JPH02136007A - Travelling device on elevated line - Google Patents

Abstract

PURPOSE:To obtain an elevated line movement device having a damping function capable of damping the vibration quickly even if the vibration due to a gust of wind, etc., is generated by providing a driving gear to drive a counterweight in the specified direction depending on the vibration command signal from a control device. CONSTITUTION:The time T1 is found which ranges from the point of time the rotating angular velocity of a movement device main body 1a becomes zero to the time when the rotating angular velocity then becomes zero again. A control device outputs a vibration command signal so that during this period with the time 2T1 twice as much as the time T1 set as a cycle, a swing of a pendulum may be given to a counter weight 9. That is, if the natural frequency of the movement device main body 1a is omega when the relative rotating angle theta2 of the counterweight 9 is zero, the counterweight 9 is swing as a pendulum with cycle of 2pi/omega during the first half cycle of the movement device main body 1a.

Description

Detailed Description of the Invention (Objective of the Invention) (Industrial Application Field) The present invention relates to an elevated line moving device used for maintenance, inspection and repair of elevated lines such as high-voltage power transmission lines and overhead cables. The present invention relates to an elevated line moving device that has a vibration damping function that effectively suppresses vibrations of the moving device caused by external factors.

(Prior Art) In order to safely and efficiently maintain and manage elevated lines such as high-voltage power transmission lines and overhead cables, the development of elevated line moving devices equipped with inspection and monitoring equipment, etc. is underway. Specific examples of this type of elevated wire moving device include the elevated wire moving devices described in Japanese Patent Application No. 1111 of 1983-72580 filed by the present applicant.

As shown in FIG. 8, this elevated line moving device 1 has traveling wheels 3b mounted on the upper part of the moving device main body 1a via support brackets 2b, and swings horizontally and vertically back and forth of the moving device main body 1a. 1 moving arm 4 freely attached
a, 4b, and running wheels 3a attached to the tips of the swing arms 4a, 4b via support brackets 2a, 2G, respectively.

3C, and a running wheel 3a suspended on the elevated wire 5,
It is supported in a suspended manner by 3b and 3c.

This elevated line moving device 1 activates at least one wheel drive device among the wheel drive devices 5a, 5b, and 5c provided for each running wheel, rotates the running wheels, and moves in a predetermined direction. .

When the front running wheels 3a of the elevated line moving device 1 approach an impossible obstacle, such as a cable holding fitting attached to the elevated line 5, first the front running wheels 3a on which the running wheels 3a are attached The swinging arm 4a is erected upward, and the running wheel 3
Remove a from the elevated wire 5 and let it ride to a height that allows it to roughly avoid obstacles.

At least one wheel drive device 6b of the traveling wheels 3b, 3c is supported with the entire moving device supported only by the remaining central and rear traveling wheels 3b, 3C.

6C is activated to cause the traveling wheels 3a to pass to the secondary side of the obstacle. After passing, the front swing arm 4a is lowered, and the running wheels 3a are lowered onto the elevated line 5 again.

Hereinafter, similarly for the central and rear running wheels 3b, 3c, by repeating the raising and lowering motion of the front and rear moving arms 4a, 4b and the movement motion by the wheel drive device, the running wheels 3a, 3b, 3c It becomes possible to successively overcome obstacles or bends in the elevated line 5.

In this way, the elevated line moving device 1 is configured to be able to continuously move on the elevated line without performing a suspension change operation at an obstacle or a bend.

(Problem to be Solved by the Invention) However, conventional elevated line moving devices basically employ a structure in which the main body of the moving device is suspended from a plurality of running wheels suspended on an elevated line via support brackets. Because there are
Horizontal force caused by disturbances such as gusts of wind tends to cause large vibrations around the elevated wire.

If the entire moving device is photographed due to a gust of wind while the elevated line moving device is in the process of avoiding obstacles or tower supports installed on the elevated line, the work of lowering the traveling wheels onto the elevated line will be interrupted. This makes it difficult to move the entire device continuously.

Furthermore, when photographing occurs, the object to be monitored by the inspection and monitoring equipment mounted on the main body of the mobile device changes, which may make accurate inspection work difficult.

The present invention has been made in order to solve the above-mentioned problems, and when the elevated line moving device avoids obstacles such as holding metal fittings placed on the elevated line, or when the overhead line moving device avoids obstacles such as holding fittings placed on the elevated line, or To provide an elevated wire moving device having a vibration damping function capable of rapidly attenuating vibrations even when vibrations are generated due to the action of external factors such as gusts of wind when performing an operation of climbing over a bend. The purpose is to

[Structure of the invention]

(Means for Solving the Problems) In order to achieve the above object, an elevated line moving device according to the present invention includes a moving device main body movably suspended on an elevated line,
An angle detector that detects the inclination angle of the moving device main body with respect to a vertical surface including an elevated wire, a counterweight that is arranged to be able to take pictures in the inclination direction of the moving device main body, and a detection signal from the above angle detector. A control device that calculates and outputs a vibration command signal that moves the counterweight one step in a direction that reduces the inertial force acting on the moving device body, and a control device that moves the counterweight in a predetermined direction based on the vibration command signal from the control device. It is characterized by having a drive device for driving it.

(Function) In the elevated wire moving device with the above configuration, if an external factor such as a gust of wind acts during use and the moving device body vibrates greatly around the elevated wire, the angle of inclination of the moving device body with respect to the vertical plane is detected. detected by the device. The detection signal from the angle detector is input to the control device, and the control device inputs to the drive device a vibration command signal that causes the counterweight to vibrate in a direction that reduces the inertial force exerted by the vibration of the moving device main body. The driving device drives the counterweight in a predetermined direction based on the vibration command signal, and the counterweight absorbs the vibration energy of the moving device main body around the elevated wire, thereby rapidly attenuating the imaging.

Therefore, when the elevated line moving device overcomes an obstacle or a bend on the elevated line, the movement of the running wheels can be performed safely, accurately, and quickly.

Furthermore, since the inspection and monitoring equipment mounted on the main body of the moving device is maintained in a stable position, accurate and highly reliable inspection work can be carried out at all times.

(Example) An example of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a perspective view showing an embodiment of an elevated wire moving device according to the present invention. Note that the same elements as those in the conventional example shown in FIG. 8 are given the same reference numerals, and detailed explanation thereof will be omitted.

The elevated wire moving device 7 according to this embodiment includes a moving device main body 1a movably suspended on an elevated wire 5, and an angle detector that detects the inclination angle of the moving device main body 1a with respect to a vertical plane including the elevated wire 5. 8, a counterweight 9 disposed so as to be able to freely vibrate in the direction of inclination of the moving device main body 1a, and a detection signal from the angle detector 8, which calculates the detection signal from the angle detector 8, and moves in the direction of reducing the inertial force acting on the moving device main body 1a. A control device 10 that outputs a vibration command signal to vibrate the counterweight 9; and a control device 10 that outputs a vibration command signal to vibrate the counterweight 9;
and a servo motor 11a serving as a drive device 11 for driving the motor in a predetermined direction.

Further, the counterweight 9 may be composed of a weight formed into a predetermined shape, or may be composed of a battery or an accessory device that serves as a power source for moving the elevated line moving device 7.

This counterweight 9 is configured to make a pendulum movement in a vertical plane perpendicular to a vertical plane including the elevated wire 5, about a support shaft 12 provided at the lowermost end of the moving device main body 1a.

During use, the elevated wire moving device 7 configured as described above receives a large horizontal force due to gusts of wind, etc., and images the area around the elevated wire 5.

In order to elucidate the vibration characteristics of the entire elevated wire moving device 7, consider the elevated wire moving device 7 modeled in a small scale as shown in FIGS. 2(a), (b) and 3. That is, the mass of the moving device main body 1a obtained by subtracting the mass m2 of the counterweight 9 from the mass of the entire moving device 7 is defined as ml, and the moving device main body 1aJ3 and the counterweight 9 are respectively mass points M and M.
The overhead line moving device 7 is modeled as a moving body of a two-mass point system, which is assumed to be 2.

Figures 4(a) to (h) show the modeled mobile device main body 1a.
FIG. 3 is a diagram continuously showing the vibration state of the counterweight 9. FIG. As shown in FIG. 4(a>(e)), when the moving device main body 1a is at the maximum amplitude position and the rotational angular velocity of the moving device main body 1a around the elevated wire 5 is zero, the counterway l-9 While the relative rotation angle θ2 of
) (Q), the counterweight 9 is set so that when the moving device body 1a passes through the center of the amplitude and its rotational angular velocity reaches the maximum, the relative rotational angle θ2 of the counterweight 9 to the counterway 1 takes almost the maximum value. Make a pendulum movement.

A first device having a counterweight 9 that performs the pendulum movement.
In the illustrated elevated wire moving device 7, the angle of inclination θ1 of the moving device main body 1a with respect to the vertical plane including the elevated wire 5 is detected by the angle detector 8.

The detected angle signal is input to the control device 10.

The control device 10 calculates the rotational angular velocity of the moving device main body 1a from the angle signal. The time when this rotational angular velocity takes zero and the maximum value and the inclination angle θ1 of the moving device main body 1a at that time are stored in the control device 10.

Here, if the period of the counterweight 9 that performs the pendulum movement is set to a constant value, as the number of vibrations increases, the error in the period accumulates, and as a result, the amplitude value of the moving device main body 1a, which has been damped once, increases again. may cause the phenomenon.

Therefore, in this embodiment, the time T1 from the time when the rotational angular velocity of the moving device main body 1a becomes zero until the rotational angular velocity becomes zero again is determined, and during that time, the above-mentioned time T
Counter weight 9 with a cycle of twice the time 2T1
The control device 10 outputs a vibration command signal to cause the pendulum to move.

In other words, if the natural frequency of the moving device body 1a when the relative rotation angle θ2 of the curler weight 9 is zero is ω, then
During the first half period of the moving device main body 1a, the counterweight 9 is caused to make a pendulum movement with a period of 2π/ω.

This pendulum movement is performed by a servo motor 11a serving as a drive device 11 that receives a vibration command signal and drives the counterweight 9 in a predetermined direction. The amplitude of the pendulum movement of the counterweight 9 is reduced in proportion to the attenuation of the amplitude value of the moving device main body 1a.

Next, an elevated line moving device 7 having the above-mentioned vibration characteristics will be described.
As shown in Figs. 2(a), (b) and 3, we regarded the object as a moving body of a two-mass system, and confirmed its vibration damping effect.

That is, as shown in FIGS. 2(a), (b) and 3, the elevated line rA5 is regarded as a straight line, and the elevated line 5 and the horizontal plane 13 are
Let α be the angle formed by , and the size of the moving device main body 1a excluding the counterweight 9 is ml.

The quality of the counterweight is m2. From elevated line 5 to mass point M
The distance from the elevated wire 5 to the support shaft 12 of the mass point M2 is 1, and the distance from the support @12 to the mass point M2 is 12.
shall be. Further, the rotation angle of the mass point M1 around the elevated wire 5 with respect to the vertical plane 14 including the elevated wire 5 is θ1, the angular velocity is θ1,
The velocity of mass point M1 is 1, the relative rotation angle of mass point M2 around the support shaft 12 is θ2, the angular velocity is θ2, the velocity of mass point M2 is 2,
The velocity components of the velocity v2 in the radial direction and the circumferential direction are respectively v2r and 2θ, and the upper stomach heights of the mass points M1 and M2 from the lowest position on the vertical plane are respectively defined as h2.

Margin below C] The Lagranche 1311 number is given by the following equation (3).

, L=T-U...
-(3) Also, the relationship of equation (4) below holds true.

d a, L 汀()−=O・・・・・・(4) dt δθ1 δθ1 Here, <1), (2), and (3) are substituted into the equation (4), and the following (5 ), (6), (7).

1 for the dimensionless parameters given by equations (8) and (9).
．． 2. By rearranging using 3, a second-order nonlinear Fukui equation for θ1 as shown in equation (9) below is obtained.

mi = (1-to-1)W (W: total quality of mobile device ff1)...(5) m2
= kI W'-...(6') J1=2L...(
7) I 2 = k 3 L
・・・ ・・・
8) [Blank below] Now, in the above differential equation, for example, 1=0.5゜k2=
0.6. 3=0.45, θ0=π (rad)・′″″″Q (rad)・L=870(
'') and solve the differential equation (9) using the Runge-Futter-Gill method to find the change over time in the rotation angle θ of the elevated line moving device 7, as shown in Figure 5. Become.

That is, even if the elevated line moving device 7 receives horizontal force due to a gust of wind and starts vibrating at an initial inclination angle θ1(o) of 30 degrees, the amplitude value will attenuate to about 1/10 after 10 seconds.
After 20 seconds, an almost stationary state is obtained.

As explained above, according to this embodiment, the counterweight 9 vibrates in a direction that reduces the inertial force acting on the moving device main body 1a in response to the inclination angle of the moving device main body 1a, and Absorbs vibration energy around line 5.

Therefore, the vibration of the entire moving device is rapidly attenuated, and a stable upright state can be maintained. Therefore, when the elevated line moving device 7 overcomes an obstacle or bend on the elevated line 5, the moving operation of the running wheels can be carried out safely, accurately and quickly.

Furthermore, since the inspection and monitoring equipment mounted on the main body 1a of the moving device is held in a stable posture, there is no need to adjust its orientation, etc., and inspection work can always be performed accurately and with high reliability.

Note that the above-mentioned elevated line moving device 7 has a moving device main body 1a.
The explanation has been given by taking as an example a case in which vibrations are generated centered on a vertical plane. The present invention can also be applied to a case where the main body 1a of the moving device vibrates around a plane inclined with respect to the vertical plane 14.

In other words, it is also possible to move the counterweight 9 in a predetermined direction to maintain static balance, and then make the counterweight 9 make a pendulum movement around the set position to damp vibrations.

Next, another embodiment of the present invention will be described with reference to FIGS. 6 and 7.

The elevated wire moving device 7a according to this embodiment has the same configuration as the embodiment shown in FIG. 1, except that the mounting structure of the counterweight 9a is different. That is, in the embodiment shown in FIG. 6, a guide rail 15 is laid at the lowest part of the moving device main body 1a so as to be perpendicular to the vertical plane including the elevated wire 5, and the counterway 1 vibrates back and forth along the guide rail 15. -9
A is provided. Counterweight Qa1. It is composed of a Ti-shaped container, and a ball screw for moving the counterweight 9a, an electric motor as a driving device, etc. are accommodated in this container.

The elevated line moving device 7a of this embodiment is regarded as a moving body of a two-point system, and its vibration state is continuously shown in Figs. 7(a) to (
h). That is, as shown in FIG. 7 (C) and (Q), the movement! ! ! When the II device main body 1a reaches the maximum amplitude position and the rotational angular velocity around the elevated wire 5 is zero, the relative displacement d of the counterweight 9a becomes maximum, and one solution (Fig. 7)
As shown in a) and (e), the counterweight 9a is vibrated back and forth so that the relative displacement d of the counterweight 9a becomes approximately zero when the moving device main body 1a reaches the amplitude center position and the rotational angular velocity is maximum. let Similarly to the embodiment shown in FIG. 1, the driving operation of the counterweight 9a is performed by using a control device to detect a detection signal of the inclination angle of the moving device main body 1a by an angle detector (not shown), and a vibration command signal from the control device. controlled based on

Similarly, by the linear reciprocating vibration of the counterweight 9a along the guide rail 15 as in this embodiment, the photographing of the moving device main body 1a can be effectively damped.

As another embodiment of the present invention, although not shown in the drawings, a counterweight equipment for absorbing vibrations is moved by a hydraulic cylinder disposed on the main body of the moving device, a drive device for driving the hydraulic cylinder, and the hydraulic cylinder. It can also be configured with a counterweight that vibrates in the vertical direction along the central axis of the device main body.

In this embodiment, when the main body of the moving device is in a vertical plane including the elevated wire, the counterways 1 to 1 are set to be located at the origin of vertical vibration. Then, while the absolute value of the angle between the main body of the moving device and the vertical plane gradually increases, and the absolute value reaches its maximum value, the counterweight is lowered by a distance corresponding to the amplitude. Then, when the absolute value of the inclination angle becomes the maximum, the counterweight is returned to the origin.

On the other hand, while the absolute value of the angle between the main body of the moving device and the vertical plane gradually decreases and the absolute value becomes zero, the counterweight is raised upward by a distance corresponding to the amplitude. Then, when the absolute value of the inclination angle becomes zero, the counterweight is returned to the origin.

The number of images of the above vertical vibration is 2 of the vibration frequency of the main body of the moving device.
set to double. The functions of the angle detector, the control device, and the hydraulic cylinder as the drive device are the same as in the embodiment shown in FIG.

In this embodiment, the counterweight vibrates in the vertical direction at a frequency twice that of the main body of the moving device. Also,
When the counterweight is moved vertically as in this embodiment, the force that acts on the moving device body acts in a direction 180 degrees different from the phase of the excitation force when exciting a swing, for example. The weight can effectively absorb the vibration energy of the moving device body.

〔Effect of the invention〕

As explained above, according to the elevated line moving device according to the present invention,
Even when the main body of the moving device 4 receives a large horizontal force due to an external factor such as a gust of wind and generates vibration, the counterweight is vibrated by the drive device in a direction that alleviates the vibration energy and inertial force.

As a result, the imaging of the elevated line moving device is rapidly attenuated, which not only makes it possible to safely and reliably carry out the moving operation of the elevated line moving device, but also eliminates the instability of the installed inspection and monitoring equipment. Inspection work can always be carried out in a stable condition.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of an elevated wire moving device according to the present invention, and FIGS. 2 (a) and (b) are model diagrams of the elevated wire moving device observed from the axial direction of the elevated wire. Figure 2(a)
is each mass point M1. This is a model diagram for reducing the speed of M2, and the second
Figure (b) is a model diagram showing the rising height of each mass point from the lowest position, Figure 3 is a model diagram of the elevated line moving device observed from the side of the elevated line, and Figures 4 (a) to (h) ) is a model diagram continuously showing the vibration states of the main body of the moving device and the counterway 1~, FIG. 5 is a vibration curve diagram showing the results of vibration damping simulation for the entire device of the present invention, and FIG. FIGS. 7(a) to ([]) are perspective views showing examples of the sixth embodiment.
FIG. 8 is a perspective view showing an embodiment of the conventional elevated wire moving device. 1... Elevated line moving device, 1a... Moving device main body, 2
a, 2b, 2c=--Support bracket, 3a, 3b. 3C... Traveling wheel, 4a, 4b... Swinging arm, 5
...Elevated line, 6a, 6b, 6c...Wheel drive device,
7゜7'J...Elevated line moving device, 8...Angle detector,
9, 9a... Counterweight, 10... Control device, 11... Drive device, 11a... Servo motor, 1
2... Support shaft, 13... Horizontal surface, 14... Vertical surface,
15...Guide rail.

Claims (1)

[Claims] The main body of the moving device is movably suspended on the elevated wire, the angle detector detects the inclination angle of the main body of the moving device with respect to the vertical plane including the elevated wire, and the counter is arranged to be able to vibrate freely in the direction of inclination of the main body of the moving device. a control device that calculates the weight and the detection signal from the angle detector and outputs a vibration command signal that causes the counterweight to vibrate in a direction that reduces the inertia force acting on the moving device body; and a vibration command signal from the control device. An elevated wire moving device comprising: a drive device that drives a counterweight in a predetermined direction based on the above.