JP5528991B2 - Self-propelled wire inspection device - Google Patents

Self-propelled wire inspection device Download PDF

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JP5528991B2
JP5528991B2 JP2010262624A JP2010262624A JP5528991B2 JP 5528991 B2 JP5528991 B2 JP 5528991B2 JP 2010262624 A JP2010262624 A JP 2010262624A JP 2010262624 A JP2010262624 A JP 2010262624A JP 5528991 B2 JP5528991 B2 JP 5528991B2
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electric wire
wire
arm
rotating body
receiving
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JP2012115063A (en
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清 田村
哲治 西村
茂男 広瀬
文彦 福島
デペネスト パウロ
グアラニエリ ミケレ
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Hitachi High Tech Fine Systems Corp
Hibot KK
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Hitachi High Tech Fine Systems Corp
Hibot KK
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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）。すなわち、特許文献１の電線点検装置は、架空電線上に乗る走行車輪と、電線の損傷等の異常を検出する電線点検部とを有しており、電線上で走行車輪を走行させるものである。このとき、装置は自動的にバランスを調整しながら走行している。   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). That is, the electric wire inspection device of Patent Document 1 has a traveling wheel that rides on an overhead electric wire and an electric wire inspection unit that detects an abnormality such as damage to the electric wire, and causes the traveling wheel to travel on the electric wire. . At this time, the device is running while automatically adjusting the balance.

特開２００３−７９０１８号公報JP 2003-79018 A

しかしながら、特許文献１のように、走行車輪を電線に係合させるものでは、例えば、点検工事中に突風が発生する等して装置に異常な動揺が発生する可能性がある。これにより、装置が大きく傾いて万一墜落すると、公衆災害等が発生するおそれがあるため、装置の墜落防止対策が必要である。   However, in the case where the traveling wheel is engaged with the electric wire as in Patent Document 1, there is a possibility that the apparatus may be abnormally shaken due to, for example, a gust of wind during inspection work. As a result, if the device is greatly inclined and crashes, a public disaster or the like may occur. Therefore, measures to prevent the device from falling are necessary.

本発明の課題は、墜落を防止することができて、安全に電線を点検す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 prevent a fall and can check an electric wire safely.

本発明の自走式電線点検装置は、環状溝部が電線に係合する鼓状の回転体と、この回転体の外径部に接触乃至近接して、回転体の外径部の一部を塞ぐ凹部を先端部に有する電線受け用揺動アームとを備え、前記回転体が電線に対して滑走しながら電線の状態を点検する自走式電線点検装置であって、前記電線受け用揺動アームの凹部が電線の側方から揺動して回転体に接近し、環状溝部に係合している電線に嵌合状となって回転体と協働して電線を包囲する電線受け状態と、この電線受け状態から揺動して回転体から離間し、凹部が環状溝部から逃げた状態となる逃げ状態との変位を許容する揺動機構を備え、逃げ状態から電線受け状態へは、電線受け用揺動アームはその凹部が回転体の内径方向に接近しつつ電線の側方から揺動し、電線受け状態から逃げ状態へは、電線受け用揺動アームはその凹部が回転体の外径方向に逃げつつ揺動するものである。   The self-propelled electric wire inspection device according to the present invention includes a drum-shaped rotating body in which an annular groove is engaged with an electric wire, and a part of the outer diameter portion of the rotating body in contact with or close to the outer diameter portion of the rotating body. A self-propelled wire inspection device for checking the state of the wire while the rotating body slides with respect to the wire, the wire receiving rocking device comprising a swing arm for receiving the wire having a recessed portion for closing the tip. The recess of the arm swings from the side of the electric wire, approaches the rotating body, is fitted into the electric wire engaged with the annular groove, and cooperates with the rotating body to surround the electric wire. And a swing mechanism that swings away from the wire receiving state and separates from the rotating body and allows the displacement of the recess to escape from the annular groove. The receiving swing arm swings from the side of the wire while the recess approaches the inner diameter direction of the rotating body. To the state escape from the state, the swing arm receiving wires are those in which the recess swings while escaping radially outward of the rotating body.

本発明の自走式電線点検装置では、電線受け用揺動アームの電線受け状態で、回転体と電線受け用揺動アームとで電線を包囲状とするので、回転体が電線に対して傾いても電線受け状態を維持できる。また、電線受け用揺動アームは回転体の外径部に接触乃至近接して回転体の外径部の一部を塞ぐため、電線が電線受け用揺動アームと回転体との隙間を抜けてしまうことがない。しかも、逃げ状態から電線受け状態へは、凹部が回転体の内径方向に接近しつつ電線の側方から揺動し、電線受け状態から逃げ状態へは、凹部が回転体の外径方向に逃げつつ揺動するものであるため、回転体に引っ掛かることなく電線受け用揺動アームを揺動させることができる。   In the self-propelled electric wire inspection device of the present invention, since the electric wire is surrounded by the rotating body and the electric wire receiving swing arm in the electric wire receiving state of the electric wire receiving swing arm, the rotating body is inclined with respect to the electric wire. However, the wire receiving state can be maintained. In addition, since the swing arm for receiving the wire closes a part of the outer diameter portion of the rotating body in contact with or close to the outer diameter portion of the rotating body, the electric wire passes through the gap between the swing arm for receiving the wire and the rotating body. There is no end. Moreover, from the escape state to the wire receiving state, the recess swings from the side of the wire while approaching the inner diameter direction of the rotating body, and from the wire receiving state to the escape state, the recess escapes in the outer diameter direction of the rotating body. Therefore, the wire receiving swing arm can be swung without being caught by the rotating body.

前記揺動機構は、電線と直交する方向に延び、前記電線受け用揺動アームの回転中心となる軸部材と、ウォームとホイールとから構成されて前記軸部材の回転駆動源となるウォームギアとを備え、前記ホイールに前記軸部材が取付られるものとできる。これにより、装置墜落時の過大な負荷を、バックドライブしない回転駆動源で受けるのではなく、軸部材で支えられるようにすることができる。これにより、回転駆動源は、装置墜落時の荷重の一部のみを支持するようにできる。   The swing mechanism includes a shaft member that extends in a direction perpendicular to the electric wire and serves as a rotation center of the wire receiving swing arm, and a worm gear that includes a worm and a wheel and serves as a rotational drive source of the shaft member. And the shaft member is attached to the wheel. Accordingly, it is possible to support an excessive load at the time of the apparatus crash by the shaft member, not by the rotational drive source that does not back drive. As a result, the rotation drive source can support only a part of the load when the apparatus crashes.

この電線点検装置において、揺動機構は、電線受け用揺動アームの回転体の内外径方向への変位を許容するカム機構を備えたものとできる。これにより、１つの機構で２方向の揺動を可能とすることができる。すなわち、電線受け用揺動アームを回転して、その先端を回転体の中に入れて、回転体の外径部をアーム先端が乗り越えて回転体の中に入り込み、回転体の外径部にアーム先端が接触させる程度にアームの先端部を回転体の外径部に近づけることができる。   In this electric wire inspection apparatus, the swing mechanism can be provided with a cam mechanism that allows displacement of the rotating body of the wire receiving swing arm in the inner and outer diameter directions. Thereby, it is possible to swing in two directions with one mechanism. That is, rotate the swing arm for receiving the wire, put its tip into the rotating body, get over the outer diameter part of the rotating body, get over the tip of the arm and enter the rotating body, The tip of the arm can be brought close to the outer diameter of the rotating body to such an extent that the tip of the arm comes into contact.

このような電線点検装置において、電線受け状態では、電線受け用揺動アームの凹部の開口端縁部が回転体の環状溝部に嵌入状となるものとできる。これにより、回転体と電線受け用揺動アームとの隙間を小さくすることができる。   In such an electric wire inspection device, in the electric wire receiving state, the opening end edge portion of the concave portion of the electric wire receiving swing arm can be fitted into the annular groove portion of the rotating body. Thereby, the clearance gap between a rotary body and the swing arm for electric wire receiving can be made small.

本発明によれば、回転体が電線に対して傾いても電線受け状態を維持できるため、装置の墜落を防止することができて、安全に電線を点検することができる。しかも、電線受け用揺動アームが回転体に引っ掛かることなく揺動させることができるため、電線を傷つけることなく取付け・取外しができる。   According to the present invention, since the wire receiving state can be maintained even when the rotating body is inclined with respect to the electric wire, the apparatus can be prevented from falling and the electric wire can be inspected safely. Moreover, since the swing arm for receiving the wire can be swung without being caught by the rotating body, it can be attached and detached without damaging the wire.

１つの機構で２方向の揺動を可能とすることができるため、装置を簡素化することができ、軽量化を図ることができて、少ない駆動エネルギーで安定して電線上を走行させることができる。   Since it is possible to swing in two directions with one mechanism, the apparatus can be simplified, the weight can be reduced, and it is possible to stably run on the electric wire with less driving energy. it can.

回転体と電線受け用揺動アームとの隙間を小さくすると、電線は回転体とアームとで確実に包囲状とすることができ、装置の墜落を一層防止することができる。   If the gap between the rotating body and the swing arm for receiving the electric wire is reduced, the electric wire can be reliably enclosed by the rotating body and the arm, and the apparatus can be further prevented from falling.

本発明の自走式電線点検装置の電線受け状態における正面図である。It is a front view in the electric wire receiving state 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駆動機構及び揺動アームの分解斜視図である。It is a disassembled perspective view of the drive mechanism and rocking | fluctuation arm of the self-propelled electric wire inspection apparatus of this invention. 本発明の自走式電線点検装置の逃げ状態における正面図である。It is a front view in the escape state 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底面図である。It is a bottom view of the self-propelled electric wire inspection device of the present invention. 本発明の自走式点検装置のカム及び揺動アームを示す概念図であり、（ａ）は電線受け状態、（ｂ）は逃げ状態である。It is a conceptual diagram which shows the cam and rocking | fluctuation arm of the self-propelled inspection apparatus of this invention, (a) is an electric wire receiving state, (b) is an escape state. 本発明の自走式電線点検装置の斜視図である。It is a perspective view 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６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。この電線点検装置は、上側の２本の電線Ａ１を点検しながら電線Ａ１上を滑走する滑走部１０と、下側の２本の電線Ａ２を点検する点検ユニット２３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。   In FIG. 6, 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. This electric wire inspection apparatus includes a sliding unit 10 that slides on the electric wire A1 while inspecting the upper two electric wires A1, an inspection unit 23 that inspects the lower two electric wires A2, and a gravity center adjusting unit 30. Prepare mainly. 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２本の回転軸１１と、各回転軸１１に２個ずつ取り付けられた回転体（プーリ）１２と、２本の回転軸１１を連結する連結アーム１４とを有する。プーリ１２は、図１に示すように、内側から外側に向かって大径となる一対の車輪部１ａ、１ｂを有し、この車輪部１ａ、１ｂとの間が環状溝部２となる鼓状となっている。このプーリ１２が回転軸１１に回転自在に取り付けられ、回転軸１１上で２本の電線Ａ２間の幅と同じ分だけ幅方向に離隔して配される。各回転軸１１は、連結軸５を介して連結アーム１４の両端に取付られる。   The sliding part 10 includes two rotating shafts 11 extending in the width direction, two rotating bodies (pulleys) 12 attached to each rotating shaft 11, and a connecting arm 14 that connects the two rotating shafts 11. Have As shown in FIG. 1, the pulley 12 has a pair of wheel portions 1 a and 1 b having a large diameter from the inside toward the outside, and a drum shape between which the wheel portions 1 a and 1 b form an annular groove portion 2. It has become. The pulley 12 is rotatably attached to the rotating shaft 11 and is arranged on the rotating shaft 11 so as to be separated in the width direction by the same amount as the width between the two electric wires A2. Each rotating shaft 11 is attached to both ends of the connecting arm 14 via the connecting shaft 5.

滑走部１０には、上側の電線Ａ１の状態を点検するための図示省略の第１点検部が設けられる。第１点検部は、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。   The sliding portion 10 is provided with a first checking portion (not shown) for checking the state of the upper electric wire A1. The first inspection unit is for inspecting 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.

回転軸１１には、図１に示すように、その端部にモータ部３を有している。モータ部３は、回転軸１１の回転に対してその位置を保持する外筒体４を有しており、このモータ部３に内蔵された図示省略のモータを回転駆動することで、各回転軸１１を回転させることができる。外筒部４には下方に延びる連結軸５が連結されており、この連結軸５に外嵌される環状のクランプ６を介して揺動機構７が取付られている。さらに、揺動機構７には、電線受け用揺動アーム（以下、アームという）８が取付られている。   As shown in FIG. 1, the rotating shaft 11 has a motor unit 3 at its end. The motor unit 3 has an outer cylinder 4 that holds its position with respect to the rotation of the rotary shaft 11, and each rotary shaft is driven by rotating a motor (not shown) built in the motor unit 3. 11 can be rotated. A connecting shaft 5 extending downward is connected to the outer cylinder portion 4, and a swinging mechanism 7 is attached via an annular clamp 6 fitted on the connecting shaft 5. Further, the swing mechanism 7 is attached with a swing arm for receiving wires (hereinafter referred to as an arm) 8.

アーム８は、図２に示すように、一対の挟持板を有する支持具４３と、挟持板に挟まれるアーム本体４４とから構成されている。後述する揺動機構７の軸部材１７が、支持具４３に設けられた孔部４２に挿入されて、軸部材１７の回転により、アーム８全体が図１の矢印Ａに示すように軸Ｏを中心に揺動することができる。また、夫々の挟持板に設けられた孔部４５とアーム本体４４に設けられた孔部４６とに、ベアリング４７を介してピン部材４９が挿入される。これにより、支持具４３とアーム本体４４とが連結される。   As shown in FIG. 2, the arm 8 includes a support tool 43 having a pair of sandwiching plates and an arm main body 44 sandwiched between the sandwiching plates. A shaft member 17 of the swing mechanism 7 to be described later is inserted into a hole 42 provided in the support tool 43, and the shaft 8 is rotated by the rotation of the shaft member 17 so that the entire arm 8 moves the shaft O as shown by an arrow A in FIG. Can swing to the center. A pin member 49 is inserted through a bearing 47 into a hole 45 provided in each clamping plate and a hole 46 provided in the arm body 44. Thereby, the support tool 43 and the arm main body 44 are connected.

アーム本体４４は、図１に示すように、プーリ１２に接近した電線受け状態で、環状溝部２に係合している電線Ａ１に嵌合状となって、プーリ１２と協働して電線Ａ１を包囲する凹部４８を先端部に有している。すなわち、アーム８の先端側において、電線Ａ１と対面する側の面（上面）がアール形状となっており、この部位が凹部４８となる。凹部４８をアール形状とすることにより、図１の実線のように電線Ａ１が太く、電線Ａ１がプーリ１２の径方向端部よりも外径側に位置する場合であっても、凹部４８と電線Ａ１との干渉を防止することができる。また、凹部４８は、電線受け状態では、アーム８の凹部４８の開口端縁部がプーリ１２の環状溝部２に嵌入状となるようにしている。これにより、プーリ１２とアーム８との隙間を小さくすることができるため、図１の二点鎖線のように電線Ａ１が細い場合であっても、プーリ１２とアーム８との隙間から電線Ａ１が抜けるのを防止することができる。   As shown in FIG. 1, the arm main body 44 is fitted to the electric wire A <b> 1 engaged with the annular groove 2 in the electric wire receiving state close to the pulley 12, and cooperates with the pulley 12 to form the electric wire A <b> 1. Has a recess 48 at the tip. That is, on the distal end side of the arm 8, the surface (upper surface) on the side facing the electric wire A <b> 1 has a round shape, and this portion becomes the recess 48. By forming the concave portion 48 into a round shape, even if the electric wire A1 is thick as shown by the solid line in FIG. 1 and the electric wire A1 is located on the outer diameter side of the radial end of the pulley 12, the concave portion 48 and the electric wire Interference with A1 can be prevented. Further, the recessed portion 48 is configured such that the opening end edge portion of the recessed portion 48 of the arm 8 is fitted into the annular groove portion 2 of the pulley 12 in the electric wire receiving state. Thereby, since the gap between the pulley 12 and the arm 8 can be reduced, even if the electric wire A1 is thin like the two-dot chain line in FIG. It can be prevented from coming off.

揺動機構７は、図１の矢印Ａ方向及び矢印Ｂ方向に揺動させるものである。すなわち、図２に示すように、クランプ６に取付けられたケース部材９には、堅牢な軸部材１７と、軸部材１７を回転させる駆動源１８が設けられている。駆動源１８は、本実施形態では螺子のように螺旋状の歯が設けられた円柱状のウォーム１９と、外周面に円弧状に歯が設けられた円盤状のホイール２０とからなるウォームギアにて構成される。ケース部材９の外側には、円筒状のモーターケース２１が設けられており、このモーターケース２１に、ウォーム１９を駆動するためのモータ２２が設けられている。これにより、モータ２２が作動すると、ウォームギアの作動により軸部材１７を回転させることができるため、支持具４３を水平方向に揺動させることができる。また、このような構成にすることにより、装置墜落時の過大な負荷を、バックドライブしない回転駆動源１８で受けるのではなく、堅牢な軸部材１７で支えられるようにすることができる。これにより、回転駆動源１８は、装置墜落時の荷重の一部のみを支持するようにできる。   The swing mechanism 7 swings in the directions of arrows A and B in FIG. That is, as shown in FIG. 2, the case member 9 attached to the clamp 6 is provided with a robust shaft member 17 and a drive source 18 that rotates the shaft member 17. In this embodiment, the drive source 18 is a worm gear comprising a columnar worm 19 provided with helical teeth like a screw and a disk-like wheel 20 provided with teeth in an arc shape on the outer peripheral surface. Composed. A cylindrical motor case 21 is provided outside the case member 9, and a motor 22 for driving the worm 19 is provided in the motor case 21. As a result, when the motor 22 is operated, the shaft member 17 can be rotated by the operation of the worm gear, so that the support tool 43 can be swung in the horizontal direction. Further, by adopting such a configuration, an excessive load at the time of the apparatus crash can be supported by the robust shaft member 17 instead of being received by the rotational drive source 18 that is not back-driven. Thereby, the rotational drive source 18 can support only a part of the load when the apparatus crashes.

ケース部材９の下方には、図２に示すように扁平状のカム機構が設けられている。カム機構を構成するカム４０は、図５に示すように、矩形状の平板体において、下方の一方の角部にアール部４１を有するものである。このカム４０の下面がカム面となり、このカム面にアーム本体４４の基端側の上端部が当接する。これにより、アーム本体４４の基端部側の上端部がカム面を図５（ａ）及び図５（ｂ）のように往復動することによって、アーム本体４４がピン部材４９を中心に上下方向（図１の矢印Ｂ）に揺動することができ、アーム８のプーリ１２の内外径方向への変位を許容することができる。   A flat cam mechanism is provided below the case member 9 as shown in FIG. As shown in FIG. 5, the cam 40 constituting the cam mechanism is a rectangular flat plate having a rounded portion 41 at one lower corner. The lower surface of the cam 40 becomes a cam surface, and the upper end portion on the proximal end side of the arm main body 44 abuts on the cam surface. Thus, the upper end of the arm main body 44 on the base end side reciprocates the cam surface as shown in FIGS. 5A and 5B, so that the arm main body 44 moves in the vertical direction around the pin member 49. (Arrow B in FIG. 1), and the displacement of the arm 8 in the inner and outer diameter directions of the pulley 12 can be allowed.

点検ユニット２３は、図６に示すように、電線と直交する方向（図示例では上下方向）に延びた基軸２７と、基軸２７から水平方向に延びる第１アーム２４と、第１アーム２４から第１アーム２４と直交する方向に延びる第２アーム２５と、第２アーム２５の先端に設けられ、電線の状態を点検する第２点検部２６とを備える。第２点検部２６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。   As shown in FIG. 6, the inspection unit 23 includes a base shaft 27 extending in a direction perpendicular to the electric wire (vertical direction in the illustrated example), a first arm 24 extending horizontally from the base shaft 27, and a first arm 24 to a first arm 24. A second arm 25 extending in a direction orthogonal to the one arm 24 and a second inspection part 26 provided at the tip of the second arm 25 and inspecting the state of the electric wire are provided. The second inspection unit 26 is for inspecting 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.

重心調整部３０は、図６に示すように、基軸２７の下端部に設けられ、第３アーム３１、第４アーム３２、連結軸３３、及びバッテリーボックス３４とを有する。第３アーム３１の一端は基軸２７の下端に取り付けられ、第３アーム３１の他端は第４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４アーム３２の取り付けられる。基軸２７の内部には、第３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。重心調整部３０の第３アーム３１及び第４アーム３２を回転させてバッテリーボックスの位置を変えることにより、電線点検装置１の重心位置を調整することができ、スペーサ等の障害物を回避しながら前進することができる。   As shown in FIG. 6, the center-of-gravity adjustment unit 30 is provided at the lower end of the base shaft 27 and includes a third arm 31, a fourth arm 32, a connecting shaft 33, and a battery box 34. One end of the third arm 31 is attached to the lower end of the base shaft 27, and the other end of the third arm 31 is attached to the end of the fourth arm 32 via the connecting shaft 33. The battery box 34 is attached to the fourth arm 32. A motor (not shown) that rotates the third 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 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. By rotating the third arm 31 and the fourth arm 32 of the center of gravity adjustment unit 30 to change the position of the battery box, the position of the center of gravity of the wire inspection device 1 can be adjusted, while avoiding obstacles such as spacers. You can move forward.

次に、電線Ａ１に係合した本発明の自走式電線点検装置を取外す方法について説明する。このとき、アーム８の凹部４８は、プーリ１２の外径部に接触乃至近接して、プーリ１２の外径部の一部を塞いでいる。また、図１に示すように環状溝部２に係合している電線Ａ１に嵌合状となって、プーリ１２と協働して電線Ａ１を包囲する電線受け状態となっている。   Next, a method for removing the self-propelled electric wire inspection device of the present invention engaged with the electric wire A1 will be described. At this time, the concave portion 48 of the arm 8 is in contact with or close to the outer diameter portion of the pulley 12 to block a part of the outer diameter portion of the pulley 12. In addition, as shown in FIG. 1, the electric wire A <b> 1 engaged with the annular groove 2 is fitted, and the electric wire receiving state surrounds the electric wire A <b> 1 in cooperation with the pulley 12.

図３に示すように逃げ状態とする際には、アーム８は、凹部４８がプーリ１２の外径方向に逃げるようにしつつ揺動する。すなわち、駆動体１８を駆動させると、軸部材１７が回転する。これにより、アーム８は、その基端部を中心に軸Ｏ廻りに揺動させる、つまり、底面視では図４の矢印Ｃ又は矢印Ｄの方向に揺動させることができ、仮想線に示すように、凹部４８がプーリ１２から離間して、環状溝部２から逃げた状態となる。その際、カム機構によってアーム本体４４は、図１の矢印Ｂ１のように、その先端部が下降する。すなわち、アーム本体４４の基端側の上端部は、図５（ａ）に示すようにカム面の最下端部からアール部４１にて案内されて、図５（ｂ）に示すように上昇する。これにより、アーム本体４４の基端側が上昇するに従って、アーム本体４４の先端側は自重により下降していき、アーム８の先端部を下方に揺動させることができる。このようにして、凹部４８がプーリ１２の外径方向に逃げつつ離間させることができる。   As shown in FIG. 3, in the escape state, the arm 8 swings while the recess 48 escapes in the outer diameter direction of the pulley 12. That is, when the driving body 18 is driven, the shaft member 17 rotates. As a result, the arm 8 can be swung around the axis O around its base end, that is, can be swung in the direction of the arrow C or D in FIG. In addition, the recess 48 is separated from the pulley 12 and escapes from the annular groove 2. At that time, the tip of the arm main body 44 is lowered by the cam mechanism as shown by an arrow B1 in FIG. That is, the upper end portion on the proximal end side of the arm main body 44 is guided by the rounded portion 41 from the lowermost end portion of the cam surface as shown in FIG. 5A and rises as shown in FIG. 5B. . Thereby, as the base end side of the arm body 44 is raised, the distal end side of the arm body 44 is lowered by its own weight, and the distal end portion of the arm 8 can be swung downward. In this way, the recess 48 can be separated while escaping in the outer diameter direction of the pulley 12.

本発明の自走式電線点検装置を取付る場合は、図３に示すように、アーム８の凹部４８が環状溝部２から逃げた逃げ状態として、電線Ａ１に環状溝部２を係合させる。その後、アーム８を、その基端部を中心に前記方向とは逆の方向に、軸Ｏ廻りに揺動させる。すなわち、駆動体１８を駆動させると、底面視では図４の二点鎖線の位置から矢印Ｅ又は矢印Ｆの方向に揺動させることができ、実線に示すように、凹部４８がプーリ１２に接近して、環状溝部２に係合している電線Ａ１に嵌合状となってプーリ１２と協働して電線Ａ１を包囲する電線受け状態となる。すなわち、アーム８を回転して、その先端をプーリ１２の中に入れて、プーリ１２の外径部をアーム先端が乗り越えてプーリ１２の中に入り込み、プーリ１２の外径部にアーム先端が接触させる程度にアーム８の先端部をプーリ１２の外径部に近づける。その際、カム機構によってアーム本体４４は、図１の矢印Ｂ２のように、その先端部が上昇する。すなわち、アーム８のアーム本体４４の基端側の上端部は、図５（ｂ）に示す位置からアール部４１にて案内されて、図５（ａ）に示すように、カム面の最下端部まで下降する。これにより、アーム本体４４の基端側が下降するに従って、アーム本体４４の先端側は上昇していき、アーム８の先端部を上方に揺動させることができる。このようにして、凹部４８がプーリ１２の内径方向に接近しつつ電線の側方から接近させることができ、凹部４８はプーリ１２の外径部に接触乃至近接して、プーリ１２の外径部の一部を塞いだ状態となる。   When attaching the self-propelled electric wire inspection device of the present invention, as shown in FIG. 3, the annular groove 2 is engaged with the electric wire A <b> 1 in the escape state in which the recess 48 of the arm 8 escapes from the annular groove 2. Thereafter, the arm 8 is swung around the axis O in the direction opposite to the above-mentioned direction around the base end portion. That is, when the driving body 18 is driven, it can be swung in the direction of the arrow E or F from the position of the two-dot chain line in FIG. 4 in the bottom view, and the concave portion 48 approaches the pulley 12 as shown by the solid line. Thus, the electric wire A1 engaged with the annular groove portion 2 is fitted to the electric wire A1 so that the electric wire receiving state surrounds the electric wire A1 in cooperation with the pulley 12. That is, the arm 8 is rotated, the tip of the arm 8 is inserted into the pulley 12, the arm tip gets over the outer diameter portion of the pulley 12 and enters the pulley 12, and the arm tip contacts the outer diameter portion of the pulley 12. The tip portion of the arm 8 is brought close to the outer diameter portion of the pulley 12 to such an extent that it can be moved. At that time, the tip of the arm main body 44 is raised by the cam mechanism as indicated by an arrow B2 in FIG. That is, the upper end of the arm 8 on the base end side of the arm main body 44 is guided by the rounded portion 41 from the position shown in FIG. 5B, and as shown in FIG. 5A, the lowermost end of the cam surface. Descend to the center. Thereby, as the proximal end side of the arm body 44 is lowered, the distal end side of the arm body 44 is raised, and the distal end portion of the arm 8 can be swung upward. In this way, the recess 48 can be approached from the side of the electric wire while approaching the inner diameter direction of the pulley 12, and the recess 48 is in contact with or close to the outer diameter portion of the pulley 12, and the outer diameter portion of the pulley 12. It will be in the state which blocked a part of.

本発明は、アーム８の電線受け状態では、アーム８の凹部４８にて電線Ａ１が嵌合することとなって、電線Ａ１を受けることができる。すなわち、プーリ１２とアーム８とで電線Ａ１を包囲状とするので、プーリ１２が電線Ａ１に対して傾いても電線受け状態を維持できるため、装置の墜落を防止することができて、安全に電線を点検することができる。しかも、逃げ状態から電線受け状態へは、凹部４８がプーリ１２の内径方向に接近しつつ電線Ａ１の側方から揺動し、電線受け状態から逃げ状態へは、凹部４８がプーリ１２の外径方向に逃げつつ揺動するものであるため、アーム８がプーリ１２に引っ掛かることなく揺動させることができるため、電線Ａ１を傷つけることなく取付け・取外しができる。   In the present invention, when the arm 8 receives the electric wire, the electric wire A1 is fitted in the concave portion 48 of the arm 8 so that the electric wire A1 can be received. That is, since the electric wire A1 is enclosed by the pulley 12 and the arm 8, the electric wire receiving state can be maintained even if the pulley 12 is inclined with respect to the electric wire A1, so that the apparatus can be prevented from falling down and safely. The electric wire can be inspected. Moreover, the recess 48 swings from the side of the electric wire A1 while approaching the inner diameter direction of the pulley 12 from the escape state to the wire receiving state, and the recess 48 has an outer diameter of the pulley 12 from the wire receiving state to the escape state. Since the arm 8 can be swung without being caught by the pulley 12, it can be attached and detached without damaging the electric wire A1.

揺動機構７は、アーム８のプーリ１２の内外径方向への変位を許容するカム機構を備えたものとしているため、１つの機構で２方向の揺動を可能とすることができる。これにより、装置を簡素化することができ、軽量化を図ることができて、少ない駆動エネルギーで安定して電線上を走行させることができる。   Since the swing mechanism 7 is provided with a cam mechanism that allows displacement of the arm 8 in the inner and outer diameter directions of the pulley 12, the swing mechanism 7 can swing in two directions. As a result, the apparatus can be simplified, the weight can be reduced, and the electric wire can be traveled stably with less driving energy.

電線受け状態では、アーム８の凹部４８の開口端縁部がプーリ１２の環状溝部２に嵌入状となるため、プーリ１２とアーム８との隙間を小さくすることができる。これにより、電線Ａ１はプーリ１２とアーム８とで確実に包囲状とすることができ、装置の墜落を一層防止することができる。   In the wire receiving state, the opening edge of the recess 48 of the arm 8 is fitted into the annular groove 2 of the pulley 12, so that the gap between the pulley 12 and the arm 8 can be reduced. Thereby, the electric wire A1 can be reliably enclosed by the pulley 12 and the arm 8, and the apparatus can be further prevented from falling.

本発明は上記の実施形態に限られない。例えば、上記の実施形態では４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２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, although the case where the present invention is applied to an electric wire inspection apparatus that inspects four conductors is shown in the above embodiment, the number of electric wires is not particularly limited, and the present invention is applicable to an electric wire inspection apparatus that inspects a single conductor or two conductors. The invention may be applied.

２ 環状溝部
７ 揺動機構
８ 電線受け用揺動アーム
１８ 駆動源
４０ カム
４８ 凹部
Ａ 送電線
Ａ１ 上側の電線
Ａ２ 下側の電線
Ｏ１ 第１枢支軸
Ｏ２ 第２枢支軸 2 Annular groove 7 Oscillating mechanism 8 Oscillating arm 18 for receiving electric wire Drive source 40 Cam 48 Recess A Transmission line A1 Upper electric wire A2 Lower electric wire O1 First pivot O2 Second pivot

Claims (4)

環状溝部が電線に係合する鼓状の回転体と、この回転体の外径部に接触乃至近接して、回転体の外径部の一部を塞ぐ凹部を先端部に有する電線受け用揺動アームとを備え、前記回転体が電線に対して滑走しながら電線の状態を点検する自走式電線点検装置であって、
前記電線受け用揺動アームの凹部が電線の側方から揺動して回転体に接近し、環状溝部に係合している電線に嵌合状となって回転体と協働して電線を包囲する電線受け状態と、この電線受け状態から揺動して回転体から離間し、凹部が環状溝部から逃げた状態となる逃げ状態との変位を許容する揺動機構を備え、逃げ状態から電線受け状態へは、電線受け用揺動アームはその凹部が回転体の内径方向に接近しつつ電線の側方から揺動し、電線受け状態から逃げ状態へは、電線受け用揺動アームはその凹部が回転体の外径方向に逃げつつ揺動することを特徴とする自走式電線点検装置。 A drum-shaped rotating body in which the annular groove portion engages with the electric wire, and a swing for receiving the electric wire having a concave portion that closes a part of the outer diameter portion of the rotating body in contact with or close to the outer diameter portion of the rotating body. A self-propelled electric wire inspection device that inspects the state of the electric wire while the rotating body slides relative to the electric wire,
The recess of the swing arm for receiving the wire swings from the side of the wire to approach the rotating body, and is fitted to the wire engaged with the annular groove to cooperate with the rotating body. Provided with a swing mechanism that allows displacement between the surrounding wire receiving state and the escape state where the recessed portion escapes from the annular groove by swinging from the wire receiving state and separating from the rotating body. To the receiving state, the swinging arm for receiving the wire swings from the side of the wire while the concave portion approaches the inner diameter direction of the rotating body. A self-propelled electric wire inspection device characterized in that the recess swings while escaping in the outer diameter direction of the rotating body. 前記揺動機構は、電線と直交する方向に延び、前記電線受け用揺動アームの回転中心となる軸部材と、ウォームとホイールとから構成されて前記軸部材の回転駆動源となるウォームギアとを備え、前記ホイールに前記軸部材が取付られたことを特徴とする請求項１の自走式電線点検装置。   The swing mechanism includes a shaft member that extends in a direction perpendicular to the electric wire and serves as a rotation center of the wire receiving swing arm, and a worm gear that includes a worm and a wheel and serves as a rotational drive source of the shaft member. The self-propelled electric wire inspection device according to claim 1, wherein the shaft member is attached to the wheel. 前記揺動機構は、電線受け用揺動アームの回転体の内外径方向への変位を許容するカム機構を備えたことを特徴とする請求項１又は請求項２に記載の自走式電線点検装置。   The self-propelled electric wire inspection according to claim 1 or 2, wherein the swing mechanism includes a cam mechanism that allows displacement of the rotating arm of the wire receiving swing arm in the inner and outer diameter directions. apparatus. 電線受け状態では、電線受け用揺動アームの凹部の開口端縁部が回転体の環状溝部に嵌入状となることを特徴とする請求項１〜請求項３のいずれか１項に記載の自走式電線点検装置。   4. The device according to claim 1, wherein in the wire receiving state, the opening edge of the recess of the swing arm for receiving the wire is fitted into the annular groove of the rotating body. 5. Traveling wire inspection device.
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