JP6090739B2 - Elevated line traveling device and assist device for elevated line traveling device - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an air hoist (elevated wire travel device) used for power transmission line overhead work, power line flaw detection / examination inspection work, maintenance inspection work, etc. .

  Transmission lines deteriorate due to damage and corrosion due to lightning, wind vibration, or natural disasters such as typhoons, and if the damaged or corroded part progresses, it leads to a disconnection accident of the transmission line. For this reason, the transmission line is regularly inspected and maintained using a hoist. Conventional methods for inspecting power transmission lines include a method in which an operator rides on a astronaut and moves the power line manually, and a self-propelled inspection device equipped with a camera, corrosion diagnosis device, etc. on the power transmission line. And the method of inspecting.

  In recent years, the performance of cameras and corrosion diagnostic devices has greatly improved, but the quality of inspection is not as good as that of skilled workers. For this reason, there is a widespread method in which an operator gets on an air hoist and performs an inspection using an inspection device suitable for visual inspection or the type of damage to the transmission line. In addition, in overhead line construction such as spacer installation work for preventing contact between power transmission lines, it is essential that an operator gets on the air hoist and performs the construction manually.

  With reference to FIG. 9, a description will be given of a hoist described in Patent Document 1 (Japanese Patent Laid-Open No. 9-252514) as a first conventional technique of a hoist for an operator to board and inspect a power transmission line. To do. The hoist described in this publication is configured such that a frame 93 is integrated with a cage 92 on which an operator rides, a plurality of rollers 94 are provided on the frame 93, and the rollers 94 are driven to run along the construction track 91. doing. At least one of the rollers 94 is driven by a motor supplied with power from a battery 96. An operator gets on the cage 92 and operates the forward / backward switch to drive the motor 95 to advance or retract the hoist along the construction track 91.

  FIG. 10 (a) shows an electric traveling device described in Patent Document 2 (Japanese Patent Laid-Open No. Hei 5-153708) as a second conventional technology of a space rider for an operator to board and inspect a power transmission line. This will be described with reference to (b). As shown in FIG. 10A, the electric traveling device according to this publication detects the inclination of the traveling device by the inclination detecting unit 103 when the traveling mechanism 101 is driven by the motor 102 and travels on the overhead line. As shown in FIG. 10B, the speed control unit 104 uses the detected inclination information to disconnect the motor 102 from the power source unit 105 when the traveling device travels downhill, and to apply the braking resistance to the terminal of the motor 102. Connecting. Thus, the brake is automatically applied when there is a downward slope.

  FIG. 11A shows an electric traveling apparatus described in Patent Document 3 (Japanese Patent Laid-Open No. 53-130801) as a third conventional technique for a space rider for an operator to board and inspect a power transmission line. , (B) will be described. In the air hoist described in this publication, since an operator enters the air hoist and descends down to the center between the towers, the input pulley 111 rotates and the output rotating shaft is accelerated to rotate. To do. For this reason, the blades provided on the output-side rotation shaft stir the oil, and the rotation of the input-side pulley 111 is kept constant by its viscous resistance. As a result, braking is applied on a downward slope to stabilize the traveling speed. Further, as shown in FIG. 11 (b), the motor 113, which is supplied with power from the power source 112, can be used as a travel power source for the astronomical occupant while traveling on the power transmission line on an ascending slope. Yes, it is configured to eliminate the worker's power.

  Next, as a fourth conventional technique for a hoisting machine on which an operator gets on and performs overhead work, a hoisting machine equipped with a towing machine described in Patent Document 4 (Japanese Patent Laid-Open No. 2001-16729) will be described. Since this hoist can be configured as a self-propelled hoist by connecting the towing unit and the hydraulic pressure generating unit, it can be used flexibly according to the work site.

  Next, the prior art of the electrically assisted bicycle described in Patent Document 5 (Japanese Patent No. 4623864), which is not directly related to the hoist but assists the human power drive system with the electric drive system, will be described with reference to FIG. . In FIG. 12, the human power torque sensor 121 detects the human power torque due to the treading force, the motor torque sensor 122 detects the torque of the motor 125, and outputs a detection signal to the microcomputer 123. Reference numeral 126 denotes a battery unit that supplies power to the microcomputer 123 via the step-down circuit and supplies power to the motor drive circuit 124 and the motor 125. The microcomputer 123 controls the motor drive circuit 124 based on the signal from each sensor, and the motor drive circuit 124 controls the drive current supplied to the motor 125 by pulse width modulation. By such control, it is configured to be able to assist the human power drive system with the output of the power drive system according to the running state by changing the assist ratio.

Japanese Patent Laid-Open No. 9-252514

JP-A-5-153708

JP-A-53-130801

JP 2001-16729 A

Japanese Patent No. 4623864

  In the first conventional technique described in Patent Document 1, a roller 94 is rotated from a motor 95 fixed integrally with a cage 92 through a power transmission mechanism using a gear box to drive an aerator. As shown in FIG. 7 of this publication, in order to attach the hoist to the transmission line, a special hoisting tool must be installed to lift the hoist. In addition, in order for an air hoist including the weight of the operator, the weight of the cage 92, and the weight of the other mechanical system to run on the uphill by the battery 96 and the motor 95, the battery 96 and the motor 95 must be raised. Although it is necessary to make it the thing of an output, this leads to the weight increase of the battery 96 and the motor 95, and there exists a problem that operation | use, such as transportation and installation of a hoist, becomes difficult. Further, since the power is transmitted from the motor 95 to the roller 94 by the gear box, there is a problem that not only the mechanical system becomes complicated but also the weight of the entire hoistor becomes large.

  In the electric traveling device described in Patent Document 2, the motor 102 supplied with electric power from the power supply unit 105 drives the traveling mechanism 101 and self-travels the ascending slope, but the motor is driven as in the first conventional technique. The power supply unit 105 and the motor 102, which are the fate of a completely self-propelled device, are inevitably increased in size and weight, making it difficult to operate as a spacecraft. That is, it is preferable that the air hoist is small and light so that the worker can carry it by himself and install it on the power transmission line. For this reason, it is necessary to make the battery, the motor, and the mechanism system as small and light as possible. However, in the first conventional technique and the second conventional technique described above, the technical disclosure relating to the miniaturization and weight reduction of the hoistor or There is no suggestion. Therefore, it is difficult to install the hoistor using the first conventional technique and the second conventional technique at a work place such as a slope where it is difficult to carry.

  Further, when the ascending slope in the transmission line is long, the battery may run out. However, the first prior art and the second prior art do not disclose a countermeasure in such a case, and it is assumed that a spare battery is used. There is a problem that the total weight of the hoistor becomes even larger when the operator brings it on board.

  In addition, when the ascending device described in Patent Document 3 reaches an ascending slope, the operator advances the suspending device while rowing himself / herself, or is pulled by a rope extended from a front steel tower (first of this publication). Example). Alternatively, it is described that a battery is charged with electric power generated during a downward slope, and the motor is driven using this electric power to advance the hoist (the fifth embodiment of this publication).

  Here, it is burdensome for the worker to advance the astroscope while climbing himself / herself, especially when the slope of the ascending slope is large. Will drop significantly. On the other hand, the method of pulling the rope extended from the steel tower in front by another worker (the first embodiment of this publication) requires that another worker be placed on the steel tower every time the hoist is towed uphill. There is a problem that work efficiency is bad.

  In addition, the method of driving the motor using the power charged in the battery is insufficient as the amount of charging power for traveling on an uphill slope voluntarily. The main role is to adjust the running speed of the vessel. Therefore, when the ascending slope is tight or when the ascending slope is long, it is difficult in terms of the battery charging capability to run the aerator using the power charged in the battery.

  In addition, the hoistor provided with the towing machine described in Patent Document 4 is the technical idea of the first embodiment of the present invention, that is, the hoistor body and the hoistor for towing or pushing the hoistor body. Although it is similar in that it is configured to be separable from the assist device, the hoist described in this publication is for supplying the pressure oil from the engine to the hydraulic motor to drive the driving wheel and propel the hoist. There is a problem that the noise is louder than the system driven by a motor, and it is technically difficult to reduce the size, weight and power of the engine, hydraulic pump, hydraulic oil tank, hydraulic control equipment, etc. is there.

  In addition, the electric assist bicycle described in Patent Document 5 is similar to the basic idea of the present invention and the assist device for a passenger in the technical idea of assisting the human drive system with the electric drive system. When traveling, there are the following differences. In other words, the electrically assisted bicycle according to the present publication is configured to change the assist ratio in the upward gradient according to the load of the human power drive system. In the case of electric assisted bicycles, in general, when climbing uphill, there is no problem even if the control described in this publication is performed because a flat or downhill road continues. Since it becomes a steel tower, it must be controlled so as not to collide with the steel tower.

  In addition, it is practically rare for users to carry the power-assisted bicycle itself by hand, and there is relatively little need to reduce the size and weight of the power-assisted bicycle. It is essential to reduce the size and weight of the air hoist.

  In addition, in any of the above-described conventional technologies, the suspender body and the assist device that assists the travel of the suspender by motor drive can be separated so that the suspender and the assist device can be assisted during work such as maintenance and inspection of the transmission line. There is no disclosure of a technique that reduces the burden on the operator by connecting the devices and assisting the assist device during uphill.

  The present invention provides a sooter and an assist device for a soaker that can solve the above-mentioned problems suitably.

  The assist device for an overhead line traveling apparatus main body of the present invention is connected to the overhead line traveling apparatus main body that travels while being suspended by the overhead line, and has the traction force of an operator who rides on the elevated line traveling apparatus body and pulls the elevated line. Configured to assist

  The assist device for the overhead wire travel device body may be detachably connected to the overhead wire travel device body so as to be detachable from the traveling direction side or the backward direction side of the overhead wire travel device body.

  The wheel for driving the assist device of the overhead wire traveling device main body along the overhead wire includes an in-wheel motor, an in-wheel motor drive unit that rotates in conjunction with the in-wheel motor, and the in-wheel motor drive. A resin wheel unit made of a plurality of urethane resins or the like that is configured to be detachable from the in-wheel motor driving unit and provided with a groove into which the power transmission line is fitted may be provided outside the unit.

  Moreover, you may comprise so that the said resin-made wheel units may be selected from what was previously prepared according to the cross-sectional area of the said power transmission line, and attached to the said in-wheel motor drive part.

  Further, the in-wheel motor may be configured to be supplied with power by a lithium ion battery mounted on the assist device of the overhead wire travel apparatus main body.

  The elevated wire travel device of the present invention assists the traction force of the elevated wire travel device main body and an operator who is connected to the elevated wire travel device main body and rides on the elevated wire travel device main body and pulls the elevated wire. And an assist device for the overhead wire travel apparatus main body.

  According to the first embodiment of the present invention, the hoistor and the assist device for the hoistor are configured so that the main body of the hoistor and the assist device that assists the driving of the hoister by driving the motor can be separated. As a result, it is possible to reduce the size and weight of the scorpion device and the assist device for the stool, and when the stool and the assist device for the stool are connected, the overall device can be reduced in size and weight. Further, since it is motor driven, there is a feature that it is less noise than engine driving.

  In addition, when the work is carried out such as maintenance and inspection of the power transmission line, the hoistor is connected to the assist device. The towing load can be greatly reduced. Therefore, since the worker's fatigue level can be improved, both work efficiency and work safety can be improved.

  Furthermore, the present embodiment of the present invention is small and light enough to be easily carried by one operator, and attaches / removes the present embodiment of the present invention and the assist device for use in the power transmission line. The lifting and lowering work can be done very easily.

  Further, the present embodiment of the present invention is designed based on the technical idea of assisting the human drive by the operator by electric drive. That is, there are restrictions on the maximum output of the power supply and motor mounted in the assist device for the hoist. For this reason, even if some abnormality occurs in the control circuit for controlling the motor drive, the air hoist and the air hoist assist device do not collide with the steel tower. Generally, in the case of a fully self-propelled air hoist, the maximum output of the power supply and the motor is large, so many circuits and devices are required to ensure safety, and it is inevitable to increase the cost and size of the device. However, since the present embodiment of the present invention requires no safety device such as runaway prevention, cost reduction and reduction in size and weight can be easily realized.

  Furthermore, since the present embodiment of the present invention uses a lithium-ion secondary battery with high energy density as the battery for driving the motor, the scorpion and the assist device for the scorpion device are small and light. Can be.

  In addition, the resin wheel is composed of a plurality of resin wheel units, and these are configured to be detachable to the inner in-wheel motor drive unit via the attachment wheel, so that the resin wheel can be freely used according to the application at the work site. Can be assembled. That is, multiple types of resin wheels are prepared in advance according to the outer diameter of the power transmission line, SR ring, and straight sleeve, and the most suitable resin is selected from these resin wheels according to the actual situation at the work site. Select a wheel. As a result, according to the situation at the work site, the present invention can be flexibly mounted on the power transmission line. Further, when the resin wheel reaches the SR ring or the straight sleeve by the resin wheel having moderate elasticity such as urethane, the resin wheel elastically deforms and becomes a cushion by the SR ring or the straight sleeve, and the resin wheel, that is, the wheel Can stably ride over the SR ring or straight sleeve.

  In addition, since the inflator and the assist device for the inflator of the present invention use an in-wheel motor as a motor, the motor rotation speed is changed outside the motor as in the case of using a normal motor. There is no protrusion like a gear part, and it is possible to secure a wide working space, so that the workability of the worker can be improved.

  In addition, the assist device for a hoistor according to the first embodiment of the present invention includes a bolt formed by connecting an existing hole provided in an existing main body of the hoistor and a suspender connecting portion provided on the side of the assist device for the hoistor. It is possible to easily attach the assist device for a hoistor according to the present invention to an existing hoistor body by connecting them with the like. At this time, if the Assist Device for Saddlers is attached to the direction of travel of the Scorpion Body via the Scorpion Connecting Unit, the Assistance Device for Saddlers pulls the Scorpion Device, and conversely, When the assist device is attached in the retracted direction of the scorpion body via the squirrel connection part, the scorpion assist device operates to push the scorpion body so that both can be used according to the work environment. Can be used flexibly, and the work efficiency of the worker can be improved.

  Further, by separating the motor from the battery when traveling downhill, a counter electromotive force is generated and braking force is generated when the motor tries to rotate. Using this braking force, it is possible to operate the hoistor at an appropriate speed even on a steep downward slope.

  In addition, the assist device for a hoist according to the first embodiment of the present invention can increase or decrease the assist amount of the traction force or the pushing force by the assist device for the hoist according to the catenary angle. In other words, when the catenary angle is large, the burden on the operator to increase the occupant increases, so the assist amount is increased to reduce the burden on the operator, and conversely, when the catenary angle is small, the assist amount is decreased. As a result, the operator can row the scorpioner with equal force regardless of the size of the catenary angle, so that the fatigue caused by the snarling can be greatly reduced. Further, when the catenary angle is small, it is possible to suppress the consumption of the battery mounted on the assist device for the hoist by reducing the assist amount, and thus it becomes possible to operate the assist device for the hoist for a long time.

  Further, the control of the assist amount and the on / off control of the motor are performed by using various operation units of the controller, but the assist amount is continued even if the operator removes his / her hand from the operation unit for controlling the assist amount. For this reason, the operator can efficiently perform the original work by using both hands while stably operating the hoistor automatically.

  In addition, when operating the brake operation unit provided in the present invention or the assist device for the in-flight device to instruct the brake to be applied, the sensor detects the brake operation and turns off the switch to shut off the power supplied to the motor. To do. As a result, the motor can be completely stopped when the hoist is in a stopped state, so that power consumption can be greatly reduced. When the brake operation unit is operated so as to release the brake, it operates to re-supply power from the power source to the motor by the signal from the sensor. There is an advantage that can be easily.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of an assist device for a hoistor according to a first embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of an air conditioner assist device according to a first embodiment of the present invention. FIG. 3A is a front view of a wheel used in the assist device for a hoist according to the first embodiment of the present invention, and FIG. 3B is a side view. It is typical sectional drawing of a power transmission line and resin wheels. It is explanatory drawing about the usage pattern of the hoistor and the assist apparatus for hoistors concerning the 1st Embodiment of this invention. It is a block diagram of the control mechanism in the on-board device and the on-board device assist device of the present invention. It is a schematic block diagram of the hoistor and the assist apparatus for hoistors concerning the 2nd Embodiment of this invention. It is a schematic block diagram of the hoistor and the assist apparatus for hoistors concerning the 3rd Embodiment of this invention. 1 is a perspective view of a first prior art hoist. FIG. 10A is a block diagram showing a second conventional electric traveling apparatus, and FIG. 10B is an explanatory diagram for explaining the speed control operation of the electric traveling apparatus according to the conventional technique. FIG. 11A is a front view showing the appearance of the third prior art multiconductor transmission line hoistor, and FIG. 11B is a side view showing another embodiment. It is a circuit block diagram showing the control apparatus of the electric power assist bicycle of the 5th prior art.

  Next, embodiments of the present invention will be described in detail.

<First Embodiment>
First, with reference to FIG. 1 to FIG. 6, a first embodiment of the present embodiment of the present invention will be described. 1 and 2 are a front view and a side view of the assist device for a hoistor according to the first embodiment of the present invention, and FIG. 3 (a) is an assister for the hoistor according to the first embodiment of the present invention. The front view of the wheel used for an apparatus, FIG.3 (b) is a side view, FIG. 4 is typical sectional drawing of a power transmission line and resin wheels.

  As shown in FIGS. 1 and 2, an assist device for a hoist according to the present invention includes a transmission line installed at a high place, or an accessory 1 of a transmission line such as an SR ring and a straight sleeve (in the following description, an SR ring, a straight line). The transmission line accessories such as the sleeve are omitted and are collectively described as the transmission line) on the upper part of the wheel 2 in which a groove such as a V-shape or U-shape is formed on the outer periphery, and the presser wheel horizontal support plate 5. It clamps with the lower part of the presser wheel 4 attached so that rotation was possible. The presser wheel tightening bolt 8 is formed with a male screw and is screwed with a female screw of the upper plate 9 fixed to the presser wheel vertical support members 16A and 16B. By rotating the presser wheel tightening bolt 8 to lower it and pressing the compression spring 7, the presser wheel horizontal support plate 5 configured to be slidable in the vertical direction is pressed downward. As a result, the presser wheel 4 is pressed downward, and the power transmission line 1 is held between the presser wheel 4 and the wheel 2 with a stable pressing force.

  As shown in FIG. 3, the wheel 2 is fixed to the outer peripheral portion of the in-wheel motor drive unit 3. When the in-wheel motor provided inside the in-wheel motor drive unit 3 and the drive shaft supported by the in-wheel motor support plate 6 rotates, the in-wheel motor drive unit 3 rotates in conjunction with this, and the wheel 2 Rotates. There is no speed change mechanism or the like between the in-wheel motor driving unit 3 and the wheel 2, and the driving force of the in-wheel motor driving unit 3 is directly transmitted to the wheel 2. For this reason, there is no protrusion like a gear part for changing the rotation speed of the motor outside the motor, and it is possible to secure a wide work space and improve the workability of the operator. Furthermore, power can be efficiently transmitted from the motor to the wheel.

  The wheel 2 has an attachment wheel 21 made of a high-strength material such as metal or reinforced plastic, and has flexibility, toughness, heat resistance, cold resistance, and wear resistance fixed to the attachment wheel 21 with an adhesive or the like. It has a resin wheel 23 and the like. As this material, for example, urethane resin can be used. The in-wheel motor drive unit 3 and the attachment wheel 21 are fixed with screws 22. 3A shows the upper portion of the in-wheel motor drive unit 3, the attachment wheel 21, and the resin wheel 23, but the attachment wheel 21 and the resin wheel 23 similar to those shown in FIG. It is also provided below the wheel motor drive unit 3. That is, in the present embodiment, the resin wheel unit in which the attachment wheel 21 and the resin wheel 23 are divided into two parts is configured to be attached to the in-wheel motor drive unit 3 by the screws 22, but it is not necessarily divided into two parts. There is no need, and there may be two or more divisions such as three divisions and four divisions. By dividing the attachment wheel 21 and the resin wheel 23 into a plurality of units, the optimum attachment wheel 21 is selected from these according to the outer diameter and shape of the power transmission line, SR ring, straight sleeve, etc. at the work site. The wheel 2 can be assembled by selecting the resin wheel 23.

As shown in FIG. 3 (b), the outer peripheral portion of the resin wheel 23 is formed with an annular groove having a substantially V-shaped or U-shaped cross section according to the outer diameter of the power transmission line 1, and the power transmission line 1 is made of resin. The wheel 2 is configured to stably travel on the power transmission line 1 by being fitted into the annular groove of the made wheel 23. The material of the SR ring is generally made of plastic. If the SR ring is passed through a wheel that is not compatible with the SR ring, the SR ring may be displaced or damaged. In the case of a straight sleeve, there is no fear like an SR ring, but it is necessary to consider an increase in the diameter of the straight sleeve. More specifically, when the transmission line type is ACSR 410 mm ² , the diameter of the linear sleeve increases by about 20 mm, that is, 1.68 times the diameter of the transmission line, so that the wheel 2 travels the linear sleeve of this diameter. It is necessary to have a shape that can be used. When the attachment wheel 21 of the present invention and the resin wheel 23 having an appropriate elasticity such as urethane formed on the outside reach the SR ring or the straight sleeve, the resin wheel 23 is elastically deformed and the SR ring or the straight sleeve. The attachment wheel 21 and the resin wheel 23 can stably ride over the SR ring or the straight sleeve.

  A plurality of types of attachment wheels 21 and resin wheels 23 connected thereto are prepared in advance according to the outer diameters of power transmission lines, SR rings, linear sleeves, etc., and these are selected according to the actual situation at the work site. The optimum attachment wheel 21 and resin wheel 23 are selected from among them. FIG. 4 is a schematic cross-sectional view of the power transmission line 1 and the resin wheel 23 fitted in the annular groove in the power transmission line 1, and the power transmission line 1 is formed outside the steel core 1 </ b> A and the steel core 1 </ b> A at the center. It consists of an aluminum wire 1B. The cross-sectional area S of the aluminum wire 1B is calculated by the equation (1) where r is the radius of the steel core 1A and R is the radius of the aluminum wire 1B.

S = π (R ² −r ² ) (1)

  The attachment wheel 21 of the present invention and the resin wheel 23 connected thereto define the shape of each resin wheel 23 so that the cross-sectional area S corresponds to the following three types.

1) S <410mm ²
2) 610 mm ² <S <810 mm ²
3) 1160 mm ² <S <1520 mm ²

  In addition to the above three types of conditions, the resin wheel 23 whose shape is determined according to the size of the cross-sectional area S or the shape of the power transmission line, SR ring, linear sleeve, etc. is prepared in advance as a plurality of sets. It may be configured. With this configuration, the attachment wheel 21 and the resin wheel 23 connected to the attachment wheel 21 can be freely attached to the in-wheel motor drive unit 3 in accordance with the use at the work site. Therefore, according to the situation at the work site, the present embodiment of the present invention can be flexibly mounted on the power transmission line.

  Returning to FIGS. 1 and 2, the description will continue. Reference numeral 11 denotes a secondary battery such as a lithium ion battery, which supplies power to the control unit 12, in-wheel motor, and the like via signal / power cables 13 and 14. The battery 11 may be configured to be attachable to and detachable from the assist device for a hoist, or may be configured to be fixed. Since the present invention uses a lithium-ion battery with high energy density as the battery for driving the in-wheel motor, the scorpion device and the assisted device for the scorpion device are small and light. Can be.

  Reference numeral 12 denotes a control unit that receives a signal from a controller (not shown) via a controller signal line 15 and drives the power, torque, rotational speed, forward / reverse rotation, and stop of the in-wheel motor. The assist amount of the device for assisting a hoist according to the present invention is directly related to the torque of the in-wheel motor, and the assist amount can be controlled by controlling the torque according to the catenary angle. This control method is roughly divided into two methods. The first method is a method in which an operator operates a controller, and the second method is a method in which a sensor detects a catenary angle and automatically responds accordingly. This is a method for controlling the torque of the in-wheel motor. In any of the methods, the assist amount of the traction force or the pushing force by the assist device for a hoist can be increased or decreased according to the catenary angle.

  In other words, when the catenary angle is large, the burden on the operator to increase the occupant increases, so the assist amount is increased to reduce the burden on the operator, and conversely, when the catenary angle is small, the assist amount is decreased. As a result, the operator can row the scorpioner with equal force regardless of the size of the catenary angle, so that the fatigue caused by the snarling can be greatly reduced. Further, when the catenary angle is small, by reducing the amount of assist, it is possible to suppress the consumption of the battery 11 mounted on the device for assisting the hoist, so that the device for assisting the hoist device can be operated for a long time.

  Further, when the in-wheel motor is separated from the battery 11 when traveling downhill, a counter electromotive force is generated and a braking force is generated when the in-wheel motor tries to rotate. Using this braking force, it is possible to safely operate the hoistor at an appropriate speed even on a steep downward slope.

  Further, the control of the assist amount and the on / off control of the motor are performed using various operation units of the controller. However, even if the operator removes his / her hand from the operation unit for controlling the assist amount, the assist amount and the like are continued. For this reason, the operator can efficiently perform the original work by using both hands while stably operating the hoistor automatically. Specific circuit configurations include various circuit configurations such as those using volume resistors, electronic volumes, and non-volatile memories, and any of these methods may be used.

  Further, 10A and 10B shown in FIG. 1 are scorpioner connecting parts that connect the supplicator assisting device of the present invention and the scorpioner main body. The squirrel coupling part 10B is configured to be rotatable so that the angle can be adjusted with respect to the squirrel coupling part 10A. Thereby, it is comprised so that a connection with the assist apparatus for hoistors and a hoistor main body can be performed flexibly. Further, by connecting an existing hole (not shown) provided in the existing astronaut main body and the suspender connecting portion 10B with bolts, nuts, etc., the present invention is applied to the existing astronaut main body according to the present invention. It is possible to easily attach the assist device for a hoist.

  At this time, in the case where the assist device for the hoistor is attached to the traveling direction side of the hoistor body via the hoistor connecting portions 10A and 10B, the hoistor body is pulled by the assister for the hoistor, and conversely When the assist device for a hoistor is attached in the retracting direction of the main body of the hoistor via the hoistor connecting portions 10A and 10B, the hoistor body operates so as to be pushed by the assist device for the hoistor, Both can be used flexibly according to the work environment.

Next, a method for placing the assist device for a hoist on the power transmission line 1 will be described. The method of mounting the airborne assist device on the power transmission line 1 is performed in the following steps.
1) First, the presser wheel tightening bolt 8 is rotated counterclockwise, and the compression spring 7, the presser wheel horizontal support plate 5, and the presser wheel 4 are lifted upward.
2) Next, with one of the presser wheel vertical support members 16A, 16B as a rotation axis, the other of the presser wheel vertical support members 16A, 16B, the presser wheel horizontal support plate 5, the presser wheel 4, A presser wheel tightening bolt 8 screwed to the upper plate 9 and a screw formed thereon, and a compression spring 7 provided with one end fixed to the presser wheel tightening bolt 8 are rotated.
3) After the lower surface of the power transmission line 1 is fitted into the annular groove formed in the wheel 2, that is, the annular groove formed in the resin wheel 23, the rotating mechanism is rotated in the original direction, and the presser wheel is perpendicular. The support members 16A and 16B and the in-wheel motor support plate 6 are fixed with a fixture such as a hook, a pin, or a bolt.
4) The presser wheel tightening bolt 8 is rotated clockwise and lowered, and in conjunction with this, the compression spring 7, the presser wheel horizontal support plate 5, and the presser wheel 4 are lowered to hold the power transmission line 1 and the presser wheel 4 The rotation of the presser wheel tightening bolt 8 is stopped at the point where the pressing force is optimal.

  By the above-described mechanism and method, the assist device for a hoist according to the present invention can be easily mounted on the power transmission line.

  Next, with reference to FIG. 5, the usage pattern of the hoist and the assist device for the hoist according to the first embodiment of the present invention will be described. The power transmission line 1 is mounted with an assist device 52 for the present invention according to the present invention and, as an example, an existing survivor main body 51. , 10B. An operator gets on the air hoist body 51 and operates the controller to control the power, torque, rotation speed, forward / reverse rotation, stop, etc. of the in-wheel motor. Since the present embodiment of the present invention is a small-sized and light-weight assist device 52 and the main body 51, it can be transported by one worker and installed on the power transmission line 1, and can be operated even in a small work space. It is. In FIG. 5, the right side has an upward slope, and the assist device 52 for the air hoist pushes the air hoist body 51 from the left to the right via the air hovers connecting portions 10 </ b> A and 10 </ b> B.

  Next, with reference to the block diagram shown in FIG. 6, the control mechanism of the present embodiment of the present invention will be described. A signal from a brake 62 provided in the hoist body 61 is detected by a sensor 63 and output to the control unit 64 as a sensor signal. The control unit 64 receives the sensor signal and outputs a control signal to the switch 66 and the in-wheel motor 67. The secondary battery 65 such as a lithium ion battery supplies power to the in-wheel motor 67 via the switch 66 and also supplies power to the sensor 63 and the control unit 64.

  When the switch 66 is turned on and power is supplied from the secondary battery 65 to the in-wheel motor and a rotation control signal is sent from the control unit 64 to the in-wheel motor 67, the in-wheel motor 67 responds to the rotation control signal. The wheel 68 rotates in conjunction with the rotation of the in-wheel motor 67.

  Next, the circuit operation corresponding to the brake operation will be specifically described. When a brake is applied by operating the brake operation unit, the control unit 64 receives a sensor signal from the sensor 63 and shuts off the switch 66 by a control signal for turning off the switch 66. As a result, the in-wheel motor can be completely stopped when the hoist is in a stopped state, so that power consumption can be greatly reduced.

  Further, when the brake operation unit is operated so as to release the brake, the sensor signal from the sensor 63 operates to supply power again from the secondary battery 65 to the in-wheel motor 67. Accordingly, there is an advantage that the in-wheel motor 67 can be turned on and off, that is, the operation and stoppage of the onboard device and the onboard device assist device can be easily and safely interlocked with the brake operation.

<Second Embodiment>
Next, referring to FIG. 7, a second embodiment of the present embodiment of the present invention will be described.

  FIG. 7 is a schematic configuration diagram of a hoistor and a hoistor assist device according to the second embodiment of the present invention, and a case of four conductors will be described. 72A, 72A 'and 72B are transmission lines, respectively, the transmission lines 72A and 72B are on substantially the same horizontal plane, and the transmission lines 72A and 72A' are on substantially the same vertical plane. Reference numerals 73A and 73B denote wheel and in-wheel motors having an in-wheel motor and a wheel assembled so as to rotate in conjunction with the in-wheel motor outside the in-hole motor. Get on top. Reference numeral 73A 'denotes an auxiliary wheel that rotates along the power transmission line 72A', and reference numeral 75 denotes a long connecting member such as a chain, a belt, or a wire rope that transmits the driving force of the wheel & in-wheel motor 73A to the auxiliary wheel 73A '.

  Reference numeral 71 denotes a lithium ion battery that supplies power to the wheel and in-wheel motors 73A and 73B, and 76 denotes a control signal output from the control unit (not shown) to the wheel and in-wheel motors 73A and 73B. In the present embodiment, the two-wheel and in-wheel motors 73A and 73B drive the hoist and the assist device for the hoist, so that the power capacity of the lithium-ion battery is required for one wheel and in-wheel motor. In order to double the capacity, two lithium ion batteries are connected in parallel. As a result, the voltage supplied to the in-wheel motor is the same as in the case of one system, so that no circuit change is required. Further, when the power capacity supplied to the in-wheel motor is further increased, it can be dealt with only by increasing the number of parallel connections of lithium ion batteries.

  In FIG. 7, the power transmission line 72B ′ on the same vertical plane as the power transmission line 72B, the auxiliary wheel 73B ′ paired with the wheel & in-wheel motor 73B, and the driving force of the wheel & in-wheel motor 73B are used as the auxiliary wheel 73B ′. The long connecting members that transmit to are omitted. The wheel & in-wheel motors 73A and 73B are rotated by the control signal 76 from the control unit and travel on the power transmission lines 72A and 72B, and the auxiliary wheels 73A 'and 73B' are rotated by the wheel & in-wheel motors 73A and 73B. Synchronously, the vehicle travels on the transmission lines 72A ′ and 72B ′. In FIG. 7, only the drive system is conceptually described and the other configurations shown in FIGS. 1 to 5 are omitted, but the other configurations can be the same as those in FIGS. 1 to 5. .

  The wheel and in-wheel motors 73A and 73B may be configured such that the rotation speed and the phase are synchronously controlled by a control signal, but the synchronous control is not necessarily essential. This is because the maximum output of the wheel and in-wheel motors 73A and 73B mounted on the present embodiment of the present invention is smaller than the maximum output of the motor mounted on the fully self-propelled type The wheel & in-wheel motors 73A and 73B are not completely synchronized, and one of the wheels is slightly ahead, and the straight line connecting the two wheel & in-wheel motors 73A and 73B and the transmission lines 72A and 72B deviate from a right angle. However, this is because there is no fear of a serious accident such as a runaway accident due to synchronization loss.

  In FIG. 7, only one control signal 76 is used, but two control signals may be used to independently control the wheel and in-wheel motors 73A and 73B. In this case, when the two wheel & in-wheel motors 73A and 73B are out of synchronization, the operator manually operates so that the straight line connecting the wheel & in-wheel motors 73A and 73B is perpendicular to the transmission lines 72A and 72B. The fine adjustment may be performed by using. The present invention is based on the design concept that emphasizes the assist function to lighten the burden on the operator. Since the ion battery 71 and the wheel and in-wheel motors 73A and 73B are made small and light, it is easy to carry the work of the air hoist and the air hoist assist device according to the present invention, and work on the power transmission line. Can be done. In addition, although the case where it drives with two wheel & in-wheel motor 73A, 73B was demonstrated in the above, an additional wheel & in-wheel motor is provided in the same horizontal surface of two wheel & in-wheel motor 73A, 73B, and four wheels It may be configured to be driven by an & in-wheel motor, or may be configured to be driven by a wheel & in-wheel motor instead of the auxiliary wheels 73A ′ and 73B ′. In this case, the long connecting member 75 is unnecessary, and the added wheel & in-wheel motor is controlled by the control signal 76 or a control signal independent of the control signal 76.

<Third Embodiment>
Next, with reference to FIG. 8, a third embodiment of the present invention will be described.

  FIG. 8 is a schematic configuration diagram of a hoistor and an assisting device for a hoistor according to the third embodiment of the present invention, and the hoistor and the hoofed object according to the second embodiment shown in FIG. The fundamental difference from the dexterous assist device is that it is driven by one wheel & in-wheel motor 82 in this embodiment. For this reason, the power supply line supplied from the lithium ion battery 81 to the wheel & in-wheel motor 82 and the control signal 84 from the control unit to the wheel & in-wheel motor 82 become one system and are simplified. Further, the driving force of the wheel & in-wheel motor 82 alone needs to be about twice that of each of the wheel & in-wheel motors 73A and 73B in FIG. 7, and the power capacity of the lithium ion battery 81 is corresponding to this. Determine.

  Next, the operation will be described. The driving force from the wheel & in-wheel motor 82 rotates the connecting rod 86 connected to the wheel & in-wheel motor 82 and the auxiliary wheels 83A and 83B connected to the connecting rod, and further, the auxiliary wheels 83A 'and 83B' ( (Not shown) is driven by the long connecting member 85 or the like, so that the air hoist or the air hoist assist device is configured to travel on the power transmission line. In this embodiment, since there is one drive motor, the auxiliary wheel 83A and the auxiliary wheel 83B always run in complete synchronization and have few components. The assist device for a rider can be further reduced in size and weight. In addition, the difference between the conventional design concept of the fully self-propelled spacecraft described in the second embodiment and the technical concept of the present invention in which the assist function is based on the design concept is different from the present embodiment ( The same applies to the third embodiment) and the first embodiment.

  In the above description, the controller unit 12 has been described as being controlled by the controller via the controller signal line 15. However, the controller unit 12 may be controlled by wireless communication such as Bluetooth (registered trademark) or IrDA.

  Further, in the above description, the embodiment is described in which braking is performed using the counter electromotive force generated when traveling downhill. However, the secondary battery is charged with the electromotive force generated when traveling downhill, and charged when the vehicle is traveling uphill. You may comprise so that the used electric power may be used for the drive of an in-wheel motor.

DESCRIPTION OF SYMBOLS 1 Transmission line accessories, such as a power transmission line or SR ring, and a straight sleeve 1A Steel core 1B Aluminum wire 2 Wheel 3 In-wheel motor drive part 4 Presser wheel 5 Presser wheel horizontal support plate 6 In-wheel motor support plate 7 Compression spring 8 Presser wheel Clamping bolt 9 Upper plate 10A, 10B Crew connection part 11 Battery 12 Control unit 13, 14 Signal / power cable 15 Controller signal line 16A, 16B Presser wheel vertical support member 21 Attachment wheel 22 Screw 23 Resin wheel 51 Main body 52 Assist device for hoist 61 Hoist main body 62 Brake 63 Sensor 64 Control unit 65 Lithium ion battery 66 Switch 67 In-wheel motor 68 Wheel 71, 81 Lithium ion battery 72A, 72A ', 72B Transmission line 3A, 73B, 82 Wheel & in-wheel motor 73A ', 83A' Auxiliary wheel 75, 85 Long connecting member 76, 84 Control signal 83A, 83B Auxiliary wheel 86 Connecting rod 91 Construction track 92 Cage 93 Frame 94 Roller 95 Motor 96 Battery DESCRIPTION OF SYMBOLS 101 Traveling mechanism 102 Motor 103 Inclination detection part 104 Speed control part 105 Power supply part 111 Input side pulley 112 Power supply 113 Motor 121 Human power torque sensor 122 Motor torque sensor 123 Microcomputer 124 Motor drive circuit 125 Motor 126 Battery part

Claims (6)

An overhead line traveling device body assist device that is used in an overhead line traveling device body that travels suspended by an overhead line and assists the operator's traction force by motor drive ,
The wheel that drives the assist device of the overhead wire traveling device main body along the overhead wire,
An in-wheel motor,
An in-wheel motor drive that rotates in conjunction with the in-wheel motor;
A resin wheel unit that is configured to be detachable from the in-wheel motor drive unit on the outside of the in-wheel motor drive unit, and provided with a groove into which the elevated wire is fitted,
An assist device for an overhead wire travel apparatus main body . The Kokasen traveling apparatus body of the assist device, according to claim 1, characterized in that coupled to the freely the Kokasen traveling apparatus main body detachably attached to the traveling direction or the backward direction side of the Kokasen traveling device body Assist device for the overhead wire travel device main body. The in-wheel motor is controlled through a control unit by a control signal generated when the operator operates an operation unit provided in a controller, and the control is performed even when the operator releases his hand from the operation unit. The assist device for an overhead wire traveling apparatus main body according to claim 1 or 2, wherein the signal continues to output the immediately preceding signal to the control unit. The wheels are respectively a first wheel and a second wheel that travel along multi-conductor power transmission lines installed on an upper surface;
A first auxiliary wheel and a second auxiliary wheel that respectively travel along multi-conductor power transmission lines installed on the lower surface;
A first connecting member for transmitting a driving force from the first wheel to the first auxiliary wheel;
A second connecting member for transmitting a driving force from the second wheel to the second auxiliary wheel,
By the same control signal or separate control signals from the controller, the assist device Kokasen traveling device body as claimed in claim 3, wherein the controller controls the first wheel and the second wheel. The wheel includes a first auxiliary wheel and a second auxiliary wheel that respectively travel along multiconductor power transmission lines installed on an upper surface;
A third auxiliary wheel and a fourth auxiliary wheel respectively traveling along multi-conductor transmission lines installed on the lower surface;
A first connecting member for transmitting a driving force from the first auxiliary wheel to the third auxiliary wheel;
A second connecting member for transmitting a driving force from the second auxiliary wheel to the fourth auxiliary wheel;
The wheel for synchronously driving the first auxiliary wheel and the second auxiliary wheel,
The control signal of the controller, device for an Kokasen traveling device body as claimed in claim 3, wherein the controller controls the wheel. The overhead wire traveling device body;
Kokasen traveling device and a device for an Kokasen traveling device body according to any one of claims 5 to claim 1.

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