A positioning and locking device for catenary wire installation of a catenary dropper

Abstract

A positioning and locking device for a catenary dropper installation, comprising a multi-degree-of-freedom manipulator, and a positioning component and a locking component arranged at the free end of the multi-degree-of-freedom manipulator. The positioning component and the locking component are fixedly connected to each other and respectively have a positioning groove and a locking groove that are arranged in correspondence with each other for the catenary to pass through. The positioning component is used to position the relative position of the free end of the multi-degree-of-freedom manipulator and the catenary according to the longitudinal groove on the catenary, and the locking component is used to lock the relative position of the free end of the multi-degree-of-freedom manipulator and the catenary after the positioning by the positioning component; the present invention is used to assist in realizing the directional installation of the catenary clamp on the longitudinal groove of the catenary.

Description

Technical Field

[0001] The present invention relates to the field of catenary installation equipment, and more specifically to a contact wire positioning and locking device for catenary installation. Background Art

[0002] The catenary is a special form of transmission line erected above the railway line to supply power to electric locomotives. It consists of a contact suspension, a support device, a positioning device, a pillar and a foundation. The contact suspension is erected on the pillar through the support device, and its function is to transmit the electric energy obtained from the traction substation to the electric locomotive. The contact suspension includes a contact wire, a dropper, a carrier wire, as well as connecting parts and insulators. Among them, the dropper is provided with a U-shaped contact wire clip, and the contact wire clip is fixedly connected with two longitudinal grooves opened on the contact wire through snap-fit.

[0003] The existing installation of droppers usually requires operators to work at high altitudes by ladder, with low assembly efficiency and high risk. To improve efficiency and avoid risks, the catenary dropper installation industry urgently needs an automated dropper installation device. Since the contact wire clip on the dropper needs to be installed directionally through the longitudinal groove on the contact wire, it poses a high design difficulty for the positioning and locking of the contact wire. Summary of the Invention

[0004] The present invention aims to provide a contact wire positioning and locking device for catenary installation, which helps to realize the directional installation of the contact wire clip on the longitudinal groove of the contact wire.

[0005] To solve the above technical problems, the specific solution adopted by the present invention is as follows: A contact wire positioning and locking device for catenary installation includes a multi-degree-of-freedom manipulator, and a positioning component and a locking component arranged at the free end of the multi-degree-of-freedom manipulator. The positioning component and the locking component are fixedly connected to each other and respectively have a positioning groove and a locking groove that correspond to each other for the contact wire to penetrate. The positioning component is used to position the relative position of the free end of the multi-degree-of-freedom manipulator and the contact wire according to the longitudinal groove on the contact wire, and the locking component is used to lock the relative position of the free end of the multi-degree-of-freedom manipulator and the contact wire after the positioning component positions;

[0006] The positioning component includes a base block provided with the positioning groove. On both sides of the notch of the positioning groove on the base block, assembly holes are respectively provided. Positioning steel balls and clamping springs are arranged in the assembly holes. The clamping springs are used to push the positioning steel balls towards the inner side of the notch of the positioning groove so that the positioning steel balls are clamped in the longitudinal groove on the contact wire; An electronic detection element is also arranged on the base block, and the electronic detection element is used to detect the clamping state of the positioning steel balls;

[0007] The locking assembly includes a slot plate with the locking slot, a locking strip plate and a locking strip plate rotatably connected to the slot plate; the locking strip plate has a locking hook, which is used to block the locking slot during the rotation of the locking strip plate to achieve contact line locking, and a locking spring is provided between the slot plate and the locking strip plate to maintain the locking state of the locking slot; the locking strip plate has a locking hook, which can be hooked to a hook rod fixed to the locking strip plate during the rotation of the locking strip plate to maintain the locking hook away from the unlocked state of the locking slot, and a locking spring for the unlocked state of the locking slot is provided between the slot plate and the locking strip plate.

[0008] Preferably, the electronic detection element is a pressure sensor fixed in the assembly hole, one end of the clamping spring is fixed to the positioning steel ball, and the other end is connected to the pressure sensor.

[0009] Preferably, the electronic detection element is a proximity switch fixed in the assembly hole, and the proximity switch is used to cooperate with the outer side of the positioning steel ball to detect the position of the positioning steel ball in the assembly hole.

[0010] Preferably, there are two slot plates and they are arranged in parallel at intervals. The bottoms of the two slot plates are connected, and corresponding locking slots are provided on the tops. The base block is fixed on one of the slot plates, and the locking strip, locking strip, locking spring and locking spring are all arranged between the two slot plates.

[0011] Preferably, a back groove is provided on the side of the locking strip opposite to the locking hook, and the hook rod is distributed across the width of the back groove. The part of the hook rod extending from the back groove forms a limit with the side of the groove plate to prevent the locking hook from excessively squeezing the contact line in the locking groove.

[0012] Preferably, the hook head portion of the locking hook has a wedge-shaped guide surface, and the wedge-shaped guide surface allows the hook rod to fit and slide with the locking strip during rotation and be clamped into the locking hook.

[0013] Preferably, the bottoms of the two slot plates are connected via a pad, and a side of the pad facing the locking strip forms a limit with the locking strip for maintaining the wedge-shaped guide surface distributed toward the hook rod.

[0014] Preferably, a toggle handle is provided on the locking strip, so as to drive the locking hook to disengage from the hook rod by toggling the toggle handle.

[0015] The present invention has a positioning component and a locking component, and the positioning component and the locking component are both arranged at the free end of the multi-degree-of-freedom robotic arm. The positioning and locking of the contact line can be completed by lifting and rotating the free end of the multi-degree-of-freedom robotic arm, thereby improving the overall installation efficiency of the suspension string and avoiding possible risks of high-altitude operations.

[0016] The present invention can control the positioning component and the locking component of the multi-degree-of-freedom robotic arm to move, so that the contact wire is inserted into the positioning groove and the locking groove. Then, by rotating the free end until the positioning steel ball in the positioning component is clamped into the longitudinal groove of the contact wire and generates a signal. Finally, according to the generated signal, the multi-degree-of-freedom robotic arm stops operating to maintain the clamped state and locks the contact wire through the locking component, thus achieving the effect of positioning and locking the contact wire. Therefore, a simple contact wire clamp pushing mechanism is provided at the free end of the multi-degree-of-freedom robotic arm. Pushing the contact wire clamp towards the contact wire direction ensures that the notch of the contact wire clamp bites into the longitudinal groove on the contact wire. Furthermore, the quick and accurate installation of the contact wire clamp is assisted by the present invention. Brief Description of the Drawings

[0017] Figure 1 is the front view structural schematic diagram of the present invention;

[0018] Figure 2 is Figure 1 the cross-sectional structural schematic diagram of;

[0019] Figure 3 is the state schematic diagram after the handle in Figure 2 is pulled downwards;

[0020] Figure 4 is the three-dimensional structural schematic diagram of the present invention;

[0021] Markings in the figure: 1, locking strip; 2, electrical signal wire; 3, base block; 4, positioning groove; 5, positioning steel ball; 6, longitudinal groove; 7, contact wire; 8, locking groove; 9, groove plate; 10, first hinge shaft; 11, second hinge shaft; 12, handle; 13, locking bar; 14, hook rod; 15, locking hook; 16, locking spring; 17, cushion block; 18, locking spring; 19, locking hook; 20, wedge-shaped guiding surface; 21, back groove. Detailed Embodiment

[0022] As Figure 1 and Figure 4 shown, a contact wire positioning and locking device for catenary suspension string installation of the present invention includes a multi-degree-of-freedom robotic arm (a conventional technical means in the art, not shown in the figure) and a positioning component and a locking component provided at the free end of the multi-degree-of-freedom robotic arm. After positioning the contact wire 7 through the positioning component, it is convenient for the clamping tool provided at the free end of the multi-degree-of-freedom robotic arm to directly buckle the subsequent contact wire clamp onto the longitudinal groove 6 on the contact wire 7; after locking the contact wire 7 through the locking component, sliding or vibration of the contact wire 7 during the clamping process is avoided, ensuring the accurate assembly of the contact wire clamp.

[0023] Combined with Figure 1 , 2As shown in FIGS. 3 and 4, the main body of the locking assembly is two identical groove plates 9 that are parallel and spaced apart. The bottom of the two groove plates 9 is fixedly connected with a cushion block 17 through bolts. The tops of the two groove plates 9 are respectively provided with locking grooves 8 for the lateral insertion of the contact wire 7. The bottom specification of the locking groove 8 corresponds to the outer diameter of the contact wire 7 for easy locking, and the top is tapered in a flared shape for easy lateral insertion of the contact wire 7. A locking strip plate 1 and a locking stop plate 13 are rotatably connected between the two groove plates 9. The locking of the locking groove 8 is achieved by blocking the locking groove 8 with the locking strip plate 1, and the non-locking state of the locking strip plate 1 with respect to the locking groove 8 is maintained by the locking stop plate 13, which facilitates blocking and locking the positioning groove 4 by driving the locking strip plate 1 after the contact wire 7 is positioned by the positioning mechanism. Specifically:

[0024] One end of the locking strip plate 1 is rotatably connected to the two groove plates 9 through a first hinge shaft 10, and a locking hook 15 is provided in the middle of the locking strip plate 1. The locking hook 15 can rotate around the first hinge shaft 10 with the locking strip plate 1 to the position as shown in Figure 3 so as to block the locking groove 8 and achieve the locking of the contact wire 7 in the locking groove 8, avoiding shaking or vibration. The locking assembly further includes a locking spring 16. Hooks are respectively provided at both ends of the locking spring 16. One hook is hooked to the groove plate 9, and the other hook is hooked to the locking strip plate 1, and the locking spring 16 is in a stretched state. Thus, in the state as shown in Figure 2 , after the locking strip plate 1 is unlocked by the locking stop plate 13, the locking strip plate 1 can be pulled to the locking state as shown in Figure 3 by the locking spring 16.

[0025] One end of the locking stop plate 13 is rotatably connected to the two groove plates 9 through a second hinge shaft 11. The second hinge shaft 11 is located at the lower right position of the first hinge shaft 10. A locking stop hook 19 is provided at the other end of the locking stop plate 13. The locking stop hook 19 is used for hooking and cooperating with a hook rod 14 on the side of the locking strip plate 1 opposite to the locking stop hook 19 to maintain the non-locking state as shown in Figure 2 . The pulling force of the locking stop hook 19 on the hook rod 14 comes from the locking stop spring 18. One end of the locking stop spring 18 is hooked and fixed on the groove plate 9, and the other end is hooked to the middle of the locking stop plate 13. The locking stop spring 18 is in a stretched state, and the hook rod 14 is pulled by the pulling force generated by it to maintain the locking strip plate 1 in the non-locking state as shown in Figure 2 . A handle 12 is further provided on the right side of the locking stop plate 13. Figure 2 In [[FIGURE REFERENCE]], by pressing the handle 12 downward, the locking stop plate 13 is driven to rotate clockwise, so that the locking stop hook 19 disengages from the hook rod 14 to unlock the locking strip plate 1, and the locking strip plate 1 blocks the locking groove 8 under the pulling force of the locking spring 16.

[0026] In this embodiment, a back groove 21 is provided on the right side of the locking strip 1, and the hook rod 14 is distributed along the transverse direction through the back groove 21, and its two ends extend out of the locking strip 1 and form a limit rod. Figure 3 In the locked state shown, the limit rod cooperates with the right side of the slot plate 9 to prevent the locking hook 15 from excessively rotating to the left under the tension of the locking spring 16, and to prevent the inner edge of the locking hook 15 from forming a locking pressure on the contact line 7.

[0027] The hook head of the locking hook 19 on the locking strip 13 is provided with a wedge-shaped guide surface 20 to facilitate the resetting of the locking strip 1. Figure 3 In this state, the locking strip 1 is driven by external force to rotate clockwise, so that the portion of the hook rod 14 located in the back groove 21 contacts and slides with the wedge-shaped guide surface 20 and pushes the locking strip 13 to rotate clockwise. After the hook rod 14 rotates to bypass the hook head of the locking hook 19, the locking strip 13 rotates counterclockwise under the tension of the locking spring 18, and the locking hook 19 hooks the hook rod 14, thereby achieving Figure 2 The initial state is shown. Figure 3 The upper right part of the pad 17 is an inclined surface for the locking strip 13 to limit the contact and maintain Figure 3 In the state shown in FIG, it is ensured that the hook rod 14 cooperates with the wedge-shaped guide surface 20 during the counterclockwise rotation and reset process of the locking strip 1.

[0028] The positioning assembly of the present invention mainly includes a base block 3 fixed on the upper part of one of the slot plates 9. A positioning slot 4 is provided on the base block 3 for the contact wire 7 to be inserted horizontally, and the positioning slot 4 corresponds to the aforementioned locking slot 8. Assembly holes (not shown in the figure) are provided on both sides of the notch of the positioning slot 4. The assembly hole is a straight hole, and a positioning steel ball 5 of corresponding specifications to the notch of the longitudinal slot 6 on the contact wire 7 is slidably provided at a position corresponding to the inner side of the positioning slot 4 in the assembly hole, and the aperture of the assembly hole at this position is gradually reduced to prevent the positioning steel ball 5 from slipping off; a clamping spring is provided at a position corresponding to the outer side of the positioning slot 4 in the assembly hole, and the clamping spring is used to push the positioning steel ball 5 to move toward the positioning slot 4, so that when the contact wire 7 corresponds to the position of the positioning slot 4, the contact wire 7 is positioned by the clamping fit of the positioning steel ball 5 and the longitudinal slot 6, and after the positioning steel ball 5 is clamped into the longitudinal slot 6, a specific electrical signal is generated by the electronic detection element provided in the assembly hole.

[0029] The electronic detection element in this embodiment is a pressure sensor fixed in the assembly hole. One end of the clamping spring is fixed to the positioning steel ball 5, and the other end is connected to the pressure sensor. Corresponding electrical signal lines 2 are provided on the base block 3 for the two pressure sensor signals to be output to a controller or display screen. Thus, when the contact wire 7 is inserted horizontally into the positioning slot 4 and the positioning steel ball 5 contacts the outer wall of the contact wire 7 at a position other than the longitudinal groove 6, the pressure sensor outputs a higher pressure value. However, after the multi-degree-of-freedom robotic arm rotates the positioning slot 4 a certain angle until the positioning clamping ball engages the longitudinal groove 6, the positioning steel ball 5 moves along the assembly hole toward the inside of the positioning slot 4, causing the clamping spring to extend and reducing the pressure exerted on the pressure sensor, resulting in a smaller pressure value output by the pressure sensor. Based on the above numerical output variation of the pressure sensor, after the multi-degree-of-freedom robotic arm drives the positioning slot 4 to the periphery of the contact wire 7, the positioning state is adjusted by continuously and slowly rotating the positioning slot 4 around the contact wire 7. The multi-degree-of-freedom robotic arm is stopped when the pressure sensor output value suddenly decreases, achieving the positioning effect of the positioning steel ball 5 engaging the longitudinal groove 6 of the contact wire 7. At this time, another robot arm can be linked or manually controlled. Figure 2 In the illustrated state, pressing the handle 12 downward disengages the locking strip 1 from the locking hook 19 and causes it to rotate counterclockwise. The locking hook 15 locks the contact wire 7, which is in the positioned state in the locking groove 8, to prevent it from oscillating. Furthermore, a contact wire clamp pushing mechanism, which is separately provided on the multi-degree-of-freedom manipulator and moves synchronously with the positioning and locking assemblies, can be used to push the contact wire clamp toward the contact wire 7. In the positioned state achieved by the positioning assembly and the locked state achieved by the locking assembly, the notch of the contact wire clamp engages and is fixed in the longitudinal groove 6 of the contact wire 7, thereby achieving automated assembly of the contact wire clamp in high-altitude working environments.

[0030] In another embodiment of the present invention, the electronic detection element is a proximity switch fixed in the assembly hole. The proximity switch is used to cooperate with the outer side of the positioning steel ball 5 to detect the position of the positioning steel ball 5 in the assembly hole. Thus, when the contact wire 7 is inserted horizontally into the positioning slot 4 and the positioning steel ball 5 contacts the outer wall of the contact wire 7 at a position other than the longitudinal slot 6, the positioning steel ball 5 abuts the proximity switch, generating a position signal. However, after the positioning slot 4 is rotated a certain angle by the multi-degree-of-freedom robotic arm until the positioning ball engages the longitudinal slot 6, the positioning steel ball 5 moves along the assembly hole toward the inside of the positioning slot 4, disengaging the proximity switch and eliminating the position signal generated by the proximity switch. In other words, the above principle is used to determine whether the positioning steel ball 5 is engaged in the longitudinal slot 6 and whether positioning is achieved.

Claims

1. A positioning and locking device for a catenary contact wire used in the installation of catenary droppers, characterized in that: It includes a multi-degree-of-freedom manipulator, a positioning component and a locking component arranged at the free end of the multi-degree-of-freedom manipulator. The positioning component and the locking component are fixedly connected to each other and respectively have a positioning groove (4) and a locking groove (8) that correspond to each other for the contact wire (7) to pass through. The positioning component is used to position the relative position of the free end of the multi-degree-of-freedom manipulator and the contact wire (7) according to the longitudinal groove (6) on the contact wire (7), and the locking component is used to lock the relative position of the free end of the multi-degree-of-freedom manipulator and the contact wire (7) after the positioning component positions; The positioning component includes a base block (3) provided with the positioning groove (4). On both sides of the notch of the positioning groove (4) on the base block (3), assembly holes are respectively provided. A positioning steel ball (5) and a clamping spring are arranged in the assembly holes. The clamping spring is used to push the positioning steel ball (5) towards the inner side of the notch of the positioning groove (4) so that the positioning steel ball (5) is clamped in the longitudinal groove (6) on the contact wire (7); An electronic detection element is also arranged on the base block (3), and the electronic detection element is used to detect the clamping state of the positioning steel ball (5); The locking component includes a groove plate (9) provided with the locking groove (8), a locking bar plate (1) and a locking stop bar plate (13) rotatably connected to the groove plate (9); The locking bar plate (1) has a locking hook (15), and the locking hook (15) is used to block the locking groove (8) during the rotation of the locking bar plate (1) to lock the contact wire (7). A locking spring (16) for maintaining the locked state of the locking groove (8) is arranged between the groove plate (9) and the locking bar plate (1); The locking stop bar plate (13) has a locking stop hook (19), and the locking stop hook (19) can be hooked on a hook rod (14) fixed to the locking bar plate (1) during the rotation of the locking stop bar plate (13) to maintain the non-locked state where the locking hook (15) is away from the locking stop groove. A locking stop spring (18) for the non-locked state of the locking groove (8) is arranged between the groove plate (9) and the locking stop bar plate (13); The electronic detection element is a pressure sensor fixed in the assembly hole. One end of the clamping spring is fixed to the positioning steel ball (5), and the other end is connected to the pressure sensor; The electronic detection element is a proximity switch fixed in the assembly hole. The proximity switch is used to cooperate with the outer side of the positioning steel ball (5) to detect the position of the positioning steel ball (5) in the assembly hole.

2. The positioning and locking device for the catenary wire used in the installation of catenary droppers according to claim 1, wherein: The number of groove plates (9) is two and they are arranged in parallel at intervals. The bottoms of the two groove plates (9) are connected, and the tops are respectively provided with corresponding locking grooves (8). The base block (3) is fixed on one of the groove plates (9), and the locking bar plate (1), the locking stop bar plate (13), the locking spring (16) and the locking stop spring (18) are all arranged between the two groove plates (9).

3. The positioning and locking device for catenary contact wire used in the installation of catenary suspension wire according to claim 2, wherein: A back groove (21) is provided on one side of the locking bar plate (1) opposite to the locking hook (15). The hook rod (14) penetrates the width distribution of the back groove (21), and the part of the hook rod (14) extending out of the back groove (21) forms a limit with the side part of the groove plate (9) to prevent the locking hook (15) from excessively squeezing the contact wire (7) in the locking groove (8).

4. The contact wire positioning and locking device for catenary suspension installation according to claim 2, characterized in that: The hook head portion of the locking hook (19) has a wedge-shaped guide surface (20), and the wedge-shaped guide surface (20) allows the hook rod (14) to fit and slide with the locking strip (1) during the rotation process and be clamped into the locking hook (19).

5. The contact wire positioning and locking device for catenary suspension installation according to claim 4, characterized in that: The bottoms of the two slot plates (9) are connected via a pad (17), and a side of the pad (17) facing the locking strip (13) forms a limit with the locking strip (13) for maintaining the wedge-shaped guide surface (20) distributed toward the hook rod (14).

6. The positioning and locking device for catenary contact wire used in the installation of catenary dropper according to claim 4, wherein: A dial handle (12) is provided on the locking strip (13) so as to drive the locking hook (19) to disengage from the hook rod (14) by dialing the dial handle (12).

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