Automatic inspection device for overhead line system of electrified railway

Abstract

The invention provides an automatic inspection device for an electrified railway contact network, and relates to the technical field of electrified railway inspection. Comprising a plurality of modular assemblies which are sequentially connected through connecting joints. The modular assembly includes: a frame; the moving assembly is used for being connected to a bearing cable of the electrified railway overhead line system and driving the modular assembly to advance on the bearing cable; a link assembly connecting the moving assembly to the frame and maintaining the moving assembly in contact with the carrier cable; and the balance assembly is mounted on the frame and used for keeping the modular assembly to move forwards on the bearing cable in a vertical posture. According to the invention, the insulation resistance and the leakage capacitance on any branch in the power supply system can be monitored. The automatic inspection device can advance on the bearing cable of the overhead line system for inspection, does not work on the contact line of the overhead line system, can carry out continuous measurement inspection on the electrified railway contact network, does not need to work when railway service is suspended, and has better railway overhead line system inspection convenience.

Description

Technical Field

[0001] The present invention belongs to the technical field of electrified railway inspection, and more specifically, relates to an automatic inspection device for an electrified railway contact network. Background Art

[0002] The overhead contact network is used to transmit electrical energy to trains and is an important part of electric railways. It is responsible for providing power supply to trains. However, long-term use and environmental factors may cause failures in the overhead contact network, which in turn poses a potential risk to train operation safety and passenger safety. In order to ensure the safety and reliability of the overhead contact network, as well as to detect potential failures and repair problems in a timely manner, regular inspections and monitoring are required.

[0003] Prior art CN212195167U discloses an automatic inspection device for an electrified railway contact network, comprising a base and a walking mechanism connected to the base, the walking mechanism comprising a plurality of walking wheels, the walking wheels being arranged on the concave suspension grooves on both sides of the contact wire conductor, the base being hung upside down on the contact wire, and the walking mechanism being used to walk along the contact wire; a driving mechanism connected to the base, the driving mechanism comprising a plurality of drivers, each driver being connected to a corresponding walking wheel, and the driver being used to drive the corresponding walking wheel to rotate; and a contact network detection mechanism comprising two detectors respectively arranged on both sides of the contact wire in the length direction, the detector comprising a camera, an infrared sensor and a data management module, the camera and the infrared sensor being connected to the corresponding data management module, and the data management module being used to wirelessly transmit the collected data. However, the existing automatic inspection device for an electrified railway contact network walks on the contact wire of the contact network, and since it is easy to interfere with the pantograph of the train and cause a hidden danger to the operation safety of the train, the inspection device can only work when the railway service is suspended, resulting in inconvenience in the inspection of the railway contact network. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic inspection device for electrified railway contact network, which moves forward on the load-bearing cables of the contact network without interfering with the pantograph of the train. The inspection can be performed during railway service operations, thereby improving the convenience of railway contact network inspection.

[0005] To achieve the above-mentioned object, the present invention provides an automatic inspection device for an electrified railway contact network, comprising: a plurality of modular components connected in sequence through connecting joints, wherein the modular components are equipped with sensors and cameras for railway contact network inspection; The modular components include: frame; A moving assembly for connecting to a load-bearing cable of an electrified railway overhead line and driving the modular assembly forward on said load-bearing cable; a link assembly connecting the moving assembly to the frame and maintaining the moving assembly in contact with the load cables; A balancing assembly is mounted on the frame and is used to keep the modular assembly moving forward on the load-bearing cable in a vertical posture.

[0006] Further, the frame includes a front closing plate, a rear closing plate, and a connecting plate connecting the front closing plate and the rear closing plate; The balancing assembly includes a pair of linear actuators and a pair of balancing blocks, the pair of linear actuators are supported on the front closing plate and the rear closing plate respectively, the upper ends of the pair of linear actuators are arranged on the balancing assembly symmetrically with respect to the supporting cable, and the pair of balancing blocks are respectively arranged at the lower ends of the pair of linear actuators and located below the supporting cable; the balancing assembly also includes a rotating actuator arranged on the frame.

[0007] Furthermore, the mobile component comprises: a saddle at the front; A moving mechanism located in the middle, used to drive the modular assembly forward on the carrying cable; A sleeve at the rear, consisting of two separable parts, can be clamped around the carrying cable and slid.

[0008] Furthermore, the moving mechanism includes two track wheels, each track wheel includes a belt that transmits the movement of two driving wheels to five idle wheels and is equipped with the same number of elastic suspensions, the driving wheels are driven by a driving motor, and the two track wheels are symmetrically installed on the moving assembly relative to the vertical axis of the load-bearing cable.

[0009] Furthermore, the moving mechanism comprises a pair of rollers having concave surfaces, the concave surfaces of the pair of rollers are installed to be tangent to the load-bearing cables below, and the rollers are driven by a driving motor.

[0010] Furthermore, the sleeve also serves as a current grabber for the load-bearing cable, which includes an induction coil for powering the battery of the modular assembly. The sleeve consists of two semicircular electromagnetic elements, which are connected by a hinge to surround the load-bearing cable, and each semicircular electromagnetic element is connected to the frame through an actuator.

[0011] Furthermore, the moving assembly further comprises a safety assembly, and the safety assembly is used to lock the modular assembly with the load-bearing rope to prevent it from falling off when the modular assembly is moving.

[0012] Further, a plurality of proximity sensors are arranged around the saddle at the front of the moving assembly.

[0013] Furthermore, the connecting rod mechanism includes a pair of pivot connecting rod assemblies arranged symmetrically in the front and rear and a pair of screw rods arranged symmetrically in the left and right directions. The pivot connecting rod assemblies can rotate around a pivot axis extending in the left and right directions. The upper ends of the pair of pivot connecting rod assemblies are connected to the connecting blocks of the frame through pins, and the lower ends of the pair of pivot connecting rod assemblies are connected to the top of the moving mechanism through pins. The pair of screw rods are connected to the front and rear opposite ends of the pivot axes of the pair of pivot connecting rod assemblies through threaded cooperation.

[0014] Furthermore, each of the connecting joints is composed of a movable parallelogram structure to allow two consecutive modular components to deflect relative to the vertical axis, and the two ends of each of the connecting joints are connected to the frames of the front and rear adjacent modular components through rotating joints that can rotate around an axis extending in the left and right directions.

[0015] The beneficial effects brought about by the technical solution adopted by the present invention are: (1) The automatic inspection device for the contact network of an electrified railway of the present invention comprises a plurality of modular components connected in sequence by connecting joints, wherein the modular components are equipped with sensors and cameras for the inspection of the contact network of the railway; the modular components comprise: a frame; a moving component, which is used to connect to the load-bearing cable of the contact network of the electrified railway and drive the modular component to move forward on the load-bearing cable; a connecting rod component, which connects the moving component to the frame and keeps the moving component in contact with the load-bearing cable; and a balancing component, which is installed on the frame and is used to keep the modular component moving forward on the load-bearing cable in a vertical posture; so that the automatic inspection device can move forward on the load-bearing cable of the contact network for inspection instead of working on the contact wire of the contact network, thereby eliminating interference with the pantograph of the train and causing hidden dangers to the operation safety of the train, and can perform uninterrupted measurement and inspection on the contact network of the electrified railway without having to work only when the railway service is suspended, thereby providing better convenience for the inspection of the contact network of the railway; (2) The present invention provides a balancing assembly including a pair of linear actuators, a pair of balancing blocks and a rotary actuator. The upper ends of the pair of linear actuators are arranged symmetrically on the balancing assembly with an inclination toward the load-bearing cable. The pair of balancing blocks are respectively arranged at the lower ends of the pair of linear actuators and below the load-bearing cable. The balancing assembly can balance and compensate for any external force interference, thereby maintaining a vertical posture and performing inspection work stably and reliably. (3) The present invention provides a sleeve composed of two semicircular electromagnetic elements, which are connected by a hinge to surround the load-bearing cable, and each semicircular electromagnetic element is connected to the frame by an actuator, which can open the sleeve to overcome obstacles when the modular assembly is operated; (4) The present invention allows two consecutive modular components to deflect relative to the vertical axis by providing a connecting joint composed of a movable parallelogram structure. The two ends of each connecting joint are connected to the frames of the front and rear adjacent modular components through rotating joints that can rotate around an axis extending in the left and right directions, so that the modular components can adapt to changes in the curvature and height of the load-bearing cable during the forward movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram showing the automatic inspection device of the present invention on the load-bearing cable of the electrified railway contact network; Figure 2 The overall external structure diagram of the automatic inspection device is shown; Figure 3 The structural diagram of each modular component inside the automatic inspection device is shown; Figure 4 A partially exploded schematic diagram showing the modular components of the automatic inspection device; Figure 5 A partially exploded schematic diagram showing modular components; Figure 6 A front view of the modular components is shown; Figure 7 A side view of the modular assembly is shown; Figure 8 The configuration of the balance assembly in the vertical attitude position is shown; Fig. 9 The configuration of the balance assembly when subjected to an external force to the right is shown; Fig.10 The configuration of the balance assembly when subjected to an external force to the left is shown; Fig.11 A schematic diagram showing the balance of angular momentum by the stabilizing torque generated by the rotation of the rotary actuator; Fig.12 A schematic diagram showing the structure of the mobile assembly of the first embodiment is shown; Fig.13 A front view of the moving assembly of the first embodiment is shown; Fig.14 A schematic diagram showing the structure of the mobile assembly of the second embodiment is shown; Fig.15 A front view of the moving assembly of the second embodiment is shown; Fig.16 A top view of the mobile assembly is shown; Fig.17 A schematic diagram showing the structure of the modular components connected to the load-bearing cables when the safety component is in the open position; Fig.18An enlarged partial view showing the connection between the modular assembly and the load-bearing cable when the safety assembly is in the open position; Fig.19 A schematic diagram showing the structure of the modular components connected to the load-bearing cables when the safety component is in the closed position; Fig. 20 An enlarged partial view showing the connection between the modular assembly and the load-bearing cable when the safety assembly is in the closed position; Fig.21 A partial cross-sectional side view showing the automatic inspection device overcoming an obstacle; Fig. 22 Shown Fig.21 A partial enlarged view of a part; Fig.23 It shows the top view of the automatic inspection device on the XY plane when the curvature of the load-bearing cable changes; Fig.24 Shown Fig.23 Side view of Fig.25 A schematic diagram of the automatic inspection device on the XY plane and the XZ plane when the curvature and horizontal height of the load-bearing cable change is shown. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and effect of the present invention more clearly understood, the embodiments of the present invention will now be further described in conjunction with the accompanying drawings.

[0018] Figure 1 The schematic diagram of the automatic inspection device of the present invention on the carrying cable of the electrified railway contact network is shown, wherein only a small section of the electrified railway contact network is partially shown. The electrified railway contact network includes a support pole 3, an insulator 6, a carrying cable 4, a contact wire 5, a guy wire 8 and a suspension wire 7 that allows the contact wire 5 to maintain a constant height relative to the carrying cable 4. The automatic inspection device 100 is installed on the carrying cable 4.

[0019] Figure 2 and 3 The external structural diagram of the entire automatic inspection device and the structural diagram of each modular component inside the automatic inspection device are respectively shown. The automatic inspection device 100 is composed of three modular components 110 connected by two connecting joints 380, and is equipped with sensors and cameras such as a laser radar sensor 501, an RGB camera 502, and a thermal imaging camera 503 for railway contact network inspection. It should be understood that in an optional embodiment, the modular components 110 are not limited to three, and can also be multiple modular components 110 of other numbers.

[0020] Figure 4A partial exploded schematic diagram of the modular component 110 of the automatic inspection device 100 in FIG. 2 is shown, illustrating that the modular component 110 includes a frame 200 , a balancing component 400 and a moving component 300 .

[0021] Figure 5 , 6 7 show a partial exploded schematic diagram, a front view and a side view of the modular assembly 110, respectively. A symmetrically configured balancing device 400 is installed in the frame 200, and the balancing device 400 includes two linear actuators 403 and a pair of balancing blocks 402. The frame 200 includes a front closing plate 405 and a rear closing plate 406, which support the two linear actuators 403 and are used to accommodate multiple batteries required to provide power to the modular assembly 110 of the automatic inspection device 100. The battery serves as a balancing block 402, which will be described later. The balancing assembly 400 is intended to keep the vertical axis of each modular assembly 110 of the automatic inspection device 100 perpendicular to the railway track, regardless of the curvature of the load-bearing cable 4 at the contact point. Obviously, other embodiments of the balancing assembly that do not use a balancing block can be adopted. The connecting plate 407 is located between the front closing plate 405 and the rear closing plate 406, which is shown in more detail in FIG. 5, and its structure is designed to receive the rotary actuator 401.

[0022] Figure 8 , 9 and 10 show the configuration of the balance assembly at different center of gravity positions. Fig.11 It is demonstrated that the stabilizing torque generated by the rotation of the rotary actuator 401 is used to maintain the balance of angular momentum. Figure 8 , 9 , 10, and 11 show the forces on each modular component 110 of the automatic inspection device 100 during its travel along the load-bearing cable 4. The modular component 110 can be stabilized on the load-bearing cable 4 by the combined control of the balance block 402 and the rotary actuator 401. Given an external force F e1 、F e2 , which tends to cause the modular assembly 110 to rotate around the load cable 4 and possibly detach from it (e.g. Fig. 9 and 10 ), by changing the position of the balancing block 402, a torque C0 is generated, which tends to stabilize the modular assembly 110 and restore it to a balanced state. The synthesis of the torques C0 of different modular assemblies 110 ensures the correct arrangement of the entire automatic inspection device 100. Fig.11 The rotary actuator 401 disposed on the frame 200 is shown to rotate continuously at a speed W, and the stabilizing torque comes from the conservation of angular momentum caused by the angular change of the rotation axis J2 due to any obstacles or changes in attitude during travel.

[0023] Specifically, Figure 8 As shown, the upper ends of a pair of linear actuators 403 are arranged symmetrically on the balancing assembly 400 with an inclination toward the load-bearing cable 4, and a pair of balancing blocks 402 are respectively arranged at the lower ends of the pair of linear actuators 403 and below the load-bearing cable 4. When the modular assembly 110 is not affected by external forces affecting the balance and runs in a vertical posture with the balance axis P horizontal, the gravity moment of the pair of balancing blocks 402 around the load-bearing cable 4 is offset, and the modular assembly 110 maintains a balanced vertical posture and moves forward. Fig. 9 As shown, when the modular assembly 110 is subjected to a rightward external force F e1 When the modular assembly 110 is tilted to the right, the balance axis P and the horizontal axis P' form an inclined angle θ. In order to restore the vertical posture of the modular assembly 110, the linear actuator 403 on the right side is controlled to drive the balance block 402 on the right side to move upward, so that the gravity moment F of the balance block 402 on the left side around the load-bearing cable 4 is p1 Greater than the gravity moment F of the right balancing block 402 around the load-bearing cable 4 p2 , and the counterclockwise moment C0 is generated to make the modular assembly 110 tilt to the left and return to a balanced vertical posture state. Fig.10 As shown, when the modular assembly 110 is subjected to a leftward external force F e2 When the modular assembly 110 tilts to the left, the balance axis P and the horizontal axis P' form an inclined angle -θ. In order to restore the vertical posture of the modular assembly 110, the linear actuator 403 on the left side is controlled to drive the balance block 402 on the left side to move upward, so that the gravity moment F of the balance block 402 on the right side around the load-bearing cable 4 is p2 Greater than the gravity moment F of the left balancing block 402 around the load-bearing cable 4 p1 , and a clockwise moment C0 is generated to cause the modular assembly 110 to tilt to the right and return to a balanced vertical posture state.

[0024] Fig.12 and 13 The schematic diagram and the front view of the moving assembly of the first embodiment are shown respectively. The modular assembly 110 is equipped with an assembly for firmly and controlled advancement along the load-bearing cable 4, the moving assembly 300 is installed above the center of gravity of the modular assembly 110, and the connecting rod mechanism 330 connects the frame 200 to the moving assembly 300.

[0025] Combination Figure 4As shown, in the first embodiment, the moving assembly 300 includes the following structure, wherein the front portion thereof has a saddle 301, and the rear portion thereof has a sleeve 302, the sleeve 302 is composed of two separable parts, which can be clamped and wrapped around the carrying cable 4 and slide. The moving assembly 300 also includes a moving mechanism 310, and the moving mechanism 310 includes two track wheels 320. Each track wheel 320 includes a belt 321 that transmits the motion of two driving wheels 322 to five idler wheels 323 and is equipped with the same number of elastic suspensions 324, and the driving wheels 322 are driven by a driving motor. Fig.13 As shown, two track wheels 320 are symmetrically mounted on the mobile assembly 300 relative to the vertical axis J1 of the load-bearing cable 4. The vertical axis J1 coincides with the vertical axis or z-axis of the modular assembly 110 and is perpendicular to the railway track. The inclination angle of each track wheel 320 relative to the vertical axis J1 is at least 20°, which allows the mobile mechanism 310 of the modular assembly 110 to have as large a contact surface as possible with the load-bearing cable 4, which can ensure that the mobile mechanism 310 moves stably along the load-bearing cable 4 and flexibly adapts to any obstacles on the way.

[0026] Fig.14 and 15 The structural diagram and front view of the moving component of the second embodiment are respectively shown. Fig.14 and 15 The reference numerals of the previous figures are retained, and 330 represents a connecting rod mechanism, 300 represents a moving assembly, and 350 represents a moving mechanism. The moving mechanism includes a pair of rollers 311 with concave surfaces. The concave surfaces of the pair of rollers 311 are installed to be tangent to the supporting cable 4 below so that the pair of rollers 311 can roll stably on the supporting cable 4. The rollers 311 are driven by a driving motor.

[0027] Fig.16 Shows a top view of the mobile components, combined with Fig.11 , 12 As shown in Figures 14 and 15, the link mechanism 330 is used to connect the moving assembly 300 with the frame 200 and to keep the moving mechanisms 310 and 350 in contact with the load-bearing cable 4. Specifically, the link mechanism 330 includes a pair of pivoting link assemblies arranged symmetrically in front and back and a pair of screw rods 336 arranged symmetrically in left and right directions. The pivoting link assemblies can rotate around a pivot shaft 335 extending in the left and right directions. The upper ends of the pair of pivoting link assemblies are connected to the connecting blocks of the frame 200 through a pin shaft, and the lower ends of the pair of pivoting link assemblies are connected to the tops of the moving mechanisms 310 and 350 through a pin shaft. The pair of screw rods 336 are connected to the front and rear opposite ends of the pivot shaft 335 of the pair of pivoting link assemblies through threaded engagement. By rotating the screw rod 336, the pair of pivoting link assemblies can be driven to adjust the height of the pivoting link assemblies, thereby adjusting the height of the frame 200 relative to the load-bearing cable 4.

[0028] In addition, if Fig.11 , 12 As shown in Figures 14 and 16, each pair of pivot link assemblies of the link mechanism 330 includes a pair of pivot link groups symmetrically arranged on the left and right. A return spring 331 is transversely sleeved on the pin shaft connected to the lower end of the pivot link assembly and the top of the moving mechanism 310, 350, and is located between the pivot link groups symmetrically arranged on the left and right. The return spring 331 is decoupled from the rotation of the pivot link group and is used to keep the moving assembly 300 symmetrical relative to the load-bearing cable 4 during movement, thereby maintaining the vertical posture of the modular assembly 110.

[0029] like Figure 4 , 8 As shown in FIGS. 9 , 10 , 11 , 12 , 13 , 14 and 15 , in each modular component 110 , the moving component 300 is also equipped with a safety component 340 . Fig.17 and 18 The schematic diagram and partial enlarged diagram of the structure of the connection between the modular components and the load-bearing cables when the safety component is in the open position are shown respectively. Fig.19 and 20 The schematic diagram and partial enlarged diagram of the structure of the connection between the modular component and the load-bearing cable when the safety component is in the closed position are respectively shown. The safety component 340 includes two separate annular rods 341. The annular rods 341 are configured to be retractable and are equipped with rollers 342 to reduce friction with the load-bearing cable 4. Stretching the two annular rods 341 to close them can fix the modular component 110 on the load-bearing cable 4, and compressing the two annular rods 341 to open them can unlock the lock between the modular component 110 and the load-bearing cable 4. The safety component 340 provides protection for the modular component 110 around the load-bearing cable 4 to prevent it from falling off the load-bearing cable 4 during travel. A plurality of proximity sensors 345 are arranged around the saddle 301 at the front of the moving component 300. The proximity sensors 345 allow obstacles to be detected on the travel path of the modular component 110, and control the safety component 340 to open when approaching an obstacle so that the obstacle can be crossed. This is Fig.21 and 22 A more detailed display is shown in .

[0030] Fig.21 is a partial cross-sectional side view of the automatic inspection device 100 when overcoming an obstacle. Fig. 22 yes Fig.21 A partial enlarged view of the Fig.21 , 22As shown, the middle modular component 110 is encountering a suspension cable 7, and the sleeve 302 of the modular component 110 and the annular rod 341 of the safety component 340 are opened to cross the suspension cable 7. The sleeve 302 also serves as a current grabber for the load-bearing cable 4, which is used to power the battery of the modular component 110. The sleeve 302 includes at least one copper induction coil, which generates an induced current through electromagnetic induction with the load-bearing cable 4 and transmits it to the battery of the modular component 110 through a circuit. The current grabber is composed of two semicircular electromagnetic elements, which are connected by a hinge to surround the load-bearing cable 4, and each semicircular electromagnetic element is connected to the frame 200 through an actuator. When the sleeve 302 is clamped and wrapped around the load-bearing cable 4 and slides normally, the current of the two semicircular electromagnetic elements is controlled to make them have an attractive force to close the sleeve 302; when the modular component 110 encounters an obstacle during its movement, such as a suspension cable 7 or an insulator 6, the current of the two semicircular electromagnetic elements is changed to make them have a repulsive force to open the sleeve 302, and the actuator can lift the electromagnetic element to bypass the obstacle on the path and return to the initial state after passing the obstacle.

[0031] Fig.23 The top view of the automatic inspection device on the XY plane when the curvature of the load-bearing cable changes is shown. Fig.24 Shown is Fig.23 Side view of Fig.25 Shown is a schematic diagram of the automatic inspection device on the XY plane and the XZ plane when the curvature and horizontal height of the load-bearing cable change. The connecting joint 380 connects the rear of one modular component to the front of the next modular component. Each connecting joint 380 is composed of a movable parallelogram structure, which allows two consecutive modular components 110 to deflect relative to the vertical axis to adapt to the curvature of the load-bearing cable and overcome any obstacles, and keep the vertical axis of each modular component 110 perpendicular to the railway track. The two ends of each connecting joint 380 are connected to the frames 200 of the front and rear adjacent modular components 110 through rotating joints 420 that can rotate around an axis extending in the left and right directions to adapt to any horizontal deviation of the load-bearing cable 4 along the route. These are Fig.23 , 24 25, which show the possibility of the automatic inspection device 100 adapting to the trajectory changes of the carrying cable 4 in the XY plane, as well as the changes in the XZ plane. Obviously, combined changes in the XY and XZ planes are also possible.

[0032] When the automatic inspection device 100 performs an inspection operation on the electrified railway contact network, at the start, the automatic inspection device 100 is placed on the load-bearing cable 4 of the electrified railway contact network, and the safety component 340 is closed. The current catcher works and activates the drive motor to drive the moving component 300 forward, thereby driving the automatic inspection device 100 to move forward to monitor the electrified railway contact network. The sensor for monitoring the electrified railway contact network runs and saves data during the advance of the automatic inspection device 100, and the collected data can be sent in real time or delayed through access points along the railway route. When an obstacle such as an insulator 6 or a suspension cable 7 is detected, a sequence of steps to overcome it will be initiated, and this operation will be repeated for each modular component 110. The sequence of steps includes stopping the drive motor, opening the safety component, opening the sleeve 302 of the charging system, and restarting the drive motor. If necessary, the affected modular component 110 is lifted, the safety component 340 is closed after overcoming the obstacle, and finally the sleeve 302 of the charging system is closed. When the automatic inspection device 100 reaches the preset destination, it will perform reciprocating inspections on the electrified railway contact network in the opposite direction of the operations at the time of departure.

[0033] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic inspection device for an electrified railway contact network, comprising: A plurality of modular components connected in sequence by connecting joints, wherein the modular components are equipped with sensors and cameras for railway overhead line inspection; Characterized in that the modular components include: frame; A moving assembly for connecting to a load-bearing cable of an electrified railway overhead line and driving the modular assembly forward on said load-bearing cable; a link assembly connecting the moving assembly to the frame and maintaining the moving assembly in contact with the load cables; A balancing assembly is mounted on the frame and is used to keep the modular assembly moving forward on the load-bearing cable in a vertical posture.

2. The automatic inspection device for the overhead contact network of an electrified railway according to claim 1, characterized in that: The frame comprises a front closing plate, a rear closing plate and a connecting plate connecting the front closing plate and the rear closing plate; The balancing assembly includes a pair of linear actuators and a pair of balancing blocks, the pair of linear actuators are supported on the front closing plate and the rear closing plate respectively, the upper ends of the pair of linear actuators are arranged on the balancing assembly symmetrically with respect to the supporting cable, and the pair of balancing blocks are respectively arranged at the lower ends of the pair of linear actuators and located below the supporting cable; the balancing assembly also includes a rotating actuator arranged on the frame.

3. The automatic inspection device for the overhead contact network of an electrified railway according to claim 1, characterized in that: The mobile assembly comprises: a saddle at the front; A moving mechanism located in the middle, used to drive the modular assembly forward on the carrying cable; A sleeve at the rear, consisting of two separable parts, can be clamped around the carrying cable and slid.

4. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: The moving mechanism includes two track wheels, each track wheel includes a belt that transmits the movement of two driving wheels to five idle wheels and is equipped with the same number of elastic suspensions, the driving wheels are driven by a driving motor, and the two track wheels are symmetrically installed on the moving assembly relative to the vertical axis of the load-bearing cable.

5. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: The moving mechanism comprises a pair of rollers with concave surfaces, the concave surfaces of the pair of rollers are installed to be tangent to the load-bearing cables below, and the rollers are driven by a driving motor.

6. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: The sleeve also acts as a current grabber for the load-bearing cable, comprising an induction coil for powering the battery of the modular assembly, the sleeve consisting of two semicircular electromagnetic elements connected by a hinge to surround the load-bearing cable, each semicircular electromagnetic element being connected to the frame by an actuator.

7. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: The moving assembly further comprises a safety assembly, which is used to lock the modular assembly and the load-bearing cable to prevent the modular assembly from falling off when the modular assembly is moving.

8. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: A plurality of proximity sensors are disposed around the saddle at the front of the moving assembly.

9. The automatic inspection device for the overhead contact network of an electrified railway according to claim 3, characterized in that: The connecting rod mechanism includes a pair of pivot connecting rod assemblies arranged symmetrically front to back and a pair of screw rods arranged symmetrically left to right. The pivot connecting rod assemblies can rotate around a pivot axis extending in the left and right directions. The upper ends of the pair of pivot connecting rod assemblies are connected to the connecting blocks of the frame through pins, and the lower ends of the pair of pivot connecting rod assemblies are connected to the top of the moving mechanism through pins. A pair of screw rods are connected to the front and rear opposite ends of the pivot axes of the pair of pivot connecting rod assemblies through threaded cooperation.

10. The automatic inspection device for the overhead contact network of an electrified railway according to claim 1, characterized in that: Each of the connecting joints is composed of a movable parallelogram structure to allow two consecutive modular components to deflect relative to the vertical axis. The two ends of each of the connecting joints are connected to the frames of the front and rear adjacent modular components through rotating joints that can rotate around an axis extending in the left and right directions.

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