Vehicle-mounted semi-automatic mechanical arm power-assisted deicing device for railway contact network

Abstract

The invention provides a vehicle-mounted semi-automatic mechanical arm power-assisted deicing device for a railway overhead line system, and relates to the field of railway overhead line system deicing, and the vehicle-mounted semi-automatic mechanical arm power-assisted deicing device comprises a foundation seat which comprises a load-bearing frame and an aluminum alloy base plate; the mechanical arm comprises an air cylinder, a pitching arm, a joint connecting seat, a translation arm and a translation bearing plate, the air cylinder is fixed to the inner wall of the bearing frame, the driving end of the air cylinder is connected to the middle of the pitching arm, one end of the pitching arm is connected to the aluminum alloy base plate, the other end of the pitching arm is connected with one end of the translation arm through the joint connecting seat, and the translation bearing plate is fixed to the other end of the translation arm; and the deicing module is fixed to the translation bearing plate and comprises a power assembly, a supporting assembly and a striking assembly, the supporting assembly comprises a supporting frame, the striking assembly is installed at the top of the supporting frame, and the power assembly is installed in the supporting frame and connected with the striking assembly so as to provide power for the striking assembly. The device is small in size, simple in structure, convenient to operate, low in maintenance cost and capable of effectively knocking and removing the ice covered on the overhead line system cable.

Description

Technical Field

[0001] This invention relates to the field of railway catenary de-icing technology, specifically to a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway catenary. Background Technology

[0002] Railway catenary de-icing technology is mainly used in electrified railways to address icing issues in catenary circuits under extreme weather conditions, a common challenge faced by rail transit systems in low-temperature environments. In railway catenary systems, the electrified railway catenary, as a core component for locomotive power supply, is highly susceptible to icing due to long-term exposure to outdoor environments, particularly in cold regions, winter temperatures, and freezing rain. Icing can trigger multiple operational risks: insulator failure leading to short-circuit tripping, pantograph malfunction causing arcing, and in severe cases, icing loads exceeding design standards causing support pillar breakage, directly paralyzing rail transit. For example, railways in northern, central, and western my country frequently experience large-scale power outages in winter due to icing; repairing a single fault requires significant manpower and resources, resulting in substantial transportation delays. Therefore, efficient de-icing technology has become a core requirement for ensuring safe railway operation. Traditional de-icing methods rely on manual tapping or mechanical vibration, which are inefficient and pose safety hazards, making them unsuitable for large-scale de-icing needs.

[0003] Among the existing methods for de-icing overhead contact lines, manual knocking is the most widely used emergency measure, but it has fatal limitations: it requires a large number of workers to operate in a confined space, facing the risks of crowding and falls; it relies on continuous operation with handheld tools, and a single high-altitude operation usually lasts for more than 4 hours, resulting in huge physical exertion and further increasing safety risks; the coverage area of ​​manual work is limited, making it difficult to deal with long sections of ice, often delaying the restoration of the line and resulting in low efficiency; in addition to labor costs, it also has to bear indirect costs such as wear and tear on protective equipment and operational delays.

[0004] While technologies such as resistance heating and hot air heating have achieved automation, they have significant shortcomings: resistance heating requires complex systems such as traction transformers and rectifiers, with a single unit costing millions of yuan, resulting in high purchase costs; resistance heating takes 2-4 hours to melt ice and cannot break through thick ice shells, while hot air de-icing efficiency drops sharply in strong winds, highlighting the contradiction between energy consumption and timeliness; professional personnel are needed to adjust temperature parameters and maintain heating elements, and system fault diagnosis is complex, making operation difficult. Meanwhile, automated de-icing robots developed domestically and internationally are structurally complex and lack practicality, and have not yet overcome engineering bottlenecks.

[0005] Therefore, existing technologies face a dilemma: "inefficient manual labor versus high-cost automation." Manual de-icing is low-cost but carries significant safety risks, while heating and robotic technologies improve efficiency but are limited by complex structures, high costs, and operational barriers. Railway operators urgently need a de-icing solution that is structurally simple, easy to operate, cost-effective, and requires minimal physical exertion. This solution should avoid the risks associated with extensive manual high-altitude work while addressing the pain points of existing automated equipment—being unaffordable, difficult to use, and hard to maintain—achieving the dual goals of rapid ice removal and equipment safety protection. Summary of the Invention

[0006] In view of this, this application provides a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway catenary systems that is small in size, simple in structure, easy to operate, and low in maintenance cost. This device can be installed on the working surface of most railway maintenance vehicles. The operator holds the control lever and moves the de-icing device horizontally by pushing and pulling the lever. The "up" and "down" buttons on the control lever enable assisted vertical movement to adapt to the undulations and "Z"-shaped layout of the catenary. The operator independently determines the location of the cable requiring de-icing; no additional intelligent identification and control methods are needed. Starting the motor initiates continuous de-icing work, making it simple to use. All moving structures adopt a purely mechanical design and a simple electrical control logic design, making maintenance very convenient. This solves the problems of existing railway catenary de-icing devices, such as complex technology, high operator skill requirements, significant physical exertion, and high purchase costs.

[0007] This application provides the following technical solution: a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines, comprising: The base includes a stainless steel welded load-bearing frame and an aluminum alloy base plate fixed on the stainless steel welded load-bearing frame. The labor-saving robotic arm includes an electric cylinder, a pitching arm, a joint connecting seat, a translation wall, and a translation load-bearing plate. The electric cylinder passes through the aluminum alloy base plate and is fixedly installed on the inner wall of the stainless steel welded load-bearing frame. One end of the pitching arm is rotatably connected to the aluminum alloy base plate. The drive output end of the electric cylinder is connected to the middle of the pitching arm. The other end of the pitching arm is rotatably connected to one end of the translation arm through the joint connecting seat. The other end of the translation arm is fixedly connected to the translation load-bearing plate. The de-icing module is fixedly mounted on the translational support plate. The de-icing module includes a power component, a support component, and a striking component. The support component includes a support frame. The striking component is fixedly mounted on the top of the support frame. The power component is fixedly mounted inside the support frame and connected to the striking component to provide power to the striking component. The striking component includes at least two sets of striking wheels that rotate synchronously inward at high speed. Each set of striking wheels includes a striking shaft mounted on the top of the support frame and two sets of striking wheels fixed on the striking shaft in opposite directions. Each set of striking wheels includes several ice-breaking heads. Each ice-breaking head is a circumferentially arranged multi-lobed structure. Each lobe is equipped with a curved and tangentially free ice-breaking rod. The power output end of the power component is connected to the striking shaft, so that the striking shaft drives the striking wheels to rotate, and the ice-breaking rods achieve synchronous and opposite-direction striking of the ice.

[0008] According to one embodiment of this application, the striking wheel further includes a plurality of striking discs, the striking discs and the ice-breaking heads being arranged at intervals on the striking shaft, so as to break the ice covering the contact wire by the high-speed rotation of the striking discs.

[0009] According to one embodiment of this application, a control motor is installed in the joint connector, and the control motor is connected to the translation arm of the labor-saving robotic arm through gears to realize the electric translation of the translation arm.

[0010] According to one embodiment of this application, the de-icing module further includes an operating lever, which is fixedly installed on the lower surface of the translational load-bearing plate corresponding to the threaded hole. The end of the operating lever is provided with an up button, a down button and a switch button for controlling the device, and the buttons are connected to the power component and the electric cylinder through cables.

[0011] According to one embodiment of this application, a central anti-detachment plate is fixedly installed on the end face of the top of the support frame between the fixed ends of the two striking shafts, and edge anti-detachment plates are fixedly installed on both sides of the fixed ends of the two striking shafts respectively.

[0012] According to one embodiment of this application, the support frame is columnar in shape and has a regular hexagonal cross-section, with reinforcing shafts fixedly installed at the bends on both sides of the support frame.

[0013] According to one embodiment of this application, a gearbox is provided inside the support frame. The gearbox is formed by two left and right support plates and two front and rear support plates. The power component includes a drive motor, which is disposed inside the support frame. The motor shaft of the drive motor is inserted into the gearbox. A reversing gear is provided inside the gearbox. The drive motor transmits power to the striking shaft through the cooperation between the reversing gear and the motor conversion shaft, the reversing drive shaft and the reversing shaft, and the cooperation between the synchronous pulley and the synchronous belt.

[0014] According to one embodiment of this application, ice baffles are fixedly installed on both sides of the support frame, a motor protective cover is provided outside the drive motor to cover the drive motor, and a transmission protective cover is also provided on both sides of the support frame. According to one embodiment of this application, the device is further provided with a camera, which is connected to a ground remote control system via a wireless signal to transmit de-icing image information back to the ground remote control system, so that the ground remote control system can calculate the motion path of the labor-saving robotic arm and control the movement of the labor-saving robotic arm.

[0015] According to one embodiment of this application, the base also includes four high-load-bearing casters, which are respectively installed at the four lower corners of the stainless steel welded load-bearing frame.

[0016] Compared with the prior art, the beneficial effects achieved by at least one of the above-mentioned technical solutions adopted in the embodiments of this specification include at least the following: The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway contact networks according to the embodiments of this invention adopts electric cylinder assistance, mechanical labor-saving, high-speed rotating impact de-icing design, the overall mechanism size is moderate, and it can provide a de-icing working range of 0-80cm undulation and ±45cm offset (this range can be extended by extending the pitch arm and the lateral arm), adapting to most railway contact network cable conditions, with a wide range of applications, the high-speed rotating impact device can effectively knock and remove ice from contact network cables, with high efficiency; the whole device is simple to operate, and can be mastered without complicated training; the whole machine mechanical design is simple and clear, without complex electrical systems, making maintenance more convenient; it solves the pain points of existing automated equipment being "unaffordable, difficult to use, and difficult to maintain", and achieves the dual goals of rapid ice removal and equipment safety protection. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway catenary according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the basic base structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the labor-saving robotic arm according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the de-icing module configuration according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the internal structure of the de-icing module according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the reversing gearbox of the de-icing module according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the de-icing module's striking wheel according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the semi-automatic robotic arm-assisted de-icing device with a translation motor installed according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the semi-automatic robotic arm-assisted de-icing device according to another embodiment of the present invention; In the diagram: 1-Base base, 2-Label-saving robotic arm, 3-De-icing module, 21-Five-axis robotic arm, 22-Five-axis robotic arm base, 23-Semi-automatic robotic arm, 24-Translation motor, 101-Fuma wheel, 102-Stainless steel welded load-bearing frame, 103-Aluminum alloy base plate, 201-Electric cylinder, 202-Pitch arm base, 203-Pitch arm, 204-Joint connector, 205-Translation arm, 206-Translation load-bearing plate, 301-Operating lever, 302-Shock-absorbing rubber column, 303-Support frame, 304-Impact plate, 305-Ice popper, 306-Impact plate Shaft, 307-Shaft sleeve, 308-Bearing seat, 309-Center anti-detachment plate, 310-Edge anti-detachment plate, 311-Reinforced shaft, 312-Left and right support plates, 313-Front and rear support plates, 314-Reversing shaft, 315-Motor conversion shaft, 316-Reversing drive shaft, 317-Reversing gear, 318-Gearbox fixing plate, 319-Cover, 320-Drive motor, 321-Synchronous pulley, 322-Synchronous belt, 323-Ice baffle, 324-Motor protective cover, 325-Transmission protective cover, 326-Up button, 327-Down button, 328-Switch button. Detailed Implementation

[0019] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0020] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] like Figure 1 As shown, this embodiment of the invention provides a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines, comprising: The base 1 includes a stainless steel welded load-bearing frame and an aluminum alloy base plate fixed on the stainless steel welded load-bearing frame. The labor-saving robotic arm 2 includes an electric cylinder, a pitching arm, a joint connecting seat, a translation wall, and a translation load-bearing plate. The electric cylinder passes through the aluminum alloy base plate and is fixedly installed on the inner wall of the stainless steel welded load-bearing frame. One end of the pitching arm is rotatably connected to the aluminum alloy base plate. The drive output end of the electric cylinder is connected to the middle of the pitching arm. The other end of the pitching arm is rotatably connected to one end of the translation arm through the joint connecting seat. The other end of the translation arm is fixedly connected to the translation load-bearing plate. The de-icing module 3 is fixedly mounted on the translational support plate. The de-icing module includes a power component, a support component, and a striking component. The support component includes a support frame. The striking component is fixedly mounted on the top of the support frame. The power component is fixedly mounted inside the support frame and connected to the striking component to provide power to the striking component. The striking component includes at least two sets of striking wheels that rotate synchronously inward at high speed. Each set of striking wheels includes a striking shaft mounted on the top of the support frame and two sets of striking wheels fixed on the striking shaft in opposite directions. Each set of striking wheels includes several ice-breaking heads. Each ice-breaking head is a circumferentially arranged multi-lobed structure. Each lobe is fitted with a curved and tangentially free ice-breaking rod. The power output end of the power component is connected to the striking shaft, so that the striking shaft drives the striking wheels to rotate, and the ice-breaking rods achieve synchronous and opposite-direction striking of the ice.

[0022] The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway catenary according to this invention comprises key components such as a base, a labor-saving robotic arm, and a de-icing module. It can achieve semi-automatic and efficient de-icing in real time, with the de-icing position determined manually.

[0023] The base provides movement and support for the entire de-icing device, ensuring its stability during operation and ease of transport. In some embodiments, the base further includes four high-load-bearing casters, which are respectively installed at the four lower corners of the stainless steel welded load-bearing frame, while an aluminum alloy base plate is installed at the upper center of the stainless steel welded load-bearing frame.

[0024] The labor-saving robotic arm primarily provides support and displacement for the de-icing module. When a person pushes the operating lever, the de-icing module moves horizontally left and right. When a person presses buttons such as "Start," "Up," or "Down," the electric cylinder provides power to move the de-icing module vertically, thus achieving the purpose of saving effort. In some embodiments, the labor-saving robotic arm includes one electric cylinder, one pitch arm base, three pitch arms, one joint connector, three translation arms, and one translation support plate. The pitch arm base is fixed to the aluminum alloy base plate, and one end of each pitch arm is rotatably connected to the pitch arm base. The base of the electric cylinder is installed on the inner wall of the stainless steel welded support frame, and the electric cylinder is connected to the pitch arms through a fisheye connector.

[0025] In some embodiments, a control motor is installed in the joint connector, and the control motor is connected to the translation arm of the labor-saving robotic arm via gears to realize the electric translation of the translation arm.

[0026] To further improve the ice removal effect, in some embodiments, the striking wheel also includes several striking discs, and the striking discs and the ice-breaking heads are arranged at intervals on the striking shaft so as to break up the ice on the contact wire by the high-speed rotation of the striking discs.

[0027] In specific implementation, the de-icing module includes two sets of striking wheels that can rotate synchronously inward at high speed. Each set of striking wheels consists of multiple tangentially free ice-breaking rods, which strike the ice layer on the cable surface by means of striking action. The striking wheel set consists of two sets of striking wheels distributed in opposite directions, and each set of striking wheels consists of two sets of striking discs and ice-breaking rods; thus achieving synchronous and opposite striking action against the ice layer.

[0028] In some embodiments, a central anti-detachment plate is fixedly installed on the end face of the top of the support frame between the fixed ends of the two striking shafts, and edge anti-detachment plates are fixedly installed on both sides of the fixed ends of the two striking shafts respectively, thereby reinforcing the striking shafts through the central anti-detachment plate and the edge anti-detachment plate.

[0029] In some embodiments, the support frame is columnar in shape and has a regular hexagonal cross-section, with reinforcing shafts fixedly installed at the bends on both sides of the support frame.

[0030] In some embodiments, a gearbox is provided inside the support frame. The gearbox is formed by two left and right support plates and two front and rear support plates. The power component includes a drive motor, which is located inside the support frame. The motor shaft of the drive motor is inserted into the gearbox. A reversing gear is provided inside the gearbox. The drive motor transmits power to the striking shaft through the cooperation between the reversing gear and the motor conversion shaft, the reversing drive shaft and the reversing shaft, and the cooperation between the synchronous pulley and the synchronous belt.

[0031] To protect the motor and gearbox, in some embodiments, ice baffles are fixedly installed on both sides of the support frame, a motor protective cover is provided outside the drive motor to cover it, and transmission protective covers are also provided on both sides of the support frame. A cover is provided on the top of the gearbox. In practice, the support frame, reinforcing shaft, anti-detachment plate, transmission protection cover, motor protection cover, operating lever, etc. provide support and protection for the de-icing device; the gearbox converts the motor that rotates in one direction into two sets of rotating shafts that rotate in opposite directions through gears; the drive motor, reversing gearbox, synchronous pulley, and synchronous belt together provide power to the de-icing module.

[0032] In some embodiments, the de-icing module further includes an operating lever, which is fixedly installed in a corresponding threaded hole on the lower surface of the translational support plate. The end of the operating lever is provided with an up button, a down button, and a switch button for controlling the device. The buttons are connected to the power assembly and the electric cylinder via cables. The operating lever provides support for the operator's undulating and offset movements.

[0033] In some embodiments, the device is further equipped with a camera, which is connected to a ground-based remote control system via a wireless signal to transmit de-icing image information back to the system. The device uses a high-definition camera to send information about the icing status and orientation of the overhead contact line to a processing computer, enabling the computer to calculate the movement path of the labor-saving robotic arm and control its movement. Operators can also monitor the icing location and overhead contact line orientation via video surveillance and use a control handle to operate the de-icing device. This modified solution allows operators to work indoors, eliminating outdoor exposure and solving the problems of high-risk high-altitude operations and frostbite in extreme environments.

[0034] In practice, the robotic arm in this device can be replaced by a five-axis robotic arm instead of a labor-saving robotic arm.

[0035] This invention provides a vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines. The device includes a base 1 comprising a caster wheel, a load-bearing frame, and a base plate for moving and fixing the de-icing device; a labor-saving robotic arm 2 comprising an electric cylinder, a pitch arm base, a pitch arm, a joint connector, a translation arm, and a translation load-bearing plate for vertical and horizontal translation of the de-icing device; a striking de-icing module 3 comprising two sets of synchronously rotating inward high-speed striking wheels, each set consisting of multiple tangentially free ice-breaking rods that strike the ice layer on the cable surface; a support frame, reinforcing shaft, anti-detachment plate, transmission protection cover, motor protection cover, and operating lever for support and protection of the de-icing device; and a motor and transmission device comprising a drive motor, a reversing gearbox, a synchronous pulley, and a synchronous belt for powering the de-icing module 3.

[0036] In one specific embodiment, the vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines proposed in this application is as follows: Figure 1 As shown, it consists of a base 1, a labor-saving robotic arm 2, and a striking de-icing module 3.

[0037] Among them, the basic base 1 is as follows Figure 2 As shown, the Foma wheel 101 is fixed to the four bottom corners of the stainless steel welded load-bearing frame 102 with bolts; the aluminum alloy base plate 103 is fixed to the middle position of the surface of the stainless steel welded load-bearing frame 102 with bolts.

[0038] The labor-saving robotic arm 2, as described above Figure 3 and Figure 8As shown, this embodiment uses a semi-automatic robotic arm 23. The mounting base of the electric cylinder 201 is fixed to the inner wall of the stainless steel welded load-bearing frame 102 with bolts. The pitch arm base 202 is connected to the aluminum alloy base plate 103 with bolts. Self-lubricating bushings are installed in the four shaft holes of the pitch arm base 202. Two pitch arms 203 are connected to the front shaft hole of the pitch arm base 202 via pins, symmetrically distributed on both sides of the pitch arm base 202, and a self-lubricating bushing is installed in the middle hole. One pitch arm 203 is connected to the rear shaft hole of the pitch arm base 202 via a pin, distributed at the central axis position of the pitch arm base 202. The end of the electric cylinder 201 is connected to the middle hole of the symmetrically installed pitch arms 203 via pins. Self-lubricating bushings are installed in the ten shaft holes of the joint connecting seat 204. The two symmetrically installed pitch arms 203 are connected by… A pin is connected to the bottom front axle hole of the joint connector 204; a pitch arm 203 mounted on the central axis is connected to the bottom rear axle hole of the joint connector 204 via a pin; three thrust bearings are placed on the upper surface of the middle axle hole of the joint connector 204; a translation arm 205 is placed with its short side facing down on the thrust bearing in the middle axle hole of the joint connector 204, and a new thrust bearing is placed on its upper surface; a pin is inserted through the upper axle hole of the joint connector 204 and fixed with a cotter pin; two more translation arms 205 are installed in sequence, and self-lubricating bushings are installed in the axle holes of the translation arms 205; a self-lubricating bushing is installed in the axle hole of the translation support plate 206 and aligned with the axle holes of the three translation arms 205; a pin is inserted through the axle holes of the translation support plate 206 and the translation arms 205 in sequence and fixed with a cotter pin. A translation motor 204 can also be installed inside the joint connector 204, such as... Figure 8 As shown.

[0039] In other embodiments, the labor-saving robotic arm 2 may also be a five-axis robotic arm 21, with a five-axis robotic arm base 22 at the bottom, such as... Figure 9 As shown. The de-icing module 3, as described in Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, install the operating lever 301 onto the corresponding threaded hole on the lower surface of the translational support plate 206; place the shock-absorbing rubber column 302 on the upper surface of the four corner bolt holes of the translational support plate 206; place the support frame 303 on the shock-absorbing rubber column 302 and tighten it with bolts; assemble the striking wheels, inserting six pins into the six shaft holes of the striking disc 304 in sequence; insert six popsicle sticks 305 into the pins in the same direction in sequence; insert another striking disc 304 into the pins according to the shaft hole and fix it with a snap ring; assemble another seven sets of striking wheels; insert four sets of striking wheels into the striking shaft 306 in a clockwise direction, with the striking wheels spaced apart. Separate with bushing 307; install bearing housings 308 at both ends of the striking shaft 306, with bushing 307 separating the bearing housings 308 from the striking wheels, and assemble two sets of striking wheel assemblies; install one set of striking wheel assemblies clockwise onto the corresponding threaded holes on the upper end face of the support frame 303 and fix it with bolts; install the other set of striking wheel assemblies counterclockwise onto the corresponding threaded holes on the upper end face of the support frame 303 and fix it with bolts; fix two center anti-detachment plates 309 and four edge anti-detachment plates 310 with bolts; place two reinforcing shafts 311 at the bends on both sides of the support frame 303 and fix them with bolts. The two left and right support plates 312 and the two front and rear support plates 313 of the gearbox are fixed with bolts according to the hole positions to form a rectangular gearbox shell; eight bearings are installed in the bearing mounting positions of the front and rear support plates 313 of the gearbox; one reversing shaft 314 is inserted into the lower shaft hole in the middle of the front and rear support plates 313 of the gearbox, one motor conversion shaft 315 is inserted into the upper shaft hole in the middle of the front and rear support plates 313 of the gearbox, and two reversing drive shafts 316 are inserted into the lower shaft holes on both sides of the front and rear support plates 313 of the gearbox; the reversing gear 317 is installed in the marked positions of one reversing shaft 314, one motor conversion shaft 315, and two reversing drive shafts 316 according to the shaft markings, and is limited by retaining rings; the gearbox fixing plate 318 is fixed to the corresponding position of the support frame 303 with bolts; the gearbox is then installed... Install the gearbox mounting plate 318 with bolts and install the cover 319; insert the motor shaft of the drive motor 320 into the groove of the motor conversion shaft 315 of the reversing gearbox and place it in the motor mounting hole of the support frame 303, and fix it with bolts; insert the four synchronous pulleys 321 into the marked positions of the reversing drive shaft 316 of the reversing gearbox and the striking shaft 306 of the striking wheel module, and limit them with snap rings; connect the two synchronous belts 322 to the synchronous pulleys 321 on the same side respectively; install the two ice baffles 323 inside the support frame 303 and fix them with bolts; cover the drive motor 320 with the motor protective cover 324 and fix it to the support frame 303 with bolts; install the two transmission protective covers 325 on both sides of the support frame 303 and fix them with bolts. Install the up button 326, down button 327, switch button 328 and other buttons in the corresponding holes of the operating lever 301; connect the power supply, buttons, drive motor, electric cylinder, control box, etc. with cables.

[0040] At this point, the vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines has been assembled and can begin ice removal operations via the operating system.

[0041] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines, characterized in that, include: The base includes a stainless steel welded load-bearing frame and an aluminum alloy base plate fixed on the stainless steel welded load-bearing frame. The labor-saving robotic arm includes an electric cylinder, a pitching arm, a joint connecting seat, a translation wall, and a translation load-bearing plate. The electric cylinder passes through the aluminum alloy base plate and is fixedly installed on the inner wall of the stainless steel welded load-bearing frame. One end of the pitching arm is rotatably connected to the aluminum alloy base plate. The drive output end of the electric cylinder is connected to the middle of the pitching arm. The other end of the pitching arm is rotatably connected to one end of the translation arm through the joint connecting seat. The other end of the translation arm is fixedly connected to the translation load-bearing plate. The de-icing module is fixedly mounted on the translational support plate. The de-icing module includes a power component, a support component, and a striking component. The support component includes a support frame. The striking component is fixedly mounted on the top of the support frame. The power component is fixedly mounted inside the support frame and connected to the striking component to provide power to the striking component. The striking component includes at least two sets of striking wheels that rotate synchronously inward at high speed. Each set of striking wheels includes a striking shaft mounted on the top of the support frame and two sets of striking wheels fixed on the striking shaft in opposite directions. Each set of striking wheels includes several ice-breaking heads. Each ice-breaking head is a circumferentially arranged multi-lobed structure. Each lobe is equipped with a curved and tangentially free ice-breaking rod. The power output end of the power component is connected to the striking shaft, so that the striking shaft drives the striking wheels to rotate, and the ice-breaking rods achieve synchronous and opposite-direction striking of the ice.

2. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, The striking wheel also includes several striking discs, which are arranged at intervals on the striking shaft to break up the ice covering the contact wire by rotating the striking discs at high speed.

3. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, A control motor is installed in the joint connector, and the control motor is connected to the translation arm of the labor-saving robotic arm through gears to realize the electric translation of the translation arm.

4. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, The de-icing module also includes an operating lever, which is fixedly installed on the lower surface of the translational load-bearing plate at a corresponding threaded hole. The end of the operating lever is provided with an up button, a down button, and a switch button for controlling the device. The buttons are connected to the power component and the electric cylinder via cables.

5. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, A central anti-detachment plate is fixedly installed on the top end face of the support frame between the fixed ends of the two striking shafts, and edge anti-detachment plates are fixedly installed on both sides of the fixed ends of the two striking shafts respectively.

6. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, The support frame is columnar in shape and has a regular hexagonal cross-section. Reinforcing shafts are fixedly installed at the bends on both sides of the support frame.

7. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway catenary according to claim 6, characterized in that, The support frame is equipped with a gearbox, which is formed by two left and right support plates and two front and rear support plates. The power component includes a drive motor, which is located inside the support frame. The motor shaft of the drive motor is inserted into the gearbox. The gearbox is equipped with a reversing gear. The drive motor transmits power to the striking shaft through the cooperation between the reversing gear and the motor conversion shaft, the reversing drive shaft and the reversing shaft, and the cooperation between the synchronous pulley and the synchronous belt.

8. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 7, characterized in that, Ice baffles are fixedly installed on both sides of the support frame, and a motor protective cover is provided on the outside of the drive motor to cover the drive motor. Transmission protective covers are also provided on both sides of the support frame.

9. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, The device is also equipped with a camera, which is connected to a ground-based remote control system via a wireless signal. The camera is used to transmit the de-icing image information back to the ground-based remote control system, so that the ground-based remote control system can calculate the motion path of the labor-saving robotic arm and control the movement of the labor-saving robotic arm.

10. The vehicle-mounted semi-automatic robotic arm-assisted de-icing device for railway overhead contact lines according to claim 1, characterized in that, The base also includes four high-load-bearing casters, which are respectively installed at the four lower corners of the stainless steel welded load-bearing frame.

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