Contact line adaptive obstacle crossing inspection robot

Abstract

The invention relates to the technical field of railway track traffic power supply systems, in particular to a contact line self-adaptive obstacle crossing inspection robot which comprises a detection unit, a rocker arm obstacle crossing unit and a base unit, the detection unit is connected to the base unit through bolts, and the base unit comprises an intermediate shaft system unit. Side shaft system units are rotationally connected to the two sides of the middle shaft system units, and the middle shaft system units are mounted at the two ends of the side shaft system units; the middle shafting unit comprises a polished shaft movably penetrating through the side shafting unit, a rocker arm mounting flange is mounted at the top of the polished shaft, positioning pieces used for limiting the side shafting unit are mounted at the two ends of the polished shaft, and the sides, away from each other, of the positioning pieces are connected with gaskets arranged outside the polished shaft in a sleeving mode. The side shaft system unit comprises a first negative film and a second negative film, wherein one ends of the first negative film and the second negative film sleeve the optical shaft. The problem that an existing railway line patrol robot is difficult to continuously walk on a contact line, smoothly cross a curve and automatically cross obstacles is solved.

Description

Technical Field

[0001] The invention relates to the technical field of railway track transportation power supply systems, and in particular to a contact line self-adaptive obstacle-passing patrol robot. Background Art

[0002] At present, the domestic railway rail transit traction power supply system basically adopts the overhead contact power supply network. However, as the friction time between the overhead contact network and the slide plate increases, the wear of the overhead contact network will gradually increase, causing the contact pressure to drop during operation, resulting in unstable power supply. In severe cases, electric arcs may be generated, causing the overhead contact network to be burned. Therefore, in order to ensure the normal relationship between the bow and the catenary, it is required to measure the wear of the overhead contact network at least twice a year. When the overhead contact network is worn to a certain extent, it should be reinforced or replaced.

[0003] At present, the inspection of contact lines in China often relies on manual measurement of residual height with vernier calipers, and the remaining conductive area is converted by comparing with the contact network wear table. Manual fixed-point inspection of contact network wear has the disadvantages of high work intensity, low efficiency, inaccuracy, and easy omissions. Railway operation and maintenance departments have begun to introduce line patrol robots, but most of them can only move in a straight line, cannot turn, cannot cross obstacles, and can only perform inspections within a range. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a contact line adaptive obstacle-crossing patrol robot, which solves the problem that the existing railway patrol robots are difficult to continuously move on the contact line, smoothly pass curves, and autonomously cross obstacles.

[0005] To achieve the above object, the present invention provides the following technical solutions: a contact line adaptive obstacle patrol robot, comprising a detection unit, a rocker obstacle crossing unit and a base unit, wherein the detection unit is connected to the base unit by bolts, and the base unit comprises an intermediate shaft system unit, both sides of the intermediate shaft system unit are rotatably connected with side shaft system units, and both ends of the side shaft system unit are installed with the intermediate shaft system unit;

[0006] The intermediate shaft system unit includes an optical axis that movably passes through the side shaft system unit, a rocker arm mounting flange is installed on the top of the optical axis, positioning plates for limiting the side shaft system unit are installed at both ends of the optical axis, and a gasket sleeved on the outside of the optical axis is connected to the side away from the positioning plate.

[0007] Preferably, the side shaft system unit includes film 1 and film 2, one end of which is sleeved on the outside of the optical axis, a copper column is fixedly connected between film 1 and film 2, and reinforcing ribs are fixedly connected to one side of film 1 and film 2.

[0008] Preferably, the outer sleeve of the optical axis is provided with a shaft sleeve, the outer sleeve of the shaft sleeve is provided with a thrust ball bearing, and the positioning piece is installed on the outside of the thrust ball bearing.

[0009] Preferably, the detection unit comprises a photoelectric switch mounting frame fixedly connected to the base unit, a photoelectric switch mounting seat is fixedly connected to one side of the photoelectric switch mounting frame close to the base unit, and a photoelectric switch penetrating the photoelectric switch mounting seat is provided on one side of the photoelectric switch mounting seat.

[0010] Preferably, the rocker obstacle crossing unit includes plate one connected to the rocker mounting flange, the bottom of plate one is connected to plate three through a limiting rod, small circular seats for limiting plate one and plate three are installed at both ends of the limiting rod, a spring is connected between plate one and plate three and is sleeved on the outside of the limiting rod, the top of plate three is fixedly connected to a hollow seat, the top of the hollow seat is fixedly connected to plate two, the top of plate two is installed with an upper rotating roller assembly, and the top of plate one is installed with a lower fixed roller assembly.

[0011] Preferably, the lower fixed roller assembly includes a motor mounting seat fixedly connected to the bottom of plate one, a gear motor is installed at the bottom of the motor mounting seat, the output end of the gear motor passes through plate one and is connected to a driving bevel gear, the top of plate one is fixedly connected to a T-shaped seat, one side of the T-shaped seat is provided with a driven bevel gear with a rotating shaft movably passing through the T-shaped seat, and the end of the driven bevel gear away from the driving bevel gear is fixedly connected to a roller.

[0012] Preferably, the upper rotating roller assembly includes a motor connecting plate fixedly connected to plate two, a worm motor is fixedly connected to one side of the motor connecting plate, a T-shaped seat is installed on the top of plate two, a rocker arm is rotatably connected to the outer side of the T-shaped seat, a guide bracket is installed on one side of the rocker arm, a large circular seat for limiting the rocker arm is installed on one side of the T-shaped seat, a roller is installed on the end of the rocker arm away from the T-shaped seat, and the output end of the worm motor is fixedly connected to the rocker arm.

[0013] Preferably, a wear detector is installed on the second bottom film.

[0014] Compared with the prior art, the present invention provides a contact line adaptive obstacle patrol robot, which has the following beneficial effects:

[0015] 1. By setting up the intermediate axis unit and the rocker obstacle crossing unit, the intermediate axis units on both sides have one degree of freedom, and the intermediate axis unit set in the middle of the two side axis units has two degrees of freedom, which realizes the function of the line-climbing robot passing through curves. In conjunction with the rocker obstacle crossing unit, it automatically overcomes obstacles when it encounters obstacles, realizing the functions of the line-patrolling robot continuously moving on the contact line, passing curves smoothly, and autonomously overcoming obstacles.

[0016] 2. The reinforcement ribs can reduce weight and strengthen the structure, making it easier for the line patrol robot to move, while reducing the possibility of damage caused by collision when the line patrol robot encounters obstacles.

[0017] 3. The rocker on the rocker obstacle crossing unit is driven by a worm motor, so that the roller on the plate one and the roller on the rocker can be opened and closed. Since there are three pairs of rocker obstacle crossing units on a contact line adaptive obstacle patrol robot, when one group is opened, the other groups of rollers will continue to move, and the detection unit is used in combination to realize the automatic opening and closing of the rocker obstacle crossing unit and the function of autonomous obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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:

[0019] Figure 1 It is an oblique view of the present invention as a whole;

[0020] Figure 2 It is a structural schematic diagram of the base unit of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the detection unit of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the intermediate shafting unit of the present invention;

[0023] Figure 5 It is an oblique view of the rocker arm obstacle crossing unit of the present invention in a walking state;

[0024] Figure 6 It is an oblique view of the rocker arm obstacle crossing unit in the obstacle crossing state of the present invention;

[0025] Figure 7 It is a front view of the rocker arm obstacle crossing unit of the present invention in a walking state;

[0026] Figure 8 It is a front view of the rocker arm obstacle crossing unit in the obstacle crossing state of the present invention;

[0027] Fig. 9 It is a top view of the entirety of the present invention on the contact line.

[0028] In the figure: 100, detection unit; 200, rocker arm obstacle crossing unit; 300, base unit; 400, intermediate shaft system unit; 1, photoelectric switch mounting frame; 2, photoelectric switch mounting seat; 3, photoelectric switch; 4, optical axis; 5, bushing; 6, copper column; 7, negative film one; 8, reinforcing rib; 9, negative film two; 10, thrust ball bearing; 11, rocker arm mounting flange; 12, positioning plate; 13, gasket; 14, gear motor; 15, motor mounting seat; 16, plate one; 17, active bevel gear; 18, driven bevel gear; 19, T-type seat; 20, roller; 21, worm motor; 22, motor connecting plate; 23, rocker arm; 24, guide bracket; 25, large circular seat; 26, plate two; 27, hollow seat; 28, plate three; 29, small circular seat; 30, spring. DETAILED DESCRIPTION

[0029] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0030] Example

[0031] In order to realize the purpose of enabling the line patrol robot to automatically cross obstacles and continuously walk on the power supply contact line for detection, refer to Figure 1-Figure 9 As one embodiment of the present invention, a contact line adaptive obstacle patrol robot is proposed, including a detection unit 100, a rocker obstacle crossing unit 200 and a base unit 300. The detection unit 100 is connected to the base unit 300 by bolts. The base unit 300 includes an intermediate shaft system unit 400. Both sides of the intermediate shaft system unit 400 are rotatably connected with side shaft system units. Both ends of the side shaft system unit are installed with the intermediate shaft system unit 400. The intermediate shaft system unit 400 includes an optical axis 4 that movably passes through the side shaft system unit. The top of the optical axis 4 is installed with a rocker mounting flange 11. Both ends of the optical axis 4 are installed with side limiting flanges. The positioning piece 12 of the axis system unit is connected to a gasket 13 sleeved on the outside of the optical axis 4 on the side away from the positioning piece 12. When in use, the intermediate axis system unit 400 is used as a reference, and the bottom film 1 7 and the bottom film 2 9 are installed in the middle of the positioning piece 12 to make them located on both sides. The intermediate axis system units 400 on both sides have one degree of freedom, and the intermediate axis system unit 400 arranged in the middle of the two side axis system units has two degrees of freedom, which realizes the function of the line-climbing robot passing through curves, and cooperates with the rocker arm obstacle crossing unit 200 to automatically overcome obstacles when crossing obstacles, thereby realizing the function of the line-climbing robot to continuously move on the contact line, pass curves smoothly, and autonomously overcome obstacles.

[0032] The control system of a contact line adaptive obstacle patrol robot developed and designed this time is developed by a single-chip microcomputer and controlled by a handheld terminal through a wireless network. The specific operation steps are as follows:

[0033] In the first step, before placing the device on the contact line, the operator uses a handheld terminal to open three pairs of rocker obstacle crossing units 200, 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;

[0034] In the second step, after the state parameters are set, the operator hangs the device on the contact line and closes the three pairs of rocker obstacle crossing units 200, so that the roller 20 is completely in contact with the contact line and has the ability to move. The operator controls the forward, backward and stop of the device through the handheld terminal;

[0035] The third step is that if the device encounters an obstacle while moving, the front detection unit 100 and the rocker obstacle crossing unit 200 are used to illustrate that when the detection unit 100 detects an obstacle in front, the first pair of rocker obstacle crossing units 200 are opened, and then move, that is, one obstacle crossing is completed; by analogy, when the second pair of detection units 100 detects an obstacle, the first pair of rocker obstacle crossing units 200 are closed, and after being fully closed, the second pair of rocker obstacle crossing units 200 are opened to continue moving; when the third pair of detection units 100 detects an obstacle, the second pair of rocker obstacle crossing units 200 are closed, and after being fully closed, the third pair of rocker obstacle crossing units 200 are opened to continue moving; when the fourth pair of detection units 100 detects an obstacle, the third pair of rocker obstacle crossing units 200 are closed, and after being fully closed, they continue moving, that is, the obstacle crossing of the device is completed, and the device enters the next section to work;

[0036] Step 5. After the device 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 hanging method to remove the device and end the wear data collection task.

[0037] The side shaft system unit includes a film 1 7 and a film 2 9, one end of which is sleeved on the outside of the optical axis 4, a copper column 6 is fixedly connected between the film 1 7 and the film 2 9, and a reinforcing rib 8 is fixedly connected to one side of the film 1 7 and the film 2 9. The reinforcing rib 8 installed on the mounting film can reduce weight and strengthen the structure, facilitate more flexible movement of the line patrol robot, and reduce the possibility of damage caused by collision when the line patrol robot encounters obstacles.

[0038] The outer sleeve of the optical axis 4 is provided with a shaft sleeve 5 , the outer sleeve of the shaft sleeve 5 is provided with a thrust ball bearing 10 , and the positioning piece 12 is installed on the outer side of the thrust ball bearing 10 .

[0039] In order to detect obstacles on the contact line in time and take necessary actions to overcome the obstacles when there are obstacles, the present embodiment provides a detection unit 100, which includes a photoelectric switch mounting frame 1 fixedly connected to a base unit 300, a photoelectric switch mounting seat 2 is fixedly connected to the side of the photoelectric switch mounting frame 1 close to the base unit 300, and a photoelectric switch 3 penetrating the photoelectric switch mounting seat 2 is provided on one side of the photoelectric switch mounting seat 2. When in use, the photoelectric switch mounting frame 1 is driven by the base unit 300 to move along the contact line, and the photoelectric switch 3 detects whether there are obstacles on the contact line. When the photoelectric switch 3 detects an obstacle, the rocker arm obstacle crossing unit 200 is controlled to take action to overcome the obstacle.

[0040] In order to enable the line patrol robot to overcome obstacles when encountering obstacles, the present embodiment provides a rocker obstacle crossing unit 200, which includes a plate 16 connected to the rocker mounting flange 11, the bottom of the plate 16 is connected to a plate 3 28 through a limiting rod, small circular seats 29 for limiting the plate 16 and the plate 3 28 are installed at both ends of the limiting rod, a spring 30 sleeved on the outside of the limiting rod is connected between the plate 16 and the plate 3 28, a hollow seat 27 is fixedly connected to the top of the plate 3 28, the top of the hollow seat 27 is fixedly connected to the plate 2 26, an upper rotating roller assembly is installed on the top of the plate 26, a lower fixed roller assembly is installed on the top of the plate 16, the lower fixed roller assembly includes a motor mounting seat 15 fixedly connected to the bottom of the plate 16, and a gear motor 1 is installed at the bottom of the motor mounting seat 15 4. The output end of the gear motor 14 passes through the plate 16 and is connected to the active bevel gear 17. The top of the plate 16 is fixedly connected with a T-shaped seat 19. One side of the T-shaped seat 19 is provided with a driven bevel gear 18 whose rotating shaft movably passes through the T-shaped seat 19. The end of the driven bevel gear 18 away from the active bevel gear 17 is fixedly connected with a roller 20. The upper rotating roller assembly includes a motor connecting plate 22 fixedly connected to the plate 26, one side of the motor connecting plate 22 is fixedly connected with a worm motor 21, the top of the plate 26 is installed with a T-shaped seat 19, the outer side of the T-shaped seat 19 is rotatably connected with a rocker arm 23, one side of the rocker arm 23 is installed with a guide bracket 24, one side of the T-shaped seat 19 is installed with a large circular seat 25 for limiting the rocker arm 23, the end of the rocker arm 23 away from the T-shaped seat 19 is installed with a roller 20, and the output end of the worm motor 21 is fixedly connected to the rocker arm 23.

[0041] When in use, take plate 16 as a reference, connect the motor mounting seat 15 by bolt connection, install the active bevel gear 17 on the gear motor 14, install the driven bevel gear 18, T-shaped seat 19, roller 20 according to the assembly relationship, use bolts to install the small circular seat 29, spring 30, plate three 28, plate two 26, and then install the motor connecting plate 22 by bolts, and then install the worm motor 21, and finally assemble the T-shaped seat 19, roller 20, rocker arm 23, guide bracket 24, and large circular seat 25 according to the assembly relationship. The rocker arm 23 on the rocker obstacle crossing unit 200 is driven by the worm motor 21, and the roller 20 on plate 16 and the roller 20 on the rocker arm 23 can be opened and closed. Since there are three pairs of rocker obstacle crossing units 200 on a contact line adaptive obstacle patrol robot, when one group is opened, the other groups of rollers will continue to deform, and the detection unit 100 is used in combination to realize the automatic opening and closing of the rocker obstacle crossing unit 200 and the function of autonomous obstacle crossing.

[0042] A wear detector is installed on the film 2 9. When the line patrol robot moves along the contact line, the wear detector detects the degree of wear of the contact line.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A contact line adaptive obstacle patrol robot, characterized by: The invention comprises a detection unit (100), a rocker obstacle crossing unit (200) and a base unit (300), wherein the detection unit (100) is connected to the base unit (300) by bolts, and the base unit (300) comprises an intermediate shaft system unit (400), both sides of the intermediate shaft system unit (400) are rotatably connected to side shaft system units, and both ends of the side shaft system units are installed with the intermediate shaft system units (400); The intermediate shaft system unit (400) comprises an optical axis (4) that movably passes through the side shaft system unit, a rocker arm mounting flange (11) is installed on the top of the optical axis (4), positioning pieces (12) for limiting the side shaft system unit are installed at both ends of the optical axis (4), and a gasket (13) that is sleeved on the outside of the optical axis (4) is connected to the side away from the positioning piece (12).

2. The contact line adaptive obstacle patrol robot according to claim 1, characterized in that: The side shaft system unit comprises a negative film 1 (7) and a negative film 2 (9) with one end sleeved outside the optical axis (4), a copper column (6) is fixedly connected between the negative film 1 (7) and the negative film 2 (9), and a reinforcing rib (8) is fixedly connected to one side of each of the negative film 1 (7) and the negative film 2 (9).

3. The contact line adaptive obstacle patrol robot according to claim 2, characterized in that: The outer sleeve of the optical axis (4) is provided with a shaft sleeve (5), the outer sleeve of the shaft sleeve (5) is provided with a thrust ball bearing (10), and a positioning piece (12) is installed outside the thrust ball bearing (10).

4. The contact line adaptive obstacle patrol robot according to claim 1, characterized in that: The detection unit (100) comprises a photoelectric switch mounting frame (1) fixedly connected to a base unit (300); a photoelectric switch mounting seat (2) is fixedly connected to a side of the photoelectric switch mounting frame (1) close to the base unit (300); and a photoelectric switch (3) penetrating the photoelectric switch mounting seat (2) is provided on one side of the photoelectric switch mounting seat (2).

5. The contact line adaptive obstacle patrol robot according to claim 2, characterized in that: The rocker obstacle crossing unit (200) comprises a plate one (16) connected to a rocker mounting flange (11); the bottom of the plate one (16) is connected to a plate three (28) via a limiting rod; small circular seats (29) for limiting the plate one (16) and the plate three (28) are installed at both ends of the limiting rod; a spring (30) sleeved on the outside of the limiting rod is connected between the plate one (16) and the plate three (28); the top of the plate three (28) is fixedly connected to a hollow seat (27); the top of the hollow seat (27) is fixedly connected to the plate two (26); the top of the plate two (26) is installed with an upper rotating roller assembly; the top of the plate one (16) is installed with a lower fixed roller assembly.

6. The contact line adaptive obstacle patrol robot according to claim 5, characterized in that: The lower fixed roller assembly comprises a motor mounting seat (15) fixedly connected to the bottom of the plate one (16); a gear motor (14) is mounted at the bottom of the motor mounting seat (15); an output end of the gear motor (14) passes through the plate one (16) and is connected to a driving bevel gear (17); a T-shaped seat (19) is fixedly connected to the top of the plate one (16); a driven bevel gear (18) having a rotating shaft movably passing through the T-shaped seat (19) is provided on one side of the T-shaped seat (19); and a roller (20) is fixedly connected to one end of the driven bevel gear (18) away from the driving bevel gear (17).

7. The contact line adaptive obstacle patrol robot according to claim 6, characterized in that: The upper rotating roller assembly comprises a motor connecting plate (22) fixedly connected to the second plate (26); a worm motor (21) is fixedly connected to one side of the motor connecting plate (22); a T-shaped seat (19) is installed on the top of the second plate (26); a rocker arm (23) is rotatably connected to the outer side of the T-shaped seat (19); a guide bracket (24) is installed on one side of the rocker arm (23); a large circular seat (25) for limiting the rocker arm (23) is installed on one side of the T-shaped seat (19); a roller (20) is installed at one end of the rocker arm (23) away from the T-shaped seat (19); and the output end of the worm motor (21) is fixedly connected to the rocker arm (23).

8. The contact line adaptive obstacle patrol robot according to claim 2, characterized in that: A wear detector is installed on the bottom film 2 (9).

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