A railway contact network inspection robot

Abstract

The present invention discloses a railway contact network inspection robot, including a walking device and a moving mechanism, wherein the walking device is used to drive the device to move along the rail, two support frames are symmetrically arranged at the bottom of the walking device, two universal wheels are arranged at the bottom of the support frame, and the universal wheels are used to move the device, and the upper side of the walking device is rotatably connected with a first rotating shaft. The beneficial effect is that the fourth rotating shaft is rotated by the driving component, and the slide rail is driven to rotate ninety degrees by the fourth rotating shaft. When entering the track, the walking device is moved from the ground to the upper side of the rail by the moving mechanism, and when leaving the site, the walking device is moved from the upper side of the rail to the upper side of the flat ground by the moving mechanism. The device is not only arranged to reduce the physical consumption of the staff and the occupation of large hoisting equipment when leaving the site and entering the track, but also effectively improve the work efficiency, which brings great convenience to the staff's inspection work.

Description

Technical Field

[0001] The invention belongs to the technical field of railway inspection, and in particular relates to a railway contact network inspection robot. Background Art

[0002] In recent years, my country's railway transportation network has grown rapidly, and a large number of railway transportation infrastructure have entered the maintenance period. The pressure on line safety and monitoring has gradually increased. The existing railway transportation line inspections are mainly completed in the form of manual static inspections, supplemented by a small number of dynamic inspection vehicles, that is, the "manual + rail vehicle" combination mode. The inspection content includes the intrinsic quality of the contact suspension, additional suspension and supporting devices, whether the bolts are tightened, and whether there are obstacles hanging on the high-voltage cables. The maintenance content mainly includes the necessary anti-corrosion treatment and the tightening and replacement of parts during the inspection.

[0003] The existing inspection vehicles have relatively simple functions and do not have the function of entering or leaving the track. When using the inspection vehicle for inspection, the inspection vehicle needs to be placed on the track first. After the inspection, the inspection vehicle needs to be removed from the track. This process generally requires multiple staff members to work together to carry the inspection vehicle. Due to the heavy weight of the inspection vehicle, the process of manually lifting the vehicle is very dangerous, and the lumbar spine of the staff is easily damaged. Although the method of crane lifting can reduce the labor of the staff, the crane lifting process often takes a certain amount of time and the process is cumbersome, which affects the progress of the work, and calling the crane will increase the cost of the inspection work. Importantly, not all railway sections are suitable for crane entry, so neither manual handling nor crane lifting can cope with the inspection vehicle entering or leaving the track well. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a railway contact network inspection robot, which is convenient for entering and leaving the track, not only reducing the physical exertion of the staff and the occupancy of large lifting equipment, but also effectively improving the work efficiency, bringing great convenience to the staff's inspection work.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0007] The lifting mechanism is a lifting mechanism that can lift the lifting device up and down by coupling with the ground, and the lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground. The lifting mechanism can lift the lifting device up and down by coupling with the ground.

[0008] The above-mentioned railway contact network inspection robot is adopted, and a support frame and universal wheels are provided to facilitate the movement of the device. The device is moved to the side of the rail so that the length direction of the moving mechanism is perpendicular to the rail, and then the fourth rotating shaft is rotated by the driving component, and the fourth rotating shaft drives the slide rail to rotate ninety degrees. At this time, the slide rail will be perpendicular to the rail and cross the rail. At the same time, the fourth rotating shaft will drive the second rotating shaft and two winding drums to rotate through the transmission component, so that the winding drums release the first traction rope. When the winding drum releases the first traction rope, the two top supporting mechanisms will move away from each other under the push of the two elastic members. When the slide rail rotates ninety degrees, the distance between the two top supporting mechanisms is at the maximum state. Then, the height of the walking device is lifted by the two top supporting mechanisms, so that the bottom of the walking device is higher than the rail, and then the walking device is translated by the moving mechanism. The device moves the traveling device to the top of the rail, rotates the traveling device at the same time, adjusts the posture of the traveling device so that the traveling device can be completely aligned with the rail, and after adjusting the posture of the traveling device, locks the first rotating shaft through the limit assembly to prevent the traveling device from rotating, and finally lowers the height of the traveling device through the top support mechanism until the traveling device falls on the rail, thereby completing the rail entry work, which not only reduces the physical consumption of the staff and the occupancy of large hoisting equipment, but also effectively improves the rail entry efficiency of the device. After the device is on the rail, the slide rail is rotated back in the opposite direction so that the length direction of the slide rail is parallel to the rail. At that time, the distance between the two top support mechanisms will also shrink to the minimum state, thereby effectively reducing the size of the device to prevent interference from other objects during the travel process.

[0009] The device can be moved along the rails by the walking device. The staff in the control room can inspect the contact network along the railway through the camera body. When a problem is found, the current position can be recorded by the GPS module, which is convenient for the staff to deal with it on site. When the inspection work is completed, when the device needs to be removed from the rails, just repeat the track entry process. The difference between the departure operation steps and the track entry steps is that when entering the track, the walking device is moved from the ground to the upper side of the rails by the moving mechanism, and when leaving the site, the walking device is moved from the upper side of the rails to the upper side of the flat ground by the moving mechanism. Through the above settings, the device greatly saves time and manpower when leaving and entering the track, which brings great convenience to the staff's inspection work.

[0010] Preferably, the walking device includes a support plate, two rotating shaft mounting seats are arranged at the bottom of the support plate, the rotating shaft mounting seats are rotatably connected to two track wheels through a third rotating shaft, and the track wheels are adapted to the rails, a first sprocket is fixedly connected to the surface of the third rotating shaft, a power motor is arranged at the bottom of the support plate, a second sprocket is fixedly connected to the output shaft of the power motor, and the second sprocket is transmission-connected to the two first sprockets through a chain.

[0011] Preferably, a spraying assembly is provided on the upper side of the walking device, and the spraying assembly is used to spray water-soluble dye onto the ground to mark the geographical location.

[0012] Preferably, the spraying assembly includes a mounting frame, the upper side of the support plate is fixedly connected to the mounting frame, a storage tank and a water pump are respectively provided at the bottom of the mounting frame, and the input end of the water pump is connected to the storage tank through a connecting pipe.

[0013] Preferably, the limiting assembly includes a first mounting seat and a first gear, the upper side of the support plate is fixedly connected to a first electric push rod through the first mounting seat, the movable end of the first electric push rod is fixedly connected to an arc-shaped tooth plate, and the arc-shaped tooth plate is adapted to the first gear fixed on the surface of the first rotating shaft.

[0014] Preferably, two clamping mechanisms are symmetrically arranged on the upper side of the walking device with the first rotating shaft as the center, and the clamping mechanism includes a U-shaped plate, the upper side of the support plate is fixedly connected to the U-shaped plate, a sliding groove is provided in the U-shaped plate, two sliders are slidably arranged in the sliding groove, the side surfaces of the sliders are fixedly connected to a clamping plate, and the opposite surfaces of the two clamping plates are fixedly connected to rubber pads, and the side of the U-shaped plate facing away from the clamping plate is fixedly connected to two fixed plates II, and a screw rod II is rotatably connected between the two fixed plates II, and a turntable is fixedly connected to the end faces of the two screws, and the surface of the two screws is provided with two threads in opposite directions, and the outer surface of each thread is threadedly connected to a threaded sleeve II, and the two threaded sleeves II are respectively fixedly connected to the two sliders.

[0015] Preferably, the moving mechanism includes a fixed plate, a T-shaped groove is provided in the fixed plate, a T-shaped slider is slidably arranged in the T-shaped groove, a first rotating shaft is fixedly connected to the bottom of the T-shaped slider, a screw is rotatably connected in the T-shaped groove, a threaded sleeve is threadedly connected to the surface of the screw, the threaded sleeve is fixedly connected to the T-shaped slider, and a motor for rotating the screw is provided on the side of the fixed plate.

[0016] Preferably, the supporting mechanism comprises a connecting plate 1 and a third electric push rod, the connecting plate 1 and the third electric push rod are respectively fixed on the upper and lower sides of the movable plate, the movable end of the third electric push rod is fixedly connected with a rectangular sleeve, two rectangular plates are slidably arranged in the rectangular sleeve, the rectangular plate and the rectangular sleeve are clearance-matched, and the opposite sides of the two rectangular plates are provided with a wire groove, the upper and lower side walls of the rectangular sleeve are respectively provided with a first rectangular groove and a second rectangular groove, and second traction ropes are provided on both sides of the bottom of the rectangular sleeve, one end of the second traction rope away from the rectangular sleeve passes through the second rectangular groove, the wire groove and the first rectangular groove in sequence and is fixedly connected to the connecting plate 1, and the two ends of the second traction rope correspond to each other up and down, a connecting plate 2 is fixedly connected to the center position of the bottom of the rectangular sleeve, and the opposite sides of the connecting plate 2 are fixedly connected to the second telescopic rod, the movable end of the second telescopic rod is fixedly connected to a support block, a tension spring is sleeved on the surface of the second telescopic rod, the two ends of the tension spring are respectively fixedly connected to the support block and the connecting plate 2, and the two support blocks are respectively fixedly connected to the bottoms of the two rectangular plates.

[0017] Preferably, the elastic member includes a third mounting seat, the bottom of the slide rail is fixedly connected to a first telescopic rod via the third mounting seat, the movable end of the first telescopic rod is fixedly connected to the third electric push rod, a spring is sleeved on the surface of the first telescopic rod, and both ends of the spring are respectively fixedly connected to the third electric push rod and the third mounting seat.

[0018] The beneficial effects are:

[0019] 1. Rotate the fourth shaft through the driving assembly, and drive the slide rail to rotate ninety degrees through the fourth shaft. At the same time, the fourth shaft will drive the second shaft and the two winding discs to rotate through the transmission assembly, so that the winding discs release the first traction rope. When the winding disc releases the first traction rope, the two top support mechanisms will move away from each other under the push of the two elastic members. When the slide rail rotates ninety degrees, the distance between the two top support mechanisms is at the maximum state. Then, the height of the walking device will be lifted by the two top support mechanisms so that the bottom of the walking device is higher than the rail. The walking device is translated by the moving mechanism to be directly above the rail. At the same time, the walking device is rotated to adjust the posture of the walking device so that the walking device can be completely aligned with the rail. After the posture of the walking device is adjusted, the first shaft is locked by the limit assembly to prevent the walking device from rotating. Finally, the height of the walking device is lowered by the top support mechanism until the walking device is The walking device falls on the rail, thus completing the rail entry work. After the device is on the rail, the slide rail is rotated back in the opposite direction so that the length direction of the slide rail is parallel to the rail. At that time, the distance between the two supporting mechanisms will also shrink to the minimum state, thereby effectively reducing the size of the device to prevent interference from other objects during the travel process. When the inspection work is completed, when the device needs to be removed from the rail, just repeat the rail entry process. The departure operation steps are different from the rail entry steps in that when entering the rail, the walking device is moved from the ground to the upper side of the rail by a moving mechanism, and when leaving the site, the walking device is moved from the upper side of the rail to the upper side of the flat ground by a moving mechanism. The device is not only set up through the above arrangement when leaving and entering the track, but also reduces the physical consumption of the staff and the occupancy of large hoisting equipment, and effectively improves the work efficiency, which brings great convenience to the staff's inspection work.

[0020] 2. The device can be moved along the rails through the walking device. The staff in the control room can inspect the contact network along the railway through the camera body. When a problem is found, the GPS module can be used to record the current position, so that it is convenient for the staff to go to the site for processing. The spray component is used to spray water-soluble dyes on the ground to mark the geographical location. The spray component can be combined with the GPS module for accurate location marking. The spray component is used as a protective positioning marking device. When the GPS module signal is weak, the setting of the spray component is of great significance. The dye is water-soluble and can be washed away during rainfall without affecting the railway environment.

[0021] 3. Two clamping mechanisms are provided to clamp the ladders used by workers to climb up when maintaining the contact network. When the contact network needs to be maintained, the workers can place the climbing ladder between the two clamping mechanisms on the support plate, and then clamp the two sides of the climbing ladder through the two clamping mechanisms, thereby improving the stability of the ladder.

[0022] 4. The supporting mechanism adopted in the device is different from the traditional equipment with supporting function. The traditional supporting setting is generally based on retractable components such as electric push rods or cylinders, and has a single functionality. The supporting mechanism of the device has a basic supporting function and also includes a horizontal retractable mechanism, namely two rectangular plates. When the walking device needs to be lifted, the rectangular sleeve is pushed downward by the third electric push rod. During the downward movement of the rectangular sleeve, the two rectangular plates move away from each other under the joint action of the two second traction ropes, thereby increasing the spacing between the two support blocks, and further improving the stability of the entire device after the supporting mechanism lifts the walking device. Moreover, this process is completely carried out in accordance with the extension and retraction of the third electric push rod, without adding other electric equipment or driving equipment, thereby reducing costs. The supporting mechanism has good linkage, so the operation steps are simple. When the supporting is not needed, the third electric push rod is retracted, and the two rectangular plates are moved closer to each other under the action of two tension springs, thereby reducing the volume of the entire supporting mechanism. The supporting mechanism further improves the overall use effect and practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a front view structural schematic diagram of the present invention;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the limiting component of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the walking device of the present invention;

[0028] Figure 5 It is a three-dimensional enlarged structural schematic diagram of the mobile mechanism of the present invention;

[0029] Figure 6 It is a schematic diagram of a three-dimensional enlarged structure of a driving component of the present invention;

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the transmission assembly of the present invention;

[0031] Figure 8 It is a schematic diagram of the three-dimensional structure of the slide rail of the present invention;

[0032] Fig. 9It is a schematic diagram of a three-dimensional enlarged structure of a rectangular plate of the present invention;

[0033] Fig.10 It is a three-dimensional enlarged structural schematic diagram of the clamping mechanism of the present invention;

[0034] Fig.11 It is a three-dimensional enlarged structural schematic diagram of the top support mechanism of the present invention;

[0035] Fig.12 It is a schematic diagram of an enlarged side cross-sectional structure of the top support mechanism of the present invention.

[0036] The following are the descriptions of the reference numerals:

[0037] 1. Walking device; 2. Clamping mechanism; 3. Limiting assembly; 4. Spraying assembly; 5. First rotating shaft; 6. Moving mechanism; 7. Transmission assembly; 8. Driving assembly; 9. Reel; 10. Second rotating shaft; 11. Fixed frame; 12. First traction rope; 13. Connecting rod; 14. Threaded cylinder; 15. Control module; 16. Extension rod; 17. Camera body; 18. Slide rail; 19. Elastic member; 20. Movable plate; 21. First safety device 1. Mounting seat; 22. First electric push rod; 23. Arc tooth plate; 24. First gear; 25. Mounting frame; 26. Storage tank; 27. Water pump; 28. Connecting pipe; 29. ​​Support plate; 30. Support frame; 31. Universal wheel; 32. Rotating shaft mounting seat; 33. Third rotating shaft; 34. Track wheel; 35. First sprocket; 36. Chain; 37. Power motor; 38. Second sprocket; 39. Support mechanism; 40. GPS module; 41. First Second mounting seat; 42, second electric push rod; 43, tooth plate; 44, second gear; 45, fourth shaft; 46, transmission gear 1; 47, transmission gear 2; 48, fifth shaft; 49, transmission gear 3; 50, transmission gear 4; 51, fixing plate 1; 52, screw rod 1; 53, motor; 54, threaded sleeve 1; 55, T-shaped slider; 56, third mounting seat; 57, spring; 58, first telescopic rod; 59, connecting plate 1; 6 0. The third electric push rod; 61. The second traction rope; 62. The rectangular sleeve; 63. The second connecting plate; 64. The support block; 65. The rectangular plate; 66. The tension spring; 67. The second telescopic rod; 68. The U-shaped plate; 69. The second fixed plate; 70. The second threaded sleeve; 71. The slider; 72. The second screw rod; 73. The slide; 74. The splint; 75. The rubber pad; 76. The turntable; 77. The wire duct; 78. The battery; 79. The T-shaped slide; 80. The rail. DETAILED DESCRIPTION

[0038] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0039] See also Figure 1-Figure 12 As shown, the present invention provides a railway contact network inspection robot, including a walking device 1 and a moving mechanism 6, the walking device 1 is used to drive the device to move along the rail 80, two support frames 30 are symmetrically arranged at the bottom of the walking device 1, two universal wheels 31 are arranged at the bottom of the support frame 30, and the universal wheels 31 are used to move the device, the upper side of the walking device 1 is rotatably connected to the first rotating shaft 5, the upper side of the walking device 1 is provided with a limit assembly 3 for limiting the rotation of the first rotating shaft 5, the moving mechanism 6 can move the walking device 1 through the first rotating shaft 5, and the upper side of the moving mechanism 6 A fourth rotating shaft 45 is rotatably connected, and a slide rail 18 is fixedly connected to the upper end of the fourth rotating shaft 45. A driving component 8 for rotating the fourth rotating shaft 45 is arranged on the upper side of the moving mechanism 6. A fixed frame 11 is fixedly connected to the upper side of the moving mechanism 6. The fixed frame 11 is rotatably connected to two winding disks 9 through the second rotating shaft 10. A transmission component 7 is arranged on the upper side of the moving mechanism 6. The transmission component 7 is used to link the fourth rotating shaft 45 and the second rotating shaft 10. The fourth rotating shaft 45 rotates in the same direction as the second rotating shaft 10, and if the fourth rotating shaft 45 rotates half a circle, the second rotating shaft 10 rotates several circles.

[0040] Two movable plates 20 are slidably arranged in the slide rail 18, and the movable plates 20 and the slide rail 18 are clearance-matched, and the opposite ends of the two movable plates 20 are fixedly connected with a supporting mechanism 39, and the supporting mechanism 39 can lift the walking device 1 by cooperating with the ground, so that the walking device 1 is away from the rail 80, and the upper side of the movable plate 20 is fixedly connected with a first traction rope 12 through a connecting rod 13, and the ends of the two first traction ropes 12 that are separated from the connecting rod 13 are respectively fixedly connected to the two winding drums 9, and two elastic members 19 are symmetrically arranged at the bottom of the slide rail 18, and the elastic members 19 are used to push The supporting mechanism 39 is moved to make the supporting mechanisms 39 on both sides of the slide rail 18 move away from each other. The upper side of the fixed frame 11 is threadedly connected with an extension rod 16 through a threaded tube 14. A camera body 17 is arranged on the upper end of the extension rod 16. A control module 15 and a GPS module 40 are arranged at the bottom of the camera body 17 respectively. The control module 15 is used to execute the instructions sent by the control room and return the positioning information of the GPS module 40 and the picture captured by the camera body 17. A battery 78 is arranged at the bottom of the walking device 1, and the battery 78 is used to power all electrical appliances carried by the device.

[0041] As an optional embodiment, the walking device 1 includes a support plate 29, two rotating shaft mounting seats 32 are arranged at the bottom of the support plate 29, the rotating shaft mounting seats 32 are rotatably connected to two track wheels 34 through a third rotating shaft 33, and the track wheels 34 are adapted to the rails 80, a first sprocket 35 is fixedly connected to the surface of the third rotating shaft 33, a power motor 37 is arranged at the bottom of the support plate 29, a second sprocket 38 is fixedly connected to the output shaft of the power motor 37, the second sprocket 38 is transmission-connected to the two first sprockets 35 through a chain 36, and the second sprocket 38 is driven to rotate by the power motor 37, the second sprocket 38 can drive the two third rotating shafts 33 to rotate by cooperating with the chain 36 and the two first sprockets 35, the four track wheels 34 can be driven to rotate through the two third rotating shafts 33, and the walking device 1 can be driven to move on the rails 80 through the four track wheels 34.

[0042] A spraying assembly 4 is provided on the upper side of the walking device 1, and the spraying assembly 4 is used to spray water-soluble dye onto the ground to mark the geographical location. The spraying assembly 4 combined with the GPS module 40 can perform accurate location marking, thereby facilitating the staff to reach the location where the contact network needs maintenance.

[0043] The spraying assembly 4 includes a mounting frame 25, and the mounting frame 25 is fixedly connected to the upper side of a support plate 29. A storage tank 26 and a water pump 27 are respectively arranged at the bottom of the mounting frame 25. The input end of the water pump 27 is connected to the storage tank 26 through a connecting pipe 28. The storage tank 26 is arranged to store water-soluble dyes. The dyes in the storage tank 26 are extracted by the water pump 27 and sprayed onto the ground, thereby completing the marking. The dyes are water-soluble and can be washed away during rainfall.

[0044] The limiting assembly 3 includes a first mounting seat 21 and a first gear 24. The upper side of the support plate 29 is fixedly connected to a first electric push rod 22 through the first mounting seat 21. The movable end of the first electric push rod 22 is fixedly connected to an arc-shaped toothed plate 23. The arc-shaped toothed plate 23 is adapted to the first gear 24 fixed on the surface of the first rotating shaft 5. When it is necessary to limit the first rotating shaft 5, the arc-shaped toothed plate 23 is moved by the first electric push rod 22 to engage with the first gear 24, and then the first rotating shaft 5 cannot rotate.

[0045] Two clamping mechanisms 2 are symmetrically arranged on the upper side of the walking device 1 with the first rotating shaft 5 as the center. The clamping mechanism 2 includes a U-shaped plate 68, and the U-shaped plate 68 is fixedly connected to the upper side of the support plate 29. A slide groove 73 is provided in the U-shaped plate 68, and two sliders 71 are slidably arranged in the slide groove 73. A clamping plate 74 is fixedly connected to the side of the slider 71, and the opposite surfaces of the two clamping plates 74 are fixedly connected to rubber pads 75. The side of the U-shaped plate 68 facing away from the clamping plate 74 is fixedly connected to two fixing plates 69, and a screw 2 72 is rotatably connected between the two fixing plates 69, and the screw 2 The end face of the second rod 72 is fixedly connected to a turntable 76, and the surface of the second screw rod 72 is provided with two threads in opposite directions, and the outer surface of each thread is threadedly connected to a threaded sleeve 70, and the two threaded sleeves 70 are respectively fixedly connected to the two sliders 71. The clamping mechanism 2 is used to clamp the ladder that the staff climbs up when maintaining the contact network. When the contact network needs to be maintained, the staff can place the climbing ladder between the two clamping mechanisms 2 on the support plate 29, and then clamp the two sides of the climbing ladder through the two clamping mechanisms 2, thereby improving the stability of the ladder.

[0046] The moving mechanism 6 includes a fixed plate 51, a T-shaped slot 79 is provided in the fixed plate 51, a T-shaped slider 55 is slidably provided in the T-shaped slot 79, the bottom of the T-shaped slider 55 is fixedly connected to the first rotating shaft 5, a screw 52 is rotatably connected in the T-shaped slot 79, a threaded sleeve 54 is threadedly connected to the surface of the screw 52, ​​the threaded sleeve 54 is fixedly connected to the T-shaped slider 55, and a motor 53 for rotating the screw 52 is provided on the side of the fixed plate 51. The screw 52 is rotated by the motor 53, so that the screw 52 threadably transmits the threaded sleeve 54. The threaded sleeve 54 can move the T-shaped slider 55 by cooperating with the T-shaped slot 79, and the first rotating shaft 5 can be driven to move by the T-shaped slider 55.

[0047] The supporting mechanism 39 includes a connecting plate 59 and a third electric push rod 60, which are respectively fixed on the upper and lower sides of the movable plate 20. The movable end of the third electric push rod 60 is fixedly connected to a rectangular sleeve 62. Two rectangular plates 65 are slidably arranged in the rectangular sleeve 62. The rectangular plates 65 and the rectangular sleeve 62 are clearance-matched, and the opposite sides of the two rectangular plates 65 are provided with a wire groove 77. The upper and lower side walls of the rectangular sleeve 62 are respectively provided with a first rectangular groove and a second rectangular groove. The two sides of the bottom of the rectangular sleeve 62 are provided with a second traction rope 61. The end of the second traction rope 61 away from the rectangular sleeve 62 passes through the second rectangular groove, the wire groove 77 and the first rectangular groove in turn and connects with the connecting plate 20. The plate 1 59 is fixedly connected, and the two ends of the second traction rope 61 correspond to each other up and down. The center position of the bottom of the rectangular sleeve 62 is fixedly connected to the connecting plate 2 63, and the opposite sides of the connecting plate 2 63 are fixedly connected to the second telescopic rod 67. The movable end of the second telescopic rod 67 is fixedly connected to the support block 64. The surface of the second telescopic rod 67 is sleeved with a tension spring 66. The two ends of the tension spring 66 are respectively fixedly connected to the support block 64 and the connecting plate 2 63, and the two support blocks 64 are respectively fixedly connected to the bottom of the two rectangular plates 65. When the walking device 1 needs to be lifted up, the rectangular sleeve 62 is pushed downward by the third electric push rod 60. When the rectangular sleeve 62 moves downward, the two rectangular plates 65 pull the two second traction ropes 61 Under the joint action of the two supporting blocks 64, they are away from each other, thereby increasing the distance between the two supporting blocks 64, and further improving the stability of the entire device after the supporting mechanism 39 lifts the walking device 1. The supporting mechanism 39 used in the device is different from the traditional equipment with a supporting function. The traditional supporting setting is generally based on retractable components such as electric push rods or cylinders, and has a single functionality. The supporting mechanism 39 of the device has a basic supporting function and includes a lateral retractable mechanism, that is, two rectangular plates 65. By increasing the distance between the two rectangular plates 65, the stability during the supporting process can be improved, and this process is completely carried out in accordance with the extension and retraction of the third electric push rod 60, without adding other electric equipment or driving devices. In addition, when the two support blocks 64 are in contact with the ground, if the third electric push rod 60 is still extended, if the ground is not hardened at this time, the two support blocks 64 will dig a foundation pit corresponding to its volume on the ground, and the two support blocks 64 will sink into the ground, thereby further increasing the stability of the device. The supporting mechanism 39 has good linkage, so the operation steps are simple. When the supporting is not needed, the third electric push rod 60 is retracted, and the two rectangular plates 65 are close to each other under the action of the two tension springs 66, thereby reducing the volume of the entire supporting mechanism 39. The supporting mechanism 39 further improves the overall use effect and practicality of the device.

[0048] The elastic member 19 includes a third mounting seat 56, and a first telescopic rod 58 is fixedly connected to the bottom of the slide rail 18 through the third mounting seat 56. The movable end of the first telescopic rod 58 is fixedly connected to the third electric push rod 60. A spring 57 is sleeved on the surface of the first telescopic rod 58, and the two ends of the spring 57 are respectively fixedly connected to the third electric push rod 60 and the third mounting seat 56.

[0049] By adopting the above structure, the support frame 30 and the universal wheel 31 are provided to facilitate the movement of the device, and the device is moved to the side of the rail 80 so that the length direction of the moving mechanism 6 is perpendicular to the rail 80, and then the fourth rotating shaft 45 is rotated by the driving assembly 8, and the fourth rotating shaft 45 drives the slide rail 18 to rotate ninety degrees. At this time, the slide rail 18 will be perpendicular to the rail 80 and cross the rail 80. At the same time, the fourth rotating shaft 45 will drive the second rotating shaft 10 and the two winding drums 9 to rotate through the transmission assembly 7, so that the winding drums 9 release the first traction rope 12. When the winding drums 9 release the first traction rope 12, the two supporting mechanisms 39 will move away from each other under the push of the two elastic members 19. When the slide rail 18 rotates ninety degrees, the distance between the two supporting mechanisms 39 is at the maximum state. Then, the height of the walking device 1 will be lifted by the two supporting mechanisms 39, so that the bottom of the walking device 1 is higher than the rail 80, and then the moving Mechanism 6 translates the walking device 1 to be directly above the rail 80, and at the same time rotates the walking device 1 to adjust the posture of the walking device 1 so that the walking device 1 can be completely aligned with the rail 80. After the posture of the walking device 1 is adjusted, the first rotating shaft 5 is locked by the limit assembly 3 to prevent the walking device 1 from rotating. Finally, the height of the walking device 1 is lowered by the supporting mechanism 39 until the walking device 1 falls on the rail, thereby completing the rail entry work, which not only reduces the physical consumption of the staff and the occupancy of large-scale lifting equipment, but also effectively improves the rail entry efficiency of the device. After the device is on the rail, the slide rail 18 is rotated back in the opposite direction so that the length direction of the slide rail 18 is parallel to the rail 80. At that time, the distance between the two supporting mechanisms 39 will also shrink to the minimum state, thereby effectively reducing the size of the device to prevent interference from other objects during the travel process.

[0050] The walking device 1 can be used to enable the device to move along the rail 80. The staff in the control room can inspect the contact network along the railway through the camera body 17. When a problem is found, the GPS module 40 can be used to record the current position, so that it is convenient for the staff to go to the site to deal with it. When the inspection work is completed, when the device needs to be removed from the rail 80, just repeat the track entry process. The difference between the departure operation step and the track entry step is that when entering the track, the walking device 1 is moved from the ground to the upper side of the rail 80 by the moving mechanism 6, and when leaving the track, the walking device 1 is moved from the upper side of the rail 80 to the upper side of the flat ground by the moving mechanism 6. Through the above settings, the device saves a lot of time and manpower when leaving and entering the track, which brings great convenience to the staff's inspection work.

[0051] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A railway overhead line inspection robot, characterized in that: The invention comprises a walking device (1) and a moving mechanism (6), wherein the walking device (1) is used to drive the device to move along a rail (80), two support frames (30) are symmetrically arranged at the bottom of the walking device (1), two universal wheels (31) are arranged at the bottom of the support frames (30), and the universal wheels (31) are used to move the device, a first rotating shaft (5) is rotatably connected to the upper side of the walking device (1), a limiting component (3) for limiting the rotation of the first rotating shaft (5) is arranged at the upper side of the walking device (1), the moving mechanism (6) can move the walking device (1) via the first rotating shaft (5), and a fourth rotating shaft (45) is rotatably connected to the upper side of the moving mechanism (6). ), and the upper end of the fourth rotating shaft (45) is fixedly connected to a slide rail (18), a driving assembly (8) for rotating the fourth rotating shaft (45) is arranged on the upper side of the moving mechanism (6), a fixed frame (11) is fixedly connected to the upper side of the moving mechanism (6), the fixed frame (11) is rotatably connected to two winding disks (9) via the second rotating shaft (10), a transmission assembly (7) is arranged on the upper side of the moving mechanism (6), the transmission assembly (7) is used to link the fourth rotating shaft (45) and the second rotating shaft (10), the fourth rotating shaft (45) and the second rotating shaft (10) rotate in the same direction, and if the fourth rotating shaft (45) rotates half a circle, the second rotating shaft (10) rotates several circles; Two movable plates (20) are slidably arranged in the slide rail (18), and the movable plates (20) and the slide rail (18) are clearance-matched, and opposite ends of the two movable plates (20) are fixedly connected to a supporting mechanism (39), and the supporting mechanism (39) can lift the walking device (1) by cooperating with the ground, so that the walking device (1) is away from the rail (80); The moving mechanism (6) comprises a fixed plate (51), a T-shaped slide groove (79) is provided in the fixed plate (51), a T-shaped slider (55) is slidably provided in the T-shaped slide groove (79), a first rotating shaft (5) is fixedly connected to the bottom of the T-shaped slider (55), a screw rod (52) is rotatably connected in the T-shaped slide groove (79), a threaded sleeve (54) is threadedly connected to the surface of the screw rod (52), the threaded sleeve (54) is fixedly connected to the T-shaped slider (55), and a motor (53) for rotating the screw rod (52) is provided on the side of the fixed plate (51).

2. A railway overhead line inspection robot according to claim 1, characterized in that: The upper side of the movable plate (20) is fixedly connected to a first traction rope (12) through a connecting rod (13), and the ends of the two first traction ropes (12) that are separated from the connecting rod (13) are fixedly connected to two winding reels (9) respectively. The bottom of the slide rail (18) is symmetrically provided with two elastic members (19), and the elastic members (19) are used to push the supporting mechanism (39) so that the supporting mechanisms (39) on both sides of the slide rail (18) are separated from each other. The upper side of the fixed frame (11) is threadedly connected to an extension rod (16) through a threaded cylinder (14). The upper end of the extension rod (16) is provided with a camera body (17). The bottom of the camera body (17) is respectively provided with a control module (15) and a GPS module (40). The control module (15) is used to execute instructions sent by the control room and return positioning information of the GPS module (40) and images captured by the camera body (17). The bottom of the walking device (1) is provided with a storage battery (78), and the storage battery (78) is used to supply power to all electrical appliances carried by the robot.

3. A railway overhead line inspection robot according to claim 2, characterized in that: The walking device (1) comprises a support plate (29), two rotating shaft mounting seats (32) are arranged at the bottom of the support plate (29), the rotating shaft mounting seats (32) are rotatably connected to two track wheels (34) via a third rotating shaft (33), and the track wheels (34) are adapted to the rails (80), a first sprocket (35) is fixedly connected to the surface of the third rotating shaft (33), a power motor (37) is arranged at the bottom of the support plate (29), a second sprocket (38) is fixedly connected to the output shaft of the power motor (37), and the second sprocket (38) is drivingly connected to the two first sprockets (35) via a chain (36).

4. The railway overhead line inspection robot according to claim 3, characterized in that: A spraying assembly (4) is arranged on the upper side of the walking device (1), and the spraying assembly (4) is used to spray a water-soluble dye onto the ground to mark the geographical location.

5. The railway overhead line inspection robot according to claim 4, characterized in that: The spraying assembly (4) comprises a mounting frame (25), the mounting frame (25) being fixedly connected to the upper side of the support plate (29), a storage tank (26) and a water pump (27) being respectively arranged at the bottom of the mounting frame (25), and an input end of the water pump (27) being connected to the storage tank (26) via a connecting pipe (28).

6. The railway overhead line inspection robot according to claim 5, characterized in that: The limit assembly (3) comprises a first mounting seat (21) and a first gear (24); the upper side of the support plate (29) is fixedly connected to a first electric push rod (22) via the first mounting seat (21); the movable end of the first electric push rod (22) is fixedly connected to an arc-shaped toothed plate (23); the arc-shaped toothed plate (23) is adapted to fit a first gear (24) fixed to the surface of the first rotating shaft (5).

7. A railway overhead line inspection robot according to claim 6, characterized in that: Two clamping mechanisms (2) are symmetrically arranged on the upper side of the walking device (1) with the first rotating shaft (5) as the center, and the clamping mechanism (2) comprises a U-shaped plate (68), the upper side of the support plate (29) is fixedly connected to the U-shaped plate (68), a slide groove (73) is provided in the U-shaped plate (68), two sliding blocks (71) are slidably arranged in the slide groove (73), a clamping plate (74) is fixedly connected to the side of the sliding block (71), and the opposite surfaces of the two clamping plates (74) are fixedly connected to rubber The U-shaped plate (68) is fixedly connected to one side of the clamping plate (74) with two fixing plates (69), and a screw (72) is rotatably connected between the two fixing plates (69). The end surface of the screw (72) is fixedly connected to a turntable (76). The surface of the screw (72) is provided with two threads in opposite directions, and the outer surface of each thread is threadedly connected to a threaded sleeve (70), and the two threaded sleeves (70) are respectively fixedly connected to the two sliders (71).

8. The railway overhead line inspection robot according to claim 2, characterized in that: The supporting mechanism (39) comprises a connecting plate (59) and a third electric push rod (60), wherein the connecting plate (59) and the third electric push rod (60) are respectively fixed to the upper and lower sides of the movable plate (20), wherein the movable end of the third electric push rod (60) is fixedly connected to a rectangular sleeve (62), wherein two rectangular plates (65) are slidably arranged in the rectangular sleeve (62), wherein the rectangular plates (65) and the rectangular sleeve (62) are clearance-matched, and wire grooves (77) are provided on opposite sides of the two rectangular plates (65), wherein the upper and lower side walls of the rectangular sleeve (62) are respectively provided with a first rectangular groove and a second rectangular groove, and a second traction rope (61) is provided on both sides of the bottom of the rectangular sleeve (62), and the second traction rope (61) is provided on both sides of the bottom of the rectangular sleeve (62). ) one end away from the rectangular sleeve (62) passes through the second rectangular groove, the wire groove (77) and the first rectangular groove in sequence and is fixedly connected to the connecting plate one (59), and the two ends of the second traction rope (61) correspond to each other up and down, the center position of the bottom of the rectangular sleeve (62) is fixedly connected to the connecting plate two (63), and the opposite sides of the connecting plate two (63) are fixedly connected to the second telescopic rod (67), the movable end of the second telescopic rod (67) is fixedly connected to the support block (64), and the surface of the second telescopic rod (67) is sleeved with a tension spring (66), the two ends of the tension spring (66) are respectively fixedly connected to the support block (64) and the connecting plate two (63), and the two support blocks (64) are respectively fixedly connected to the bottoms of the two rectangular plates (65).

9. The railway overhead line inspection robot according to claim 8, characterized in that: The elastic member (19) comprises a third mounting seat (56), the bottom of the slide rail (18) is fixedly connected to a first telescopic rod (58) via the third mounting seat (56), a movable end of the first telescopic rod (58) is fixedly connected to a third electric push rod (60), a spring (57) is sleeved on the surface of the first telescopic rod (58), and two ends of the spring (57) are respectively fixedly connected to the third electric push rod (60) and the third mounting seat (56).

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