JPH0199416A - Automatic travelling machine - Google Patents

Abstract

PURPOSE:To obtain an automatic travelling machine which can pass an iron tower apex section without trouble and can travel over a long distance, by arranging a plurality of a traveling pulleys slantly and alternately toward a stringing from the diagonal upper left and the diagonal upper right, and by supporting the pulleys with pressure-applying springs so that the pulleys may be vertically moved. CONSTITUTION:At both the side lower-sections of a frame unit 21, a power supply device 22 and a controller 23 are contained. From the frame unit 21, a plurality of travelling pulleys 24 are supported onto a stringing 3. The travelling pulleys 24 are arranged alternately and slantly toward the stringing 3 from the diagonal upper left and the diagonal upper right, and are supported so that the pulleys may be vertically moved with respective pressure-applying springs 26. Then, by a rotational driving source 27, the travelling pulleys 24 are rotated and are contrived to be automatically travelled on the stringing 3. As a result, when this automatic travelling machine comes to the apex section of an iron tower 1, then the respective travelling pulleys 24 are removed to the upper section resisting the pressure-applying springs 26, in order, and can be passed without trouble.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a self-propelled machine used, for example, as a power transmission line patrol device for maintenance and inspection of power transmission lines.

[Conventional technology]

Figure 3 shows the main part of the power transmission line underwater. 1 is a steel tower, on which a plurality of overhead electric wires 2 are stretched. Reference numeral 3 denotes an overhead wire stretched over the shoulder 4 of the steel tower 1 with a stopper, which serves as an overhead ground wire and protects the overhead electric wire 2.

The supporting part of the overhead wire 3 to the tower shoulder 4 is shown in Fig. 4)5
A pair of clamps on both sides are held on the shoulders 4 of the steel tower, and each fixedly supports one end side of the overhead wire 3. Both ends of the overhead wire 3 are connected to the shoulder 4 and grounded. The self-propelled machine is suspended from the overhead wire 3 and runs. Figure 5 shows, for example, a conventional self-propelled machine shown in JP-A-56-112805, which is suspended between 1,31'j steel towers. An overhead line, a frame body of the 6Vi self-propelled machine, 7 is attached above this frame body, a pair of front and rear support pulleys that support the frame body 6 and transmit power on the overhead line 3, and a pair of caterpillars arranged on both sides of the 8Fi overhead line 30. , 9 is a ram of a hydraulic cylinder for pressing both caterpillars 8 onto the rack @ 3, 10 is a return spring for pulling back this ram, 11 is an engine attached to the bottom of the frame 6, which is mounted on the tower. The self-propelled machine is suspended from the overhead wire 3 by a pulley 7VC, which forms the drive source with an oil pump, an oil tank (not shown), etc. Next, the operation will be explained. It is not driven to travel, but travel is performed by clamping a part of the caterpillar 8 and driving it to travel.

When the engine 11 is driven, the oil pump is rotated and oil pressure is generated. A part of this oil pressure is applied to the hydraulic cylinder to operate the ram 9, and the rack Wa3 is strongly clamped by both caterpillars 8r. The generated hydraulic pressure is used by a hydraulic motor (not shown)
In addition, this hydraulic motor drives both caterpillars 8 to drive the self-propelled machine.

[Problems to be Solved by the Invention] In the conventional self-propelled machine as described above, the machine is suspended from the rack @ 3 by the support pulley 7, and the overhead wire 3 is clamped by a pair of caterpillars 8 so as to run. Therefore, the problem is that the train cannot pass through obstacles such as the clamp 5 attached to the overhead wire 3 or the shoulder 4 of the tower, and can only travel a short distance between the two towers 1. There was a point.

This address was made in order to solve these problems, and it is possible to pass over obstacles attached to overhead wires and the shoulders of steel towers without any hindrance, and can travel long distances. The purpose is to gain momentum.

[Means for solving problems]

In the self-propelled machine according to the present invention, a number of running pulleys are arranged on an overhead line at an angle alternately in the upper left direction and the upper right direction, and these running pulleys are movable up and down by pressing springs on a frame with a running edge. Each traveling pulley is rotated by a rotational drive source and travels on the overhead wire.

[Effect]

In this invention, the self-propelled machine is supported by a plurality of running pulleys on the overhead wire. 3. When reaching the obstacle at the top of the tower, each traveling pulley takes turns to resist the pressure h and dodge the obstacle to the side and pass. -1 The self-propelled aircraft is supported by its own weight by the traveling pulley on the remaining overhead wire, and continues to travel as it moves over the tower.

〔Example〕

FIG. 1 is a perspective view of a self-propelled machine according to an embodiment of the present invention. In the figure, reference numeral 21 denotes a frame of the self-propelled machine, and a power storage capacity 22 and a control device 23 are housed in the lower portions of both sides. 24
ij frame body 21F movable arm 25Vc supported to be movable up and down; a plurality of travel boozes IJ rotatably supported; arranged on the overhead wire 3 at an angle alternately diagonally upper left and diagonally upper right. Each movable arm 23 is always pressed down by a pressing spring 26.

A lobe groove 24a is formed wide and deep on the outer circumference of each traveling pulley 24. A lobe groove 24a is formed wide and deep on the outer circumference of each traveling pulley 24. An elastic material is fixed to prevent it from slipping on the overhead wire 3. Incidentally, if necessary, irregularities such as tooth shapes are formed on the surface of the elastic material.

The operation of the apparatus of the above embodiment will be explained with reference to FIG.

In Fig. 2(a), four running pulleys 2 on the overhead wire 3
The self-propelled machine travels due to the running rotation of 4 and then reaches the clamp 5, as shown in FIG. and passes along the side of the clamp 5. At this time, it is supported by three traveling pulleys 24 in addition to the weight of the self-propelled machine.

When the self-propelled machine further travels, the traveling pulley 24 runs and rotates over the shoulder portion 4 of the steel tower 1, as shown in FIG. 2(C).

The self-propelled aircraft is equipped with a radio and a detection device for patrolling, and is controlled by remote radio from the ground to transmit or record detection results.

In the above embodiment, the number of traveling pulleys 24 is four, but the number may be further increased.

Further, in the above embodiment, the running pulley 24 escapes diagonally upward when faced with an obstacle, but it may be arranged to escape laterally or upward.Furthermore, in the above embodiment, each running pulley 24 is 27 are arranged and rotated, but it is also possible to provide one common electric motor and rotate each traveling pulley 24 by a transmission means such as a gear device or a belt device.

Furthermore, an engine may be used instead of the common electric motor.

〔Effect of the invention〕

As described above, according to this company, a traveling pulley is rotatably supported on a plurality of movable arms that are movably supported in the frame of the self-propelled machine via a pressure spring in the direction of the overhead wire, and each The pulleys are arranged on the overhead wire alternately in the diagonal upper left direction and diagonally upward direction, and are rotated by a rotary drive source so that they travel on the overhead wire, so that each traveling pulley sequentially and alternately moves toward the top of the tower. By dodging obstacles and climbing over steel towers, the robot can travel continuously over long distances, making it possible to carry out maintenance and inspection patrols on transmission lines with less labor.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of a self-propelled machine according to the present invention, Fig. 2 is an explanatory diagram sequentially showing the operation of the self-propelled machine of Fig. 1, Fig. 3 is a perspective view of a power transmission line, and Fig. 4 is a perspective view of the upper part of the steel tower m in Fig. 3, and Fig. 5 is a perspective view of a conventional self-propelled machine. 1... Steel tower, 3... Overhead wire, 4... Shoulder, 5...
Obstacle, (clamp), 21... Frame, 22... Drive source (storage battery), 23... Control device, 24... Traveling pulley, 26... Pressing spring, 27...-rotation Drive source (
*flh@). Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] A frame housing a drive source and a control device at the bottom of both sides, a plurality of movable arms that are supported by this frame so as to be movable from above to below in the direction of the overhead wire and pressed down by pressure springs, and the lower part of these movable arms. It is supported by the above-mentioned overhead wire, and is provided with four or more traveling pulleys arranged diagonally on the upper left and upper right alternately on the above-mentioned overhead wire, running and rotating on the above-mentioned overhead wire by a rotational drive source, and reaching an obstacle near the top of the tower. and a self-propelled machine in which each of the above-mentioned traveling pulleys sequentially and alternately dodges and passes obstacles and travels over the shoulder of the steel tower.