Hanging rail type contact line abrasion detection robot clamping walking device

Abstract

The invention discloses a clamping and walking device of a rail-mounted contact line abrasion detection robot, which realizes rapid, automatic and reliable installation and locking of the detection robot in a narrow tunnel space and on an n-shaped busbar, and abandons traditional heavy manual operation. The detection robot can automatically recognize and stably cross the pre-tightening bolts on the n-shaped busbar, uninterrupted continuous detection is achieved, blocking of fixed obstacles is overcome, clamping stagnation is not prone to occurring, and the applicability of the whole device is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of rail transit operation and maintenance technology, and particularly relates to a hanging rail type contact wire abrasion detection robot clamping walking device. BACKGROUND

[0002] The contact net is arranged on a Π-shaped busbar in a tunnel, and in particular, an overhead rigid contact net is a key equipment for safe and stable current collection of a train.

[0003] As a component directly rubbed by a pantograph, the abrasion condition of the contact wire is directly related to power supply reliability and operation safety. If the abrasion exceeds a safety limit value and is not replaced in time, serious accidents such as wire breakage and arc drawing may occur, resulting in interruption of subway operation. At present, the detection of contact wire abrasion mainly relies on traditional manual methods. The operator needs to measure the residual height of the contact wire using a vernier caliper and other tools during the short window period after the subway is shut down. This method has many drawbacks: first, the detection must be carried out under the condition that the contact net is powered off, and the safety guarantee process is complex and the operation risk is high; second, manual measurement is low in efficiency and high in labor intensity, and it is difficult to cover the entire line and prone to missed detection; third, the measurement data need to be manually recorded and managed, and the process is tedious and prone to errors; and finally, the detection result is greatly affected by human subjective factors, and the precision is difficult to guarantee.

[0004] In order to improve the detection efficiency, some research and application of automatic detection equipment have appeared in the market. However, these devices still face severe challenges in actual application. For example, the Π-shaped busbar of the subway rigid contact net is arranged in a zigzag shape, and protruding pre-tightening bolts are arranged at intervals thereon, and there is a Π-shaped busbar butt joint interruption area. The mechanical structure of the existing detection equipment often lacks adaptability and is prone to jamming, and cannot effectively and smoothly automatically cross the bolt obstacles, resulting in interruption of the detection operation. SUMMARY

[0005] The purpose of the present application is to provide a hanging rail type contact wire abrasion detection robot clamping walking device to solve the problem of insufficient adaptability of the detection equipment in the prior art.

[0006] In order to solve the above technical problems, the present application adopts the following technical solutions: A hanging rail type contact wire abrasion detection robot clamping walking device, comprising a suspension clamping mechanism, an obstacle avoidance mechanism, a driving mechanism, a suspension linkage mechanism and a contact wire abrasion detection robot; The suspension clamping mechanism comprises a mounting plate, and an avoiding hole is formed in the middle of the mounting plate; the contact wire abrasion detection robot is arranged at the bottom of the mounting plate through a connecting plate and faces the avoiding hole; The bottom of the mounting plate is vertically connected with a side plate, and a first motor is fixedly connected to the side plate. The suspension linkage mechanism comprises a left suspension linkage mechanism and a right suspension linkage mechanism which are identical in structure; the left suspension linkage mechanism comprises a plurality of rotary pairs, a first linkage, two second linkages, two third linkages and a force transmission rod; the second linkage is a "L"-shaped linkage; One end of the first linkage is connected to the left side of the sliding block through a rotary pair, and the other end is rotatably connected to the force transmission rod through a rotary pair; the force transmission rod is rotatably connected to one end of each of the two second linkages through a rotary pair; an obstacle avoidance mechanism mounting plate is fixedly arranged between the two second linkages, and a left suspension plate is fixedly arranged between the two third linkages; the left suspension plate is fixedly connected to the obstacle avoidance mechanism mounting plate through a fixed rod; the bottom ends of the two third linkages are rotatably connected to the side wall of the mounting plate through a rotary pair; A through hole is formed in the middle of the left suspension plate, and two horizontal clamping plates are arranged on the two sides of the obstacle avoidance mechanism mounting plate; the two clamping plates extend to the right and pass through the through hole of the left suspension plate; The obstacle avoidance mechanism comprises at least one digital servo motor mounted on the obstacle avoidance mechanism mounting plate; a horizontal top plate is connected to the obstacle avoidance mechanism mounting plate; and two vertical connecting rods close to the digital servo motor are fixed to the bottom of the top plate; The bottom ends of the two connecting rods are rotatably connected to two support frames, and a telescopic rod is arranged between the two support frames; the two ends of the telescopic rod are rotatably connected to the two support frames; The output shaft of the digital servo motor is connected to the closest support frame through a fourth linkage; a first guide wheel is rotatably connected to the support frame; and the output shaft of the digital servo motor can drive the support frame to rotate in the horizontal direction through the fourth linkage, thereby driving the first guide wheel to rotate; When the first guide wheel rotates to a position where the central axis of the first guide wheel is perpendicular to the obstacle avoidance mechanism mounting plate, the first guide wheel completely passes through the through hole of the left suspension plate; the bottom end of the clamping plate is higher than the bottom end of the first guide wheel, and the top end of the clamping plate is not higher than the plane where the central axis of the first guide wheel is located; In the right suspension linkage mechanism, a right suspension plate is fixedly arranged between the two third linkages; a clamping plate and a second guide wheel corresponding to the first guide wheel are arranged on the side of the right suspension plate close to the left suspension plate; The output shaft of the first motor can drive the sliding block to move vertically, and then convert the vertical movement into movement of the left suspension plate and the right suspension plate in the left-right direction through the suspension linkage mechanism; The aforementioned plates are respectively attached to both sides of the Π-shaped manifold inside the tunnel, at which time the first guide wheel and the second guide wheel can rotate into the grooves on both sides of the Π-shaped manifold; The drive mechanism is used to drive the suspension clamping mechanism to move along the Π-shaped manifold; The controller of the contact wire wear detection robot is electrically connected to the first motor, the digital servo motor, and the drive mechanism.

[0007] The drive mechanism includes a second motor located at the bottom of the mounting plate; The mounting plate is provided with at least one pair of fixing plates, and a transmission rod that can rotate around its own central axis is provided between each pair of fixing plates. A first synchronous gear and two driving wheels are fixedly sleeved on the transmission rod in sequence. The output shaft of the second motor is coaxially fixedly connected to a second synchronous gear, and the second synchronous gear and the first synchronous gear are driven by a synchronous belt. The mounting plate has a synchronous belt clearance hole at the corresponding position. The rotation direction of the active rotating wheel is the same as the rotation direction of the first guide wheel inside the groove on the side of the Π-shaped busbar; When the first guide wheel and the second guide wheel rotate into the grooves on both sides of the Π-shaped busbar, the two active rotating wheels come into contact with the bottom surface of the Π-shaped busbar.

[0008] The mounting plate is provided with two pairs of fixing plates; A transmission rod capable of rotating around its own central axis is provided between one of the pair of fixed plates. A first synchronous gear and two driving wheels are sequentially fixed on the transmission rod. A transmission rod capable of rotating around its own central axis is provided between another pair of fixed plates. A driven wheel corresponding to the two driving wheels is fixedly sleeved on the transmission rod.

[0009] The present invention also has the following features: Furthermore, a tensioning bolt is provided between the second motor and the mounting plate.

[0010] Furthermore, two digital servos are provided on both sides of the obstacle avoidance mechanism mounting plate.

[0011] Furthermore, the output shaft of the first motor is coaxially and fixedly connected to a screw, and the slider has a screw hole, and the slider is screwed onto the screw.

[0012] A contact line wear detection robot includes a main power supply, a controller, a laser ranging module, an area array camera, a line laser, a DC power filter, and an absolute encoder. The main power supply is connected to the controller, laser ranging module, line laser and absolute encoder respectively; The main power supply is also connected to the area array camera via a DC power filter; The controller is connected to the laser ranging module, the area array camera, the line laser, the DC power filter, and the absolute encoder. The laser ranging module is used to detect the distance between the first guide wheel and the nearest pre-tightening bolt, and transmits the detection result to the controller; The line laser and the area array camera are used to perform triangulation geometry. The optical axis of the area array camera is directed through the clearance hole of the mounting plate to the opening area of ​​the Π-shaped busbar and the lower surface of the contact line. This is used to capture the bright line image and the ambient visible light image formed by the line laser projection at the contact line cross-section, and to transmit the bright line image and the ambient visible light image to the controller. The absolute encoder is mounted on the driven wheel to measure the distance traveled by the driven wheel and transmit the data to the controller. The controller is used for: The distance between the first guide wheel and the nearest preload bolt is received from the laser ranging module; Receives bright line images and ambient visible light images provided by an area array camera; Receives the travel distance of the driven wheel provided by the absolute encoder; Control the start and stop of the second motor; Controls the digital servo motor to start, stop, rotate forward, or rotate in reverse; The wear condition of the contact wire is detected based on the bright line images provided by the area scan camera and the ambient visible light images.

[0013] Furthermore, the main power supply uses a 24V lithium battery; The line laser is mounted below the mounting plate on one side of the area array camera. The laser beam spans the contact line cross section and forms a 20° angle with the optical axis of the area array camera. The controller includes a Raspberry Pi and an STM32 microcontroller, which communicate with each other via a serial port. The Raspberry Pi is used as a host computer for: It receives bright line images and ambient visible light images provided by an area array camera, and detects the wear condition of the contact line based on the bright line images and ambient visible light images; Identify pre-tightened bolts in bright line images and ambient visible light images, and transmit the identification results to an STM32 microcontroller; The STM32 microcontroller is used as a lower-level machine for: The distance between the first guide wheel and the nearest preload bolt is received from the laser ranging module; The distance traveled by the driven wheel is received from the absolute encoder, and the current distance between the first guide wheel and the nearest preload bolt is determined. Set a threshold and compare it with the distance between the first guide wheel and the nearest preload bolt. When the distance is less than the threshold, control the corresponding digital servo to rotate forward from the initial position, drive the two corresponding first guide wheels to rotate, and thus avoid the preload bolt. After the two first guide wheels pass through the preload bolt, control the corresponding digital servo to reverse back to the initial position. It receives the travel distance of the driven wheel from the absolute encoder, and then controls the start and stop of the second motor.

[0014] Compared with the prior art, the present invention has the following technical effects: (I) The rail-mounted contact wire wear detection robot clamping and walking device of the present invention enables the detection robot to be quickly, automatically, and reliably installed and locked in narrow tunnel spaces and on Π-shaped busbars, eliminating the traditional heavy manual operation. The detection robot can automatically identify and smoothly pass over the pre-tightened bolts on the Π-shaped busbar, achieving uninterrupted continuous detection, overcoming the obstruction of fixed obstacles, and is less prone to jamming, thus improving the applicability of the overall device.

[0015] (II) The rail-mounted contact wire wear detection robot clamping and walking device of the present invention is easy to handle, install and carry, and is suitable for frequent use in subway operation sites, provided that the structural strength is met.

[0016] (III) The rail-mounted contact wire wear detection robot clamping and walking device of the present invention is suitable for complex terrain. When passing through zigzag busbar sections and busbar docking intersections, it has adaptive adjustment capabilities to avoid jamming or derailment, provides stable and adjustable clamping force to the drive wheel, ensures effective power transmission under any working conditions, prevents slippage during acceleration, deceleration or climbing, and ensures accurate positioning of the detection position. It is suitable for large-scale industrial use and promotion. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the rail-mounted contact wire wear detection robot clamping and walking device of the present invention; Figure 2 This is a schematic diagram of the suspension clamping mechanism in this invention; Figures 3(a) and 3(b) are schematic diagrams of the obstacle avoidance mechanism in different states of the present invention; Figure 4 This is a schematic diagram of the assembly relationship between the suspension clamping mechanism and the drive mechanism in this invention; Figure 5 This is a partial schematic diagram of the synchronous belt drive of the drive mechanism in this invention; Figure 6 This is a detailed structural drawing of the connecting rod of the suspension clamping mechanism in this invention; The meanings of the labels in the diagram are as follows: 1. Suspension clamping mechanism; 2. Obstacle avoidance mechanism; 3. Drive mechanism; 4. Contact wire wear detection robot; 5. First link; 6. Second link; 7. Third link; 8. Force transmission rod; 9. Left suspension plate; 10. Through hole; 11. Clamping plate; 12. Right suspension plate; 13. Π-shaped busbar; 14. Structural plate; 15. Contact wire; 16. Preload bolt; 101. Mounting plate; 102. Side plate; 103. First motor; 104. Slider; 105. Obstacle avoidance mechanism mounting plate; 106. Guide rail; 107. Guide rail slider; 201. Digital servo motor; 202. Connecting rod; 203. Support frame; 204. Telescopic rod; 205. Fourth link; 206. First guide wheel; 301. Second motor; 302. Fixing plate; 303. Transmission rod; 304. First synchronous gear; 305. Driving pulley; 306. Second synchronous gear; 307. Synchronous belt; 308. Driven pulley; 309. Tensioning bolt; 501. Sleeve; 502. Tension spring. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, all components in this invention are known in the prior art. For example, the digital servo uses a commonly known digital servo.

[0019] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0020] A rail-mounted contact wire wear detection robot clamping and walking device includes a suspension clamping mechanism 1, an obstacle avoidance mechanism 2, a drive mechanism 3, and a contact wire wear detection robot 4. These mechanisms are all mounted on a structural plate 14 made of magnesium-aluminum alloy sheets, forming a compact and lightweight whole. The entire mechanism straddles the Π-shaped busbar of the subway contact network and is attached to the grooves on both sides of it by a suspension clamping mechanism 1.

[0021] The suspension clamping mechanism 1 includes a mounting plate 101, which is used to support the overall structure. The suspension linkage mechanism includes a left suspension linkage mechanism and a right suspension linkage mechanism with the same structure; the left suspension linkage mechanism includes multiple rotating joints, a first link 5, two second links 6, two third links 7 and a force transmission rod 8; among them, the second links 6 are L-shaped links.

[0022] Please refer to the details. Figure 1 The second link 6 is composed of two rods integrally formed at an obtuse angle.

[0023] The bottom ends of the two third connecting rods 7 are rotatably connected to the side wall of the mounting plate 101 through a rotating joint.

[0024] As a specific implementation method, the first motor 103 adopts an externally driven trapezoidal screw motor, specifically a 42 series motor, with a screw lead of 3mm and a diameter of 6.35mm.

[0025] Under these specifications, with a clamping force of 200N, a lead screw mechanical efficiency of 0.4, and a safety factor of n=2, the required holding torque is 0.477 N·m, and the selected motor meets the requirements.

[0026] In one specific implementation, the slider 104 is mounted on a linear guide rail. This design ensures that the slider 104 can only make precise linear movements and can withstand a certain deflection torque.

[0027] A side plate 102 is vertically connected to the bottom of the mounting plate 101. A first motor 103 is fixedly connected to the side plate 102. The output shaft of the first motor 103 is connected to a slider 104. The suspension linkage mechanism includes a left suspension linkage mechanism and a right suspension linkage mechanism with the same structure; the left suspension linkage mechanism includes multiple revolute joints, a first link 5, two second links 6, two third links 7, and a force transmission rod 8; the second links 6 are L-shaped links; In the left suspension linkage mechanism, one end of a first link 5 is connected to the left side of the slider 104 via a revolute joint, and the other end is rotatably connected to the force transmission rod 8 via a revolute joint; both ends of the force transmission rod 8 are rotatably connected to one end of two second links 6 via a revolute joint; the two second links 6 are rotatably connected to two third links 7 via a revolute joint; an obstacle avoidance mechanism mounting plate 105 is fixedly installed between the two second links 6, and a left suspension plate 9 is fixedly installed between the two third links 7; the left suspension plate 9 and the obstacle avoidance mechanism mounting plate 105 are fixedly connected by a fixing rod. A through hole 10 is provided in the middle of the left suspension plate 9. Two clamping plates 11 are provided on both sides of the obstacle avoidance mechanism mounting plate 105. The two clamping plates 11 extend to the right and pass through the through hole 10 of the left suspension plate 9.

[0028] The obstacle avoidance mechanism 2 includes at least one digital servo motor 201 mounted on the obstacle avoidance mechanism mounting plate 105; a horizontally arranged top plate is connected to the obstacle avoidance mechanism mounting plate 105, and two vertical connecting rods 202 near the digital servo motor 201 are fixed at the bottom of the top plate. The bottom of the two connecting rods 202 are rotatably connected to the two support frames 203 respectively, and a telescopic rod 204 is provided between the two support frames 203. The two ends of the telescopic rod 204 are rotatably connected to the two support frames 203 respectively. The output shaft of the digital servo motor 201 is rotatably connected to the nearest support frame 203 via the fourth link 205; a first guide wheel 206 is rotatably connected to the support frame 203; the output shaft of the digital servo motor 201 can drive the support frame 203 to rotate in the horizontal direction via the fourth link 205, thereby driving the first guide wheel 206 to rotate. When the first guide wheel 206 rotates to the point where its central axis is perpendicular to the obstacle avoidance mechanism mounting plate 105, the first guide wheel 206 completely passes through the through hole 10 of the left suspension plate 9; the bottom of the clamping plate 11 is higher than the bottom of the first guide wheel 206 and the top is not higher than the plane where the central axis of the first guide wheel 206 is located.

[0029] In the right suspension linkage mechanism, a right suspension plate 12 is fixedly installed between the two third links 7. A locking plate 11 and a second guide wheel corresponding to the first guide wheel 206 are also provided on the side of the right suspension plate 12 close to the left suspension plate 9. The output shaft of the first motor 103 can drive the slider 104 to move vertically, and then convert the vertical motion into the left and right directions of the left suspension plate 9 and the right suspension plate 12 through the suspension linkage mechanism.

[0030] The card plate 11 is respectively attached to both sides of the Π-shaped busbar 13 in the tunnel. At this time, the first guide wheel 206 and the second guide wheel can rotate into the grooves on both sides of the Π-shaped busbar 13. Drive mechanism 3 is used to drive suspension clamping mechanism 1 to move along Π-shaped busbar 13; The controller of the contact wire wear detection robot 4 is electrically connected to the first motor 103, the digital servo motor 201, and the drive mechanism 3.

[0031] In practical use, taking the left suspension linkage mechanism as an example, the output shaft of the first motor 103 drives the slider 104 to move vertically. Since the left side of the slider 104 is connected to the first link 5 through a rotating joint, the first link 5 can transmit power to the two second links 6 through the force transmission rod 8.

[0032] Based on this, the second link 6 is set in an "L" shape. The advantage of this setting is that it can transmit power to the third link 7 through the transmission pair, and finally form a complete linkage mechanism, which converts the vertical motion into the left suspension plate 9 in the left and right (horizontal) directions. The right suspension linkage mechanism is the same.

[0033] Based on this, the left suspension linkage mechanism and the right suspension linkage mechanism can move closer to each other or further away from each other to achieve clamping and releasing of the Π-type busbar 13.

[0034] Specifically, referring to Figures 3(a) and 3(b), a servo motor-driven obstacle avoidance mechanism 2 was designed to address the protruding pre-tightening bolts 16 on the Π-shaped busbar 13.

[0035] The mechanism is symmetrically arranged on the side where the bolts of the Π-shaped busbar 13 may protrude, so in this embodiment, it is only necessary to set the obstacle avoidance mechanism 2 on one side.

[0036] The mechanism is powered by a digital servo motor 201. The output shaft of the digital servo motor 201 is rotatably connected to the nearest support frame 203 via a fourth link 205; a first guide wheel 206 is rotatably connected to the support frame 203; the output shaft of the digital servo motor 201 can drive the support frame 203 to perform planar motion in the horizontal direction via the fourth link 205, thereby driving the first guide wheel 206 to rotate. As a specific implementation method, the digital servo 201 uses the LD-1501MG with a torque of 17 kg·cm.

[0037] During normal operation, as shown in Figure 3(a), the digital servo motor 201 is in the initial position, and the first guide wheel 206 is in the working position, contacting the Π-shaped busbar 13 and providing support and guidance.

[0038] When overcoming obstacles, as shown in Figure 3(b), when the front laser rangefinder of the contact wire wear detection robot 4 detects a pre-tightening bolt 16 in front, the digital servo motor 201 rotates, pulling the telescopic rod 204 back through the linkage mechanism. This causes the first guide wheel 206 to retract inward, creating enough space for the robot to pass smoothly over the pre-tightening bolt 16. After the robot body passes, the digital servo motor 201 reverses, and the first guide wheel 206 returns to its original position. By sequentially operating these two sets of mechanisms, smooth and continuous obstacle crossing can be achieved.

[0039] As a specific implementation method, the clamping force can be precisely controlled by controlling the rotation angle of the first motor 103. According to the force conditions during the acceleration phase, the wheel must satisfy μN ≥ ma to prevent slippage.

[0040] Where m is taken as 15 kg, and acceleration a = 0.5 m / s². 2 The rolling friction coefficient μ=0.1. Based on this, the minimum clamping force required for the suspension clamping mechanism 1 is approximately 75 N to ensure that slippage does not occur during acceleration and to meet the requirements of continuity between travel and measurement.

[0041] Mounting plate 101 is made of 5mm thick AZ31B magnesium-aluminum alloy plate, with dimensions of 3mm × 290mm. Finite element analysis verifies that, under conditions of 100N support reaction forces at both ends (total load 200N), its maximum bending stress is far lower than the material's yield strength (σ). s =160MPa), with a safety factor greater than 2, maximum deflection less than 1mm, and stiffness and strength both meet the usage requirements.

[0042] Drive mechanism 3 is used to drive suspension clamping mechanism 1 to move along Π-shaped busbar 13; The controller of the contact wire wear detection robot 4 is electrically connected to the first motor 103, the digital servo motor 201, and the drive mechanism 3.

[0043] As a preferred option, such as Figure 2 As shown, the drive mechanism 3 includes a second motor 301 disposed at the bottom of the mounting plate 101; At least one pair of fixing plates 302 are provided on the mounting plate 101. A transmission rod 303 that can rotate around its own central axis is provided between the two fixing plates 302. A first synchronous gear 304 and two driving wheels 305 are fixedly sleeved on the transmission rod 303 in sequence. The output shaft of the second motor 301 is coaxially and fixedly connected to the second synchronous gear 306. The second synchronous gear 306 and the first synchronous gear 304 are driven by the synchronous belt 307. The mounting plate 101 has a corresponding clearance hole for the synchronous belt. The rotation direction of the active rotating wheel 305 is the same as that of the first guide wheel 206; When the first guide wheel 206 and the second guide wheel rotate into the grooves on both sides of the Π-shaped busbar 13, the two active rotating wheels 305 come into contact with the bottom surface of the Π-shaped busbar 13.

[0044] In one specific implementation, the second synchronous gear 306 and the first synchronous gear 304 are connected by a synchronous belt 307 of model HTD 3M. The device is designed to detect a speed of 2 m / s and an acceleration of 0.5 m / s². During the acceleration phase, to prevent the drive wheels from slipping, the suspension clamping mechanism 1 needs to provide sufficient normal force to ensure continuous traction and positioning accuracy.

[0045] The second synchronous gear 306 and the first synchronous gear 304 each have 32 teeth, with a pitch circle diameter of approximately 30.6 mm. Based on a center distance of approximately 77 mm, a synchronous belt with 83 teeth and a length of 250 mm is selected. This type of synchronous belt allows for a tensile force significantly greater than the actual working tensile force (approximately 41.8 N) at a width of 15 mm, providing ample safety margin. The use of synchronous belt drive ensures zero slippage in power transmission, enabling the absolute encoder mounted on the driven shaft to accurately record the travel mileage and precisely locate wear positions.

[0046] As one specific implementation, the second motor 301 adopts a 57HS7407-21B18-500AZ DC motor.

[0047] As a preferred embodiment, the mounting plate 101 is provided with two pairs of fixing plates 302; Among them, a transmission rod 303 that can rotate around its own central axis is provided between a pair of fixed plates 302. A first synchronous gear 304 and two driving wheels 305 are fixedly sleeved on the transmission rod 303 in sequence. A transmission rod 303 capable of rotating around its own central axis is provided between another pair of fixed plates 302. A driven wheel 308 corresponding to the two driving wheels 305 is fixedly sleeved on the transmission rod 303.

[0048] As a preferred embodiment, a tensioning bolt 309 is provided between the second motor 301 and the mounting plate 101. By rotating the tensioning bolt 309, the motor can be adjusted, thereby fine-tuning the center distance of the synchronous belt pulleys and realizing the initial tension and slack compensation of the synchronous belt during operation.

[0049] Further preferably, two digital servos 201 are provided on both sides of the obstacle avoidance mechanism mounting plate 105 to improve the stability of the overall device.

[0050] As a preferred option, such as Figure 6 As shown, the output shaft of the first motor 103 is coaxially and fixedly connected to a screw rod, and the slider 104 has a screw hole and is screwed onto the screw rod; Vertical guide rails 106 are provided on both sides of the side plate 102, and a guide rail slider 107 is slidably mounted on each guide rail 106. More preferably, the first connecting rod 5 includes a sleeve 501, and a tension spring 502 is provided inside the sleeve 501; One end of the tension spring 502 is connected to its corresponding guide rail slider 107 via a rotating joint, and the other end is rotatably connected to its corresponding force transmission rod 8.

[0051] To resolve the jamming issue at the junction of the zigzag bend and the busbar, a sleeve 501 is installed in the first link 5 of the suspension linkage mechanism. A tension spring 502 is housed inside the sleeve 501. See [link to details] for further information. Figure 6 , The tension spring 502 is made of spring steel with a wire diameter of 1.0 mm, a mean diameter of 8.0 mm, 7 effective coils, and a free length of 25 mm. When the robot passes through the aforementioned complex terrain and the guide wheel is compressed, the tension spring 502 is stretched, providing approximately 3 mm of elastic deformation space for the entire mechanism. This enables passive adaptive adjustment and avoids jamming caused by rigid collisions.

[0052] The core structural components of this embodiment, such as the suspension plate, all connecting rods, mounting plate 101, and structural plate 14, are all made of AZ31B magnesium-aluminum alloy or 6061 aluminum alloy. AZ31B magnesium-aluminum alloy has a low density (approximately 1.77 g / cm³) and a yield strength σ... sIt has a strength of ≥160MPa and extremely high specific strength.

[0053] All key load-bearing components have undergone force verification and finite element optimization. For example, for the connecting shaft between the connecting rod and the bearing housing, by calculating its bending stress, the shaft diameter was optimized from 3mm to 4mm, and a 694 deep groove ball bearing with an inner diameter of 4mm was selected, achieving weight reduction while meeting strength requirements (safety factor > 2). The axle (9mm in diameter) subjected to bending moment was verified, and its maximum bending stress was 72.6MPa, with a safety factor of 2.2, meeting the requirements for use under vibration and impact conditions.

[0054] A contact wire wear detection robot includes a main power supply, a controller, a laser ranging module, an area array camera, a line laser, a DC power supply filter, and an absolute encoder. The main power supply is connected to the controller, laser ranging module, line laser, and absolute encoder respectively; The main power supply is also connected to the area array camera via a DC power filter; The controller is connected to the laser ranging module, area array camera, line laser, DC power filter, and absolute encoder; The laser ranging module is used to detect the distance between the first guide wheel 206 and the nearest preload bolt 16, and transmits the detection result to the controller; The line laser and the area array camera work together to triangulate geometry. The optical axis of the area array camera is directed through the clearance hole of the mounting plate 101 to the opening area of ​​the Π-shaped busbar 13 and the lower surface of the contact line. This is used to capture the bright line image and the ambient visible light image formed by the line laser projection at the contact line cross-section, and to transmit the bright line image and the ambient visible light image to the controller. An absolute encoder is installed on the driven wheel 308 to measure the travel distance of the driven wheel 308 and transmit the data to the controller; The controller is used for: It receives data from the laser rangefinder module, the area array camera, and the absolute encoder, and controls the start and stop of the second motor 301 and the start, stop, forward or reverse rotation of the digital servo motor 201 accordingly. The wear condition of the contact wire is detected based on the bright line images provided by the area scan camera and the ambient visible light images.

[0055] As one specific implementation method, the main power supply uses a 24V lithium battery; The line laser is installed below the mounting plate 101 on one side of the area array camera. The laser beam spans the contact line section and forms a 20° angle with the optical axis of the area array camera. The controller consists of a Raspberry Pi and an STM32 microcontroller, which communicate with each other via a serial port. The Raspberry Pi is used as a host computer for: Receive bright line images and ambient visible light images to detect wear on the contact wires; The YOLOv7-tiny algorithm is used to identify the pre-tightened bolt 16 in bright line images and ambient visible light images, and the identification results are transmitted to the STM32 microcontroller. STM32 microcontrollers are used for: A threshold is set, and the set threshold is compared with the distance between the first guide wheel 206 and the nearest preload bolt 16. When the distance is less than the threshold, the corresponding digital servo motor 201 is controlled to rotate forward from the initial position, driving the two corresponding first guide wheels 206 to rotate, thereby avoiding the preload bolt 16, until the two first guide wheels 206 pass through the preload bolt 16, and then the corresponding digital servo motor 201 is controlled to reverse to the initial position. Control the start and stop of the second motor 301.

[0056] The devices and software algorithms used in the above controllers are all well-known in the art, and those skilled in the art are capable of adaptively adjusting them according to actual needs. Specific implementation methods are given below: The controller's core employs a dual-chip architecture combining a Raspberry Pi and an STM32 microcontroller. The Raspberry Pi, acting as the host computer, is primarily responsible for running complex image processing algorithms, including extracting the laser profile of the contact line, calculating wear, and identifying loose bolts based on the YOLOv7-tiny algorithm.

[0057] The STM32 microcontroller acts as the lower-level machine, responsible for tasks with high real-time requirements, controlling the movements of all motors and servos; and exchanging instructions and data with the Raspberry Pi via serial port.

[0058] An absolute encoder is installed on the driven wheel 308, outputting a mileage signal to represent the travel distance. This signal is received and accumulated by the STM32 microcontroller in real time to obtain the current travel distance. When the mileage increment reaches the preset equidistant increment, the STM32 microcontroller outputs a hardware trigger pulse to the area array camera through its GPIO, enabling the camera to complete the acquisition of one frame of image, thereby realizing equidistant sampling according to mileage. The STM32 microcontroller implements start-stop and travel control of the second motor 301 based on the mileage and time reference, and determines the timing of obstacle avoidance actions in combination with the distance information from the laser ranging module. Meanwhile, the STM32 microcontroller binds the mileage to the wear amount, wear angle and bolt identification results transmitted from the Raspberry Pi, and sends the mileage and annotation information back to the Raspberry Pi via serial port for display and threshold warning, thereby realizing the accurate positioning and traceability of the detection results in spatial coordinates.

[0059] The system is powered by a 24V lithium battery. Since the electrical components in the system operate at different voltages, a multi-channel conversion scheme is designed for the power supply. A 24V to 12V isolated power module supplies power to the motor driver, and its anti-interference capability effectively suppresses motor noise.

[0060] A stable power supply is provided through a 24V to 5V voltage regulator module.

[0061] For area scan cameras that require high image quality, an additional DC power filter is connected in series in their power supply lines to ensure power purity.

[0062] The controller achieves precise binding between detection data and spatial location.

[0063] The specific binding method is as follows: The STM32 microcontroller reads the mileage data from the absolute encoder in real time and is configured to send a hardware trigger signal to the area scan camera via its GPIO pin every time the robot moves 10cm. Upon receiving the trigger signal, the area scan camera acquires a frame of the contact line contour image (or bolt image). This method ensures the uniformity of image acquisition spacing and associates each frame with a precise mileage position, thereby achieving accurate positioning of abnormal wear points or bolt loosening points.

[0064] Three laser ranging modules are used in total. Two of them are located in front of the guide wheels of the suspension clamping mechanism to detect the pre-tightening bolt 16, with the detection distance set at 100mm ± 10mm; the other is located on the side of the suspension clamping mechanism 1 to detect the interruption of the Π-shaped busbar 13. An absolute encoder is mounted on the driven shaft of the drive mechanism 3 to accurately record the travel distance of the contact wire wear detection robot 4.

[0065] The specific workflow of the clamping and walking control method is as follows: First, during the installation phase, the operator places the contact wire wear detection robot 4 on the Π-shaped busbar 13 and starts it with a command. The STM32 microcontroller controls the suspension clamping mechanism 1 to complete the suspension.

[0066] Then the inspection phase begins, and the contact wire wear detection robot 4 starts moving.

[0067] During the journey, the system continuously checks whether the pre-tightening bolt 16 is detected ahead; If so, then perform obstacle crossing; at the same time, determine whether the interruption of the Π-type bus 13 is detected from the side; If so, apply emergency braking immediately.

[0068] If there are no obstacles, the system will proceed normally and collect data synchronously. The system will continuously check whether the task is completed. If completed, the inspection will end, and all mechanisms will be reset to await recovery.

[0069] Through the above-mentioned hardware and software collaborative design, this embodiment realizes the highly reliable and highly accurate fully automatic operation of the contact wire wear detection robot 4 in a complex subway tunnel environment.

[0070] Those skilled in the art can follow the workflow below when implementing this: Installation: The operator lifts the entire device so that the Π-shaped manifold 13 is placed between the obstacle avoidance mechanism mounting plate 105 and the right suspension plate 12.

[0071] Clamping: The controller is activated, and the first motor 103 of the suspension clamping mechanism 1 operates, driving the first guide wheels 206 and the second guide wheels on both sides to close, allowing the contact wire wear detection robot 4 to reliably adhere to the Π-shaped busbar 13. Simultaneously, the tension bolt 309 is adjusted according to the actual scenario, and the active rotating wheel 305 and the driven rotating wheel 308 contact the bottom surface of the track of the Π-shaped busbar 13.

[0072] Inspection and movement: Upon startup, the active rotating wheel 305 is driven by the synchronous belt 307, which in turn drives the contact line wear inspection robot 4 to move along the Π-shaped busbar 13. At the same time, the line laser and the area array camera start working, acquiring contact line contour images at preset intervals (e.g., every 10cm); another camera takes pictures of the pre-tightened bolt 16.

[0073] Obstacle crossing: When the laser rangefinder detects the pre-tightened bolt 16, it decelerates and controls the corresponding obstacle avoidance mechanism 2 to operate in sequence, retracting the corresponding first guide wheel 206, smoothly passing through the bolt and then resetting.

[0074] Stop and Retrieval: When the side laser rangefinder detects an interruption (intersection) in the Π-shaped busbar 13, the drive motor stops abruptly and locks. The operator moves the robot to the next Π-shaped busbar 13 to be tested, repeats the above process, or ends the testing, releases the clamping and holding mechanism, and retrieves the robot.

[0075] In one specific implementation, in this embodiment, the suspension clamping mechanism 1 needs to be attached to the Π-shaped manifold 13, with a total weight of 2.5 kg and a total load of 25 N; during clamping, according to the acceleration index setting, a clamping force of 75 N needs to be provided; When the suspension clamping mechanism 1 is attached to the Π-shaped busbar 13, it needs to bear its own weight. The estimated weight of the contact wire wear detection robot 4 is 12.5kg, which means it will generate a load force of about 125N on the mechanism, with a maximum load of 200N.

[0076] Due to the limited installation space inside the structural plate 14, a lead screw stepper motor was selected as the drive motor to save internal installation space and make the overall mechanical structure more compact.

[0077] The lead screw stepper motor combines the lead screw directly with the rotating part of the motor. Structurally, compared with the ordinary solution where the motor and lead screw are connected by a coupling, this motor is simpler and more reliable in terms of installation and structure to achieve the target function. Considering both cost and function realization, an external drive trapezoidal lead screw motor is selected.

[0078] The lead screw should have a lead of 3mm, a diameter of 6.35mm, and a length of 50mm. In this embodiment, the first motor 103 is a trapezoidal lead screw with a mechanical efficiency of 0.4 and a reserved safety factor of [missing value]. n =2, referring to the parameters of commonly used motors in the existing technology, select a 42-48 external drive trapezoidal screw motor.

[0079] As a specific implementation method, the design scheme of the guide rail 106 of the suspension clamping mechanism 1 is given below: In the suspension clamping mechanism 1, the slider 104 is the active component, driven by the first motor 103. During operation, it bears torques in three directions: feeding torque, deflection torque, and rolling torque. To prevent the slider 104 from rotating due to the rotation of the lead screw, which would cause the system to bear additional bending moment, the guide rail 106 and guide rail slider 107 are arranged symmetrically on the left and right sides to eliminate the overturning torque that the slider 104 may bear.

[0080] Based on the installation configuration, guide rail 106 is vertically installed and only bears the torque (M) in the deflection direction. B， (i.e., the yaw shaft), which provides the torque for the mechanism's movement during clamping and releasing; according to geometric relationships, the maximum torque it experiences is... M for:

[0081] in, This indicates the distance between the point of application and the center of rotation.

[0082] Since the closest distance between the point of application and the center of rotation is 25mm, therefore:

[0083] The distance from the geometric center of the guide rail slider 107 to the force application point is 30mm, meaning the maximum torque on the guide rail 106 is:

[0084] Therefore, the MGW3C model guide rail is sufficient to meet the requirements. The safety factor S of this model is:

[0085] It far exceeds the safety requirements and meets the usage conditions.

[0086] As a specific implementation method, the design scheme of the first link 5 in the suspension linkage mechanism is given below: To prevent uneven wear of the pantograph, the Π-shaped busbar 13 of the subway contact network is arranged in a zigzag pattern. Under this condition, the device inevitably experiences changes in its direction of movement. To prevent the rigid contact structure from jamming due to changes in clamping dimensions during turning, a flexible first link 5, consisting of a tension spring 502 and a sleeve 501, is installed on the transmission chain of the suspension linkage mechanism. This allows the suspension linkage mechanism to have a small range of elastic adjustment capability under conditions that may cause jamming. The final design parameters of the tension spring 502 are as follows: Material: Spring steel; Wire diameter: 1.0mm; Mean diameter: 8.0 mm; Valid laps: 7 laps; Total laps: 9 laps; Free length: 25mm; Safe elongation limit: 6.5mm.

[0087] As a specific implementation method, the design of the suspension linkage mechanism is given below: The suspension linkage mechanism is actually a parallel four-bar linkage, symmetrically distributed on both sides, with a total of eight links. Ideally, the force is evenly distributed. Based on the calculations and analysis above, the suspension clamping mechanism 1 bears a total force of 200N under clamping conditions, meaning each link bears a force of 25N. The link material is AZ31B magnesium-aluminum alloy, with a yield strength of [missing value]. If the safety factor is taken as n=2, then the allowable stress of the material is:

[0088] According to the tensile stress formula:

[0089] Simplifying the formula, we obtain the minimum cross-sectional area:

[0090] As a specific implementation method, the structural design of the force transmission rod 8 is given below: Because the design uses a single-sided motor to drive the suspension mechanism linkage, the other side may experience insufficient clamping stiffness. That is, one end of the suspension plate may experience significant swaying during the operation of the contact line wear detection robot 4. To solve this problem, a force transmission rod 8 is added at the connection between the first link 5 and the second link 6. The force transmission rod 8 has a diameter of 4mm.

[0091] In a linkage structure, the function of the force transmission rod is to transfer the clamping force from the motor-equipped driving end to the motorless driven end, thereby increasing the overall rigidity.

[0092] The force transmission rod 8 is made of magnesium-aluminum alloy with an elastic modulus E = 45 GPa and a moment of inertia of:

[0093] According to the superposition method in mechanics of materials, the maximum deflection bending deformation of force transmission rod 8 is obtained as follows:

[0094] The allowable deflection in engineering is generally as follows:

[0095] The stiffness of the force transmission rod 8 is far less than the allowable value and meets the usage requirements.

[0096] Rotary joint design: As mentioned above, the radial load is 200N, and the rotating pair uses deep groove ball bearings.

[0097] The deep groove ball bearing is made of AZ31B magnesium-aluminum alloy, which has high shear strength. Taking a safety factor of 2, the allowable shear stress is:

[0098] According to the pure shear stress axial strength design formula:

[0099] We can obtain:

[0100] The bearing only bears radial loads and not axial loads, therefore a deep groove ball bearing is selected. The bearing only bears static loads, and the equivalent static load is:

[0101] Select a 693 deep groove ball bearing with an inner diameter of 3mm, an outer diameter of 8mm, and a width of 3mm. Consulting the 693 deep groove ball bearing specification sheet, the rated static load of this bearing is... Safety factor:

[0102] It meets the usage requirements.

[0103] In summary, the rotating pair is selected using a 693 deep groove ball bearing with an inner diameter of 3mm, an outer diameter of 8mm, and a width of 3mm.

[0104] Specifically, the design of drive mechanism 3: Due to space constraints, the second motor 301 cannot be directly connected to the drive shaft, and gear transmission is also not feasible due to space limitations. Therefore, the drive mechanism 3 uses a synchronous belt 307 transmission, so that the forward power is provided by the second motor 301 (DC motor) + synchronous belt 307. The synchronous belt transmission has the characteristic of meshing, which makes it less prone to slippage, thereby accurately transmitting power and accurately locating the distribution of contact wire wear within the track.

[0105] Selection calculation for the second motor 301 (DC motor): The contact wire wear inspection robot 4 operates at a predetermined inspection speed of 2 m / s and an acceleration of 0.5 m / s². The maximum driving force of the second motor 301 is:

[0106] in, f Represents the frictional force in motion; a Indicates acceleration; m The total weight of the contact wire wear detection robot 4 is 15kg. μ This represents frictional force, specifically rolling friction, and is taken as 0.1. N This indicates the clamping force provided by the suspension clamping mechanism 1; During the acceleration process of the contact wire wear detection robot 4, according to mechanical analysis, the mechanical condition for the wheels (active wheel 305 and driven wheel 308) to not slip is:

[0107] It can be seen that the minimum clamping force required by the suspension clamping mechanism 1 is:

[0108] Therefore, the driving force is:

[0109] Because the synchronous belt 307 is driven by a motor, therefore:

[0110] Since the radius of the drive wheel 305 is 32mm, the torque of the second motor 301 is:

[0111] The overall device must move at a speed of 2 m / s, which satisfies the following:

[0112] in: v represents the overall speed of the device; r indicates the radius of the drive rotor 305; n indicates that the rotational speed of the active rotor is 305 rpm; In conclusion:

[0113] It can be determined that the power of the second motor 301 is:

[0114]

[0115] Selection calculations for synchronous belt 307 and synchronous pulleys (first synchronous pulley 304 and second synchronous pulley 306) are based on the parameters obtained from the motor selection above: Power 60.3W, speed 600rpm, transmission ratio 1, center distance 77mm, belt width 15mm, torque 0.64Nm, HTD tooth profile (circular arc tooth), pitch 3mm, existing 3M type synchronous pulley with 32 teeth selected, pulley pitch circle diameter:

[0116] Theoretical formula for belt length:

[0117] Actual number of teeth:

[0118] Select standard tooth count N=83, belt length:

[0119] Adjusted center distance:

[0120] The error of 0.5mm from 77mm is acceptable.

[0121] Next is the load capacity test, with a 307 synchronous belt under tension:

[0122] The HTD3M 15mm bandwidth synchronous belt 307 allows a tensile force greater than 300N, which is far greater than the actual tensile force of 41.8N. Safety margin:

[0123] It meets the usage requirements.

[0124] Belt speed verification of synchronous belt 307:

[0125] HTD3M Synchronous Belt Maximum Speed ,Safety.

[0126] In summary, the HTD3M toothed synchronous belt is selected, with 69 teeth, a width of 15mm, a belt length of 250mm, and both the first synchronous gear 304 and the second synchronous gear 306 have 32 teeth, a pitch circle diameter of 30.6mm, and are made of 6061 aluminum alloy with a wheel width of 16mm.

[0127] During installation, the initial tension is:

[0128] To eliminate installation errors and the possibility of insufficient tension caused by stretching or wear of the synchronous belt after operation, an adjustable center distance tensioning method is adopted, which is low in cost and convenient in structure.

[0129] As a specific implementation method, the strength check of the transmission rod 303 is given below: The transmission rod 303 is a simply supported beam. When clamped, it is subjected to a total working pressure of 200N. The force on one side of the transmission rod 303 is 100N. The transmission rod 303 is made of magnesium-aluminum alloy, with a total length of 160mm and a support span of 94mm. The force is applied 30mm to the left and right of its center.

[0130] The shaft diameter is 9mm, the material is AZ31B magnesium-aluminum alloy, the elastic modulus E=45GPa, and the yield strength is... . 303 Strength Verification of Transmission Rod: Maximum bending moment calculation:

[0131] Bending section modulus:

[0132] Bending stress:

[0133] Safety factor:

[0134] In summary, the full transmission rod 303 meets the usage requirements.

[0135] Stiffness check of transmission rod 303: Moment of inertia of section:

[0136] The maximum deflection is calculated using the formula for the center-of-span deflection under symmetrical loading:

[0137] Substituting a = 17mm, we get:

[0138] Both stiffness and deflection meet the requirements.

[0139] Specifically, the list of materials used in this embodiment is as follows: Table 1. Bill of Materials

Claims

1. A rail-mounted contact wire wear detection robot clamping and walking device, characterized in that, It includes a suspension clamping mechanism (1), an obstacle avoidance mechanism (2), a drive mechanism (3), a suspension linkage mechanism, and a contact wire wear detection robot (4). The suspension clamping mechanism (1) includes a horizontally arranged mounting plate (101), and an avoidance hole is provided in the middle of the mounting plate (101); the contact wire wear detection robot (4) is set at the bottom of the mounting plate (101) through a connecting plate and the contact wire wear detection robot (4) is facing the avoidance hole. A side plate (102) is vertically connected to the bottom of the mounting plate (101), and a first motor (103) is fixedly connected to the side plate (102). The output shaft of the first motor (103) is connected to a slider (104). The suspension linkage mechanism includes a left suspension linkage mechanism and a right suspension linkage mechanism with the same structure; the left suspension linkage mechanism includes multiple rotating joints, a first link (5), two second links (6), two third links (7) and a force transmission rod (8); the second link (6) is an "L"-shaped link; One end of the first connecting rod (5) is connected to the left side of the slider (104) through a rotating joint, and the other end is rotatably connected to the force transmission rod (8) through a rotating joint; the two ends of the force transmission rod (8) are respectively rotatably connected to one end of the two second connecting rods (6) through a rotating joint. The bottom ends of the two third links (7) are rotatably connected to the side wall of the mounting plate (101) through a rotating joint; an obstacle avoidance mechanism mounting plate (105) is fixedly installed between the two second links (6), and a left suspension plate (9) is fixedly installed between the two third links (7); the left suspension plate (9) and the obstacle avoidance mechanism mounting plate (105) are fixedly connected by a fixing rod. The left suspension plate (9) has a through hole (10) in the middle, and the obstacle avoidance mechanism mounting plate (105) has two horizontal clamping plates (11) on both sides. The two clamping plates (11) extend to the right and pass through the through hole (10) of the left suspension plate (9). The obstacle avoidance mechanism (2) includes at least one digital servo motor (201) mounted on the obstacle avoidance mechanism mounting plate (105); a horizontally arranged top plate is connected to the obstacle avoidance mechanism mounting plate (105), and two vertical connecting rods (202) close to the digital servo motor (201) are fixed at the bottom of the top plate. The bottom of the two connecting rods (202) are rotatably connected to the two support frames (203) respectively, and a telescopic rod (204) is provided between the two support frames (203). The two ends of the telescopic rod (204) are rotatably connected to the two support frames (203) respectively. The output shaft of the digital servo motor (201) is connected to the nearest support frame (203) via a fourth link (205); a first guide wheel (206) is rotatably connected to the support frame (203); the output shaft of the digital servo motor (201) can drive the support frame (203) to rotate in the horizontal direction via the fourth link (205), thereby driving the first guide wheel (206) to rotate; When the first guide wheel (206) rotates to the point where its central axis is perpendicular to the obstacle avoidance mechanism mounting plate (105), the first guide wheel (206) completely passes through the through hole (10) of the left suspension plate (9); the bottom of the clamping plate (11) is higher than the bottom of the first guide wheel (206) and the top is not higher than the plane where the central axis of the first guide wheel (206) is located; In the right suspension linkage mechanism, a right suspension plate (12) is fixedly provided between the two third links (7). The right suspension plate (12) is also provided with a locking plate (11) and a second guide wheel corresponding to the first guide wheel (206) on the side of the left suspension plate (9). The output shaft of the first motor (103) can drive the slider (104) to move vertically, and then convert the vertical movement into the movement of the left suspension plate (9) and the right suspension plate (12) in the left and right directions through the suspension linkage mechanism; The card plate (11) is respectively attached to both sides of the Π-shaped busbar (13) in the subway tunnel. At this time, the first guide wheel (206) and the second guide wheel can rotate into the grooves on both sides of the Π-shaped busbar (13). The drive mechanism (3) is used to drive the suspension clamping mechanism (1) to move along the Π-shaped busbar (13); The controller of the contact wire wear detection robot (4) is electrically connected to the first motor (103), the digital servo motor (201), and the drive mechanism (3); The drive mechanism (3) includes a second motor (301) disposed at the bottom of the mounting plate (101); The mounting plate (101) is provided with at least one pair of fixing plates (302), and a transmission rod (303) capable of rotating around its own central axis is provided between each pair of fixing plates (302). A first synchronous gear (304) and two driving wheels (305) are sequentially fixed on the transmission rod (303). The output shaft of the second motor (301) is coaxially fixedly connected to a second synchronous gear (306). The second synchronous gear (306) and the first synchronous gear (304) are driven by a synchronous belt (307). The mounting plate (101) has a corresponding clearance hole for the synchronous belt. The rotation direction of the active rotating wheel (305) is consistent with the rotation direction of the first guide wheel (206) inside the groove on the side of the Π-shaped busbar (13); When the first guide wheel (206) and the second guide wheel rotate into the grooves on both sides of the Π-shaped busbar (13), the two active rotating wheels (305) come into contact with the bottom surface of the Π-shaped busbar (13); The first link (5) includes a sleeve (501), and a tension spring (502) is provided inside the sleeve (501). One end of the tension spring (502) is connected to its corresponding guide rail slider (107) via a rotating joint, and the other end is rotatably connected to the corresponding force transmission rod (8).

2. The rail-mounted contact wire wear detection robot clamping and walking device as described in claim 1, characterized in that, The mounting plate (101) is provided with two pairs of fixing plates (302); A transmission rod (303) capable of rotating around its own central axis is provided between one of the pair of fixed plates (302). A first synchronous gear (304) and two driving wheels (305) are sequentially fixed on the transmission rod (303). A transmission rod (303) capable of rotating around its own central axis is provided between another pair of fixed plates (302). A driven wheel (308) corresponding to the two driving wheels (305) is fixedly sleeved on the transmission rod (303).

3. The rail-mounted contact wire wear detection robot clamping and walking device as described in claim 2, characterized in that, A tensioning bolt (309) is provided between the second motor (301) and the mounting plate (101).

4. The rail-mounted contact wire wear detection robot clamping and walking device as described in claim 3, characterized in that, Two digital servos (201) are provided on both sides of the obstacle avoidance mechanism mounting plate (105).

5. The rail-mounted contact wire wear detection robot clamping and walking device as described in claim 4, characterized in that, The output shaft of the first motor (103) is coaxially fixedly connected to a screw rod, and the slider (104) has a screw hole and is screwed onto the screw rod. The side plate (102) is provided with vertical guide rails (106) on both sides, and each guide rail (106) is slidably provided with a guide rail slider (107). The two guide rail sliders (107) are respectively connected to the bottom of the two first connecting rods (5).

6. A contact wire wear detection robot with a rail-mounted contact wire wear detection robot clamping and walking device as described in claim 5, characterized in that, Includes main power supply, controller, laser ranging module, area array camera, line laser, DC power filter and absolute encoder; The main power supply is connected to the controller, laser ranging module, line laser and absolute encoder respectively; The main power supply is also connected to the area array camera via a DC power filter; The controller is connected to the laser ranging module, the area array camera, the line laser, the DC power filter, and the absolute encoder. The laser ranging module is used to detect the distance between the first guide wheel (206) and the nearest pre-tightening bolt on the Π-shaped busbar (13), and transmits the detection result to the controller; The line laser and the area array camera together form a triangulation geometry. The optical axis of the area array camera is directed through the clearance hole of the mounting plate (101) to the opening area of ​​the Π-shaped busbar (13) and the lower surface of the contact line, which is used to capture the bright line image and the ambient visible light image formed by the line laser projection at the contact line cross section, and transmit the bright line image and the ambient visible light image to the controller. The absolute encoder is mounted on the driven wheel (308) to measure the travel distance of the driven wheel (308) and transmit it to the controller; The controller is used for: The distance between the first guide wheel (206) and the nearest preload bolt is received from the laser ranging module; Receives bright line images and ambient visible light images provided by an area array camera; Receive the travel distance of the driven wheel (308) provided by the absolute encoder; The start and stop of the second motor (301) are controlled according to the travel distance of the driven wheel (308); Control the digital servo motor (201) to start, stop, rotate forward or reverse; The wear condition of the contact wire is detected based on the bright line images provided by the area scan camera and the ambient visible light images.

7. A contact wire wear detection robot with a rail-mounted contact wire wear detection robot clamping and walking device as described in claim 6, characterized in that, The line laser is mounted on one side of the area array camera and located below the mounting plate (101). The output beam of the line laser crosses the contact line cross section and forms a triangular measurement geometry with the optical axis of the area array camera. The controller includes a Raspberry Pi and an STM32 microcontroller, which communicate with each other via a serial port. The Raspberry Pi is used as a host computer for: It receives bright line images and ambient visible light images provided by an area array camera, and detects the wear condition of the contact line based on the bright line images and ambient visible light images; Identify pre-tightened bolts in bright line images and ambient visible light images, and transmit the identification results to an STM32 microcontroller; The STM32 microcontroller is used as a lower-level machine for: The distance between the first guide wheel (206) and the nearest preload bolt is received from the laser ranging module; Receive the travel distance of the driven wheel (308) provided by the absolute encoder; Set a threshold and compare the set threshold with the distance between the first guide wheel (206) and the nearest preload bolt: when the distance is less than the threshold, control the corresponding digital servo (201) to rotate forward from the initial position, drive the corresponding two first guide wheels (206) to rotate, and thus avoid the preload bolt, until the two first guide wheels (206) pass through the preload bolt, and then control the corresponding digital servo (201) to reverse back to the initial position; The travel distance of the driven wheel (308) provided by the absolute encoder is received, thereby controlling the start and stop of the second motor (301).

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