Railway overhead cable inspection robot

Abstract

The application discloses a railway overhead cable inspection robot and relates to the technical field of overhead line inspection. The railway overhead cable inspection robot comprises an inspection box, the upper surface of the inspection box is fixedly connected with a work plate, the upper surface of the work plate is fixedly connected with a motor, the upper surface of the work plate is rotatably connected with a rotating shaft, the outer side of the rotating shaft is fixedly connected with a rotating plate, and the upper end of the rotating shaft is fixedly connected with the output end of the motor. When the device moves to the cable butt joint part, two groups of rotating plates synchronously release the radial extrusion on the first air bag, the volume of the second air bag is synchronously reduced, the displacement amount generated by the deformation of the second air bag can drive the driving plate to reversely rotate, at this time, two groups of laser detectors can synchronously move outward under the driving action of the pull plate. Since the width of the cable butt joint part is significantly greater than that of a single overhead cable, the laser detector is designed by expanding the distance between detection modules, and more accurate coverage detection on the butt joint area is realized.

Description

Technical Field

[0001] This invention relates to the field of overhead line inspection technology, specifically to a railway overhead cable inspection robot. Background Technology

[0002] Overhead railway lines are a core component of the railway power supply system. Insulators fix conductors to upright towers to transmit electrical energy. Inspection of overhead railway lines is a key link to ensure the safe and stable operation of the railway power supply system. Its core lies in the timely detection and handling of potential hazards in the line itself, ancillary facilities and the corridor environment through systematic inspection and monitoring.

[0003] Existing technology 1 (Chinese patent CN205159931U, published on 2016-04-13) discloses an online inspection robot for railway contact networks, characterized by comprising: a fixed frame; a walking mechanism mounted on the upper part of the fixed frame, which walks along the railway contact network; a vision system with a camera mounted on the top of the fixed frame to take pictures of the railway contact network; an anti-fall mechanism mounted on the fixed frame, having a hook structure, a rotating arm, and a return spring, the rotating arm and the hook structure forming a closed loop that fits on the contact network line, the return spring applying torque to the rotating arm, and when encountering an obstacle, the rotating arm rotates open to pass through the obstacle; a motor providing power to the walking mechanism. The online inspection robot for railway contact networks can determine in real time whether there are any abnormalities on the contact network. Furthermore, due to the anti-fall mechanism, it can prevent the online inspection robot from falling off the contact network under strong winds or other factors, thus improving... For safety reasons, there is also existing technology two (Chinese patent with announcement number CN216819195U, announcement date June 24, 2022): an online obstacle-crossing inspection robot for overhead contact lines. This robot includes two side plates spaced apart on the left and right, with multiple obstacle-crossing walking mechanisms mounted on the upper part of the two side plates. These mechanisms are arranged in two rows, each located on the outer side of one of the two side plates. Each obstacle-crossing walking mechanism contains a traveling wheel, a traveling motor, a downward-flipping link, a downward-flipping motor, and a downward-flipping motor support connected in sequence. This online obstacle-crossing inspection robot is suspended from the catenary or contact line by the flip-out obstacle-crossing walking mechanism, allowing it to move and inspect. Obstacles at the suspension point are crossed by the alternating outward flipping of the obstacle-crossing walking mechanism. Simultaneously, it can utilize the electrical energy of the overhead contact line itself to power the inspection robot via an online power supply device, enabling uninterrupted maintenance and long-distance operations, thus solving the problem of automated inspection of the overhead contact line system.

[0004] While existing technologies can achieve uninterrupted maintenance and long-distance operation, and obstacle crossing at suspension points, the position of the inspection mechanism cannot change synchronously when the inspection robot encounters obstacles. The single-position inspection component cannot meet the inspection needs of different locations on the overhead line. At the same time, the existing inspection mechanism cannot drive away flocks of birds during inspection, which will cause some interference to the inspection operation.

[0005] Therefore, we propose a railway overhead cable inspection robot to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide a railway overhead cable inspection robot to solve the problems mentioned in the background art, such as the inability of the current market inspection agencies to change positions synchronously, the inability of single-position inspection components to meet the inspection needs of different positions of the overhead line, and the inability of existing inspection agencies to drive away flocks of birds during inspection, which causes certain interference to the inspection operation.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a railway overhead cable inspection robot, comprising an inspection box, a working plate fixedly connected to the upper surface of the inspection box, a motor fixedly connected to the upper surface of the working plate, and a rotating shaft rotatably connected to the upper surface of the working plate. A rotating plate is fixedly connected to the outer side of the rotating shaft, and the upper end of the rotating shaft is fixedly connected to the output end of the motor. A fixed frame is fixedly connected to the upper surface of the working plate, and a pull plate is slidably connected to the upper surface of the fixed frame. A laser detector for inspecting overhead cables is fixedly connected to the edge of the pull plate. An adjustment structure is provided between the inner end of the pull plate and the fixed frame. The adjustment mechanism adjusts the distance between the two sets of laser detectors by changing the position of the rotating plate. An auxiliary roller is rotatably connected above the rotating plate, and a swing mechanism is provided above the rotating plate. The swing mechanism includes a laser bird repeller. The swing mechanism achieves a wide-range bird repeller effect through the rotation of the auxiliary roller.

[0008] Preferably, two sets of rotating shafts are symmetrically arranged about the center point of the working plate, and meshing gear assemblies are fixedly connected to the lower surfaces of the two sets of rotating plates. The lower outer end of the rotating plate is slidably connected to the upper surface of the working plate, and a traveling roller for traveling on the overhead cable is fixedly connected to the upper surface of the auxiliary roller.

[0009] Preferably, the adjustment structure includes a first airbag, which is fixedly connected to the upper surface of the working plate, and two sets of rotating plates are located on the front and rear sides of the first airbag, respectively. A connecting air tube is connected through the end of the first airbag.

[0010] Preferably, the lower surface of the fixing frame is fixedly connected to the second airbag, and the lower surface of the second airbag is connected to the other end of the connecting air tube, and the second airbag is arranged in an arc shape.

[0011] Preferably, an auxiliary rotating plate is rotatably connected at the center of the upper surface of the fixed frame, and the shaft end of the auxiliary rotating plate extends to the lower surface of the fixed frame. A drive plate is fixedly connected to the lower shaft end of the auxiliary rotating plate, and the side of the drive plate is fixedly connected to the second airbag.

[0012] Preferably, both ends of the auxiliary rotating plate are hinged with connecting rods, and the other end of the connecting rod is hinged to the inner end of the pull plate, and the pull plate forms a sliding structure with the fixed frame through the connecting rods.

[0013] Preferably, the oscillating mechanism includes a sliding groove, which is opened on the outside of the auxiliary roller and is arranged in an inclined annular structure, and a sliding block is slidably connected inside the sliding groove.

[0014] Preferably, a collar is slidably connected to the outer side of the auxiliary roller, and the inside of the collar is fixedly connected to the outer end of the sliding block, and an abutment rod is fixedly connected to the outer side of the collar.

[0015] Preferably, the laser bird repeller is rotatably connected to the upper surface of the rotating plate, the lower surface of the laser bird repeller is in contact with the outer side of the contact rod, and the laser bird repeller forms a rotating structure with the rotating plate through the contact rod.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] (1) A rotating plate is provided. When the inspection box moves to the cable docking point, the motor on the front side is started and both rotating plates rotate outward and unfold, so that the two sets of walking rollers can be separated from the side of the cable at the same time, and the obstacle avoidance treatment of the cable docking point is completed. The device can still move along the overhead cable through the walking rollers set at the rear. After the obstacle avoidance is completed, the walking rollers are adjusted to the side of the overhead cable, and the same obstacle avoidance operation is performed on the rear walking rollers. This avoids the phenomenon that the device gets stuck and cannot continue to move for inspection when it moves to the overhead cable docking point, and improves the work efficiency of inspection.

[0018] (2) When the device is moving normally, the distance between the two sets of rotating plates is small. The first airbag is squeezed by the two sets of rotating plates. At this time, the second airbag expands and drives the plate to rotate and change position. At this time, the two sets of laser detectors can approach each other under the action of the pull plate and can detect overhead cables.

[0019] (3) When the device moves to the cable docking part, the two sets of rotating plates release the radial compression of the first airbag simultaneously, and the volume of the second airbag shrinks simultaneously. The displacement generated by the deformation of the second airbag can drive the drive plate to rotate in the opposite direction. At this time, the two sets of laser detectors can move outward synchronously under the action of the pull plate. Since the width of the cable docking part is significantly larger than that of a single overhead cable, the laser detector achieves more accurate coverage detection of the docking area by expanding the spacing of the detection modules.

[0020] (4) A laser bird deterrent is installed. The laser bird deterrent emits a dynamically scanning green laser beam to simulate the characteristics of natural enemies or danger warning signals, and performs non-contact bird deterrence operations, effectively blocking the interference path of bird activities on overhead cable inspection operations.

[0021] (5) The walking roller can drive the auxiliary roller to rotate synchronously through the friction with the overhead cable, and drive the contact rod to move up and down reciprocally through the collar. When the contact rod moves up and down, it can drive the laser bird repeller to rotate along the fan-shaped trajectory of the rotating plate, thereby increasing its laser irradiation range, improving the dynamic expansion of the laser irradiation area of ​​the laser bird repeller, and improving the coverage and response efficiency of the bird repeller operation. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the working board of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the rotating plate of the present invention; Figure 4 This is a three-dimensional structural diagram of the first airbag of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the fixing frame of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the second airbag of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the auxiliary rotating plate of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the auxiliary roller of the present invention; Figure 9 This is a three-dimensional structural diagram of the laser bird deterrent device of the present invention; Figure 10 This is a schematic diagram of the three-dimensional cross-sectional structure of the collar of the present invention.

[0023] In the diagram: 1. Inspection box; 2. Working plate; 3. Walking roller; 4. Motor; 5. Gear assembly; 6. Rotating plate; 7. Fixing frame; 8. Auxiliary roller; 9. First airbag; 10. Connecting air pipe; 11. Second airbag; 12. Laser bird deterrent; 13. Laser detector; 14. Pull plate; 15. Rotating shaft; 16. Drive plate; 17. Auxiliary rotating plate; 18. Connecting rod; 19. Collar; 20. Sliding groove; 21. Abutment rod; 22. Sliding block. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1: As Figures 1-3 The present invention provides the following technical solution: a railway overhead cable inspection robot, which discloses a rotating plate 6. The rotating plate 6 can enable the entire device to perform obstacle avoidance operations. A working plate 2 is fixedly connected to the upper surface of the inspection box 1, and a motor 4 is fixedly connected to the upper surface of the working plate 2. A rotating shaft 15 is rotatably connected to the upper surface of the working plate 2. The rotating plate 6 is fixedly connected to the outer side of the rotating shaft 15, and the upper end of the rotating shaft 15 is fixedly connected to the output end of the motor 4. An auxiliary roller 8 is rotatably connected above the rotating plate 6. Two sets of rotating shafts 15 are symmetrically arranged about the center point of the working plate 2. The lower surfaces of the two sets of rotating plates 6 are fixedly connected to meshing gear assemblies 5. The lower side of the outer end of the rotating plate 6 is slidably connected to the upper surface of the working plate 2. A walking roller 3 for walking on the overhead cable is fixedly connected to the upper surface of the auxiliary roller 8.

[0026] Equipped with a rotating plate 6, when the inspection box 1 moves to the cable connection point, the front motor 4 is activated. Motor 4 drives the corresponding rotating plate 6 to rotate. The other rotating plate 6, driven by the gear assembly 5, rotates outwards synchronously. Both rotating plates 6 then unfold outwards, causing the two sets of traveling rollers 3 to separate synchronously from the cable side, thus completing obstacle avoidance at the cable connection point. The device can still move along the overhead cable using the rear traveling rollers 3. Once the front traveling rollers 3 have moved to the front of the connection point, motor 4 is activated in reverse. The rotating plates 6, driven by the gear assembly 5, move towards each other, adjusting the traveling rollers 3 to the side of the overhead cable for subsequent inspection. After the front traveling rollers 3 complete obstacle avoidance, the rear traveling rollers 3 undergo the same obstacle avoidance process, ensuring the entire device completes obstacle avoidance. This prevents the device from getting stuck at the overhead cable connection point and being unable to continue inspection, thus improving inspection efficiency.

[0027] Example 2: Figures 3-7 The present invention provides the following technical solution: a railway overhead cable inspection robot, which discloses an adjustment structure. The adjustment structure allows for adjustment of the distance between two sets of laser detectors 13, achieving more precise coverage and detection of different areas. A fixed frame 7 is fixedly connected to the upper surface of the working plate 2, and a pull plate 14 is slidably connected to the upper surface of the fixed frame 7. A laser detector 13 for detecting overhead cables is fixedly connected to the edge of the pull plate 14. An adjustment structure is provided between the inner end of the pull plate 14 and the fixed frame 7. The adjustment mechanism adjusts the distance between the two sets of laser detectors 13 by changing the position of the rotating plate 6. The adjustment structure includes a first airbag 9, which is fixedly connected to the upper surface of the working plate 2. The two sets of rotating plates 6 are located at the... On the front and rear sides of an airbag 9, a connecting air tube 10 is connected through the end of the first airbag 9. A second airbag 11 is fixedly connected to the lower surface of the fixing frame 7, and the lower surface of the second airbag 11 is connected through to the other end of the connecting air tube 10. The second airbag 11 is arranged in an arc shape. An auxiliary rotating plate 17 is rotatably connected to the center of the upper surface of the fixing frame 7. The shaft end of the auxiliary rotating plate 17 extends to the lower surface of the fixing frame 7, and a driving plate 16 is fixedly connected to the lower shaft end of the auxiliary rotating plate 17. At the same time, the side of the driving plate 16 is fixedly connected to the second airbag 11. Both ends of the auxiliary rotating plate 17 are hinged with connecting rods 18, and the other end of the connecting rods 18 is hinged to the inner end of the pull plate 14. The pull plate 14 and the fixing frame 7 form a sliding structure through the connecting rods 18.

[0028] When the device moves normally, the distance between the two sets of rotating plates 6 is small, and the first airbag 9 is compressed by the two sets of rotating plates 6. At this time, the gas stored inside the first airbag 9 is transported to the inside of the second airbag 11 through the connecting air pipe 10, causing the second airbag 11 to inflate. The inflated second airbag 11 can touch the drive plate 16, thereby causing the drive plate 16 to rotate and change position. The auxiliary rotating plate 17 rotates synchronously under the action of the drive plate 16. The rotating auxiliary rotating plate 17 can synchronously cause the connecting rod 18 hinged at both ends to rotate, and the rotating connecting rod 18 pulls the pull plate 14 to move stably inward along the fixed frame 7. At this time, the two sets of laser detectors 13 can approach each other under the action of the pull plate 14, and can detect overhead cables. When the device moves to the cable docking part, the rotating plate 6 at the corresponding position rotates outward and unfolds. The rotating plate 6 releases radial compression on the first airbag 9, causing the pre-stored gas in the second airbag 11 to flow back into the first airbag 9 through the connecting air pipe 10 in a reverse flow path. As the gas continues to refill the first airbag 9, the volume of the second airbag 11 shrinks synchronously. The displacement generated by the deformation of the second airbag 11 can drive the drive plate 16 to rotate in the reverse direction. The drive plate 16 then drives the auxiliary rotating plate 17 to rotate. The rotating auxiliary rotating plate 17 can synchronously cause the connecting rod 18 hinged at both ends to rotate, and push the pull plate 14 to move stably outward along the fixed frame 7 through the rotating connecting rod 18. At this time, the two sets of laser detectors 13 can move outward synchronously under the action of the pull plate 14. Since the width of the cable docking part is significantly larger than that of a single overhead cable, the laser detector 13 achieves more accurate coverage detection of the docking area by expanding the spacing between the detection modules.

[0029] Example 3: Figure 2 , Figure 3 , Figures 8-10The present invention provides the following technical solution: a railway overhead cable inspection robot, which discloses a swing mechanism. This swing mechanism can improve the dynamic expansion of the laser irradiation area of ​​the laser bird repeller 12, thereby increasing the coverage and response efficiency of the bird repeller operation. An auxiliary roller 8 is rotatably connected above the rotating plate 6, and a swing mechanism is provided above the rotating plate 6. The swing mechanism includes the laser bird repeller 12. The swing mechanism achieves a wide-range bird repeller operation through the rotation of the auxiliary roller 8. The swing mechanism includes a sliding groove 20. The auxiliary roller 8 is located on the outside of the sliding groove 20, which is an inclined annular structure. The sliding groove 20 is slidably connected to the inside of the sliding block 22. The auxiliary roller 8 is slidably connected to the outside of the collar 19, which is fixedly connected to the outside of the sliding block 22. The collar 19 is fixedly connected to the outside of the collar 19, and the laser bird repeller 12 is rotatably connected to the upper surface of the rotating plate 6. The lower surface of the laser bird repeller 12 is in contact with the outside of the contact rod 21. The laser bird repeller 12 and the rotating plate 6 form a rotating structure through the contact rod 21.

[0030] A laser bird repeller 12 is installed. The laser bird repeller 12 emits a dynamically scanning green laser beam to simulate the characteristics of natural enemies or danger warning signals, performing non-contact bird repeller operations. This effectively blocks the interference path of bird activity on the overhead cable inspection operation. When the traveling roller 3 moves along the outside of the overhead cable, the traveling roller 3 can synchronously drive the auxiliary roller 8 to rotate through the friction with the overhead cable. The rotating auxiliary roller 8 can drive the collar 19 to the limit rod through the interaction of the annular sliding groove 20 inclined on its side and the sliding block 22 slidably connected inside. Under the limiting action, the reciprocating up and down movement is achieved. The up and down moving collar 19 can synchronously drive the abutment rod 21 to move. The side of the abutment rod 21 contacts the lower side of the laser bird repeller 12. When the abutment rod 21 moves up and down, it can synchronously drive the laser bird repeller 12 to rotate along the rotating plate 6 in a fan-shaped trajectory. At the same time, the two sets of laser bird repellers 12 will not collide with each other due to inertia under the elastic assistance of the torsion springs set at their shaft ends. By improving the dynamic expansion of the laser irradiation area of ​​the laser bird repeller 12, the coverage and response efficiency of the bird repeller operation are further improved.

[0031] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A railway overhead cable inspection robot, comprising an inspection box (1), wherein a working plate (2) is fixedly connected to the upper surface of the inspection box (1), and a motor (4) is fixedly connected to the upper surface of the working plate (2), and a rotating shaft (15) is rotatably connected to the upper surface of the working plate (2), a rotating plate (6) is fixedly connected to the outer side of the rotating shaft (15), and the upper end of the rotating shaft (15) is fixedly connected to the output end of the motor (4), characterized in that, The upper surface of the working plate (2) is fixedly connected to a fixed frame (7), and a pull plate (14) is slidably connected to the upper surface of the fixed frame (7). A laser detector (13) for detecting overhead cables is fixedly connected to the edge of the pull plate (14). An adjustment structure is provided between the inner end of the pull plate (14) and the fixed frame (7). The adjustment mechanism adjusts the distance between the two sets of laser detectors (13) by changing the position of the rotating plate (6). An auxiliary roller (8) is rotatably connected above the rotating plate (6), and a swing mechanism is provided above the rotating plate (6). The swing mechanism includes a laser bird repeller (12). The swing mechanism achieves a wide range of bird repeller by rotating the auxiliary roller (8). The adjustment structure includes a first airbag (9), which is fixedly connected to the upper surface of the working plate (2). Two sets of rotating plates (6) are located on the front and rear sides of the first airbag (9). A connecting air tube (10) is connected through the end of the first airbag (9). A second airbag (11) is fixedly connected to the lower surface of the fixing frame (7), and the lower surface of the second airbag (11) is connected through to the other end of the connecting air tube (10). The second airbag (11) is arranged in an arc shape. The upper surface of the fixing frame (7) is in the middle An auxiliary rotating plate (17) is rotatably connected to the center, and the shaft end of the auxiliary rotating plate (17) extends to the lower surface of the fixed frame (7). A drive plate (16) is fixedly connected to the lower shaft end of the auxiliary rotating plate (17). At the same time, the side of the drive plate (16) is fixedly connected to the second airbag (11). Both ends of the auxiliary rotating plate (17) are hinged with connecting rods (18), and the other end of the connecting rods (18) is hinged to the inner end of the pull plate (14). The pull plate (14) forms a sliding structure with the fixed frame (7) through the connecting rods (18).

2. The railway overhead cable inspection robot according to claim 1, characterized in that: Two sets of rotating shafts (15) are symmetrically arranged about the center point of the working plate (2), and meshing gear assemblies (5) are fixedly connected to the lower surfaces of the two sets of rotating plates (6). The lower side of the outer end of the rotating plate (6) is slidably connected to the upper surface of the working plate (2), and a walking roller (3) for walking on the overhead cable is fixedly connected to the upper surface of the auxiliary roller (8).

3. The railway overhead cable inspection robot according to claim 1, characterized in that: The swing mechanism includes a sliding groove (20), which is opened on the outside of the auxiliary roller (8) and is arranged in an inclined annular structure. A sliding block (22) is slidably connected inside the sliding groove (20).

4. The railway overhead cable inspection robot according to claim 3, characterized in that: The auxiliary roller (8) is slidably connected to a collar (19), and the inside of the collar (19) is fixedly connected to the outer end of the sliding block (22), and an abutment rod (21) is fixedly connected to the outside of the collar (19).

5. The railway overhead cable inspection robot according to claim 4, characterized in that: The laser bird repeller (12) is rotatably connected to the upper surface of the rotating plate (6), and the lower surface of the laser bird repeller (12) is in contact with the outer side of the contact rod (21). The laser bird repeller (12) and the rotating plate (6) form a rotating structure through the contact rod (21).

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