JPH05153708A - Electric traveling unit - Google Patents

Abstract

PURPOSE:To travel a unit at an appropriate speed at all times by automatically applying brake on the unit at an inclining part. CONSTITUTION:When a motor 12 is driven through a traveling mechanism 13 to travel on an overhead line, inclination of a unit is detected through an inclination detecting section 17. When the unit travels on a down slope with an inclination higher than a predetermined value, a speed control section 15 connect the motor 12 with brake resistors R1 or R2 thus applying an appropriate generative brake thereon.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric traveling device which is controlled to travel on an inclined road at an appropriate speed.

[0002]

2. Description of the Related Art For example, as shown in FIG. 5, an overhead wire flaw detector used for inspecting a scratch on a wire of an overhead wire is installed on an overhead wire 1 installed between steel towers 2. , Is configured to run from one end to the other. In FIG. 6, FIG.
The block diagram of the flaw detection apparatus 3 as shown in FIG. Figure 6 (a)
Is a side view of the flaw detection device, and FIG. In the figure, a pair of wheels 4 for traveling are mounted on the upper surface of the overhead wire 1. A flaw detection unit 5 is suspended between the wheels 4. In the flaw detection section 5, as shown in FIG. 1B, for example, four flaw detection coils 6 surrounding the outer circumference of the overhead wire 1 are arranged. When such a flaw detector moves in the longitudinal direction of the overhead line 1, the flaw detection coil 6 electrically detects a flaw on the surface of the overhead line 1.

FIG. 7 shows a block diagram of a traveling portion of the flaw detector as described above. This device includes a power supply unit 10, a control unit 11, a motor 12, and a traveling mechanism 13. The traveling mechanism 13 includes a speed reducer 7 directly connected to a drive shaft of a motor 12 and wheels 4 driven by the speed reducer 7. Since the flaw detection device performs flaw detection operation while moving forward or backward on the overhead line, a DC motor is normally used as the motor 12 and a battery is used as the power supply unit 10. The control unit 11 is composed of a switch and the like for controlling the connection between the power supply unit 10 and the motor 12. In FIG. 8, the control unit 11
The connection diagram of is shown.

As described above, the control unit 11 is provided with the pair of switches SW1 and SW2. In the state shown in the figure, the switches SW1 and SW2 are in a state of short-circuiting the 12 terminals to the motor as indicated by the solid line. Here, when advancing the apparatus, the switch SW1 is switched as shown by the broken line. At this time, the switch SW2 remains in the solid line state in the figure. In addition, when retracting the device, switch S
W1 remains in the solid line state in the figure, and the switch SW2 is switched as shown by the broken line. The reason why the switch SW1 and the switch SW2 are short-circuited as indicated by the solid line in the stopped state of the device is to apply a brake by so-called dynamic braking and keep the device in a stationary state. This control unit 11
Is usually operated by a wireless remote controller, and a worker can freely move the flaw detection device 3 back and forth on the overhead line 1 shown in FIG.

[0005]

By the way, the overhead line is
When installed in a mountainous area with a strong slope, the flaw detector will climb up and down a relatively strong slope. For example, when the inclination is about 30 °, the traveling speed of the device is accelerated by gravity. Therefore, in the case of a downhill slope, when the motor is connected to the power supply, the vehicle runs at a very high speed. For this reason, the detection sensitivity of the flaw detection coil described above is lowered, and the flaw detection accuracy is deteriorated. In addition, in the case of a structure in which a photograph is automatically taken when a flaw is detected, the photographed image may become unclear. In one example, the gradient is about 30 degrees,
The speed will be about 45 meters. Considering the detection sensitivity and the conditions of photography, it is desirable to drive at a speed of about 15 to 28 meters per minute.

Therefore, conventionally, as shown in FIG. 9, for example,
A wire 9 is tied to the flaw detection device 3 running on the overhead wire 1, and the wire 9 is suspended at appropriate intervals on the overhead wire 1 via a gold wheel 8. By thus applying the back tension with the wire 9, the traveling speed of the flaw detection device 3 is suppressed. However, this requires the gold wheel 8 and the wire 9, and also the gold wheel 8 and the wire 9.
Therefore, there is a problem that the flaw detection work becomes complicated because the attachment and detachment work is required. The present invention has been made in view of the above points, and has been made for the purpose of providing an electric traveling device that travels at an appropriate speed even on a steeply descending slope or an ascending slope.

[0007]

According to another aspect of the present invention, there is provided an electric traveling apparatus, which is driven by a motor and includes a braking portion for performing an active braking, including an inclination detecting portion for detecting a front-back inclination of the apparatus. A speed control unit for controlling a braking force in the braking unit based on a detection output of the inclination detection unit when the apparatus passes a down slope is provided.

[0008]

In this device, when the traveling mechanism is driven by the motor for traveling, the inclination detecting section detects the inclination of the device due to the inclination of the traveling path. The speed control unit connects a braking resistor to the motor to perform appropriate dynamic braking when the inclination of the device is more than a certain value while advancing downhill. As a result, the device is automatically braked at the inclined portion, and the device can always be run at an appropriate speed.

[0009]

The present invention will be described in detail below with reference to the embodiments shown in the drawings. FIG. 1 is a block diagram showing an embodiment of an electric traveling device of the present invention. In this device, the traveling mechanism 13 is connected to the motor 1
2 and the power supply unit 10 drives the speed control unit 1.
Driving power is supplied to the motor 12 via the motor 5 and the braking unit 16. The operation of the speed controller 15 is controlled by the tilt detector 17. Power supply 10
Is composed of a battery or the like as in the conventional device.
The motor 12 is a DC motor. Further, the traveling mechanism 13 has the same configuration as the conventional device described in FIG.

Here, the speed control unit 15 includes four switches S1, S2, S3 and S4 and relays RY1 and RY.
2, RY3, RY4 are provided. Switch S1,
S2 and relays RY1 and RY2 are both power supply unit 1
It is inserted in a line for supplying electric power from 0 to the motor 12 and is connected in parallel with each other. Also, switches S3 and S4
Is inserted in series with one line for supplying electric power from the power supply unit 10 to the motor 12. Relays RY3 and RY4 are
The switches S3 and S4 are connected in parallel. The braking unit 16 is provided with braking resistors R1 and R2. When the relay RY1 is in the state shown by the solid line in the figure, the motor 12 and the power supply unit 10 are directly electrically connected, and the relay RY1
When the switch S1 is in the closed state in the state indicated by the broken line 1 in the figure, the motor 12 is connected to the power supply unit 10 via the braking resistor R1. Relay RY2, switch S2
The relationship between the braking resistance R2 and the braking resistance R2 is the relay RY1 and the switch S
1 and the braking resistance R1 are exactly the same. The relays RY1 and RY2 are switches having exactly the same functions as the switches SW1 and SW2 described above with reference to FIG. That is, when the relay RY1 is switched from the solid line to the broken line, the device moves forward, and when the relay RY2 is switched from the solid line to the broken line, the device moves backward.

FIG. 2 shows an operation explanatory view of the inclination detecting section 17. A weight 22 is fixed to a lower end of an arm 21 of the tilt detecting unit 17, and the arm 21 is configured to swing about a shaft 24 in a direction of an arrow 23. And
When the device tilts, the arm 21 always tries to keep its posture vertically by the weight 22, so that the switches S1 and S4 or the switches S2 and S3 relatively move to the arm 2.
1 is approached and the switch is activated. The switch S1
And S2 are normally open contacts here, and switches S3 and S4
Is a normally closed contact. These switches are set to operate respectively when the device is tilted by an angle α, for example.

FIG. 3 shows a principle wiring diagram in each operation mode of the device of the present invention. FIG. 3A shows the connection in the stopped state, and the terminals of the motor 12 are short-circuited by the relay RY1 and the relay RY2 shown in FIG.
As a result, when the motor tries to rotate, the maximum braking force is applied to the motor 12 by the counter electromotive force. Therefore, the device can be held in a stopped state. On the other hand, when the device passes a downward slope, the inclination detection unit 17 detects the front-back inclination, and when the inclination exceeds a, the switch is switched,
As shown in FIG. 3 (b), the brake traveling state is set. In this case, the braking resistor R is connected to the terminal of the motor 13.
The braking resistance R is either the braking resistance R1 or R2 shown in FIG.

When the device travels on a relatively flat and gently sloping portion, a normal electric traveling state is established. This is shown in FIG. In this case, the battery 18 of the power supply unit 10 is directly connected to the motor 12. The apparatus according to the present invention performs such switching of operation modes by the inclination detection unit 1
It is automatically executed by the output of 7. As a result, the operator can obtain an appropriate braking force at the time of passing through the downward slope just by switching the relays RY1 and RY2 to forward or backward using a remote controller (not shown) as in the conventional device. In the case of forward movement, the relay RY1 is switched to the state shown by the broken line in FIG. 1, and at the same time, the relay RY3 is closed. In this case, since the switch S4 is open during traveling on the slope, the power supply unit 10 and the motor 12 are separated. However,
Since the switch S4 is closed during traveling on a flat traveling path, the power supply unit 10 is connected to the motor 12. The same applies to the relationship between the switch S3 and the relay RY4.

FIG. 4 shows an overall speed control operation explanatory diagram of the apparatus of the present invention described above. First, as shown in the figure, when the device travels on the overhead line 1, the switch is switched as follows by the operation of the inclination detection unit 17 shown in FIG. In the figure, a portion where the inclination of the overhead wire 1 is α or more is distinguished from a portion where the inclination is α or less, and three sections are defined in order from the right such as an X section, a Y section, and a Z section. In the X section of the figure, since the device is tilted by the angle α or more, the switches S1 and S3 are closed and the switches S2 and S4 are open. Further, in the section Z in the figure, since the device is tilted backward by more than α, the switches S2 and S4 are closed and the switches S1 and S3 are open. When the device is in the Y section other than these sections, the switches S1 and S2 are open and the switches S3 and S4 are closed. Therefore, when trying to advance the device from the right side to the left side, the relay RY1 is switched in the direction of the broken line shown in FIG. 1, and the relay RY3 is closed. However, since the switch S4 and the relay RY4 are both in the open state, the power supply unit 10 and the motor 12 remain separated. On the other hand, since the switch S1 is closed, the motor 1
The braking resistance R1 switch S1 and relay R
The braking resistor R1 is connected in parallel by Y2. In this way, braking travel is performed.

When the device moves forward and enters the Y section, the switch S
1 is opened and switch S4 is closed.
As a result, the motor 12 has a relay RY1 and a relay R.
The power supply unit 10 is connected via the Y3 and the switch S4, and the forward electric traveling state is set. On the other hand, when the device is retracted from the left end to the right end, the relay RY2 shown in FIG. 1 is switched in the direction of the broken line, and the relay RY4 is closed. In this case, relay RY3 remains open. Here, in the Z section, the switch S2 is closed and the switch S3 is opened. Therefore, since the switch S3 and the relay RY3 are open, the power supply unit 10 is disconnected from the motor 12. Then, this time, the braking resistor R2 is connected in parallel to the motor 12 by the switch S2 and the relay RY1. In this way, the brake traveling is performed in the Z section even when the vehicle retreats. After that, when the section Y is entered, the switch S2 is opened and the switch S3 is closed, so that the power source unit 10 is connected to the motor 12 and thereafter electric running is performed.

The present invention is not limited to the above embodiments.
According to the principle as shown in FIG. 3, if the braking resistance is connected to the motor according to the inclination of the device and the vehicle descends on the traveling road while obtaining an appropriate braking force, the switch configuration of the speed control unit 15 or The number and type of braking resistors can be freely selected and changed. In addition, the arm 21 of the inclination detection unit shown in FIG.
If a variable resistor is connected to the variable resistor to sequentially change the resistance according to the inclination of the device, and this is used as a braking resistor, a braking force proportional to the inclination can be obtained. Further, a microcomputer or the like may be used to receive the output of the tilt sensor of the apparatus and perform finer control. Further, although the present invention has been described by taking the flaw detection device traveling on an overhead line as an example, it can be widely applied to a device having a traveling mechanism driven by a motor and traveling on a traveling road whose inclination changes. is there.

[0017]

The electric traveling apparatus of the present invention described above detects the inclination of the apparatus by the inclination detecting section when traveling on a traveling road, and disconnects the power source from the motor when the apparatus advances a downward slope. , Connect a suitable braking resistor to the motor terminals. This allows the device to travel at an appropriate speed even on a slope. Moreover, since this control is automatically performed by the speed control unit, the operator can safely drive the device by simply performing forward and backward operations.

[Brief description of drawings]

FIG. 1 is a connection diagram showing an embodiment of an electric traveling device of the present invention.

FIG. 2 is an operation explanatory diagram of the tilt detection unit shown in FIG.

FIG. 3 is a connection explanatory diagram of each mode of the device of the present invention.

FIG. 4 is an explanatory diagram of a speed control operation of the device of the present invention.

FIG. 5 is a schematic view of a general overhead line flaw detection operation.

FIG. 6A is a side view of the flaw detection device. (B)
FIG. 4 is a sectional view taken along line AA.

FIG. 7 is a block diagram showing a configuration of a traveling unit of the flaw detection device.

FIG. 8 is a connection diagram of a conventional flaw detection device control unit.

FIG. 9 is a schematic diagram of a conventional brake traveling operation.

[Explanation of symbols]

 10 Power Supply Section 12 Motor 13 Traveling Mechanism 15 Speed Control Section 16 Braking Section 17 Inclination Detection Section

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification number Office reference number FI technical display location G01N 21/84 B 2107-2J G05D 1/02 X 7828-3H

Claims (1)

[Claims] 1. An electric traveling device equipped with a braking unit that is driven by a motor and performs dynamic braking, comprising: an inclination detection unit that detects a front-back inclination of the device; and a detection of the inclination detection unit when the device passes a downward slope. An electric travel device comprising a speed control unit that controls a braking force in the braking unit based on an output.