JPH04334913A - High catenary running apparatus - Google Patents
High catenary running apparatusInfo
- Publication number
- JPH04334913A JPH04334913A JP3101541A JP10154191A JPH04334913A JP H04334913 A JPH04334913 A JP H04334913A JP 3101541 A JP3101541 A JP 3101541A JP 10154191 A JP10154191 A JP 10154191A JP H04334913 A JPH04334913 A JP H04334913A
- Authority
- JP
- Japan
- Prior art keywords
- elevated
- chassis
- balancer
- truck
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 20
- 241001422033 Thestylus Species 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 239000012212 insulator Substances 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Electric Cable Installation (AREA)
Abstract
Description
【０００１】［発明の目的］[Object of the invention]
【０００２】0002
【産業上の利用分野】本発明は、送電線や配電線のよう
な高架線に懸架され走行して、高架線や付帯物を点検す
る高架線走行装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevated line running device that is suspended from an elevated line such as a power transmission line or distribution line and runs to inspect the elevated line and its accessories.
【０００３】0003
【従来の技術】従来から、送電線や配電線では、施設場
所の地形に従がい、又、建築物を避けるために鉄塔が施
設され、そのため、高架線は鉄塔を折れ点にして、上下
左右に折り曲げて施設されるときがある。そのため、こ
のような高架線の保守・点検に使われる高架線走行装置
においては、例えば、特開平１−２４８９１８号公報で
示される高架線移動装置のように、上下左右に屈曲して
姿勢を変えるための動作軸が設けられ、鉄塔を通過する
ときには、折れ曲がる高架線に対応して走行できるよう
になっている。[Prior Art] Conventionally, power transmission lines and distribution lines have been constructed with steel towers to follow the topography of the facility location and to avoid buildings. Sometimes it is folded into a facility. Therefore, in the elevated line traveling device used for maintenance and inspection of such elevated lines, for example, as in the elevated line moving device shown in Japanese Patent Application Laid-Open No. 1-248918, it is possible to change the posture by bending vertically and horizontally. An operating axis is provided for this purpose, so that when passing through a steel tower, the train can travel along bending elevated lines.
【０００４】一方、鉄道に沿って施設された配電線や給
電線では、急峻な折れ曲がりはなく、最大でも５度程度
であり、更に、保守・点検のときに損傷区間が凡そ分っ
ている場合もある。したがって、この場合には、折れ曲
がりの自由度は少なくても、小形・軽最で高架線への懸
架が容易な高架線走行装置が望まれる。[0004] On the other hand, power distribution lines and feeder lines installed along railways do not have sharp bends, only around 5 degrees at most, and furthermore, the damaged sections are generally known at the time of maintenance and inspection. There is also. Therefore, in this case, an elevated line traveling device is desired that is small, light, and easy to suspend on the elevated line, even if the degree of freedom in bending is small.
【０００５】[0005]
【発明が解決しようとする課題】ところが、上述の特開
平１−２４８９１８号公報などで示された従来の高架線
走行装置においては、動作軸が多いので、外形と重量が
増えるだけでなく、高架線への取付けもやりにくくなる
。そこで、本発明の目的は、小形軽量、構成が簡単で、
高架線への取付け取外しも容易な高架線走行装置を得る
ことである。
［発明の構成］[Problems to be Solved by the Invention] However, in the conventional elevated line running equipment disclosed in the above-mentioned Japanese Patent Laid-Open No. 1-248918, etc., there are many operating axes, which not only increases the external size and weight, but also increases the It also becomes difficult to attach to the wire. Therefore, the purpose of the present invention is to have a small size, light weight, and simple configuration.
To obtain an elevated line running device that can be easily attached to and removed from an elevated line. [Structure of the invention]
【０００６】[0006]
【課題を解決するための手段及び作用】本発明は、高架
線に懸架されて走行する高架線走行装置において、屈曲
自在に連結された車台の連結部と前後端に高架線を挟ん
で車輪を設け、この車輪を駆動する駆動部と車台に対し
て高架線回りに駆動されるバランサを車台に設けること
で、バランサを駆動し、車台と車輪を高架線回りに旋回
させ障害物を通過して、小形軽量、構成簡単で、取付も
容易な高架線走行装置である。[Means and Effects for Solving the Problems] The present invention provides an elevated line traveling device that is suspended from an elevated line and runs, in which wheels are connected between a connecting portion of a car chassis that is flexibly connected and the front and rear ends of the vehicle with the elevated line sandwiched between them. By providing a drive unit that drives the wheels and a balancer on the undercarriage that is driven around the elevated wire, the balancer is driven, and the undercarriage and wheels are rotated around the elevated wire to pass obstacles. This is an elevated line running device that is small, lightweight, simple in structure, and easy to install.
【０００７】[0007]
【実施例】以下、本発明の一実施例を図面を参照して説
明する。図１は、本発明の高架線走行装置が高架線に懸
架され、右側から走行してきた状態を示す正面図、図２
は図１の右側面図である。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is a front view showing the elevated line running device of the present invention suspended on an elevated line and running from the right side;
is a right side view of FIG.
【０００８】図１及び図２において、前輪２Ａと中間輪
２Ｂは、アルミニウム押出成型材で製作された逆Ｌ字形
の車台３Ａの前後に車軸１２Ａ，１２Ｂを介してそれぞ
れ取り付けられている。一方、後輪２Ｃは、同じくアル
ミニウム押出成型材で製作された車台３Ｂの後端に車軸
１２Ｃを介して取り付けられ、車台３Ｂの前端は、軸３
ａを介して車台３Ａの後端と連結されている。これらの
前輪２Ａ、中間輪２Ｂと後輪２Ｃは、外周に断面Ｕ字状
の溝が形成され、この溝には高架線１との摩擦係数を増
やすためのウレタンゴムが注入されている。In FIGS. 1 and 2, a front wheel 2A and an intermediate wheel 2B are attached via axles 12A and 12B to the front and rear of an inverted L-shaped chassis 3A made of extruded aluminum material, respectively. On the other hand, the rear wheel 2C is attached via an axle 12C to the rear end of the chassis 3B, which is also made of extruded aluminum material, and the front end of the chassis 3B is attached to the axle 3B.
It is connected to the rear end of the chassis 3A via a. These front wheels 2A, intermediate wheels 2B, and rear wheels 2C have grooves having a U-shaped cross section formed on their outer peripheries, and urethane rubber is injected into these grooves to increase the coefficient of friction with the elevated wire 1.
【０００９】また、車台３Ａの前端には、触針の先端を
前方下向きにして近接スイッチ７Ａが取り付けられ、車
台３Ａの後端には、近接スイッチ７Ｂが触針の先端を前
方上向きにして取り付けられ、車台３Ｂの後部にも、後
輪２Ｃの前側の位置に近接スイッチ７Ｃが触針を前方下
向きにして取り付けられている。Further, a proximity switch 7A is attached to the front end of the chassis 3A with the tip of the stylus facing forward and downward, and a proximity switch 7B is attached to the rear end of the chassis 3A with the tip of the stylus pointing forward and upward. A proximity switch 7C is also attached to the rear of the vehicle chassis 3B at a position in front of the rear wheel 2C with its stylus facing forward and downward.
【００１０】一方、車台３Ｂの前部下面には、ストッパ
３Ｃが垂設され、車台３Ａの下部後端には、アーム３ｂ
が突設され、このアーム３ｂの先端と車台３Ｂの中間部
下端との間には、引張りばね１４が取り付けられ、アー
ム３ｂの基部上面は引張りばね１４の復帰力でストッパ
３Ｃの下端に押圧されている。車台３Ａの下部には、前
輪２Ａの後部に、逆凹字状の探傷センサ８が凹部を高架
線１に遊篏させて取り付けられ、車台３Ｂの中間部には
、後輪２Ｃの前方にカメラ９がレンズ側を下向きにして
取り付けられている。On the other hand, a stopper 3C is vertically provided on the lower front surface of the chassis 3B, and an arm 3b is provided at the rear end of the lower part of the chassis 3A.
A tension spring 14 is attached between the tip of the arm 3b and the intermediate lower end of the chassis 3B, and the upper surface of the base of the arm 3b is pressed against the lower end of the stopper 3C by the restoring force of the tension spring 14. ing. At the bottom of the chassis 3A, an inverted concave-shaped flaw detection sensor 8 is attached to the rear of the front wheel 2A, with the concave part loosely connected to the elevated wire 1, and in the middle of the chassis 3B, a camera is installed in front of the rear wheel 2C. 9 is attached with the lens side facing downward.
【００１１】次に、図２において、逆Ｃ形の固定リング
６Ａが、中心を高架線１と同軸にして車台３Ａの後部に
固定され、この固定リング６Ａの外周には、固定リング
６Ａの外周に案内され支持されて、固定リング６Ａと同
軸に揺動する可動リング６Ｂが篏合している。この可動
リング６Ｂの外面周側には、箱状のバランサ４が外周に
沿って移動自在に設けられている。Next, in FIG. 2, an inverted C-shaped fixing ring 6A is fixed to the rear of the chassis 3A with its center coaxial with the elevated wire 1, and the outer circumference of the fixing ring 6A is A movable ring 6B, which swings coaxially with the fixed ring 6A, is guided and supported by the fixed ring 6A. A box-shaped balancer 4 is provided on the outer circumferential side of the movable ring 6B so as to be movable along the outer circumference.
【００１２】又、車台３Ａの後部には、図２において右
側面にＤＣサーボモータ１６が軸３ａと同一軸上に取り
付けられ、このＤＣサーボモータ１６の図示しない出力
軸には、図示しない三連のスプロケットが挿着され、こ
のスプロケットのうちの１枚に巻装された図示しないチ
ェーンの他側は、先端の車軸１２Ａに挿着された図示し
ない同径のスプロケットに巻装され、他の２枚のうちの
１枚に巻装された図示しないチェーンの他側は、後端の
車軸１２Ｃに挿着された図示しないスプロケットに巻装
され、残りの１枚のスプロケットは、その下部に設けら
れた図示しないアイドラスプロケットを介して、車軸１
２Ｂに挿着された図示しないスプロケットと噛み合って
いる。更に、ＤＣサーボモータ１６の下部には、車台３
Ａの右側面にＤＣモータ１５が取り付けられ、このＤＣ
モータの図示しない出力軸には、探傷センサ８を上下動
させる駆動部が連結されている。Further, at the rear of the chassis 3A, a DC servo motor 16 is installed on the right side in FIG. sprocket is inserted, and the other side of the chain (not shown) is wound around one of the sprockets, and the other side of the chain (not shown) is wound around a sprocket of the same diameter (not shown) that is inserted into the axle 12A at the tip. The other side of the chain (not shown) wound around one of the sprockets is wound around a sprocket (not shown) inserted into the axle 12C at the rear end, and the remaining sprocket is installed at the bottom of the sprocket. axle 1 via an idler sprocket (not shown)
It meshes with a sprocket (not shown) inserted into 2B. Further, a chassis 3 is provided below the DC servo motor 16.
A DC motor 15 is attached to the right side of A, and this DC
A drive unit that moves the flaw detection sensor 8 up and down is connected to an output shaft (not shown) of the motor.
【００１３】一方、バランサ４の内部には、詳細省略し
たバッテリ５Ｂ、制御装置５Ａと通信装置５Ｃと図示し
ない旋回用ＤＣモータが収納され、この旋回用ＤＣモー
タの出力側には、この旋回用駆動モータの回転方向によ
って固定リング６Ａと可動リング６Ｂをそれぞれ右回り
や左回りに駆動して、バランサ４と固定リング６Ａ、可
動リング６Ｂとの相対位置を変える詳細省略した駆動機
構が設けられている。On the other hand, inside the balancer 4, a battery 5B, a control device 5A, a communication device 5C, and a turning DC motor (not shown) are housed. A drive mechanism (details omitted) is provided that changes the relative positions of the balancer 4, the fixed ring 6A, and the movable ring 6B by driving the fixed ring 6A and the movable ring 6B clockwise or counterclockwise depending on the rotational direction of the drive motor. There is.
【００１４】このように構成された高架線走行装置にお
いては、引張りばね１４の復帰力により、前輪２Ａ、中
間輪２Ｂ、後輪２Ｃで高架線１を両側から挟みつけると
ともに、ＤＣサーボモータ１６を駆動して走行する。一
方、探傷センサ８で高架線１の傷を検出すると、音や光
を発して地上の作業者に知らせるとともに、カメラ９で
その傷の画像データ（写真やＶＴＲ）を取り込み、これ
らのデータは、高架線走行装置が後述する方法で地上に
下ろされた後に確認される。[0014] In the elevated line traveling device configured as described above, the returning force of the tension spring 14 causes the front wheels 2A, intermediate wheels 2B, and rear wheels 2C to pinch the elevated line 1 from both sides, and the DC servo motor 16 is Drive and run. On the other hand, when the flaw detection sensor 8 detects a flaw on the elevated wire 1, it emits sound and light to notify workers on the ground, and the camera 9 captures image data (photos and VTRs) of the flaw. This is confirmed after the elevated line running equipment is lowered to the ground using the method described below.
【００１５】次に、高架線走行装置の走行手順について
、図３を参照して説明する。同図（ａ）は、図１の状態
の高架線走行装置が、がいし１０を通過するときを、同
図（ｂ）は、下方に分岐した分岐引下線１１を通過する
ときの動作ステップを示す。同図（ａ）において、矢印
Ａで示すように右側から走行してきた高架線走行装置は
、前輪２Ａが懸垂がいし１０に近づいたステップＳ１で
は、近接スイッチ７Ａの触針の先端が高架線１を把持し
たクランプ１０ａに触れると、近接スイッチ７Ａからの
信号でＤＣサーボモータ１６が停止する。すると、次の
ステップＳ２では、バランサ４の内部の旋回用ＤＣモー
タが作動して、可動リング６Ｂを固定リング６Ａに対し
て図２において左回りに回転させ（バランサ４側から見
ると固定リング６Ａを右回りに回転させ）て、前輪２Ａ
と後輪２Ｃを高架線１の下に、中間輪２Ｂを下に、車台
３Ａ，３Ｂを高架線１の左側に、バランサ４を高架線の
右下にする。Next, the running procedure of the elevated line running device will be explained with reference to FIG. 1 (a) shows the operation steps when the elevated line running equipment in the state shown in FIG. 1 passes the insulator 10, and FIG. . In the same figure (a), as shown by the arrow A, the elevated line traveling device is running from the right side. At step S1 when the front wheel 2A approaches the suspension insulator 10, the tip of the stylus of the proximity switch 7A touches the elevated line 1. When the gripped clamp 10a is touched, the DC servo motor 16 is stopped by a signal from the proximity switch 7A. Then, in the next step S2, the turning DC motor inside the balancer 4 is activated to rotate the movable ring 6B counterclockwise relative to the fixed ring 6A in FIG. clockwise), and then rotate the front wheel 2A.
The rear wheel 2C is placed under the elevated line 1, the intermediate wheel 2B is placed below, the chassis 3A and 3B are placed on the left side of the elevated line 1, and the balancer 4 is placed on the lower right side of the elevated line.
【００１６】次のステップＳ３では、ＤＣモータ１５を
駆動して探傷センサ８を高架線１から離すとともに、Ｄ
Ｃサーボモータ１６を駆動して走行し、近接スイッチ７
Ｂの触針がクランプ１０ａに触れると、停止する。次の
ステップＳ４では、ステップ２と逆方向に旋回用ＤＣモ
ータを作動させて、車台３Ａ，３Ｂ、前輪２Ａ、中間輪
２Ｂと後輪２Ｃを固定リング６Ａとともに左回に１８０
°旋回させて、ステップ１と同一姿勢にする。In the next step S3, the DC motor 15 is driven to move the flaw detection sensor 8 away from the elevated wire 1, and the D
The C servo motor 16 is driven to drive the proximity switch 7.
When the stylus B touches the clamp 10a, it stops. In the next step S4, the turning DC motor is operated in the opposite direction to step 2, and the chassis 3A, 3B, front wheel 2A, intermediate wheel 2B, and rear wheel 2C are rotated 180 degrees counterclockwise along with the fixing ring 6A.
Rotate it to the same posture as in step 1.
【００１７】次にステップＳ５では、ＤＣサーボモータ
１６とＤＣモータ１５を駆動して、探傷センサ８を下ろ
して走行し、近接スイッチ７Ｃが作動すると停止し、次
のステップＳ６では、ステップ２と同様に旋回用ＤＣモ
ータを作動して、車台３Ａ，３Ｂなどをがいし１０の左
側にし、次のステップ７でＤＣサーボモータ１６を駆動
して、高架線１の傷を探傷センサ８とカメラ９で探しな
がら次の障害物まで走行する。Next, in step S5, the DC servo motor 16 and the DC motor 15 are driven to move with the flaw detection sensor 8 lowered, and stop when the proximity switch 7C is activated. In the next step S6, the motor moves as in step 2. Activate the turning DC motor to move the chassis 3A, 3B, etc. to the left side of the insulator 10, and in the next step 7 drive the DC servo motor 16 to search for flaws on the elevated wire 1 with the flaw detection sensor 8 and camera 9. Run to the next obstacle.
【００１８】次に、同図（ｂ）のように分岐引下線１１
を通過するときには、まず、ステップＳ１１の前輪２Ａ
が分岐引下線１１に接近したときには、触針先端が分岐
接続部に触れた近接スイッチ７Ａからの信号でＤＣモー
タ１５を駆動して探傷センサ８を持上げてそのまま走行
し、次のステップＳ１２で中間輪２Ｂが分岐引下線１１
に接近して、近接スイッチ７Ｂの触針の先端が分岐接続
部に触れると、停止する。Next, as shown in FIG.
When passing the front wheel 2A in step S11, first
When the probe approaches the branch pull-down line 11, the DC motor 15 is driven by the signal from the proximity switch 7A when the stylus tip touches the branch connection part, the flaw detection sensor 8 is lifted up, and the probe is moved as it is, and in the next step S12, the intermediate Ring 2B branches underline 11
When the tip of the stylus of the proximity switch 7B touches the branch connection, it stops.
【００１９】次のステップ１３では、旋回用ＤＣモータ
を駆動させて、固定リング６Ａや車台３Ａ，３Ｂを大き
く左に、可動リング６Ｂとバランサ４はわずかに左に旋
回させて、前輪２Ａ、後輪２Ｃなどを高架線１の左下側
に、バランサ４を右下側にして、Ｃ形の可動リング６Ｂ
と固定リング６Ａの開口部を下側にする。In the next step 13, the turning DC motor is driven to turn the fixed ring 6A and chassis 3A, 3B largely to the left, the movable ring 6B and balancer 4 slightly to the left, and rotate the front wheels 2A and rear wheels. Place the ring 2C on the lower left side of the elevated wire 1, the balancer 4 on the lower right side, and move the C-shaped movable ring 6B.
and the opening of the fixing ring 6A is on the lower side.
【００２０】次のステップＳ１４で走行して、ＤＣモー
タ１５を駆動して探傷センサ８を突き出し、近接スイッ
チ７Ｃの信号でＤＣサーボモータ１６を停止させ、次の
ステップＳ１５では、ステップＳ１３と逆に旋回用モー
タを駆動して固定リング６Ａや車台３Ａ，３Ｂを大きく
右に、可動リング６Ｂとバランサはわずかに右に旋回さ
せて、前輪２Ａ、後輪２Ｃを高架線１の上に、バランサ
４は左下に移動する。次にステップＳ１６では、ＤＣサ
ーボモータ１６を駆動して後輪２Ｃが分岐接続部を通過
すると、ＤＣモータ１５を作動させて探傷センサ８とカ
メラ９とで探傷しながら次の障害物まで走行する。In the next step S14, the vehicle runs, drives the DC motor 15 to push out the flaw detection sensor 8, and stops the DC servo motor 16 with the signal from the proximity switch 7C. In the next step S15, the process is reversed to step S13. Drive the turning motor to turn the fixed ring 6A and chassis 3A, 3B sharply to the right, and the movable ring 6B and balancer slightly to the right. moves to the bottom left. Next, in step S16, when the rear wheel 2C passes the branch connection by driving the DC servo motor 16, the DC motor 15 is activated and the vehicle travels to the next obstacle while detecting flaws using the flaw detection sensor 8 and camera 9. .
【００２１】次に、図４は、本発明の高架線走行装置の
他の実施例を示す正面図、図５は、図４の右側面図であ
る。図４及び図５において、車台２３Ａの前部には車軸
３２Ａが貫設され、車台２３Ａの後端と車台２３Ｂの前
端には車軸３２Ｂが貫設され、車台２３Ｂの後端には車
軸３２Ｃが貫設されている。Next, FIG. 4 is a front view showing another embodiment of the elevated line traveling device of the present invention, and FIG. 5 is a right side view of FIG. 4. In FIGS. 4 and 5, an axle 32A extends through the front of the chassis 23A, an axle 32B penetrates through the rear end of the chassis 23A and the front end of the chassis 23B, and an axle 32C extends through the rear end of the chassis 23B. It is installed through.
【００２２】このうち、車軸３２Ａには車台２３Ａの左
側に前輪２２Ａが、車軸３２Ｂには中間輪２２Ｂが、車
軸３２Ｃには後輪２２Ｃがそれぞれ挿着されている。又
、車軸３２Ａには車台２３Ａの右側にスプロケット３６
Ａが、車軸３２Ｂには２連のスプロケット３６Ｂが、車
軸３２Ｃはスプロケット３６Ｃがそれぞれ挿着され、こ
のうち、スプロケット３６Ａ，３６Ｂ間にはチエーン３
７Ａが、スプロケット３６Ｂ，３６Ｃ間にはチエーン３
７Ｂが巻装されている。Of these, a front wheel 22A is inserted into the axle 32A on the left side of the chassis 23A, an intermediate wheel 22B is inserted into the axle 32B, and a rear wheel 22C is inserted into the axle 32C. Also, the axle 32A has a sprocket 36 on the right side of the chassis 23A.
A, two sprockets 36B are inserted into the axle 32B, a sprocket 36C is inserted into the axle 32C, and a chain 3 is inserted between the sprockets 36A and 36B.
7A is chain 3 between sprockets 36B and 36C.
7B is wrapped.
【００２３】また、車台３２Ｂの前端には、アーム２３
ｂが突設され、このアーム２３ｂの前端と車台３２Ａの
中間部との間には、引張りばね３４が張力を与えられた
状態で取り付けられ、車台３２Ａにはストッパ２３Ｃが
固定され、このストッパ２３Ｃの下面は引張りばね３４
の復帰力でアーム２３ｂの上面に当接している。Further, an arm 23 is provided at the front end of the chassis 32B.
A tension spring 34 is attached under tension between the front end of the arm 23b and the intermediate portion of the chassis 32A, and a stopper 23C is fixed to the chassis 32A. The lower surface of is a tension spring 34
The arm 23b is brought into contact with the upper surface of the arm 23b with a returning force of .
【００２４】更に、車台２３Ａの前端上部には、近接ス
イッチ７Ａが触針を前方下向きにして取り付けられ、車
台３２Ａの後部には、近接スイッチ７Ｂが触針を前方上
向きにして、車台３２Ｂの後部にも近接スイッチ７Ｃが
触針を前方下向きにしてそれぞれ取り付けられている。
車台２３Ａの前端下部には、探傷センサ８が下側の凹部
を高架線１に遊篏して取り付けられ、車台２３Ｂの中間
部には、レンズを下側にしてカメラ９が取り付られてい
る。また、車台２３Ａの中間部には貫通穴３８Ａが設け
られ、車台２３Ｂの中間部にも貫通穴３８Ｂが設けられ
ている。Further, a proximity switch 7A is attached to the upper part of the front end of the chassis 23A with its stylus facing forward and downward, and a proximity switch 7B is attached to the rear of the chassis 32A with its stylus facing forward and upward. A proximity switch 7C is also installed in each case with the stylus pointing forward and downward. A flaw detection sensor 8 is attached to the lower front end of the chassis 23A, with the lower concave part loosely attached to the elevated wire 1, and a camera 9 is attached to the middle part of the chassis 23B with the lens facing downward. . Further, a through hole 38A is provided in the middle part of the chassis 23A, and a through hole 38B is also provided in the middle part of the chassis 23B.
【００２５】一方、車台２３Ａの後部右側面には、駆動
枠２０が固定され、この駆動枠２０にはＤＣサーボモー
タ２６が固定され、このＤＣサーボモータ２６の出力軸
は、車軸３２Ｂに連結され、駆動枠２０の右端には車軸
３２Ｂの軸心線上に軸２１が車台２３Ａ，２３Ｂと平行
に固定され、この軸２１には筒状のケース２８の一端が
遊篏されている。On the other hand, a drive frame 20 is fixed to the rear right side of the chassis 23A, a DC servo motor 26 is fixed to the drive frame 20, and the output shaft of the DC servo motor 26 is connected to the axle 32B. A shaft 21 is fixed to the right end of the drive frame 20 on the axis of an axle 32B in parallel with the chassis 23A, 23B, and one end of a cylindrical case 28 is loosely connected to the shaft 21.
【００２６】このケース２８の内部には、詳細省略した
駆動モータ２７が収納され、この駆動モータ２７の出力
端には図示しない傘歯車が固定され、この傘歯車は軸２
１に固定された図示しない傘歯車と噛み合っている。一
方、ケース２８の他端には、管２９が固定され、この管
２９の先端には、図２と同様にバランサ４が取り付けら
れ、このバランサ４の内部には、制御装置５Ａ、バッテ
リ５Ｂと通信装置５Ｃが収納されている。A drive motor 27 (details omitted) is housed inside the case 28, and a bevel gear (not shown) is fixed to the output end of the drive motor 27, and this bevel gear is connected to the shaft 2.
It meshes with a bevel gear (not shown) fixed at 1. On the other hand, a tube 29 is fixed to the other end of the case 28, and a balancer 4 is attached to the tip of the tube 29 as in FIG. A communication device 5C is housed therein.
【００２７】さて、このように構成された高架線走行装
置においては、詳細後述する昇降装置で貫通穴３８Ａ，
３８Ｂを介して把持され、図５で示すように横向きにし
て（注；駆動枠２０が下側、管２９は図５において水平
）折り曲げられ高架線１の高さまで持ちあげられた後、
図４のように拡げられることで、引張りばね２４と前輪
２２Ａ、中間輪２２Ｂと後輪２２Ｃで高架線１を挟みつ
ける。次に、駆動モータ２７を駆動して図５のような姿
勢をとった後、ＤＣサーボモータ２６を駆動して高架線
１の上を走行する。Now, in the elevated line running device configured as described above, the through holes 38A,
38B, turned sideways as shown in FIG. 5 (note: the drive frame 20 is on the lower side, and the tube 29 is horizontal in FIG. 5), and is bent and lifted to the height of the elevated wire 1.
By being expanded as shown in FIG. 4, the elevated wire 1 is sandwiched between the tension spring 24, the front wheel 22A, the intermediate wheel 22B, and the rear wheel 22C. Next, after driving the drive motor 27 to take the posture as shown in FIG. 5, the DC servo motor 26 is driven to travel on the elevated wire 1.
【００２８】次に、この高架線走行装置の走行手順につ
いて、図７のがいし１０を通過するときの例で説明する
。
ステップ２１は、上述の高架線１へ取付けるときの各部
の姿勢を示し、バランサ４は高架線走行装置の進行方向
に対してやや右寄りに傾いて持ち上げれた後、上述のよ
うに引張りばね３４で高架線１を挟みつける。Next, the running procedure of this elevated line running device will be explained using an example of passing through the insulator 10 in FIG. 7. Step 21 shows the posture of each part when attached to the above-mentioned elevated line 1, and after the balancer 4 is lifted slightly to the right with respect to the traveling direction of the elevated line running device, the balancer 4 is lifted by the tension spring 34 as mentioned above. Pinch the elevated wire 1.
【００２９】次のステップ２２では、駆動モータを駆動
し、バランサ４を左回りに駆動し、車台２３Ａ，２３Ｂ
などを高架線１の下側から右回りに旋回させて中間輪２
２Ｂを高架線１の上側に、前輪２２Ａ、後輪２２Ｃを下
側にする。
次にステップ２３では、そのまま走行して、近接スイッ
チ７Ａがクランプ部１０ａを検出したときには、探傷セ
ンサ８を下ろしてそのまま通過する。このとき、前輪２
２Ａは、クランプ１０ａに乗り上げるが、引張りばね３
４の復帰力で、高架線１は中間輪２２Ｂと後輪２２Ｃで
強く挟まれているので、高架線走行装置は落下しない。In the next step 22, the drive motor is driven, the balancer 4 is driven counterclockwise, and the chassis 23A, 23B are rotated.
etc., turn clockwise from the bottom of the elevated wire 1, and the intermediate wheel 2
2B is placed above the elevated wire 1, and the front wheels 22A and rear wheels 22C are placed below. Next, in step 23, the vehicle continues traveling, and when the proximity switch 7A detects the clamp portion 10a, the flaw detection sensor 8 is lowered and the vehicle continues passing through the vehicle. At this time, front wheel 2
2A rides on the clamp 10a, but the tension spring 3
With the return force of 4, the elevated wire 1 is strongly pinched between the intermediate wheel 22B and the rear wheel 22C, so the elevated wire traveling device does not fall.
【００３０】次のステップＳ２４では、探傷センサ８を
上げてそのまま走行し、前輪２２Ａがクランプ部１０ａ
の下を通過し近接スイッチ７Ｂが動作すると、停止し、
次のステップ２５で、駆動モータ２７をステップ２２と
逆に回転させ、車台２３Ａ，２３Ｂなどを左回りに旋回
させて、前輪２２Ａ、後輪２２Ｃを高架線１の上側にす
る。In the next step S24, the flaw detection sensor 8 is raised and the vehicle continues to drive, and the front wheel 22A is connected to the clamp portion 10a.
When it passes under and the proximity switch 7B is activated, it stops,
In the next step 25, the drive motor 27 is rotated in the opposite direction to step 22, and the chassis 23A, 23B, etc. are turned counterclockwise so that the front wheels 22A and the rear wheels 22C are placed above the elevated wire 1.
【００３１】次のステップＳ２６では、そのまま走行し
て、クランプ部１０ａの下側を通過し、近接スイッチ７
Ｃの動作で停止する。図示しない次のステップでは、駆
動モータ２７を駆動して、バランサ４を右に移動して、
車台２３Ａ，２３Ｂを右旋回させ、高架線１の左側にし
て、中間輪２２Ｂを高架線１の上にして次の障害物まで
探傷センサ８とカメラ９で探傷しながら走行する。また
、引下げ線のときも、同様に駆動モータ２７を駆動して
、車台２３Ａ，２３Ｂや前輪２２Ａ、中間輪２２Ｂ、後
輪２２Ｃなどを左右に旋回させ、駆動モータ２５で探傷
センサ８を上下して走行する。In the next step S26, the vehicle continues to run, passes under the clamp portion 10a, and approaches the proximity switch 7.
It stops with action C. In the next step (not shown), the drive motor 27 is driven to move the balancer 4 to the right.
The vehicle platforms 23A and 23B are turned to the right, placed on the left side of the elevated wire 1, the intermediate wheel 22B is placed on the elevated wire 1, and the vehicle travels to the next obstacle while detecting flaws using the flaw detection sensor 8 and camera 9. Also, at the time of the pull-down line, the drive motor 27 is similarly driven to turn the chassis 23A, 23B, front wheels 22A, intermediate wheels 22B, rear wheels 22C, etc. left and right, and the drive motor 25 moves the flaw detection sensor 8 up and down. drive.
【００３２】次に、このように構成された高架線走行装
置を、上述のように高架線１に懸架させる昇降装置を図
８の斜視図及びこの図８の部分平面図を示す図９で説明
する。図８及び図９において、高架線１には、繊維強化
プラスチックス製の２本のパイプ４１などで構成する昇
降枠４２の上端が傾めに立てかけられ、下端には脚部４
５が設けられている。Next, an elevating device for suspending the elevated line traveling device constructed in this manner on the elevated wire 1 as described above will be explained with reference to the perspective view of FIG. 8 and FIG. 9 showing a partial plan view of this FIG. 8. do. In FIGS. 8 and 9, the upper end of a lifting frame 42 composed of two pipes 41 made of fiber-reinforced plastics is leaning on the elevated wire 1, and the lower end has legs 4.
5 is provided.
【００３３】この昇降枠４２の上端には、プーリ４３が
取り付けられ、２本のパイプ４１には、あらかじめ詳細
を図９で示す高架線走行装置載還部４０のベース４６が
ガイド穴４７を嵌合されて装着され、このベース４６の
中央部には昇降用ワイヤ４２の片端が固定され、この昇
降用ワイヤ４２の上端は、プーリ４３に巻きつけられ、
他端は地上まで垂下している。A pulley 43 is attached to the upper end of this elevating frame 42, and a guide hole 47 is fitted into the two pipes 41 by a base 46 of an elevated line traveling equipment loading and unloading section 40 whose details are shown in FIG. One end of a lifting wire 42 is fixed to the center of the base 46, and the upper end of the lifting wire 42 is wound around a pulley 43.
The other end hangs down to the ground.
【００３４】ベース４６には、図９において後部側の左
右に、リニヤガイド４８が横に設けられ、このリニヤガ
イド４８の前面側には移動部４９がそれぞれ遊篏され、
この移動部４９の上面にはピン５０が立設され、移動部
４９の更に前面にはナット５３が固定されている。ベー
ス４６の前面の左右端には、軸受５１Ａ，５１Ｂが取り
付けられ、この軸受５１Ａ，５１Ｂにはスクリュー棒５
２の両端が貫通し、このスクリュー棒５２は、上述のナ
ット５３に螺合し、スクリュー棒５２の左端には、プー
リ５４が固定され、このプーリ５４にはワイヤ４４Ａが
巻装されている。Linear guides 48 are provided horizontally on the left and right sides of the rear side of the base 46 in FIG.
A pin 50 is erected on the upper surface of the moving part 49, and a nut 53 is fixed to the further front surface of the moving part 49. Bearings 51A, 51B are attached to the left and right ends of the front surface of the base 46, and the screw rods 5
This screw rod 52 is threaded into the above-mentioned nut 53, and a pulley 54 is fixed to the left end of the screw rod 52, and a wire 44A is wound around this pulley 54.
【００３５】このような昇降装置で高架線走行装置を高
架線１に懸架するときには、上述の左右の移動部４９に
は、図８で示すように高架線走行装置が載置され、この
とき、左右のピン５０は、図６で示す高架線走行装置の
左右の貫通穴３８Ａ，３８Ｂに下から挿入されることで
、高架線走行装置を図６の状態で挟持する。When suspending an elevated line running device from the elevated wire 1 using such a lifting device, the elevated line running device is placed on the above-mentioned left and right moving parts 49 as shown in FIG. 8, and at this time, The left and right pins 50 are inserted from below into the left and right through holes 38A, 38B of the elevated line running device shown in FIG. 6, thereby holding the elevated line running device in the state shown in FIG.
【００３６】次に、この高架線走行装置は、地上の作業
員のワイヤ４４Ｂの操作で高架線１の高さまで持ち上げ
られ、次いでワイヤ４４Ａを操作することで、プーリ５
４、スクリュー棒５２、ナット５３と移動部４９を介し
て、車台２３Ａ，２３Ｂは外側に移動され、図７のステ
ップＳ２１で説明したように、引張りばね３４の復帰力
により、前輪２２Ａ、中間輪２２Ｂと後輪２２Ｃで両側
から高架線１を挟む。Next, this elevated line traveling device is lifted to the height of the elevated line 1 by the operation of the wire 44B by a worker on the ground, and then the pulley 5 is lifted by operating the wire 44A.
4. The chassis 23A, 23B are moved outward via the screw rod 52, the nut 53, and the moving part 49, and as explained in step S21 of FIG. 22B and rear wheel 22C sandwich the elevated wire 1 from both sides.
【００３７】なお、上記図４、図５の実施例においては
、軸２１に遊篏されたケース２８の内部に駆動モータ２
７を収納した例で説明したが、図１０のように軸２１と
パイプ６９の間にアーム６８を設けて、このアーム６８
を矢印６６のように駆動し、パイプ６９を矢印６７のよ
うに駆動してもよい。
更に、上記実施例では、地上の作業者が高架線走行装置
の位置や姿勢を見ながら無線で誘導する例で説明したが
、あらかじめプログラムされた動作データにしたがって
、制御装置がその一部である検出手段（障害物検出セン
サ、走行カウンタなど）を用いて、自律的に走行する方
法や、前述のような障害物検出センサ（近接スイッチ７
Ａ，７Ｂ，７Ｃ）を用いて作業の誘導を補助する中間的
な方法を採ってもよい。In the embodiments shown in FIGS. 4 and 5, the drive motor 2 is housed inside the case 28 which is loosely attached to the shaft 21.
7 is stored, but as shown in FIG. 10, an arm 68 is provided between the shaft 21 and the pipe 69,
may be driven as shown by arrow 66, and pipe 69 may be driven as shown by arrow 67. Furthermore, in the above embodiment, an example was explained in which a worker on the ground guides the elevated line running equipment wirelessly while watching the position and orientation of the elevated line running equipment, but the control device is a part of the equipment in accordance with pre-programmed operation data. A method of autonomously driving using a detection means (obstacle detection sensor, travel counter, etc.) or a method of autonomously driving using a detection means (obstacle detection sensor, travel counter, etc.) or an obstacle detection sensor (proximity switch 7
A, 7B, 7C) may be used as an intermediate method to assist in guiding the work.
【００３８】[0038]
【発明の効果】以上、本発明によれば、高架線に懸架さ
れて走行する高架線走行装置において、屈曲自在に連結
された車台の連結部と前後端に高架線を挟んで車輪を設
け、この車輪を駆動する駆動部と車台に対して高架線回
りに駆動されるバランサを車台に設けることで、バラン
サを駆動して車台と車輪を高架線回りに旋回させて障害
物を通過するようにしたので、小形軽量、構成簡易で、
取付けも容易な高架線走行装置を得ることができる。As described above, according to the present invention, in an elevated line traveling device that is suspended and runs on an elevated line, wheels are provided at the connecting portion of the vehicle chassis connected in a flexible manner and at the front and rear ends with the elevated line sandwiched therebetween, By installing a balancer on the chassis that drives the drive unit that drives the wheels and the chassis around the elevated wire, the balancer can be driven to turn the chassis and wheels around the elevated wire to pass obstacles. As a result, it is small, lightweight, and has a simple configuration.
It is possible to obtain an elevated line running device that is easy to install.
【図１】本発明の高架線走行装置の一実施例を示す正面
図。FIG. 1 is a front view showing an embodiment of an elevated line traveling device of the present invention.
【図２】図１の右側面図。FIG. 2 is a right side view of FIG. 1.
【図３】本発明の高架線走行装置の作用を示す説明図。FIG. 3 is an explanatory diagram showing the operation of the elevated line traveling device of the present invention.
【図４】本発明の高架線走行装置の他の実施例を示す正
面図。FIG. 4 is a front view showing another embodiment of the elevated line traveling device of the present invention.
【図５】図４の右側面図。FIG. 5 is a right side view of FIG. 4.
【図６】本発明の高架線走行装置の他の実施例の作用を
示す右側面図。FIG. 6 is a right side view showing the operation of another embodiment of the elevated line running device of the present invention.
【図７】本発明の高架線走行装置の他の実施例の図６と
異なる作用を示す説明図。FIG. 7 is an explanatory diagram showing a different operation from FIG. 6 of another embodiment of the elevated line running device of the present invention.
【図８】本発明の高架線走行装置を高架線へ懸架させる
昇降装置を示す斜視図。FIG. 8 is a perspective view showing a lifting device for suspending the elevated line running device of the present invention on an elevated line.
【図９】図８の要部を示す詳細拡大平面図。FIG. 9 is a detailed enlarged plan view showing the main parts of FIG. 8;
【図１０】本発明の高架線走行装置の異なる他の実施例
を示す図。FIG. 10 is a diagram showing another embodiment of the elevated line running device of the present invention.
【符号の説明】
１…高架線、２Ａ…前輪、２Ｂ…中間輪、２Ｃ…後輪、
３Ａ，３Ｂ，２３Ａ，２３Ｂ…車台、４…バランサ、５
Ａ…制御装置、５Ｂ…バッテリ、５Ｃ…通信装置、６Ａ
…固定輪、６Ｂ…可動輪、７Ａ，７Ｂ，７Ｃ…触針、８
…探傷装置、９…カメラ、１０…がいし、１１…分岐引
下線、１２Ａ，１２Ｂ，１２Ｃ…車軸、１４…引張りば
ね、１５…ＤＣモータ、１６…ＤＣサーボモータ。[Explanation of symbols] 1...Elevated line, 2A...Front wheel, 2B...Intermediate wheel, 2C...Rear wheel,
3A, 3B, 23A, 23B... Chassis, 4... Balancer, 5
A...Control device, 5B...Battery, 5C...Communication device, 6A
...Fixed ring, 6B...Movable ring, 7A, 7B, 7C...Stylus, 8
...flaw detection device, 9...camera, 10...insulator, 11...branch underline, 12A, 12B, 12C...axle, 14...tension spring, 15...DC motor, 16...DC servo motor.
Claims (1)
行装置において、屈曲自在に連結された車台の連結部と
前後端に前記高架線を挟んで車輪を設け、この車輪を駆
動する駆動部と前記車台に対して前記高架線回りに駆動
されるバランサを前記車台に設けたことを特徴とする高
架線走行装置。1. An elevated line traveling device that runs suspended on an elevated line, in which wheels are provided at the front and rear ends of the connection part of the vehicle chassis that are flexibly connected, with the elevated line interposed therebetween, and a drive unit that drives the wheels. An elevated line running device characterized in that a balancer that is driven around the elevated wire with respect to the chassis is provided on the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10154191A JP2704059B2 (en) | 1991-05-07 | 1991-05-07 | Elevated line traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10154191A JP2704059B2 (en) | 1991-05-07 | 1991-05-07 | Elevated line traveling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04334913A true JPH04334913A (en) | 1992-11-24 |
| JP2704059B2 JP2704059B2 (en) | 1998-01-26 |
Family
ID=14303299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10154191A Expired - Fee Related JP2704059B2 (en) | 1991-05-07 | 1991-05-07 | Elevated line traveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2704059B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107706812A (en) * | 2017-10-20 | 2018-02-16 | 广州公孙策信息科技有限公司 | A kind of municipal electric inspection process device |
| CN110142739A (en) * | 2019-05-30 | 2019-08-20 | 西安交通大学 | A kind of three-stage high voltage transmission line slides crusing robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101274784B1 (en) * | 2011-09-22 | 2013-06-13 | 성균관대학교산학협력단 | Apparatus for running on cable having rotation function |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02136007A (en) * | 1988-11-17 | 1990-05-24 | Tokyo Electric Power Co Inc:The | Travelling device on elevated line |
-
1991
- 1991-05-07 JP JP10154191A patent/JP2704059B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02136007A (en) * | 1988-11-17 | 1990-05-24 | Tokyo Electric Power Co Inc:The | Travelling device on elevated line |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107706812A (en) * | 2017-10-20 | 2018-02-16 | 广州公孙策信息科技有限公司 | A kind of municipal electric inspection process device |
| CN110142739A (en) * | 2019-05-30 | 2019-08-20 | 西安交通大学 | A kind of three-stage high voltage transmission line slides crusing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2704059B2 (en) | 1998-01-26 |
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