JP4070277B2 - Self-propelled sleeve resistance measuring device and control method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a self-propelled sleeve resistance measurement system for automatically measuring a resistance value of a sleeve provided in an overhead electric wire using a self-propelled device that is self-propelled in a suspended state on the overhead electric wire, its device, and its control. It is about the method.
[0002]
[Prior art]
  The resistance of a sleeve provided on an overhead electric wire such as a power transmission line is measured by an operator's operation using a resistance measuring device after the worker has moved to the position of the sleeve by aerial riding.
[0003]
[Problems to be solved by the invention]
  In the resistance measurement by the above-described suspension operation, there is a problem that it is dangerous and requires a lot of labor for the operation, and the operation efficiency is poor.
[0004]
  The present invention has been made to solve the problems of the prior art as described above, and is equipped with a resistance measuring means mounted on a self-propelled device suspended from an overhead electric wire and self-propelled, and self-propelled to a sleeve position. It is an object of the present invention to provide a self-propelled sleeve resistance measurement system, a device for controlling the resistance, and a control method thereof.
[0005]
[Means for Solving the Problems]
  In order to achieve such an object, the self-propelled sleeve resistance measurement system of the present invention includes:A front vehicle equipped with two terminal devices that can be suspended and moved on the overhead wire and electrically connected to the overhead wire at two locations, and a vehicle that is suspended and disposed on the overhead wire and provided on the overhead wire sleeve A rear detection vehicle equipped with a sleeve detection device and two terminal devices that are electrically connected to the overhead electric wire at two locations, a connecting rod for connecting the front vehicle and the rear vehicle, and two for the front vehicle and the rear vehicle. A measurement operation device that measures the resistance value of the sleeve by the four-terminal method and controls the operation by the four terminal devices mounted one by one, and both the front wheel and the rear wheel move forward. The sleeve detection device is provided at the front end of the rear wheel, and supports two rollers that rotate while sandwiching the overhead electric wire with two arms, respectively. The two arms are swingable relative to each other by an axis parallel to the overhead wire, and a spring is provided between the arms to elastically bias the roller in a direction to hold the overhead wire. Of the outer diameter provided in A sensor device that outputs a signal when the two rollers are opened by the sleeve and the arm is opened is provided in the arm, and when the signal output from the sensor device in a forward operation continues for a predetermined time, the sleeve A determination device that outputs a detection signal is provided.
[0006]
  Further, the front wheel, the rear wheel, the connecting rod, and the measurement calculation device may be configured to be connected, fixed, and separated, respectively.
[0007]
  Further, the measurement calculation device is separated into a battery unit and a calculation and control unit, the battery unit is fixedly and separably mounted on one of the front vehicle or the rear vehicle, and the calculation and control unit is mounted on the front vehicle or the rear vehicle. It can also be configured to be fixed and separable on the other side of the vehicle.
[0008]
  The two arms may be arranged so as to be swingable with respect to a support arm provided on the rear wheel by the shaft.
[0009]
  In addition, the terminal device includes a terminal block that moves up and down, and a terminal that is provided on an upper portion of the terminal block and that opens and closes the upper portion and has terminal teeth that contact the overhead electric wire in a closed state, In a state where self-running is stopped, the terminal block may be lifted and the terminal closed, and the terminal teeth may be brought into contact with the overhead wire to be electrically connected.
[0010]
  Furthermore, the terminal teeth can be configured to project from the closed terminal toward the overhead electric wire.
[0011]
  TheFurthermore, the terminal is provided with a plurality of terminal teeth radially with respect to the overhead electric wire, and the terminal teeth are axially movable axially on the screw rods made of an insulating material and are prevented from coming off. In addition, the worm gear is engraved on the outer periphery of the nut member that is elastically biased in the protruding direction, and the screw rods are engaged with each other, and the worm gear and the worm gear connected to the motor are engaged with each other. To prevent the screw rods from projecting and retracting by rotating the motor so that the plurality of terminal teeth project and retract from the overhead wire together. It is also possible to configure.
[0012]
  In addition, the control method of the self-propelled sleeve resistance measuring device of the present invention includes a front vehicle equipped with two terminal devices that are suspended from an overhead wire and can be moved and electrically connected to the overhead wire at two locations; A rear vehicle equipped with a sleeve detection device that can be suspended and moved from the overhead wire and detects a sleeve provided on the overhead wire, and two terminal devices that are electrically connected to the overhead wire at two locations; and the front vehicle And a connecting rod for connecting the rear wheel, a measurement arithmetic unit for measuring the resistance value of the sleeve by a four-terminal method and controlling the operation by four terminal devices mounted on the front wheel and the rear wheel, respectively, The sleeve detection device is provided at the front end of the rear vehicle to narrow the overhead wire. Two robots that hold and rotate La was supported on each of the two arms, these two arms is freely oscillatable relatively by the overhead wire and the axis parallel, the row between the arm A spring that elastically biases the overhead wire in the direction of sandwiching the overhead wire, and a signal is output when the two rollers are opened and the arms are opened by a sleeve having a large outer diameter provided on the overhead wire. A sensor device for outputting is provided, and a determination device for outputting a sleeve detection signal is provided when a signal output from the sensor device in a forward operation continues for a predetermined time, and the terminal device further includes a terminal block that moves up and down, In a self-propelled sleeve resistance measuring device having a terminal provided at the upper part of the terminal block and opening and closing the upper part and a plurality of terminal teeth protruding and retracting from the terminal toward the overhead electric wire, the forward movement is performed by a forward command. When the sleeve is detected by the sleeve detection device, the forward movement is stopped and the sleeve is further moved backward until there is no detected signal, The terminal block is moved upward, the terminal is closed, the terminal teeth are further protruded, the front and rear of the sleeve are electrically connected by the terminal teeth in two places, and resistance is measured by the four-terminal method. After the measurement, the terminal teeth are retracted, the terminal is opened, the terminal block is lowered, and the terminal is moved forward again to detect the next sleeve.
[0013]
  Then, when there is an abnormality in the ascending operation of the terminal block or the closing operation of the terminal or the protruding operation of the terminal teeth, the terminal teeth are retracted, the terminals are opened, and the terminal block is further lowered, The self-running may be slightly advanced, the terminal block is lifted again, the terminal is closed, and the terminal teeth are further protruded to control the resistance of the sleeve.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
  An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is an overall view of an embodiment of the self-propelled sleeve resistance measuring device of the present invention. FIG. 2 is a diagram showing a state where the self-propelled sleeve resistance measuring device of the present invention shown in FIG. 1 is separated. FIG. 3 is an enlarged view taken along arrow A in FIG. FIG. 4 is a diagram in which two rollers of the sleeve detection device hold the overhead electric wire. FIG. 5 is a view taken in the direction of arrow B in FIG. 6 is a view taken in the direction of arrow C in FIG. FIG. 7 is a view showing a state in which the sleeve is held between the rollers by the sleeve detection device of FIG. FIG. 8 is a diagram illustrating a closed state of the terminals. FIG. 9 is a cross-sectional view showing the structure of terminals and terminal teeth. FIG. 10 is a cross-sectional view showing a structure in which the terminal teeth protrude. FIG. 11 is a diagram illustrating a structure that regulates the protruding and retracting operations of the terminal teeth. FIG. 12 is a view showing a connecting structure of a front wheel or a rear wheel and a connecting rod. FIG. 13 is a diagram illustrating an example of a fall prevention tool. FIG. 14 is a circuit diagram for measuring the resistance of the sleeve by the four-terminal method. FIG. 15 is a part of a flowchart showing the operation. FIG. 16 is the remainder of the flowchart showing the operation.
[0015]
  First, the overall configuration of the self-propelled sleeve resistance measuring device will be described with reference to FIG. The self-propelled device is configured by connecting a front wheel 10 and a rear wheel 12 with a connecting rod 14. The length of the connecting rod 14 is set such that the front wheel 10 and the rear wheel 12 can be positioned on both front and rear ends of the sleeve 19 provided on the overhead electric wire 18. The front wheel 10 and the rear wheel 12 are configured to be suspended from the overhead electric wire 18 by two wheels 16 and 16, respectively. Moreover, motors 20 and 20 for rotationally driving the wheels 16 and 16 are provided in the front wheel 10 and the rear wheel 12, respectively, and are controlled by appropriate control.Move forward and backwardBeing able to self-run. Further, the front wheel 10 is equipped with a battery unit 24 and two terminal devices 22, 22, and an obstacle sensor device 26 for detecting an obstacle is provided at the front end thereof. And in the rear car 12,At the front endSleeve detector 28Is also providedAn arithmetic and control unit 30 and two terminal devices 22 and 22 are mounted, and an obstacle sensor device 26 for detecting an obstacle is provided at the rear end. The front wheel 10 and the rear wheel 12 are provided with handles 32, 32 for lifting and drop prevention tools 34, 34,. Further, a measurement calculation device 31 is formed by the battery unit 24 and the calculation and control unit 30.
[0016]
  As shown in FIG. 2, the device of the present invention is configured such that the front wheel 10, the rear wheel 12, the connecting rod 14, the battery unit 24, and the calculation and control unit 30 can be connected, fixed, and separated from each other. As shown in FIG. 12, an example of a connecting structure of the front wheel 10 and the rear wheel 12 and the connecting rod 14 is provided with connecting shafts 10 a and 12 a at end portions of the front wheel 10 and the rear wheel 12, and both end portions of the connecting rod 14. Are provided with grooves 14a and 14a into which the connecting shafts 10a and 12a are inserted, and shutter parts 14b and 14b which can be opened and closed are provided on the opening sides of the grooves 14a and 14a. As an example of the structure of the shutter portions 14b and 14b, the slide shafts 14c and 14c are elastically biased in the direction of closing the opening sides of the grooves 14a and 14a by the springs 14d and 14d. Therefore, by moving the slide shafts 14c, 14c against elasticity, the opening sides of the grooves 14a, 14a are easily opened. Moreover, the grooves 14a and 14a are normally closed reliably. Further, the connecting shafts 10a and 12a are provided with restricting rings 10b, 10b, 12b and 12b so as to be positioned on both sides of the connecting rod 14 in the connected state, and the connecting rod 14 is the shaft of the connecting shafts 10a and 12a. It is made not to move unnecessarily in the direction. It should be noted that the battery unit 24 and the calculation and control unit 30 can be fixed and separated easily by fitting appropriate engagement protrusions and recesses and using appropriate locks. In addition, each device is configured to be appropriately connected and separated by a cable (not shown).
[0017]
  In addition, as shown in FIG. 13, the fall prevention tool 34 has a ring 34b hung on the U-shaped bracket 34a, and the operating rod 34c is lowered, so that the ring 34b is located between the fixed base 34d of the operating rod 34c and the U-shaped bracket 34a. Stretched on. In such a state, even if the wheels 16, 16 are removed from the overhead electric wire 18, the fall prevention tools 34, 34 prevent the entire apparatus from falling. And if the free end side of the operating rod 34c is lifted, the ring 34b can be easily removed from the U-shaped metal fitting 34a. In addition, the fixed base 34d is swingably disposed on the machine frames of the front wheel 10 and the rear wheel 12 by a swinging fixed shaft 34e, and its posture can be changed as necessary, obstructing resistance measurement preparation and removal work. It can be avoided.
[0018]
  As shown in FIG. 3, the terminal device 22 is provided on a terminal block 38 that moves up and down by a rotational drive of a timing belt 36 that is appropriately driven by a motor (not shown). The upper part is composed of terminals 40, 40 that open and close, and a plurality of terminal teeth 42, 42 (shown in FIGS. 8 to 10) provided on the terminals 40, 40. As shown in FIG. 3, the terminal block 38 is movable up and down in conjunction with the rotational drive of the timing belt 36 guided and connected by the longitudinal slits provided in the machine frames of the front wheel 10 and the rear wheel 12. Yes, the upper and lower limits are regulated by limit switches 44, 44. Furthermore, an overhead wire detection sensor device 46 is provided from the terminal block 38 toward the overhead wire 18.
[0019]
  Further, as shown in FIG. 8, the terminal block 38 is provided with terminals 40 and 40 whose upper and lower portions are opened and closed in conjunction with the rotational drive of the screw shaft 40b connected to the motor by the link mechanism 40a. The closing operation of the terminals 40, 40 is detected and restricted by the closing limit switch 40c. The link mechanism 40a is connected to the terminal block 38 by a shaft 40d. Therefore, when the link mechanism 40a is operated so that the terminals 40, 40 are opened, the shaft 40e is guided by the vertical slit provided in the terminal block 38 and ascends. Therefore, the shaft 40e contacts the limit switch 40f, and the opening operation of the terminals 40, 40 is restricted. The terminals 40, 40 have a plurality of terminal teeth 42, 42... Projecting radially toward the overhead wire 18.EvictionArranged for operation. Its structure is as follows. First, as shown in FIG. 10, the terminal teeth 42, 42... Are arranged on the screw rods 48, 48... Made of an insulating material so as to be axially movable in the axial direction, and are projected by the projecting springs 50, 50. It is elastically biased in the direction and is regulated so as not to escape further. Cables 52, 52... Are appropriately fixed and electrically connected to the rear ends of the terminal teeth 42, 42. Further, worm gears 54a, 54a,... Are engraved on the outer circumferences of the nut members 54, 54, to which the screw rods 48, 48,. In addition, longitudinal slits 48a, 48a ... are provided on the outer peripheral surfaces of the screw rods 48, 48 ..., and rotation stoppers 56, 56 ... are inserted into the slits 48a, 48a ... Can be moved in the axial direction but cannot rotate around the axis. Further, the nut members 54, 54... Are configured to be rotatable around the axis but not movable in the axial direction. Further, as shown in FIG. 9, worm gears 54a, 54a... Engraved in the nut members 54, 54. Here, the sequentially engaged nut members 54, 54... Are adjacent to each other and the rotations thereof are opposite to each other. Therefore, the screw rods 48, 48... Screwed to the nut members 54, 54. Accordingly, screws are engraved in an appropriate direction. Therefore, the nut members 54, 54... Are rotated by the rotational drive of the worm gear 58 connected to the motor, and any screw rods 48, 48.EvictionPerform the action. When the tips of the terminal teeth 42, 42, etc. come into contact with the overhead electric wire 18 by the projecting operation of the screw rods 48, 48, they are elastically contacted by the elasticity of the projecting springs 50, 50,. Here, as shown in FIG. 11, two dog plates 60a and 60b are provided on a gear 60 which meshes with a gear provided on a shaft 58a connecting the motor and the worm gear 58, and the terminal teeth with which the dog plates 60a and 60b abut. With the limit switches 62a and 62b, the protrusions of the terminal teeth 42, 42.EvictionOperation is restricted. The terminal teeth 42, 42... Are insulated from the terminals 40, 40 by screw rods 48, 48.
[0020]
  Next, the structure of the sleeve detection device 28 will be described with reference to FIGS. Two rollers 64, 64 rotating while holding the overhead electric wire 18 are supported by two arms 66, 66, respectively, and these arms 66, 66 are against a support arm 68 provided in the machine frame of the rear vehicle 12. Thus, the shaft 70 parallel to the overhead electric wire 18 is disposed so as to be swingable. Further, between the arms 66, 66, a holding spring 72 that elastically biases the rollers 64, 64 in the direction in which the overhead wire 18 is held is disposed. One roller 64 is provided with a rotary encoder 74, and a signal is output by rotation of the roller 64. The rotary encoder 74 outputs a signal while the rear wheel 12 moves forward or backward, and can determine the running state and the stopped state based on the presence or absence of this signal. Further, as shown in FIG. 7, when the sleeve 19 having an outer diameter larger than that of the overhead electric wire 18 is sandwiched between the rollers 64 and 64 and the opening angle is increased, the opening angle of the arms 66 and 66 is increased, and this change is detected. A sleeve sensor device 76 for detecting the sleeve 19 is provided between the arms 66 and 66.
[0021]
  In the sleeve detection device 28 having the above-described structure, the arms 66 and 66 for supporting the rollers 64 and 64 for holding the overhead electric wire 18 are provided on the support arm 68 provided on the machine frame of the rear wheel 12. On the other hand, since each of them can swing freely, even if the rear wheel 12 swings, the opening angle between the arms 66 and 66 does not change and does not cause inconvenience in detection of the sleeve 19.
[0022]
  Next, a procedure for setting the self-propelled sleeve resistance measuring device having the above configuration to be suspended from the overhead electric wire 18 in order to prepare for the sleeve resistance measurement will be described. First, an operator climbs a steel tower or the like, and as shown in FIG. 2, with the whole separated, the front vehicle 10 is lifted, the wheels 16 and 16 are placed on the overhead electric wire 18, and the fall prevention tools 34 and 34 are fastened. . Then, the battery unit 24 suspended following the front wheel 10 is disposed and fixed. Further, one end of the connecting rod 14 is connected to the front wheel 10 in such a state, and the front wheel 10 is slightly self-propelled to advance its position a little. Further, the rear wheel 12 is lifted, the wheels 16 and 16 are placed on the overhead electric wire 18, and the fall prevention tools 34 and 34 are fastened. Then, the other end of the connecting rod 14 is connected to the rear wheel 12. The suspended calculation and control unit 30 is disposed and fixed. Of course, each device is appropriately electrically connected by a cable. Then, the calculation and control unit 30 is turned on to complete the preparation work, and the worker gets off the tower. The removal work may be performed by reversing the above procedure.
[0023]
  In the self-propelled sleeve resistance measuring device of the present invention, since the whole is separated into several pieces, it is easy to perform the work by lifting it on the steel tower one by one.
[0024]
  Further, a control method of the self-propelled sleeve resistance measuring device having the above-described configuration will be described with reference to FIGS. 15 and 16. First, specify the number of sleeves to be measured and whether to perform the return to remove and collect the device in the forward or backward direction. If the terminal mounting is abnormal, repeat the terminal mounting to make it normal. The number of times to try is set (step 1). First, a forward command is given (step 2). This advance command is appropriately made by radio. Then, the front wheel 10 and the rear wheel 12 self-travel and move forward (step 3). By this forward movement, the front wheel 10 and the rear wheel 12 reach the sleeve 19 provided on the overhead electric wire 18, and when the sleeve 19 is detected by the sleeve detector 28 (step 4), this detection state continues for a predetermined time. Is detected (step 5). Here, since the sleeve 19 to be measured has a certain length, the detection state of the sleeve 19 continues for a predetermined time by the forward movement. However, a short snow ring such as a difficult snow ring does not continue the detection state for a predetermined time, and it is possible to determine whether it is a sleeve 19 or a hard snow ring. In this step 5, if the detection state continues for a predetermined time, the forward movement is stopped (step 6), and further, the backward movement is performed until the sleeve 19 is not detected (step 7). In step 5, if the detection state does not continue for a predetermined time, the process returns to step 3 to continue the forward movement. By performing the retreating operation in step 7, the sleeve detection device 28 can be positioned at one end of the sleeve 19, and the device of the present invention can be set at a predetermined relative position with respect to the sleeve 19. Here, the sleeve detection device 28 is connected to the rear wheel 12.Front end ofThe front wheel 10 and the rear wheel 12 are positioned before and after the sleeve 19 by the backward movement of step 7. Therefore, the four terminal devices 22, 22... Can be surely placed at two positions before and after the overhead wire 18.
[0025]
  When the backward movement operation in step 7 is completed, the terminal block 38 is first moved up until the overhead wire detection sensor device 46 contacts the overhead wire 18 (step 8). If the raising operation of the terminal block 38 is completed within a predetermined time (step 9), the terminals 40 and 40 are then closed (step 10). When the closing operation of the terminals 40, 40 is completed within a predetermined time (step 11), the terminal teeth 42, 42, ... are further protruded (step 12). It is then determined whether or not the protruding operation of the terminal teeth 42, 42... Has been completed within a predetermined time (step 13). In this way, when the terminals are completely attached, two terminal devices 22, 22... Respectively provided on the front wheel 10 and the rear wheel 12 arranged before and after the sleeve 19 are electrically connected to the overhead wire 18. Connected. Here, as shown in FIG. 14, the four-terminal method for measuring the resistance of the sleeve 19 is such that a current flows between the two terminal devices 22, 22 away from the sleeve 19 and the two terminal devices close to the sleeve 19. This is performed by measuring the voltage between 22 and 22, and is a conventionally known technique. Therefore, the resistance of the sleeve 19 is measured by this four-terminal method (step 14).
[0026]
  In this way, the resistance value of the sleeve 19 is measured (step 14), and the measurement is finished (step 15), and the terminal teeth 42, 42,.EvictionIt operates (step 16), opens the terminals 40 and 40 (step 17), and further lowers the terminal block 38 (step 18). Then, it is determined whether or not the number of sleeves 19 to be measured has been measured (step 19), and if the predetermined number of measurements has not been made, the process returns to step 3 and further advances. When the number of sleeves 19 to be measured has been measured in step 19, it is moved forward or backward by a return operation set in advance to recover and remove the device of the present invention (step 20), and the obstacle sensor devices 26, 26 are moved. It is determined whether or not an obstacle is detected (step 21), and the forward or backward movement is performed until it is detected. When an obstacle is detected by the obstacle sensor devices 26, 26, the forward or backward movement is stopped (step 22), and all the movements are finished.
[0027]
  By the way, if it is determined in step 13 that a foreign object is hit and the terminal teeth 42, 42... Are not completed in a predetermined time and the terminal mounting is determined to be abnormal, the terminal teeth 42, 42.Eviction(Step 23), the terminals 40, 40 are opened (step 24), the terminal block 38 is further lowered (step 25), and the terminal teeth 42, 42. It is determined whether or not the terminal 40 and the terminal block 38 have completely returned to the original state (step 26). Here, if the terminal teeth 42, 42..., The terminals 40, 40 and the terminal block 38 are completely restored to their original states, it is further determined whether or not the number of tries in the terminal mounting abnormality has been made ( Step 27) If the number of trials has not yet been made, the front wheel 10 and the rear wheel 12 are slightly advanced (step 28), the process returns to step 8, and the terminal block 38 is lifted again and the terminals 40 and 40 are closed. Then, the terminal teeth 42, 42... Are projected to perform resistance measurement (step 10). If it is determined in step 11 that the terminal 40, 40 is not closed within a predetermined time and the terminal mounting is determined to be abnormal, step 24 is reached. On the other hand, if it is determined in step 9 that the lifting operation of the terminal block 38 is not completed within a predetermined time and the terminal mounting is determined to be abnormal, step 25 is reached. If it is determined in step 26 that the terminal teeth 42, 42..., The terminals 40, 40 and the terminal block 38 are not completely restored to the original state, the apparatus has a serious abnormality, and on the spot All operations are stopped (step 29). If the number of trials has already been made in step 27, step 19 is reached. By making a slight advance and measuring the resistance again, the position of the aerial wire 18 with which the terminal teeth 42, 42... It should be noted that a slight backward movement may be used instead of the slight forward movement of step 28.
[0028]
  The resistance value of the sleeve 19 measured in this way may be appropriately stored in the calculation and control unit 30, and may be read out and analyzed as appropriate after the device is recovered and recovered, or may be wirelessly measured each time it is measured. It may be transmitted to the ground.
[0029]
【The invention's effect】
  As described above, since the self-propelled sleeve resistance measurement system, the apparatus thereof, and the control method thereof according to the present invention are configured, the following special effects can be obtained.
[0030]
  In the self-propelled sleeve resistance measurement system according to claim 1, it is not necessary for the worker to move to the sleeve position by aerial riding and measure the resistance value. Is reduced.Moreover, since the self-propelled device arranged in a suspended state on the overhead electric wire is self-propelled to detect the sleeve and measure the resistance of the sleeve, efficient work is possible. The front wheel and the rear wheel can be positioned on the front and rear sides of the sleeve, respectively, and it is easy to electrically connect the two terminal devices mounted on the front and back to the overhead electric wires on the front and rear sides of the sleeve, respectively. It is easy to measure the resistance of the sleeve by the terminal method. Furthermore, since the outer diameter of the sleeve is larger than that of the overhead electric wire, the sleeve can be easily detected from the difference in opening angle between the two arms that support the roller that holds the sleeve. In addition, when the opening angle of the two arms is increased and a signal is output from the sensor device, and this signal continues for a predetermined time, it is determined that the sleeve is detected. A snow ring or the like is not erroneously detected as a sleeve.
[0031]
  In the self-propelled sleeve resistance measuring device according to claim 2, since the entire device can be connected and fixed to and separated from the front wheel, the rear wheel, the connecting rod and the measurement operation device, respectively, the respective devices. The weight of the device can be reduced, and individual devices can be easily lifted up to the overhead wire, and the entire device can be easily assembled on the overhead wire. Therefore, it is easy to prepare and withdraw the sleeve resistance measurement work.
[0032]
  In the self-propelled sleeve resistance measuring device according to claim 3, since the measurement arithmetic device is divided into the battery unit and the arithmetic and control unit, each is mounted separately in the front car or the rear car, The individual weight can be reduced accordingly, and lifting and connecting and fixing operations are easy.
[0033]
  The self-propelled sleeve resistance measuring device according to claim 4, wherein the two arms supporting the roller are swingable with respect to the support arms provided in the self-propelled device. Even if the oscillates, there is no change in the opening angle of the two arms that support the roller that holds the overhead electric wire. Therefore, even if the self-propelled device swings due to wind or the like, there is no problem in detecting the sleeve.
[0034]
  In the self-propelled sleeve resistance measuring device according to claim 5, the terminal block is lifted and the terminal is further closed to bring the terminal teeth into contact with each other. Therefore, a reliable electrical connection to the overhead electric wire can be obtained. Moreover, by opening the terminal and lowering the terminal block, the terminal device can be kept out of contact with the overhead electric wire, and there is no obstacle during self-running.
[0035]
  In the self-propelled sleeve resistance measuring device according to claim 6, since the terminal teeth project from the terminal toward the overhead electric wire, the terminal teeth abut against the overhead electric wire, and a more reliable electrical connection is obtained. .
[0036]
  The self-propelled sleeve resistance measuring device according to claim 7, wherein a plurality of terminal teeth are obtained by meshing a worm gear provided on an outer periphery of a nut member screwed to a screw rod and a worm gear connected to a motor. Can be simultaneously projected by one motor. By bringing a plurality of terminal teeth into contact with the overhead electric wire, the electrical connection with the overhead electric wire becomes more reliable.
[0037]
  According to the control method of the self-propelled sleeve resistance measuring device according to claim 8, since the sleeve is automatically detected and the resistance is measured while automatically propelling by giving a forward command, the work efficiency is improved. Is planned. Further, when the sleeve is detected, the self-propelled device is retracted to a position where the sleeve is not detected, so that the self-propelled device can be set at a relative position with respect to one end of the sleeve, and the terminal teeth are connected to the overhead wire. Thus, the terminal teeth can be more reliably electrically connected to the overhead electric wire. Accordingly, the resistance measurement of the sleeve can be made more appropriate.
[0038]
  In the control method of the self-propelled sleeve resistance measuring device according to claim 9, if the terminal mounting is abnormal, the terminal teeth are retracted, the self-propelled device is further advanced, and the terminal teeth are Since resistance measurement is performed by projecting, etc., the position is shifted again when the terminal teeth cannot be properly connected due to contact with a hard-to-snow ring or the presence of some insulator on the surface of the overhead wire. By bringing the terminal teeth into contact with each other, appropriate resistance measurement of the overhead electric wire can be made more possible.
[Brief description of the drawings]
FIG. 1 is an overall view of an embodiment of a self-propelled sleeve resistance measuring device according to the present invention.
FIG. 2 is a view showing a state where the self-propelled sleeve resistance measuring device of the present invention shown in FIG. 1 is separated.
FIG. 3 is an enlarged view taken along arrow A in FIG.
FIG. 4 is a view of two rollers of a sleeve detection device holding an overhead electric wire.
FIG. 5 is a view taken in the direction of arrow B in FIG.
6 is a view taken in the direction of arrow C in FIG. 4;
7 is a view showing a state in which a roller is opened by nipping a sleeve with the sleeve detection device of FIG. 4;
FIG. 8 is a diagram illustrating a closed state of a terminal.
FIG. 9 is a cross-sectional view showing the structure of terminals and terminal teeth.
FIG. 10 is a cross-sectional view showing a structure in which terminal teeth protrude.
FIG. 11 is a view showing a structure for restricting the protruding and retracting operations of the terminal teeth.
FIG. 12 is a view showing a connection structure of a front wheel or a rear wheel and a connection rod.
FIG. 13 is a view showing an example of a fall prevention tool.
FIG. 14 is a circuit diagram for measuring the resistance of a sleeve by a four-terminal method.
FIG. 15 is a part of a flowchart showing the operation.
FIG. 16 is the remaining part of the flowchart showing the operation.
[Explanation of symbols]
  10 Front car
  12 Rear car
  14 Connecting rod
  16 wheels
  18 Overhead wire
  19 sleeve
  22 Terminal device
  24 Battery unit
  26 Obstacle sensor device
  28 Sleeve detector
  30 Calculation and control unit
  31 Measurement calculation device
  36 Timing Belt
  38 terminal block
  40 terminals
  42 terminal teeth
  48 Screw rod
  48a slit
  50 Spring for protrusion
  54 Nut member
  54a Worm gear carved on the outer periphery of the nut member
  56 Non-rotating
  58 Worm gear connected to motor
  64 Laura
  66 arm
  68 Support arm
  70 axes
  72 Nipping spring
  76 Sleeve sensor device

Claims (9)

A front vehicle equipped with two terminal devices that can be suspended and moved on the overhead wire and electrically connected to the overhead wire at two locations, and a vehicle that is suspended and disposed on the overhead wire and provided on the overhead wire A rear vehicle equipped with a sleeve detection device for detecting a sleeve and two terminal devices electrically connected to the overhead electric wire at two locations, a connecting rod for connecting the front vehicle and the rear vehicle, and the front vehicle and the rear vehicle A measurement operation device that measures the resistance value of the sleeve by the four-terminal method and controls the operation by the four terminal devices mounted two by two, and either or both of the front wheel and the rear wheel are The sleeve detection device is provided at the front end of the rear wheel and supports two rollers that rotate by holding the overhead electric wire with two arms, respectively. And these two An arm is swingable relative to an axis parallel to the overhead wire, and a spring is provided between the arms that elastically biases the roller in a direction to sandwich the overhead wire. A sensor device that outputs a signal when the two rollers are opened by a sleeve having a large diameter and the arm is opened is provided in the arm, and when a signal output from the sensor device in a forward operation continues for a predetermined time, A self-propelled sleeve resistance measuring device comprising a determination device for outputting a sleeve detection signal. 2. The self-propelled sleeve resistance measuring device according to claim 1, wherein the front wheel, the rear wheel, the connecting rod, and the measurement operation device are configured to be connected, fixed, and separable, respectively. . 3. The self-propelled sleeve resistance measuring device according to claim 2, wherein the measurement arithmetic device is separated into a battery unit and an arithmetic and control unit, and the battery unit is fixedly and separably mounted on one of the front vehicle and the rear vehicle. A self-propelled sleeve resistance measuring device, wherein the arithmetic and control unit is fixedly and separably mounted on the other of the front wheel or the rear wheel. 2. The self-propelled sleeve resistance measuring device according to claim 1, wherein the two arms are arranged so as to be swingable with respect to a support arm provided on the rear wheel by the shaft. Self-propelled sleeve resistance measuring device. 2. The self-propelled sleeve resistance measuring device according to claim 1, wherein the terminal device is a terminal block that moves up and down, and is provided at an upper portion of the terminal block so as to open and close the upper portion and abut against the overhead electric wire in a closed state. A terminal having terminal teeth, and in a state where the self-running is stopped, the terminal block is lifted and further closed, and the terminal teeth are brought into contact with the overhead wire to be electrically connected. A self-propelled sleeve resistance measuring device characterized by being configured to do so. 6. The self-propelled sleeve resistance measuring device according to claim 5, wherein the terminal teeth are configured to project from the closed terminal toward the overhead electric wire. . The self-propelled sleeve resistance measuring device according to claim 6, wherein the terminal is provided with a plurality of terminal teeth radially with respect to the overhead electric wire, and each of the terminal teeth is coaxially connected to a screw rod made of an insulating material. The worm gears are engraved on the outer periphery of the nut member that these screw rods are screwed into, and connected to these worm gears and the motor. The screw rods are prevented from rotating around the shaft by rotation prevention, and the screw rods are both protruded and retracted by rotation of the motor, so that the plurality of terminal teeth are connected to the overhead electric wire. A self-propelled sleeve resistance measuring device characterized in that both are configured to project and retract. A front vehicle equipped with two terminal devices which can be suspended and moved on the overhead wire and electrically connected to the overhead wire at two locations, and can be moved and suspended on the overhead wire. A rear vehicle equipped with a sleeve detection device for detecting a sleeve and two terminal devices electrically connected to the overhead electric wire at two locations; a connecting rod for connecting the front vehicle and the rear vehicle; A measuring operation unit that measures the resistance value of the sleeve by a four-terminal method and controls the operation by four terminal devices mounted on the front wheel and the rear wheel, two on both the front wheel and the rear wheel. Alternatively, either one of them moves forward and backward to make it self-propelled, and the sleeve detection device is provided at the front end of the rear wheel and has two rollers that rotate while holding the overhead electric wire. A spring which is supported by each arm, these two arms are swingable relative to each other by an axis parallel to the overhead electric wire, and the roller elastically biases the arms in a direction to sandwich the overhead electric wire. And a sensor device that outputs a signal when the two rollers are opened by the sleeve having a large outer diameter provided on the overhead electric wire and the arm is opened. A determination device that outputs a sleeve detection signal when the signal to be operated continues for a predetermined time, and the terminal device further includes a terminal block that moves up and down, and a terminal that is provided above the terminal block and opens and closes the upper portion. In the self-propelled sleeve resistance measuring device having a plurality of terminal teeth protruding and retracting from the terminal toward the overhead electric wire, the forward movement is performed by a forward command, and the sleeve is detected by the sleeve detection device. The operation is stopped and the sleeve is further moved backward until the detected signal disappears, the terminal block is lifted, the terminal is closed, and the terminal teeth are further protruded. The terminal teeth are electrically connected one by one and resistance is measured by the four-terminal method. After the measurement, the terminal teeth are moved away and the terminals are opened. The method of the self-propelled sleeve resistance measuring apparatus the terminal block and downward movement, to advance again operated and controls to detect the next sleeve. 9. The control method for a self-propelled sleeve resistance measuring device according to claim 8, wherein if there is an abnormality in the ascending operation of the terminal block, the closing operation of the terminal, or the protruding operation of the terminal teeth, the terminal teeth are retreated. Opening the terminal, further lowering the terminal block, further slightly moving forward the self-propelled, lifting the terminal block again, closing the terminal, and further projecting the terminal teeth, the sleeve A control method for a self-propelled sleeve resistance measuring device, characterized in that control is performed so as to measure the resistance of the sleeve.

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