A hanging rail type contact wire abrasion detection robot clamping walking device

Abstract

The application discloses a hanging rail type contact wire abrasion detection robot clamping and walking device, which realizes quick, automatic and reliable installation and locking of the detection robot on a narrow tunnel space and a Π-shaped busbar, and discards traditional heavy manual operation. The detection robot can automatically identify and smoothly pass through a pre-tightening bolt on the Π-shaped busbar, realizes uninterrupted continuous detection, overcomes the blockage of fixed obstacles, is not prone to be stuck, and improves the applicability of the overall device.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of rail transit operation and maintenance technology, and particularly relates to a hanging rail type contact wire abrasion detection robot clamping walking device. BACKGROUND

[0002] The contact net is arranged on a Π-shaped busbar in a tunnel, and in particular, an overhead rigid contact net is a key equipment for safe and stable current collection of a train.

[0003] As a component directly rubbed by a pantograph, the abrasion condition of the contact wire is directly related to power supply reliability and operation safety. If the abrasion exceeds a safety limit value and is not replaced in time, serious accidents such as wire breakage and arc drawing may occur, resulting in interruption of subway operation. At present, the detection of contact wire abrasion mainly relies on traditional manual methods. The operator needs to measure the residual height of the contact wire using a vernier caliper and the like during a short window period after the subway is shut down. This method has many drawbacks: first, the detection must be carried out under the condition that the contact net is powered off, and the safety guarantee process is complex and the operation risk is high; second, manual measurement is low in efficiency and high in labor intensity, and it is difficult to cover the entire line and prone to missed detection; third, the measurement data need to be manually recorded and managed, and the process is tedious and prone to errors; and finally, the detection result is greatly affected by human subjective factors, and the precision is difficult to guarantee.

[0004] In order to improve the detection efficiency, some research and application of automatic detection equipment have appeared in the market. However, these devices still face severe challenges in actual application. For example, the Π-shaped busbar of the subway rigid contact net is arranged in a zigzag shape, and protruding pre-tightening bolts are arranged at intervals thereon, and there are Π-shaped busbar butt joint interruption areas. The mechanical structure of the existing detection equipment often lacks adaptability and is prone to jamming, and cannot effectively and smoothly automatically cross the bolt obstacles, resulting in interruption of the detection operation. SUMMARY

[0005] The purpose of the present application is to provide a hanging rail type contact wire abrasion detection robot clamping walking device to solve the problem of insufficient adaptability of the detection equipment in the prior art.

[0006] In order to solve the above technical problems, the present application adopts the following technical solutions:

[0007] A hanging rail type contact wire abrasion detection robot clamping walking device, comprising a suspension clamping mechanism, an obstacle avoidance mechanism, a driving mechanism, a suspension linkage mechanism and a contact wire abrasion detection robot.

[0008] The suspension clamping mechanism comprises a mounting plate, and an avoiding hole is formed in the middle of the mounting plate; the contact wire abrasion detection robot is arranged at the bottom of the mounting plate through a connecting plate and faces the avoiding hole;

[0009] The bottom of the mounting plate is vertically connected with a side plate, and a first motor is fixedly connected to the side plate, with an output shaft of the first motor being connected with the sliding block.

[0010] The suspension linkage mechanism comprises a left suspension linkage mechanism and a right suspension linkage mechanism which are identical in structure; the left suspension linkage mechanism comprises a plurality of rotary pairs, a first linkage, two second linkages, two third linkages and a force transmission rod; the second linkage is a "L"-shaped linkage;

[0011] One end of the first linkage is connected with the left side of the sliding block through a rotary pair, and the other end is rotatably connected to the force transmission rod through a rotary pair; the force transmission rod is rotatably connected with one end of each of the two second linkages through a rotary pair; an obstacle avoidance mechanism mounting plate is fixedly arranged between the two second linkages, and a left suspension plate is fixedly arranged between the two third linkages; the left suspension plate is fixedly connected with the obstacle avoidance mechanism mounting plate through a fixing rod; the bottom ends of the two third linkages are rotatably connected with the side wall of the mounting plate through a rotary pair;

[0012] A through hole is formed in the middle of the left suspension plate, and two horizontal clamping plates are arranged on the two sides of the obstacle avoidance mechanism mounting plate; the two clamping plates extend to the right and pass through the through hole of the left suspension plate;

[0013] The obstacle avoidance mechanism comprises at least one digital servo motor mounted on the obstacle avoidance mechanism mounting plate; a horizontal top plate is connected to the obstacle avoidance mechanism mounting plate; two vertical connecting rods close to the digital servo motor are fixed to the bottom of the top plate;

[0014] The bottom ends of the two connecting rods are rotatably connected with two support frames, respectively; a telescopic rod is arranged between the two support frames, and the two ends of the telescopic rod are rotatably connected with the two support frames, respectively;

[0015] The output shaft of the digital servo motor is connected with the closest support frame through a fourth linkage; a first guide wheel is rotatably connected to the support frame; the output shaft of the digital servo motor can drive the support frame to rotate in the horizontal direction through the fourth linkage, thereby driving the first guide wheel to rotate;

[0016] When the first guide wheel rotates to a position where the central axis of the first guide wheel is perpendicular to the obstacle avoidance mechanism mounting plate, the first guide wheel completely passes through the through hole of the left suspension plate; the bottom end of the clamping plate is higher than the bottom end of the first guide wheel, and the top end of the clamping plate is not higher than the plane where the central axis of the first guide wheel is located;

[0017] In the right suspension linkage mechanism, a right suspension plate is fixedly arranged between the two third linkages; a clamping plate and a second guide wheel corresponding to the first guide wheel are arranged on the side of the right suspension plate close to the left suspension plate;

[0018] The output shaft of the first motor can drive the slider to move vertically, and then the vertical movement is converted into the movement of the left and right suspension plates in the left-right direction through the suspension linkage mechanism.

[0019] The card plates are respectively overlapped on both sides of the Π-shaped busbar in the tunnel, and at this time, the first guide wheel and the second guide wheel can rotate into the grooves on both sides of the Π-shaped busbar.

[0020] The driving mechanism is used for driving the suspension clamping mechanism to move along the Π-shaped busbar.

[0021] The controller of the contact line abrasion detection robot is electrically connected with the first motor, the digital steering engine and the driving mechanism.

[0022] The driving mechanism comprises a second motor arranged at the bottom of the mounting plate.

[0023] At least one pair of fixing plates is arranged on the mounting plate, and a transmission rod capable of rotating around its central axis is arranged between each pair of fixing plates, and a first synchronous gear and two driving pulleys are sequentially and fixedly sleeved on the transmission rod.

[0024] The output shaft of the second motor is coaxially fixedly connected with a second synchronous gear, the second synchronous gear and the first synchronous gear are driven through a synchronous belt, and a avoiding hole of the synchronous belt is formed in the corresponding position of the mounting plate.

[0025] The rotation direction of the driving pulley is consistent with the rotation direction of the first guide wheel in the groove on the side surface of the Π-shaped busbar.

[0026] When the first guide wheel and the second guide wheel rotate into the grooves on both sides of the Π-shaped busbar, the two driving pulleys are in contact with the bottom end surface of the Π-shaped busbar.

[0027] Two pairs of fixing plates are arranged on the mounting plate.

[0028] One of the pairs of fixing plates is arranged with a transmission rod capable of rotating around its central axis, and a first synchronous gear and two driving pulleys are sequentially and fixedly sleeved on the transmission rod.

[0029] The other pair of fixing plates is arranged with a transmission rod capable of rotating around its central axis, and a driven pulley corresponding to the two driving pulleys is fixedly sleeved on the transmission rod.

[0030] The application also has the following characteristics:

[0031] Further, the second motor and the mounting plate are arranged with a tensioning bolt.

[0032] Further, two digital steering engines are arranged on both sides of the obstacle avoidance mechanism mounting plate.

[0033] Further, the output shaft of the first motor is coaxially fixedly connected with a screw rod, and a screw hole is formed in the sliding block, and the sliding block is screwed on the screw rod.

[0034] A contact wire abrasion detection robot comprises a main power supply, a controller, a laser ranging module, a face array camera, a line laser, a DC power filter and an absolute value encoder.

[0035] The main power supply is connected with the controller, the laser ranging module, the line laser and the absolute value encoder respectively.

[0036] The main power supply is further connected with the face array camera through the DC power filter.

[0037] The controller is connected with the laser ranging module, the face array camera, the line laser, the DC power filter and the absolute value encoder.

[0038] The laser ranging module is used for detecting the distance between the first guide wheel and the nearest pre-tightening bolt and transmitting the detection result to the controller.

[0039] The line laser and the face array camera jointly measure the geometry by triangulation, the optical axis of the face array camera is directed to the opening area of the Π-shaped busbar and the lower surface of the contact wire through the avoiding hole of the mounting plate, and is used for shooting the bright line image and the environmental visible light image formed by the line laser at the cross section of the contact wire and transmitting the bright line image and the environmental visible light image to the controller.

[0040] The absolute value encoder is arranged on the driven rotary wheel and is used for measuring the travel mileage of the driven rotary wheel and transmitting the travel mileage to the controller.

[0041] The controller is used for:

[0042] receiving the distance between the first guide wheel and the nearest pre-tightening bolt provided by the laser ranging module;

[0043] receiving the bright line image and the environmental visible light image provided by the face array camera;

[0044] receiving the travel mileage of the driven rotary wheel provided by the absolute value encoder;

[0045] controlling the start and stop of the second motor;

[0046] controlling the start, stop, forward rotation or reverse rotation of the digital steering engine;

[0047] detecting the abrasion of the contact wire according to the bright line image and the environmental visible light image provided by the face array camera.

[0048] Further, the main power supply adopts a 24V lithium battery.

[0049] The linear laser is installed below the mounting plate on one side of the area array camera, and the outgoing beam of the laser crosses the contact line section and forms a 20-degree angle with the optical axis of the area array camera.

[0050] The controller comprises a Raspberry Pi and an STM32 single-chip microcomputer, and the Raspberry Pi and the STM32 single-chip microcomputer communicate through a serial port.

[0051] The Raspberry Pi serves as an upper computer and is used for:

[0052] Receiving a bright line image and an ambient visible light image provided by the area array camera, and detecting a contact line wear condition according to the bright line image and the ambient visible light image;

[0053] Identifying a pre-tightening bolt in the bright line image and the ambient visible light image, and transmitting an identification result to the STM32 single-chip microcomputer;

[0054] The STM32 single-chip microcomputer serves as a lower computer and is used for:

[0055] Receiving a distance between the first guide wheel and the closest pre-tightening bolt provided by the laser ranging module;

[0056] Receiving a travel mileage of the driven rotary wheel provided by the absolute value encoder, and determining a current distance between the first guide wheel and the closest pre-tightening bolt;

[0057] Setting a threshold value, comparing the set threshold value with the distance between the first guide wheel and the closest pre-tightening bolt, and when the distance is less than the threshold value, controlling a corresponding digital steering engine to rotate forward from an initial position, driving the corresponding two first guide wheels to rotate, and then avoiding the pre-tightening bolt until the two first guide wheels pass through the pre-tightening bolt and the corresponding digital steering engine is controlled to rotate reversely to the initial position;

[0058] Receiving the travel mileage of the driven rotary wheel provided by the absolute value encoder, and controlling the second motor to start and stop.

[0059] Compared with the prior art, the present application has the following technical effects:

[0060] (I) The hanging rail type contact line wear detection robot clamping and walking device of the present application realizes rapid, automatic and reliable installation and locking of the detection robot on a narrow tunnel space and a Π-shaped busbar, and discards the traditional heavy manual operation. The detection robot can automatically identify and smoothly pass through the pre-tightening bolt on the Π-shaped busbar, realize uninterrupted continuous detection, overcome the blockage of fixed obstacles, and improve the applicability of the overall device.

[0061] (II) The hanging rail type contact line wear detection robot clamping and walking device of the present application is convenient to carry, install and carry under the premise of meeting the structural strength, and is suitable for frequent use in a subway operation site.

[0062] (III) The hanging rail type contact wire abrasion detection robot clamping walking device of the application is suitable for complex terrains, has self-adaptive adjustment capability when passing through the busbar sections arranged in zigzag and the busbar butt joint intersections, avoids being stuck or derailing, provides stable and adjustable clamping force for the driving wheels, ensures that the power can be effectively transmitted under any working condition, prevents slipping when accelerating, decelerating or climbing, ensures accurate positioning of the detection position, and is suitable for large-scale use and promotion in industry. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 is a schematic diagram of the hanging rail type contact wire abrasion detection robot clamping walking device of the application;

[0064] Figure 2 is a schematic diagram of the suspension clamping mechanism in the application;

[0065] Fig. 3 (a) and Fig. 3 (b) are principle schematic diagrams of the obstacle avoidance mechanism in different states in the application;

[0066] Figure 4 is a schematic diagram of the assembly relationship of the suspension clamping mechanism and the driving mechanism in the application;

[0067] Figure 5 is a partial schematic diagram of the synchronous belt transmission of the driving mechanism in the application;

[0068] Figure 6 is a detailed structure diagram of the suspension clamping mechanism connecting rod in the application;

[0069] The meanings of the numbers in the figures are as follows:

[0070] 1, suspension clamping mechanism; 2, obstacle avoidance mechanism; 3, driving mechanism; 4, contact wire abrasion detection robot; 5, first connecting rod; 6, second connecting rod; 7, third connecting rod; 8, force transmission rod; 9, left suspension plate; 10, through hole; 11, clamping plate; 12, right suspension plate; 13, Π type busbar; 14, structure plate; 15, contact wire; 16, pre-tightening bolt;

[0071] 101, mounting plate; 102, side plate; 103, first motor; 104, sliding block; 105, obstacle avoidance mechanism mounting plate; 106, guide rail; 107, guide rail sliding block;

[0072] 201, digital steering engine; 202, connecting rod; 203, support frame; 204, telescopic rod; 205, fourth connecting rod; 206, first guide wheel;

[0073] 301, second motor; 302, fixed plate; 303, transmission rod; 304, first synchronous gear; 305, driving pulley; 306, second synchronous gear; 307, synchronous belt; 308, driven pulley; 309, tensioning bolt;

[0074] 501. Sleeve; 502. Tension spring. Detailed Implementation

[0075] It should be noted that, unless otherwise specified, all components in this invention are known in the prior art. For example, the digital servo uses a commonly known digital servo.

[0076] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0077] A rail-mounted contact wire wear detection robot clamping and walking device includes a suspension clamping mechanism 1, an obstacle avoidance mechanism 2, a drive mechanism 3, and a contact wire wear detection robot 4.

[0078] These mechanisms are all mounted on a structural plate 14 made of magnesium-aluminum alloy sheets, forming a compact and lightweight whole. The entire mechanism straddles the Π-shaped busbar of the subway contact network and is attached to the grooves on both sides of it by a suspension clamping mechanism 1.

[0079] The suspension clamping mechanism 1 includes a mounting plate 101, which is used to support the overall structure.

[0080] The suspension linkage mechanism includes a left suspension linkage mechanism and a right suspension linkage mechanism with the same structure; the left suspension linkage mechanism includes multiple rotating joints, a first link 5, two second links 6, two third links 7 and a force transmission rod 8; among them, the second links 6 are L-shaped links.

[0081] Please refer to the details. Figure 1 The second link 6 is composed of two rods integrally formed at an obtuse angle.

[0082] The bottom ends of the two third connecting rods 7 are rotatably connected to the side wall of the mounting plate 101 through a rotating joint.

[0083] As a specific implementation method, the first motor 103 adopts an externally driven trapezoidal screw motor, specifically a 42 series motor, with a screw lead of 3mm and a diameter of 6.35mm.

[0084] Under these specifications, with a clamping force of 200N, a lead screw mechanical efficiency of 0.4, and a safety factor of n=2, the required holding torque is 0.477 N·m, and the selected motor meets the requirements.

[0085] In one specific implementation, the slider 104 is mounted on a linear guide rail. This design ensures that the slider 104 can only make precise linear movements and can withstand a certain deflection torque.

[0086] A side plate 102 is vertically connected to the bottom of the mounting plate 101. A first motor 103 is fixedly connected to the side plate 102. The output shaft of the first motor 103 is connected to a slider 104.

[0087] The suspension linkage mechanism includes a left suspension linkage mechanism and a right suspension linkage mechanism with the same structure; the left suspension linkage mechanism includes multiple revolute joints, a first link 5, two second links 6, two third links 7, and a force transmission rod 8; the second links 6 are L-shaped links;

[0088] In the left suspension linkage mechanism, one end of a first link 5 is connected to the left side of the slider 104 via a revolute joint, and the other end is rotatably connected to the force transmission rod 8 via a revolute joint; both ends of the force transmission rod 8 are rotatably connected to one end of two second links 6 via a revolute joint; the two second links 6 are rotatably connected to two third links 7 via a revolute joint; an obstacle avoidance mechanism mounting plate 105 is fixedly installed between the two second links 6, and a left suspension plate 9 is fixedly installed between the two third links 7; the left suspension plate 9 and the obstacle avoidance mechanism mounting plate 105 are fixedly connected by a fixing rod.

[0089] A through hole 10 is provided in the middle of the left suspension plate 9. Two clamping plates 11 are provided on both sides of the obstacle avoidance mechanism mounting plate 105. The two clamping plates 11 extend to the right and pass through the through hole 10 of the left suspension plate 9.

[0090] The obstacle avoidance mechanism 2 includes at least one digital servo motor 201 mounted on the obstacle avoidance mechanism mounting plate 105; a horizontally arranged top plate is connected to the obstacle avoidance mechanism mounting plate 105, and two vertical connecting rods 202 near the digital servo motor 201 are fixed at the bottom of the top plate.

[0091] The bottom of the two connecting rods 202 are rotatably connected to the two support frames 203 respectively, and a telescopic rod 204 is provided between the two support frames 203. The two ends of the telescopic rod 204 are rotatably connected to the two support frames 203 respectively.

[0092] The output shaft of the digital servo motor 201 is rotatably connected to the nearest support frame 203 via the fourth link 205; a first guide wheel 206 is rotatably connected to the support frame 203; the output shaft of the digital servo motor 201 can drive the support frame 203 to rotate in the horizontal direction via the fourth link 205, thereby driving the first guide wheel 206 to rotate.

[0093] When the first guide wheel 206 rotates to the point where its central axis is perpendicular to the obstacle avoidance mechanism mounting plate 105, the first guide wheel 206 completely passes through the through hole 10 of the left suspension plate 9; the bottom of the clamping plate 11 is higher than the bottom of the first guide wheel 206 and the top is not higher than the plane where the central axis of the first guide wheel 206 is located.

[0094] The right suspension plate 12 is fixed between the two third connecting rods 7, and the clamping plate 11 and the second guide wheel corresponding to the first guide wheel 206 are arranged on the side of the right suspension plate 12 close to the left suspension plate 9.

[0095] The output shaft of the first motor 103 can drive the slider 104 to move vertically, and then convert the vertical movement into the movement of the left suspension plate 9 and the right suspension plate 12 in the left-right direction through the suspension linkage mechanism.

[0096] The clamping plate 11 is respectively overlapped on both sides of the Π-shaped busbar 13 in the tunnel, and at this time the first guide wheel 206 and the second guide wheel can rotate into the recess on both sides of the Π-shaped busbar 13;

[0097] The driving mechanism 3 is used to drive the suspension clamping mechanism 1 to move along the Π-shaped busbar 13;

[0098] The controller of the contact line abrasion detection robot 4 is respectively electrically connected with the first motor 103, the digital steering engine 201 and the driving mechanism 3.

[0099] In actual use, taking the left suspension linkage mechanism as an example, the output shaft of the first motor 103 drives the slider 104 to move vertically, and since the left side of the slider 104 is connected with the first connecting rod 5 through a rotary joint, this makes the first connecting rod 5 can transmit power to the two second connecting rods 6 through the transmission rod 8.

[0100] On this basis, the second connecting rod 6 is arranged in a "L" shape, which has the advantage of transmitting power to the third connecting rod 7 through the transmission pair, and ultimately forming a complete connecting rod mechanism, which converts the vertical movement into the movement of the left suspension plate 9 in the left-right (horizontal) direction. The right suspension linkage mechanism is the same.

[0101] On this basis, the left suspension linkage mechanism and the right suspension linkage mechanism can move closer to each other or farther away from each other to realize clamping and releasing of the Π-shaped busbar 13.

[0102] Specifically, referring to FIGS. 3(a) and 3(b), in order to deal with the protruding pre-tightening bolt 16 on the Π-shaped busbar 13, the steering engine driven obstacle avoidance mechanism 2 is designed.

[0103] The mechanism is symmetrically arranged on one side of the Π-shaped busbar 13 where the bolt may protrude, so in this embodiment only one side of the obstacle avoidance mechanism 2 needs to be arranged.

[0104] The mechanism is powered by a digital steering engine 201. The output shaft of the digital steering engine 201 is connected to the closest support frame 203 through a fourth connecting rod 205; the first guide wheel 206 is rotatably connected to the support frame 203; the output shaft of the digital steering engine 201 can drive the support frame 203 to move in the horizontal direction through the fourth connecting rod 205, thereby driving the first guide wheel 206 to rotate.

[0105] As a specific embodiment, the digital steering engine 201 adopts LD-1501MG, and the torque is 17 kg·cm.

[0106] When walking normally, corresponding to Fig. 3(a), the digital steering engine 201 is in the initial position, and the first guide wheel 206 is in the working position, in contact with the Π-shaped busbar 13 and playing a supporting and guiding role.

[0107] When crossing obstacles, corresponding to Fig. 3(b), when the front laser ranging sensor of the contact line wear detection robot 4 detects that there is a pre-tightening bolt 16 in front, the digital steering engine 201 rotates, pulls back the telescopic rod 204 through the connecting rod mechanism, drives the first guide wheel 206 to retract inward as a whole, and leaves enough space for the robot to pass through the pre-tightening bolt 16 smoothly. After the robot body passes through, the digital steering engine 201 reverses, and the first guide wheel 206 resets. The two sets of mechanisms act in turn, so that smooth and continuous obstacle crossing can be realized.

[0108] As a specific embodiment, by controlling the rotation angle of the first motor 103, the size of the clamping force can be accurately controlled. According to the force condition in the acceleration stage, the wheel does not slip and needs to satisfy μN≥ma.

[0109] Where m is 15 kg, the acceleration a=0.5 m / s 2 , and the rolling friction coefficient μ=0.1. According to the calculation, the minimum clamping force required by the suspension clamping mechanism 1 is about 75 N to ensure that there is no slip during acceleration and to meet the continuity of walking and measurement.

[0110] The mounting plate 101 is made of a 5mm thick AZ31B magnesium-aluminum alloy plate with a size of 3mm×290mm. Through finite element analysis verification, under the working condition of bearing 100N counterforce (total load 200N) at both ends, the maximum bending stress is much lower than the yield strength (σ s =160MPa) of the material, the safety factor is greater than 2, the maximum deflection is less than 1mm, and the stiffness and strength meet the use requirements.

[0111] The driving mechanism 3 is used to drive the suspension clamping mechanism 1 to move along the Π-shaped busbar 13;

[0112] The controller of the contact line wear detection robot 4 is electrically connected with the first motor 103, the digital steering engine 201, and the driving mechanism 3, respectively.

[0113] As a preferred solution, as shown in Figure 2 The driving mechanism 3 includes a second motor 301 arranged at the bottom of the mounting plate 101.

[0114] At least one pair of fixed plates 302 is arranged on the mounting plate 101, and a transmission rod 303 capable of rotating around its central axis is arranged between the two fixed plates 302. The transmission rod 303 is sequentially fixed with a first synchronous gear 304 and two driving pulleys 305.

[0115] The output shaft of the second motor 301 is coaxially fixedly connected with the second synchronous gear 306. The second synchronous gear 306 and the first synchronous gear 304 are driven by a synchronous belt 307. The corresponding position of the mounting plate 101 is provided with a synchronous belt avoiding hole.

[0116] The rotation direction of the driving pulley 305 is consistent with that of the first guide wheel 206.

[0117] When the first guide wheel 206 and the second guide wheel rotate into the grooves on both sides of the Π-shaped busbar 13, the two driving pulleys 305 are in contact with the bottom end surface of the Π-shaped busbar 13.

[0118] As a specific embodiment, the second synchronous gear 306 and the first synchronous gear 304 are connected by a synchronous belt 307 of model HTD 3M. The predetermined detection speed of the device is 2 m / s, and the acceleration is 0.5 m / s². In the acceleration stage, in order to avoid the slip of the driving wheel, sufficient normal force needs to be provided by the suspension clamping mechanism 1 to ensure the continuous traction and positioning accuracy.

[0119] The number of teeth of the second synchronous gear 306 and the first synchronous gear 304 is 32 teeth, and the pitch diameter is about 30.6 mm. According to the calculation of the center distance of about 77 mm, a synchronous belt with 83 teeth and a length of 250 mm is selected. The synchronous belt of this model allows a pulling force much larger than the actual working pulling force (the actual working pulling force is about 41.8 N) when the belt width is 15 mm, and the safety margin is sufficient. The use of synchronous belt transmission ensures that the power transmission has no slip, so that the absolute value encoder mounted on the driven shaft can accurately record the walking distance and realize the accurate positioning of the wear position.

[0120] As a specific embodiment, the second motor 301 adopts a 57HS7407-21B18-500AZ direct current motor.

[0121] As a preferred solution, two pairs of fixed plates 302 are arranged on the mounting plate 101.

[0122] One pair of fixed plates 302 is provided with a transmission rod 303 capable of rotating around its central axis, and a first synchronous gear 304 and two driving pulleys 305 are sequentially fixed on the transmission rod 303.

[0123] Another pair of fixed plates 302 is provided with a transmission rod 303 capable of rotating around its central axis, and a driven pulley 308 corresponding to the two driving pulleys 305 is fixed on the transmission rod 303.

[0124] As a preferred solution, a tensioning bolt 309 is arranged between the second motor 301 and the mounting plate 101. By rotating the tensioning bolt 309, the motor can be adjusted to fine-tune the center distance of the synchronous pulley, thereby achieving initial tensioning of the synchronous belt and compensation for loosening during operation.

[0125] Further preferably, two digital rudders 201 are arranged on both sides of the obstacle avoidance mechanism mounting plate 105 to improve the stability of the overall device.

[0126] As a preferred solution, as shown in the drawings, the output shaft of the first motor 103 is coaxially fixedly connected with a screw rod, and a screw hole is formed in the sliding block 104, which is screwed on the screw rod. Figure 6

[0127] Vertical guide rails 106 are arranged on both sides of the side plate 102, and a guide rail sliding block 107 is slidingly arranged on each guide rail 106.

[0128] Further preferably, the first connecting rod 5 comprises a sleeve 501, and a tension spring 502 is arranged inside the sleeve 501.

[0129] One end of the tension spring 502 is connected with the corresponding guide rail sliding block 107 through a revolute pair, and the other end is rotatably connected with the corresponding force transmission rod 8.

[0130] To solve the problem of jamming at the junction of the zigzag bend and the bus bar, the first connecting rod 5 in the suspension connecting rod mechanism is provided with a sleeve 501, and a tension spring 502 is arranged inside the sleeve 501. For the specific structure, please refer to Figure 6 ,

[0131] The tension spring 502 is made of spring steel, with a wire diameter of 1.0 mm, a middle diameter of 8.0 mm, 7 effective turns, and a free length of 25 mm. When the robot passes through the above-mentioned complex road section and the guide wheel is pressed, the tension spring 502 is elongated at this time, providing an elastic deformation space of about 3 mm for the entire mechanism, thereby realizing passive adaptive adjustment and avoiding jamming caused by rigid collision.

[0132] ​The core structural components of the embodiment, such as the suspension plate, all connecting rods, mounting plate 101, structural plate 14, etc., are made of AZ31B magnesium-aluminum alloy or 6061 aluminum alloy. The AZ31B magnesium-aluminum alloy has a low density (about 1.77 g / cm³) and a yield strength σ s ≥ 160 MPa, with a very high specific strength.

[0133] The key load-bearing components are subjected to force checking and finite element optimization. For example, the connecting shaft of the connecting rod-bearing seat is optimized from 3 mm to 4 mm in diameter by calculating its bending stress, and a 694 deep groove ball bearing with an inner diameter of 4 mm is selected, which not only meets the strength requirement (safety factor > 2) but also realizes lightweight. The maximum bending stress of the axle (diameter 9 mm) subjected to bending moment is 72.6 MPa, and the safety factor reaches 2.2, meeting the use requirements under vibration and impact working conditions.

[0134] A contact wire abrasion detection robot, comprising a main power supply, a controller, a laser ranging module, a face array camera, a line laser, a DC power filter, and an absolute value encoder;

[0135] The main power supply is connected with the controller, the laser ranging module, the line laser, and the absolute value encoder, respectively;

[0136] The main power supply is also connected with the face array camera through the DC power filter;

[0137] The controller is connected with the laser ranging module, the face array camera, the line laser, the DC power filter, and the absolute value encoder;

[0138] The laser ranging module is used to detect the distance between the first guide wheel 206 and the nearest pre-tightening bolt 16 and transmit the detection result to the controller;

[0139] The line laser and the face array camera jointly perform triangulation geometry. The optical axis of the face array camera is directed to the opening area of the Π-shaped busbar 13 and the lower surface of the contact wire through the avoiding hole of the mounting plate 101, and is used to shoot the bright line image and the environmental visible light image formed by the line laser at the cross section of the contact wire, and transmit the bright line image and the environmental visible light image to the controller;

[0140] The absolute value encoder is arranged on the driven rotating wheel 308 and is used to measure the travel mileage of the driven rotating wheel 308 and transmit the travel mileage to the controller;

[0141] The controller is used to:

[0142] receive the data provided by the laser ranging module, the face array camera, and the absolute value encoder, and control the start and stop of the second motor 301 and the start, stop, forward rotation, or reverse rotation of the digital rudder 201;

[0143] The contact line wear condition is detected according to the bright line image and the environment visible light image provided by the area array camera.

[0144] As a specific embodiment, the main power supply adopts a 24V lithium battery.

[0145] The line laser is installed below the mounting plate 101 on the side of the area array camera, and the outgoing beam of the laser crosses the section of the contact line and forms a 20° angle with the optical axis of the area array camera.

[0146] The controller includes a Raspberry Pi and an STM32 single-chip microcomputer, and the Raspberry Pi and the STM32 single-chip microcomputer communicate through a serial port.

[0147] The Raspberry Pi serves as an upper computer and is used for:

[0148] Receiving the bright line image and the environment visible light image, and detecting the contact line wear condition;

[0149] The YOLOv7-tiny algorithm is used to identify the pre-tightening bolt 16 in the bright line image and the environment visible light image, and the identification result is transmitted to the STM32 single-chip microcomputer.

[0150] The STM32 single-chip microcomputer is used for:

[0151] Setting a threshold value, comparing the set threshold value with the distance between the first guide wheel 206 and the closest pre-tightening bolt 16, and when the distance is less than the threshold value, controlling the corresponding digital servo 201 to rotate forward from the initial position, driving the corresponding two first guide wheels 206 to rotate, thereby avoiding the pre-tightening bolt 16, and then controlling the corresponding digital servo 201 to reverse to the initial position after the two first guide wheels 206 pass through the pre-tightening bolt 16.

[0152] Controlling the start and stop of the second motor 301.

[0153] The devices and software algorithms used in the above controller are well known in the art, and those skilled in the art can adapt them according to actual needs. The following will give a specific embodiment:

[0154] The core of the controller adopts a dual-chip architecture of a Raspberry Pi and an STM32 single-chip microcomputer. The Raspberry Pi serves as an upper computer and is mainly responsible for running complex image processing algorithms, including extraction of the contact line laser profile, wear calculation, and bolt loosening recognition based on the YOLOv7-tiny algorithm.

[0155] The STM32 single-chip microcomputer serves as a lower computer and is responsible for tasks with high real-time requirements, controlling the actions of all motors and servos; and exchanging instructions and data with the Raspberry Pi through a serial port.

[0156] An absolute value encoder is arranged on the driven wheel 308, and outputs a mileage signal representing the distance traveled, which is received and accumulated in real time by the STM32 single-chip microcomputer to calculate the current travel mileage; when the mileage increment reaches a preset equal increment, the STM32 single-chip microcomputer outputs a hardware trigger pulse to the area array camera through its GPIO, so that the camera completes one frame of image acquisition, thereby realizing equal-interval sampling according to the mileage; the STM32 single-chip microcomputer controls the start and stop of the second motor 301 according to the mileage and time reference, and determines the timing of the obstacle avoidance action in combination with the distance information of the laser ranging module.

[0157] At the same time, the STM32 single-chip microcomputer binds the travel mileage, the abrasion amount, the eccentric wear angle and the bolt recognition result, and returns the mileage and the labeled information to the Raspberry Pi through the serial port for display and threshold warning, thereby realizing accurate positioning and tracing of the detection results in the spatial coordinates.

[0158] The power of the system comes from a 24V lithium battery. Since the working voltages of the electrical appliances in the system are different, the power supply system designs a multi-channel conversion scheme. A 24V to 12V isolation power supply module is used to power the motor driver, which has good anti-interference ability and can effectively suppress motor noise.

[0159] A 24V to 5V voltage stabilizing module is used to provide stable power supply.

[0160] A DC power filter is additionally connected in series in the power supply circuit of the area array camera with high image quality requirements to ensure the purity of the power supply.

[0161] The controller realizes accurate binding of detection data and spatial position.

[0162] The specific binding method is that the STM32 single-chip microcomputer reads the mileage data of the absolute value encoder in real time, and is configured to send a hardware trigger signal to the area array camera through its GPIO pin every time the robot moves 10 cm. After receiving the trigger signal, the area array camera acquires a frame of contact line profile image (or bolt image). In this way, the equal-interval uniformity of image acquisition is ensured, and each frame of image is associated with an accurate mileage position, thereby realizing accurate positioning of abnormal wear points or bolt loosening points.

[0163] Three laser ranging modules are used. Two of them are arranged in front of the guide wheels of the suspension clamping mechanism, used to detect the pretightening bolt 16, and the detection distance is set to 100mm±10mm; the other one is arranged on the side of the suspension clamping mechanism 1, used to detect the interruption of the Π-shaped busbar 13. The absolute value encoder is installed on the driven shaft of the driving mechanism 3, used to accurately record the travel mileage of the contact line abrasion detection robot 4.

[0164] The specific working process of the clamping and walking control method is as follows:

[0165] First, the installation phase, the operator will contact line wear detection robot 4 placed in the Π type busbar 13, through the command start, STM32 single-chip microcomputer control suspension clamping mechanism 1 complete suspension.

[0166] Subsequently, the inspection phase, the contact line wear detection robot 4 began to walk.

[0167] In the course of the journey, the system continuously judges whether the front is detected to be pre-tightening bolt 16;

[0168] If so, execute obstacle avoidance; while judging whether the side is detected to be Π type busbar 13 interruption;

[0169] If so, immediately emergency braking.

[0170] If there is no obstacle, normal walking and synchronous data acquisition. System loop to determine whether the task is completed, if completed, end of inspection, and control each mechanism reset and wait for recycling.

[0171] Through the above-mentioned hardware and software design, the embodiment realizes the contact line wear detection robot 4 in the complex subway tunnel environment under the high reliability, high precision automatic operation.

[0172] The skilled person in the art can follow the following workflow when implementing:

[0173] Installation: the operator will lift the overall device, so that the Π type busbar 13 is placed between the obstacle avoidance mechanism installation plate 105 and the right suspension plate 12.

[0174] Clamping: start the controller, the first motor 103 of the suspension clamping mechanism 1 works, drives the two sides of the first guide wheel 206 and the second guide wheel to close, so that the contact line wear detection robot 4 can be reliably attached to the Π type busbar 13. At the same time, according to the actual scene, adjust the tension bolt 309, the driving wheel 305 and the driven wheel 308 contact the track bottom surface of the Π type busbar 13.

[0175] Detection and walking: start, drive the driving wheel 305 through the synchronous belt 307, drive the contact line wear detection robot 4 to walk along the Π type busbar 13. At the same time, the line laser and the area array camera start working, collect the contact line profile image according to the preset interval (such as every 10 cm); another camera shoots the pre-tightening bolt 16.

[0176] Obstacle avoidance: when the laser ranging sensor detects the pre-tightening bolt 16, it slows down and controls the corresponding obstacle avoidance mechanism 2 to act in order, retracting the corresponding first guide wheel 206, and resetting smoothly after passing through the bolt.

[0177] Stop and recovery: when the side laser ranging sensor detects the interruption (interlaced) of the Π busbar 13, the driving motor stops and locks. The operator moves the robot to the next section of the Π busbar 13 to be detected, repeats the above process, or ends the detection, releases the clamping and clamping mechanism, and recovers the robot.

[0178] As a specific embodiment, in this embodiment, the suspension clamping mechanism 1 needs to climb on the Π busbar 13, with a total weight of 2.5 kg and a total load of 25 N; when clamping, according to the acceleration index setting, it needs to provide a clamping force of 75 N;

[0179] When the suspension clamping mechanism 1 climbs on the Π busbar 13, it needs to bear the weight, and the contact line abrasion detection robot 4 estimates the weight to be 12.5 kg, that is, the mechanism generates a load force of about 125 N, and the maximum load is 200 N.

[0180] Due to the limited installation space inside the structure plate 14, in order to save internal installation space and make the overall mechanical structure more compact, a lead screw stepping motor is selected as the driving motor.

[0181] The lead screw stepping motor directly combines the lead screw with the motor rotating part. In terms of structure, compared with the scheme that the ordinary motor and the lead screw are connected through a shaft coupling, this motor is more simple and reliable in installation and structure for realizing the target function. Considering the cost and function realization, an external driving trapezoidal lead screw motor is selected.

[0182] The lead screw pitch is selected to be 3 mm, the diameter is 6.35 mm, and the length is selected to be 50 mm;

[0183] In this embodiment, the first motor 103 selects a trapezoidal lead screw, the mechanical efficiency is taken as 0.4, the safety factor is taken as n =2, and referring to the parameters of the motor commonly used in the prior art, a 42-48 external driving trapezoidal lead screw motor is selected.

[0184] As a specific embodiment, the following gives the design scheme of the guide rail 106 of the suspension clamping mechanism 1:

[0185] In the suspension clamping mechanism 1, the sliding block 104 is the driving part, driven by the first motor 103, and bears the torque in three directions of the torque, the deflection torque and the roll torque during the working process. In order to prevent the sliding block 104 from rotating due to the rotation of the lead screw, and to make the system bear additional bending moment, the left and right symmetrical arrangement of the guide rail 106 and the guide rail sliding block 107 is adopted to eliminate the overturning moment that the sliding block 104 may bear.

[0186] According to the installation condition of the mechanism, the guide rail 106 is vertically installed and only bears the torque in the deflection direction (M B，The maximum torque that the guide rail 106 is subjected to during clamping and unclamping is provided by the torque of the mechanism movement, according to the geometric relationship M is:

[0187]

[0188] wherein, represents the distance between the action point and the rotation center.

[0189] Since the closest distance between the action point and the rotation center is 25 mm, the maximum torque that the guide rail 106 is subjected to is:

[0190]

[0191] The distance between the geometric center of the guide rail slider 107 and the force distance is 30 mm, i.e. the maximum torque that the guide rail 106 is subjected to is:

[0192]

[0193] Therefore, the MGW3C type guide rail can meet the requirements, and the safety factor S of this type is:

[0194]

[0195] Far exceeds the safety requirements and meets the use conditions.

[0196] As a specific embodiment, the following gives a design scheme of the first connecting rod 5 in the suspension connecting rod mechanism:

[0197] In order to prevent uneven local wear of the pantograph, the Π-shaped busbar 13 of the metro catenary is arranged in a zigzag shape. Under this working condition, the device inevitably has the problem of change of movement direction. In order to avoid the problem of jamming of the fully rigid contact structure when the size of the clamping changes during turning, a flexible first connecting rod 5 composed of a tension spring 502 and a sleeve 501 is arranged on the transmission chain in the suspension connecting rod mechanism, so that the suspension connecting rod mechanism has a small range of elastic adjustment capacity under the working condition that may be jammed. The final design parameters of the tension spring 502 are as follows:

[0198] Material: spring steel;

[0199] Wire diameter: 1.0 mm;

[0200] Middle diameter: 8.0 mm;

[0201] Effective number of turns: 7 turns;

[0202] Total number of turns: 9 turns;

[0203] Free length: 25 mm;

[0204] Safety elongation limit: 6.5 mm.

[0205] As a specific embodiment, the following gives the suspension linkage design:

[0206] The mechanical structure of the suspension linkage is actually a parallel four-bar mechanism, symmetrically distributed on both sides, with a total of eight connecting rods. Ideally, the force is evenly distributed, according to the above calculation and analysis, the suspension clamping mechanism 1 bears a force of 200N in the clamped state, i.e. each connecting rod bears a force of 25N. The connecting rod material is selected as AZ31B magnesium-aluminum alloy, with a yield strength of , and a safety factor of n=2, then the allowable stress of the material is:

[0207]

[0208] According to the tensile stress formula:

[0209]

[0210] The formula is arranged, and the minimum cross-sectional area is obtained:

[0211]

[0212] As a specific embodiment, the following gives the structure design of the force transmission rod 8:

[0213] Since the design uses a single-sided motor to drive the suspension mechanism connecting rod, the other side may appear insufficient clamping stiffness working conditions, i.e. the suspension plate one end may exist a large amount of shaking when the contact line abrasion detection robot 4 is running. To solve this problem, a force transmission rod 8 is added at the connection between the first connecting rod 5 and the second connecting rod 6. The diameter of the force transmission rod 8 is 4mm.

[0214] In the connecting rod structure, the role of the force transmission rod is to transmit the clamping force of the motor-driven end to the non-motor-driven end, increasing the overall stiffness.

[0215] The force transmission rod 8 is selected as magnesium-aluminum alloy, with an elastic modulus E=45GPa, and an inertia moment:

[0216]

[0217] According to the superposition method of material mechanics, the maximum deflection bending deformation of the force transmission rod 8 is obtained as:

[0218]

[0219] The allowable deflection of the project is generally:

[0220]

[0221] Far less than the allowable value, the stiffness of the force transmission rod 8 meets the use requirements.

[0222] Design of the rotary pair:

[0223] It has been mentioned above that the radial load is 200 N, and the rotary pair adopts a deep groove ball bearing.

[0224] The material of the deep groove ball bearing is AZ31B magnesium-aluminum alloy, and the shear strength is , and the allowable shear stress is:

[0225]

[0226] According to the pure shear stress axis strength design formula:

[0227]

[0228] It can be obtained that:

[0229]

[0230] The bearing only bears radial load and does not bear axial load, so a deep groove ball bearing is selected, and the equivalent static load of the bearing is:

[0231]

[0232] A 693 deep groove ball bearing with an inner diameter of 3 mm, an outer diameter of 8 mm, and a width of 3 mm is selected, and it is known from the 693 deep groove ball bearing specification table that the rated static load of the bearing is , and the safety factor is:

[0233]

[0234] which meets the use requirements.

[0235] In summary, the rotary pair adopts a 693 deep groove ball bearing with an inner diameter of 3 mm, an outer diameter of 8 mm, and a width of 3 mm.

[0236] Specifically, the driving mechanism 3 is designed as follows:

[0237] Due to the limitation of installation space, the second motor 301 cannot be directly connected to the driving shaft, and gear transmission is also limited by installation space, so the driving mechanism 3 selects synchronous belt 307 transmission, and the forward power is provided by the second motor 301 (DC motor) + synchronous belt 307. Synchronous belt transmission has the characteristics of meshing and is not easy to slip, so as to accurately transmit power and accurately position the distribution state of the contact line wear in the track.

[0238] Selection and calculation of the second motor 301 (DC motor):

[0239] The contact line wear detection robot 4 has a predetermined detection speed of 2 m / s and an acceleration of 0.5 m / s, and the maximum driving force of the second motor 301 is:

[0240]

[0241] wherein, f represents the kinetic friction force;

[0242] a represents the acceleration;

[0243] m represents the total weight of the contact line wear detection robot 4, taking 15 kg;

[0244] μ represents the friction force, the rolling friction, taking 0.1;

[0245] N represents the clamping force provided by the suspension clamping mechanism 1;

[0246] In the acceleration process of the contact line wear detection robot 4, according to the mechanical analysis, the mechanical condition of the wheel (the driving pulley 305 and the driven pulley 308) without slipping is:

[0247]

[0248] It can be seen that the minimum clamping force required by the suspension clamping mechanism 1 is:

[0249]

[0250] Therefore, the driving force is:

[0251]

[0252] Since the motor is used to drive the synchronous belt 307, therefore:

[0253]

[0254] The radius of the driving pulley 305 is selected to be 32 mm, so the torque of the second motor 301 is:

[0255]

[0256] The overall device moving speed needs to reach 2 m / s, so it meets:

[0257]

[0258] wherein,

[0259] v represents the moving speed of the overall device;

[0260] r represents the radius of the driving pulley 305;

[0261] n represents the rotation speed of the driving pulley 305 per second;

[0262] In summary, we have:

[0263]

[0264] The power of the second motor 301 is:

[0265]

[0266]

[0267] The synchronous belt 307 and the synchronous pulley (first synchronous pulley 304 and second synchronous pulley 306) are selected and calculated according to the parameters obtained from the motor selection above:

[0268] Power 60.3W, speed 600rpm, transmission ratio 1, center distance 77mm, belt width 15mm, torque 0.64Nm, select HTD profile, i.e. circular arc tooth, pitch 3mm, select existing 3M type synchronous pulley, tooth number 32, belt wheel pitch circle diameter:

[0269]

[0270] Theoretical belt length formula:

[0271]

[0272] Actual tooth number:

[0273]

[0274] Select standard tooth number N=83, belt length:

[0275]

[0276] Adjusted center distance:

[0277]

[0278] Error 0.5mm with 77mm, acceptable.

[0279] Next is the load capacity verification, the synchronous belt 307 tension:

[0280]

[0281] HTD3M belt width 15mm synchronous belt 307 allows tension greater than 300N, far greater than the actual tension 41.8N, safety margin:

[0282]

[0283] Meet the use requirements.

[0284] Belt speed verification of synchronous belt 307:

[0285]

[0286] Maximum speed of HTD3M synchronous belt , safe.

[0287] In summary, the HTD3M tooth profile synchronous belt is selected, the number of teeth is 69, the belt width is 15 mm, the belt length is 250 mm, the first synchronous gear 304 and the second synchronous gear 306 are both selected to be 32 teeth, the pitch circle diameter is 30.6, and the material is 6061 aluminum alloy, and the wheel width is 16 mm.

[0288] When installed, the initial tensioning force is:

[0289]

[0290] In order to eliminate installation errors and looseness caused by stretching or wear after the synchronous belt runs, so as to cause the tensioning force to be insufficient, an adjustable center distance tensioning mode is adopted, which is low in cost and convenient in structure.

[0291] As a specific embodiment, the strength checking of the transmission rod 303 is given below:

[0292] The transmission rod 303 is a simply supported beam, and when clamped, it is subjected to a total working pressure of 200N, and the unilateral transmission rod 303 is subjected to a force of 100N. The material of the transmission rod 303 is selected to be magnesium aluminum alloy, the total length is 160mm, the support span is 94mm, and the force position is at the central position of the left and right positions of 30mm.

[0293] The shaft diameter is 9mm, the material is AZ31B magnesium aluminum alloy, the elastic modulus E=45GPa, and the yield strength .

[0294] Strength checking of the transmission rod 303:

[0295] Maximum bending moment calculation:

[0296]

[0297] Bending section modulus:

[0298]

[0299] Bending stress:

[0300]

[0301] Safety factor:

[0302]

[0303] In summary, the full transmission rod 303 meets the use requirements.

[0304] Rigidity check of transmission rod 303: section moment of inertia:

[0305]

[0306] The maximum deflection is according to the span center deflection formula under symmetrical load:

[0307]

[0308] Substitute a = 17mm into the formula to get:

[0309]

[0310] Both the rigidity and the deflection meet the requirements.

[0311] Specifically, the material list used in the embodiment is as shown in the following table:

[0312] Table 1 Material list

[0313]

Claims

1. A catenary wire abrasion detection robot clamping walking device, characterized in that, The device comprises a suspension clamping mechanism (1), an obstacle avoidance mechanism (2), a driving mechanism (3), a suspension linkage mechanism and a contact line abrasion detection robot (4); The suspension clamping mechanism (1) comprises a horizontally arranged mounting plate (101), and a relief hole is formed in the middle of the mounting plate (101); the contact line abrasion detection robot (4) is arranged at the bottom of the mounting plate (101) through a connecting plate and faces the relief hole; A side plate (102) is vertically connected to the bottom of the mounting plate (101), and a first motor (103) is fixedly connected to the side plate (102); the output shaft of the first motor (103) is connected with a sliding block (104); The suspension linkage mechanism comprises a left suspension linkage mechanism and a right suspension linkage mechanism which are identical in structure; the left suspension linkage mechanism comprises a plurality of revolute pairs, a first linkage (5), two second linkages (6), two third linkages (7) and a force transmission rod (8); the second linkage (6) is a "L"-shaped linkage; One end of the first linkage (5) is connected with the left side of the sliding block (104) through a revolute pair, and the other end is rotatably connected to the force transmission rod (8) through a revolute pair; the two ends of the force transmission rod (8) are rotatably connected with one end of the two second linkages (6) through a revolute pair respectively; The bottom ends of the two third linkages (7) are rotatably connected with the side wall of the mounting plate (101) through a revolute pair respectively; an obstacle avoidance mechanism mounting plate (105) is fixedly arranged between the two second linkages (6), and a left suspension plate (9) is fixedly arranged between the two third linkages (7); the left suspension plate (9) and the obstacle avoidance mechanism mounting plate (105) are fixedly connected through a fixing rod; A through hole (10) is formed in the middle of the left suspension plate (9), and two horizontal clamping plates (11) are arranged on the two sides of the obstacle avoidance mechanism mounting plate (105); the two clamping plates (11) extend to the right side and pass through the through hole (10) of the left suspension plate (9); The obstacle avoidance mechanism (2) comprises at least one digital servo (201) mounted on the obstacle avoidance mechanism mounting plate (105); a horizontal top plate is connected to the obstacle avoidance mechanism mounting plate (105); two vertical connecting rods (202) close to the digital servo (201) are fixedly arranged at the bottom of the top plate; The bottom ends of the two connecting rods (202) are rotatably connected with two support frames (203) respectively, and a telescopic rod (204) is arranged between the two support frames (203); the two ends of the telescopic rod (204) are rotatably connected with the two support frames (203) respectively; The output shaft of the digital servo (201) is connected with the closest support frame (203) through a fourth linkage (205); a first guide wheel (206) is rotatably connected to the support frame (203); the output shaft of the digital servo (201) can drive the support frame (203) to rotate in the horizontal direction through the fourth linkage (205), thereby driving the first guide wheel (206) to rotate. When the first guide wheel (206) rotates to the vertical position with respect to the obstacle avoidance mechanism mounting plate (105), the first guide wheel (206) completely passes through the through hole (10) of the left suspension plate (9); the bottom end of the clamping plate (11) is higher than the bottom end of the first guide wheel (206), and the top end is not higher than the plane where the central axis of the first guide wheel (206) is located; In the right suspension linkage mechanism, a right suspension plate (12) is fixedly arranged between the two third linkages (7), and a clamping plate (11) is correspondingly arranged on the side of the right suspension plate (12) close to the left suspension plate (9), and a second guide wheel corresponding to the first guide wheel (206) is also correspondingly arranged; The output shaft of the first motor (103) can drive the sliding block (104) to move vertically, and then the vertical movement is converted into the movement of the left suspension plate (9) and the right suspension plate (12) in the left-right direction through the suspension linkage mechanism; The clamping plate (11) is respectively overlapped on both sides of the Π-shaped busbar (13) in the subway tunnel, and at this time, the first guide wheel (206) and the second guide wheel can rotate into the recesses on both sides of the Π-shaped busbar (13); The driving mechanism (3) is used for driving the suspension clamping mechanism (1) to move along the Π-shaped busbar (13); The controller of the contact wire abrasion detection robot (4) is electrically connected with the first motor (103), the digital steering engine (201) and the driving mechanism (3); The driving mechanism (3) comprises a second motor (301) arranged at the bottom of the mounting plate (101); At least one pair of fixed plates (302) is arranged on the mounting plate (101), and a transmission rod (303) capable of rotating around its central axis is arranged between each pair of fixed plates (302); a first synchronous gear (304) and two driving pulleys (305) are sequentially and fixedly arranged on the transmission rod (303); The output shaft of the second motor (301) is coaxially fixedly connected with a second synchronous gear (306); the second synchronous gear (306) and the first synchronous gear (304) are driven by a synchronous belt (307); and a hole for avoiding the synchronous belt is arranged at the corresponding position of the mounting plate (101); The rotation direction of the driving pulley (305) is consistent with the rotation direction of the first guide wheel (206) in the recess on the side of the Π-shaped busbar (13); When the first guide wheel (206) and the second guide wheel rotate into the recesses on both sides of the Π-shaped busbar (13), the two driving pulleys (305) are in contact with the bottom end surface of the Π-shaped busbar (13); The first linkage (5) comprises a sleeve (501), and a tensile spring (502) is arranged in the sleeve (501); One end of the tensile spring (502) is connected with the corresponding guide rail sliding block (107) through a rotary pair, and the other end is rotatably connected with the corresponding force transmission rod (8).

2. The catenary contact wire abrasion detection robot gripping walking device of claim 1, wherein Two pairs of fixed plates (302) are arranged on the mounting plate (101). One pair of the fixed plates (302) is provided with a transmission rod (303) capable of rotating around its central axis, and a first synchronous gear (304) and two driving pulleys (305) are sequentially fixed on the transmission rod (303). Another pair of the fixed plates (302) is provided with a transmission rod (303) capable of rotating around its central axis, and a driven pulley (308) corresponding to the two driving pulleys (305) is fixed on the transmission rod (303).

3. The overhead contact line wear detection robot gripping and walking device according to claim 2, characterized in that, The second motor (301) is provided with a tensioning bolt (309) between the mounting plate (101).

4. The overhead contact line wear detection robot gripping and walking device according to claim 3, characterized in that, Two digital servos (201) are arranged on both sides of the obstacle avoidance mechanism mounting plate (105).

5. The overhead contact line wear detection robot gripping and walking device according to claim 4, characterized in that, The output shaft of the first motor (103) is coaxially fixedly connected with a screw rod, and a threaded hole is formed in the sliding block (104), and the sliding block (104) is screwed on the screw rod. Vertical guide rails (106) are arranged on both sides of the side plate (102), and a guide rail sliding block (107) is slidably arranged on each guide rail (106). The two guide rail sliding blocks (107) are respectively connected with the bottoms of the two first connecting rods (5).

6. The catenary wire abrasion detection robot of claim 5, wherein the catenary wire abrasion detection robot is characterized by, The main power supply, the controller, the laser ranging module, the area array camera, the linear laser, the DC power filter and the absolute value encoder are included. The main power supply is connected with the controller, the laser ranging module, the linear laser and the absolute value encoder. The main power supply is further connected with the area array camera through the DC power filter. The controller is connected with the laser ranging module, the area array camera, the linear laser, the DC power filter and the absolute value encoder. The laser ranging module is used for detecting the distance between the first guide wheel (206) and the nearest pre-tightening bolt on the Π-shaped busbar (13), and transmitting the detection result to the controller. The linear laser and the area array camera jointly form a triangulation geometry, the optical axis of the area array camera is directed to the opening area of the Π-shaped busbar (13) and the lower surface of the contact wire through the avoiding hole of the mounting plate (101), and is used for shooting the bright line image and the environment visible light image formed by the linear laser projection at the contact wire cross section, and transmitting the bright line image and the environment visible light image to the controller. The absolute value encoder is arranged on the driven pulley (308) and is used for measuring the travel mileage of the driven pulley (308) and transmitting the travel mileage to the controller. The controller is used for: receiving the distance between the first guide wheel (206) and the nearest pre-tightening bolt provided by the laser ranging module; receiving the bright line image and the environment visible light image provided by the area array camera; receiving the travel mileage of the driven pulley (308) provided by the absolute value encoder; controlling the start and stop of the second motor (301) according to the travel mileage of the driven pulley (308); controlling the start, stop, forward rotation or reverse rotation of the digital servo (201); detecting the contact wire wear condition according to the bright line image and the environment visible light image provided by the area array camera.

7. A catenary wire abrasion detection robot of the catenary wire abrasion detection robot gripping walking device according to claim 6, characterized in that, The linear laser is arranged on one side of the area array camera and is located below the mounting plate (101), and the outgoing beam of the linear laser crosses the contact wire cross section and forms a triangulation geometry with the optical axis of the area array camera. The controller comprises a Raspberry Pi and an STM32 single-chip microcomputer, and the Raspberry Pi and the STM32 single-chip microcomputer communicate through a serial port; The Raspberry Pi serves as an upper computer and is used for: receiving a bright line image and an ambient visible light image provided by a surface array camera, and detecting a contact line wear condition according to the bright line image and the ambient visible light image; identifying a pre-tightening bolt in the bright line image and the ambient visible light image, and transmitting an identification result to the STM32 single-chip microcomputer; The STM32 single-chip microcomputer serves as a lower computer and is used for: receiving a distance between a first guide wheel (206) and a nearest pre-tightening bolt provided by a laser ranging module; receiving a travel mileage of a driven rotating wheel (308) provided by an absolute value encoder; setting a threshold value, comparing the set threshold value with the distance between the first guide wheel (206) and the nearest pre-tightening bolt, and when the distance is less than the threshold value, controlling a corresponding digital steering engine (201) to rotate forward from an initial position, driving the corresponding two first guide wheels (206) to rotate, thereby avoiding the pre-tightening bolt, and until the two first guide wheels (206) pass through the pre-tightening bolt, then controlling the corresponding digital steering engine (201) to rotate reversely to the initial position; receiving the travel mileage of the driven rotating wheel (308) provided by the absolute value encoder, thereby controlling start and stop of a second motor (301).

Images