JP2012257372A - Self-propelled electric wire inspection device - Google Patents

Self-propelled electric wire inspection device Download PDF

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JP2012257372A
JP2012257372A JP2011128416A JP2011128416A JP2012257372A JP 2012257372 A JP2012257372 A JP 2012257372A JP 2011128416 A JP2011128416 A JP 2011128416A JP 2011128416 A JP2011128416 A JP 2011128416A JP 2012257372 A JP2012257372 A JP 2012257372A
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electric wire
self
inspection device
obstacle
pulley
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Shigeo Hirose
茂男 広瀬
Fumihiko Fukushima
文彦 福島
Debenest Paulo
デベネスト パウロ
Guarnieri Michele
グアラニエリ ミケレ
Kiyoshi Tamura
清 田村
Yoshiyuki Yushita
良之 湯下
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Kansai Electric Power Co Inc
Tokyo Institute of Technology NUC
Hibot KK
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Kansai Electric Power Co Inc
Tokyo Institute of Technology NUC
Hibot KK
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Priority to JP2011128416A priority Critical patent/JP2012257372A/en
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Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled electric wire inspection device capable of easily override an obstacle provided on an electric wire with self-propelling force.SOLUTION: The self-propelled electric wire inspection device, comprising a drum-shaped body of rotation 12, inspects a state of an electric wire A while sliding on an electric wire having an obstacle by rotation of the body of rotation 12 by self-propelling force while engaging an annular groove part 14 of the body of rotation 12 with the electric wire A. A periphery of the body of rotation 12 is provided with a grip member 15 for transmitting, from the body of rotation 12 to an obstacle, self-propelling force necessary for overriding an obstacle 20.

Description

本発明は、架空配設された電線（例えば送電線）上を滑走しながら、電線の状態を点検する自走式の電線点検装置に関する。   The present invention relates to a self-propelled electric wire inspection device that inspects the state of an electric wire while sliding on an aerial wire (for example, a power transmission line).

送電線などの架空配設された電線は、経年劣化により外部損傷や内部腐食が生じるため、定期的に点検する必要がある。従来、このような送電線の点検は、人が送電線に乗って行っていた。しかし、人による点検作業は、危険を伴う上、送電を一時ストップする必要があるため作業効率が悪い。このような事情から、送電線上を走行しながら送電線の状態を点検する自走式の電線点検装置が開発されている（例えば特許文献１）。特許文献１の電線点検装置は、架空電線上に乗る回転体（プーリ）と、電線の損傷等の異常を検出する電線点検部とを有している。この電線点検装置は、鉄塔から電線を走行して、電線上を走行しつつ電線の点検を行い、点検が終了すると再び鉄塔へ戻る。このとき、電線点検装置は自動的にバランスを調整しながら電線上を走行する。   Electric cables installed overhead such as power transmission lines are subject to external damage and internal corrosion due to aging, so it is necessary to inspect them regularly. Conventionally, such inspection of power transmission lines has been carried out by people on the power transmission lines. However, the inspection work by humans is dangerous and the work efficiency is poor because it is necessary to temporarily stop power transmission. Under such circumstances, a self-propelled electric wire inspection device that inspects the state of the transmission line while traveling on the transmission line has been developed (for example, Patent Document 1). The electric wire inspection device disclosed in Patent Document 1 includes a rotating body (pulley) that rides on an overhead electric wire, and an electric wire inspection unit that detects abnormalities such as damage to the electric wire. This electric wire inspection apparatus runs an electric wire from a steel tower, checks the electric wire while running on the electric wire, and returns to the steel tower again when the inspection is completed. At this time, the wire inspection device travels on the wire while automatically adjusting the balance.

特許文献１の電線点検装置は、１相あたり４本の電線が設置されている送電線を点検するものである。すなわち、この送電線は、水平方向に平行に２本配置された一対の電線が、上下に配設されたものである。電線点検装置は、水平方向に配置された一対の電線の幅方向に延びる２本のプーリ回転軸と、各プーリ回転軸に２個ずつ取り付けられたプーリと、２本のプーリ回転軸を連結する連結アームとを有する。プーリはプーリ回転軸に回転自在に取り付けられ、プーリ回転軸上で、上方の２本の電線間の幅と同じ分だけ幅方向に離隔して配される。各プーリ回転軸は、連結軸を介して連結アームの両端に取り付けられる。連結軸には、夫々モータが内蔵され、このモータを回転駆動することで、連結軸を中心に各プーリ回転軸を回転させることができる。   The electric wire inspection device of Patent Literature 1 is for inspecting a power transmission line in which four electric wires are installed per phase. That is, this power transmission line is a pair of electric wires arranged in parallel in the horizontal direction and arranged vertically. The electric wire inspection device connects two pulley rotation shafts extending in the width direction of a pair of electric wires arranged in the horizontal direction, two pulleys attached to each pulley rotation shaft, and two pulley rotation shafts. And a connecting arm. The pulley is rotatably attached to the pulley rotation shaft, and is arranged on the pulley rotation shaft so as to be spaced apart in the width direction by the same amount as the width between the two upper wires. Each pulley rotation shaft is attached to both ends of the connecting arm via a connecting shaft. Each of the connecting shafts has a built-in motor, and by rotating the motor, each pulley rotating shaft can be rotated around the connecting shaft.

特開２０１０−２２０３４６号公報JP 2010-220346 A

ところで、１相が複数の（この場合、４本）の電線から構成されている場合、各電線が相互に接近するのを防止するために、金属製のスペーサが設けられている。すなわち、複数の電線が電磁力によって相互に吸着して導体間隔が狭くなると、電線が接触し、電線が損傷することがある。このため、電線に、所定のピッチでスペーサを設けることにより、各電線間隔を保持して間隔が狭くなるのを防止し、電線が損傷するのを防止している。   By the way, when one phase is comprised from several (in this case, four) electric wires, in order to prevent that each electric wire approaches mutually, the metal spacer is provided. That is, when a plurality of electric wires are attracted to each other by electromagnetic force and the conductor interval becomes narrow, the electric wires may come into contact with each other and the electric wires may be damaged. For this reason, by providing spacers with a predetermined pitch on the electric wires, the intervals between the electric wires are maintained to prevent the intervals from becoming narrow, and the electric wires are prevented from being damaged.

電線点検装置が電線上を走行している途中に、前記したようなスペーサ等の障害物に到達した場合、プーリの回転トルクが小さいと、電線点検装置が障害物を乗り越えることができない。電線点検装置がこのような障害物を乗り越えるためには、モータを大型化したり、プーリを特殊な形状としたりする等して、トルクを大きくする必要がある。しかしながら、モータを大型化した場合は、電線点検装置全体が大型化したり、重量が大きくなったりする等して、逆に障害物を乗り越えにくくなる。また、プーリを特殊な形状とする場合には、加工コストが高くなる。さらには、電線点検装置が電線上を走行している間に、装置不具合（例えば、前方又は後方のモータのうち１台が不調となる場合）が発生すると、前方又は後方の２個のプーリで装置を走行させなければならず、トルク不足となって、障害物を乗り越えられない場合があった。装置が障害物を乗り越えられない場合には鉄塔まで戻ることができないため、作業員は、装置が障害物を乗り越えるための作業や、装置を取り除いたりする作業が必要となる。   When the wire inspection device reaches an obstacle such as a spacer as described above while traveling on the wire, the wire inspection device cannot get over the obstacle if the rotational torque of the pulley is small. In order for the wire inspection device to get over such an obstacle, it is necessary to increase the torque by increasing the size of the motor or making the pulley a special shape. However, when the motor is increased in size, the entire wire inspection device is increased in size or increased in weight, which makes it difficult to get over obstacles. Further, when the pulley has a special shape, the processing cost becomes high. Furthermore, if a device malfunction occurs (for example, if one of the front or rear motors malfunctions) while the wire inspection device is running on the wire, the front and rear pulleys There was a case where the device had to be run, the torque was insufficient, and the obstacle could not be overcome. If the device cannot get over the obstacle, it is impossible to return to the tower, so the worker needs to work for the device to get over the obstacle or to remove the device.

本発明の課題は、電線に設けられた障害物を、自走力で容易に乗り越えることができる自走式電線点検装置を提供することにある。   The subject of this invention is providing the self-propelled electric wire inspection apparatus which can get over the obstruction provided in the electric wire easily with self-propelled power.

本発明の自走式電線点検装置は、鼓状の回転体を備え、この回転体の環状溝部を電線に係合させて、自走力による前記回転体の回転により電線上を滑走しながら障害物を有する電線の状態を点検する自走式電線点検装置であって、前記回転体外周部に、前記障害物を乗り越えるために必要な前記自走力を回転体から障害物に伝達するグリップ部材を設けたものである。   The self-propelled electric wire inspection device according to the present invention includes a drum-shaped rotating body, engages an annular groove portion of the rotating body with the electric wire, and obstacles while sliding on the electric wire due to rotation of the rotating body by self-propelling force. A self-propelled electric wire inspection device for inspecting a state of an electric wire having an object, wherein the grip member transmits the self-propelled force necessary to get over the obstacle from the rotating body to the obstacle on the outer periphery of the rotating body Is provided.

本発明の自走式電線点検装置では、回転体の少なくとも外周面にグリップ部材を設けているため、回転体の外周面の摩擦力を高めることができる。これにより、回転体のトルクを大きくすることができて、回転体が障害物に到達したときに、回転体は、障害物から滑り落ちたり、傾いたりすることなく、電線走行中の姿勢を維持しながら自走力で障害物上を走行することができる。   In the self-propelled electric wire inspection device of the present invention, since the grip member is provided on at least the outer peripheral surface of the rotating body, the frictional force on the outer peripheral surface of the rotating body can be increased. As a result, the torque of the rotating body can be increased, and when the rotating body reaches the obstacle, the rotating body maintains the posture during the electric wire traveling without slipping off or tilting from the obstacle. While traveling on obstacles with self-propelled power.

前記構成において、前記グリップ部材は、前記回転体の少なくとも外周面に設けられる環状体とすることができる。また、前記グリップ部材は、環状の剛性体と、この剛性体の外周側に設けられる環状の弾性体との２層構造とすることができる。グリップ部材を、剛性体と弾性体との２層構造とすると、剛性体により回転体の外周面の剛性を維持しながら障害物が弾性体に食い込んで、回転体の外周面と障害物との接触面積が増し、回転体と障害物との密着が良くなる。この場合、前記剛性体をアルミニウム合金製とするのが好ましい。   The said structure WHEREIN: The said grip member can be made into the annular body provided in the at least outer peripheral surface of the said rotary body. The grip member may have a two-layer structure of an annular rigid body and an annular elastic body provided on the outer peripheral side of the rigid body. When the grip member has a two-layer structure of a rigid body and an elastic body, the obstacle bites into the elastic body while maintaining the rigidity of the outer circumferential surface of the rotating body by the rigid body, and the outer circumferential surface of the rotating body and the obstacle The contact area is increased and adhesion between the rotating body and the obstacle is improved. In this case, the rigid body is preferably made of an aluminum alloy.

本発明によれば、回転体は、障害物に到達したときに、電線走行中の姿勢を維持しながら障害物上を自走力で走行することができ、従来の装置に設けられたモータを大型化することなく障害物を容易に乗り越えることができる。このように、既存の装置にグリップ部材を取り付けるだけでよいため、既存の装置を大幅に改造することなく、加工が容易なものとなる。   According to the present invention, when the rotating body reaches the obstacle, the rotating body can travel on the obstacle with the self-propelling force while maintaining the posture during the traveling of the electric wire. Obstacles can be easily overcome without increasing the size. In this way, since it is only necessary to attach the grip member to the existing apparatus, the processing can be easily performed without significantly modifying the existing apparatus.

グリップ部材を回転体の外周面に設けると、グリップ部材が直接障害物に当接することになり、効果的に回転体のトルクを大きくすることができる。特に、剛性体と弾性体との２層構造とすると、回転体の外周面の剛性維持と、回転体と障害物との密着性の向上とを図ることができ、障害物走行中の回転体の姿勢を安定して維持することができる。また、剛性体をアルミニウム合金製のリムにて構成すると、軽量なものとなり、障害物を乗り越え易くなる。   When the grip member is provided on the outer peripheral surface of the rotating body, the grip member comes into direct contact with the obstacle, and the torque of the rotating body can be effectively increased. In particular, when a two-layer structure of a rigid body and an elastic body is used, the rigidity of the outer peripheral surface of the rotating body can be maintained and the adhesion between the rotating body and the obstacle can be improved. Can be maintained stably. Further, when the rigid body is formed of an aluminum alloy rim, the weight becomes light and it is easy to get over obstacles.

本発明の自走式電線点検装置の電線走行時の簡略斜視図である。It is a simple perspective view at the time of the electric wire traveling of the self-propelled electric wire inspection device of the present invention. 本発明の自走式電線点検装置の電線走行時の簡略断面図である。It is a simplified sectional view at the time of electric wire traveling of the self-propelled electric wire inspection device of the present invention. 本発明の自走式電線点検装置を構成する車輪部であり、（ａ）は表面から見た斜視図、（ｂ）は裏面から見た斜視図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a wheel part which comprises the self-propelled electric wire inspection apparatus of this invention, (a) is the perspective view seen from the surface, (b) is the perspective view seen from the back surface. 本発明の自走式電線点検装置のスペーサ走行時の簡略断面図である。It is a simplified sectional view at the time of spacer travel of the self-propelled electric wire inspection device of the present invention.

以下、本発明の実施形態を図面に基づいて説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１に、本発明の一実施形態にかかる電線点検装置を４本の電線を並行に配設した送電線Ａ（４導体Ａ）の上に配置した状態を示す。電線は、平行に２本配置された上側の一対の電線Ａ１、Ａ１と、平行に配置された下側の一対の電線Ａ２、Ａ２とから構成されている。電線Ａには、４本の電線の間隔を維持するための径間スペーサ２０が所定間隔で設けられている。径間スペーサ２０は、４本の電線の間隔を維持する枠体２１と、４本の電線を夫々把持する４つの把持部２２とで構成されている。   In FIG. 1, the state which has arrange | positioned the electric wire inspection apparatus concerning one Embodiment of this invention on the power transmission line A (4 conductors A) which has arrange | positioned four electric wires in parallel is shown. The electric wire is composed of a pair of upper electric wires A1 and A1 arranged in parallel and a pair of lower electric wires A2 and A2 arranged in parallel. The electric wire A is provided with a span spacer 20 at a predetermined interval for maintaining the interval between the four electric wires. The interstitial spacer 20 includes a frame body 21 that maintains the interval between the four electric wires, and four grip portions 22 that respectively hold the four electric wires.

本発明の電線点検装置は、上側の２本の電線Ａ１、Ａ１を点検しながら電線Ａ１、Ａ１上を滑走する滑走部１０と、重心調整部３０とを主に備える。尚、以下の説明において、鉛直方向を上下方向という。   The electric wire inspection device of the present invention mainly includes a sliding portion 10 that slides on the electric wires A1 and A1 while checking the upper two electric wires A1 and A1, and a gravity center adjusting portion 30. In the following description, the vertical direction is referred to as the vertical direction.

滑走部１０は、幅方向に延びた前方の回転軸１１ａ、及び後方の回転軸１１ｂと、各回転軸１１ａ、１１ｂに２個ずつ取り付けられた前方の一対の回転体（プーリ）１２ａ１、１２ａ２、及び後方の一対の回転体（プーリ）１２ｂ１、１２ｂ２と、２本の回転軸１１ａ、１１ｂを連結する連結アーム１４とを有する。プーリ１２ａ１、１２ａ２、１２ｂ１、１２ｂ２が回転軸１１ａ、１１ｂに回転自在に取り付けられる。各回転軸１１ａ、１１ｂには下方に延びる連結軸５が連結されており、連結軸５の内部には、回転軸１１ａ、１１ｂを、連結軸５を中心に回転駆動するモータ（図示省略）が設けられている。   The sliding part 10 includes a front rotary shaft 11a extending in the width direction, a rear rotary shaft 11b, and a pair of front rotary bodies (pulleys) 12a1, 12a2, attached to each of the rotary shafts 11a, 11b. And a pair of rear rotating bodies (pulleys) 12b1 and 12b2 and a connecting arm 14 for connecting the two rotating shafts 11a and 11b. Pulleys 12a1, 12a2, 12b1, and 12b2 are rotatably attached to the rotating shafts 11a and 11b. A connecting shaft 5 that extends downward is connected to each of the rotating shafts 11 a and 11 b, and a motor (not shown) that rotationally drives the rotating shafts 11 a and 11 b around the connecting shaft 5 inside the connecting shaft 5. Is provided.

プーリ１２は、図２及び図３（ａ）に示すように、内側から外側に向かって大径となるテーパ面を有する一対の車輪部１３ａ、１３ｂを有しており、図２に示すように、一対の車輪部１３ａ、１３ｂの間が環状溝部１４となる鼓状となる。車輪部１３ａ、１３ｂの裏側（電線Ａが当接しない側）は、図３（ｂ）に示すように、周方向に沿って所定ピッチ（本実施形態では６０°）で配設される６つの補強部材１８が設けられている。環状溝部１４の溝幅は、プーリ１２の内径側では電線Ａの直径よりも小さく、プーリ１２の外周側では電線Ａの直径よりも大きくなっている。これにより、電線Ａが、一対の車輪部１３ａ、１３ｂのテーパ面間に挟まれることにより、車輪部１３ａ、１３ｂが電線Ａに係合する。このとき、補強部材１８にて、テーパ面が、電線Ａと反対側に変形するのを防止している。   As shown in FIG. 2 and FIG. 3A, the pulley 12 has a pair of wheel portions 13a and 13b having tapered surfaces that increase in diameter from the inside toward the outside, as shown in FIG. The space between the pair of wheel portions 13 a and 13 b is a drum shape that forms the annular groove portion 14. As shown in FIG. 3B, the rear sides of the wheel portions 13a and 13b (the side on which the electric wire A does not contact) are arranged at a predetermined pitch (60 ° in the present embodiment) along the circumferential direction. A reinforcing member 18 is provided. The groove width of the annular groove portion 14 is smaller than the diameter of the electric wire A on the inner diameter side of the pulley 12 and larger than the diameter of the electric wire A on the outer peripheral side of the pulley 12. As a result, the electric wire A is sandwiched between the tapered surfaces of the pair of wheel portions 13a and 13b, whereby the wheel portions 13a and 13b are engaged with the electric wire A. At this time, the reinforcing member 18 prevents the tapered surface from being deformed to the side opposite to the electric wire A.

プーリ１２の外周面には、図２に示すように、グリップ部材１５が設けられている。このグリップ部材１５は、車輪部１３ａ、１３ｂの外周面に設けられる環状体である。このグリップ部材１５は、剛性を有する環状の剛性体（リム）１６と、この剛性体１６の外周面に設けられて弾性を有する環状の弾性体１７とで構成された２層構造となっている。剛性体１６は、プーリ１２の外周面がスペーサ２０と接触しつつ、プーリ１２が回転してスペーサ上を走行する際に変形しない剛性を有するものであり、その材質としては、特にアルミニウム合金製とするのが望ましい。弾性体１７は、プーリ１２の外周面がスペーサ２０と接触しつつ、プーリ１２が回転してスペーサ上を走行する際に変形し、その後復元する弾性力を有するものであり、その材質としては、例えば天然ゴム（ＮＲ）、合成天然ゴム（ＩＲ）、ブタジエンゴム（ＢＲ）等とするのが望ましい。本実施形態では、弾性体１７は、天然ゴムにて構成されている。   As shown in FIG. 2, a grip member 15 is provided on the outer peripheral surface of the pulley 12. The grip member 15 is an annular body provided on the outer peripheral surfaces of the wheel portions 13a and 13b. The grip member 15 has a two-layer structure including an annular rigid body (rim) 16 having rigidity and an annular elastic body 17 provided on the outer peripheral surface of the rigid body 16 and having elasticity. . The rigid body 16 has rigidity that does not deform when the pulley 12 rotates and travels on the spacer while the outer peripheral surface of the pulley 12 is in contact with the spacer 20, and the material is particularly made of an aluminum alloy. It is desirable to do. The elastic body 17 has an elastic force that is deformed when the pulley 12 rotates and travels on the spacer while the outer peripheral surface of the pulley 12 is in contact with the spacer 20, and then recovers. For example, natural rubber (NR), synthetic natural rubber (IR), butadiene rubber (BR) and the like are desirable. In the present embodiment, the elastic body 17 is made of natural rubber.

滑走部１０には、図１に示すように、上側の電線Ａ１の状態を点検するための点検部１８が設けられる。図示例では、前方のプーリ回転軸１１ａの各プーリ１２ａ１、１２ａ２の幅方向両側から前方に延びた支持具１９を取り付け、この支持具１９を介してプーリ回転軸１１ａに点検部１８が取り付けられる。点検部１８は、例えばカメラで電線の状態を点検するものであり、その撮影データはバッテリーボックス３４に設けられた記録部に記録される。支持具１９はプーリ回転軸１１ａの外周面に回転可能に取り付けられ、プーリ回転軸１１ａを回転させることにより点検部１８を上下に移動させることができる。図示例は、点検部１８により電線Ａ１を点検可能な状態を示しており、点検部１８とスペーサ等の障害物との接触を回避する場合は、この状態から点検部１８を上方へ移動させる。   As shown in FIG. 1, the sliding part 10 is provided with an inspection part 18 for inspecting the state of the upper electric wire A <b> 1. In the illustrated example, support tools 19 extending forward from both widthwise sides of the pulleys 12a1 and 12a2 of the front pulley rotation shaft 11a are attached, and the inspection unit 18 is attached to the pulley rotation shaft 11a via the support tools 19. The inspecting unit 18 inspects the state of the electric wire with a camera, for example, and the photographing data is recorded in a recording unit provided in the battery box 34. The support 19 is rotatably attached to the outer peripheral surface of the pulley rotation shaft 11a, and the inspection unit 18 can be moved up and down by rotating the pulley rotation shaft 11a. The illustrated example shows a state in which the electric wire A1 can be inspected by the inspection unit 18, and when the contact between the inspection unit 18 and an obstacle such as a spacer is avoided, the inspection unit 18 is moved upward from this state.

重心調整部３０は、図１に示すように、連結アーム１４に取付られた基軸２７の下端部に設けられ、第１アーム３１、第２アーム３２、及びバッテリーボックス３４とを有する。第１アーム３１の一端は基軸２７の下端に取り付けられ、第１アーム３１の他端は第２アーム３２の端部に連結軸３３を介して取り付けられる。バッテリーボックス３４は第２アーム３２に取り付けられる。基軸２７の内部には、第１アーム３１を基軸２７を中心に回転駆動するモータ（図示省略）が設けられ、連結軸３３の内部には、第２アーム３２を第１アーム３１に対して連結軸３３を中心に回転駆動するモータ（図示省略）が設けられる。バッテリーボックス３４には、各モータや点検部に電源を供給するバッテリーや、点検部により撮影された電線の画像や外周面の曲率のデータを記録する記録部が備えられる。   As shown in FIG. 1, the center-of-gravity adjustment unit 30 is provided at the lower end portion of the base shaft 27 attached to the connection arm 14 and includes a first arm 31, a second arm 32, and a battery box 34. One end of the first arm 31 is attached to the lower end of the base shaft 27, and the other end of the first arm 31 is attached to the end of the second arm 32 via the connecting shaft 33. The battery box 34 is attached to the second arm 32. A motor (not shown) that rotates the first arm 31 around the base shaft 27 is provided inside the base shaft 27, and the second arm 32 is connected to the first arm 31 inside the connection shaft 33. A motor (not shown) that rotates around the shaft 33 is provided. The battery box 34 includes a battery that supplies power to each motor and the inspection unit, and a recording unit that records the image of the electric wire photographed by the inspection unit and the curvature data of the outer peripheral surface.

本発明の電線点検装置を電線Ａに懸架して、電線点検装置を電線Ａで走行させる場合について説明する。まず、図１及び図２に示すように、電線Ａが、一対の車輪部１３ａ、１３ｂのテーパ面間に挟まれた状態となるように、車輪部１３ａ、１３ｂを電線Ａに係合させて、プーリ１２を上側の電線Ａ１に載置する。その後、図示省略のモータにより、プーリ１２を回転させて、そのトルクにて電線Ａを後方に送ることにより、電線点検装置は、電線Ａを図１の矢印の方向に走行する。   The case where the electric wire inspection device of the present invention is suspended from the electric wire A and the electric wire inspection device is run by the electric wire A will be described. First, as shown in FIG. 1 and FIG. 2, the wheel portions 13a and 13b are engaged with the electric wire A so that the electric wire A is sandwiched between the tapered surfaces of the pair of wheel portions 13a and 13b. The pulley 12 is placed on the upper electric wire A1. Thereafter, the pulley 12 is rotated by a motor (not shown) and the electric wire A is sent backward by the torque, whereby the electric wire inspection device travels the electric wire A in the direction of the arrow in FIG.

電線点検装置がスペーサ２０に到達すると、図４に示すように、プーリ１２は、スペーサ２０の把持部２２の手前側に位置することになる。この場合も、電線点検装置は、そのままの駆動力で前進する。このとき、プーリ１２の外周面にグリップ部材１５を設けているため、リム１６によりプーリ１２の外周面の剛性を維持しながら、スペーサ２０の把持部２２が弾性体１７に食い込んで、プーリ１２の外周面と把持部２２との接触面積が増し、プーリ１２と把持部２２との密着が良くなる。この状態で、プーリ１２の外周面がスペーサ２０と接触しつつ、プーリ１２が回転してスペーサ上を走行する。このようにして、プーリ１２のトルクを大きくすることができて、プーリ１２が把持部２２から滑り落ちたり、傾いたりすることなく、走行中の姿勢を維持しながら把持部２２を乗り越えることができる。   When the wire inspection device reaches the spacer 20, the pulley 12 is positioned on the near side of the grip portion 22 of the spacer 20 as shown in FIG. 4. Also in this case, the electric wire inspection apparatus moves forward with the driving force as it is. At this time, since the grip member 15 is provided on the outer peripheral surface of the pulley 12, the grip portion 22 of the spacer 20 bites into the elastic body 17 while maintaining the rigidity of the outer peripheral surface of the pulley 12 by the rim 16. The contact area between the outer peripheral surface and the grip portion 22 is increased, and the close contact between the pulley 12 and the grip portion 22 is improved. In this state, the pulley 12 rotates and travels on the spacer while the outer peripheral surface of the pulley 12 is in contact with the spacer 20. In this way, the torque of the pulley 12 can be increased and the pulley 12 can get over the gripping portion 22 while maintaining the running posture without the pulley 12 slipping or tilting from the gripping portion 22. .

本発明は、プーリ１２は、スペーサ２０に到達したときに、電線走行中の姿勢を維持しながらスペーサ上を自走力にて走行することができ、従来の装置に設けられたモータを大型化することなくスペーサ２０を容易に乗り越えることができる。このように、既存の装置にグリップ部材を取り付けるだけでよいため、既存の装置を大幅に改造することなく、加工が容易なものとなる。   In the present invention, when the pulley 12 reaches the spacer 20, the pulley 12 can travel on the spacer with a self-propelling force while maintaining the posture during the traveling of the electric wire, and the motor provided in the conventional apparatus is enlarged. It is possible to easily get over the spacer 20 without doing so. In this way, since it is only necessary to attach the grip member to the existing apparatus, the processing can be easily performed without significantly modifying the existing apparatus.

グリップ部材１５をアルミニウム合金製のリムにて構成すると、軽量なものとなり、スペーサ２０を乗り越え易くなる。また、グリップ部材１５を、リム１６の外周面に弾性体１７を設けた２層構造とすると、プーリ１２の外周面の剛性維持と、プーリ１２とスペーサ２０との密着性の向上とを図ることができ、スペーサ２０走行中のプーリ１２の姿勢を安定して維持することができる。   When the grip member 15 is formed of an aluminum alloy rim, the grip member 15 is light and can easily get over the spacer 20. Further, when the grip member 15 has a two-layer structure in which the elastic body 17 is provided on the outer peripheral surface of the rim 16, the rigidity of the outer peripheral surface of the pulley 12 is maintained and the adhesion between the pulley 12 and the spacer 20 is improved. Thus, the posture of the pulley 12 during traveling of the spacer 20 can be stably maintained.

本発明は上記の実施形態に限られない。例えば、グリップ部材１５は、全周にわたって連続的に設けても、断続的に設けてもよい。グリップ部材１５の厚みは全周にわたって一定であっても、ランダムであってもよい。グリップ部材１５は、少なくともプーリ１２の外周面に設けていればよく、車輪部１３のテーパ面の全部または一部に設けてもよい。一対の車輪部１３において、グリップ部材１５を対称的に設ける必要はなく、非対称に設けてもよい。グリップ部材１５の表面（前記実施形態では、弾性体１７の表面）は凹凸を有していてもよい。前記実施形態では、グリップ部材１５を２層構造としたが、例えば剛性体１６又は弾性体１７の１層構造としたり、３層以上の構造としてもよい。上記の実施形態では２導体を点検する電線点検装置に本発明を適用する場合を示しているが、電線の本数は特に限定されず、単導体や４導体を点検する電線点検装置に本発明を適用してもよい。   The present invention is not limited to the above embodiment. For example, the grip member 15 may be provided continuously over the entire circumference or intermittently. The thickness of the grip member 15 may be constant over the entire circumference or may be random. The grip member 15 may be provided at least on the outer peripheral surface of the pulley 12, and may be provided on all or part of the tapered surface of the wheel portion 13. In the pair of wheel portions 13, the grip members 15 do not need to be provided symmetrically, and may be provided asymmetrically. The surface of the grip member 15 (in the above embodiment, the surface of the elastic body 17) may have irregularities. In the above embodiment, the grip member 15 has a two-layer structure. However, for example, the grip member 15 may have a one-layer structure of the rigid body 16 or the elastic body 17 or a structure of three or more layers. Although the case where this invention is applied to the electric wire inspection apparatus which inspects two conductors is shown in said embodiment, the number of electric wires is not specifically limited, This invention is applied to the electric wire inspection apparatus which inspects a single conductor and four conductors. You may apply.

１２ プーリ
１４ 環状溝部
１５ グリップ部材
１６ 剛性体
１７ 弾性体
２０ スペーサ
Ａ 電線 12 Pulley 14 Annular groove 15 Grip member 16 Rigid body 17 Elastic body 20 Spacer A Electric wire

Claims (4)

鼓状の回転体を備え、この回転体の環状溝部を電線に係合させて、自走力による前記回転体の回転により電線上を滑走しながら障害物を有する電線の状態を点検する自走式電線点検装置であって、
前記回転体外周部に、前記障害物を乗り越えるために必要な前記自走力を回転体から障害物に伝達するグリップ部材を設けたことを特徴とする自走式電線点検装置。 Self-propelled with a drum-shaped rotator, in which the annular groove of the rotator is engaged with an electric wire, and the state of the electric wire having an obstacle is checked while sliding on the electric wire by rotation of the rotator by self-propelling force Type electric wire inspection device,
A self-propelled electric wire inspection apparatus, characterized in that a grip member for transmitting the self-propelling force necessary to get over the obstacle from the rotating body to the obstacle is provided on the outer periphery of the rotating body. 前記グリップ部材は、前記回転体の少なくとも外周面に設けられる環状体としたことを特徴とする請求項１の自走式電線点検装置。   The self-propelled electric wire inspection device according to claim 1, wherein the grip member is an annular body provided on at least an outer peripheral surface of the rotating body. 前記グリップ部材は、環状の剛性体と、この剛性体の外周側に設けられる環状の弾性体との２層構造としたことを特徴とする請求項１又は請求項２の自走式電線点検装置。   The self-propelled electric wire inspection device according to claim 1 or 2, wherein the grip member has a two-layer structure of an annular rigid body and an annular elastic body provided on an outer peripheral side of the rigid body. . 前記剛性体をアルミニウム合金製としたことを特徴とする請求項３の自走式電線点検装置。   The self-propelled electric wire inspection device according to claim 3, wherein the rigid body is made of an aluminum alloy.
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CN111224346A (en) * 2020-03-11 2020-06-02 山东科技大学 High tension transmission line inspection robot with multiple motion modes
CN112234506A (en) * 2020-11-17 2021-01-15 孙启龙 High-voltage line power inspection design
CN113541037A (en) * 2021-06-25 2021-10-22 国网山西省电力公司晋城供电公司 Tower passing device of high-voltage transmission line climbing pulley and using method
CN113541037B (en) * 2021-06-25 2022-07-22 国网山西省电力公司晋城供电公司 Tower passing device of high-voltage transmission line climbing pulley and using method

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