Railway overhead cable inspection robot

Abstract

The invention discloses a railway overhead cable inspection robot, and relates to the technical field of overhead line inspection, the railway overhead cable inspection robot comprises an inspection box, the upper surface of the inspection box is fixedly connected with a working plate, the upper surface of the working plate is fixedly connected with a motor, and the upper surface of the working plate is rotatably connected with a rotating shaft; the outer side of the rotating shaft is fixedly connected with a rotating plate, and the upper end of the rotating shaft is fixedly connected with the output end of a motor. According to the railway overhead cable inspection robot, when the device moves to a cable butt joint part, two groups of rotating plates synchronously release radial extrusion on a first airbag, the volume of a second airbag is synchronously reduced, displacement generated by deformation of the second airbag can drive a driving plate to reversely rotate, and at the moment, two groups of laser detectors can synchronously move outwards under the driving action of a pulling plate; in view of the fact that the width of the cable butt joint part is obviously larger than that of a single overhead cable, the laser detector achieves more accurate coverage detection of the butt joint area through the design of enlarging the distance between the detection modules.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead line inspection, in particular to a railway overhead cable inspection robot. Background Art

[0002] Overhead railway lines are a core component of the railway power supply system. Insulators are used to fix the conductors on upright towers to achieve power transmission. Inspection of overhead railway lines is a key link in ensuring the safe and stable operation of the railway power supply system. Its core lies in timely discovering and addressing potential hidden dangers in the line itself, ancillary facilities and channel environment through systematic inspection and monitoring.

[0003] Prior art 1 (Chinese patent with announcement number CN205159931U and announcement date 2016-04-13) A railway contact network online inspection robot is characterized in that it includes: a fixed frame; a walking mechanism, which is installed on the upper part of the fixed frame and walks along the railway contact network; a visual system, which has a camera, which is arranged at the top of the fixed frame and takes pictures of the railway contact network; an anti-drop mechanism, which is arranged on the fixed frame and has a hook structure, a rotating arm and a reset spring, the rotating arm and the hook structure form a closed loop, which is sleeved on the contact network line, and the reset spring applies a torsional force to the rotating arm, and when encountering an obstacle, the rotating arm rotates open to pass through the obstacle; a motor provides power for the walking mechanism, the railway contact network online inspection robot can judge whether there is any abnormality on the contact network in real time. In addition, due to the adoption of the anti-drop mechanism, the railway contact network online inspection robot can be prevented from falling from the contact network under the influence of strong winds or other factors, thereby improving In order to ensure safety, there is also the second prior art (a Chinese patent with announcement number CN216819195U and announcement date of 2022-06-24). A contact network online obstacle-crossing inspection robot comprises two side panels arranged at intervals on the left and right, and a plurality of obstacle-crossing running mechanisms are arranged on the upper parts of the two side panels; the plurality of obstacle-crossing running mechanisms are divided into two rows, and the two rows of obstacle-crossing running mechanisms are respectively arranged on the outer sides of the two side panels. The obstacle-crossing running mechanisms contain running wheels, running motors, down-flip connecting rods, down-flip motors and down-flip motor supports connected in sequence. The contact network online obstacle-crossing inspection robot is suspended on the load-bearing cable or contact line through a flippable obstacle-crossing running mechanism for walking and detection. The obstacle-crossing running mechanism is alternately flipped outward to achieve obstacle crossing at the suspension point. At the same time, the inspection robot can use the electrical energy of the contact network itself through the online power supply device to power the inspection robot itself, thereby realizing uninterrupted power maintenance and long-distance operation, and solving the problem of automated inspection of the contact network system.

[0004] Although the existing technology can achieve uninterrupted power maintenance and long-distance operations, and achieve obstacle crossing at the hanging point, when the inspection robot encounters an obstacle during inspection, the position of its detection mechanism cannot change synchronously. The detection component in a single position cannot meet the inspection requirements of different positions of the overhead line. At the same time, when the existing inspection mechanism is conducting inspections, it is impossible to drive away the flocks of birds, and the flocks of birds will cause certain interference to the inspection operation.

[0005] Therefore, we proposed a railway overhead cable inspection robot to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a railway overhead cable inspection robot to solve the problem raised in the above background technology that the position of the detection mechanism on the current market cannot change synchronously, the detection component at a single position cannot meet the detection requirements of different positions of the overhead line, and at the same time, when the existing inspection mechanism is conducting inspections, it is unable to drive away the flocks of birds, and the flocks of birds will cause certain interference to the inspection operation.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a railway overhead cable inspection robot, comprising an inspection box, the upper surface of the inspection box is fixedly connected to a working plate, and the upper surface of the working plate is fixedly connected to a motor, and the upper surface of the working plate is rotatably connected to a rotating shaft, the outer side of the rotating shaft is fixedly connected to a rotating plate, and the upper end of the rotating shaft is fixedly connected to the output end of the motor, the upper surface of the working plate is fixedly connected to a fixed frame, and the upper surface of the fixed frame is slidably connected to a pull plate, and the edge end of the pull plate is fixedly connected to a laser detector for detecting overhead cables, an adjustment structure is provided between the inner end of the pull plate and the fixed frame, the adjustment mechanism realizes the adjustment of the distance between the two groups of laser detectors by changing the position of the rotating plate, an auxiliary roller is rotatably connected to the upper part of the rotating plate, and a swing mechanism is provided above the rotating plate, the swing mechanism includes a laser bird repeller, and the swing mechanism realizes a large-scale bird repeller by the rotation of the auxiliary roller.

[0008] Preferably, the rotating shaft is symmetrically arranged in two groups about the center point of the working plate, and the lower surfaces of the two groups of working plates are fixedly connected with meshing gear assemblies. The lower side of the outer end of the rotating plate is slidingly connected to the upper surface of the working plate, and the upper surface of the auxiliary roller is fixedly connected with a walking roller for walking on the overhead cable.

[0009] Preferably, the adjustment structure includes a first airbag, which is fixedly connected to the upper surface of the working plate. The two groups of rotating plates are respectively located on the front and rear sides of the first airbag, and the end of the first airbag is connected to a connecting air pipe.

[0010] Preferably, the lower surface of the fixing frame is fixedly connected to the second airbag, and the lower surface of the second airbag is connected to the other end of the trachea, and the second airbag is arranged in an arc-shaped structure.

[0011] Preferably, an auxiliary rotating plate is rotatably connected to the center of the upper surface of the fixing frame, and the axial end of the auxiliary rotating plate extends to the lower surface of the fixing frame, and the lower axial end of the auxiliary rotating plate is fixedly connected to the driving plate, and the side of the driving plate is fixedly connected to the second airbag.

[0012] Preferably, both ends of the auxiliary rotating plate are hinged with connecting rods, and the other end of the connecting rod is hingedly arranged on the inner end of the pulling plate, and the pulling plate forms a sliding structure with the fixed frame through the connecting rod.

[0013] Preferably, the swing mechanism includes a sliding groove, which is opened on the outside of the auxiliary roller and is arranged in an inclined annular structure, and a sliding block is slidably connected to the inside of the sliding groove.

[0014] Preferably, the outer side of the auxiliary roller is slidably connected to a collar, the inner side of the collar is fixedly connected to the outer end of the sliding block, and the outer side of the collar is fixedly connected to a resisting rod.

[0015] Preferably, the laser bird repeller is rotatably connected to the upper surface of the rotating plate, the lower surface of the laser bird repeller is in contact with the outer side of the interference rod, and the laser bird repeller forms a rotating structure through the interference rod and the rotating plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) A rotating plate is provided. When the inspection box moves to the cable docking position, the motor on the front side is started, and both sets of rotating plates rotate outward and expand, so that the two sets of walking rollers are synchronously separated from the side of the cable, completing the obstacle avoidance processing of the cable docking position. The device can still move along the overhead cable through the walking rollers set at the rear. After completing the obstacle avoidance, the walking rollers are adjusted to the side of the overhead cable, and the same obstacle avoidance operation is performed on the rear walking rollers, avoiding the phenomenon that the device is stuck when moving to the overhead cable docking position and cannot continue to move for inspection, thereby improving the inspection work efficiency.

[0017] (2) When the device is moving normally, the distance between the two sets of rotating plates is small, and the first airbag is squeezed by the two sets of rotating plates. At this time, the second airbag expands and drives the plates to rotate and change their position. At this time, the two sets of laser detectors can approach each other under the driving action of the pulling plate, and the overhead cables can be inspected.

[0018] (3) When the device moves to the cable docking position, the two sets of rotating plates simultaneously release the radial extrusion on the first airbag, and the volume of the second airbag is simultaneously reduced. The displacement generated by the deformation of the second airbag can drive the driving plate to rotate in the opposite direction. At this time, the two sets of laser detectors can be moved outward synchronously under the driving action of the pulling plate. Given that the width of the cable docking position is significantly larger than that of a single overhead cable, the laser detector achieves more accurate coverage and detection of the docking area by expanding the spacing between the detection modules.

[0019] (4) A laser bird repellent is installed. The laser bird repellent simulates the characteristics of natural enemies or danger warning signals by emitting a dynamic scanning green laser beam, performing non-contact bird repelling operations, and effectively blocking the interference path of bird flock activities on overhead cable inspection operations.

[0020] (5) The walking roller can synchronously drive the auxiliary roller to rotate through the friction with the overhead cable, and drive the resistance rod through the ring to achieve reciprocating up and down movement. When the resistance rod moves up and down, it can synchronously drive the laser bird repellent to rotate along the rotating plate in a fan-shaped trajectory, thereby increasing its laser irradiation range, improving the dynamic expansion of the laser irradiation area of ​​the laser bird repellent, and improving the coverage and response efficiency of the bird repellent operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the working plate of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the rotating plate of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of the first airbag of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the fixing frame of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the second airbag of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the auxiliary rotating plate of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the auxiliary roller of the present invention; Figure 9 This is a schematic diagram of the three-dimensional structure of the laser bird repeller of the present invention; Figure 10 It is a schematic diagram of the three-dimensional cross-sectional structure of the collar of the present invention.

[0022] In the figure: 1. Inspection box; 2. Working plate; 3. Walking roller; 4. Motor; 5. Gear assembly; 6. Rotating plate; 7. Fixed frame; 8. Auxiliary roller; 9. First airbag; 10. Connecting air pipe; 11. Second airbag; 12. Laser bird repellent; 13. Laser detector; 14. Pull plate; 15. Rotating shaft; 16. Drive plate; 17. Auxiliary rotating plate; 18. Connecting rod; 19. Ring; 20. Sliding groove; 21. Resistance rod; 22. Sliding block. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Example 1: Figure 1-Figure 3 The technical solution shown in the figure, the present invention provides the following technical solution: a railway overhead cable inspection robot, disclosing a rotating plate 6, through the rotation of the rotating plate 6, the device as a whole can perform obstacle avoidance operations, the upper surface of the inspection box 1 is fixedly connected to the working plate 2, and the upper surface of the working plate 2 is fixedly connected to the motor 4, and the upper surface of the working plate 2 is rotatably connected to the rotating shaft 15, the outer side of the rotating shaft 15 is fixedly connected to the rotating plate 6, and the upper end of the rotating shaft 15 is fixedly connected to the output end of the motor 4, and the upper part of the rotating plate 6 is rotatably connected to the auxiliary roller 8, and the rotating shaft 15 is symmetrically arranged in two groups about the center point of the working plate 2, and the lower surfaces of the two groups of working plates 2 are fixedly connected with meshing gear assemblies 5, the lower side of the outer end of the rotating plate 6 is slidably connected to the upper surface of the working plate 2, and the upper surface of the auxiliary roller 8 is fixedly connected with a walking roller 3 for walking on the overhead cable.

[0025] A rotating plate 6 is provided. When the inspection box 1 moves to the cable docking position, the motor 4 on the front side is started. At this time, the motor 4 can drive the rotating plate 6 at the corresponding position to rotate, and the rotating plate 6 on the other side can be synchronously rotated outward under the transmission action of the gear assembly 5. At this time, the two sets of rotating plates 6 are rotated outward and expanded, so that the two sets of walking rollers 3 are synchronously separated from the side of the cable, completing the obstacle avoidance processing of the cable docking position. At this time, the device can still move along the overhead cable through the walking roller 3 set at the rear. When the position of the front walking roller 3 has moved to the front side of the docking position, the motor 4 is started in the reverse direction, and the rotating plate 6 moves toward each other under the driving action of the gear assembly 5, and the walking roller 3 is adjusted to the side of the overhead cable, so as to perform subsequent inspection and walking operations. After the front walking roller 3 completes the obstacle avoidance, the rear walking roller 3 is subjected to the same obstacle avoidance operation, so that the device as a whole completes the obstacle avoidance operation, avoiding the phenomenon that the device is stuck and cannot continue to move for inspection when it moves to the docking position of the overhead cable, thereby improving the inspection work efficiency.

[0026] Example 2: Figure 3-Figure 7 The technical solution shown in the figure, the present invention provides the following technical solution: a railway overhead cable inspection robot, discloses an adjustment structure, through which the distance between the two groups of laser detectors 13 is adjusted, so as to achieve more accurate coverage and detection of different areas, the upper surface of the working plate 2 is fixedly connected with a fixing frame 7, and the upper surface of the fixing frame 7 is slidably connected with a pulling plate 14, and the edge end of the pulling plate 14 is fixedly connected with a laser detector 13 for detecting overhead cables, and an adjustment structure is provided between the inner end of the pulling plate 14 and the fixing frame 7, and the adjustment mechanism realizes the adjustment of the distance between the two groups of laser detectors 13 by changing the position of the rotating plate 6, and the adjustment structure includes a first airbag 9, which is fixedly connected to the upper surface of the working plate 2, and the two groups of rotating plates 6 are located at the first On the front and rear sides of an airbag 9, the end of the first airbag 9 is connected with a connecting air pipe 10, the lower surface of the fixing frame 7 is fixedly connected to the second airbag 11, and the lower surface of the second airbag 11 is connected to the other end of the connecting air pipe 10, and the second airbag 11 is arranged in an arc-shaped structure, and an auxiliary rotating plate 17 is rotatably connected to the center of the upper surface of the fixing frame 7, and the axial end of the auxiliary rotating plate 17 extends to the lower surface of the fixing frame 7, and the lower axial end of the auxiliary rotating plate 17 is fixedly connected to the driving plate 16, and the side of the driving plate 16 is fixedly connected to the second airbag 11, and both ends of the auxiliary rotating plate 17 are hinged with a connecting rod 18, and the other end of the connecting rod 18 is hingedly set at the inner end of the pull plate 14, and the pull plate 14 forms a sliding structure with the fixing frame 7 through the connecting rod 18.

[0027] When the device is moving normally, the distance between the two sets of rotating plates 6 is small, and the first airbag 9 is in a state of being squeezed by the two sets of rotating plates 6. At this time, the gas stored in the first airbag 9 is transported to the inside of the second airbag 11 through the connecting air pipe 10, causing the second airbag 11 to expand. The expanded second airbag 11 can resist the driving plate 16, thereby causing the driving plate 16 to rotate and change its position. The auxiliary rotating plate 17 rotates synchronously under the driving action of the driving plate 16. The rotating auxiliary rotating plate 17 can synchronously rotate the connecting rod 18 hinged at both ends, and pull the pulling plate 14 to move stably inward along the fixed frame 7 through the rotating connecting rod 18. At this time, the two sets of laser detectors 13 can approach each other under the driving action of the pulling plate 14, and can detect the overhead cables. When the device moves to the cable docking position, the rotating plate 6 at the corresponding position rotates outward and expands, and the two sets The rotating plate 6 simultaneously releases the radial extrusion on the first airbag 9, so that the pre-stored gas in the second airbag 11 forms a reverse reflux path through the connecting air pipe 10 and flows back into the first airbag 9. As the gas continues to refill the first airbag 9, the volume of the second airbag 11 is synchronously reduced. The displacement generated by the deformation of the second airbag 11 can drive the driving plate 16 to rotate in the opposite direction, and the driving plate 16 thereby drives the auxiliary rotating plate 17 to rotate. The rotating auxiliary rotating plate 17 can synchronously rotate the connecting rod 18 hinged at both ends, and push the pull plate 14 to move steadily outward along the fixed frame 7 through the rotating connecting rod 18. At this time, the two groups of laser detectors 13 can move outward synchronously under the driving action of the pull plate 14. In view of the fact that the width of the cable docking part is significantly larger than that of a single overhead cable, the laser detector 13 achieves more accurate coverage and detection of the docking area by expanding the spacing design of the detection modules.

[0028] Example 3: Figure 2 、 Figure 3 、 Figures 8-10The technical solution shown in the figure, the present invention provides the following technical solution, a railway overhead cable inspection robot, discloses a swing mechanism, through which the dynamic expansion of the laser irradiation area of ​​the laser bird repeller 12 can be improved, and the coverage and response efficiency of the bird repeller operation can be improved: the upper part of the rotating plate 6 is connected to the auxiliary roller 8, and the upper part of the rotating plate 6 is provided with a swing mechanism, the swing mechanism includes the laser bird repeller 12, the swing mechanism realizes the large-scale bird repeller of the laser bird repeller 12 through the rotation of the auxiliary roller 8, the swing mechanism includes a sliding groove 20, the sliding groove 20 It is opened on the outside of the auxiliary roller 8, and the sliding groove 20 is arranged in an inclined annular structure, and the inside of the sliding groove 20 is slidably connected to the sliding block 22, the outside of the auxiliary roller 8 is slidably connected to the ring 19, and the inside of the ring 19 is fixedly connected to the outer end of the sliding block 22, and the outside of the ring 19 is fixedly connected to the interference rod 21, the laser bird repeller 12 is rotatably connected to the upper surface of the rotating plate 6, the lower surface of the laser bird repeller 12 is in contact with the outside of the interference rod 21, and the laser bird repeller 12 forms a rotating structure with the rotating plate 6 through the interference rod 21.

[0029] A laser bird repeller 12 is provided. The laser bird repeller 12 simulates the characteristics of natural enemies or danger warning signals by emitting a dynamically scanned green laser beam to perform non-contact bird repeller operations, effectively blocking the interference path of bird flock activities on the inspection operation of overhead cables. When the walking roller 3 moves along the outside of the overhead cable, the walking roller 3 can synchronously drive the auxiliary roller 8 to rotate through the friction with the overhead cable. The rotating auxiliary roller 8 can cooperate with the sliding block 22 slidably connected to its internal sliding groove 20 by the inclined side thereof to drive the ring 19 to the limit rod. Under the limiting action of , the reciprocating up and down movement is realized. The up and down moving ring 19 can synchronously drive the resistance rod 21 to move. The side of the resistance rod 21 contacts the lower side of the laser bird repeller 12. When the resistance rod 21 moves up and down, it can synchronously drive the laser bird repeller 12 to rotate along the rotating plate 6 in a fan-shaped trajectory. At the same time, the two groups of laser bird repellers 12 will not collide with each other due to inertia under the elastic assistance of the torsion springs arranged at the shaft ends. By improving the dynamic expansion of the laser irradiation area of ​​the laser bird repeller 12, the coverage range and response efficiency of the bird repeller operation are further improved.

[0030] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A railway overhead cable inspection robot, comprising an inspection box (1), wherein the upper surface of the inspection box (1) is fixedly connected to a working plate (2), and the upper surface of the working plate (2) is fixedly connected to a motor (4), and the upper surface of the working plate (2) is rotatably connected to a rotating shaft (15), the outer side of the rotating shaft (15) is fixedly connected to a rotating plate (6), and the upper end of the rotating shaft (15) is fixedly connected to the output end of the motor (4), characterized in that: The upper surface of the working plate (2) is fixedly connected to a fixing frame (7), and the upper surface of the fixing frame (7) is slidably connected to a pulling plate (14), and the edge of the pulling plate (14) is fixedly connected to a laser detector (13) for detecting overhead cables. An adjustment structure is provided between the inner end of the pulling plate (14) and the fixing frame (7), and the adjustment mechanism adjusts the distance between the two groups of laser detectors (13) by changing the position of the rotating plate (6). An auxiliary roller (8) is rotatably connected above the rotating plate (6), and a swing mechanism is provided above the rotating plate (6). The swing mechanism includes a laser bird repellent (12), and the swing mechanism realizes a large-scale bird repelling of the laser bird repellent (12) by rotating the auxiliary roller (8).

2. The railway overhead cable inspection robot according to claim 1, characterized in that: Two groups of rotating shafts (15) are symmetrically arranged in front and back about the center point of the working plate (2), and the lower surfaces of the two groups of working plates (2) are fixedly connected with meshing gear assemblies (5), the lower side of the outer end of the rotating plate (6) is slidably connected to the upper surface of the working plate (2), and the upper surface of the auxiliary roller (8) is fixedly connected with a walking roller (3) for walking on the overhead cable.

3. The railway overhead cable inspection robot according to claim 1, characterized in that: The regulating structure comprises a first airbag (9), the first airbag (9) being fixedly connected to the upper surface of the working plate (2), the two sets of rotating plates (6) being located at the front and rear sides of the first airbag (9), and the end of the first airbag (9) being connected to a connecting air pipe (10).

4. The railway overhead cable inspection robot according to claim 3, characterized in that: The lower surface of the fixing frame (7) is fixedly connected to the second airbag (11), and the lower surface of the second airbag (11) is connected to the other end of the connecting air pipe (10), and the second airbag (11) is arranged in an arc-shaped structure.

5. The railway overhead cable inspection robot according to claim 4, characterized in that: An auxiliary rotating plate (17) is rotatably connected to the center of the upper surface of the fixing frame (7), and the axial end of the auxiliary rotating plate (17) extends to the lower surface of the fixing frame (7), and the lower axial end of the auxiliary rotating plate (17) is fixedly connected to the driving plate (16), and the side of the driving plate (16) is fixedly connected to the second airbag (11).

6. The railway overhead cable inspection robot according to claim 5, characterized in that: Both ends of the auxiliary rotating plate (17) are hinged with connecting rods (18), and the other end of the connecting rod (18) is hingedly arranged on the inner end of the pulling plate (14), and the pulling plate (14) forms a sliding structure with the fixing frame (7) through the connecting rod (18).

7. The railway overhead cable inspection robot according to claim 1, characterized in that: The swing mechanism includes a sliding groove (20), the sliding groove (20) is opened on the outside of the auxiliary roller (8), and the sliding groove (20) is arranged in an inclined ring structure, and a sliding block (22) is slidably connected inside the sliding groove (20).

8. The railway overhead cable inspection robot according to claim 7, characterized in that: The outer side of the auxiliary roller (8) is slidably connected to a collar (19), the interior of the collar (19) is fixedly connected to the outer end of the sliding block (22), and the outer side of the collar (19) is fixedly connected to a resisting rod (21).

9. The railway overhead cable inspection robot according to claim 8, characterized in that: The laser bird repeller (12) is rotatably connected to the upper surface of the rotating plate (6), the lower surface of the laser bird repeller (12) and the outer side of the abutment rod (21) are in contact with each other, and the laser bird repeller (12) and the rotating plate (6) form a rotating structure through the abutment rod (21).

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