JPH03235605A - On-pole inspection method and device for aerial distribution facility - Google Patents

Abstract

PURPOSE:To inspect distribution lines arranged with predetermined intervals and a plurality of assemblies by operating thrust units, from the ground through radio operation, to run over arrest insulators for the ground wire in the assemblies and to transmit the inspection results back to the ground. CONSTITUTION:Front and rear propeller thrust units are radio controlled on an operating panel in a transmission controller so that they will run with high speed while being suspended from a ground wire GW. An advance button on the operating panel is depressed to advance an inspector A and a rear arm 5 approaches to an arrest insulator D. When a central arm close button on the operating panel is depressed, a central arm support 63 rises to the uppermost part and stops thereat, front and rear hands 68, 69 are raised from horizontal state to vertical state and closed, the ground wire GW is clamped and then the central arm support 63 lowers to an intermediate running state and stops. The central arm 62 thus completes riding over the arrest insulator D.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention utilizes an overhead grounding wire (grounding wire) installed above the distribution line as a countermeasure against lightning damage to connect the overhead distribution line and distribution equipment to the TV from the pole. Inspect with inspection equipment such as a camera, drive over the lashing insulator to the top of the overhead ground wire pole using radio control from the ground, and inspect the inspection results directly or by recording on a monitor TV or VTR on the ground. The present invention relates to a method and device for inspecting overhead power distribution equipment on a pole.

[Conventional technology] Conventionally, inspections of this type of distribution equipment such as distribution lines mainly involved visual inspections from the ground by workers, and vehicles with climbing cages (
Using a bucket truck), the worker rides into the ascending cage,
A method of visual inspection from above has been adopted.

[Problem to be solved by the invention]

Visual inspection by workers from the ground has the drawback that the condition of the upper parts of power distribution equipment such as power distribution lines cannot be visually seen, the condition cannot be determined, and a complete inspection cannot be expected.

In addition, when using a bucket truck, the bucket truck must be moved to each pole to be inspected, and the bucket must be raised and lowered each time, making the operation cumbersome and time-consuming, and requiring workers to ride inside the packet. Therefore, there are drawbacks such as the work being dangerous.

An object of the present invention is to provide a method and apparatus for inspecting overhead power distribution equipment on poles, which eliminates the above-mentioned drawbacks and allows inspection of distribution lines at regular intervals and a plurality of poles installed between them once set.

[Means to solve the problem]

In order to achieve the above object, the present invention aims at reducing weight and increasing strength by rotating a roller bracket with guide rollers for guiding an overhead ground wire attached to the front and rear ends of an aluminum alloy chassis of a metal frame part. A swing device for rotating a freely pivoted front and rear arm from a vertical state to a horizontal state or vice versa at its base, an upper hand plate fixed to the tip of the roller bracket, and a lower part of the roller bracket of the front and rear arm. When the arm is in a horizontal position, the upper and lower hand plates open and the arm is in a vertical position. A central arm strut is provided on the upper center surface of the chassis to be raised and lowered by an elevating device, and front and rear hands having guide rollers similar to those described above are mounted on the front and rear surfaces of the reducer frame at the tip of the arm strut, respectively. A front and rear hand opening/closing device is provided, which is rotatably supported on a shaft, and opens and closes when the front and rear hands similarly turn from horizontal to vertical in the left and right directions, and a braking device is installed on one of the front and rear hands to press it against the overhead ground wire. A monitoring device such as a wireless television camera is fixed to the lower surface of the center of the chassis via a pan head that is rotatable in any direction and consists of a pan and chill device, and a propeller propulsion device is installed on the front and rear lower surfaces of the chassis. Activate the various devices as appropriate by radio control, drive over the lashing insulator to the top of the overhead ground wire column,
The inspection results from the monitoring device will be transmitted to the ground, and the outer surface of the chassis will be insulated from the outside and F for shaping.
It is covered with an external hull made of RP.

(Function) By operating the transmission control device E, the upper and lower hand plates 15.20 of the front and rear arms 45 and the front and rear hands 68,69 of the central arm 62 are all opened, and the inspection device A of the present invention is placed below the overhead ground wire CW. is moved by the guide device of the lifting cage of the bucket truck, etc., and the upper and lower hand plates 15 and 20 of the front and rear arms 4 and 5 and the front and rear hands '68 and 69 of the central arm 62 are closed and clamped by operation of the transmission control device E. The front and rear propeller propulsion devices 157, 157 are wirelessly controlled by the operation panel 173 of the transmission control device E (operation panel 173
(push the forward button rHl) to suspend from the overhead ground wire CW and travel at high speed.

Further, when the inspection device A comes to a position close to the lashing of the insulator to the insulator mounting column C on the upper part of the installation column B of the overhead ground wire GW, the forward button rH of the operation panel 173 is pressed.

When the operator releases his hand and presses the brake [stop] button on the operation panel 174, the drive motors 169, 169 of the propeller propulsion devices 157, 157 are stopped, the braking device 97 is activated, and the inspection device A is stopped.

Next, when the opening of the front arm of the operation panel 173 is pressed, the upper and lower hand plays 1-15, 2i are opened, and the forearm 4 turns from the vertical state to the horizontal state and stops. , turn in the direction of travel.

When the "run" button of the brake on the operation panel 174 is pressed, the braking device 97 is released, and when the forward button, for example "L" is pressed, the drive motor 169 of one propeller propulsion device 157 is pressed.
is activated, the inspection device A moves forward at low speed, and the central arm 62
When the robot approaches the lashing insulator, the "stop" button is pressed in the same manner as described above to stop the inspection device A (the front arm 4 is in progress over the lashing insulator).

Next, when the "close" button on the forearm of the operation panel 173 is pressed, the forearm 4 turns from the horizontal state to the vertical state, and the upper and lower hands 14 and 17 are closed to close the overhead ground wire GW. Pinch and clamp (transfer of the lashing insulator of the forearm 4 is completed).

Furthermore, when the "open" button on the center arm of the operation panel 173 is pressed, the center arm column 63 rises to the top and stops, the front and rear hands 68 and 69 are opened from the vertical position to the horizontal position, and the overhead ground wire Gw is clamped. Release it and descend to the bottom and stop.

Furthermore, press forward rLJi[] on the operation panel 173 to move the inspection device A forward in the same manner as described above, and the rear arm 5 approaches the lashing insulator (the central arm 62 is in the process of getting over the lashing insulator), and then When you press the "Close" button on the center arm of the operation panel 173,
The central arm support 63 is raised to the top and stopped, the front and rear hands 68 and 69 are raised from the horizontal state to the vertical state and closed, the overhead ground wire GW is clamped, and the center arm support 63 is lowered to the intermediate running state. When the inspection device A stops (the central arm 62 has completed crossing over the lashing insulator) and then presses the brake "stop" button on the operation panel 174, the inspection device A stops.

Furthermore, when the "open" button on the rear arm of the operation panel 173 is pressed, the upper and lower hand play) 1520 of the rear arm 5 opens, and the arm 5 turns from the vertical state to the horizontal state and stops, moving in the opposite direction (rearward). ).

When the "run" button for brake release on the operation panel 174 is pressed,
Similarly to the above, the braking device 97 is released, the forward "L" button etc. is pressed, one propeller propulsion device 157 is operated at low speed as necessary, and the rear arm 5 in the horizontal state is lashed to the insulator. When it passes, press the "stop" button on the operation panel 174 to activate the braking device 97 and stop the inspection device A (rear arm 5
Overcoming the lashing insulator is in progress).

Finally, when the "Close" button on the rear arm of the operation panel 173 is pressed, the rear arm 5, which was in the horizontal position, turns to the vertical position, and the upper and lower hand plates 15.20 of the rear arm 5 close, and the Clamp the ground wire GW (completely getting over the lashing insulator of the rear arm 5).

By repeating each of the above steps, the installation of the insulator on the upper part of the column B of the overhead ground wire GW can overcome the lashing of the insulator to the column C one after another.

In addition, when the inspection device A is stopped, etc., the camera-related operation panel 17
``↑ha [↓], [←1, [→]] for pan and chill movements in step 4.
By pressing the button appropriately, the pan head 156 can be rotated in any direction, and the monitoring device 13 such as a wireless television camera can be placed at inspection points such as arresters, switches, transformers, detention insulators, and distribution lines.
8, and the inspection results by the inspection device A can be transmitted to a ground monitor TV or the like for inspection.

Furthermore, except for ready-made products such as motors and parts that require strength and rigidity, lightweight aluminum alloys, plastics, etc. are used, and the front, rear, and center parts of the outer surface of the aluminum alloy frame are insulated and shaped. The front, rear and central external hulls 160 are made of insulation reinforcement material such as FRP.
161°178.179, the inspection device itself can be made stronger and lighter to about 10kg, making it possible to reduce the weight of the overhead ground wire GW.
The deflection is small and does not interfere with the running of inspection device A, and the highly conductive aluminum alloy is not exposed on the surface, making it possible to prevent short circuits and electric shocks due to conductivity. .

[Example] A detailed description will now be given of the accompanying drawings showing an example of carrying out the present invention.

Figure 1 is a perspective view of the main parts of the inspection device A of the present invention when the front arm, rear arm, and center arm are suspended from the overhead ground wire, and Figure 2 is a perspective view of the main parts of the inspection device A of the present invention when the front arm is suspended from the overhead ground wire. Figure 3 is a perspective view of the central arm in progress over the lashing insulator, and Figure 4 is a perspective view of the rear arm in progress over the lashing insulator. FIG.
The figure is an exploded perspective view of the inspection device of the present invention.

1 is an aluminum alloy frame chassis that constitutes the main body of the inspection device A. In order to reduce the weight, a large number of through holes 1a are drilled throughout the sides, and the front and rear surfaces are at a 45° angle with respect to the bottom surface at the front and rear ends. A mounting base 23 is attached thereto, which consists of an inclined surface that becomes narrower as it goes downward. 4 and 5 are the front and rear arms, respectively, and as shown in FIGS. 6 to 8, one is long and the other is short, made of FRP. A roller bracket 9 made of a material is rotatably mounted via a miniature bearing. Reference numeral 10 denotes a guide roller made of engineering plastic with a ■-shaped groove 10a formed around it, and includes the roller bracket 9 and an upper hand plate mounting plate 12 made of the same material fixed to the tip of the bracket 9 via an aluminum alloy bracket stay 9a. The roller bracket 9, bracket stay 9a, guide roller 10, upper hand plate mounting Fi 12, etc. are rotatably supported on a guide roller shaft 11 made of the same material fixed to the upper hand 14 via a miniature bearing 13.13. This is what I did.

15 is an upper hand plate attached to the mounting plate 12;
It is made of Teflon (trade name) and is molded into a downward-pointing piece shape with a claw-shaped tip.

16 is a brass tuning gear fixed to the base of the roller bracket 9, and is rotatable together with the roller bracket 9 around the upper hand rotation bin 8. 17 is a lower hand made of aluminum alloy, and a lower hand rotating bin 1 similar to the upper hand rotating bin 8 is placed below the roller bracket 9.
8, it is rotatably supported via miniature bearings 19 and 19, and its tip is shaped like an upward hook. A lower hand plate 20 made of Teflon is attached to the tip of the lower hand 17, and has a claw-shaped tip. 21 and 22 are Teflon protective plates attached to the upper surface of the aluminum alloy lower hand 17 to insulate the upper surface. Numeral 23 is a tuning gear fixed to the base of the lower hand 17 and having the same module and the same number of teeth as the tuning gear 16, which meshes with the tuning gear 16 and connects the upper hand plate 15 and the lower hand plays 1 and 20. The synchronized gears 16 and 23 are designed to reduce their weight by omitting tooth portions other than the meshing portions. 2
4 is a protrusion provided at the base of the lower hand 17. 2
5 is a U-shaped aluminum alloy arm mounting base fixed to the base end of the arm plate 6.7.
．． The arm plate 6.7 has a mounting surface 26 inclined at 45 degrees with respect to the arm plate 6. 7 and four bolts 27 respectively. 28 is an aluminum alloy arm plate joint fitting, and arm plate 6. is attached with mounting screws 29.29.
7 at regular intervals. 30 is a wire with a case 31, one end of the wire 30 is fixed to an aluminum alloy rond ent 32,
The forked tip of the losotoent 32 and the lower hand 1
A miniature hair ring 33 is inserted into the protrusion 24 of No. 7, and the pin 34 is rotatably supported by a pin 34 made of the same material. 35 is an aluminum alloy wire case mounting heath, which fixes only the case 31 to one end of the wire 30; 36 is a nylon wire holder; the other end of the wire 30 is attached to the mounting surface 2 of the base 25;
6 in the direction of the opening 26a. Reference numeral 38 denotes a rotational reducer unit consisting of a reducer motor mounted on an aluminum alloy central bearing 37 fixed between the mounting bases 2 and 3 on the front and rear surfaces of the chassis I, and an engineering plastic Duracon on its output shaft 38a. (
This is a fixed pinion gear 39 made by (trade name).

40 is a hollow aluminum alloy rotating shaft that fixes the mounting surface 26 of the arm mounting base 25 at one end;
, 3 is rotatably supported parallel to the mounting bases 2 and 3 inclined at 45 degrees via deep earth roller bearings 42 and 42, and the upper bearing 41 made of the same material and the central bearing 37 are fixed above the bearings 42 and 3, respectively. This is what I did. Reference numeral 43 denotes an arm rotation gear made by Duracon, which is fixed to the other end of the rotation shaft 40 with four mounting bolts 44, and is meshed with the pinion gear 39, and is rotated by the rotation of the rotation reducer unit 38. , rear arm 4
, 5 as a turning device 45 for turning from a vertical state to a horizontal state or vice versa as shown in FIG.

Reference numeral 46 denotes a worm wheel made of cast aluminum bronze having a female screw 46a drilled in the shaft hole.A miniature bearing 47 is inserted into the other end of the rotating shaft 40, and the mounting base 2
A flanged miniature bearing 49 is inserted into an aluminum alloy lower bearing 48 fixed below the bearings 47 and 3, and is fitted into both bearings 47 and 49 so as to be rotatably supported. Reference numeral 50 denotes a steel screw shaft, and an enlarged end 51 into which the other end of the cased wire 30 is inserted and fixed.
The other end is a screw 52 that meshes with the female screw 46a of the worm wheel 46, and the wire 30 is pulled or pushed out by the rotation of the worm wheel 46. A wire end stopper is attached to the tip of the screw 52. 53 has been added.

Reference numeral 54 denotes opening/closing motors for the upper and lower hands 1417, which are installed so that respective drive shafts 54a protrude from the mounting bases 2 and 3 to the outside, and 55 indicates the drive shafts 54a.
The drive gear is made of cast aluminum and bronze.

Reference numeral 56 denotes a driven gear, which is made of the same material and has the same number of teeth and meshes with the drive gear 55, and includes a worm screw 60 that meshes with the worm wheel 46 whose both ends are supported in the lower bearing 48 by miniature bearings 57 and 58. It is fixed to a carved steel worm screw shaft 59. As described above, each time the opening/closing motor 54 rotates, the worm screw 60 of the worm screw shaft 59 is rotated via the drive gear 55 of the drive shaft 54a and the driven gear 56, and the worm wheel 46 is rotated from the worm screw 60. As the worm wheel 46 rotates, the screw 52 inserted into the internal screw thread 46a is inserted and removed, and the lower hand 17 is inserted through the screw shaft 50, the wire with case 30, and the rod end 32.
The protrusion 24 at the base of the opening and closing device 61 is made to swing around the lower hand rotation bottle 18, engages the synchronized gear 1623, and opens and closes the lower hand 1417 in synchronization. 62 is a central arm, a reducer lower plate 64a is fixed to the upper end of the center arm support 63 manufactured by Engineering Plus Sennku, and reducer front and rear plates 64b and 64c are respectively fixed to the front and rear of the lower plate 64a,
An aluminum alloy reducer frame 64 is formed by connecting and fixing the upper ends of the center portions of the front and rear plates 64b, 64c with a reducer upper plate 64d, and an aluminum alloy frame 64 protrudes in the front and back direction on the left and right of the middle portions of the front and rear plates 64b, 64c, respectively. A front hand shaft 65 made of steel and a rear shaft 66 made of steel are rotatably supported on a flanged miniature via a flange 6767, and the front and rear plates 64b and 64 of the front and rear hand shafts 65 and 66 are respectively 64c, a miniature bearing 73 is provided with a front guide roller 70 having a slightly smaller diameter and a rear guide roller 71 having a slightly larger diameter, each having the same ■-shaped grooves 70a and 71a as described above on the outer periphery at the tips thereof.
．． The front and rear hands 68 and 69 made of aluminum alloy are fixed to each other through the front and rear guide roller shafts 72 and 72a made of aluminum alloy and steel so as to be rotatable through the guide rollers 73, respectively.
Worm wheels 74 and 74 made of Duracon are fixed to the center portions of the front and rear hand shafts 65 and 66, respectively, and a worm screw 76 that meshes with the worm wheels 74 and 74.
An aluminum alloy worm screw shaft 75 engraved with is rotatably supported on the reducer lower plate 64a and the same upper plate 64d via miniature bearings 77, 77, and the aluminum alloy worm screw shaft 75 is fixed to the worm screw shaft 75. Attach the worm wheel 78 to the foot 1-64c after the reducer
A brass pinion gear 80 is fixed to the drive shaft 79a of the hand opening/closing motor 79 attached to the pinion gear.
An intermediate gear 81 made of the same material that meshes with 80 is mounted on miniature bearings 84.8 to the front and rear plates 64b and 64c of the reducer.
5 is inserted and engaged with a worm screw 83 carved on a copper-iron shaft 82 which is pivotally supported, and the worm screw 83 is rotated by the rotation of the opening/closing motor 79 via a pinion gear 80 and an intermediate gear 81. 83 rotates the worm screw 76 via the worm wheel 78.
6 rotates the worm wheels 74, 74 in synchronization and in opposite directions, and the base rotates with the front and rear hand shafts 65, 6.
The front and rear hand opening/closing device 86 opens and closes the dogleg-shaped front and rear hands 68 and 69 fixed to the front and rear hands 68 and 69, respectively. Reference numeral 87 is an aluminum alloy brake body, and a miniature bearing 89 is mounted in the center part on the upper side of the front hand 68 of the rear hand 69.
is rotatably supported by a steel brake shaft 88 as a fulcrum shaft, and an aluminum alloy brake cylinder mount 90 is fixed below the brake shaft 88, and the brake cylinder mounted on the mount 90 is used for brake operation. The tip of the piston rod 92 of the hydraulic cylinder 91 and one end of the brake body 87 are rotatably supported, and the other end of the brake body 87 is composed of a rubber cushion that presses down the overhead ground wire CW from above to exert a braking effect. A hydraulic pressure generating cylinder 94 is installed in the chassis 1 and has a piston area that is 1/3 of the piston area of the D hydraulic cylinder 91. 95 is slid by the movement of a cam attached to a brake motor 96 consisting of a motor with a speed reducer, and the hydraulic oil in the hydraulic cylinder 94 is pumped and supplied to the brake operating hydraulic cylinder 91 to control the brake body 87. This is a braking device 97 that lifts one end and presses a brake shoe 93 at the other end of the brake body 87 from above against the overhead ground wire GW. Reference numeral 98 is an aluminum alloy limit cam, which is fixed to the steel rear hand shaft 66 and is connected to the front and rear hand 6.
The rear/sent shaft 66 when 869 opens and closes in synchrony.
A hand open detection limit switch 99 and a node close detection limit switch 100 are installed at positions that contact the cam 98, which rotates together, to detect the opening and closing of the front and rear hands.Lot is the central arm. Pillar 63
102 is a prismatic aluminum alloy slide case into which the arm support 63 is inserted and made slidable; A steel pinion shaft 104 for vertical sliding is inserted into a miniature bearing 108, 109, and a pinion gear 105 is carved on one side of the slide case 102 to engage with the rack lot. It is pivotally supported by bearings 106 and 107 via. lIO is a Duracon worm wheel into which a brass bunsch is inserted, and is fixed to one end of the binion shaft 104, and an aluminum alloy reducer case 1 is attached to the other side of the slide case 102 to which the worm wheel 110 is fixed.
11 is fixed, a motor 112 for lifting and lowering the central arm support is installed in the reducer case 111, and the motor 11 for lifting and lowering is installed.
A worm screw 113 made of aluminum bronze casting is fixed to the drive shaft 112a of No. 2, a worm wheel 114 made of the same material that meshes with the worm screw 113 is fixed, and a worm screw 116 that meshes with the worm wheel 110 is carved. Made of worm screw shaft 1
15 is pivotally supported by an upper bearing 117 and a lower bearing 118 made of the same material of the reducer case 111 via miniature bearings 119 and 120, respectively, and the worm screw 113 is rotated by rotating the motor 112 for raising and lowering the central arm column. through worm wheel 1
14, the rotation of the worm wheel 114 causes the worm screw 116 to rotate via the worm screw shaft 115, and the rotation of the worm screw 116 causes the worm wheel 110 to rotate the pinion gear 105 via the sliding pinion shaft 104. ,
The rotation of the pinion gear 105 causes the pinion gear to
This is a display device 121 for the central arm 62 that raises and lowers the rack 101 that engages with the rack 105 and raises and lowers the central arm main pillar 63 into the slide case 102. At this time, when releasing the clamp of the overhead ground wire GW from the central arm 62, the uppermost position of the central arm main column 63 that lifts the guide rollers 70, 71 of the front and rear hands 68, 69 above the overhead ground wire GW, respectively. front and rear)”68.69
A limit switch ( (not shown). Reference numeral 122 denotes a flange formed at the upper end of the slide case 102, which is bolted to the lower surface of the central recess of the chassis 1. Reference numeral 123 is an FRP panther turbo mounting plate, which is fixed to the rear of the lower center of chassis l. 124 is an FRP upper plate,
Sight plates 125 and 126 made of the same material are suspended and fixed on both sides, and a pan shaft 127 made of aluminum alloy is inserted into a hole 124a drilled slightly toward the center of the upper plate 124.
, the flange 12B of the pan shaft 127 is attached to the upper plate 1.
24, and the flange 128 and the Duracon pan gear 129 are connected to the upper plate 124 and the engineering plastic gear spacer 13.
0 with a screw, the pan shaft 127 is inserted into the aluminum alloy bearing case 131 fixed in the center of the pan turbo mounting Fi 123 through a hair ring 132, and the tip of the pan shaft 127 is fixed with a locking stopper made of the same material. Fix it with the nut 133 and attach the pan shaft 127 to the pan shaft mounting plate 12.
3. It is rotatable. Reference numeral 134 designates a pan-servo motor, and a pan-binion 135 made of Duracon is fixed to an example of the pan-servo mounting plate 123 so as to mesh with a pan gear 129, which is fixed to a rotating shaft 134a projecting downward. 136 is a camera mounting base made of FRP, on which a small 8 mm video camera is mounted as a monitoring device 138 in order to reduce the weight of the inspection device A using camera mounting screws 137, and chill shaft mounting side plates 139 are installed on both sides of the base 136. , 140 are fixed, and the aluminum alloy flanged chill rotating shafts 141, 142 are attached to the mounting side plates 139, 140 on the horizontal axis passing through the center of gravity of the monitoring device 13B.
The flange 143°1 is protruded with 3°144 inside.
44 and mounting side plates 139, 140 are respectively fixed, and the chill rotation shafts 141, 142 protruding from the outside of the mounting side plates 139, 140 are connected to the lower ends of the plates 125, 126 via miniature bearings 145, 145. It is rotatably supported. Reference numeral 146 denotes a worm wheel made of Duracon, which is fixed to the extension of one of the chill rotation shafts 141, and aluminum alloy bearings 147 and 14 fixed to the side plate 125 above the chill rotation shaft 141.
7, a worm screw 150 is carved into a screw shaft 149 made of the same material that is rotatably supported via miniature bearings 148, 148, and the worm wheel 14
It is designed to mesh with 6. A chill servo motor 151 has an aluminum alloy chill servo mounting plate 152 fixedly attached to an example of the side plate 125, and a rotating shaft 151a and the screw shaft 149 are connected by a coupling 153. As a result of the above, each time the pan turbo motor 134 rotates, the pan pinion 1
35, the pan gear 129 rotates, and the pan gear 1
Upper plate 124 and side plate 1 fixed to 29
25, 126 and the chill shaft mounting side plate 1 which is pivotally supported on the site plate 125, 126 by the chill rotation shaft 141° 142.
39, 140 and camera mounting base 1 fixed to its lower end
36 is rotated in the left-right direction, and a monitoring device 138 fixed to the camera mounting base 136 is used as a pan device 154 that is rotated in the left-right direction. Further, as the chill servo motor 151 rotates, the screw shaft 149 rotates via the camp ring 153, and the rotation of the screw shaft 149 rotates the worm wheel 146.
46 is rotated, the camera mounting base 136 is vertically rotated via the chill shaft mounting side Fi 139, 140, and the monitoring device 138 fixed to the camera mounting base 136 is rotated up and down. The chill device 155 rotates in the direction shown in FIG. Reference numeral 156 denotes a pan head that combines the pan device 154 and the chill device 155 and rotates in any direction. 157 is a propeller propulsion device as a driving device, and front and rear external hulls 160, 161 made of FRP are fixed to the front and rear of the chassis 1 with screws 159 via a plurality of connecting metal fittings 158, respectively, for insulation and shaping.
Front and rear external hulls 160 and 16 are provided on the front and rear outer and lower surfaces of the
1 and the outer hull 16 via aluminum alloy spacers 162 and 163 on the upper and lower sides of the inner surfaces of the chassis L, respectively.
FRP cover mounting bracket 1 on the outer surface of 0.161
65, 166 fixed and FRP propeller protection cover 1
64 and lower spacer 16 between chassis 1
3,163 is divided into two parts, each of which is fixed with a drive motor mounting column 168 for suspending a drive motor mounting part 167 made of FRP.
9 is attached, a deceleration unit 170 is connected to the motor 169, and a propulsion propeller 171 is fixed to the output shaft 170a of the deceleration unit 170 so as to rotate within the propeller protection cover 164. 165a, 166a
is a horizontal roller that is fixed below the cover mounting brackets 165, 166 and rotatably protrudes from both the front and rear sides of the propeller protection cover 164, and is used to prevent contact between the insulator mounting column C and the inspection device A due to shaking due to wind, etc. This is to prevent 17
2 is a known receiving device built into the center of chassis 1;
It operates the inspection apparatus A arranged as shown in FIG. 25 and receives signals issued from a known ground transmission control apparatus E having camera-related operation panels 173 and 174. 175
is a known contact circuit, and the rotation device 45 of the front and rear arms 4 and 5
Rotating reducer unit 38, upper and lower hands 14.17
opening/closing motor 54 of the opening/closing device 61, hand opening/closing motor 79 of the front/back hand opening/closing device 86 of the central arm 62,
A braking motor 96 of a braking device 97, a motor 112 for lifting and lowering the central arm main column of the central arm lifting device 121, and a pan head 15 to which an 8 mm video camera is attached as a monitoring device 13B.
6, the pan turbo motor 134 of the van mount 9154, the chill servo motor 151.1 of the chill device 155, the drive motor 169 of the rear propeller propulsion device 157, the power switch of the video camera 138, the electric zoom changeover switch, etc. Based on the signals from the receiving device 172 that receives signals from the operation-related operation panel 173 and camera-related operation panel 174 of the ground transmission control device E, input voltage is applied to a motor, etc. that moves in accordance with the given signal. . A known transmitting device 176 is connected to a video camera serving as the monitoring device 138 and transmits inspection results to a monitor camera (not shown) on the ground. Reference numeral 177 is a rechargeable secondary dry battery that supplies power to all motors except the video camera (with built-in dedicated battery), the receiving device 172, the contact circuit 175, and the transmitting device 176. Reference numerals 178 and 179 denote central external hulls fixed to the outer surface of the central part of the chassis l, which are connected to the front and rear external hulls 160.1.
It is similar to 61. In addition, the "Solution" and "Return" buttons on the driving-related and camera-related operation panels 173 and 174 are interlock release and return buttons, and the operation of each arm that is about to be opened is stopped when all other arms are in the running state (closed). This function releases and resets an interlock circuit (not shown) that is enabled only when the The interlock can be released and reset only when the "Return" button is pressed at the same time.
This is to prevent erroneous operation when touching one of the "solution" and "return" buttons in item 4.

When using this, for example, a guide device (not shown) having a sliding arm is attached to the bucket of a packet car, the inspection device A is placed on the sliding arm, and the packet is operated to check the overhead ground wire GW. Guide the inspection device A to a predetermined position using the slide arm of the guide device, press the “release” buttons on both operation panels 173 and 174 at the same time, release the interlock, and move the inspection device A to the front, rear and center. Open all the arms 4, 5.62, and then open both operation panels 17.
3, 174 are pressed at the same time to return the intercock, and all arms 4, 5.62 are clamped by sandwiching the overhead ground wire GW. Next, press rH or "L" of the "reverse" button on the driving-related operation panel 173 to select high speed (drives the front and rear propeller propulsion devices 157) or low speed (drives either the front or rear propeller propulsion device 157). , the front and rear and central arms 4 are
, 5.62 and guide rollers 8.8, 70.71 to move it forward on the overhead ground line GW. In some cases, “backwards”
Press the "rH" and "L" buttons, and the front and rear propeller propulsion device 1
It is also possible to reverse the driving motor 169 of 57 to cause the inspection device A to travel in reverse. During the forward movement, visually observing from the ground that the forearm 4 is close to the insulator lashing to the column C, release the "forward" button, and press the "brake" button on the camera-related operation panel 174. Press the "stop" button to stop the propulsion propeller 171 of the front and rear propeller propulsion device 157, rotate the brake motor 96 of the brake device 97, and slide the piston rod 95 to push it in by the movement of the cam to generate hydraulic pressure. The hydraulic fluid in the cylinder 94 is forced and supplied to the brake operation hydraulic cylinder 91, and the brake shoe 93 at the other end of the brake body 87 is pressed against the overhead ground wire GW to stop the inspection device A. A detecting limit switch (not shown) stops the brake motor 96 in that state. Next, the "open" button on the front arm of the cough operation panel 173 is pressed to operate the opening/closing motor 54 of the opening/closing device 61 of the front arm 4, and the worm screw 60 is opened via the drive gear 55, driven gear 56, and worm screw shaft 59. The wire 30 fixed to the enlarged end 511 of the screw shaft 50 is rotated, and the worm wheel 46 that engages with the worm screw 60 is rotated, and the screw thread 52 that engages with the internal screw thread 46a of the worm wheel 46 is pushed upward. The tuning gears 16.2 push up the other end, push up the protrusion 24 at the base of the lower hand 17 fixed to one end of the wire 30, and mesh with each other.
3, the upper hand 14 and the lower hand I'' 17 are opened in synchronism to open the front arm 4, and the rotational reduction unit 38 is subsequently operated, and the pinion gear 39 is opened.
Then, the rotating shaft 40 is rotated via the arm rotation gear 43, and the forearm 4 fixed to one end of the rotating shaft 40 is turned from a vertical state to a horizontal state and directed in the traveling direction, and the clamp of the overhead ground wire GW is tightened. unlock. Next, press the "Run" button for releasing the brake on the operation panel 174, rotate the brake motor 96 of the brake device 97 in the opposite direction, and slide the piston rod 95 out to remove it from the hydraulic pressure generating cylinder. The hydraulic oil in the brake operation hydraulic cylinder 91 is sucked into the brake shoe 9 at the other end of the brake body 87.
3 away from the overhead ground wire GW, the brake on the inspection device is released, and the brake motor 96 is stopped in that state by a limit switch (not shown) that detects when the brake is released.

Next, press the "L" button for forward movement on the operation panel 173, activate one propeller propulsion device 157, and move the inspection device A at low speed to pass under the lashing insulator with the forearm 4 in a horizontal state ( (while the front arm 4 is in progress of crossing over the lashing insulator), visually observing that the central arm 62 approaches the lashing insulator,
As above, press the brake "stop" button on the operation panel 174,
Stop inspection device A. Next, press the "close" button on the forearm of the operation panel 173, rotate the forearm 4 from the horizontal state to the vertical state in the opposite direction to the above operation, and close the forearm 4,
Clamp the overhead ground wire GW (completely crossing over the lashing insulator of the forearm 4). Next, press the "Open" button on the central arm of the operation panel 173, and press the central arm main column lifting motor 112.
is operated to rotate the worm wheel 110 fixed to one end of the pinion shaft 104 via the worm screw 113, worm wheel 114, worm screw shaft 115, and worm screw 116, and the rotation of the pinion gear 105 of the pinion shaft 104 is The rack 10 of the central arm post 63 meshes with the pinion gear 105
1, the central arm support 63, which was in the center running position, is raised to the top, and stopped by a limit switch that detects the top position, and the front and rear hands 68.6
The guide rollers 70 and 71 of No. 9 are raised above the overhead ground line GW. Next, the hand opening/closing motor 79 operates to rotate the worm screw 83 via the pinion gear 80, the intermediate gear 81, and the worm screw shaft 82, and the rotation is transferred from the worm wheel 78 meshing with the worm screw 83 to the worm screw shaft 75. through the worm screw 76, and the front and rear hand shafts 65.
The worm wheels 7474 fixed to the worm wheels 66 are rotated in opposite directions to the vertical position, the front and rear hands 68 and 69 are opened to the horizontal position, the overhead ground wire GW is unclamped, and at the same time the central arm support 63 is placed in the uppermost position. A limit switch for detecting the upper position lowers the front and rear hands 68, 69 to the lowest position while keeping them in a horizontal state, and a limit switch for detecting the lowest position stops the robot. Next, as above, the operation panel 17
Press the "L" button for forward movement in step 3 to move forward at low speed, move the central arm support 63 to the lowest position, and pass under the lashing insulator with the front and rear hands 68 and 69 in a horizontal state (the lashing of the central arm 62 (while the insulator is being crossed over), and the rear arm 5 is brought close to the lashing insulator. Next, press the "close" button on the center arm of the operation panel 173, and while keeping the front and rear hands 68 and 69 in a horizontal position, move the center arm support 63 at the lowest position.
The pinion gear 105 is rotated by the rack 101 in the same manner as described above, raised to the uppermost position and stopped, and at the same time, the hand opening/closing motor 79 is reversed to the rotational direction, and the front and rear hands 68, 69 are changed from the horizontal state to the vertical state and closed. Then, clamp the overhead ground wire GW, lower it to the intermediate running position and stop (the central arm 62 has completed overcoming the lashing insulator), then press the "stop" button of the brake on the operation panel 174, and do the same as above. The brake motor 96 is activated to stop the inspection device A. Next, press the “open” button on the rear arm of the operation panel 173,
The opening/closing motor 54 of the opening/closing device 61 of the rear arm 5 is activated to open the rear arm 5 in the same manner as described above, and the rotation reduction unit 3 is then activated to move the rear arm 5 from the vertical position to the horizontal position in the same manner as described above. Turn around to face the opposite direction and release the clamp on the overhead ground wire CW. Next, press the "run" button of the brake on the operation panel 174 to reversely rotate the brake motor 96 of the brake device 97, release the brake of the inspection device A in the same manner as above, and move the operation panel 173 forward as necessary. r Press the LJ button, and as above, move the inspection device A at low speed to pass the lower blade of the lashing insulator with the rear arm in a horizontal position (the rear arm 5 is in the process of passing over the lashing insulator), and operate. Push the "stop" button on the brake on the panel 174 to stop the inspection device A in the same way as above, press the "close" button on the rear arm of the operation panel 173, and turn the rear arm 5 from the horizontal state to the vertical state in the same way as above. At the same time, the rear arm 5 is closed, and the overhead ground wire GW is clamped (the rear arm 5 has completely crossed over the lashing insulator). When the rear arm 5 has completed crossing over the lashing insulator, press the forward rH button on the operation panel 173 to move the inspection device A at high speed toward the next lashing insulator, and repeat the above operation. be.

In addition, when the inspection device is stopped, the "←j" button for panning on the camera-related operation panel 174 can be used when driving at low speeds.

→Press the j button to operate the pan turbo motor 134 of the pan device 154 of the platform 156, rotate the upper plate 124 and side plate 125 degrees 126 in the left and right direction via the pan pinion 135 and pan gear 129, and rotate the site plate. Chill shaft mounting side plates 139, 14 supported by flanged chill rotation shafts 141° and 142 on 1, 125 and 126
The monitoring device 138 fixed to the camera mounting base 136 attached to the lower end of 0 with a camera mounting screw 137 is rotated within a range of, for example, 265° to the left and 85° to the right, with the forward direction Oo, and the operation panel 174 is tilted. Press the "↑" and "↓" buttons to operate the chill servo motor 151 of the chill device 155 on the platform 156, and the worm screw 150 rotates via the coupling 153. A worm wheel 146 fixed to a protrusion from one of the sight plates 125 of a flanged chill rotating shaft 141, 142 fixed to a shaft mounting side plate 139140 is rotated, and a camera mounting base 136 is fixed to the lower end of the chill shaft mounting side plate 139. 140 in the vertical direction, and the monitoring device 138 is rotated within a range of, for example, 15° upward and 85° downward, with the horizontal direction being Oo,
By appropriately operating the pan device 154 and the chill device 155, the monitoring device 138 can be moved in any direction of the pole-mounted inspection location.
The inspection results are transmitted to a monitor television on the ground using a transmitting device 176 for confirmation.

In particular, when climbing over the lashing insulator of the central arm 62, there is a possibility that the monitoring device 138 of the 8mm video camera will come into contact with the insulator mounting column C when the panning operation is performed. At 137, an aluminum alloy camera mounting jig 180 is fixed, and a camera fixed position bin 181 is protruded from the jig 180, and when the monitoring device 138 comes to a fixed position where there is no risk of contact with the insulator mounting column C, GO
It is also possible to send a double signal.

Note that the "Electronic" button on the camera-related control panel 174 is connected to the monitoring device 1.
This is used to turn on and off the power of the 38 (8mm video camera), and each time the ``electric'' button is pressed, the power is switched on and off. In addition, the H/L J button is for switching the rotation speed of the pan device 154 and chill device 155, and selects high or low speed of pan and chill. It switches between high and low speed each time you press it.

Furthermore, the zoom rTL and rWJ buttons select between two types of zoom: telephoto end (longest focal length) and wide end (shortest focal length), and zoom operation is only possible when the "TJ" or "W" button is pressed. becomes.

[Effects of the Invention] The present invention has the above configuration, and by using the method and device of the present invention for pole-mounted inspection of overhead power distribution equipment, a packet vehicle is moved to each pole B, and packet cars are inspected each time. By attaching it at a certain angle without lifting or lowering it, it becomes possible to inspect power distribution lines and multiple poles at regular intervals, making the work easier and faster, and reducing the number of times workers have to enter the packet and work at heights. This also significantly reduces various risks associated with working at heights, making work safer.

[Brief explanation of drawings]

The attached drawings show an example of the implementation of the present invention, and FIG. 1 is a perspective view of the main parts of the inspection device when it is running on an overhead ground line, and FIGS.
The figure is an enlarged perspective view of the main parts of each arm in progress over the lashing insulator. Figure 2 is of the front arm, Figure 3 is of the central arm, Figure 4 is of the rear arm, and Figure 5 is of the rear arm. is an exploded perspective view of the inspection device, Figure 6 is a perspective view of the main parts of the front and rear arms, Figure 7 is a side view of the front and rear arms partially cut away, Figure 8 is a front view of the same, and Figure 9 is a diagram of the front and rear arms. A side view of the main part showing the attachment part to the chassis, FIG. 10 is a view in the direction of the X arrow in FIG. 9, FIG. 11 is a view in the direction of the Y arrow in FIG. 1st
Figures 3 to 19 show the central arm; Figure 13 is a perspective view of the main part, Figure 14 is a front view of the main part partially cut away, and Figure 15 is a front view of the main part.
The figure is a right side view of the main part, Fig. 16 is a bottom view of the main part with a partial cross section of the reducer frame with the front and rear hands omitted, Fig. 17 is a bottom view of the central arm support, and Fig. 18 is the central arm lifting device. 19 is a side view of the main part of the
Figures 0 to 22 are of the pan head; Figure 20 is a front view, Figure 21 is a left side view, Figure 22 is a bottom view, Figure 23, and Figure 2.
Figure 4 shows the propeller propulsion system, Figure 23 is the front view,
FIG. 24 is a side view, and FIG. 25 is a schematic plan view of the transmission control device. l・-Chassis 2.3...Mounting base, 4-front arm, 5~=-rear arm, 6,7...arm plate, 8-゛upper hand rotating bin, 9-roller bracket, 9a-bracket Stay 10・-Guide roller 10a・-■ shaped groove, 11-Kite roller shaft, I2-
Upper hand mounting plate, L3 miniature bearing, 14-
Upper hand, 15... Upper hand plate, 16... Tuning gear, 17... Lower hand, ■8- Lower hand rotation bottle, 19 Miniature bearing, 20- Lower hand plate, 2122... Protection Plate, 23--Synchronization gear 24--Protrusion, 25-Arm mounting base, 26...
Mounting surface, 26a...opening, 27...bolt, 28.
-Arm plate joint fitting, 29-, screw, 30
-...Wire with case 31...Case, 32...
...Rod end, 33...-Miniature bearing,
34...Bin, 35...Wire case mounting heather,
36--Wire holder, 37--Central bearing, 38
Rotating reducer unit, 38a--output shaft, 39 binion gear 40-rotating shaft, 41--) [bearing, 42
-7 Ball and roller bearing, 43... Gear for arm rotation 44
...Mounting bolt, 45-...Swivel device, 46-...Worm wheel, 46a...Screw female thread, 47-
・・Miniature bearing, 48-・・Lower bearing, 49
...Miniature bearing with flange, 50-...
Screw screw shaft, 51--expanded end, 52--screw screw, 53--wire end stopper, 54--
・Opening/closing motor, 54a... Drive shaft, 55... Drive gear 56-- Driven gear 5758-... Miniature bearing, 59... Worm screw shaft, 60-
Worm screw, 61... Opening/closing device, 62-Central arm, 63-Central arm support, 64-Reduction gear frame, 6
4a... Lower plate, 64b... Front plate, 64
c... rear plate, 64 b-upper plate, 65.
Front hand shaft, 66-- Rear hand shaft, 67-- Miniature bearing with flange, 68... Front hand, 6
9-... Rear hand, 70... Front guide roller 70a
-・■-shaped groove, 71-・Rear guide roller 11a・-
・V-shaped groove, 72-...Front guide roller shaft, 72a-
... Rear guide roller shaft, 73 - Miniature bearing, 74 - Worm wheel, 75 - Worm screw shaft, 76 - Worm screw, 77...
・Miniature bearing, 78 worm wheel, 79
...Hand opening/closing motor, 79a...Drive shaft, 8
0- Pinion gear-81... Intermediate gear 82-...
Shaft, 83-・Worm screw, 84.85-・Miniature bearing, 86-・Front and rear hand opening/closing device, 8
7--Brake body, 8th--Brake shaft, 89--
Miniature bearing, 90・Brake cylinder mounting base, 91-・Hydraulic cylinder for brake operation, 92・Piston port, 93 Brake shoe 94・・Cylinder for hydraulic pressure generation 95-・Piston rod, 96=
- Braking motor 97 - Braking device, 98 - Limit cam, 99 - Hand closed detection limit switch, 10
0 - Hand closed detection limit switch, 101 - Rack, 102 - Slide case, 103 Nylon bush, 104 Binion shaft, 105 Pinion gear 1
06,107--bearing, 108.109--miniature hair ring, 110-worm wheel, 111...
Freezer case, 112- Central arm main column lifting motor 112a- Drive shaft, 113...- Worm screw, 114- Worm wheel, 115 Worm screw shaft, 116 Worm screw, 117...'
Upper bearing, 118--Lower bearing, 119, 120--
Miniature hair ring, 121-・Central arm lifting device, 122-Flange, 123-Panther support mounting plate, 12
4--Top plate, 124a-hole, 125.126
・-Side plate, 127--Pan shaft, 128-Flange, 129--Pan gear 130--Gear spacer 131-Hair ring case, 132-Bearing, 133-Stopper nand with lock, 13
4...Panther turbo motor, 134a...Rotating shaft, 1
35-panbinion, 136-camera mounting base, 13
7. Camera installation screw, 138 monitoring device, 139,140
- Chill shaft mounting side plate, 141.142 - Chill rotating shaft with flange, 143° 144 - Flange, 145...
-Miniature bearing, 146...worm wheel, 147...bearing, 148--miniature hair ring, 149 screw shaft, 150--worm screw, 151--chill servo motor, 151a--rotating shaft, 152--・Chill servo mounting plate, 153-coupling, 154-pan device, 155...chill device, 15
6 - Pan head, 157 Propeller propulsion device, 158 - Connection hardware, 159 = - Screws, 160, 161 Front and rear external hulls, 162. 163 - Spacer 164 - Propeller protection cover 165, 166 - Cover Mounting bracket I・, 165a, 166a・-Horizontal roller-167・・
- Drive motor mounting part, 168 - Drive motor mounting column, 169 - - Drive motor 170 - Reduction unit, 170a output shaft, 171 - Propulsion propeller, 17
2-- Receiving device, 173- Operation related operation panel, 174-
Camera-related operation panel, 175--Contact circuit, 176-Transmitting device, 177-Secondary battery, 178, 179--Central external hull, 180--Camera mounting jig, 181--Camera fixed position bin, A ...Inspection device, B=...Pole installation, C-
One-piece mounting pole, D--lashing insulator, E--transmission control device, CW--overhead ground wire. Figure 20

Claims (1)

[Scope of Claims] 1. An inspection device is freely suspended from an overhead ground wire as a countermeasure against lightning damage, and is driven by radio control from the ground over the lashing insulator to the pole of the overhead ground wire; A method for inspecting overhead power distribution equipment on a pole, characterized by transmitting inspection results from an inspection device to the ground. 2. Suspend the inspection device from the overhead ground wire using three arms (front, rear, and center arms), set the drive device, monitoring device such as a wireless television camera, and braking device on the inspection device, and set it on the ground. The drive device is operated by radio control from the drive device, and the inspection device is driven along the overhead ground wire between the mounting columns by the propulsive force of the drive device, and when each arm approaches the lashing insulator between the overhead ground wire and the mounting pole. , stop the inspection device with a braking device,
The arm is removed from the overhead ground wire, and when each arm passes through the lashing insulator, the arm pinches the overhead ground wire, and the monitoring device of the inspection device itself is directed to each inspection point by radio control.
A method for inspecting overhead power distribution equipment on a pole, characterized by transmitting the status of the power distribution equipment to a monitor television on the ground. 3. At the front and rear ends of the lightweight metal chassis of the main body of the inspection device, front and rear arms equipped with swivel devices that rotate from vertical to horizontal or from horizontal to vertical are pivotally supported. A roller bracket with a running guide roller attached thereto is rotatably supported, an upper hand plate is fixed to the tip of the roller bracket to form an upper hand, and an upper hand plate is attached to the front and rear arms below the roller bracket. A lower hand to which a lower hand plate that engages with the lower hand plate is fixed is pivotally supported so as to be freely openable and closable in synchronization with the upper hand, and the upper and lower hands rotate the front and rear arms from a vertical to a horizontal state and vice versa by the rotation device. The front and rear arms are equipped with opening/closing devices that open and close in synchronization with the movement of the vehicle, a central arm main pillar is movable up and down in the center of the chassis by a lifting device, a reducer frame is fixed to the tip of the arm main pillar, and The front and rear hands, each having a guide roller similar to the above-mentioned shaft attached to the front end of the reducer frame, are rotatably supported on the front and rear surfaces of the reducer frame, and the front and rear hands open and close from vertical to horizontal and vice versa in synchronization. A braking device is installed on one of the front and rear hands to press the brake shoe against the overhead ground wire, and a panning device and a chilling device are attached to the lower surface of the center of the chassis. A monitoring device such as a wireless television camera is installed, a propeller propulsion device is attached as a drive device to the front and rear lower surfaces of the chassis, and a receiving device inside the chassis receives radio waves from a transmission control device on the ground. A contact circuit for operating the various devices and a transmitting device for transmitting the inspection results from the monitoring device to the ground are built in, and an external hull is attached to insulate the outer surface of the chassis from the outside and to shape the inspection device body. A pole-mounted inspection device for overhead power distribution equipment.