JP5355159B2 - Self-propelled wire inspection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling electric wire inspection device which can accurately inspect the state of an electric wire while avoiding an obstacle. <P>SOLUTION: A first arm 24 can be made rotatable with a base shaft 21 as a center. When inspecting the electric wire A2, the state of the electric wire A2 can accurately be grasped by making an inspection part 26 formed at the first arm 24 approximate the electric wire A2. Furthermore, since the inspection part 26 can be made to retreat to a position apart form the electric wire A2 by rotating the base shaft 21 when there is the obstacle S, the device can be made to travel without causing trouble on the electric wire. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

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

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

JP 2006-254567 A (FIG. 26)

  In the electric wire inspection apparatus shown in FIG. 26 of Patent Document 1, a sensor for inspecting the electric wire is fixed to the support column. This sensor must be placed at a position that can avoid obstacles such as spacers to maintain the spacing between the wires of a multiconductor, for example, so it must be separated from the wires to some extent, and the accuracy of inspection is reduced. There is a fear.

  The subject of this invention is providing the self-propelled electric wire inspection apparatus which can check the state of an electric wire accurately, avoiding an obstruction.

In order to solve the above problems, the present invention is a self-propelled electric wire inspection device that inspects the state of an electric wire while sliding on the electric wire, and a base shaft provided in a direction orthogonal to the electric wire, and a horizontal direction from the base shaft. A first arm extending and rotatable about a base axis; a second arm extending from the first arm in a direction perpendicular to the first arm and rotatable about the first arm; and attached to a tip of the second arm. A self-propelled electric wire inspection device provided with an inspection unit for inspecting the state of the electric wire is provided.

  Thus, in the electric wire inspection apparatus of the present invention, the inspection portion can be brought closer to the electric wire from the horizontal direction by rotating the first arm extending in the horizontal direction around the base axis, and thereby the state of the electric wire can be changed. Accurately grasp. Further, when there is an obstacle, the device can be run on the electric wire without any trouble by rotating the first arm around the base shaft and retracting the inspection unit to a position away from the electric wire. The “direction orthogonal to the electric wire” and the “horizontal direction” here do not mean an orthogonal direction or a horizontal direction in a strict sense, but within a range in which the above effect is achieved, Including direction.

Further, in the above wire inspection device, a second arm extending from the first arm in a direction orthogonal to the first arm and rotatable about the first arm is provided, and an inspection unit is attached to the tip of the second arm, By rotating the second arm, the inspection unit can be brought close to and away from the electric wire not only in the horizontal direction but also in the vertical direction (vertical direction).

  In such an electric wire inspection apparatus, if a motor for rotating the first arm around the base axis and a motor for rotating the second arm around the first arm are provided separately, the weight of the entire apparatus increases and the mechanism of the apparatus Is not preferable because it becomes complicated. Therefore, the above-described electric wire inspection apparatus is connected to the cam that can rotate around the base shaft, the cam follower support portion that is rotatably provided around the first arm, the cam follower that is attached to the cam follower support portion, and the cam follower support portion. An arm receiver that rotates the second arm around the first arm, and the cam and the cam follower are engaged with each other in the outer peripheral direction of the base shaft so that the first arm can rotate about the base shaft, If the cam follower support portion and the arm receiver are rotated about the first arm by engaging the cam follower in the outer peripheral direction of the first arm, and the second arm can be rotated about the first arm, the first arm Since the rotation of the second arm and the rotation of the second arm can be performed by a single motor that rotates the cam, the apparatus can be reduced in weight and simplified. Such a mechanism includes, for example, a stopper that restricts the rotation of the cam follower support portion around the base axis, and an urging means that restricts the rotation of the cam follower support portion around the first arm, and around the first arm of the cam follower support portion. The first arm is rotated around the base axis by rotating the cam engaged with the cam follower while the rotation of the cam follower is regulated by the biasing means, and the rotation around the base axis of the cam follower support portion is regulated by the stopper By rotating the cam engaged with the cam follower around the base axis, the second arm can be rotated around the first arm via the arm receiver.

  As described above, according to the present invention, it is possible to obtain a self-propelled electric wire inspection apparatus that can inspect electric wires with high accuracy while avoiding obstacles.

It is a perspective view of an electric wire inspection apparatus. It is a perspective view of an inspection unit (retracted state). It is the elements on larger scale of FIG. 2a. It is a front view of an inspection unit. It is a perspective view of an inspection unit (inspection state). It is the elements on larger scale of FIG. 3a. It is a front view of an inspection unit. (A) And (b) is a top view for demonstrating operation | movement of an inspection unit. It is a front view which shows the state which has distribute | arranged the 2nd inspection part on the electric wire. It is (a) top view and (b) side view showing an electric wire inspection device which advances while avoiding a spacer. It is (a) top view and (b) side view showing an electric wire inspection device which advances while avoiding a spacer.

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

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

  The sliding portion 10 includes two pulley rotation shafts 11 extending in the width direction, two pulleys 12 attached to each pulley rotation shaft 11, and a connecting arm 14 that connects the two pulley rotation shafts 11. Have. The pulley 12 is rotatably attached to the pulley rotation shaft 11 and is arranged on the pulley rotation shaft 11 so as to be separated in the width direction by the same amount as the width between the two electric wires A2. Each pulley rotating shaft 11 is attached to both ends of the connecting arm 14 via a connecting shaft 13. The connecting shaft 13 incorporates a motor (not shown), and the pulley rotating shaft 11 can be rotated around the connecting shaft 13 by rotationally driving the motor.

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

  As shown in FIG. 2A, the inspection unit 20 includes a base shaft 21 extending in a direction orthogonal to the electric wires (vertical direction in the illustrated example), and the base shaft 21 as a center (that is, the vertical rotation shaft of FIG. 2A). The drive rotating wheel 22 and the driven rotating wheel 23 arranged around the top and bottom, and extending horizontally from the driven rotating wheel 23 and rotatable around the base shaft 21 together with the driven rotating wheel 23. One arm 24 and a second arm that extends from the first arm 24 in a direction orthogonal to the first arm 24 and is rotatable about the first arm 24 (that is, about the horizontal rotation axis M2 in FIG. 2A). 25 and a second inspection unit 26 (see FIG. 1) provided at the tip of the second arm 25 and inspecting the state of the electric wire. The drive rotary wheel 22 is rotationally driven by a motor (not shown) built in the base shaft 21, and the driven rotary wheel 23 is attached to the base shaft 21 so as to be freely rotatable. The second inspection unit 26 is for inspecting the state of the electric wire with a camera, for example, and the photographing data is recorded in a recording unit provided in the battery box 34. A connecting member 20 a is provided at the upper end of the base shaft 21, and the inspection unit 20 is attached to the connecting arm 14 through the connecting member 20 a. In the following, for convenience of explanation, of the rotation directions around the vertical rotation axis M1, the direction indicated by the arrow in FIG. 2A (counterclockwise direction in top view) is the forward direction, and the opposite direction is the reverse direction. To do. Further, of the rotation directions around the horizontal rotation axis M2, the direction indicated by the arrow in FIG. 2A (the direction in which the tip of the second arm 25 is lowered) is the forward direction, and the opposite direction is the reverse direction.

  The drive rotating wheel 22 is provided with a cam 27, and the first arm 24 is provided with a cam follower 28 that engages with the cam 27. As shown in FIG. 2C, the cam 27 is provided with a concave portion 27a into which the cam follower 28 is fitted, and a shoulder surface 27b provided on the left side of the concave portion 27a (the reverse rotation direction side of the drive rotating wheel 22). It is done. As shown in FIG. 2, the cam follower 28 is provided on the outer peripheral surface of the base end portion (end portion on the base shaft 21 side) of the first arm 24 so as to protrude in the outer diameter direction of the first arm 24, and the tip end (outer diameter). A roller 28a is rotatably provided at the end. The cam follower 28 is rotatably attached around the first arm 24 via a cam follower support portion 28b. The cam follower support portion 28 b is an annular member provided on the outer periphery of the first arm 24, can be rotated around the base shaft 21 together with the first arm 24, and can be rotated around the first arm 24. The cam follower support portion 28b is provided with an elastic member (not shown) such as a spring as urging means, and the elastic force of the elastic member causes the cam follower support portion 28b to move in the reverse direction around the first arm 24 (FIG. 2). A constant force is always applied in the counterclockwise direction (c).

  The second arm 25 is provided on the outer periphery of the first arm 24 so as to be freely rotatable. An arm receiver 25a is provided below the base end of the second arm 25 (the first arm 24 side end) (see FIG. 2A), and the second arm 25 is supported from below by the arm receiver 25a. Thus, the rotation of the second arm 25 due to its own weight is restricted. That is, the second arm 25 can be rotated around the first arm 24 by rotating the arm receiver 25 a around the first arm 24. The arm receiver 25 a is connected to a cam follower support portion 28 b provided on the first arm 24, and these rotate together around the first arm 24. In the illustrated example, two arm receivers 25a, and an arm receiver 25a on the base end side of the first arm 24 and a cam follower support portion 28b are respectively provided in a cylindrical member 25b rotatably provided on the outer periphery of the first arm 24. It is connected with. In the state shown in FIG. 2, the engagement of the cam 27 and the cam follower 28 causes the arm receiver 25a connected to the cam follower support portion 28b to be stationary, and the tip of the second arm 25 is at the upper end position (in this embodiment, the horizontal position, (See FIG. 2A).

  The base shaft 21 is provided with a stopper 21a for restricting rotation of the driven rotating wheel 23 around the base shaft 21 at a predetermined position. In the present embodiment, as shown in FIGS. 2 and 3, a first pin 23 a provided to protrude downward from the driven rotating wheel 23 and a first stopper 21 a protruding from the outer peripheral surface of the base shaft 21 are provided. When the first pin 23a and the first stopper 21a come into contact with each other and engage around the base shaft 21, the driven rotating wheel 23 and members attached thereto (the first arm 24, the second arm 25, the second inspection portion) 26, the cam follower 28, and the cam follower support portion 28b) are restricted from rotating in the positive direction around the base shaft 21 (see FIG. 3).

  The base shaft 21 is provided with a second stopper 21b for restricting rotation of the cam follower support portion 28b around the first arm 24 at a predetermined position. In the present embodiment, as shown in FIGS. 2 and 3, the second pin 29 that protrudes from the first arm 24 toward the outer diameter, rotates around the first arm 24 together with the cam follower support portion 28 b, and the outer periphery of the base shaft 21. A second stopper 21b projecting from the surface is provided, and when these come into contact with each other, the cam follower support portion 28b and the members (arm receiver 25b, second arm 25, second inspection portion 26) interlocking with the positive direction (FIG. 3) The rotation in the clockwise direction (c) is restricted.

  Hereinafter, a procedure for moving the second inspection unit 26 from the retracted state (the state shown in FIG. 1) to the inspection state (the state shown in FIG. 5) will be described.

  FIG. 4A shows a state in which the second inspection unit 26 is retracted from the electric wire A (see FIG. 1), and the tip of the second arm 25 is arranged at an upper position (approximately horizontal position in the present embodiment). Yes. The roller 28a of the cam follower 28 of the first arm 24 is fitted in the recess 27a of the cam 27 of the drive rotating wheel 22 (see FIG. 2). When the drive rotating wheel 22 is rotated in the direction of the arrow (counterclockwise) in FIG. 4A from this state, the cam follower 28 engaged with the cam 27 tries to rotate around the base shaft 21 and the first arm 24. Try to rotate around. That is, the driven rotating wheel 23 and the first arm 24 try to rotate around the base shaft 21 via the cam follower 28 and the cam follower support portion 28b, and the cylindrical member 25b and the arm receiver 25a try to rotate around the first arm 24. To do. At this time, since the rotation of the cam follower support portion 28b around the first arm 24 is restricted by the elastic force of the spring (biasing means), the cam follower support portion 28b does not rotate (that is, the tip of the second arm 25 is moved). The driven rotating wheel 23, the first arm 24, the second arm 25, and the second inspection unit 26 are integrally rotated around the base shaft 21 while keeping the upper position. In other words, the biasing force of the spring (biasing means) is set so that the cam follower support portion 28b does not rotate around the first arm 24 due to the engagement of the cam 27 and the cam follower 28 at this time.

  As shown in FIG. 4B, when the driven rotating wheel 23 rotates until the second inspection portion 26 comes above the electric wire A2, as shown in FIG. 3C, the first pin 23a of the driven rotating wheel 23 is rotated. Contacts the first stopper 21a of the base shaft 21, and the rotation of the driven rotating wheel 23 and the first arm 24 around the base shaft 21 is restricted. When the drive rotating wheel 22 (cam 27) is further rotated in this state, the cam 27, the first pin 23a, and the first stopper 21a cooperate to resist the elastic force of the spring and follow the cam follower support portion 28b. The arm receiver 25a rotates in the forward direction, whereby the second arm 25 rotates in the forward direction (direction in which the tip is lowered) by its own weight. When the rotation of the cam follower 28 proceeds, the roller 28a of the cam follower 28 is disengaged from the recess 27a of the cam 27, and the roller 28a is pressed from above by the shoulder surface 27b (see FIG. 3C). Thus, when the cam follower support portion 28b rotates around the first arm 24, the tip end of the second arm 25 is lowered, and the second inspection portion 26 is disposed at a position close enough to accurately inspect the electric wire A2. (See FIG. 5). Thereafter, when the second pin 29 provided on the cam follower support portion 28b contacts the second stopper 21b provided on the base shaft 21 (see FIG. 3C), the rotation of the cam follower 28 in the positive direction is restricted, The arm receiver 25a stops. At this time, since the arm receiver 25a rotates until the state shown in FIG. 3A is reached, the tip of the second arm 25 is lowered to the state shown in the figure if there is no electric wire. By being arranged on A, it stops at an angle as shown in FIG.

  On the other hand, the procedure for moving the second inspection unit 26 from the inspection state to the retracted state may be the opposite of the above. In the state shown in FIG. 3 (inspection state), the second pin 29 and the second stopper 21b are in contact with each other, and the roller 28a of the cam follower 28 is pressed from above by the shoulder surface 27b of the cam 27. The part 28 b is restricted from rotating in any direction around the first arm 24. Further, since the second pin 29 and the second stopper 21b are in contact with each other, the rotation of the driven rotating wheel 23 and the first arm 24 in the reverse direction is also restricted. In this state, when the driving rotating wheel 22 is rotated in the reverse direction around the base shaft 21, the driving rotating wheel 22 and the cam 27 rotate around the base shaft 21 while the driven rotating wheel 23 and the cam follower 28 are stationary. When the drive rotating wheel 22 is further rotated, the roller 28a of the cam follower 28 is fitted into the recess 27a, the cam follower support portion 28b rotates in the reverse direction (the direction in which the tip of the second arm 25 rises), and the second pin 29 Rises to a position where it does not contact the second stopper 21b of the base shaft 21 (see FIG. 2C). Accordingly, since the rotation of the driven rotating wheel 23 around the base shaft 21 is allowed in the reverse direction, the driving rotating wheel 22 and the driven rotating wheel 23 are further rotated by rotating the driving rotating wheel 22 around the base shaft 21 in the reverse direction. Are integrally rotated via the engaging means (cam 27 and cam follower 28), and accordingly, the first arm 24, the second arm 25, and the second inspection section 26 are integrated in the reverse direction around the base shaft 21. Rotate to. As described above, the second inspection unit 26 is moved to a position retracted from the electric wire A.

  As described above, by enabling the first arm 24 to rotate around the base shaft 21, the second inspection unit 26 can be rotated in a horizontal plane, whereby the second inspection unit 26 is inspected close to the electric wire. It can be freely moved between the position and the retracted position separated from the electric wire. In particular, since the second inspection unit 26 is for inspecting the lower electric wire A2 among the four conductors, the spacer S cannot be avoided only by moving upward as in the first inspection unit 15. Therefore, since the second inspection portion 26 can be retreated to the side of the electric wire A by rotating the second inspection portion 26 in the horizontal plane as described above, the electric wire inspection device 1 can travel while avoiding the spacer S.

  Further, as described above, the engagement of the cam 27 and the cam follower 28 causes the two operations of the rotation of the first arm 24 around the base shaft 21 and the rotation of the second arm 25 around the first arm 24 to drive the rotating wheel. 22 (cam 27) can be rotated only. That is, since the above-described two types of operations can be performed only by the motor that rotationally drives the driving rotating wheel 22, the apparatus can be reduced in weight and the structure can be simplified as compared with the case where a motor is provided for each of the above-described operations. be able to.

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

  By rotating the third arm 31 and the fourth arm 32 of the center of gravity adjustment unit 30 to change the position of the battery box, the position of the center of gravity of the wire inspection device 1 can be adjusted, while avoiding obstacles such as spacers. You can move forward. A specific method for avoiding an obstacle will be described with reference to FIGS. In these drawings, the right side is the front in the traveling direction of the electric wire inspection device 1, and the left side is the rear in the traveling direction. Moreover, among the sliding part 10 of the electric wire inspection apparatus 1, a front pulley rotating shaft and a pulley are set to 11a * 12a, and a rear pulley rotating shaft and a pulley are set to 11b * 12b.

  When the wire inspection device 1 comes before the spacer S, the third arm 31 and the fourth arm 32 of the center-of-gravity adjustment unit 30 are rotated to place the battery box 34 on the rear side of the wire inspection device 1 (FIG. 6A )reference). Thereby, the gravity center of the electric wire inspection apparatus 1 is biased backward, the front pulley rotating shaft 11a is lifted, and the pulley 12a is separated from the electric wire A1 (see FIG. 6B). By making the electric wire inspection apparatus 1 run forward in this state, contact between the front pulley 12a and the spacer S can be avoided.

  When the front pulley 12a exceeds the spacer S, the third arm 31 and the fourth arm 32 of the center-of-gravity adjustment unit 30 are rotated to place the battery box 34 on the front side of the wire inspection device 1 (see FIG. 7A). ). As a result, the center of gravity of the electric wire inspection device 1 is biased forward, the rear pulley rotation shaft 11b is lifted, and the pulley 12b is separated from the electric wire A1 (see FIG. 7B). By making the electric wire inspection apparatus 1 run forward in this state, contact between the rear pulley 12b and the spacer S can be avoided.

  As described above, by changing the position of the battery box 34 and adjusting the center of gravity of the wire inspection device 1, the vehicle can travel while avoiding obstacles such as the spacer S. During the series of operations for avoiding this obstacle, the first arm 24 of the inspection unit 20 is disposed at the retracted position, that is, on the side opposite to the electric wire with respect to the base shaft 21, so Contact between the two arms 25 and the second inspection portion 26 and the spacer S can also be avoided (see FIGS. 6A and 7A).

  The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the first inspection unit 15 that inspects the upper electric wire A1 is configured to be movable only in the vertical direction. It is good also as a structure similar to the inspection part 26 (structure similar to the inspection unit 20).

  Moreover, although the case where this invention is applied to the electric wire inspection apparatus which inspects four conductors is shown in said embodiment, the number of electric wires is not specifically limited, This electric wire inspection apparatus inspects a single conductor and two conductors. The invention may be applied.

DESCRIPTION OF SYMBOLS 1 Electric wire inspection apparatus 10 Sliding part 11 Pulley rotating shaft 12 Pulley 13 Connecting shaft 14 Connecting arm 15 1st checking part 20 Inspection unit 21 Base shaft 21a 1st stopper 21b 2nd stopper 22 Drive rotating wheel 23 Driven rotating wheel 23a 1st pin 24 1st arm 25 2nd arm 26 2nd inspection part 27 Cam 28 Cam follower 28a Roller 28b Cam follower support part 29 2nd pin 30 Center of gravity adjustment part 31 4th arm 32 5th arm 33 Connecting shaft 34 Battery box A Transmission line A1 Upper side Electric wire A2 Lower electric wire S Spacer (obstacle)

Claims (3)

A self-propelled wire inspection device that checks the state of the wire while sliding on the wire,
A base shaft provided in a direction orthogonal to the electric wire, a first arm extending horizontally from the base shaft and rotatable about the base shaft, extending from the first arm in a direction orthogonal to the first arm, and centering on the first arm A self-propelled electric wire inspection device provided with a rotatable second arm and an inspection unit attached to the tip of the second arm and inspecting the state of the electric wire. A cam that is rotatable about a base shaft, a cam follower support portion that is rotatably provided around the first arm, a cam follower that is attached to the cam follower support portion, and a cam follower support portion that is connected to the second arm. An arm receiver that rotates around is provided, and the cam and the cam follower are engaged with each other in the outer peripheral direction of the base shaft, whereby the first arm can be rotated around the base shaft, and the cam and the cam follower can be rotated in the outer peripheral direction of the first arm. in the cam follower support and arm supporting by engaging rotate around the first arm, rotatable with claims 1 self-propelled wire inspection apparatus according to the second arm about the first arm. A stopper for restricting the rotation of the cam follower support portion around the base axis and an urging means for restricting the rotation of the cam follower support portion around the first arm are provided, and the rotation of the cam follower support portion around the first arm is restricted by the urging means. In this state, the cam engaged with the cam follower is rotated around the base axis by rotating the cam engaged with the cam follower around the base axis, and the cam engaged with the cam follower is controlled by the stopper. The self-propelled electric wire inspection apparatus according to claim 2, wherein the second arm is rotated around the first arm via the arm receiver by rotating around the base axis.

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