Contact line rocker arm type obstacle crossing robot

Abstract

The invention discloses a contact line rocker arm type obstacle crossing robot which comprises a base mechanism, the two sides of the top face of the base mechanism are each provided with two guide clamping mechanisms arranged in a staggered mode through bolts, the middle of the base mechanism is provided with two driving mechanisms arranged in a staggered mode, and the base mechanism is further provided with two rotary lifting mechanisms. The two rotary lifting mechanisms and the two driving mechanisms are located on the same axis, and at least six sets of obstacle detection mechanisms which are oppositely arranged in pairs are installed on the base mechanism and used for enabling the robot to conduct self-adaptive line patrol and obstacle crossing and avoiding. By means of the modular design, continuous walking, automatic obstacle avoidance and abrasion detection are achieved in the using process, and the problems that an existing line patrol robot cannot continuously walk and automatically avoid obstacles and cannot continuously measure complete abrasion detection are solved.

Description

Technical Field

[0001] The invention relates to the technical field of rocker arm type obstacle surmounting, in particular to a contact line rocker arm type obstacle surmounting robot. Background Art

[0002] At present, the contact wire will wear out due to friction with the pantograph. When the wear reaches a certain degree, the contact with the pantograph is no longer stable. The position with a large degree of wear may even cause the line to be disconnected. In severe cases, arcs will be generated, causing the contact network to be burned and causing traffic accidents. In order to ensure the normal operation of the pantograph network system, it is necessary to detect the wear of the contact wire. At present, the commonly used detection method in China is manual detection. Workers board the work vehicle and use a vernier caliper to measure the residual height of the worn contact wire. According to the contact wire wear table of different contact wire models, the wear amount is calculated. However, manual detection of contact wire wear is inefficient and has poor accuracy. Moreover, it must be detected during the safe period, which cannot meet the normal detection needs of the existing railway mileage in China. Manual fixed-point detection of contact network wear has the problems of high work intensity, low efficiency, inaccuracy, and easy to miss detection. Railway operation and maintenance departments have begun to introduce line patrol robots, but most of the current line patrol robots cannot cross obstacles and can only perform detection within a section, so they have limitations. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a contact line rocker-arm obstacle-crossing robot to solve the problems mentioned in the above background technology that the inspection robot cannot move continuously and avoid obstacles automatically, and cannot continuously measure complete wear detection.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a contact line rocker-arm obstacle-crossing robot, comprising a base mechanism, two staggered guide clamping mechanisms are installed on both sides of the top surface of the base mechanism by bolts, two staggered driving mechanisms are installed in the middle of the base mechanism, two rotating and rising mechanisms are also installed on the base mechanism, and the two rotating and rising mechanisms are respectively on the same axis with the two driving mechanisms, and at least six groups of obstacle detection mechanisms arranged opposite to each other are installed on the base mechanism, which are used to enable the robot to adaptively patrol the line and avoid obstacles.

[0005] Preferably, the guide clamping mechanism consists of a support, a telescopic spring, a connecting rod, a bearing seat and a guide wheel. The support and the connecting rod are fixedly connected to the top surface of the base mechanism by bolts. The telescopic spring is elastically connected between the support and the connecting rod to cause the connecting rod to deform within a limit. The bearing seat is connected to the connecting rod by bolts, and the guide wheel is installed on the bearing seat.

[0006] Preferably, the driving mechanism includes two connecting flanges installed on the top surface of the base mechanism, damping springs are sleeved on the two connecting flanges, a clamping plate is installed on the top of the two damping springs, a bearing seat 2 is installed on the top surface of the clamping plate, a rotating shaft is rotatably plugged into the bearing seat 2, and a guide wheel is sleeved on the outer surface of the rotating shaft.

[0007] Preferably, the driving mechanism also includes a driving motor installed at the bottom of the base mechanism, and the output end of the driving motor passes through the base mechanism and the clamping plate from bottom to top in sequence, and bevel gears are installed at the output end of the driving motor and one end of the rotating shaft, and the two bevel gears are meshed with each other through tooth grooves.

[0008] Preferably, the rotary lifting mechanism is composed of a traction wheel, a connecting plate 1, a connecting plate 2 spiral groove, a sliding block, a reciprocating screw, a fixed rod and a reduction motor.

[0009] Preferably, the traction wheel is mounted on the second connecting plate through a rotating shaft and fixed by the first connecting plate. The second connecting plate is fixedly connected to the spiral groove part by bolts. One side of the slider is embedded in the spiral groove provided on the spiral groove part. The reduction motor is mounted at a hole reserved on the base mechanism. The fixed rod is mounted on the output end of the reduction motor. The reciprocating screw is mounted on the fixed rod and the top passes through the interior of the slider.

[0010] Preferably, the obstacle detection mechanism consists of a bracket and a photoelectric switch, the photoelectric switch is fixedly connected to the bracket by bolts, and the bracket is fixedly connected to a mounting hole reserved on the base mechanism by bolts, for detecting obstacles on the contact line.

[0011] Preferably, a hole is provided on the base mechanism to reserve a position for installing the wear detector.

[0012] By means of the above technical solution, the present invention provides a contact line rocker-arm obstacle-crossing robot, which has at least the following beneficial effects:

[0013] 1. The present invention is modularly arranged through a guide clamping mechanism, a driving mechanism, a rotating and rising mechanism, an obstacle detection mechanism, and a base mechanism, and realizes continuous walking, automatic obstacle avoidance, and wear detection during use, solving the problem that the current line patrol robot cannot walk continuously and avoid obstacles automatically, and cannot continuously measure complete wear detection. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0015] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the guide clamping mechanism of the present invention;

[0017] Figure 3 It is a structural schematic diagram of the driving mechanism of the present invention;

[0018] Figure 4 It is a structural schematic diagram of the rotary ascending mechanism of the present invention;

[0019] Figure 5 It is a schematic diagram of the installation structure of the base mechanism and the obstacle detection mechanism of the present invention;

[0020] Figure 6 It is a structural schematic diagram of the base mechanism of the present invention.

[0021] In the figure:

[0022] 1. Base mechanism;

[0023] 2. Guide clamping mechanism; 201. Support; 202. Telescopic spring; 203. Connecting rod; 204. Bearing seat 1; 205. Guide wheel;

[0024] 3. Driving mechanism; 301. Connecting flange; 302. Damping spring; 303. Pressing plate; 304. Second bearing seat; 305. Guide wheel; 306. Driving motor; 307. Bevel gear;

[0025] 4. Rotating and ascending mechanism; 401. Traction wheel; 402. Connecting plate 1; 403. Connecting plate 2; 404. Spiral groove; 405. Sliding block; 406. Reciprocating screw rod; 407. Fixed rod; 408. Speed ​​reduction motor;

[0026] 5. Obstacle detection mechanism; 501. Bracket; 502. Photoelectric switch. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0028] See also Figure 1-Figure 6The present invention provides a contact line rocker type obstacle-crossing robot, which can detect the contact line wear while walking and crossing obstacles normally on the contact line. The control system of the obstacle-crossing robot is developed by a single-chip microcomputer and controlled by a handheld terminal through a wireless network. It has a base mechanism 1, and two staggered guide clamping mechanisms 2 are installed on both sides of the top surface of the base mechanism 1 by bolts. Two staggered drive mechanisms 3 are installed in the middle of the base mechanism 1. Two rotating and rising mechanisms 4 are also installed on the base mechanism 1, and the two rotating and rising mechanisms 4 are respectively on the same axis with the two drive mechanisms 3. At least six groups of obstacle detection mechanisms 5 arranged opposite to each other are installed on the base mechanism 1, which are used to enable the robot to adaptively patrol the line and avoid obstacles. The guide clamping mechanism 2 is composed of a support 201, a telescopic spring 202, a connecting rod 203, a bearing seat 204 and a guide wheel 205.

[0029] Specifically, in actual application, before placing the obstacle-crossing robot on the contact line, the staff uses the handheld terminal to open the two pairs of guide clamping mechanisms 2, and then selects the contact line type on the handheld terminal, adjusts the distance from the laser head to the upper surface of the contact line, and turns on the wear collection button. After the state parameters are set, the operator hangs the obstacle-crossing robot on the contact line and closes the two pairs of guide clamping mechanisms 2, so that the guide wheel 205 is completely in contact with the contact line and has the ability to move, and controls the forward, backward, and stop of the device through the handheld terminal. If the obstacle-crossing robot encounters an obstacle while moving, the obstacle detection mechanism 5 and the guide clamping mechanism 2 at the front are used to illustrate that when the detection unit detects an obstacle in front, the first pair of guide clamping mechanisms 2 opens and then moves, completing one obstacle-crossing operation; by analogy, when the second pair of obstacle detection mechanisms 5 detects an obstacle, the first pair of guide clamping mechanisms 2 closes, and after being completely closed, the second pair of guide clamping mechanisms 2 is opened to continue moving; when the third pair of obstacle detection mechanisms 5 detects an obstacle, the second pair of guide clamping mechanisms 2 closes, and after being completely closed, the second pair of guide clamping mechanisms 2 is opened to continue moving, completing the obstacle-crossing operation of the device, and the device enters the next section to work. After the obstacle-crossing robot completes the set work task, the wear data collection ends, and the data is automatically stored in the SD card. Then the operator uses the opposite operation method to the suspension to remove the obstacle-crossing robot and end the wear data collection task.

[0030] Since the inspection robot lacks lateral force, when the contact line is bent, the walking wheels and clamping wheels set above and below the contact line cannot change direction accordingly, which may cause the risk of derailment. In order to effectively compensate for this problem. Figure 1 and Figure 2As shown, the support 201 and the connecting rod 203 are both fixedly connected to the top surface of the base mechanism 1 by bolts, the telescopic spring 202 is elastically connected between the support 201 and the connecting rod 203, and is used to deform the connecting rod 203 within a limited range, the bearing seat 1 204 is connected to the connecting rod 203 by bolts, and the guide wheel 205 is installed on the bearing seat 1 204. When passing through the wire clamp, the telescopic spring 202 is compressed by pressure, causing the guide clamping mechanism 2 to rotate a certain angle and pass through the surface of the wire clamp, thereby effectively compensating for the problem of insufficient lateral force when the original running wheel and the clamping wheel are arranged above and below the contact line, and can move in the direction of the contact line, thereby increasing the stability of obstacle crossing.

[0031] like Figure 1 and Figure 3 As shown, the drive mechanism 3 includes two connecting flanges 301 installed on the top surface of the base mechanism 1, damping springs 302 are sleeved on the two connecting flanges 301, a clamping plate 303 is installed on the top of the two damping springs 302, a bearing seat 2 304 is installed on the top surface of the clamping plate 303, a rotating shaft is rotatably plugged on the bearing seat 2 304, and a guide wheel 305 is sleeved on the outer surface of the rotating shaft. The drive mechanism 3 also includes a drive motor 306 installed at the bottom of the base mechanism 1, and the output end of the drive motor 306 passes through the base mechanism 1 and the clamping plate 303 from bottom to top in sequence, and a bevel gear 307 is installed at the output end of the drive motor 306 and one end of the rotating shaft, and the two bevel gears 307 are meshed with each other through the tooth groove. Since there is no obstacle below the contact line, the drive mechanism 3 can keep the guide wheel 305 in a certain pressure contact with the contact line below by the cooperation of the damping spring 302, the connecting flange 301, and the clamping plate 303, so as to increase the friction force when the guide wheel 305 rotates. In addition, the drive motor 306 is placed vertically so that the center of the mechanism is distributed on the center line, and the rotating shaft is placed horizontally. The transmission is achieved through the meshing of two bevel gears 307. When the drive motor 306 is running, the guide wheel 305 is controlled to rotate at a constant speed, so that the robot can achieve the function of walking and patrolling.

[0032] like Figure 1 and Figure 4As shown, the rotary ascending mechanism 4 is composed of a traction wheel 401, a connecting plate 1 402, a connecting plate 2 403, a spiral groove part 404, a slider 405, a reciprocating screw rod 406, a fixed rod 407 and a reduction motor 408. The traction wheel 401 is installed on the connecting plate 2 403 through a rotating shaft and is fixed by the connecting plate 1 402. The connecting plate 2 403 is fixedly connected to the spiral groove part 404 by bolts. One side of the slider 405 is embedded in the spiral groove set on the spiral groove part 404. The reduction motor 408 is installed at a hole position reserved on the base mechanism 1. The fixed rod 407 is installed at the output end of the reduction motor 408. The reciprocating screw rod 406 is installed on the fixed rod 407 and the top passes through the inside of the slider 405. The reciprocating screw rod 406 and the slider 405 form a spiral pair. When the reduction motor 408 is running, the reciprocating screw rod 406 is driven to rotate through the fixed rod 407, thereby driving the slider 405 to move up and down. The slider 405 cooperates with the end face of the spiral groove on the spiral groove part 404 and maintains relative rotation. When the spiral groove on the spiral groove part 404 moves up and down with the slider 405, it will be constrained by the fixed rods 407 on both sides, thereby rotating according to the spiral groove on the spiral groove part 404, thereby realizing the obstacle crossing function of the mechanism.

[0033] like Figure 1 and Figure 5 As shown, the obstacle detection mechanism 5 is composed of a bracket 501 and a photoelectric switch 502. The photoelectric switch 502 is fixedly connected to the bracket 501 by bolts, and the bracket 501 is fixedly connected to the reserved mounting hole on the base mechanism 1 by bolts, and is used to detect obstacles on the contact line. The photoelectric switch 502 preferably uses a reverse-beam photoelectric switch sensor. When the light emitted by the transmitter is blocked by the detected object, the receiver generates a switch signal change due to the blocked light, thereby realizing the detection of the object. This detection method can prevent the robot from colliding with obstacles, and has the advantages of long detection distance, fast response speed and strong anti-interference ability. In addition, in the measurement of contact line wear, the line laser measurement method can be used to scan the contour of the contact line, and the wear of the contact line is determined by analyzing the intensity change of the laser reflection signal.

[0034] like Figure 6 As shown, a hole slot is provided on the base mechanism 1 to reserve a position for installing the wear detector. The base mechanism 1 is selected as an integrated structural plate, and the material is selected from aluminum alloy with a lower density to increase the stability of the robot's inspection on the contact line. In addition, the base mechanism 1 and the various mechanisms installed above it are generally symmetrically arranged to control the total weight of the mechanisms at both ends of the horizontal center line to be equal, so that the inspection robot will not be skewed when walking on the contact line, ensuring the smooth walking and obstacle crossing.

[0035] Specifically, in actual application, with the base mechanism 1 as the reference, four groups of guide clamping mechanisms 2, two groups of driving mechanisms 3, two groups of rotating and ascending mechanisms 4, and six groups of obstacle detection mechanisms 5 are installed, which are arranged in pairs. If the two groups of guide clamping mechanisms 2 in front encounter an obstacle, the force will compress the telescopic spring 202, causing the guide wheel 205 to break away from the contact line. When the obstacle is passed, the force disappears, and the telescopic spring 202 is restored, so that the two guide clamping mechanisms 2 in front contact with the contact line again and continue to move. After the two obstacle detection mechanisms 5 in front detect the obstacle, the driving mechanism 3 stops moving, and the group of rotating and ascending mechanisms 4 in front is lifted. The reduction motor 408 drives the reciprocating screw 406 and drives the slider 405 to rotate and rise. When it rotates to the upper limit position of the fixed rod 407, it stops rotating, and the driving mechanism 3 is turned on to move. After the two middle groups of obstacle detection mechanisms 5 detect obstacles, the driving mechanism 3 stops moving, and the front group of rotating and ascending mechanisms 4 descends. The reduction motor 408 drives the reciprocating screw 406 and drives the slider 405 to rotate and descend, and stops rotating when it rotates to the lower limit of the fixed rod 407. Then the second group of rotating and ascending mechanisms 4 is lifted, and the reduction motor 408 drives the reciprocating screw 406 and drives the slider 405 to rotate and ascend, and stops rotating when it rotates to the upper limit of the fixed rod 407. The driving mechanism 3 is turned on to move. After the two rear groups of obstacle detection mechanisms 5 detect obstacles, the driving mechanism 3 stops moving, and the second group of rotating and ascending mechanisms 4 descends. The reduction motor 408 drives the reciprocating screw 406 and drives the slider 405 to rotate and descend, and stops rotating when it rotates to the lower limit of the fixed rod 407. When the two guide clamping mechanisms 2 at the rear encounter an obstacle, the telescopic spring 202 is compressed, causing the guide wheel 205 to leave the contact line. When the obstacle is passed, the telescopic spring 202 returns to its original state, causing the two sets of guide clamping mechanisms 2 at the rear to contact the contact line again and continue to move, thus realizing the function of autonomous obstacle crossing.

[0036] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A contact line rocker type obstacle-crossing robot, comprising a base mechanism (1), characterized in that: Two staggered guide clamping mechanisms (2) are installed on both sides of the top surface of the base mechanism (1) by bolts, two staggered drive mechanisms (3) are installed in the middle of the base mechanism (1), two rotating and ascending mechanisms (4) are also installed on the base mechanism (1), and the two rotating and ascending mechanisms (4) are respectively on the same axis as the two drive mechanisms (3), and at least six groups of obstacle detection mechanisms (5) arranged opposite to each other are installed on the base mechanism (1), so as to enable the robot to adaptively patrol the line and avoid obstacles.

2. The contact line rocker type obstacle surmounting robot according to claim 1, characterized in that: The guide clamping mechanism (2) is composed of a support (201), a telescopic spring (202), a connecting rod (203), a bearing seat (204) and a guide wheel (205); the support (201) and the connecting rod (203) are both fixedly connected to the top surface of the base mechanism (1) by bolts; the telescopic spring (202) is elastically connected between the support (201) and the connecting rod (203) to enable the connecting rod (203) to deform within a limited range; the bearing seat (204) is connected to the connecting rod (203) by bolts; and the guide wheel (205) is installed on the bearing seat (204).

3. The contact line rocker type obstacle surmounting robot according to claim 1, characterized in that: The driving mechanism (3) comprises two connecting flanges (301) mounted on the top surface of the base mechanism (1), damping springs (302) are sleeved on the two connecting flanges (301), a clamping plate (303) is mounted on the top of the two damping springs (302), a bearing seat 2 (304) is mounted on the top surface of the clamping plate (303), a rotating shaft is rotatably plugged into the bearing seat 2 (304), and a guide wheel (305) is sleeved on the outer surface of the rotating shaft.

4. The contact line rocker type obstacle surmounting robot according to claim 3, characterized in that: The driving mechanism (3) further comprises a driving motor (306) mounted at the bottom of the base mechanism (1), and the output end of the driving motor (306) passes through the base mechanism (1) and the clamping plate (303) in sequence from bottom to top, and a bevel gear (307) is mounted at the output end of the driving motor (306) and one end of the rotating shaft, and the two bevel gears (307) are meshed with each other via tooth grooves.

5. The contact line rocker type obstacle surmounting robot according to claim 1, characterized in that: The rotary lifting mechanism (4) is composed of a traction wheel (401), a connecting plate 1 (402), a connecting plate 2 (403), a spiral groove member (404), a slider (405), a reciprocating screw rod (406), a fixed rod member (407) and a reduction motor (408).

6. The contact line rocker type obstacle surmounting robot according to claim 5, characterized in that: The traction wheel (401) is mounted on the second connecting plate (403) via a rotating shaft and fixed by the first connecting plate (402); the second connecting plate (403) is fixedly connected to the spiral groove member (404) via bolts; one side of the slider (405) is embedded in a spiral groove provided on the spiral groove member (404); the reduction motor (408) is mounted at a hole position reserved on the base mechanism (1); the fixed rod (407) is mounted on the output end of the reduction motor (408); and the reciprocating screw rod (406) is mounted on the fixed rod (407) and the top thereof passes through the interior of the slider (405).

7. The contact line rocker type obstacle surmounting robot according to claim 1, characterized in that: The obstacle detection mechanism (5) is composed of a bracket (501) and a photoelectric switch (502), wherein the photoelectric switch (502) is fixedly connected to the bracket (501) by means of bolts, and the bracket (501) is fixedly connected to a mounting hole reserved on the base mechanism (1) by means of bolts, and is used for detecting obstacles on the contact line.

8. The contact line rocker type obstacle surmounting robot according to claim 1, characterized in that: The base mechanism (1) is provided with a hole slot for reserving a position for installing a wear detector.

Images