Climbing detection robot for overhead line system

Abstract

The invention relates to the technical field of detection robots, in particular to an overhead line system climbing detection robot which comprises a box body, and at least four sets of foot-like mechanisms are arranged at the top end of the box body in a staggered mode. A radar scanning probe and an industrial controller are installed in the middle of the box body, when the radar scanning probe recognizes an obstacle, one set of corresponding foot-like mechanisms deflect and bypass the obstacle, and the other three sets of foot-like mechanisms continue to undertake the moving function. The wire climbing robot is specially designed for a long and thin flexible structure of a railway contact network, can be stably attached to the surface of a long and thin structure of a contact network wire, automatically moves along a cable, is suitable for a complex space and a high-altitude narrow path environment, does not depend on an additional rail or a supporting structure, and is wider in operation range; operation tasks such as line inspection and scanning can be completed without manual intervention; compared with a traditional operation robot depending on manual control, the automation level and the operation efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a contact wire climbing inspection robot. Background Technology

[0002] In high-speed railways and urban rail transit systems, the overhead contact system, as a crucial component of train power supply, directly impacts train safety and stability. Traditional overhead contact system inspections rely primarily on manual labor, resulting in high workload, low efficiency, and significant safety risks, especially at night under high altitude and high voltage conditions. With increasing track density and train speeds, manual inspection methods are insufficient to meet the higher demands of modern railways for operational efficiency and data accuracy. To enhance the automation and intelligence of overhead contact system maintenance, railway overhead contact system climbing robot technology has emerged. These robots can autonomously crawl along the contact wire or catenary, and can be equipped with various sensing modules such as high-definition cameras, laser rangefinders, infrared thermal imaging, and pantograph-catenary dynamic monitoring to achieve real-time detection of key parameters such as contact wire wear, height, pull-out value, and insulation status. Featuring lightweight design, high stability, remote control, and intelligent recognition, they significantly improve the detection rate of overhead contact system defects and the completeness of data acquisition. This has become an important technological means to promote the transformation and upgrading of railway equipment maintenance and the construction of smart railways.

[0003] Currently, overhead contact line inspections rely heavily on manual operation. Workers need to use climbing equipment to conduct point inspections along the line, which is not only labor-intensive and inefficient, but also poses safety hazards such as electric shock and falls, especially in high-altitude, tunnel sections or complex weather conditions.

[0004] Robots can autonomously move within overhead contact line systems, significantly reducing the time personnel are exposed to high-risk working environments. Traditional ground or track-based robots rely on additional tracks or support structures, increasing costs and limiting their operational range. Traditional manually operated robots suffer from low efficiency due to their low level of automation. Some climbing robots exhibit problems such as unstable crawling, slippage, and weak ability to overcome obstacles like positioning clamps when moving along the contact line, affecting the continuity of inspections and data processing. Therefore, a climbing contact line inspection robot is proposed. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a contact wire climbing inspection robot that does not rely on additional tracks or support structures, thus enabling it to operate over a wider range. Compared to traditional robots that rely on manual operation, it also significantly improves the level of automation and operational efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a contact wire climbing inspection robot, comprising a housing, wherein at least four sets of foot-like mechanisms are staggered at the top of the housing to allow the climbing inspection robot to be mounted upside down on the contact wire and move. A radar scanning probe and an industrial controller are installed in the middle of the housing. When the radar scanning probe detects an obstacle, one set of corresponding leg-like mechanisms deflects around the obstacle, while the other three sets of leg-like mechanisms continue to perform the movement function. The foot-like mechanism includes a support frame fixed inside the box, a mounting bracket extending out of the box and rotatably mounted on the top of the support frame, a motor mounted on the mounting bracket, and a drive wheel fixed to the output end of the motor that can be hung upside down with the contact wire.

[0007] Preferably, the foot-like mechanism further includes two sets of active rods and two sets of driven rods symmetrically and rotatably mounted on the side end of the support frame. The other end of the active rod is rotatably connected to the inner end of the mounting bracket, and the other end of the driven rod is rotatably connected to the outer end of the mounting bracket. A top shaft is fixed between the two sets of active rods, and a bottom shaft is fixed on the lower side of the support frame. An electric push rod is rotatably mounted between the top shaft and the bottom shaft.

[0008] Preferably, the driving rod and driven rod on the same side are arranged in a cross configuration.

[0009] Preferably, in the inverted state, the drive wheel is horizontal; in the deflected state, the drive wheel is inclined.

[0010] Preferably, an industrial control computer display screen is installed on the side of the enclosure.

[0011] Preferably, the housing is equipped with a lithium battery that provides power to the leg-like mechanism, radar scanning probe, industrial controller, and industrial computer display screen.

[0012] Preferably, the housing has mounting ports at the locations corresponding to the foot mechanism, radar scanning probe, industrial controller, and industrial computer display screen.

[0013] Preferably, the outer diameter of the drive wheel gradually increases from the middle to both ends, forming a structure that is low in the middle and high at both ends, to prevent the drive wheel from deviating when moving along the contact line direction.

[0014] Preferably, the radar scanning probe and industrial controller are located below the drive wheel.

[0015] This invention provides a contact wire crawling inspection robot, which has the following advantages compared with the prior art: 1. The climbing robot provided by this invention is designed specifically for the slender and flexible structure of railway contact wires. It has strong adhesion and self-adaptation capabilities, can stably attach to the slender surface of the contact wire, and move autonomously along the cable. It is suitable for complex spaces and narrow paths at high altitudes. Compared with traditional ground or track-based robots, it does not rely on additional tracks or support structures, making its operating range wider.

[0016] 2. This invention enables autonomous identification of line status and obstacle avoidance capabilities, allowing it to complete line inspection, scanning, and other tasks without human intervention. Compared to traditional robots that rely on manual operation, it significantly improves the level of automation and work efficiency.

[0017] 3. The climbing robot in this invention can replace manual labor in high-altitude, electrified, or dangerous environments, effectively reducing the labor intensity of workers and the risks of high-altitude operations, improving the overall safety level of operations, and has broad engineering application prospects. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the climbing inspection robot structure of the present invention; Figure 2 This is a schematic diagram of the foot-like mechanism structure of the present invention; Figure 3 These are three views of the foot-like mechanism structure of the present invention; Figure 4 This is a schematic diagram of the box structure of the present invention; Figure 5 This is a schematic diagram of the industrial controller structure of the present invention; Figure 6 This is a schematic diagram of the industrial control computer display screen structure of the present invention; Figure 7 This is a schematic diagram of the radar scanning probe structure of the present invention; Figure 8 This is a schematic diagram of the foot-like mechanism of the present invention bypassing obstacles.

[0019] In the diagram: 1-Like foot mechanism, 2-Box body, 3-Radar scanning probe, 4-Industrial controller, 5-Industrial computer display screen, 6-Lithium battery; 11-Support frame, 12-Driven rod, 13-Drive rod, 14-Mounting bracket, 15-Motor, 16-Drive wheel, 17-Electric push rod, 18-Top shaft, 19-Bottom shaft. Detailed Implementation

[0020] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0021] Currently, overhead contact line inspections largely rely on manual operation. Workers must use elevated equipment to inspect points along the line, which is not only labor-intensive and inefficient but also poses safety hazards such as electric shock and falls, especially at high altitudes, in tunnel sections, or under complex weather conditions. Robots can replace manual labor and move autonomously within the overhead contact line system, significantly reducing the time personnel are exposed to high-risk working environments. However, some existing climbing robots exhibit problems such as unstable crawling, slippage, and weak ability to overcome obstacles like positioning clamps when moving along the contact line, affecting the continuity of inspections and data processing. For example... Figures 1-8 As shown, a contact wire climbing inspection robot is provided, including a housing 2. At least four sets of foot-like mechanisms 1 are staggered on the top of the housing 2. Four sets are selected here so that the climbing inspection robot can be mounted upside down on the contact wire and move. A radar scanning probe 3 and an industrial controller 4 are installed in the middle of the housing 2, and an industrial control computer display screen 5 is installed on the side of the housing 2. The radar scanning probe 3 and the industrial controller 4 are located below the drive wheel 16. The radar scanning probe 3 constantly scans the contact wire, acquiring data such as contact wire wear, height, pull-out value, and insulation status in real time, and uploads the data to the industrial control computer 4. The industrial control computer 4 processes the data and executes subsequent related operations. The industrial control computer display screen 5 is mainly used to observe changes in contact wire parameters and the setting of relevant operating modes, allowing operators to quickly and intuitively understand the work progress. The climbing robot is equipped with a housing 2, on which four leg-like mechanisms 1 and many modules can be mounted. The design is lightweight and compact, and it also provides wind and rain protection, providing a reliable carrier for the climbing robot and ensuring efficient operation.

[0022] Furthermore, when the radar scanning probe 3 detects an obstacle, one of the corresponding leg-like mechanisms 1 deflects around the obstacle, while the other three leg-like mechanisms 1 continue to perform the movement function.

[0023] In use, when the radar scanning probe 3 detects an obstacle on the contact line, the limb-like mechanism 1 (referred to as the movable limb) that is close to the obstacle deflects and temporarily detaches from the contact line to bypass the obstacle. At this time, the other three sets of limb-like mechanisms 1 are still in an inverted contact state with the contact line and perform the function of moving forward. After the movable limb bypasses the obstacle, it will deflect back and contact the contact line again, performing the previous inverted and forward functions. Similarly, the other three sets of limb-like mechanisms 1 can bypass obstacles in the same way, which solves the problem of low obstacle-crossing efficiency of traditional robots and ensures efficient contact network detection tasks. Due to its strong adhesion and self-adaptation capabilities, it can stably attach to the slender surface of the contact network conductor and move autonomously along the cable, making it suitable for complex spaces and narrow high-altitude paths.

[0024] The aforementioned foot-like mechanism 1 includes a support frame 11 fixed inside the housing 2. The top of the support frame 11 extends out of the housing 2 and is rotatably mounted with a mounting bracket 14. A motor 15 is mounted on the mounting bracket 14. The output end of the motor 15 is fixed with a drive wheel 16 that can be hung upside down with the contact line. The outer diameter of the drive wheel 16 gradually increases from the middle to both ends, forming a structure that is low in the middle and high at both ends. This arrangement ensures that the drive wheel 16 hanging upside down on the contact line always stays in the direction of the contact line when it moves, effectively preventing the drive wheel 16 from deviating from the contact line or falling off the contact line.

[0025] When moving forward, taking the four sets of foot-like mechanisms 1 as an example, the four sets of active wheels 16 are hung upside down on the contact line 16 in a horizontal position. When the corresponding motor 15 is started, the four sets of active wheels 16 can be driven to rotate simultaneously, thereby driving the climbing detection robot to move along the contact line direction. When encountering an obstacle, taking a sling as an example, the radar scanning probe 3 transmits a signal to the movable leg, causing the mounting bracket 14 inside to deflect. This deflects the motor 15 and drive wheel 16 on the bracket, disengaging them from the contact line to bypass the sling. The process can be referenced. Figure 8 ; After bypassing the obstacle, the mounting bracket 14 begins to deflect back, causing the motor 15 and drive wheel 16 on it to deflect until the drive wheel 16 re-engages and hangs upside down on the contact line.

[0026] Specifically, the foot-like mechanism 1 also includes two sets of driving rods 13 and two sets of driven rods 12 symmetrically rotatably mounted on the side of the support frame 11. The driving rods 13 and driven rods 12 on the same side are arranged in a cross configuration. The other end of the driving rod 13 is rotatably connected to the inner end of the mounting bracket 14, and the other end of the driven rod 12 is rotatably connected to the outer end of the mounting bracket 14. A top shaft 18 is fixed between the two sets of driving rods 13, and a bottom shaft 19 is fixed to the lower side of the support frame 11. An electric push rod 17 is rotatably mounted between the top shaft 18 and the bottom shaft 19. (See reference...) Figure 2 .

[0027] In the initial state, you can refer to Figure 2 The drive wheel 16 is horizontal. When it is necessary to deflect the drive wheel 16, the electric push rod 17 is activated to push the top shaft 18. With the cooperation of the drive rod 13 and the driven rod 12, the mounting bracket 14 can be driven to deflect, thereby driving the motor 15 and the drive wheel 16 on it to deflect to bypass the obstacle. At this time, the drive wheel 16 is tilted. By controlling the electric push rod 17 in the opposite direction, the drive wheel 16 can be moved back to a horizontal position.

[0028] The aforementioned housing 2 houses a lithium battery 6 that provides power to the leg-like mechanism 1, radar scanning probe 3, industrial controller 4, and industrial computer display screen 5. The housing 2 has mounting openings at the locations corresponding to the leg-like mechanism 1, radar scanning probe 3, industrial controller 4, and industrial computer display screen 5; and the housing 2 also contains a rack for mounting the lithium battery 6.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A contact wire climbing inspection robot, comprising a housing (2), characterized in that: The top of the box (2) is provided with at least four sets of foot-like mechanisms (1) to allow the climbing detection robot to move upside down on the contact line; The box (2) is equipped with a radar scanning probe (3) and an industrial controller (4). When the radar scanning probe (3) detects an obstacle, one of the corresponding leg-like mechanisms (1) deflects around the obstacle, while the other three leg-like mechanisms (1) continue to perform the movement function. The foot-like mechanism (1) includes a support frame (11) fixed inside the box (2). The top of the support frame (11) extends out of the box (2) and is rotatably provided with a mounting bracket (14). A motor (15) is mounted on the mounting bracket (14). The output end of the motor (15) is fixed with a drive wheel (16) that can be hung upside down with the contact line.

2. The contact wire climbing inspection robot according to claim 1, characterized in that: The foot-like mechanism (1) further includes two sets of active rods (13) and two sets of driven rods (12) symmetrically and rotatably mounted on the side of the support frame (11). The other end of the active rod (13) is rotatably connected to the inner end of the mounting bracket (14), and the other end of the driven rod (12) is rotatably connected to the outer end of the mounting bracket (14). A top shaft (18) is fixed between the two sets of active rods (13), and a bottom shaft (19) is fixed on the lower side of the support frame (11). An electric push rod (17) is rotatably mounted between the top shaft (18) and the bottom shaft (19).

3. The contact wire climbing inspection robot according to claim 2, characterized in that: The driving rod (13) and driven rod (12) on the same side are arranged in a cross configuration.

4. The contact wire climbing inspection robot according to claim 2, characterized in that: When inverted, the drive wheel (16) is horizontal; when deflected, the drive wheel (16) is tilted.

5. The contact wire climbing inspection robot according to claim 1, characterized in that: An industrial control computer display screen (5) is installed on the side of the enclosure (2).

6. The contact wire crawling inspection robot according to claim 5, characterized in that: The housing (2) contains a lithium battery (6) that provides power to the leg-like mechanism (1), radar scanning probe (3), industrial controller (4) and industrial computer display screen (5).

7. The contact wire crawling inspection robot according to claim 6, characterized in that: The housing (2) has mounting ports at the positions corresponding to the foot mechanism (1), radar scanning probe (3), industrial controller (4), and industrial computer display screen (5).

8. The contact wire climbing inspection robot according to claim 1, characterized in that: The outer diameter of the drive wheel (16) gradually increases from the middle to both ends, forming a structure that is low in the middle and high at both ends, in order to prevent the drive wheel (16) from deviating when moving along the contact line direction.

9. The contact wire climbing inspection robot according to claim 1, characterized in that: The radar scanning probe (3) and the industrial controller (4) are located below the drive wheel (16).

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