Intelligent bow net abnormal wear measurement method

Abstract

The invention discloses an intelligent pantograph-catenary abnormal wear measurement method, which creatively combines a precisely manufactured intelligent detection manipulator, applies the comprehensive technology of wireless transmission, a pneumatic assembly and a PLC program electric control system, and realizes the measurement of the abnormal wear of a pantograph-catenary through a series of software and hardware operations, stable wire grabbing by the manipulator, intelligent rotation, induction, transmission and the like. The method is mainly applied to detection of contact lines (27.5 KV, AC) of overhead high-voltage transmission pantograph nets of electrified high-speed railways and contact lines (commonly used 0.75 KV, 1.5 KV, DC) of overhead medium-voltage transmission pantograph nets of urban rail transit and electric locomotives. Online electrification is realized, and the minimum value and the direction of the residual height of the contact wire and the contact wire of the locomotive pantograph net during the operation of the locomotive are randomly detected, so that the wear value and the direction before the use critical point generated by the relative friction of the pantograph are calculated, and necessary repair and replacement are facilitated; therefore, serious accidents such as breakage of the power transmission contact line are effectively avoided, and serious accidents during operation of the locomotive are also avoided.

Description

Technical Field

[0001] This invention is a measurement method for abnormal wear of pantograph-catenary contact wires in power transmission and distribution systems, particularly for intelligent detection of wear on the pantograph-catenary conductors of high-speed railways and urban rail transit. It provides wear data before the critical point, enabling corresponding maintenance measures to prevent power supply accidents caused by line breaks. Background Technology

[0002] When high-speed trains, subways, intercity railways, and other rail transit systems are in operation, there is a high relative dry frictional motion of 60-100 meters per second between the pantograph and the power contact wire, which naturally causes wear. As wear gradually increases, the wire resistance, current density, temperature rise, and electrical power also increase. Especially in subways, this can easily exacerbate pantograph-catenary arcing and other electrical problems. Timely detection and handling can prevent serious accidents such as power contact wire breakage, thereby avoiding serious accidents during train operation.

[0003] To improve the wear and tear on the pantograph and overhead contact line in rail transit, and to reduce sparking in urban rail transit, it is essential to conduct thorough inspections and maintenance of the pantograph and overhead contact line. This will optimize the smoothness and responsiveness of the pantograph-contact line movement and reduce the rate of track malfunctions. The optical measurement system launched by Siemens in Germany utilizes a square horizontal plate mounted on the locomotive, with a high-resolution diode line camera mounted at each of the four corners. The system measures the contact wire of the pantograph-catenary system with a maximum error of 0.5–0.6 mm and an average error of 0.2–0.3 mm. It costs over 100,000 euros and weighs over 300 kg. Currently, laser scanning measurement is also used on inspection vehicles. These non-contact telemetry devices cannot meet the requirements for monitoring the pantograph-catenary contact wire operation status after the speed increase of my country's high-speed rail, and they fall far short of the basic principles of the "Outline for the Modernization of Locomotive Equipment" for rail transit: 1) safety, simplicity, 2) accuracy, intelligence, and 3) economy and practicality. Currently, the measurement of pantograph-catenary wear in my country still largely relies on the decades-old traditional method of measuring with handheld vernier calipers during power outages, vehicle shutdowns, ladder ascents, and aerial work. This outdated diameter measurement method is labor-intensive and has poor accuracy at high altitudes; it is particularly difficult to accurately measure uneven wear of the pantograph-catenary contact line on curves because the semicircular part of the contact line involves the clamping groove. In recent years, some methods simulating manual caliper measurement have made some progress, but they still have some key drawbacks: the measuring instrument is attached to the pantograph-catenary contact line → the conductor is clamped and aligned in the ideal position → the residual height of the conductor is measured → the clamp is released after measurement. The shortcomings are: the entire operation relies on a person seven meters away using a high-voltage insulated rod to push the instrument into the conductor and hold it steady as the instrument's positioning and measurement reference, introducing human factors; the measuring rod, which imitates the moving jaws of calipers, has weak clamping force, resulting in insufficient stability of the measurement positioning and reference. Therefore, it cannot meet the requirements for measuring pantograph-catenary wear in my country's rail transit. Summary of the Invention

[0004] To address the various shortcomings of the aforementioned situation, this invention provides an intelligent method for measuring abnormal wear of the pantograph-catenary system. It creatively combines the integrated technologies of precision mechanical manufacturing intelligent inspection robot, wireless transmission, pneumatic components, and PLC programmable electronic control system. Through a series of software and hardware operations, it firmly grasps the conductor like a lifting ring, intelligently rotates, senses, and transmits data, thereby achieving automatic intelligent detection of the minimum residual height and orientation of the pantograph-catenary contact wire.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0006] Furthermore, in the above technical solution, the intelligent pantograph-catenary abnormal wear measurement method consists of a hardware component composed of an intelligent detection robot with wireless transmission, pneumatic components, and PLC electrical control components. It is completed by operating the electric and pneumatic control operating system set on the laptop computer. This is a complete set of equipment for high-altitude detection that integrates mechanical, electric, pneumatic, and communication technologies.

[0007] Furthermore, in the above technical solution, the intelligent pantograph-catenary abnormal wear measurement method is applied to the detection of contact wires (27.5KV, AC) of overhead high-voltage transmission pantographs and catenaries in electrified high-speed railways and contact wires (commonly 0.75KV, 1.5KV, DC) of overhead high-voltage transmission pantographs and catenaries in urban rail transit and electric locomotives. The method involves online, energized, and random detection of the wear value and orientation of the contact wires before the critical service point caused by relative friction between the contact wires and the locomotive pantograph during locomotive operation.

[0008] In the above technical solution, the intelligent pantograph abnormal wear measurement method, especially the main operation process of the intelligent detection robot, is as follows: The program logic controller (PLC) starts working and, according to the program output instructions, issues instructions to different miniature electromagnetic directional valves to orient the five measuring points of proximal end one, proximal end two, mid-span, distal end one, and distal end two as one working cycle, which takes 10 seconds; and simultaneously, through the pneumatic components, it operates the miniature cylinders with different functions mounted on the detection robot to complete the positioning, rotation, and sensor pointer sensing work.

[0009] In the above technical solution, furthermore, the intelligent pantograph-catenary abnormal wear measurement method uses an intelligent detection robot arm equipped with a wireless transmission module and a digital display linear displacement sensor, connected to a signal transmission component to achieve ground reception. The receiving terminal uses a laptop computer with built-in Bluetooth to display, record, and statistically analyze the detected pantograph-catenary contact wire wear data, determine the minimum remaining height and orientation of the contact wire under test, display the overall wear pattern, and save it to the computer in a specific format. It can also directly print out the measured contact wire wear report.

[0010] In the above technical solution, the present invention provides a general detection method for wear on contact wires, which is applicable in principle to all circular contact wires with triangular grooves on both sides. Only a pair of correspondingly sized moving clamps on the intelligent detection robot arm need to be replaced. Specific models of applicable circular slotted contact wires are as follows: TB / 2810~2821-1997 (Iron Standard), CTHA series circular slotted contact wires, codes: CTHA-85, 100, 120, 150; European standard: EN50149, AC series round slotted contact wire, code: AC-80, 100, 107, 120, 150; German standard: Similar to European standard, with DN43138 standard, code Ri-80, 100, 107, 120, 150. Internationally, another material with a cross-sectional area of ​​161 mm² is also used. 2 and 170mm 2 This equipment is suitable for all types of slotted circular contact wires, including those conforming to American and Japanese standards. It is applicable to all slotted circular contact wires currently in use both domestically and internationally.

[0011] The beneficial effects of this invention are as follows:

[0012] This invention is far superior to similar methods both domestically and internationally in that it eliminates the discreteness of the measured data and the stringent requirements for the measurement environment (climate, illumination, etc.), and is unaffected by the vibration and deflection of the pantograph contact wire. It is original in that it can perform random testing at any location on the ground (simply by placing the testing robot arm on the wire to be tested with an insulating rod and then releasing it), and can also be performed on a scaffolding vehicle. It can detect pantograph contact wire wear on curves as if it were on a straight road. Furthermore, the intelligent testing robot arm can be released and freely moved to the most easily worn key positioning points, electrical connection points, wire joints, center anchors, electrical phase splits, and electrical segment joints for intelligent measurement operations.

[0013] This invention is a simplified, digitalized, automated, and high-precision intelligent measurement method. The main actuator, the intelligent detection robot arm, weighs only 1.5 kg and has a measurement accuracy of 0.03 mm, reaching the tens of μm level of high-altitude measurement equipment. Moreover, it is economical and practical. Attached Figure Description

[0014] Figure 1 A 3D view of the intelligent inspection robot;

[0015] Figure 2 A partial front view of the intelligent inspection robot;

[0016] Figure 3 A simplified flowchart for detecting abnormal wear in intelligent pantographs and catenary systems;

[0017] Figure 4 A flowchart illustrating the workflow of attaching the contact wire to the intelligent inspection robot arm.

[0018] Combination Figure 1 and Figure 2 The intelligent inspection robot shown in the diagram mainly consists of the following components: the entire robot is supported by a robot housing 7, on which a rotating plate 4 and an arched guide pair 8 are tightly fitted. The arched guide pair 8 is fitted with a moving clamp 2. A digital linear displacement sensor 5 and a wireless transmission module 3 are mounted on the rotating plate 4. The digital linear displacement sensor 5 is connected to the electric control components in the ground control box, and the wireless transmission module 3 is connected to the laptop computer on the ground terminal. A miniature solenoid valve 1 and a miniature cylinder 6 are mounted on the robot housing 7, which are respectively connected to the electric and pneumatic control components in the ground control box. The inspection robot includes the following accessories: a rotating body and an external gear fitted into the arc-shaped inner edge of the robot housing 7; pistons, racks, return springs, etc., of the miniature cylinders responsible for different movements.

[0019] Combination Figure 3The intelligent pantograph-catenary contact wire abnormal wear measurement method utilizes an intelligent detection robotic arm equipped with a wireless transmission module and a digital display linear displacement sensor, connected to a signal transmission component for ground reception. The receiving terminal uses a laptop with built-in Bluetooth to display, record, and statistically analyze the detected pantograph-catenary contact wire wear data, determining the minimum remaining height and orientation of the contact wire under test. It can display the overall wear pattern and save the data in a specific format to the computer, or directly print out a report on the measured contact wire wear.

[0020] Combination Figure 4 The main operation process of the intelligent inspection robot is as follows: When the power is turned on, the program logic controller (PLC) in the ground electrical and pneumatic control box starts working. According to the program output instructions, it sends a command to the miniature electromagnetic directional valve responsible for the movement of the pointer (hereinafter referred to as the pointer) of the digital linear displacement sensor ball-shaped probe. The miniature cylinder executes the pointer to move backward. Then, the miniature electromagnetic directional valve responsible for starting the moving clamping action receives the work command. The corresponding miniature cylinder executes the moving clamping action to clamp the triangular mounting groove of the conductor (i.e., the pantograph contact wire) and automatically adjusts it to a suitable degree, so that the inspection robot has a reliable measurement reference (after the first timing control of the PLC). The pointer is close to the outer diameter of the conductor. The miniature electromagnetic directional valve responsible for rotating the pointer receives the work command. The corresponding miniature cylinder executes the clockwise rotation of the pointer following the rotating body, respectively orienting the five measured points of proximal end one, proximal end two, mid-span, distal end one, and distal end two to complete the measurement work (PLC second timing control, about 10 seconds). Upon receiving the working command, the miniature electromagnetic directional valve responsible for rotating the pointer initiates a counter-clockwise rotation of the pointer, following the rotating body. This rotation orients the pointer towards the five measured points: distal end two, distal end one, mid-span, proximal end two, and proximal end one, completing the retest measurement (PLC third timing control, approximately 10 seconds). This completes the measurement cycle for one measurement position. Finally, the miniature electromagnetic directional valve is de-energized, and the miniature cylinder, under the action of its own return spring, is forced to reset. This causes the translation jaws on the cylinder to move outward, disengaging from the upper semi-circular triangular mounting slot of the contact wire to be measured, thus creating space. At this point, the intelligent inspection robot's one-time inspection program ends. Detailed Implementation Plan

[0021] The following detailed description, in conjunction with the accompanying drawings, provides a specific embodiment of an upward track segment of the present invention.

[0022] like Figures 1-4 As shown, the intelligent pantograph-catenary abnormal wear measurement method of the present invention is a measurement work completed by a combination of an intelligent detection robot, wireless transmission, pneumatic components, and a PLC programmable electronic control system.

[0023] The intelligent inspection robot is supported by a robot housing 7, on which a rotating plate 4 and an arched guide pair 8 are tightly fitted. The arched guide pair 8 is fitted with a moving clamp 2. A digital display linear displacement sensor 5 and a wireless transmission module 3 are mounted on the rotating plate 4. The digital display linear displacement sensor 5 is connected to the electric control components in the ground control box, and the wireless transmission module 3 is connected to the laptop computer on the ground terminal. A miniature solenoid valve 1 and a miniature cylinder 6 are assembled on the robot housing 7, which are respectively connected to the electric and pneumatic control components in the ground control box.

[0024] The specific operation process of the intelligent pantograph-catenary abnormal wear measurement method is as follows:

[0025] (1) When the ground electric and pneumatic control box is powered on, the program logic controller (PLC) inside the box starts working. According to the program output instructions, it sends instructions to the miniature electromagnetic directional valve that is responsible for the movement of the pointer (hereinafter referred to as the pointer) of the digital display linear displacement sensor ball probe. The miniature cylinder executes the pointer to move backward.

[0026] (2) The miniature electromagnetic directional valve responsible for initiating the moving clamping action receives the PLC working instruction, and the corresponding miniature cylinder executes the moving clamping action to clamp the triangular mounting slot of the conductor (i.e., the pantograph contact wire) and automatically adjusts it to the appropriate degree, so that the detection robot has a reliable measurement reference (controlled by the first timing of the PLC), and the pointer is close to the outer diameter of the conductor.

[0027] (3) When the micro electromagnetic directional valve responsible for rotating the pointer receives the PLC working instruction, the corresponding micro cylinder executes to follow the rotating body and rotate the pointer clockwise. It rotates within a range of 110° in the vertical direction of the lower semicircle of the conductor, 55° to the left (third quadrant) and 55° to the right (fourth quadrant), respectively, to complete the measurement work at the five measured points: near end one, near end two, mid-span, far end one, and far end two (PLC second timing control, about 10 seconds).

[0028] (4) When the miniature electromagnetic directional valve responsible for rotating the pointer receives the working command, the corresponding miniature cylinder executes to rotate the pointer counterclockwise following the rotating body, and respectively orients the five measured points of distal end two, distal end one, mid-span, proximal end two, and proximal end one to complete the retest measurement (PLC third timing control, about 10 seconds). At this point, the measurement work cycle of one measurement position is completed.

[0029] (5) Finally, the micro electromagnetic directional valve is de-energized, and the micro cylinder is forced to reset under the action of its own return spring. Therefore, the translation jaw pair on it moves outward, thereby disengaging from the upper semi-circular triangular mounting groove of the contact wire to be tested, making room. At this time, the program of one detection by the intelligent detection robot ends.

[0030] The intelligent inspection robot arm is equipped with a wireless transmission module and a digital linear displacement sensor, connected to the signal transmission component for ground reception. After all the above measurements are completed, the receiving terminal uses a laptop with built-in Bluetooth to display, record, and statistically analyze the detected pantograph contact wire wear data. It determines the minimum remaining height and orientation of the contact wire under test, displays the overall wear pattern, and saves it to the computer in a specific format. Alternatively, it can directly print the measured contact wire wear report, as shown below: After completing several tests, the following comprehensive report was compiled:

[0031] In the above implementation scheme, the present invention provides a general detection method for wear on contact wires, which is applicable in principle to all circular contact wires with triangular grooves on both sides. It only requires replacing a pair of moving clamps of the corresponding size on the intelligent detection robot arm.

[0032] In the above implementation scheme, the present invention does not have the discreteness of the measured data or the strict requirements of the measurement environment (climate, illuminance, etc.), and is not affected by the vibration of the pantograph contact wire or the presence of deflection; it is original in that it can be randomly detected at any location on the ground and can also be detected on a machine repair vehicle ladder; it can detect pantograph contact wire wear on curves as if it were on a straight road; it can be moved freely to the most easily worn key positioning points, electrical connection points, wire joints, center anchors, electrical phase splits, and electrical segment joints by the intelligent detection robot after it is released, and perform intelligent measurement operations, which is simple and convenient.

[0033] It should be noted that the description and drawings of the above embodiments of the present invention are considered to be illustrative rather than restrictive. Clearly, the overall design method of the present invention is not limited to the above-described embodiment of a conductor. Based on the present invention, those skilled in the art can make substitutions and modifications to some technical features without creative effort, based on the disclosed technical content, and all such modifications are within the scope of protection of the present invention.

Claims

1. A method for measuring abnormal wear of the pantograph-catenary system using intelligent hardware and software, comprising the following three parts: A small control box for an intelligent inspection robot (with wireless transmission), pneumatic components, and PLC programmable electronic control components, along with a laptop computer and corresponding programmable control software. Its features include: the pneumatic components and the PLC programmable electronic control components are connected; and the digital linear displacement sensor mounted on the intelligent inspection robot is connected to the wireless signal transmission system.

2. The intelligent pantograph-catenary anomaly wear measurement method according to claim 1, characterized in that: The hardware consists of an intelligent inspection robot with wireless transmission, pneumatic components, and PLC electrical control components. It operates through a portable computer with a pre-set electric and pneumatic control system. This is a complete set of high-altitude inspection equipment that integrates mechanical, electric, pneumatic, and communication technologies.

3. The method for measuring abnormal wear of intelligent pantograph-catenary system according to claim 2, characterized in that: The test is applied to the contact wires (27.5KV, AC) of overhead high-voltage transmission pantographs in electrified high-speed railways and the contact wires (commonly 0.75KV, 1.5KV, DC) of overhead high-voltage transmission pantographs in urban rail transit and electric locomotives. The test involves online, live, and random testing of the wear value and orientation of the contact wires before the service critical point caused by the relative friction between the contact wires and the locomotive pantograph during locomotive operation.

4. The intelligent pantograph-catenary anomaly wear measurement method according to claims 2 and 3, characterized in that: This invention eliminates the discreteness of measured data and the stringent requirements of the measurement environment (climate, illumination, etc.), and is unaffected by the vibration and deflection of the pantograph contact wire. It is original in that it can perform random testing at any location on the ground (simply by placing the testing robot arm on the wire to be tested with an insulating rod and then releasing it), and can also be performed on a machine repair vehicle ladder. It can detect pantograph contact wire wear on curves as if it were on a straight road. After the intelligent testing robot arm is released, it can freely move to the most easily worn key positioning points, electrical connection points, wire joints, center anchors, electrical phase splits, and electrical segment joints for intelligent measurement operations.

5. The intelligent pantograph-catenary abnormal wear measurement method according to claims 1 and 3, characterized in that: intelligent... The main operation process of the inspection robot is as follows: The program logic controller (PLC) starts working and, according to the program output instructions, issues instructions to different miniature electromagnetic directional valves to orient the five measuring points of proximal end one, proximal end two, mid-span, distal end one, and distal end two as one working cycle, which takes 10 seconds; and simultaneously, through the pneumatic components, it operates the miniature cylinders with different functions mounted on the inspection robot to complete the work of positioning, rotation, and sensor pointer sensing.

6. The intelligent pantograph-catenary anomaly wear measurement method according to claims 1, 3 and 5, characterized in that: The intelligent inspection robot arm is equipped with a wireless transmission module and a digital linear displacement sensor, which are connected to the signal transmission components to achieve ground reception. The receiving terminal uses a laptop with built-in Bluetooth to display, record, and statistically analyze the detected pantograph contact wire wear data, determine the minimum remaining height and orientation of the contact wire under test, display the overall wear pattern, and save it to the computer in a specific format. It can also directly print out the measured contact wire wear report, as shown below: After completing several tests, the following comprehensive report was compiled:

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