Wire climbing robot capable of avoiding obstacles

Abstract

The utility model relates to the technical field of contact line detection, aims to solve the technical problems that in the existing contact line abrasion detection, manual operation has potential safety hazards, the high efficiency is low, and an automatic detection device cannot accurately recognize obstacles, and particularly relates to an obstacle-avoiding line climbing robot which comprises a contact line arranged at the top of a power generation device. The top of the contact line is provided with a plurality of guide wheel mechanisms used for moving on the contact line and avoiding obstacles, and the bottom of each guide wheel mechanism is provided with a base plate. The top of the base plate is provided with a plurality of detection parts used for detecting obstacles on the contact line, a power part used for clamping the contact line together with the guide wheel mechanism, and an abrasion detector used for detecting the abrasion loss of the contact line. The line-climbing robot can quickly complete line-climbing movement and obstacle avoidance work, the obstacle avoidance success rate of the line-climbing robot is increased, the working efficiency of robot detection is improved, and the robot is prevented from being damaged due to collision with the obstacle.

Description

Technical Field

[0001] The utility model relates to the technical field of contact line detection, in particular to an obstacle-avoiding line-climbing robot. Background Art

[0002] The contact wire is an important component of electric locomotives. It has the function of providing continuous power to electric locomotives and has a great impact on the safe and stable operation of trains. The monitoring of contact wire quality mainly relies on the measurement of contact wire wear. At present, the measurement of contact wire wear still relies mainly on manual operation and climbing detection devices. Manual operation requires high-altitude work, which poses a high safety hazard. In addition, when conducting wear detection, it is necessary to measure point by point, which has high labor costs and relatively low efficiency. The climbing monitoring device can generally only avoid obstacles during the climbing detection process and cannot identify the specific obstacles. Therefore, during the climbing process, it can only avoid obstacles but cannot send the specific situation of the obstacles to the staff for the convenience of staff to clear the obstacles. Utility Model Content

[0003] In response to the shortcomings of the existing technology, the utility model provides an obstacle-avoiding climbing robot, which solves the technical problems of high safety hazards and low efficiency of manual operations in the existing contact line wear detection, and the inability of automatic detection devices to accurately identify obstacles. It achieves the purpose of not only avoiding obstacles but also accurately identifying obstacles while detecting the contact line wear.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an obstacle-avoiding wire-climbing robot, comprising a contact line arranged on the top of a power generation device, a plurality of guide wheel mechanisms for moving and avoiding obstacles on the contact line are arranged on the top of the contact line, a base plate is arranged at the bottom of the guide wheel mechanism, a plurality of detection parts for detecting obstacles on the contact line are arranged on the top of the base plate, a plurality of power parts for clamping the contact line together with the guide wheel mechanism are arranged on the top of the base plate, a plurality of wear detectors for detecting the wear amount of the contact line are arranged on the top of the base plate, and a plurality of identification parts for identifying obstacles are arranged above the base plate.

[0005] Preferably, the guide wheel mechanism includes a telescopic cylinder rotatably connected to the inside of the base plate for controlling the guide wheel mechanism to avoid obstacles, the movable end of the telescopic cylinder is rotatably connected to a control rod, the middle position of the control rod is rotatably connected to a swing rod, and the control rod and the swing rod are crossed in an X shape, the top end of the control rod is rotatably connected to an auxiliary rod, the top end of the swing rod is slidably connected to the bottom end of the offset wheel seat, the bottom end of the swing rod is rotatably connected to a fixed rod on the top surface of the base plate, the side end of the auxiliary rod is rotatably connected to the offset wheel seat, the side end of the offset wheel seat is rotatably connected to an auxiliary wheel frame, and the side end of the auxiliary wheel frame is rotatably connected to an obstacle avoidance wheel for limiting rolling on the contact line.

[0006] Preferably, the guide wheel mechanism further comprises a lifting block rotatably connected to the movable end of the telescopic cylinder, and the movable end of the telescopic cylinder is slidably connected to a fixed slide rod on the top surface of the base plate.

[0007] Preferably, the identification part includes an identification base fixedly connected to a fixed slide rod on the top surface of the base plate, an obstacle identifier for identifying obstacles on the contact line is fixedly connected to the top of the identification base, a starting switch for starting the obstacle identifier is fixedly connected to the side end of the identification base, and a lifting contact block is fixedly connected to the top surface of the lifting block below the starting switch, which utilizes the lifting block to touch the starting switch when it rises.

[0008] Preferably, the power part includes a power wheel slidably connected to the bottom side of the contact line for cooperating with the obstacle avoidance wheel to clamp the contact line, the side end of the power wheel is fixedly connected to the rotating end of the power motor for providing power, and the two sides of the power wheel are respectively rotatably connected with power side plates, the bottom end of the power side plate is fixedly connected to the top surface of the top wheel plate, the bottom surface of the top wheel plate is fixedly connected to a plurality of buffer spring rods, the bottom end of the buffer spring rod is fixedly connected to the power base, and the power base is fixedly connected to the top surface of the base plate.

[0009] Preferably, the detection part includes a detection bracket fixedly connected to the top surface of the base plate, and the top end of the detection bracket is fixedly connected to an infrared detector for detecting whether there is an obstacle on the contact line.

[0010] Preferably, the wear detector is fixedly connected to the top surface of the base plate.

[0011] By means of the above technical solution, the utility model provides an obstacle-avoiding wire-climbing robot, which has at least the following beneficial effects:

[0012] 1. The utility model cooperates with the detection part and the guide wheel mechanism to complete the obstacle avoidance action while moving on the contact line. This can smoothly complete the work of climbing the line and avoiding obstacles. It not only greatly improves the obstacle avoidance success rate of the climbing robot, but also improves the work efficiency of the robot detection and avoids the robot from colliding with obstacles and causing damage.

[0013] 2. The present invention can quickly obtain the type of obstacle and the contact mode with the contact line through the function of the identification part, and transmit the identification results to the staff, so that the staff can prepare tools and quickly troubleshoot the obstacle, greatly improving the troubleshooting efficiency. Knowing the obstacle in advance can also reduce the troubleshooting risk of the staff and improve the safety of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0015] Figure 1 This is a front perspective structural diagram of the utility model;

[0016] Figure 2 This is a side perspective structural diagram of the guide wheel mechanism of the utility model;

[0017] Figure 3 This is a side perspective structural diagram of the identification part of the utility model;

[0018] Figure 4 This is a three-dimensional structural diagram of the bottom side of the power unit of the utility model;

[0019] Figure 5 This is a top-down perspective structural diagram of the power unit of the utility model;

[0020] Figure 6 This is a front perspective structural diagram of the detection part of the utility model;

[0021] Figure 7 This is a top-down three-dimensional structural diagram of the utility model.

[0022] In the figure: 1. Base plate; 2. Guide wheel mechanism; 21. Telescopic cylinder; 22. Control rod; 23. Lifting block; 24. Swing rod; 25. Auxiliary rod; 26. Offset wheel seat; 27. Auxiliary wheel frame; 28. Obstacle avoidance wheel; 3. Detection unit; 31. Detection bracket; 32. Infrared detector; 4. Power unit; 41. Power base; 42. Buffer spring rod; 43. Top wheel plate; 44. Power side plate; 45. Power wheel; 46. Power motor; 5. Identification unit; 51. Identification base; 52. Obstacle identifier; 53. Start switch; 54. Lifting contact block; 6. Contact line; 7. Wear detector. DETAILED DESCRIPTION

[0023] To make the above-mentioned objectives, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. This will enable a full understanding of how the present invention applies technical means to solve technical problems and achieve technical effects, and to implement the invention accordingly.

[0024] Due to the high safety risks and low efficiency of manual operation in the existing contact line wear detection, and the technical problem that the automatic detection device cannot accurately identify obstacles, please refer to Figure 1 - Figure 7, this embodiment provides an obstacle-avoiding line-climbing robot, which can avoid obstacles and accurately identify obstacles while detecting the wear of the contact line. The line-climbing robot includes a contact line 6 arranged on the top of the power generation device, and a plurality of guide wheel mechanisms 2 for moving and avoiding obstacles on the contact line 6 are arranged on the top of the contact wheel mechanism 2. A base plate 1 is provided at the bottom of the guide wheel mechanism 2, and a plurality of detection parts 3 for detecting obstacles on the contact line 6 are provided on the top of the base plate 1. A plurality of power parts 4 for clamping the contact line 6 together with the guide wheel mechanism 2 are provided on the top of the base plate 1. A plurality of wear detectors 7 for detecting the wear amount of the contact line 6 are provided on the top of the base plate 1. The wear detector 7 is fixedly connected to the top surface of the base plate 1, and a plurality of identification parts 5 for identifying obstacles are provided above the base plate 1. The guide wheel mechanism 2 includes a rotating connection The telescopic cylinder 21 connected to the inside of the base plate 1 is used to control the guide wheel mechanism 2 to avoid obstacles. The movable end of the telescopic cylinder 21 is rotatably connected to the control rod 22. The middle position of the control rod 22 is rotatably connected to the swing rod 24, and the control rod 22 and the swing rod 24 cross in an X shape. The top of the control rod 22 is rotatably connected to the auxiliary rod 25, and the top of the swing rod 24 is slidably connected to the bottom end of the offset wheel seat 26. The bottom end of the swing rod 24 is rotatably connected to the fixed rod on the top surface of the base plate 1. The side end of the auxiliary rod 25 is rotatably connected to the offset wheel seat 26, and the side end of the offset wheel seat 26 is rotatably connected to the auxiliary wheel frame 27. The side end of the auxiliary wheel frame 27 is rotatably connected to the obstacle avoidance wheel 28 for limiting rolling on the contact line 6. The guide wheel mechanism 2 also includes a lifting block 23 rotatably connected to the movable end of the telescopic cylinder 21, and the movable end of the telescopic cylinder 21 is slidably connected to the fixed slide bar on the top surface of the base plate 1.

[0025] When the utility model is in use, the multiple guide wheel mechanisms 2 and the power unit 4 on the top of the base plate 1 will clamp the contact line 6, wherein the obstacle avoidance wheel 28 is clamped above the contact line 6, and at the same time, the contact surface of the obstacle avoidance wheel 28 is a concave arc surface that can be limited and rolled on the contact line 6, and the obstacle avoidance wheel 28 rolls on the side end of the offset wheel seat 26 through the auxiliary wheel frame 27. When the outermost detection unit 3 detects that an obstacle has been encountered, the telescopic cylinder 21 in the outermost guide wheel mechanism 2 is activated to extend, driving the control rod 22, the swing rod 24, the auxiliary rod 25 and the offset wheel seat 26 to swing. At the same time, the control rod 22 and the swing rod 24 are extended due to the X shape, so that the offset wheel seat 26 can have a certain degree of upward tilt, which is convenient for the offset wheel The seat 26 drives the obstacle avoidance wheel 28 to break away from the contact line 6. At the same time, the lifting block 23 is affected by the telescopic cylinder 21 and rises. When the obstacle passes through the first guide wheel mechanism 2, it will be detected by the inner detection part 3. At this time, the telescopic cylinder 21 in the outermost guide wheel mechanism 2 is contracted, and the entire guide wheel mechanism 2 is reset and re-clamps the contact line 6 to complete an obstacle avoidance action. Then the inner telescopic cylinder 21 is started again and a new round of obstacle avoidance action is completed. Through the cooperation of the detection part 3 and the guide wheel mechanism 2, the climbing movement and obstacle avoidance tasks can be completed smoothly, which not only greatly improves the obstacle avoidance success rate of the climbing robot, but also improves the work efficiency of the robot detection and avoids damage to the robot caused by collision with obstacles.

[0026] Due to the high safety risks and low efficiency of manual work in contact line wear detection, and the technical problem that the automatic detection device cannot accurately identify obstacles, please refer to Figure 1 and Figure 3 The present embodiment provides an obstacle-avoiding line-climbing robot that can not only avoid obstacles but also accurately identify obstacles while detecting the wear of the contact line. The robot includes an identification part 5 including an identification base 51 fixedly connected to a fixed slide bar on the top surface of the base plate 1, an obstacle identifier 52 for identifying obstacles on the contact line 6 is fixedly connected to the top of the identification base 51, a starting switch 53 for starting the obstacle identifier 52 is fixedly connected to the side end of the identification base 51, and a lifting contact block 54 is fixedly connected to the top surface of the lifting block 23 below the starting switch 53, which uses the lifting block 23 to touch the starting switch 53 when it rises.

[0027] During operation, the lifting block 23 in the guide wheel mechanism 2 rises, driving the lifting contact block 54 to rise. When it rises to the top, the lifting contact block 54 touches the start switch 53 and starts the obstacle identifier 52 to perform image recognition on the obstacle, which is fixed using the recognition base 51. This method is superior to the method of setting camera monitoring in the prior art. Image recognition is performed immediately after the obstacle is detected. The image recognition program can be implemented using the existing convolutional neural network algorithm. The type of obstacle and the contact method with the contact line 6 are quickly obtained through the image recognition program, and the recognition results are transmitted to the staff, so that the staff can prepare tools and quickly troubleshoot the obstacles, which greatly improves the troubleshooting efficiency. Knowing the obstacles in advance can also reduce the troubleshooting risks of the staff and improve the safety of the staff.

[0028] Since the existing wire-climbing robot cannot move stably on the contact line while avoiding obstacles, please refer to Figure 4 and Figure 5 , this embodiment provides an obstacle-avoiding line-climbing robot, which can move stably on the contact line while detecting that the obstacle avoidance is completed. The line-climbing robot includes a power wheel 45 that is slidably connected to the bottom side of the contact line 6 for cooperating with the obstacle-avoiding wheel 28 to clamp the contact line 6. The side end of the power wheel 45 is fixedly connected to the rotating end of a power motor 46 for providing power. The two sides of the power wheel 45 are respectively rotatably connected to power side plates 44, and the bottom end of the power side plate 44 is fixedly connected to the top surface of the top wheel plate 43. The bottom surface of the top wheel plate 43 is fixedly connected to a plurality of buffer spring rods 42, and the bottom end of the buffer spring rod 42 is fixedly connected to the power base 41, and the power base 41 is fixedly connected to the top surface of the base plate 1.

[0029] In the present invention, the power wheel 45 cooperates with the obstacle avoidance wheel 28 to clamp the contact line 6, and the power motor 46 drives the obstacle avoidance wheel 28 so that the entire robot can move on the contact line 6. With the combined effect of multiple power units 4 and guide wheel mechanisms 2, even if two guide wheel mechanisms 2 avoid obstacles at the same time, the robot can still move normally on the contact line 6. This greatly improves the stability of the robot working on the contact line, shortens the working time, and improves work efficiency.

[0030] Please refer to Figure 1 and Figure 6 The detection part 3 includes a detection bracket 31 fixedly connected to the top surface of the base plate 1, and an infrared detector 32 for detecting whether there is an obstacle on the contact line 6 is fixedly connected to the top of the detection bracket 31.

[0031] The present invention detects obstacles through an infrared detector 32, and adopts a staggered arrangement of the guide wheel mechanism 2 and the detection part 3. For example, four guide wheel mechanisms 2 are set from left to right, numbered 1 to 4 respectively, and then five detection parts 3 are staggered with each other, numbered a to f respectively. The position relationship is that a and f are on the leftmost and rightmost sides, 1 is on the right side of a, b is on the right side of 1, and so on. When a detects an obstacle, 1 starts to avoid the obstacle. When b detects the obstacle, 1 is reset and 2 starts to avoid the obstacle. And so on, the obstacle avoidance action of the robot as a whole is finally completed.

[0032] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the same or similar parts between the embodiments. For the above embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiments.

[0033] The above embodiments provide a detailed introduction to the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An obstacle-avoiding wire-climbing robot, comprising a contact wire (6) arranged on top of a power generation device, characterized in that: The contact line (6) is provided with a plurality of guide wheel mechanisms (2) for moving on the contact line (6) and avoiding obstacles, the guide wheel mechanism (2) is provided with a base plate (1) at the bottom, the base plate (1) is provided with a plurality of detection parts (3) arranged in an interlaced manner with the guide wheel mechanism (2) and used for detecting obstacles on the contact line (6), the base plate (1) is provided with a plurality of power parts (4) for clamping the contact line (6) together with the guide wheel mechanism (2), the base plate (1) is provided with a plurality of wear detectors (7) for detecting the wear amount of the contact line (6), and the base plate (1) is provided with a plurality of identification parts (5) for identifying obstacles. The guide wheel mechanism (2) comprises a telescopic cylinder (21) rotatably connected to the inside of the base plate (1) for controlling the guide wheel mechanism (2) to avoid obstacles. The movable end of the telescopic cylinder (21) is rotatably connected to a control rod (22). The middle position of the control rod (22) is rotatably connected to a swing rod (24), and the control rod (22) and the swing rod (24) are crossed in an X shape. The top end of the control rod (22) is rotatably connected to an auxiliary rod (25). The top end of the swing rod (24) is slidably connected to the bottom end of an offset wheel seat (26). The bottom end of the swing rod (24) is rotatably connected to a fixed rod on the top surface of the base plate (1). The side end of the auxiliary rod (25) is rotatably connected to the offset wheel seat (26). The side end of the offset wheel seat (26) is rotatably connected to an auxiliary wheel frame (27). The side end of the auxiliary wheel frame (27) is rotatably connected to an obstacle avoidance wheel (28) for limiting rolling on the contact line (6).

2. The wire-climbing robot according to claim 1, characterized in that: The guide wheel mechanism (2) further comprises a lifting block (23) rotatably connected to the movable end of the telescopic cylinder (21), and the movable end of the telescopic cylinder (21) is slidably connected to a fixed slide rod on the top surface of the base plate (1).

3. The wire-climbing robot according to claim 1, characterized in that: The identification part (5) comprises an identification base (51) fixedly connected to a fixed slide bar on the top surface of the base plate (1); an obstacle identifier (52) for identifying obstacles on the contact line (6) is fixedly connected to the top of the identification base (51); a start switch (53) for starting the obstacle identifier (52) is fixedly connected to the side end of the identification base (51); and a lifting contact block (54) for contacting the starting switch (53) by the lifting block (23) when it rises is fixedly connected to the top surface of the lifting block (23) below the starting switch (53).

4. The wire-climbing robot according to claim 1, characterized in that: The power unit (4) includes a power wheel (45) slidably connected to the bottom side of the contact line (6) for cooperating with the obstacle avoidance wheel (28) to clamp the contact line (6); the side end of the power wheel (45) is fixedly connected to the rotating end of a power motor (46) for providing power; both sides of the power wheel (45) are rotatably connected to power side plates (44); the bottom end of the power side plate (44) is fixedly connected to the top surface of the top wheel plate (43); the bottom surface of the top wheel plate (43) is fixedly connected to a plurality of buffer spring rods (42); the bottom end of the buffer spring rod (42) is fixedly connected to a power base (41); and the power base (41) is fixedly connected to the top surface of the base plate (1).

5. The wire-climbing robot according to claim 1, characterized in that: The detection portion (3) comprises a detection bracket (31) fixedly connected to the top surface of the base plate (1), and an infrared detector (32) for detecting whether there is an obstacle on the contact line (6) is fixedly connected to the top of the detection bracket (31).

6. The wire-climbing robot according to claim 1, characterized in that: The wear detector (7) is fixedly connected to the top surface of the base plate (1).

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