JPH0591612A - Repairing device for floating of spiral rod end - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a repair device capable of automatically rewinding the rising of the end of the wind noise prevention spiral rod wound on the overhead power transmission line. [Structure] A self-propelled machine 20 suspended on a power transmission line 1 is equipped with a transmitted light type line sensor 3 for recognizing a floating state of a spiral rod terminal 2a, and a rewinding device 10 for a floating rod terminal portion. When the sensor 3 recognizes the tip end side of the floating terminal 2a, the rewinding device 10 is operated while the self-propelled machine 20 is stopped, and the rod 11 is brought to the tip of the rod terminal.
Abut and rewind, and on the contrary, the sensor lifts the terminal 2
When the root side of a is recognized, the rewinding device 10 is operated while the self-propelled machine is running, and the drive rod 11 is rewound while abutting the rod 11 at the root of the rod end.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention determines the terminal floating condition of a wind noise prevention spiral rod wound around an overhead power transmission line,
The present invention relates to a repair device that automatically rewinds the floating terminal portion.

[0002]

2. Description of the Related Art In order to solve the wind noise generated from an overhead transmission line, there is a case where a spiral rod (hereinafter referred to as SP rod) 2 is wound around an electric wire 1 as shown in FIG. Recently, there is a problem that when the airborne machine is run on the electric wire for maintenance and inspection of the track, the rotating roller suspended on the electric wire forcibly lifts the SP rod terminal 2a. The floating of the SP rod terminal 2a starts from the state of FIG. 6 (a), and undergoes some external force to progress from FIG. 6 (b) to FIG. 6 (c).

Conventionally, such floating of the SP rod terminal has been found from the ground by inspecting the line using binoculars or the like, and the found floating portion is rewound in order to rewind it. , Again, it was necessary to run the airborne plane over the wire and rewind it manually.

[0004]

However, the above-mentioned conventional technique has the following problems.

(1) The actual length per SP rod is about 2.
If the span between the steel towers is 5 m and the span is 250 m, for example,
There will be 100 SP rod terminals. Therefore, in the method of inspecting a line extending over a long distance by the above-mentioned inspection using binoculars, many people are required to detect the floating of the SP rod terminal, and the work itself of the inspection of the line is very large. You have to spend some effort.

(2) Regarding the discovered SP rod terminal floating portion, it is necessary to rewind it before the lifting progresses. However, in the prior art, since there is no such rewinding means, a method of running the airborne machine on the electric wire and manually rewinding the wire has been adopted. It took a lot of work and time to raise the airborne machine to the high place of the electric wire and collect it further.

[0007] As described above, since the conventional series of work from the discovery of the SP rod terminal lift up to the rewinding is not practical, it is necessary to develop a completely new method.

Therefore, an object of the present invention is to solve the above-mentioned problems and to provide a repairing device which can more easily rewind the floating of the SP rod terminal.

[0009]

In order to achieve the above object, the floating repair device of the present invention is a spiral rod wound around an electric wire on a self-propelled machine suspended on an overhead power transmission line and traveling along the power transmission line. When a sensor for recognizing that the terminal is floating from the electric wire and the floating condition of the terminal and a rewinding device for the floating terminal portion are mounted and the sensor recognizes the tip side of the floating terminal. Is equipped with a controller that operates the rewinding device while the self-propelled machine is stopped, and when the sensor recognizes the root side of the floating terminal, operates the rewinding device while running the self-propelled machine. It is a composition.

[0010]

The controller determines whether to rewind from the tip side or the root side of the floating terminal based on the floating state of the rod terminal recognized by the sensor. That is, when the sensor recognizes the tip side of the floating terminal, the rewinding device is operated with the self-propelled machine stopped. Further, when the sensor recognizes the root side of the floating terminal, a large winding force is required as it is. Therefore, while the self-propelled machine is running, at the same time, the rewinding device is operated to rewind. As a result, it is possible to automatically perform a series of work from detection of rod lift up to repair, freeing from the work conventionally performed by patrol inspection and airborne.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 3, the floating rod terminal floating repair device of the present invention is applied to a power transmission line self-propelled machine 20 suspended along an overhead power transmission line 1 by wheels 21 and traveling along the power transmission line 1. The SP rod terminal 2a is equipped with a floating state recognition sensor 5 and a rewinding device 10. This repair device is raised on a tower, run on an electric wire, and then recovered.

(1) Floating status recognition sensor of SP rod terminal In order to rewind the SP rod 2 that has floated from the electric wire 1,
First of all, the lift must be detected automatically. However, the rising form of the SP rod 2 to be detected varies depending on the extent of the rising progress and the running direction of the repair device.

For example, in the x, y, z Cartesian coordinate system shown in FIG. 4A, when the device runs in the + x to -x directions, as shown in FIG. It is necessary to detect the rising tip of the SP rod terminal 2a that suddenly appears at a point. Conversely, when running from -x to + x,
As shown in (c), it is necessary to judge from the root side the rod shape that continuously changes the floating of the SP rod terminal 2a.

Therefore, the floating condition recognition sensor 5 can not only detect that the SP rod terminals 2a are floating from the overhead power transmission line 1, but also automatically recognize the floating condition. Composed. Specifically, as shown in FIG. 1, a total of four transmitted light type line sensors 3 are arranged outside the SP rod winding outer diameter (D in FIG. 1) of the electric wire 1.
That is, the light projecting element 31 and the one-dimensional solid body are provided so as to cover the upper and lower two y-axis direction regions a and b of the outer diameter D and the left and right two z-axis direction regions c and d as independent detection regions. A total of four sets of image sensor 32 are arranged facing each other. With this configuration, when the one-dimensional solid-state imaging sensors 32, 32 belonging to the areas a and c simultaneously detect the shadow 33 of the SP rod terminal 2a, the SP rod terminal 2a is displayed in the upper right area in FIG.
Of the SP rod terminal 2a can be seen from the position of the shadow 33 on the one-dimensional solid-state image sensor 32. Similarly, in the lower right, lower left, and upper left areas in FIG. 1, it is possible to know whether or not the SP rod terminal 2a is lifted up and its floating status.

(2) Rewinding Device As shown in FIG. 2, the rewinding device 10 has an annular body 12 with an external tooth having an entraining rod 11 as a winding means inside.
And a motor 14 for rotating the annular body 12. The outer periphery of the annular body 12 is supported at three points by a gear 13 that meshes with its outer teeth, and the annular body 12 rotates one of the gears 13 by a motor 14 to rotate the electric wire 1 located at the center. Is rotated around. This rotation angle is
It is detected by the rotary encoder 4 attached to the annular body 12.

The entrainment rod 11 in the annular body 12 can take a storage position shown by a dotted line in FIG. 2 and an operating position shown by a solid line. In the operating position, the annular body 12 is indicated by an arrow 15 shown in the drawing. When it is rotated in the direction, the entrainment rod 11 comes into contact with the floating SP rod end 2a, carries it and winds it around the electric wire 1. The reaction force F at this time is detected by the torque sensor 8.

Reference numeral 6 denotes a controller, which receives signals from the floating condition recognition sensor 5, the rotary encoder 4 and the torque sensor 8 to lift the SP rod terminal 2a as shown in FIGS. 4 (b) and 4 (c). Whether the SP rod is rewound is controlled by the following control according to the result.

When the controller 6 of the rewinding method shown in FIG. 4 (b) determines that the SP rod terminal 2a is lifted as shown in FIG. 4 (b) based on the signal from the lifted state recognition sensor 5. Then, the traveling of the self-propelled machine 20 is stopped. After that, the controller 6 operates the motor 10 via the pulse oscillator 7 and the motor driver 9, and rotates the annular body 12 by the combination of the gears 13. As a result, the entraining rod 11 serving as a winding means also rotates in the direction of arrow 15 about the wire shaft, contacts the SP rod end 2a, and moves from the position of FIG.
Rewind the P rod 2. As the rewinding progresses, the output of the torque sensor 8 increases, and the controller 6 determines that the winding is completed when the output of the torque sensor 8 reaches a predetermined value, and stops the rotation of the annular body 12. After the winding is completed, the controller 6 restarts the self-propelled machine 20,
The automatic inspection for the floating of the SP rod terminal 2a is continued.

Rewinding method of FIG. 5 (c) When the terminal floating shown in FIG. 5 (c) is detected, if a rewinding operation similar to the above is performed, a very large force F is required for winding. The operation is as follows.

The traveling of the self-propelled machine 20 is stopped when the root portion of the SP rod terminal 2a is detected by the SP rod floating state recognition sensor 5. After that, the controller 6 causes the pulse oscillator 7 and the motor driver 9 to operate the motor 14 to rotate the winding means 11, and the winding means 11 moves to S.
Take it until it hits the root of the P rod terminal 2a, that is, until the torque sensor 8 is turned on.

When the specified winding force F is applied to the root portion of the SP rod terminal 2a and the torque sensor 8 is turned on, the controller 6 causes the self-propelled machine 20 to run in the + x direction, and at the same time also rotates the winding means 11. As a result, the winding device 11 rotates while the device is running, and the SP rod end 2a is wound while applying a rotational force to the root portion of the SP rod end 2a. This operation is based on the pulse output of the rotary encoder 4 attached to the device and the winding pitch of the SP rod stored in the sequencer 6, and the x, where the SP rod 2 should be at the coordinates shown in FIG.
The y and z coordinates are calculated by the sequencer 6, the wrapping means 11 is rotated to the position where the SP rod terminal 2a which should change as the vehicle travels, and as shown by the dotted line in FIG. 4 (c), the SP rod terminal 2a. It revolves while rewinding.

Thus, even when the power transmission line self-propelled machine approaches the floating of the SP rod terminal 2a from either the tip side or the root side, the SP rod floating state recognition sensor 5 and the rewinding device 10 are By work, S automatically
Correct the lifting of the P rod terminal.

In the above embodiment, the line sensor utilizing transmitted light is used as the sensor 5 for recognizing the SP rod floating state, but a mechanical limit switch or the like may be employed depending on the circumstances. However, in this case, since the SP rod moves around the electric wire by rewinding, it is necessary to prevent the floating detection sensor from becoming an obstacle.

As a modification of the rewinding device, SP
The floating may be suppressed by running a cylinder or the like having an inner diameter slightly larger than the outer diameter of the electric wire when the rod is wound around the electric wire.

[0026]

In summary, according to the present invention, the following effects can be obtained.

A series of operations from the detection of floating of the rod terminal to the repair can be automatically performed, and the operations can be automated.

[0028] Safety is improved by eliminating the need for airborne work to rewind the floating of the SP rod terminal.

Since only the lightweight rewinding machine is raised above the steel tower, workability is improved and the number of workers is small.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of arrangement of constituent elements of a lift situation recognition sensor according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration example of a rewinding device according to an embodiment of the present invention.

FIG. 3 is a conceptual diagram of a repair device according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram of a floating direction of an SP rod terminal and its floating state.

FIG. 5 is a diagram showing a normal winding state of an SP rod.

FIG. 6 is a diagram showing the floating of the SP rod terminal and its progress.

[Explanation of symbols]

 1 Overhead Transmission Line 2 SP Rod 2a SP Rod Terminal 3 Transmitted Light Type Line Sensor 4 Rotary Encoder 5 Lifting Status Recognition Sensor 6 Controller 7 Pulse Oscillator 8 Torque Sensor 9 Motor Driver 10 Rewinding Device 11 Conveying Rod (Winding Means) 12 Outside Toothed annular body 13 Gear 14 Motor 15 Arrow 20 Self-propelled machine for transmission line 21 Wheel 31 Light emitting element 32 One-dimensional solid-state imaging sensor DSP Rod winding outer diameter

Claims (1)

[Claims] 1. A self-propelled machine suspended along an overhead power line and traveling along the power line recognizes that a terminal of a spiral rod wound around the wire is floating from the wire and the floating status of the terminal. A sensor and a rewinding device for the floating terminal portion are mounted, and when the sensor recognizes the tip side of the floating terminal, the rewinding device is operated with the self-propelled machine stopped, and the sensor When the root side of the floating terminal is recognized, a controller for operating the rewinding device while running the self-propelled machine is provided with a controller for lifting the spiral rod terminal.