inspection apparatus 100 can be adjusted.

  The elevating and rotating drive unit (not shown) is provided in the mounting unit support unit 6 of the main body unit 2. The up-and-down rotation drive unit is configured to change the separation distance between the traveling unit 1 and the main body unit 2 in the central axis direction of the shaft 17 and to relatively raise and lower the traveling unit 1 based on the position of the main body unit 2, for example. Has been. Moreover, the raising / lowering rotation drive part is comprised so that the direction of the main-body part 2 with respect to the driving | running | working part 1 may be changed by rotating around the central axis of the shaft 17, for example.

  The arm support part 21 is provided, for example, at the front part of the mounting part support part 6 of the main body part 2. The front portion of the main body 2 refers to a portion that is positioned forward when the self-propelled electric wire inspection device 100 travels on the overhead ground wire 140. The arm support portion 21 supports the arm 3 so as to be movable, and is positioned forward of the tilt control mechanism portion 16 and the shaft 17.

  The arm support portion 21 includes an arm support mechanism (not shown) that supports the arm 3 so as to be relatively movable, and a motor (not shown) that serves as a drive source for moving the arm 3 relative to the main body portion 2. And pinions (not shown) corresponding to the respective motors. The pinion meshes with a rack 28 formed on the outer surface of the arm 3 to constitute a rack and pinion mechanism. By rotating the pinion by driving the motor, the relative position of the main body 2 and the arm 3 can be changed according to the rotation direction and the rotation amount of the pinion.

  In the present embodiment, the arm support mechanism of the arm support portion 21 is configured to grip the entire outer periphery of the arm 3 when viewed in a cross section orthogonal to the length direction of the arm 3, for example. Here, “the outer periphery of the arm 3” refers to the periphery constituting the outer shape of the arm 3 in a cross section orthogonal to the length direction of the arm 3. Since the arm support mechanism grips the entire outer periphery of the arm 3, the connection between the arm 3 and the main body 2 can be strengthened.

  The proximity sensor is provided, for example, in the lower front portion of the mounting portion support portion 6 of the main body portion 2 and is configured to detect a separation distance from the self-propelled electric wire inspection apparatus 100 to the tower 120. The proximity sensor is configured by an optical method using laser light, for example.

(Arm 3)
The arm 3 forms a detour for moving the main body 2 so as to detour (avoid) the steel tower 120 that supports the overhead ground wire 140. The arm 3 is formed in a circular arc shape (semicircular shape) with a certain curvature by using a resin such as FRP (Fiber-Reinforced Plastics), for example. The radius of curvature of the arm 3 is set to a size necessary for moving the main body 2 while avoiding contact with the steel tower 120 or the rail, for example.

  The arm 3 is connected to the front portion of the main body 2 by an arm support portion 21. A rack 28 is formed on the outer surface of the arm 3. The rack 28 is continuously formed from one end to the other end of the arm 3 in the length direction. When the motor is driven in the arm support portion 21, one end of the arm 3 moves in a direction away from the arm support portion 21, and the other end of the arm 3 moves in a direction approaching the arm support portion 21.

(Hook mechanism 4)
Here, the hook mechanism 4 of this embodiment is demonstrated using FIG.1, FIG.3 (a) and FIG.3 (b). FIG. 3A and FIG. 3B are perspective views when the hook mechanism is disassembled. In FIGS. 3A and 3B, the bracket 31 is simplified to a shape erected along the vertical direction.

  As shown in FIG. 1, the pair of hook mechanisms 4 according to the present embodiment are provided on both ends of the arm 3 in the longitudinal direction so that the arm 3 is suspended from the overhead ground wire 140.

  In the present embodiment, each of the pair of hook mechanisms 4 has, for example, an opening 32a through which the overhead ground wire 140 can enter and exit, and one of the openings 32a through which the overhead ground wire 140 enters and exits in the horizontal direction. It is possible to move from one side to the other side of the other side without facing vertically upward. Thus, the hook mechanism 4 can pass through the overhead ground wire 140 while gripping the overhead ground wire 140.

  Specifically, as shown in FIGS. 3A and 3B, in the present embodiment, each of the pair of hook mechanisms 4 includes, for example, a hook 32 and a bracket 31. .

  The hook 32 is, for example, a part that directly holds the aerial ground wire 140 and is configured in a substantially disk shape. The hook 32 includes, for example, an opening 32a, a hook locking claw 32b, a circumferential groove 32c, and a connecting portion 32d.

  The opening 32a is opened, for example, recessed from the outer periphery of the hook 32 toward the center in the radial direction. The opening 32 a passes through the hook 32 in the thickness direction. The doorway through which the overhead ground wire 140 enters and exits the opening 32a refers to, for example, the opening on the outer peripheral side of the hook 32. The width of the entrance / exit of the opening 32a in the circumferential direction of the hook 32 is, for example, a width that allows the overhead ground wire 140 to enter and exit. With such a configuration, the aerial ground wire 140 can be inserted into the opening 32a along the thickness direction (axial direction) of the hook 32.

  The opening 32 a is provided in a substantially U shape when viewed from the thickness direction of the hook 32. That is, the width of the opening 32 a in the circumferential direction of the hook 32 is, for example, constant in the radial direction of the hook 32.

  Moreover, the opening part 32a is comprised, for example so that the overhead ground wire 140 can be taken in (entered) to the radial center of the hook 32 in the opening part 32a. That is, the opening 32a extends to the center in the radial direction of the hook 32 to a position where the center axis of the overhead ground wire 140 taken into the opening 32a can coincide with the center axis of the hook 32. ing.

  The hook locking claw 32b is configured as, for example, a protruding claw that engages with a bracket locking claw 36a described later, and is provided over the entire outer periphery of the hook 32. The hook locking claw 32b protrudes toward the outer side in the thickness direction of the hook 32, for example. Further, a pair of hook locking claws 32b are provided on both sides of the hook 32 in the thickness direction, for example.

  The circumferential groove portion 32c is configured to be able to take in a narrow portion 36b of the bracket 31, which will be described later, for example. The circumferential groove portion 32 c is provided, for example, at a substantially central position in the thickness direction of the hook 32 and recessed along the outer periphery of the hook 32 from the outer periphery toward the radial center.

  The connecting portion 32d connects, for example, one and the other of the hooks 32 divided by the circumferential groove portion 32c. For example, the coupling portion 32d has a width substantially equal to the width of the opening portion 32a when viewed from the thickness direction of the hook 32. The connecting portion 32d extends, for example, from the end portion (bottom portion) of the opening portion 32a on the center side in the radial direction of the hook 32 to the outer periphery of the hook 32 along the extending direction of the opening portion 32a. .

  For example, the bracket 31 is connected to a part of the arm 3 and supports the hook 32 so as to be rotatable in the circumferential direction of the hook 32. In the present embodiment, the bracket 31 is connected to a part of the arm 3 via a hook mechanism driving unit 39 described later.

  For example, the bracket 31 rises vertically upward so as to be separated from a part of the arm 3 to the outside in the radial direction of the arm 3. Thereby, the radius of the arc of the arm 3 can be reduced. In addition, the distance between the pair of hooks 32 can be secured to such an extent that a predetermined gripping force can be obtained.

  In addition, the bracket 31 is formed so that, for example, the creeping direction (the direction along the main surface) of the hook 32 is along the tangential direction of the arm 3 (preferably coincides) when viewed from above. I support it. Further, the bracket 31 is arranged such that, for example, when the pair of hook mechanisms 4 are located at both ends of the arm 3, the midpoint of the virtual straight line connecting the two hooks 32 coincides with the center of the arc of the arm 3. The hook 32 is supported. Thereby, the radius of the arc of the arm 3 can be reduced. In addition, since the midpoint of the virtual straight line connecting the two hooks 32 coincides with the center of the arc of the arm 3, at least one of the pair of hook mechanisms 4 is configured to be movable as described later. In this case, the applicable expansion angle range of the pair of hook mechanisms 4 with respect to the horizontal angle of the pair of ground wires 140 can be widened, and the main body 2 can be easily offset during the climbing operation.

  The bracket 31 has a bracket engaging portion 36 that engages with the hook 32 at the tip opposite to the side connected to the arm 3, for example. The bracket engaging portion 36 has, for example, a bracket locking claw 36a, a narrow mouth portion 36b, and a hook driving portion (not shown).

  The bracket locking claw 36a is configured as, for example, a protruding claw that engages with the hook locking claw 32b. The bracket locking claw 36a is provided in an arc shape so as to allow rotation of the hook 32 in the circumferential direction while restricting movement of the hook 32 in the vertical direction, for example. The bracket locking claw 36a protrudes inward from the outside in the thickness direction of the hook 32 that engages with the bracket engaging portion 36, for example. In addition, a pair of bracket locking claws 36a are provided so as to be sandwiched from both outer sides in the thickness direction of the hook 32 that engages with the bracket engaging portion 36, for example.

  The length in the circumferential direction of the bracket locking claw 36 a is longer than, for example, the width of the entrance / exit of the opening 32 a in the circumferential direction of the hook 32. Thereby, even when the opening 32a of the hook 32 overlaps with the bracket locking claw 36a (that is, when the opening 32a faces vertically downward), the hook locking claw 32b and the bracket locking claw 36a are provided. The engagement with can be maintained.

  The pair of bracket locking claws 36a are detachably provided separately from the other part of the bracket engaging part 36. Thus, after the hook 32 is disposed in the bracket engaging portion 36, a pair of bracket locking claws 36a is attached to the other portion of the bracket engaging portion 36, and each of the pair of bracket locking claws 36a is connected to the hook locking claws. 32b can be engaged.

  The narrow opening 36b is provided as a plate-like portion that is provided in the center of the bracket engaging portion 36 and is inserted into the circumferential groove 32c of the hook 32 described above, for example. The narrow opening 36b is, for example, an aerial ground wire of the opening 32a when the opening 32a and the bracket locking claw 36a overlap with the overhead ground wire 140 entering the opening 32a of the hook 32. The area other than 140 is configured to be narrowed. Thereby, when the aerial ground wire 140 is gripped by the hook mechanism 4, the movable range of the aerial ground wire 140 can be narrowed. As a result, the overhead ground wire 140 can be firmly held by the hook mechanism 4.

  Moreover, the narrow opening part 36b is comprised by semicircle shape (half moon shape), for example. For example, when the opening portion 32a of the hook 32 faces one side in the horizontal direction, the chord portion of the semicircle formed by the narrow mouth portion 36b coincides with the lower side of the opening portion 32a or the lower side It is located vertically below. That is, the narrow opening 36b is disposed so as not to block the opening 32a when the opening 32a of the hook 32 faces one side in the horizontal direction. Thereby, when the aerial ground wire 140 is taken in into the opening part 32a, it can suppress that the narrow opening part 36b interferes with the aerial ground wire 140. FIG.

  In addition, the chord portion of the semicircle formed by the narrow-mouthed portion 36b, for example, contacts the lower side of the coupling portion 32d when the hook 32 rotates in the circumferential direction and the opening portion 32a faces one side in the horizontal direction. It comes to touch. As a result, the circumferential rotation of the hook 32 can be restricted so that the opening 32a does not accidentally turn upward. In other words, the hook 32 can only perform a half rotation (180 ° rotation) in the circumferential direction of the hook 32 by the contact between the narrow opening portion 36b and the coupling portion 32d.

  For example, the hook drive unit is provided in the bracket engaging unit 36 and is configured to rotate the hook 32 in the circumferential direction. Specifically, the hook drive unit includes, for example, a motor and rubber wheels. The motor is configured as a drive source that rotates the hook 32 in the circumferential direction. The rubber wheel is configured to rotate by the driving force of the motor while the peripheral side surface thereof is in contact with the peripheral side surface of the hook 32. With such a configuration, the hook 32 can be rotated in the circumferential direction. For example, a rack and pinion mechanism may be configured by providing a pinion on the peripheral side surface of the hook 32 and providing a pinion that is rotated by a motor in the hook driving mechanism.

  For example, the bracket 31 supports the hook 32 so that the hook 32 is arranged in the radial direction of the arm 3 and closer to the center of the arc of the arm 3 than the traveling unit 1. In other words, when the main body 2 and the arm 3 move relative to each other, the radius of the virtual circle that is the locus drawn by the hooks 32 of the pair of hook mechanisms 4 is drawn by, for example, the wheels 8 of the traveling unit 1. It is smaller than the radius of the virtual circle that is the locus. That is, the hook 32 disposed rearward in the traveling direction of the traveling unit 1 can be disposed closer to the steel tower 120 than the front wheel 8. By bringing the hook 32 closer to the steel tower 120, the distance between the hooks 32 required to get over the steel tower 120 can be shortened, and the length and the radius of curvature of the arm 3 can be reduced accordingly. As a result, the arm 3 can be downsized.

  Here, in the present embodiment, at least one of the pair of hook mechanisms 4 is configured to be movable along the arm 3, for example. Thereby, when the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is less than 180 °, the position of the hook mechanism 4 can be changed according to the horizontal angle. Details of the climbing operation when the horizontal angle is less than 180 ° will be described later.

  In the present embodiment, at least one of the pair of hook mechanisms 4 includes, for example, a hook mechanism drive unit 39 that moves the hook mechanism 4 itself along the arm 3. That is, the hook mechanism 4 is configured to be self-propelled. Thereby, the hook mechanism drive unit 39 can arbitrarily move the hook mechanism 4 along the arm 3.

  The hook mechanism drive unit 39 included in at least one of the pair of hook mechanisms 4 shares, for example, the rack 28 of the arm 3 with the pinion of the arm support mechanism, and engages with the rack 28 to rotate. (Not shown). By sharing the rack 28 of the arm 3, multiple racks are not required for the arm 3.

  Here, for example, both of the pair of hook mechanisms 4 each have a hook mechanism drive unit 39 and are configured to be movable along the arm 3. Thereby, each position of a pair of hook mechanism 4 can be changed according to whether the steel tower 120 is arrange | positioned with respect to the advancing direction of the traveling part 1. Further, since both of the pair of hook mechanisms 4 have the hook mechanism driving unit 39, the weight of the pair of hook mechanisms 4 can be made equal. Thereby, the balance of the both ends of the arm 3 can be improved.

  Here, the operation from when the hook mechanism 4 grips the overhead ground wire 140 to passing through the overhead ground wire 140 will be described with reference to FIGS. FIG. 4A to FIG. 4E are perspective views illustrating the operation from when the hook mechanism grips the overhead ground wire to passing through the overhead ground wire.

  When the aerial ground wire 140 is gripped by the hook mechanism 4, for example, first, one end of the arm 3 is sent out, or the hook mechanism 4 is moved along the arm 3, so that the hook 32 of the hook mechanism 4 is moved. Approach the imaginary ground wire 140.

  At this time, as shown in FIG. 4A, by rotating the hook 32 in the circumferential direction, the entrance / exit of the opening 32a of the hook 32 is directed to one side of the horizontal direction where the overhead ground wire 140 is located. . Thereby, seeing from a horizontal direction, the entrance and exit of this opening part 32a and the overhead ground wire 140 are made to correspond.

  Next, as shown in FIG. 4B, the overhead ground wire 140 is taken into (inserted into) the opening 32 a of the hook 32. At this time, the overhead ground wire 140 is taken into the opening 32a to the center in the radial direction of the hook 32, and the central axis of the overhead ground wire 140 and the central axis of the hook 32 are made to coincide.

  Next, as shown in FIG. 4C, in the state where the overhead ground wire 140 is taken into the opening 32a, the entrance / exit of the opening 32a is directed vertically downward rather than vertically upward from one side in the horizontal direction. By directing the entrance / exit of the opening 32a vertically downward, the opening 32a and the bracket locking claw 36a can be overlapped, and the entrance / exit of the opening 32a can be closed. Thereby, the aerial ground wire 140 can be gripped by the hook mechanism 4.

  At this time, since the circumferential length of the bracket locking claw 36a is longer than the width of the entrance / exit of the opening 32a in the circumferential direction of the hook 32, the hook locking claw 32b and the bracket locking claw 36a are engaged. Can be maintained. Thereby, it can suppress that the hook 32 and the bracket 31 remove | deviate.

  In addition, at this time, the narrow opening 36b is configured to narrow the region other than the imaginary ground wire 140 in the opening 32a, thereby preventing the imaginary ground wire 140 from coming off from the opening 32a of the hook 32 to the outside. can do.

  When the holding state of the overhead ground wire 140 by the hook mechanism 4 is released after the overhead ground wire 140 is gripped by the hook mechanism 4, the hook 32 is rotated in the circumferential direction as shown in FIG. Thus, the entrance / exit of the opening 32a of the hook 32 is directed to the other side in the horizontal direction opposite to the side where the imaginary ground wire 140 enters without being directed vertically upward. Thereby, seeing from a horizontal direction, the entrance and exit of this opening part 32a and the overhead ground wire 140 are made to correspond.

  Next, as shown in FIG. 4E, the hook 32 of the hook mechanism 4 is moved away from the overhead ground wire 140 by feeding one end of the arm 3 or moving the hook mechanism 4 along the arm 3. . Thereby, the aerial ground wire 140 is sent out from the opening part 32a to the other outside in the horizontal direction.

  As described above, the overhead ground wire 140 can be passed through the hook mechanism 4 while gripping the overhead ground wire 140.

(Bumper 40)
As shown in FIG. 1, the bumper 40 is provided, for example, on the inner side in the radial direction of the arm 3, and at a position spaced from the arm 3 toward the inner side in the radial direction when the main body 2 moves along the arm 3. It is comprised so that the steel tower 120 may be contact | abutted. Thereby, the contact of the main-body part 2 with respect to the steel tower 120 can be suppressed.

  In the present embodiment, the bumper 40 is connected to, for example, one end and the other end of the arm 3 in the length direction, and extends from one end to the other end of the arm 3 in a state of being separated from the arm 3. It has been. In other words, the region of the bumper 40 between one end and the other end of the arm 3 is arranged at a predetermined interval radially inward from the arm 3 so that the main body 2 can move along the arm 3. Yes. With such a configuration, as described above, the main body 2 can be configured to grip the entire outer periphery of the arm 3 when viewed in a cross section orthogonal to the length direction of the arm 3.

  In the present embodiment, the bumper 40 is divided into, for example, three parts. Specifically, the bumper 40 includes a first arc part 41, a second arc part 42, and a contact part 43.

  For example, the first arc portion 41 is connected to one end of the arm 3 and extends a predetermined distance from one end of the arm 3 toward the other end along the arc formed by the arm 3. For example, the second arc portion 42 is connected to the other end of the arm 3 and extends a predetermined distance from the other end of the arm 3 toward the one end along the arc formed by the arm 3. The distance between each of the first arc portion 41 and the second arc portion 42 and the arm 3 is, for example, constant over the entire length of each of the first arc portion 41 and the second arc portion 42. With such a configuration, when the arm 3 is sent out, an attachment member such as a rail of the steel tower 120 can be easily avoided in the arc formed by each of the first arc portion 41 and the second arc portion 42.

  For example, the contact portion 43 connects the first arc portion 41 and the second arc portion 42, and is provided on the inner side in the radial direction of the arm 3 than the first arc portion 41 and the second arc portion 42. . The contact portion 43 is configured to contact the steel tower 120 when the main body portion 2 moves along the arm 3, for example. When the main body 2 moves along the arm 3, the contact portion 43 contacts the steel tower 120, whereby the angle formed by the main body 2 with respect to the horizontal direction can be reduced. Here, “the angle formed by the main body 2 with respect to the horizontal direction” means that the main body 2 reaches the middle portion in the length direction of the arm 3 in a state where the abutment 43 is in contact with the steel tower 120. Is the maximum angle formed by the main body 2 with respect to the horizontal direction.

  In the present embodiment, the contact portion 43 forms a string with respect to the arc of the arm 3, for example. In other words, the contact portion 43 connects the first arc portion 41 and the second arc portion 42 in a straight line. Thereby, the angle which the main-body part 2 makes with respect to a horizontal direction when the contact part 43 contact | abuts to the steel tower 120 can be made small efficiently.

  Moreover, in this embodiment, the contact part 43 is parallel to the virtual straight line which connects the one end and the other end of the arm 3, for example. Thereby, when the contact part 43 contacts the tower 120, the distance from the contact point of the contact part 43 to the tower 120 to one end of the arm 3, and the arm 3 from the contact point of the contact part 43 to the tower 120. The distance to the other end can be made substantially equal.

  Here, the angle formed by the main body 2 with respect to the horizontal direction when the contact portion 43 contacts the steel tower 120 depends on the position of the contact portion 43 from the center of the arc of the arm 3. For example, as the position of the contact portion 43 becomes farther from the center of the arc of the arm 3, the main body portion 2 moves vertically downward from the position where the hook 32 grips the imaginary ground wire 140 (hereinafter also referred to as “hook point”). It droops greatly. For this reason, the angle formed by the main body 2 with respect to the horizontal direction increases vertically downward. On the other hand, as the position of the contact portion 43 approaches the center of the arc of the arm 3, the main body portion 2 is less likely to hang down vertically from the hook point. For this reason, the angle formed by the main body part 2 with respect to the horizontal direction is reduced vertically downward, or the angle formed by the main body part 2 with respect to the horizontal direction is increased vertically upward.

  In the present embodiment, for example, when the abutting portion 43 abuts on the steel tower 120, the angle formed by the main body portion 2 with respect to the horizontal direction is within 15 ° on the vertical upper side and the vertical lower side, respectively. Yes. When the contact portion 43 is arranged at a position where the angle formed by the main body 2 with respect to the horizontal direction is more than 15 ° vertically downward, the main body 2 is moved (climbed) along the arm 3. There is a possibility that the driving force required for the operation will increase. On the other hand, for the operation of moving the main body 2 along the arm 3 by arranging the contact portion 43 at a position where the angle formed by the main body 2 with respect to the horizontal direction is within 15 ° vertically downward. The required driving force can be reduced. On the other hand, when the contact portion 43 is disposed at a position where the angle formed by the main body portion 2 with respect to the horizontal direction exceeds 15 ° vertically upward, the contact portion 43 approaches excessively the center of the arc of the arm 3. There is a possibility. For this reason, when the arm 3 is sent out, there is a possibility that the contact portion 43 of the bumper 40 may come into contact with an attached member such as a rail of the steel tower 120. On the other hand, the contact part 43 is excessively close to the center of the arc of the arm 3 by arranging the contact part 43 at a position where the angle formed by the main body part 2 with respect to the horizontal direction is within 15 ° vertically upward. Can be suppressed. Thereby, when the arm 3 is sent out, it is possible to suppress the contact of the contact portion 43 with respect to an attachment member such as a rail of the steel tower 120.

  Moreover, in this embodiment, the contact part 43 has the shock absorbing material (code | symbol not shown) which absorbs the impact when contacting the steel tower 120 inside the radial direction of the arm 3, for example. The buffer material is made of rubber, for example. Thereby, the impact at the time of contact | abutting to the steel tower 120 can be relieved.

(2) Operation | movement of self-propelled electric wire inspection apparatus Next, operation | movement of the self-propelled electric wire inspection apparatus 100 which concerns on 1st Embodiment of this invention is demonstrated.
The self-propelled electric wire inspection apparatus 100 according to the first embodiment of the present invention travels along the overhead ground wire 140 (hereinafter referred to as “traveling motion”) and moves over the tower 120 ( In the following, the “override operation” is repeated in order, and the wire is inspected by moving between the diameters. In addition, operation | movement of each part which comprises the self-propelled electric wire inspection apparatus 100 is controlled by the control part in the main-body part 2. FIG.

(2-1) Traveling Operation In traveling operation, the self-propelled electric wire inspection device 100 places the traveling unit 1 on the overhead ground wire 140 and maintains the entire device in a horizontal posture as shown in FIG. The vehicle travels along the imaginary ground wire 140 by rotationally driving the traveling unit 1. Self-propelled electric wire inspection device 100 inspects electric wires while traveling over overhead wire 140. At this time, the main body 2 is located in the middle of the arm 3. The arms 3 are arranged symmetrically about the aerial ground wire 140. Further, both ends of the arm 3 are arranged facing forward, and an intermediate portion of the arm 3 is arranged facing backward.

  At this time, the mounting part support part 6 of the main body part 2 adjusts the distance of the equipment mounting part 5 from the arm 3 so that the center of gravity of the self-propelled electric wire inspection device 100 is positioned directly below the traveling part 1, for example. . Here, “the center of gravity of the self-propelled electric wire inspection device 100 is located directly below the traveling unit 1” means that the center of gravity of the self-propelled electric wire inspection device 100 overlaps with the traveling unit 1 when viewed from vertically above. be able to. Specifically, the mounting portion support portion 6 moves the device mounting portion 5 away from the arm 3 so that the device mounting portion 5 sandwiches the vertical portion of the traveling portion 1 (the contact point between the mounting portion support portion 6 and the shaft 17). The moment due to the weight of 5 and the moment due to the weight of the arm 3 are balanced. Thereby, the gravity center of the self-propelled electric wire inspection device 100 can be positioned directly below the traveling unit 1.

  As a result, the self-propelled electric wire inspection device 100 can be maintained in a horizontal posture. When the posture of the self-propelled electric wire inspection device 100 during traveling is in an ideal horizontal posture, both ends and the intermediate portion of the arm 3 can be arranged at the same height in the vertical direction. In this state, the hook 32 of the hook mechanism 4 is disposed at substantially the same height as the overhead ground wire 140.

  When the self-propelled electric wire inspection device 100 is run along the overhead ground wire 140 that is obliquely installed in a mountainous area or the like, as described above, the inclination control is performed according to the inclination angle and the inclination direction of the overhead ground wire 140. By driving the mechanism unit 16, the shaft 17 is maintained vertically. Thereby, the back-and-forth inclination of the self-propelled electric wire inspection apparatus 100 due to the inclination of the overhead ground wire 140 can be corrected. The same applies to the case where the vehicle travels on an inclined portion of the overhead ground wire 140 according to the catenary curve.

  In the traveling operation, an encoder (not shown) is attached to the rotational drive portion of the traveling unit 1, and the rotational driving amount (for example, the rotational amount of the wheel 8) of the traveling unit 1 is measured using the encoder. The distance between the travel distance and the span of the self-propelled electric wire inspection apparatus 100 can be grasped.

(2-2) Override operation 1: When horizontal angle = 180 ° Next, using FIGS. 5A to 6C, the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is 180 °. In this case (that is, when the pair of overhead ground wires 140 are arranged in a straight line), a series of operations when the self-propelled wire inspection device 100 gets over the tower 120 will be described. Fig.5 (a)-FIG.6 (c) are top views which show the overcoming operation | movement (S1-1)-(S1-6) of the self-propelled electric wire inspection apparatus which concerns on this embodiment, respectively. The step is abbreviated as “S”.

  In addition, in Fig.5 (a)-FIG.6 (c), the self-propelled electric wire inspection apparatus 100 is simplified and shown. 5 (a) to 6 (c), when an arrow is shown in the hook 32, it indicates that the entrance / exit (opening direction) of the opening 32a is oriented in the direction of the arrow. Yes. On the other hand, when an X mark is shown in the hook 32, it indicates that the entrance / exit of the opening 32a faces vertically downward.

(S1-1: Stop of traveling unit 1)
First, as shown in FIG. 5A, when the self-propelled electric wire inspection device 100 approaches the tower 120 while traveling along the overhead ground wire 140, the proximity sensor provided at the lower front portion of the mounting portion support portion 6. (See FIG. 1) detects the approach of the tower 120. When it is detected that the proximity sensor has approached the steel tower 120, the traveling of the traveling unit 1 is stopped. At this time, when the contact portion 43 of the bumper 40 approaches the steel tower 120 to the limit where it does not contact the steel tower 120, the traveling of the traveling unit 1 is stopped.

(S1-2: Sending out arm 3 and gripping with hook 32)
When the traveling of the traveling unit 1 is stopped, the end of the arm 3 is sent forward to form a detour around the steel tower 120 as shown in FIG.

  At this time, either of the two ends of the arm 3 may be sent forward, but preferably it is determined by the position of the support mechanism 15 supporting the main body 2. The support mechanism 15 exists on either the left or right side with respect to the position of the overhead ground wire 140. When the arm 3 is sent out, one end of the arm 3 existing on the same side as the support mechanism 15 may be sent forward. The reason for this is that when the main body 2 is moved along the arm 3 in the subsequent operation, the support mechanism 15 and the overhead ground wire 140 can interfere with each other without lowering the support mechanism 15 by driving the lifting / lowering drive unit. This is because it is possible to avoid this, and the advantage of simplifying the overcoming operation is obtained. For this reason, in the present embodiment, one end of the arm 3 existing on the same side as the support mechanism 15 is sent forward.

  The arm 3 is sent out by driving a motor 25 provided on the arm support portion 21 of the main body 2. By driving the motor 25, the pinion that meshes with the rack 28 of the arm 3 rotates inside the arm support portion 21. For this reason, the relative position of the main body 2 and the arm 3 changes in the circumferential direction of the arc of the arm 3. Then, due to a change in the relative position between the two, one end of the arm 3 moves in a direction away from the main body 2, and the other end of the arm 3 moves in a direction approaching the main body 2. Thereby, one end of the arm 3 can be sent forward.

  At this time, in the present embodiment, for example, the bumper 40 is divided into three parts, and therefore, a cycle including the feeding of the arm 3 and the traveling of the traveling unit 1 over a short distance is repeated a predetermined number of times. Thereby, according to the shape of the bumper 40, one end of the arm 3 can be sent forward stepwise.

  At this time, since the main body 2 and the arm 3 maintain a horizontal posture, each of the hooks 32 of the pair of hook mechanisms 4 maintains a state where it is disposed at substantially the same height as the overhead ground wire 140. is doing. In this embodiment, in this state, one end of the arm 3 is sent out, and the hooks 32 of the pair of hook mechanisms 4 connected to both ends of the arm 3 are brought close to the overhead ground wire 140.

  When the hooks 32 of the pair of hook mechanisms 4 approach the aerial ground wire 140, the series of operations shown in FIGS. 4 (a) to 4 (c) described above are performed, so that each of the pair of hook mechanisms 4 The imaginary ground wire 140 is gripped.

(S1-3: movement of main body 2)
When each of the pair of hook mechanisms 4 grips the aerial ground wire 140, the device mounting portion 5 is brought close to the arm 3 along the radial direction of the arm 3 by the mounting portion support portion 6. That is, the center of gravity of the device mounting portion 5 is brought closer to the center of the arc of the arm 3. Thereby, when the main-body part 2 hangs down from the hook point via the arm 3 as will be described later, the center of gravity of the device mounting part 5 can be brought closer to the overhead ground wire 140 side.

  When the device mounting part 5 is brought close to the arm 3, the traveling part 1 is raised relative to the main body part 2 by the lifting / lowering driving part. Thereby, the traveling unit 1 is lifted to a position higher than the overhead ground wire 140. As a result, it is possible to suppress the traveling unit 1 from interfering with the overhead ground wire 140 when the main body 2 moves along the arm 3 described later. Further, at the time of sending out S1-2 of the arm 3 described above, one end of the arm 3 existing on the same side as the support mechanism 15 in the left-right direction was sent out. For this reason, it is possible to suppress the support mechanism 15 from interfering with the overhead ground wire 140 when the main body 2 moves along the arm 3 described later.

  When the traveling unit 1 is lifted, the main body unit 2 is moved along the arm 3 as shown in FIG. Accordingly, the main body 2 moves together with the traveling unit 1 so as to bypass the steel tower 120.

  When the main body 2 is moved along the arm 3, the center of gravity of the self-propelled electric wire inspection device 100 becomes intermediate in the length direction of the arm 3 as the main body 2 approaches the middle portion in the length direction of the arm 3. It moves to the part side (is biased). When the center of gravity of the self-propelled electric wire inspection apparatus 100 moves to the middle part of the arm 3, the main body part 2 hangs down via the arm 3 from the hook point at which the hook 32 grips the aerial ground wire 140.

  At this time, in this embodiment, since the self-propelled electric wire inspection device 100 has the bumper 40, the bumper 40 can be brought into contact with the steel tower 120 at a position spaced radially inward from the arm 3. it can. Thereby, the contact of the main-body part 2 with respect to the steel tower 120 can be suppressed.

  At this time, in the present embodiment, the contact portion 43 provided on the radially inner side of the arm 3 with respect to the first arc portion 41 and the second arc portion 42 of the bumper 40 is in contact with the steel tower 120. Let Thereby, the angle which the main-body part 2 makes with respect to a horizontal direction can be made small.

  Thereafter, the main body 2 is moved along the arm 3 to one end of the arm 3.

  At this time, the center of gravity of the self-propelled electric wire inspection apparatus 100 moves to the vicinity of one end of the arm 3 as the main body 2 approaches the one end of the arm 3. Thereby, from the state in which the main body portion 2 hangs down from the hook point via the arm 3, the intermediate portion in the length direction of the arm 3 is lifted vertically upward, and the arm 3 returns to the horizontal posture again.

  At this time, before the main body 2 finishes moving (before the main body 2 finishes moving to one end of the arm 3), the traveling unit 1 and the support mechanism 15 are moved with respect to the main body 2 by the lifting / lowering drive unit. Reverse the direction of. Thereby, the interference of the support mechanism 15 and the overhead ground wire 140 can be avoided.

(S1-4: traveling part 1 descending)
When the main body 2 reaches one end of the arm 3, the traveling unit 1 is lowered relative to the main body 2 by the up-and-down rotation driving unit as shown in FIG. The traveling unit 1 is landed on the imaginary ground wire 140 by lowering the traveling unit 1. Thereby, the traveling unit 1 can be placed on the overhead ground wire 140.

  When the traveling unit 1 is placed on the overhead ground wire 140, the device mounting unit 5 is moved away from the arm 3 along the radial direction of the arm 3 by the mounting unit support unit 6. As a result, the center of gravity of the self-propelled electric wire inspection apparatus 100 is positioned at the time of the traveling operation, that is, directly below the traveling unit 1.

(S1-5: Rotation of the main body 2 with respect to the traveling unit 1)
When the traveling unit 1 descending S1-4 is completed, the holding state of the overhead ground wire 140 by each of the pair of hook mechanisms 4 is released by performing the operation shown in FIG.

  When the holding state of the imaginary ground wire 140 by each of the pair of hook mechanisms 4 is released, as shown in FIG. 2 is rotated relatively (the direction of the main body 2 is changed). As a result, the arm 3 is rotated around the traveling unit 1 when viewed from above, and the arm 3 is moved away from the pair of aerial ground wires 140 held by the pair of hook mechanisms 4.

  At this time, by moving the arm 3 away from the overhead ground wire 140, the overhead ground wire 140 is sent out from the opening 32a to the outside in the horizontal direction as in the operation shown in FIG.

  Furthermore, the arm 3 is moved to the opposite side of the tower 120 by sandwiching the main body 2 by rotating the main body 2 relative to the traveling unit 1.

(S1-6: Arm 3 pulled back)
When the arm 3 reaches the opposite side of the tower 120 across the main body 2, the arm 3 is pulled back by driving a motor provided on the arm support 21 of the main body 2 as shown in FIG. Here, “pulling back the arm 3” means moving the arm 3 in a direction in which the end of the arm 3 far from the main body 2 is pulled toward the main body 2.

  At this time, the hook mechanism 4 connected to the end of the arm 3 on the side far from the main body 2 performs the series of operations shown in FIGS. While holding the wire 140, the overhead ground wire 140 is passed.

  Further, by pulling back the arm 3, the arm 3 is moved so that the intermediate part of the arm 3 coincides with the main body part 2. Thereby, both ends of the arm 3 are arranged facing forward.

  When the movement of the arm 3 is completed, the traveling by the traveling unit 1 is returned.

  As described above, a series of climbing operations is completed when the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is 180 °.

(2-3) Override operation 2: When horizontal angle <180 ° Next, using FIGS. 7A to 9B, the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is 180 °. The following describes a series of operations when the self-propelled electric wire inspection device 100 gets over the tower 120 when the number is less than that (that is, when the pair of overhead ground wires 140 are bent via the tower 120). . Fig.7 (a)-FIG.9 (b) are top views which show the overcoming operation | movement (S2-1)-(S2-8) of the self-propelled electric wire inspection apparatus which concerns on this embodiment, respectively.

  Hereinafter, the description of the same operation as the above-described overriding operation 1 will be omitted.

(S2-1: Stop of traveling unit 1)
First, as shown in FIG. 7A, when the proximity sensor detects that the tower 120 has approached, the traveling of the traveling unit 1 is stopped.

(S2-2: Sending out arm 3)
Next, as shown in FIG. 7B, one end of the arm 3 is sent forward.

  At this time, if one of the pair of hook mechanisms 4 approaches the overhead ground wire 140 to which it is climbed, the hook mechanism 4 performs a series of operations shown in FIGS. 4 (a) to 4 (e). Thus, the imaginary ground wire 140 is passed through while holding the imaginary ground wire 140.

  Further, one end of the arm 3 is sent forward, and when the distance from each of the pair of overhead ground wires 140 to the intermediate portion in the length direction of the arm 3 becomes equal, the movement of the arm 3 is stopped.

(S2-3: Movement of hook mechanism 4)
When one end of the arm 3 is fed forward, the hook mechanism 4 is moved along the arm 3 by driving the hook mechanism drive unit 39 in each of the pair of hook mechanisms 4 as shown in FIG. Let

  At this time, in the present embodiment, for example, the hook mechanism is configured such that the expansion angle of the pair of hook mechanisms 4 around the center of the arc formed by the arm 3 is equal to the horizontal angle of the pair of overhead ground wires 140. 4 is moved along the arm 3. Here, the “expansion angle of the pair of hook mechanisms 4” refers to an imaginary straight line connecting the hook 32 of one hook mechanism 4 and the center of the arc formed by the arm 3 when viewed from vertically above. Among the angles formed by the imaginary straight line connecting the hook 32 of the other hook mechanism 4 and the center of the arc formed by the arm 3, this is the angle at which the intermediate portion in the length direction of the arm 3 is located. . By making the opening angle of the pair of hook mechanisms 4 equal to the horizontal angle of the pair of ground wires 140, when the main body 2 is moved along the arm 3, the main body 2 is moved vertically downward from the hook point. It can be made difficult to sag.

  At this time, in this embodiment, for example, the angle formed between each hook 32 of the pair of hook mechanisms 4 and the imaginary ground wire 140 is 60 ° or more and 120 ° or less, preferably 90 ° when viewed from above. Thus, the hook mechanism 4 is moved along the arm 3. The “angle formed between the hook 32 and the imaginary ground wire 140” herein refers to the angle on the intermediate portion side in the length direction of the arm 3 among the angles formed between the creeping direction of the hook 32 and the imaginary ground wire 140. I mean. If the angle formed by the hook 32 and the imaginary ground wire 140 is less than 60 ° or exceeds 120 °, the hook 32 is caught excessively obliquely with respect to the imaginary ground wire 140. For this reason, the aerial ground wire 140 cannot be properly taken into the opening 32a, and the gripping force with which the hook 32 grips the aerial ground wire 140 may be weakened. On the other hand, by making the angle formed between the hook 32 and the imaginary ground wire 140 60 ° or more and 120 ° or less, the hook 32 can be prevented from being caught excessively obliquely with respect to the imaginary ground wire 140. Thereby, the aerial ground wire 140 can be appropriately taken into the opening 32a. As a result, the gripping force with which the hook 32 grips the overhead ground wire 140 can be increased. Further, by setting the angle formed by the hook 32 and the imaginary ground wire 140 to 90 °, the imaginary ground wire 140 is taken into the opening 32 a to the center in the radial direction of the hook 32, and the The axis and the central axis of the hook 32 can be made to coincide. As a result, the gripping force with which the hook 32 grips the aerial ground wire 140 can be stably increased.

  When each of the pair of hook mechanisms 4 approaches a predetermined position, the series of operations shown in FIG. 4A to FIG. To hold.

(S2-4: Movement of main body 2)
When the aerial ground wire 140 is gripped by each of the pair of hook mechanisms 4, the main body 2 is moved from the position of one hook mechanism 4 along the arm 3 to the other hook mechanism 4 as shown in FIG. Move to position.

  In addition, before the main body part 2 finishes moving, the directions of the traveling unit 1 and the support mechanism 15 are reversed with respect to the main body part 2.

(S2-5: traveling part 1 descending)
When the main body unit 2 reaches the position of the other hook mechanism 4, the traveling unit 1 is placed on the overhead ground wire 140 as shown in FIG.

(S2-6: Movement of hook mechanism 4)
When the traveling unit 1 is placed on the overhead ground wire 140, the gripping state of the overhead ground wire 140 by each of the pair of hook mechanisms 4 is released by performing the operation shown in FIG.

  Next, as shown in FIG. 8C, in each of the pair of hook mechanisms 4, the hook mechanism drive unit 39 is driven so that the hook mechanism 4 is directed along the arm 3 toward the end of the arm 3. Move. As a result, the hook mechanism 4 moves away from the overhead ground wire 140.

  At this time, by moving the hook mechanism 4 away from the overhead ground wire 140, the overhead ground wire 140 is sent out from the opening 32a to the outside in the horizontal direction as in the operation shown in FIG.

  When the hook mechanism 4 reaches the end of the arm 3, the movement of the hook mechanism 4 is stopped.

(S2-7: Arm 3 pulled back)
When the hook mechanism 4 is moved to the end of the arm 3, as shown in FIG. 9A, the arm 3 is pulled back so that the intermediate portion in the length direction of the arm 3 coincides with the main body 2. 3 is moved.

  At this time, the hook mechanism 4 located on the side of the overhead ground wire 140 that is to be overridden performs the series of operations shown in FIGS. 4A to 4E to grip the overhead ground wire 140. The overhead ground wire 140 is passed through.

(S2-8: traveling part 1 progress)
When the arm 3 is moved so that the intermediate portion in the length direction of the arm 3 coincides with the main body portion 2, as shown in FIG. 9B, the traveling portion 1 travels along the imaginary ground wire 140 as the destination. Let At this time, the distance for traveling the traveling unit 1 is, for example, not less than the radius of the arm 3.

  When the traveling unit 1 travels a predetermined distance, the arm 3 is sent out so that the state shown in FIG.

  If it will be in the state of Fig.6 (a), it will arrange | position so that the both ends of the arm 3 may face the front by performing S1-5 to S1-6 of the above-mentioned overriding operations 1.

  When the movement of the arm 3 is completed, the traveling by the traveling unit 1 is returned.

  As described above, a series of climbing operations is completed when the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is less than 180 °.

(3) Effects of First Embodiment According to the present embodiment, one or more effects shown below can be obtained.

(A) Each of the pair of hook mechanisms 4 has an opening 32a through which the overhead ground wire 140 can go in and out, and an entrance through which the overhead ground wire 140 goes in and out of the opening 32a is vertically upward from one side in the horizontal direction. It is configured to be able to move to the other side opposite to one side without facing. As a result, the hook mechanism 4 allows the overhead ground wire 140 to pass through while holding the overhead ground wire 140. That is, without moving the main body 2 and the arm 3 forward or backward with respect to the traveling unit 1 or moving the main body 2 and the arm 3 vertically with respect to the traveling unit 1, 3 can be shifted from the holding of the ground wire 140 by the pair of hook mechanisms 4 to the passage of the ground wire 140 while maintaining the horizontal posture 3. As a result, the operation of the self-propelled electric wire inspection device 100 over the tower 120 can be simplified.

  By simplifying the operation of the self-propelled electric wire inspection device 100 over the tower 120, it is possible to reduce monitoring items when the pair of hook mechanisms 4 grip the overhead ground wire 140. Moreover, the time concerning the said series of operation | movement can be shortened by simplifying the operation | movement which the self-propelled electric wire inspection apparatus 100 gets over the steel tower 120. FIG. As a result, it is possible to efficiently inspect the electric wire by the self-propelled electric wire inspection device 100.

(B) Each of the pair of hook mechanisms 4 is connected to a disk-shaped hook 32 having an opening 32 a and holding the aerial ground wire 140 and a part of the arm 3, and the hook 32 is connected to the circumferential direction of the hook 32. And a bracket 31 that is rotatably supported. By rotating the disk-shaped hook 32 in the circumferential direction, it is possible to easily perform the operation of moving the entrance / exit of the opening 32a from one side in the horizontal direction to the other side on the opposite side without directing it vertically upward.

(C) The hook 32 has a hook locking claw 32 b provided over the entire circumference of the outer peripheral edge of the hook 32. On the other hand, the bracket 31 has a bracket locking claw 36a that engages with the hook locking claw 32b and is provided in an arc shape.

  By engaging the hook locking claw 32b and the bracket locking claw 36a in a state where the aerial ground wire 140 is taken into the opening 32a of the hook 32, the vertical movement of the hook 32 is restricted. While holding 140, separation of the hook 32 and the bracket 31 can be suppressed. Thereby, the state in which the arm 3 is suspended from the overhead ground wire 140 via the pair of hook mechanisms 4 can be stably maintained.

  In addition, in the state where the overhead ground wire 140 is taken into the opening 32a of the hook 32, the hook locking claw 32b and the bracket locking claw 36a are engaged with each other to allow the hook 32 to rotate in the circumferential direction. The entrance / exit of the opening 32a can be moved from one side in the horizontal direction to the other side opposite to the one side without being directed vertically upward. As a result, the hook mechanism 4 allows the overhead ground wire 140 to pass through while holding the overhead ground wire 140.

(D) The circumferential length of the bracket locking claw 36 a is longer than the width of the entrance / exit of the opening 32 a in the circumferential direction of the hook 32. Thereby, even when the opening 32a of the hook 32 overlaps with the bracket locking claw 36a (that is, when the opening 32a faces vertically downward), the hook locking claw 32b and the bracket locking claw 36a are provided. The engagement with can be maintained. As a result, when the aerial ground wire 140 is gripped by the hook mechanism 4, separation between the hook 32 and the bracket 31 can be suppressed.

(E) The bracket engaging portion 36 of the bracket 31 has a narrow opening 36b. The narrow opening 36b is a part of the opening 32a other than the overhead ground wire 140 when the opening 32a and the bracket locking claw 36a overlap with the overhead ground wire 140 entering the opening 32a of the hook 32. It is configured to narrow the area. Thereby, when the aerial ground wire 140 is gripped by the hook mechanism 4, the movable range of the aerial ground wire 140 can be narrowed. As a result, the overhead ground wire 140 can be firmly held by the hook mechanism 4.

  Specifically, for example, even if a force that pushes up the self-propelled electric wire inspection device 100 is applied to the self-propelled electric wire inspection device 100 from the vertical lower side, for example, the opening of the hook 32 It is possible to prevent the imaginary ground wire 140 from coming off the outer side from 32a. Thereby, it is possible to suppress unintentional release of the ground wire 140 by the hook mechanism 4.

  Further, for example, even if a force is applied to move the self-propelled electric wire inspection device 100 along the overhead ground wire 140 by blowing a wind in the horizontal direction on the self-propelled electric wire inspection device 100, it is narrow. The mouth 36b can be hooked into the twisted groove of the overhead ground wire 140. Thereby, it can control that self-propelled electric wire inspection device 100 shifts unintentionally in the direction along overhead ground wire 140.

(F) In the present embodiment, since at least one of the pair of hook mechanisms 4 is configured to be movable along the arm 3, the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is increased. When the angle is less than 180 °, the position of the hook mechanism 4 can be changed according to the horizontal angle. Thereby, the center of the arc of the arm 3 can be brought close to the center of the steel tower 120, and the length of the arm 3 hanging down vertically between the pair of hook points can be shortened. As a result, the angle formed by the main body 2 with respect to the horizontal plane can be reduced.

(G) When the horizontal angle of the pair of aerial ground wires 140 sandwiching the steel tower 120 is less than 180 °, it is possible to move at least one of the pair of hook mechanisms 4 along the arm 3 from above vertically. The angle formed between each hook 32 of the pair of hook mechanisms 4 and the overhead ground wire 140 as viewed can be 60 ° or more and 120 ° or less, that is, close to 90 °. By making the angle formed between each hook 32 of the pair of hook mechanisms 4 and the imaginary ground wire 140 close to 90 °, the hook 32 can be prevented from being caught excessively obliquely with respect to the imaginary ground wire 140. . Thereby, the aerial ground wire 140 can be appropriately taken into the opening 32a. As a result, the gripping force with which the hook 32 grips the overhead ground wire 140 can be increased.

  Further, by making the angle formed between each hook 32 of the pair of hook mechanisms 4 and the overhead ground wire 140 close to 90 °, the arm 3 can be made difficult to hang down vertically from the hook point. Thereby, the main-body part 2 can be made hard to incline and ideally, the main-body part 2 can also be maintained in a horizontal posture.

(H) In the present embodiment, at least one of the pair of hook mechanisms 4 has a hook mechanism drive unit 39 that moves the hook mechanism 4 itself along the arm 3. That is, the hook mechanism 4 is configured to be self-propelled. Thereby, the hook mechanism drive unit 39 can arbitrarily move the hook mechanism 4 along the arm 3.

(I) The hook mechanism drive unit 39 included in at least one of the pair of hook mechanisms 4 shares the rack 28 of the arm 3 with the pinion of the arm support mechanism, and has a hook-side pinion that meshes with the rack 28 and rotates. Have. By sharing the rack 28 of the arm 3, multiple racks are not required for the arm 3. Thereby, complication of the structure of the arm 3 resulting from the provision of the hook mechanism driving unit 39 can be avoided.

(J) When the horizontal angle of the pair of overhead ground wires 140 sandwiching the steel tower 120 is less than 180 °, the expansion angle of the pair of hook mechanisms 4 around the center of the arc formed by the arm 3 is At least one of the pair of hook mechanisms 4 is moved along the arm 3 so as to be equal to the horizontal angle of the imaginary ground wire 140. Thereby, when moving the main-body part 2 along the arm 3, the main-body part 2 can be made hard to hang down vertically from a hook point. As a result, it is possible to make the main body 2 difficult to tilt, and ideally, the main body 2 can be maintained in a horizontal posture.

<Second Embodiment of the Present Invention>
Next, a second embodiment of the present invention will be described.

  In this embodiment, the aspect of the hook mechanism 4 is different from that of the first embodiment. Hereinafter, only the elements different from the first embodiment will be described in the same manner as the modification of the first embodiment.

(1) Hook Mechanism In the present embodiment, any one of the pair of hook mechanisms 4 is configured to be movable along the arm 3 as in the first embodiment, for example.

  However, in the present embodiment, any one of the pair of hook mechanisms 4 is not configured to be self-propelled, for example, and does not have the above-described hook mechanism driving unit. In other words, any one of the pair of hook mechanisms 4 can move the arm 3 relative to the main body 2 by moving the arm 3 relative to the main body 2 while the hook mechanism 4 holds the aerial ground wire 140, for example. It is configured to be movable along.

  Here, for example, both of the pair of hook mechanisms 4 are configured to be movable along the arm 3 without having the hook mechanism driving unit. Thereby, each position of a pair of hook mechanism 4 can be changed according to whether the steel tower 120 is arrange | positioned with respect to the advancing direction of the traveling part 1.

(2) Operation of the self-propelled electric wire inspection device Next, the steel tower 120 is sandwiched among the operations of the self-propelled electric wire inspection device 100 according to the present embodiment using FIGS. 10 (a) to 12 (b). A series of operations when the self-propelled wire inspection device 100 gets over the tower 120 when the horizontal angle of the pair of overhead ground wires 140 is less than 180 ° will be described. FIG. 10A to FIG. 12B are plan views showing the overriding operations (S3-1) to (S3-8) of the self-propelled electric wire inspection apparatus according to this embodiment, respectively.

  Hereinafter, the description of the same operation as the overriding operation 1 of the above-described embodiment will be omitted.

(S3-1: gripping with only one hook 32)
First, as shown in FIG. 10A, when the proximity sensor detects that the tower 120 has approached, the traveling of the traveling unit 1 is stopped.

  When the traveling of the traveling unit 1 is stopped, the series of operations shown in FIGS. 4 (a) to 4 (c) described above are performed only in one hook mechanism 4 approaching the overhead ground wire 140 as the destination. Then, the aerial ground wire 140 that is overridden is gripped.

(S3-2: Movement of hook mechanism 4)
When the overhead ground wire 140 is gripped by only one hook mechanism 4, the arm 3 is held with respect to the main body 2 with the hook mechanism 4 gripping the overhead ground wire 140 as shown in FIG. Move relative. Specifically, one end of the arm 3 on which the hook mechanism 4 grips the imaginary ground wire 140 is sent forward so as to move away from the main body 2. As a result, the hook mechanism 4 holding the aerial ground wire 140 can be moved along the arm 3 toward the other end of the arm 3.

  At this time, for example, the aerial ground wire 140 is gripped so that the spread angle of the pair of hook mechanisms 4 around the center of the arc formed by the arm 3 is equal to the horizontal angle of the pair of aerial ground wires 140. The hook mechanism 4 is moved along the arm 3. Further, for example, the overhead ground wire 140 is set so that the angle formed between each hook 32 of the pair of hook mechanisms 4 and the overhead ground wire 140 is 60 ° or more and 120 ° or less, preferably 90 °, as viewed from above. Is moved along the arm.

  In this way, by moving one hook mechanism 4 holding the aerial ground wire 140 to a predetermined position along the arm 3, the traveling unit 1 moves the other hook mechanism 4 not holding the aerial ground wire 140. It is possible to approach the imaginary ground line 140 (the imaginary ground line 140 from which the ride is over).

(S3-3: gripping by the other hook 32)
When the other hook mechanism 4 that does not hold the imaginary ground wire 140 is brought close to the imaginary ground wire 140 on which the traveling unit 1 is riding (the imaginary ground wire 140 that is overridden), as shown in FIG. The hook 32 of the other hook mechanism 4 performs the series of operations shown in FIGS. 4 (a) to 4 (c) described above to grip the aerial ground wire 140 on which the traveling unit 1 is riding. Accordingly, the pair of overhead ground wires 140 can be gripped by both of the pair of hook mechanisms 4.

(S3-4: main body 2 movement)
When the pair of overhead ground wires 140 are gripped by the pair of hook mechanisms 4, as shown in FIG. 11A, from the position of the hook mechanism 4 that is jumped over to the position of the hook mechanism 4 that is jumped over along the arm 3. The main body 2 is moved.

(S3-5: traveling part 1 descending)
When the main body 2 is reached to the position of the destination hook mechanism 4, the traveling unit 1 is placed on the overhead ground wire 140 as shown in FIG.

(S3-6: Movement of hook mechanism 4)
When the traveling unit 1 is put on the overhead ground wire 140, the gripping state of the overhead ground wire 140 is released by performing the operation shown in FIG. On the other hand, the holding state of the aerial ground wire 140 by the hook mechanism 4 at the destination is maintained.

  When the gripping state of the overhead ground wire 140 is released only by the hook mechanism 4 that is to be overridden, as shown in FIG. The arm 3 is moved relatively. Specifically, the other end of the arm 3 on which the gripping state of the hook mechanism 4 is released is sent backward so as to move away from the main body 2. As a result, the hook mechanism 4 holding the aerial ground wire 140 can be relatively moved along the arm 3 toward one end of the arm 3.

  When the hook mechanism 4 holding the aerial ground wire 140 is moved toward one end of the arm 3, the hook mechanism 4 performs the operation shown in FIG. 4D to hold the aerial ground wire 140. Release the state.

(S3-7: Arm 3 pulled back)
When the holding state of the overhead ground wire 140 by the hook mechanism 4 is released, the arm 3 is moved so that the middle part of the arm 3 coincides with the main body part 2 by pulling back the arm 3 as shown in FIG. Let

  At this time, the hook mechanism 4 located on the side of the overhead ground wire 140 that is to be overridden performs the series of operations shown in FIGS. 4A to 4E to grip the overhead ground wire 140. The overhead ground wire 140 is passed through.

(S3-8: traveling part 1 progression)
When the arm 3 is moved so that the intermediate portion in the length direction of the arm 3 coincides with the main body portion 2, as shown in FIG. 12 (b), the vehicle travels along the overhead ground wire 140 at the destination. Let At this time, the distance for traveling the traveling unit 1 is, for example, not less than the radius of the arm 3.

  When the traveling unit 1 travels a predetermined distance, the arm 3 is sent out so that the state shown in FIG.

  If it will be in the state of Fig.6 (a), it will arrange | position so that the both ends of the arm 3 may face the front by performing S1-5 to S1-6 of the above-mentioned overriding operations 1.

  When the movement of the arm 3 is completed, the traveling by the traveling unit 1 is returned.

  As described above, a series of the overriding operations according to the present embodiment is completed.

(3) Effects of Second Embodiment In the present embodiment, one of the pair of hook mechanisms 4 is configured such that the arm 3 moves relative to the main body 2 with the hook mechanism 4 holding the aerial ground wire 140. It is configured to be movable along the arm 3 by moving the arm 3 in a moving manner. As a result, the hook mechanism driving unit can be eliminated from the hook mechanism 4. By eliminating the hook mechanism driving unit, the hook mechanism 4 can be reduced in weight and simplified. As a result, the load on the main body 2 that holds the arm 3 can be reduced.

<Other embodiments, etc.>
The technical scope of the present invention is not limited to the above-described embodiments, but includes forms to which various changes and improvements are added within the scope of deriving specific effects obtained by constituent elements of the invention and combinations thereof.

  In the above-described embodiment, the case where the traveling unit 1 is configured to travel with the pair of wheels 8 has been described. However, the traveling unit 1 may be configured as a crawler type.

  In the above-described embodiment, the case where the shape of the arm 3 is an arc shape along a perfect circle has been described. However, the shape of the arm 3 may not be a perfect circle, for example, an arc shape along an ellipse. It may be.

  In the above-described embodiment, the case where the mounting portion support portion 6 is configured by a rack and pinion mechanism has been described, but the mounting portion support portion 6 may be configured by a mechanism other than the rack and pinion mechanism. Specifically, the mounting portion support portion 6 may be configured by a mechanism using a slide rail, for example.

  In the above-described embodiment, the case where the width of the opening 32a in the circumferential direction of the hook 32 is constant in the radial direction of the hook 32 in each of the pair of hook mechanisms 4 has been described, but the present invention is not limited to this case. For example, the opening 32 a of the hook 32 may gradually become wider from the center side of the hook 32 toward the outer periphery. Thereby, the aerial ground wire 140 can be easily taken into the opening 32a.

  In the above-described embodiment, the case where the hook locking claw 32b protrudes outward in the thickness direction of the hook 32 and the bracket locking claw 36a protrudes from the outside in the thickness direction of the hook 32 to the inside is described. However, the protruding directions of the hook locking claws 32b and the bracket locking claws 36a may be opposite to those in the above-described embodiment. That is, the hook locking claw 32 b may protrude from the outside in the thickness direction of the hook 32 toward the inside, and the bracket locking claw 36 a may protrude outside in the thickness direction of the hook 32.

  In the above-described embodiment, each of the pair of hook mechanisms 4 includes the disk-shaped hook 32 that has the opening 32 a and grips the overhead ground wire 140, and the hook 32 that is connected to a part of the arm 3. Although the case where it provided with the bracket 31 supported rotatably in the circumferential direction was demonstrated, it is not restricted to this case. Each of the pair of hook mechanisms 4 is configured to be able to move the doorway through which the overhead ground wire 140 enters and exits the opening 32a from one side in the horizontal direction to the other side opposite to the other side without facing upward. If so, it may be configured in another manner.

  Here, a modification of the hook mechanism will be described with reference to FIG. FIG. 13 is a schematic front view showing a modification of the hook mechanism.

  The hook mechanism 4 of the modified example includes a hook 32 and a bracket 31, for example. The hook 32 has, for example, a hook upper part 32e, a hook lower part 32f, and a pair of hinge parts 32g. The hook upper part 32e is configured in a semicircular arc shape, for example, and is arranged on the vertical upper side. The hook lower part 32f is configured in a semicircular arc shape, for example, and is disposed on the vertically lower side. For example, the hook lower part 32f is opposed to the hook upper part 32e and forms an opening 32a. The pair of hinge portions 32g are provided at both ends in the circumferential direction of the hook upper portion 32e and the hook lower portion 32f, for example, and releasably connect the hook upper portion 32e and the hook lower portion 32f. The pair of hinge portions 32g form an entrance / exit of the opening 32a when one of them releases the connected state of the hook upper part 32e and the hook lower part 32f, and the other is a connected state of the hook upper part 32e and the hook lower part 32f. Configured to maintain.

  Even in the hook mechanism 4 of such a modification, the entrance / exit of the opening 32a can be moved from one side in the horizontal direction to the other side opposite to the one side without being directed vertically upward.

  In the above-described embodiment, the case where both the pair of hook mechanisms 4 are configured to be movable along the arm 3 has been described. However, the present invention is not limited to this case. For example, only one of the pair of hook mechanisms 4 may be configured to be movable along the arm 3.

<Preferred embodiment of the present invention>
Hereinafter, preferred embodiments of the present invention will be additionally described.

(Appendix 1)
A self-propelled electric wire inspection device that inspects electric wires while traveling along an overhead ground wire between steel towers,
A traveling unit capable of traveling on the imaginary ground wire;
A main body disposed below the traveling unit;
An arc-shaped arm that is connected to the main body portion so as to be movable relative to the main body portion, and forms a detour for moving the main body portion so as to bypass the steel tower;
A pair of hook mechanisms provided on both ends of the arm in the longitudinal direction to suspend the arm from the overhead ground wire;
With
Each of the pair of hook mechanisms has an opening through which the overhead ground wire can go in and out, and the one of the openings through which the overhead ground wire enters and exits is not directed vertically upward from one side in the horizontal direction. Self-propelled electric wire inspection device that can be moved to the other side opposite to the other side.

(Appendix 2)
Each of the pair of hook mechanisms is
Directing the entrance / exit of the opening to one side in the horizontal direction and taking the overhead ground wire into the opening;
An operation of moving the doorway of the opening from the one side in the horizontal direction to the other side opposite to the one in the horizontal direction without directing it vertically upward in a state where the overhead ground wire is taken into the opening,
Sending out the overhead ground wire from the opening to the other outside in the horizontal direction;
The self-propelled electric wire inspection device according to supplementary note 1, configured to be able to pass through the overhead ground wire while gripping the overhead ground wire.

(Appendix 3)
Each of the pair of hook mechanisms is
A disc-shaped hook having the opening and gripping the aerial ground wire;
A bracket connected to a part of the arm and supporting the hook rotatably in a circumferential direction of the hook;
The self-propelled electric wire inspection device according to Supplementary Note 1 or 2, comprising:

(Appendix 4)
The hook has a hook locking claw provided over the entire circumference of the outer peripheral edge of the hook,
The bracket has a bracket locking claw that is provided in an arc shape so as to allow rotation of the hook in the circumferential direction while engaging with the hook locking claw and restricting the vertical movement of the hook. Self-propelled electric wire inspection device as described in 1.

(Appendix 5)
The self-propelled electric wire inspection device according to appendix 4, wherein a length of the bracket locking claw in the circumferential direction is longer than a width of the entrance / exit of the opening in the circumferential direction of the hook.

(Appendix 6)
The bracket is
A narrow mouth portion that narrows a region other than the overhead ground wire in the opening when the overhead ground wire enters the opening of the hook and the bracket locking claw overlaps. The self-propelled electric wire inspection device as set forth in Appendix 4 or 5.

(Appendix 7)
Each of the pair of hook mechanisms is
A semi-arc-shaped hook top,
A semicircular arc-shaped hook lower portion that forms the opening facing the hook upper portion;
A pair of hinge parts provided at both ends in the circumferential direction of the hook upper part and the hook lower part, releasably connecting the hook upper part and the hook lower part,
Have
The pair of hinge portions form the entrance / exit of the opening when one of them releases the connection state of the hook upper portion and the hook lower portion, and the other connects the hook upper portion and the hook lower portion. The self-propelled electric wire inspection device according to appendix 1 or 2 configured to maintain the state.

(Appendix 8)
The self-propelled electric wire inspection apparatus according to any one of appendices 1 to 7, wherein at least one of the pair of hook mechanisms is configured to be movable along the arm.

(Appendix 9)
The self-propelled electric wire inspection device according to appendix 8, wherein both of the pair of hook mechanisms are configured to be movable along the arm.

(Appendix 10)
The self-propelled electric wire inspection apparatus according to appendix 8 or 9, wherein at least one of the pair of hook mechanisms has a hook mechanism driving unit that moves the hook mechanism itself along the arm.

(Appendix 11)
The main body includes an arm support mechanism that supports the arm to be relatively movable,
The arm has a rack along the circumferential direction,
The arm support mechanism has a pinion that meshes with and rotates with the rack of the arm,
The self-propelled electric wire inspection apparatus according to appendix 10, wherein the hook mechanism driving unit shares the rack with the pinion of the arm support mechanism, and has a hook side pinion that meshes with the rack and rotates.

(Appendix 12)
At least one of the pair of hook mechanisms can move along the arm by moving the arm relative to the main body while the hook mechanism is gripping the aerial ground wire. The self-propelled electric wire inspection device according to appendix 8 or 9, which is configured as follows.

(Appendix 13)
At least one of the pair of hook mechanisms is configured such that when the horizontal angle of the pair of aerial ground wires sandwiching the steel tower is less than 180 °, the pair of the centers around the center of the arc formed by the arm. The self-propelled electric wire inspection device according to any one of appendices 8 to 12, which moves along the arm such that an expansion angle of the hook mechanism is equal to the horizontal angle of the pair of overhead ground wires.

(Appendix 14)
At least one of the pair of hook mechanisms is configured so that the center of the arc formed by the arm and the center of the steel tower coincide with each other when the pair of hook mechanisms grips the pair of ground wires. The self-propelled electric wire inspection device according to attachment 13, which moves along the arm.

(Appendix 15)
Each of the pair of hook mechanisms has a hook for gripping the aerial ground wire,
At least one of the pair of hook mechanisms is configured such that each of the hooks of the pair of hook mechanisms is viewed from above when the horizontal angle of the pair of overhead ground wires sandwiching the steel tower is less than 180 °. The self-propelled electric wire inspection device according to any one of appendices 8 to 14, which moves along the arm so that an angle between the ground wire and the overhead ground wire is 60 ° or more and 120 ° or less.

(Appendix 16)
At least one of the pair of hook mechanisms is configured such that each of the hooks of the pair of hook mechanisms is viewed from above when the horizontal angle of the pair of overhead ground wires sandwiching the steel tower is less than 180 °. The self-propelled electric wire inspection apparatus according to supplementary note 15, which moves along the arm such that an angle formed on the center side of the arc of the arm is 90 ° with the overhead ground wire.

(Appendix 17)
It is a control method of a self-propelled electric wire inspection device that inspects electric wires while traveling along an overhead ground wire wired between steel towers,
The self-propelled electric wire inspection device is:
A traveling unit capable of traveling on the imaginary ground wire;
A main body disposed below the traveling unit;
An arc-shaped arm that is connected to the main body portion so as to be movable relative to the main body portion, and forms a detour for moving the main body portion so as to bypass the steel tower;
A pair of hook mechanisms provided on both ends of the arm in the longitudinal direction to suspend the arm from the overhead ground wire;
With
Each of the pair of hook mechanisms has an opening through which the aerial ground wire can enter and exit,
In each of the pair of hook mechanisms, directing the entrance / exit of the opening in one of the horizontal directions, and taking the imaginary ground wire into the opening,
Moving the doorway of the opening to the other side opposite to the one in the horizontal direction without directing it vertically upward from the one in the horizontal direction with the overhead ground wire taken into the opening; and
Sending the aerial ground wire from the opening to the other outside in the horizontal direction;
Control method of self-propelled electric wire inspection apparatus having

(Appendix 18)
In either of the step of taking the imaginary ground wire into the opening or the step of sending the imaginary ground wire from the opening,
The control of the self-propelled electric wire inspection apparatus according to appendix 17, wherein at least one of the pair of hook mechanisms is moved along the arm according to a horizontal angle of the pair of overhead ground wires sandwiching the steel tower. Method.

DESCRIPTION OF SYMBOLS 1 Traveling part 2 Main part 3 Arm 4 Hook mechanism 5 Equipment mounting part 6 Mounting part support part 8 Wheel 9 Frame 15 Support mechanism 16 Tilt control mechanism part 17 Shaft 18 Guide rail 19 Swing part 20 Shaft connection part 21 Arm support part 22 Proximity sensor 25 Motor 28 Rack 31 Bracket 32 Hook 32a Opening portion 32b Hook locking claw 32c Circumferential groove portion 32d Connecting portion 32e Hook upper portion 32f Hook lower portion 32g Hinge portion 36 Bracket engaging portion 36a Bracket locking claw 36b Narrow mouth portion 39 Hook mechanism Drive unit 40 Bumper 41 First arc part 42 Second arc part 43 Abutting part 100 Self-propelled electric wire inspection device 120 Steel tower 140 Overhead ground wire

Claims (12)

A self-propelled electric wire inspection device that inspects electric wires while traveling along an overhead ground wire between steel towers,
A traveling unit capable of traveling on the imaginary ground wire;
A main body disposed below the traveling unit;
An arc-shaped arm that is connected to the main body portion so as to be movable relative to the main body portion, and forms a detour for moving the main body portion so as to bypass the steel tower;
A pair of hook mechanisms provided on both ends of the arm in the longitudinal direction to suspend the arm from the overhead ground wire;
With
Each of the pair of hook mechanisms has an opening through which the overhead ground wire can go in and out, and the one of the openings through which the overhead ground wire enters and exits is not directed vertically upward from one side in the horizontal direction. Self-propelled electric wire inspection device that can be moved to the other side opposite to the other side. Each of the pair of hook mechanisms is
Directing the entrance / exit of the opening to one side in the horizontal direction and taking the overhead ground wire into the opening;
An operation of moving the doorway of the opening from the one side in the horizontal direction to the other side opposite to the one in the horizontal direction without directing it vertically upward in a state where the overhead ground wire is taken into the opening,
Sending out the overhead ground wire from the opening to the other outside in the horizontal direction;
The self-propelled electric wire inspection device according to claim 1, wherein the self-propelled electric wire inspection device is configured to be able to pass through the overhead ground wire while gripping the overhead ground wire. Each of the pair of hook mechanisms is
A disc-shaped hook having the opening and gripping the aerial ground wire;
A bracket connected to a part of the arm and supporting the hook rotatably in a circumferential direction of the hook;
A self-propelled electric wire inspection device according to claim 1 or 2. The hook has a hook locking claw provided over the entire circumference of the outer peripheral edge of the hook,
The bracket includes a bracket locking claw that is provided in an arc shape so as to allow rotation of the hook in the circumferential direction while engaging with the hook locking claw and restricting the vertical movement of the hook. 3. The self-propelled electric wire inspection device according to 3. The self-propelled electric wire inspection apparatus according to claim 4, wherein a length of the bracket locking claw in the circumferential direction is longer than a width of the entrance / exit of the opening in the circumferential direction of the hook. The bracket is
A narrow mouth portion that narrows a region other than the overhead ground wire in the opening when the overhead ground wire enters the opening of the hook and the bracket locking claw overlaps. The self-propelled electric wire inspection device according to claim 4 or 5. The self-propelled electric wire inspection apparatus according to any one of claims 1 to 6, wherein at least one of the pair of hook mechanisms is configured to be movable along the arm. The self-propelled electric wire inspection device according to claim 7, wherein at least one of the pair of hook mechanisms has a hook mechanism driving unit that moves the hook mechanism itself along the arm. The main body includes an arm support mechanism that supports the arm to be relatively movable,
The arm has a rack along the circumferential direction,
The arm support mechanism has a pinion that meshes with and rotates with the rack of the arm,
The self-propelled electric wire inspection device according to claim 8, wherein the hook mechanism driving unit has a hook-side pinion that rotates in mesh with the rack in common with the pinion of the arm support mechanism. At least one of the pair of hook mechanisms can move along the arm by moving the arm relative to the main body while the hook mechanism is gripping the aerial ground wire. The self-propelled electric wire inspection apparatus according to claim 7 configured as described above. At least one of the pair of hook mechanisms is configured such that when the horizontal angle of the pair of aerial ground wires sandwiching the steel tower is less than 180 °, the pair of the centers around the center of the arc formed by the arm. The self-propelled electric wire inspection apparatus according to any one of claims 7 to 10, wherein the hook mechanism moves along the arm so that an expansion angle of the hook mechanism is equal to the horizontal angle of the pair of overhead ground wires. . At least one of the pair of hook mechanisms includes a hook included in each of the pair of hook mechanisms as viewed from above vertically when a horizontal angle of the pair of overhead ground wires sandwiching the steel tower is less than 180 °. The self-propelled electric wire inspection device according to any one of claims 7 to 11, which moves along the arm so that an angle formed between the ground wire and the overhead ground wire is 60 ° or more and 120 ° or less.