Abrasion detection device and method for rigid contact line of subway busbar

Abstract

The invention relates to the technical field of rail transit detection, in particular to an abrasion detection device and method for a rigid contact line of a subway busbar. The abrasion detection device comprises a walking detection mechanism and a rail changing mechanism, the walking detection mechanism and the rail changing mechanism are connected in a sliding mode through a sliding rail, and the walking detection mechanism is used for advancing in the current busbar extending direction and conducting abrasion detection. And the rail changing mechanism is used for changing the walking detection mechanism of which the current busbar wear detection is completed to an adjacent busbar of which the wear detection is to be carried out. By adopting the detection system and method to detect the rigid contact line, the problems of large danger coefficient, large labor amount, low efficiency, low manual detection accuracy and the like of traditional manual detection are solved, and the detection efficiency and accuracy of contact network abrasion inspection are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail transit detection, in particular to a wear detection device and method for a metro busbar rigid contact line. BACKGROUND

[0002] As a core component of train power supply, the wear state of the contact line of the metro rigid catenary directly relates to the operation safety. At present, the wear detection of the metro catenary long-term relies on manual inspection. The detection personnel need to carry instruments and climb the maintenance vehicle. In the live state of the catenary, close-range operation is carried out, which has the risk of high-voltage electric shock and high-altitude falling. Moreover, the existing automatic detection equipment is limited by the fixed wheel pitch structure and cannot cross the insulation gap between adjacent busbars. After detecting each monorail, the equipment needs to be manually transported to the next track, which leads to low efficiency and interruption of detection. In addition, due to the influence of the metro operating environment, the light in the tunnel is uneven, and the dust is diffused, which leads to the problems of reflection, blur, high defect recognition false alarm rate, and poor data accuracy of the images taken by the traditional image acquisition equipment.

[0003] Therefore, it is urgent to develop a wear detection device and method for a metro busbar rigid contact line with self-switching track capability and high stability. SUMMARY

[0004] The present application provides a wear detection device and method for a metro busbar rigid contact line, which at least solves one of the problems in the background art. The detection system and method are used to detect the rigid contact line, solve the problems of high risk coefficient, large labor intensity, low efficiency, and low accuracy of manual detection, and improve the detection efficiency and accuracy of catenary wear inspection.

[0005] In some embodiments of the present application, a wear detection device for a metro busbar rigid contact line is provided, which comprises a walking detection mechanism and a track switching mechanism, the walking detection mechanism and the track switching mechanism are connected through a slide rail, the walking detection mechanism is used to travel along the extension direction of the current busbar and perform wear detection, and the track switching mechanism is used to replace the walking detection mechanism of the current busbar wear detection to the adjacent busbar to be wear detected. The walking detection mechanism comprises: four symmetrical crawling wheels, two by two as a group, divided into a first crawling wheel group and a second crawling wheel group, which are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar during detection; a first power unit for driving the crawling wheels, comprising a first motor for driving the first crawling wheel group and a second motor for driving the second crawling wheel group, for providing the power for the walking detection mechanism to travel in the extension direction of the current busbar; A first synchronous belt transmission assembly connects the first power unit and the crawler wheel, and the first power unit transmits power to the crawler wheel through the synchronous belt transmission assembly. The rail changing mechanism comprises: A lifting module for controlling synchronous lifting of the crawler wheels, comprising a third motor, a fourth motor and a first screw assembly, the third motor and the fourth motor being connected through the first screw assembly for power transmission, and the height of the four crawler wheels being controlled; A horizontal movement module for controlling the horizontal distance between the crawler wheels, comprising a gear assembly, a second synchronous belt transmission assembly, a second screw assembly and a fifth motor, the fifth motor driving the gear assembly, the gear assembly driving the second synchronous belt transmission assembly, and the second synchronous belt transmission assembly driving the second screw assembly, so that the crawler wheels move away from the current busbar; A clamping and positioning mechanism comprising a first jaw set, a second jaw set, a sixth motor for driving the first jaw set to move, a seventh motor for driving the second jaw set to move, and a third screw assembly connected with the sixth motor and the seventh motor, for buckling the adjacent busbar during rail changing; A rail changing motor for driving the walking detection mechanism to move along the slide rail relative to the rail changing mechanism.

[0006] In some embodiments of the present application, the walking detection mechanism and the rail changing mechanism are arranged in a spatial orthogonal manner.

[0007] In some embodiments of the present application, the crawler wheels are installed through bearings to remove the radial load.

[0008] In some embodiments of the present application, the walking detection mechanism and the rail changing mechanism are connected through a three-dimensional motion coupling formed by a slide rail, wherein the movement direction of the crawler wheels of the walking detection mechanism is parallel to the extension direction of the current busbar, the driving direction of the horizontal movement module of the rail changing mechanism is perpendicular to the extension direction of the current busbar and parallel to the horizontal plane, and the driving direction of the lifting module is perpendicular to the horizontal plane.

[0009] In some embodiments of the present application, the extension direction of the slide rail is consistent with the driving direction of the horizontal movement module, constituting the only movement path of the walking detection mechanism relative to the rail changing mechanism.

[0010] In some embodiments of the present application, a sliding block is arranged at the bottom of the walking detection mechanism and cooperates with the slide rail of the rail changing mechanism, and the two can only move relative to each other in a direction perpendicular to the extension direction of the busbar.

[0011] In some embodiments of the present application, the screw nut of the lifting module is fixed to the frame of the walking detection mechanism, and the screw nut of the horizontal movement module is fixed to the support of the rail changing mechanism, forming a force transmission channel.

[0012] In some embodiments of the present application, the camera of the walking detection mechanism and the clamping jaw of the rail changing mechanism are arranged in staggered manner perpendicular to the busbar direction to avoid motion interference.

[0013] In some embodiments of the present application, the first clamping jaw group and the second clamping jaw group each include two clamping jaws for side clamping on the busbar.

[0014] In some embodiments of the present application, the output shaft of the rail changing motor is connected to the second screw rod assembly through a shaft coupling, and the nut of the second screw rod assembly is fixed to the bottom frame of the walking detection mechanism.

[0015] In some embodiments of the present application, the slide rail is fixed to the machined reference surface P of the rail changing mechanism support through bolts, and the slide block of the walking detection mechanism is matched with the slide rail with H level precision.

[0016] In some embodiments of the present application, the first motor and the second motor are Hall motors; the sixth motor and the seventh motor are step motors; the rail changing motor is a step motor; and the fifth motor is a Hall motor.

[0017] In some embodiments of the present application, one end of the walking detection mechanism is provided with a transparent shell, and a camera and a fill light are arranged in the transparent shell. The transparent shell avoids the interference of external environmental factors on the camera and the fill light, significantly improving the quality of image acquisition. The camera is installed in the transparent shell to facilitate the collection of photos of contact line defects. The fill light is used to maintain a constant lighting environment and fully illuminate the rigid contact line.

[0018] In some embodiments of the present application, a wear detection method for a subway busbar rigid contact line is provided, which comprises: When it is necessary to detect the current busbar, the four crawling wheels of the walking detection mechanism are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar; the first motor and the second motor transmit power to the first crawling wheel group and the second crawling wheel group through the first synchronous belt transmission assembly, so that the walking detection mechanism advances along the current busbar to detect the rigid contact line of the current busbar. When moving to the end of the current busbar, the first motor and the second motor stop running, and the walking detection mechanism stops advancing; the sixth motor and the seventh motor start running to control the first clamping jaw group to be clamped on the current busbar and the second clamping jaw group to be clamped on the adjacent busbar; after clamping is completed, the fifth motor operates to drive the second synchronous belt transmission assembly through the gear assembly, and then drive the second screw rod assembly to move the crawling wheels outward, so that the crawling wheels are separated from the current busbar, and then the fifth motor stops running, and the first crawling wheel group and the second crawling wheel group are separated from the current busbar. The third motor and the fourth motor are operated to drive the power through the first screw rod assembly, the crawling wheels are controlled to descend to a preset position, then the third motor and the fourth motor are stopped, and the rail changing motor is operated to move the walking detection mechanism on the slide rail of the rail changing mechanism device. When the walking detection mechanism is located immediately below the adjacent busbar, the third motor and the fourth motor are operated to drive the power through the first screw rod assembly to control the crawling wheels to ascend, and when the crawling wheels ascend to a preset position, the third motor and the fourth motor are stopped, and the first motor and the second motor are operated to stop when the crawling wheels are symmetrically clamped on the adjacent busbar. The sixth motor and the seventh motor are operated to separate the first jaw group and the second jaw group from the current busbar and the adjacent busbar, and the first motor and the second motor are started to detect the adjacent busbar.

[0019] In some embodiments of the present application, before the first motor and the second motor are started to detect the adjacent busbar, the rail changing motor is started to move the rail changing mechanism to the center position of the walking detection mechanism to maintain the balance of the walking detection mechanism.

[0020] In some embodiments of the present application, the rail changing mechanism is located in the middle of the walking detection mechanism to maintain the balance when detection is performed.

[0021] In some embodiments of the present application, during the rail changing process, the rail changing motor drives the walking detection mechanism to move laterally along the slide rail, at this time, the crawling wheels of the walking detection mechanism are separated from the track and are in a suspended state, the lifting module drives the whole walking detection mechanism to ascend and descend through the first screw rod assembly, and the lateral movement is sequentially performed in time, the transmission plane of the first synchronous belt transmission assembly of the walking detection mechanism and the transmission plane of the second synchronous belt transmission assembly of the rail changing mechanism form a 90° spatial included angle.

[0022] Compared with the prior art, the present application has the following beneficial effects: (1) The wear detection device and method for the rigid contact line of the subway busbar provided by the present application detect the rigid contact line by using the detection system and method, solve the problems of high dangerous coefficient, large labor quantity, low efficiency, low accuracy of manual detection, and improve the detection efficiency and accuracy of the contact network wear inspection.

[0023] (2) The power unit of the present application adopts a design scheme of motor + synchronous belt wheel + bearing + crawling wheel, the motor power is transmitted to the upper crawling wheel through the synchronous belt, and the radial force on the key shaft of the crawling wheel is unloaded through the bearing, the bending deformation of the shaft is reduced, the use requirements are met, and the wear of the crawling wheel is reduced.

[0024] (3) This application adopts a double-track fixed track changing structure. When the walking detection mechanism needs to complete the track changing task, the main body of the walking detection mechanism moves to the bottom of the busbar to be changed through the sliding guide rail. The clamping force is increased by four-point positioning through two sets of grippers, making the track changing more stable. In addition, the telescopic structure is adopted, which can be extended and retracted after the track changing is completed, ensuring that the center of gravity of the walking detection mechanism does not shift, making the trolley travel more stably.

[0025] (4) This application uses a gear + timing belt + screw structure for transmission, controls the synchronous loading of 4 crawling wheels on different busbars, and connects the screw across the shaft through the timing belt to break through space limitations. The gear transmission is adapted to high torque transmission, and the screw converts the rotational motion into linear motion. The gear and screw are easy to disassemble and replace, and the cost is low. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the wear detection device in some embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the wear detection device in some embodiments of this application. Figure 2 ; Figure 3 This is a schematic diagram of the walking detection mechanism in some embodiments of this application; Figure 4 This is a schematic diagram of the track-changing mechanism in some embodiments of this application; Figure 5 This is a schematic diagram of the working state of the wear detection device in some embodiments of this application; Figure 6 Physical examples of the wear detection devices in some embodiments of this application. Figure 1 ; Figure 7 Physical examples of the wear detection devices in some embodiments of this application. Figure 2 ; The components are as follows: 1. Sixth motor; 2. Seventh motor; 3. First motor; 4. Second motor; 5. First gripper assembly; 6. Second gripper assembly; 7. First crawler wheel assembly; 8. Second crawler wheel assembly; 9. Third motor; 10. Fourth motor; 11. Track changing motor; 12. Transparent shell; 13. First synchronous belt drive assembly; 14. First lead screw assembly; 15. Gear assembly; 16. Second synchronous belt drive assembly; 17. Second lead screw assembly; 18. Fifth motor; 19. Third lead screw assembly. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] The following is in conjunction with the instruction manual appendix. Figures 1-7 The technical solution of this application will be further explained.

[0030] In some embodiments of this application, a wear detection device for rigid contact wires of subway busbars is provided, comprising: a traveling detection mechanism and a rail-changing mechanism, wherein the traveling detection mechanism and the rail-changing mechanism are slidably connected by a slide rail; the traveling detection mechanism is used to travel along the current extension direction of the busbar and to perform wear detection; the rail-changing mechanism is used to replace the traveling detection mechanism that has completed wear detection of the current busbar to an adjacent busbar to be worn. The walking detection mechanism includes: The four crawling wheels are symmetrically arranged, forming two groups of two, namely the first crawling wheel group 7 and the second crawling wheel group 8. During detection, the first crawling wheel group 7 and the second crawling wheel group 8 are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar. The first power unit that drives the crawling wheels includes a first motor 3 that drives the first crawling wheel set 7 and a second motor 4 that drives the second crawling wheel set 8, for providing power for the walking detection mechanism to move in the current busbar extension direction; The first synchronous belt drive assembly 13 connects the first power unit and the crawler wheel, and the first power unit transmits power to the crawler wheel through the synchronous belt drive assembly; The track-changing mechanism includes: The lifting module that controls the synchronous lifting of the crawling wheels includes a third motor 9, a fourth motor 10, and a first lead screw assembly 14. The third motor 9 and the fourth motor 10 are powered through the first lead screw assembly 14 to control the height of the four crawling wheels. The lateral movement module for controlling the lateral spacing of the crawling wheels includes a gear assembly 15, a second synchronous belt drive assembly 16, a second lead screw assembly 17, and a fifth motor 18. The fifth motor 18 drives the gear assembly 15, which in turn drives the second synchronous belt drive assembly 16, and then drives the second lead screw assembly 17, causing the crawling wheels to move away from the current busbar. The clamping and positioning mechanism includes an independently controllable first gripper group 5, a second gripper group 6, a sixth motor 1 for driving the first gripper group 5 to move, a seventh motor 2 for driving the second gripper group 6 to move, and a third lead screw assembly connected to the sixth motor 1 and the seventh motor 2 for engaging adjacent busbars during rail changing. The track-changing motor 11 is used to drive the walking detection mechanism to move along the slide rail relative to the track-changing mechanism.

[0031] In some embodiments of this application, the walking detection mechanism and the track-changing mechanism are arranged in a spatially orthogonal configuration.

[0032] In some embodiments of this application, the crawler wheel is mounted via bearings to relieve radial loads.

[0033] In some embodiments of this application, the walking detection mechanism and the track changing mechanism are connected by a slide rail to form a three-dimensional motion coupling connection, wherein: the crawling wheel of the walking detection mechanism moves in a direction parallel to the current busbar extension direction; the lateral movement module of the track changing mechanism drives in a direction perpendicular to the current busbar extension direction and parallel to the horizontal plane; and the lifting module drives in a direction perpendicular to the horizontal plane.

[0034] In some embodiments of this application, the extension direction of the slide rail is consistent with the driving direction of the lateral movement module, forming a unique movement path for the walking detection mechanism relative to the track changing mechanism.

[0035] In some embodiments of this application, the bottom of the walking detection mechanism is provided with a slider that cooperates with the slide rail of the track changing mechanism, and the two can only move relative to each other in a direction perpendicular to the extension direction of the busbar.

[0036] In some embodiments of this application, the lead screw nut of the lifting module is fixed to the frame of the walking detection mechanism, and the lead screw nut of the lateral movement module is fixed to the support of the track changing mechanism, forming a force transmission channel.

[0037] In some embodiments of this application, the camera of the walking detection mechanism and the gripper of the track changing mechanism are staggered in the direction perpendicular to the busbar to avoid motion interference.

[0038] In some embodiments of this application, the first gripper group 5 and the second gripper group 6 each include two grippers for side-fastening onto the busbar.

[0039] In some embodiments of this application, the output shaft of the track-changing motor 11 is connected to the second lead screw assembly 17 via a coupling, and the nut of the second lead screw assembly 17 is fixed to the bottom frame of the walking detection mechanism.

[0040] In some embodiments of this application, the slide rail is fixed to the machined reference surface P of the track changing mechanism bracket by bolts, and the slider of the walking detection mechanism and the slide rail are fitted with H-grade precision.

[0041] In some embodiments of this application, the first motor 3 and the second motor 4 are Hall motors; the sixth motor 1 and the seventh motor 2 are stepper motors; the track-changing motor 11 is a stepper motor; and the fifth motor 18 is a Hall motor.

[0042] In some embodiments of this application, a transparent shell 12 is provided at one end of the walking detection mechanism. A camera and a supplementary light are provided inside the transparent shell 12. The transparent shell 12 avoids interference from external environmental factors for the camera and supplementary light, which significantly improves the quality of image acquisition. The camera is installed inside the transparent shell 12 to facilitate the acquisition of contact line defect photos. The supplementary light is used to maintain a constant lighting environment and fully illuminate the rigid contact line.

[0043] In other embodiments of this application, a wear detection method for rigid contact wires of subway busbars is provided, comprising: When it is necessary to inspect the current busbar, the four crawling wheels of the walking inspection mechanism are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar; the first motor 3 and the second motor 4 transmit power to the first crawling wheel group 7 and the second crawling wheel group 8 through the first synchronous belt transmission assembly 13, so that the walking inspection mechanism moves along the current busbar and inspects the rigid contact line of the current busbar; When the movement reaches the end of the current busbar, the first motor 3 and the second motor 4 stop operating, and the walking detection mechanism stops moving forward; the sixth motor 1 and the seventh motor 2 start operating, controlling the first gripper group 5 to engage with the current busbar, and the second gripper group 6 to engage with the adjacent busbar; after the engagement is completed, the fifth motor 18 operates, driving the second synchronous belt drive assembly 16 through the gear assembly 15, which in turn drives the second lead screw assembly 17, causing the crawler wheel to move outward and disengage from the current busbar. After this, the fifth motor 18 stops operating, and both the first crawler wheel group 7 and the second crawler wheel group 8 have disengaged from the current busbar. The third motor 9 and the fourth motor 10 operate, transmitting power through the first lead screw assembly 14. After controlling the crawling wheel to descend to the preset position, the third motor 9 and the fourth motor 10 stop operating, and the track-changing motor 11 operates, causing the entire walking detection mechanism to move laterally through the slide rail on the track-changing mechanism device. When the walking detection mechanism is located directly below the adjacent busbar, the third motor 9 and the fourth motor 10 operate, and the crawling wheel is raised through the first lead screw assembly 14. When the crawling wheel rises to the preset position, the third motor 9 and the fourth motor 10 stop operating, and the first motor 3 and the second motor 4 operate until the crawling wheel is symmetrically clamped on the adjacent busbar and then stop. The sixth motor 1 and the seventh motor 2 operate until the first gripper group 5 and the second gripper group 6 disengage from the current busbar and the adjacent busbar; starting the first motor 3 and the second motor 4 enables the walking detection mechanism to perform forward detection on the adjacent busbar.

[0044] In some embodiments of this application, before starting the first motor 3 and the second motor 4 to perform forward detection on the adjacent busbar, the track-changing motor 11 is started to move the track-changing mechanism to the center position of the walking detection mechanism in order to maintain the balance of the walking detection mechanism.

[0045] In some embodiments of this application, when detection is performed, the track-changing mechanism is positioned in the middle of the walking detection mechanism to maintain balance.

[0046] In some embodiments of this application, during the track changing process, the track changing motor 11 drives the walking detection mechanism to move laterally along the slide rail. At this time, the crawling wheel of the walking detection mechanism is disengaged from the track and is suspended in the air. The lifting module pushes the walking detection mechanism to lift and lower as a whole through the first lead screw assembly 14, which is executed sequentially with the lateral movement in time. The transmission plane of the first synchronous belt drive assembly 13 of the walking detection mechanism and the transmission plane of the second synchronous belt drive assembly 16 of the track changing mechanism form a 90° spatial angle.

[0047] The technical solution of this application greatly reduces operation and maintenance costs, improves fault detection accuracy and reliability, and can avoid downtime accidents caused by missed detection of contact wire wear.

[0048] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

1. A wear detection device for rigid contact wires of subway busbars, characterized in that, include: The walking detection mechanism and the track changing mechanism are slidably connected by a slide rail. The walking detection mechanism is used to travel along the current busbar extension direction and to perform wear detection. The track-changing mechanism is used to replace the walking detection mechanism that has completed the wear detection of the current busbar to the adjacent busbar that needs to be worn. The walking detection mechanism includes: The four crawling wheels are symmetrically arranged, forming two groups of two, namely the first crawling wheel group and the second crawling wheel group. During detection, the first crawling wheel group and the second crawling wheel group are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar. The first power unit that drives the crawling wheels includes a first motor that drives the first crawling wheel assembly and a second motor that drives the second crawling wheel assembly, for providing power for the walking detection mechanism to move in the current busbar extension direction; A first synchronous belt drive assembly connects the first power unit and the crawling wheel, and the first power unit transmits power to the crawling wheel through the synchronous belt drive assembly; The track-changing mechanism includes: The lifting module that controls the synchronous lifting of the crawling wheels includes a third motor, a fourth motor, and a first lead screw assembly. The third motor and the fourth motor transmit power through the first lead screw assembly to control the height of the four crawling wheels. A lateral movement module for controlling the lateral spacing of the crawling wheels includes a gear assembly, a second synchronous belt drive assembly, a second lead screw assembly, and a fifth motor. The fifth motor drives the gear assembly, which in turn drives the second synchronous belt drive assembly, which in turn drives the second lead screw assembly, causing the crawling wheels to move away from the current busbar. The clamping and positioning mechanism includes an independently controllable first gripper group, a second gripper group, a sixth motor for driving the first gripper group to move, a seventh motor for driving the second gripper group to move, and a third lead screw assembly connected to the sixth and seventh motors for engaging adjacent busbars during rail changing. The track-changing motor is used to drive the walking detection mechanism to move along the slide rail relative to the track-changing mechanism.

2. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The crawler wheel is mounted via bearings to relieve radial load.

3. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The walking detection mechanism and the track changing mechanism are connected by a three-dimensional motion coupling through a slide rail, wherein: the crawling wheel of the walking detection mechanism moves in a direction parallel to the current busbar extension direction; the lateral movement module of the track changing mechanism drives in a direction perpendicular to the current busbar extension direction and parallel to the horizontal plane; and the lifting module drives in a direction perpendicular to the horizontal plane.

4. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The extension direction of the slide rail is consistent with the driving direction of the lateral movement module, forming the only movement path of the walking detection mechanism relative to the track changing mechanism.

5. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The bottom of the walking detection mechanism is equipped with a slider that cooperates with the slide rail of the rail changing mechanism. The two can only move relative to each other in a direction perpendicular to the extension of the busbar.

6. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The lead screw nut of the lifting module is fixed to the frame of the walking detection mechanism, and the lead screw nut of the lateral movement module is fixed to the support of the track changing mechanism, forming a force transmission channel.

7. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The first gripper group and the second gripper group each include two grippers for side-fastening onto the busbar; one end of the walking detection mechanism is provided with a transparent shell, and a camera and a supplementary light are provided inside the transparent shell.

8. The wear detection device for rigid contact wires of subway busbars according to claim 1, characterized in that, The output shaft of the track-changing motor is connected to the second lead screw assembly via a coupling, and the nut of the second lead screw assembly is fixed to the bottom frame of the walking detection mechanism.

9. A method for detecting wear on rigid contact wires of subway busbars, characterized in that, The wear detection method employs the wear detection device described in any one of claims 1-8. When the current busbar needs to be inspected, the four crawling wheels of the walking inspection mechanism are symmetrically distributed on the left and right sides of the current busbar and clamp the current busbar; the first motor and the second motor transmit power to the first crawling wheel group and the second crawling wheel group through the first synchronous belt transmission assembly, so that the walking inspection mechanism moves along the current busbar and inspects the rigid contact line of the current busbar; When the movement reaches the end of the current busbar, the first and second motors stop operating, and the walking detection mechanism stops moving forward; the sixth and seventh motors start operating, controlling the first gripper group to engage with the current busbar, and the second gripper group to engage with the adjacent busbar. After the connection is completed, the fifth motor starts running, which drives the second synchronous belt drive assembly through the gear assembly, and then drives the second lead screw assembly, causing the crawling wheel to move outward and disengage from the current busbar. After that, the fifth motor stops running, and both the first crawling wheel group and the second crawling wheel group have disengaged from the current busbar. The third and fourth motors operate, transmitting power through the first lead screw assembly. After the crawling wheel descends to the preset position, the third and fourth motors stop operating, and the track-changing motor operates, causing the entire walking detection mechanism to move laterally through the slide rail on the track-changing mechanism device. When the walking detection mechanism is located directly below the adjacent busbar, the third and fourth motors operate, and the crawling wheel is raised through the power transmission of the first lead screw assembly. When the crawling wheel rises to the preset position, the third and fourth motors stop operating, and the first and second motors operate until the crawling wheel is symmetrically clamped on the adjacent busbar and then stop. The sixth and seventh motors operate until the first and second gripper groups disengage from the current busbar and the adjacent busbar; starting the first and second motors enables the walking detection mechanism to perform forward detection on the adjacent busbar.

10. A wear detection method for rigid contact wires of subway busbars according to claim 9, characterized in that, Before starting the first and second motors to perform forward detection on the adjacent busbars, start the track-changing motor to move the track-changing mechanism to the center position of the walking detection mechanism in order to maintain the balance of the walking detection mechanism.

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