A wire crawling detection robot

Abstract

The present invention provides a line-climbing detection robot, comprising a body arranged below the contact line, the body being provided with at least two running wheels cooperating with the lower surface of the contact line, each running wheel being provided with obstacle avoidance components on both sides along the walking direction, the obstacle avoidance components comprising support wheels cooperating with the surface of the contact line, the support wheels being able to rotate along the surface of the contact line to avoid obstacles; a laser ranging sensor acting on the lower surface of the contact line is arranged on the upper surface of the body, and a walking motor driving the running wheels to rotate is also arranged on the body. The advantages of the line-climbing detection robot provided by the present invention are: the detection robot is suspended on the contact line by combining the running wheels and the supporting wheels, wherein the running wheels continuously walk below the contact line, and the supporting wheels are driven to avoid obstacles by the obstacle avoidance components when encountering obstacles, so that the robot can continuously walk along the contact line, and the automatic continuous inspection of the contact line is realized quickly and conveniently, and the robot has good promotion prospects.

Description

Technical Field

[0001] The invention relates to the technical field of contact network detection, and in particular to a line-climbing detection robot. Background Art

[0002] The overhead contact network is a special form of power transmission line added above the railway line to supply power to electric locomotives. It consists of contact suspension, supporting devices, positioning devices, pillars and foundations. The contact suspension includes contact wires, suspension strings, load-bearing cables and connecting parts, that is, the contact wires are fixed by suspension strings to form a suspended and fixed structure.

[0003] In 2006, Wuhan Power Supply Section had 30 traction power supply faults, including 29 catenary faults and 1 transformer fault, with a total outage time of 1,101 minutes. Among the 29 catenary faults, the cumulative power outage time was 1,089 minutes, with an average outage time of 37.6 minutes per fault; the above data show that catenary faults are the main part of power supply system faults.

[0004] If the contact network fault can be discovered in time, the hidden fault can be solved in advance and the fault time can be effectively reduced. However, the current contact network equipment maintenance basically adopts the original Soviet planned period maintenance model, that is, the maintenance cycle is arranged according to experience, and the maintenance skylight time (driving interval) is used to organize the operation. The organizational form adopts a decentralized operation mode and maintenance organization mode with work shifts as the main body of the operation. This maintenance strategy and organizational mode has poor pertinence and low efficiency. Due to the scattered operation points, it takes a long time to operate and is difficult to control safety. It cannot meet the development requirements after the railway speed is increased. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a wire-climbing detection robot which can automatically walk on the contact wires to detect abnormal wear of the contact wires, so as to overcome the problem of low detection efficiency in the prior art.

[0006] The present invention solves the above technical problems through the following technical solutions: a line-climbing detection robot, comprising a main body arranged below the contact line, the main body being provided with at least two walking wheels cooperating with the lower surface of the contact line, each walking wheel being provided with obstacle avoidance components on the front and rear sides along the walking direction, the obstacle avoidance components comprising support wheels cooperating with the surface of the contact line, the support wheels being able to rotate along the surface of the contact line to avoid obstacles; a laser ranging sensor acting on the lower surface of the contact line is provided on the upper surface of the main body, and a walking motor driving the walking wheels to rotate is also provided on the main body.

[0007] The present application suspends the detection robot on the contact line through the combination of walking wheels and supporting wheels, wherein the walking wheels continue to move below the contact line, and when encountering obstacles, the support wheels are driven by obstacle avoidance components to avoid the obstacles so that the robot can move continuously along the contact line, and the wear of the lower surface of the contact line is continuously detected by a laser ranging sensor, thereby realizing automatic and continuous inspection of the contact line quickly and conveniently.

[0008] Preferably, a walking assembly is provided on the main body, and the walking assembly includes the walking motor fixed on the side of the main body, a pulley fixing seat fixedly connected to the main body, and clamps arranged on both sides of the walking wheel and respectively fixedly connected to the pulley fixing seat; a first driving wheel is fixed on the output shaft of the walking motor, a second driving wheel matching with the first driving wheel is fixed on the clamping plate on the same side as the first driving wheel, a third driving wheel coaxially fixed with the second driving wheel and a fourth driving wheel coaxially fixed with the walking wheel are fixed on the clamping plate on the opposite side of the first driving wheel; the third driving wheel and the fourth driving wheel cooperate synchronously.

[0009] Preferably, a bearing coaxially fixed with the travel wheel is arranged on the clamping plate on the same side as the first drive wheel.

[0010] Preferably, the obstacle avoidance component includes a broken gear that is coaxial with the contact line and semi-surrounds the contact line, and a driving gear fixed on the main body and meshing with the broken gear; the broken gear has a notch along the circumferential direction that can rotate to avoid obstacles, and the support wheel is fixed in the broken gear; each broken gear has a group of opposing lasers acting above the contact line at the front and rear ends along the contact line.

[0011] Preferably, the residual gear is approximately 5 / 8 of the entire gear, and the support wheel is fixed to the inner side of one circumferential end of the residual gear, and the axial direction of the support wheel is perpendicular to the axial direction of the residual gear.

[0012] Preferably, a rotating motor matched with a driving gear is arranged on the upper surface of the main body, a power shaft of the rotating motor is fixedly matched with the driving gear along the circumferential direction, and the driving gear and the residual gear are meshed with each other in parallel with the axial direction.

[0013] Preferably, the main body is also provided with a mounting seat for fixing the driving gear, the driving gear is confined in the middle of the mounting seat, and the mounting seat is provided with at least one bearing which is coaxial with the driving gear and can support the power shaft of the rotating motor.

[0014] Preferably, at least one side surface of the residual gear has a guide groove, the mounting seat above the driving gear is provided with a through groove for avoiding the residual gear, and guide columns cooperating with the guide groove are arranged on the baffles on both sides of the through groove.

[0015] Preferably, a plurality of weight-reducing holes are also provided on the residual gear.

[0016] Preferably, viewed along the axial direction of the contact line, fixed covers fixedly connected to the opposing lasers on both sides are respectively provided on both sides of the upper surface of the main body.

[0017] The advantages of the line-climbing detection robot provided by the present invention are: the detection robot is suspended on the contact line through the combination of walking wheels and supporting wheels, wherein the walking wheels continue to move under the contact line, and when encountering obstacles, the supporting wheels are driven by obstacle avoidance components to avoid obstacles so that the robot can continuously move along the contact line, and the wear of the lower surface of the contact line is continuously detected by a laser ranging sensor, thereby realizing automatic and continuous inspection of the contact line quickly and conveniently, and has good promotion prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a wire crawling detection robot provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the walking wheels and the fixing structure thereof of the wire climbing detection robot provided in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a broken gear of a wire-climbing detection robot provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the coordination between the obstacle avoidance component and the contact wire of the wire-climbing detection robot provided in an embodiment of the present invention;

[0022] Figure 5 An exploded view of the matching of the remaining gear and the mounting seat of the wire-climbing detection robot provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of a packaged wire-climbing detection robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0025] like Figure 1 As shown, this embodiment provides a line-climbing detection robot, including a main body 2 arranged below the contact line 1, the main body 2 is provided with at least two walking wheels 3 that cooperate with the lower surface of the contact line 1, and each walking wheel 3 is respectively provided with an obstacle avoidance component 4 on the front and rear sides along the walking direction, the obstacle avoidance component 4 includes a support wheel 41 that cooperates with the surface of the contact line 1, and the support wheel 41 can rotate along the circumferential direction of the surface of the contact line 1 to avoid obstacles (not shown in the figure), the upper surface of the main body 2 is provided with a laser ranging sensor 21 that acts on the lower surface of the contact line 1, and the main body 2 is also provided with a walking motor 51 that drives the walking wheel 3 to walk along the contact line 1.

[0026] The support wheels 41 of the obstacle avoidance component 4 are in contact with the upper surface of the contact line 1 when in use. Two support wheels 41 are arranged on both sides of the walking wheel 3 so that the entire detection robot is suspended on the contact line 1. When encountering a fixing member such as a suspension string that suspends the contact line 1, the support wheels 41 are controlled in turn to rotate circumferentially relative to the contact line 1 to avoid obstacles, thereby ensuring that the detection robot will not fall off the surface of the contact line 1 and quickly pass through the obstacles; a laser is emitted to the lower surface of the contact line 1 through the laser ranging sensor 21. When the lower surface of the contact line 1 is incomplete or damaged due to wear or other reasons, the distance detected by the laser ranging sensor 21 will change, thereby sending out an abnormal signal, thereby confirming the abnormal position and carrying out maintenance in time.

[0027] Combination Figure 2 The body 2 is provided with a walking assembly 5, which includes a pulley fixing seat 52 fixed on the body 2, a clamping plate 53 disposed on both sides of the walking wheel and fixedly connected to the pulley fixing seat 52 respectively, and the walking motor 51 fixed to one side of the body 2, a first driving wheel (not shown) is fixed to the output shaft (not shown) of the walking motor 51, a second driving wheel 54 cooperating with the first driving wheel is fixed to the clamping plate 53 on the same side as the first driving wheel, a third driving wheel 55 coaxially fixed with the second driving wheel 54 and a fourth driving wheel 56 coaxially fixed with the walking wheel 3 are fixed to the clamping plate 53 on one side of the walking motor 51, and the third driving wheel 55 and the fourth driving wheel 56 are synchronously matched; the first driving wheel and the second driving wheel 54, as well as the third driving wheel 55 and the fourth driving wheel 56 can adaptively select conventional synchronous connection methods such as belts and chains.

[0028] The first driving wheel is driven to rotate by the travel motor 51 and transmitted to the second driving wheel 54, and then transmitted to the fourth driving wheel 56 via the third driving wheel 55 coaxially fixed with the second driving wheel 54, so that the travel wheel 3 can be driven to travel along the contact line 1; in this embodiment, two travel wheels 3 are evenly arranged for the detection robot. When configuring the travel motor 51, multiple travel wheels 3 can be driven by one travel motor 51, or one travel motor 51 can be arranged for each travel wheel 3, and it is only necessary to keep the rotation speed of multiple travel motors 51 the same. In order to improve the stability of the travel wheel, a bearing coaxially fixed to the travel wheel 3 is also arranged on the clamping plate 53 on the same side as the travel motor 51 (not shown in the figure).

[0029] refer to Figure 3 and Figure 4The obstacle avoidance component 4 includes a residual gear 42 coaxial with the contact line 1 and semi-enclosing the contact line 1, a driving gear 43 fixed to the body 2 and meshing with the residual gear 42, the residual gear 42 has a notch along the circumferential direction that can rotate to avoid obstacles. In the preferred embodiment, the residual gear 42 is approximately 5 / 8 of the entire gear, and the support wheel 41 is fixed to the inner side of one end of the residual gear 42 in the circumferential direction. The axial direction of the support wheel 41 is perpendicular to the axial direction of the residual gear 42. Each residual gear 42 has a group of opposing lasers 6 acting above the contact line at the front and rear ends along the contact line 1 to detect when the robot walks along the contact line 1. When the front opposing laser 6 is blocked by an obstacle, the driving gear 43 works to drive the remaining gear 42 to rotate toward the contact line 1 and drives the supporting wheel 41 to rotate circumferentially along the surface of the contact line 1, so that the notch of the remaining gear 42 faces upward to avoid the obstacle. When the rear opposing laser 6 is blocked by an obstacle, it is considered that the remaining gear 42 has passed the obstacle. At this time, the remaining gear 42 in front of the walking wheel 3 automatically rotates under the action of the driving gear 43 that cooperates with it, and transfers the supporting wheel 41 back to the upper surface of the contact line 1. At the same time, the remaining gear 42 behind the walking wheel 3 is driven by the driving gear 43 that cooperates with it to avoid the obstacle.

[0030] For the other running wheels 3, the same method is used to make the support wheels 41 on both sides bypass obstacles in turn, so as to realize the continuous moving detection of the detection robot on the contact line 1; because in this embodiment, an obstacle avoidance component 4 is respectively provided for each running wheel along the front and rear of the contact line 1, the front and rear obstacle avoidance components 4 can share the middle opposing laser 6.

[0031] Refer to Figure 1 The upper surface of the body 2 is also provided with a rotating motor 7 that cooperates with the driving gear 43, and the power shaft (not shown) of the rotating motor 7 is connected to the driving gear 43 through a coupling 71; Figure 5 The driving gear 43 and the residual gear 42 are axially parallel and meshed with each other. The main body 2 is also provided with a mounting seat 72 for fixing the driving gear 43. The driving gear 43 is restricted in the middle of the mounting seat 72. The mounting seat 72 is provided with at least one bearing 73 which is coaxial with the driving gear 43 and can support the power shaft of the rotating motor 7.

[0032] Recombination Figure 4 and Figure 5 , at least one side of the residual gear 42 has a guide groove 44 concentric with the residual gear 42, a through groove 74 for avoiding the residual gear 42 is provided on the mounting seat 72 above the driving gear 43, and guide columns 76 cooperating with the guide groove 44 are also provided on the baffles 75 on both sides of the through groove 74, so as to provide auxiliary guidance and limit when the driving gear 43 drives the residual gear 42 to rotate, thereby improving the stability of the rotation of the residual gear 42. Further, the residual gear 42 can also be provided with partial weight reduction holes 45 or other weight reduction structures as needed.

[0033] refer to Figure 6 In the preferred implementation, the main body 2 is also provided with a shell 22 to encapsulate it, and a fixed cover 23 for fixing the incident laser 6 is further provided on its upper surface; of course, in order to realize the functions of detecting the contact line 1 and automatically avoiding obstacles as stated in this embodiment, it is also necessary to set up corresponding circuits and control systems. In the case that the corresponding structures, matching relationships and working principles have been fully explained in this embodiment, the corresponding circuits and control systems are conventional technical means in this field and will not be introduced in detail in this application.

Claims

1. A wire crawling detection robot, characterized in that: It comprises a body arranged below the contact line, the body is provided with at least two running wheels cooperating with the lower surface of the contact line, each running wheel is provided with obstacle avoidance components on both sides in the front and rear of the running direction, the obstacle avoidance components comprise support wheels cooperating with the surface of the contact line, the support wheels can rotate along the surface of the contact line to avoid obstacles; a laser ranging sensor acting on the lower surface of the contact line is arranged on the upper surface of the body, and a running motor driving the running wheels to rotate is also arranged on the body; The obstacle avoidance assembly comprises a residual gear coaxial with the contact line and semi-enclosing the contact line, and a driving gear fixed on the body and meshing with the residual gear; the residual gear has a notch along the circumference that can rotate to avoid obstacles, and the support wheel is fixed in the residual gear; each residual gear has a group of opposing lasers acting above the contact line at both ends along the contact line; The size of the residual gear is 5 / 8 of the size of the entire gear. The support wheel is fixed to the inner side of one circumferential end of the residual gear, and the axial direction of the support wheel is perpendicular to the axial direction of the residual gear. Fixed covers fixedly connected to the opposing lasers on both sides are respectively arranged on both sides of the upper surface of the main body.

2. A wire-climbing detection robot according to claim 1, characterized in that: The main body is provided with a walking assembly, and the walking assembly includes the walking motor fixed on the side of the main body, a pulley fixing seat fixedly connected to the main body, and clamps arranged on both sides of the walking wheel and respectively fixedly connected to the pulley fixing seat; a first driving wheel is fixed on the output shaft of the walking motor, a second driving wheel matching with the first driving wheel is fixed on the clamping plate on the same side as the first driving wheel, a third driving wheel coaxially fixed with the second driving wheel and a fourth driving wheel coaxially fixed with the walking wheel are fixed on the clamping plate on the opposite side of the first driving wheel; the third driving wheel and the fourth driving wheel are synchronously matched.

3. A wire-climbing detection robot according to claim 2, characterized in that: A bearing coaxially fixed with the travel wheel is arranged on the clamping plate on the same side as the first drive wheel.

4. A wire-climbing detection robot according to claim 1, characterized in that: A rotating motor matched with a driving gear is arranged on the upper surface of the main body. The power shaft of the rotating motor is fixedly matched with the driving gear along the circumferential direction, and the driving gear and the residual gear are meshed with each other in parallel with the axial direction.

5. A wire-climbing detection robot according to claim 4, characterized in that: The main body is also provided with a mounting seat for fixing the driving gear, the driving gear is restricted in the middle of the mounting seat, and the mounting seat is provided with at least one bearing which is coaxial with the driving gear and can support the power shaft of the rotating motor.

6. A wire-climbing detection robot according to claim 5, characterized in that: A guide groove is provided on at least one side of the residual gear, a through groove for avoiding the residual gear is provided on the mounting seat above the driving gear, and guide columns cooperating with the guide groove are provided on the baffles on both sides of the through groove.

7. A wire-climbing detection robot according to claim 6, characterized in that: The residual gear is also provided with a plurality of weight-reducing holes.

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