A pantograph system contact line self-adaptive polishing device, system and method

Abstract

The application discloses a pantograph-catenary system contact wire self-adaptive polishing device, system and method, which comprises a frame, a walking mechanism arranged on the upper end of the frame and comprising at least one clamping part, a polishing mechanism installed in the frame through a fixed platform, the upper end of the fixed platform being connected to a lifting platform through a lifting oil cylinder, and at least one polisher being arranged on the lifting platform; the polisher comprises a transverse adjusting platform, a polishing motor and a polishing grinding wheel, one end of the transverse adjusting platform being hinged to the lifting platform, the lower end of the transverse adjusting platform being connected to the fixed platform through a steering oil cylinder, the steering oil cylinder being hinged to the transverse adjusting platform, and the transverse adjusting mechanism enabling the polishing grinding wheel to move transversely. The two polishing motors are diagonally and parallel arranged, and are combined with an angle adjusting mechanism and an axial displacement sliding rail, so that the position and posture of the polishing grinding wheel at different parts, such as the bottom surface and the side surface of the contact wire, can be flexibly adjusted, and fine polishing of multiple parts and controllable force is realized.

Description

Technical Field

[0001] This invention relates to the field of maintenance equipment for rail transit catenary systems, specifically to an adaptive grinding device, system, and method for the contact wire of a pantograph-catenary system. Background Technology

[0002] The pantograph-catenary system is a crucial component of the traction power supply system for electrified railways and urban rail transit. Its current collection performance directly affects the safety, stability, and reliability of train operation. During long-term high-speed train operation, continuous sliding friction occurs between the pantograph's carbon sliding plate and the contact wire, easily leading to grooves, burrs, and uneven wear on the contact wire surface. Simultaneously, arcing discharges occurring under unstable current collection or offline conditions can cause localized melting and oxide layer thickening on the contact wire surface, resulting in increased surface roughness and changes in the cross-sectional profile. These problems further exacerbate uneven contact pressure distribution between the carbon sliding plate and the contact wire, intensifying pantograph-catenary system vibration, reducing current collection quality, and in severe cases, even causing pantograph-catenary system failure.

[0003] Therefore, periodic inspection and meticulous polishing of the contact wire surface are important technical means to ensure the long-term safe and stable operation of the pantograph-catenary system.

[0004] The existing contact wire grinding and maintenance technologies have the following main shortcomings:

[0005] (1) The operation method relies on manual labor, which poses a high safety risk.

[0006] Currently, contact wire grinding is mostly carried out manually or semi-mechanized, requiring workers to climb to heights and move along the contact wire, which poses safety hazards such as electric shock and falls. The risks are further increased, especially in rigid contact wire environments where the working space is limited.

[0007] (2) The equipment is large or fixed and lacks mobility.

[0008] Most existing mechanized grinding equipment is non-portable, large in size and heavy in weight, and usually requires a special work vehicle or fixed installation platform. It is difficult to deploy flexibly in space-constrained sections or complex working conditions, and it is difficult to meet the needs of urban rail transit for rapid and localized maintenance.

[0009] (3) The testing and polishing processes are disconnected, lacking closed-loop control.

[0010] In the existing technology, most equipment only has simple grinding functions. Grinding parameters such as grinding pressure, feed speed and grinding angle usually rely on manual experience to set. There is a lack of real-time detection and feedback control of key parameters such as surface roughness, profile and contact pressure of the contact line. This can easily lead to over-grinding or under-grinding, which affects the service life of the contact line.

[0011] (4) Low work efficiency and poor adaptability

[0012] Traditional maintenance methods often require nighttime power outage windows, resulting in short working hours, low efficiency, and difficulty in making flexible adjustments for different wear locations (such as the bottom and sides of the contact wire), leading to poor consistency in maintenance quality.

[0013] In summary, there is an urgent need for a portable contact wire grinding device that is compact, easy to install and disassemble, and can be directly suspended on a rigid contact wire busbar. This device should be able to accurately grind different worn parts of the contact wire while ensuring operational safety. Through multi-sensor information fusion and PLC closed-loop control, it should be able to achieve real-time adjustment and intelligent control of the grinding process, thereby improving maintenance efficiency and grinding quality and extending the service life of the contact wire. Summary of the Invention

[0014] The purpose of this invention is to provide an adaptive grinding device, system, and method for the contact wire of a catenary system, thereby solving the above-mentioned problems.

[0015] In order to achieve these objectives and other advantages according to the present invention:

[0016] In a first aspect, a pantograph-catenary system contact wire adaptive grinding device includes:

[0017] frame;

[0018] The walking mechanism is located at the upper end of the frame and includes at least one clamping part. The clamping part includes two opposing walking wheels, which are driven to rotate by a walking motor.

[0019] The grinding mechanism is installed in the frame via a fixed platform. The fixed platform is connected to a lifting platform via a lifting cylinder. At least one grinder is installed on the lifting platform. The grinder includes a horizontal adjustment table, a grinding motor, and a grinding wheel. One end of the horizontal adjustment table is hinged to the lifting platform, and its lower end is connected to the fixed platform via a steering cylinder. The steering cylinder is hinged to the horizontal adjustment table. The grinding motor and the grinding wheel are both installed on the horizontal adjustment table via the horizontal adjustment mechanism, which allows the grinding wheel to move laterally. The grinding wheel is driven to rotate by the grinding motor.

[0020] Furthermore, the lateral adjustment mechanism includes a screw parallel to the lateral adjustment table, a grinding motor and a grinding wheel are both mounted on a slider, the screw passes through the slider and meshes with the slider, a guide plate is provided on the slider and inserted into the guide groove of the lateral adjustment table, the guide groove is in the same direction as the extension of the screw, the screw is driven to rotate by the adjustment motor, so that the slider moves along the guide groove.

[0021] Furthermore, the number of polishers is two, and the two polishers are arranged alternately.

[0022] Furthermore, the lower part of the horizontal adjustment platform is connected to the guide rod of the lifting platform via a steering cylinder, so that when the horizontal adjustment platform is moved up and down by the lifting platform, the grinding wheel on it will not change angle.

[0023] Furthermore, in the clamping part, two traveling wheels are mounted on the same track, and the traveling wheels can move on the track, making it convenient to adjust the distance between the two traveling wheels.

[0024] Secondly, an adaptive grinding system for the contact wire of a catenary system includes:

[0025] A polishing device for polishing the contact wire of a pantograph-catenary system, employing the polishing device described in the first aspect;

[0026] The controller outputs control commands to the grinding device;

[0027] The surface roughness detection module is used to detect the surface roughness data of the contact wire in the pantograph-catenary system and send it to the controller.

[0028] The vision positioning module is used to collect the surface contour status of the contact wire in the pantograph-catenary system and send it to the controller;

[0029] The contact pressure sensor is used to collect the pressure sensing data of the grinding wheel on the contact wire of the pantograph system and send it to the controller for adjustment commands.

[0030] Furthermore, it also includes a wheel clamping detection sensor, used to detect the clamping force between the wheel and the busbar.

[0031] Thirdly, an adaptive grinding method for the contact wire of a pantograph-catenary system includes:

[0032] Step S1: Place the two traveling wheels of the clamping part on both sides of the busbar and adjust their position to clamp the busbar. The traveling wheels are located on the edge of the busbar, and the entire device is suspended on the busbar.

[0033] Step S2: The controller starts the walking motor to make the device walk along the busbar, and starts the roughness detection module to detect the contact wire. When the set roughness is detected on the contact wire, the corresponding position is located by the vision positioning module and the walking motor is turned off.

[0034] Step S3: The controller starts the lifting cylinder, which drives the lifting platform upward, thereby driving the grinder upward until the grinding wheel contacts the contact line. The contact pressure sensor collects the pressure of the grinding wheel on the contact line. Under the set pressure, the grinding wheel grinds the contact line.

[0035] Step S4: The controller starts the steering cylinder and the lateral adjustment mechanism to adjust the position of the grinding wheel, thereby grinding different positions of the contact line.

[0036] Furthermore, there are two grinding wheels. The controller activates the corresponding steering cylinder and lateral adjustment mechanism to adjust the positions of the two grinding wheels respectively, so as to simultaneously or separately grind different areas of the contact line.

[0037] The beneficial effects of this invention are:

[0038] 1. Portable suspension structure significantly improves operational safety and flexibility. This invention adopts a traveling suspension structure that can be directly installed on the rigid contact wire busbar, eliminating the need for large work vehicles or fixed platforms. This avoids manual climbing along the line, significantly reducing the risk of electric shock and falls, and is suitable for urban rail transit environments with limited space.

[0039] 2. Dual grinding motors are arranged diagonally in parallel to achieve precise grinding of multiple areas. By arranging two grinding motors diagonally in parallel, and combining them with an angle adjustment mechanism and an axial displacement slide rail, the position and posture of the grinding wheel on different parts such as the bottom and side of the contact line can be flexibly adjusted to achieve fine grinding of multiple areas with controllable force.

[0040] 3. Multi-sensor fusion closed-loop control improves grinding quality consistency. The system integrates roughness detection, contact pressure detection, visual positioning, and walking status detection modules. Through a PLC closed-loop controller, grinding parameters are corrected in real time to avoid over-grinding or under-grinding, thereby improving grinding quality and the service consistency of the contact wire.

[0041] 4. Multi-actuator electrification, suitable for intelligent and automated expansion. Each slide rail, lifting mechanism, and traveling mechanism adopts centralized control via solenoid valves and electrical cabinets, facilitating automated operation and integration with subsequent intelligent maintenance systems, and has good engineering application prospects.

[0042] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0043] Figure 1 This is a structural view of the present invention;

[0044] Figure 2 This is a cross-sectional view of the present invention;

[0045] Figure 3 This is a structural view of two grinders. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. The following description relates to...

[0048] In the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0049] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0050] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0051] The problem-solving approach of this invention:

[0052] In a first aspect, a pantograph-catenary system contact wire adaptive grinding device includes:

[0053] Frame 1; a rectangular frame structure.

[0054] The traveling mechanism is located at the upper end of the frame 1 and includes two clamping parts, which are respectively located on the two long sides of the upper end of the frame 1. Each clamping part includes two opposing traveling wheels 2, which are driven to rotate by a traveling motor 4. In the clamping part, the two traveling wheels 2 are installed on the same track (the track is the long side of the frame 1, which is installed by a clamp. It can be loosened to allow the traveling wheels 2 to move, or it can be tightened to fix the traveling wheels 2). In this way, the traveling wheels 2 can move on the track, making it easy to adjust the distance between the two traveling wheels 2, thereby clamping the busbar 3.

[0055] The grinding mechanism is installed in the frame 1 via a fixed platform 6. The fixed platform 6 is placed on the lower side of the frame 1. The grinding mechanism is located inside the frame. The upper part of the fixed platform 6 is connected to the lifting platform 16 via a lifting cylinder 19. The lifting platform 16 is equipped with two grinders. The lifting platform 16 is driven to move up and down, and the grinders are also driven to move up and down, thereby extending out of the frame 1 to grind the contact line 9 above the frame 1.

[0056] The grinder includes a horizontal adjustment platform 11, a grinding motor 8, and a grinding wheel 7. One end of the horizontal adjustment platform 11 is hinged to the lifting platform 16, and its lower end is connected to the fixed platform 6 via a steering cylinder 18. The steering cylinder 18 is hinged to the horizontal adjustment platform 11. When the steering cylinder 18 extends, the horizontal adjustment platform 11 is lifted upwards, causing the grinding wheel 7 to droop downwards, thus grinding the side of the contact line 9 closest to the horizontal adjustment platform 11. Conversely, the grinding wheel 7 tilts upwards, thus grinding the side away from the horizontal adjustment platform 11. This action may require coordination with the horizontal adjustment mechanism 15 below, as both drooping and tilting can cause parts to get too close to the contact line and touch it. Therefore, the adjustment mechanism 15 is used for adjustment.

[0057] Both the grinding motor 8 and the grinding wheel 7 are mounted on the horizontal adjustment table 11 via a horizontal adjustment mechanism 15. The horizontal adjustment mechanism 15 enables the grinding wheel 7 to move laterally, and the grinding wheel 7 is rotated by the grinding motor 8. The horizontal adjustment mechanism 15 includes a screw parallel to the horizontal adjustment table 11. Both the grinding motor 8 and the grinding wheel 7 are mounted on a slider. The screw passes through the slider and meshes with it. A guide plate on the slider is inserted into a guide groove on the horizontal adjustment table. The guide groove extends in the same direction as the screw. The screw is connected to the adjustment motor 13 via a belt 14, which rotates the slider, causing it to move along the guide groove. The main function of this mechanism is to enable the grinding wheel 7 to move laterally. When the grinding wheel 7 is hanging down, the side closest to the motor may rise too high. Moving the grinding wheel 7 closer to the motor allows this raised side to be ground against the side of the contact line 9. Similarly, when operating in the opposite direction, pushing the grinding wheel 7 away from the motor allows grinding the other side of the contact line 9.

[0058] Two grinders are set up in a cross configuration, such as... Figure 3 In the middle, the cross-arranged grinding wheels 7 can effectively grind the contact line 9.

[0059] Furthermore, the lower part of the horizontal adjustment platform 11 is connected to the guide rod 10 of the lifting platform 16 via a steering cylinder 18. Four guide rods 10 are set at the four corners of the lifting platform 16, and a lifting cylinder 19 is set directly below it. The lifting cylinder 19 pushes the lifting platform 16 to move along the guide rods 10, while the steering cylinder 18 is connected to the guide rods 10, so that when the horizontal adjustment platform 11 is moved up and down by the lifting platform 16, the grinding wheel 7 on it will not change angle.

[0060] Secondly, an adaptive grinding system for the contact wire of a catenary system includes:

[0061] A grinding device for grinding the contact wire of a pantograph-catenary system, wherein the grinding device of the first aspect is adopted;

[0062] Controller 5 outputs control commands to the grinding device;

[0063] The surface roughness detection module is installed on the frame 1 of the grinding device and is used to detect the surface roughness data of the contact wire of the pantograph-catenary system and send it to the controller 5.

[0064] The vision positioning module, installed on the frame 1 of the grinding device, is used to collect the surface contour status of the contact wire of the pantograph system and send it to the controller.

[0065] A contact pressure sensor, mounted on the grinding wheel 7, is used to collect pressure sensing data of the grinding wheel on the contact wire of the pantograph-catenary system and send it to the controller for adjustment commands.

[0066] It also includes a wheel clamping detection sensor, which is installed on the wheel 2 to detect the clamping force between the wheel 2 and the busbar 3.

[0067] Thirdly, an adaptive grinding method for the contact wire of a pantograph-catenary system includes:

[0068] Step S1: Place the two traveling wheels 2 of the clamping part on both sides of the busbar 3 and adjust their positions to clamp the busbar 3. The traveling wheels 2 are located on the edge of the busbar 3. Suspend the entire device on the busbar 3.

[0069] Step S2: Controller 5 starts walking motor 4, allowing the device to walk along the 3rd row of the busbar. The roughness detection module is activated to detect the contact wire. When the set roughness is detected on the contact wire, the corresponding position is located by the vision positioning module, and walking motor 4 is turned off.

[0070] Step S3: Controller 5 starts lifting cylinder 19, which drives lifting platform 16 upward, thereby driving grinder upward until grinding wheel 7 contacts contact line 9. Contact pressure sensor collects the pressure of grinding wheel 7 on contact line 9. Under the set pressure, grinding wheel grinds contact line 9.

[0071] Step S4: The controller starts the steering cylinder 18 and the lateral adjustment mechanism to adjust the position of the grinding wheel 7, thereby grinding different positions of the contact line 9.

[0072] There are two grinding wheels 7. The controller 5 starts the corresponding steering cylinder 18 and the lateral adjustment mechanism to adjust the position of the two grinding wheels 7 respectively, so as to synchronously or partition the different areas of the contact line 9 and improve the grinding efficiency.

[0073] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An adaptive grinding device for the contact wire of a pantograph-catenary system, characterized in that, include: frame; The walking mechanism is located at the upper end of the frame and includes at least one clamping part. The clamping part includes two opposing walking wheels, which are driven to rotate by a walking motor. The grinding mechanism is installed in the frame via a fixed platform. The fixed platform is connected to a lifting platform via a lifting cylinder. At least one grinder is installed on the lifting platform. The grinder includes a horizontal adjustment table, a grinding motor, and a grinding wheel. One end of the horizontal adjustment table is hinged to the lifting platform, and its lower end is connected to the fixed platform via a steering cylinder. The steering cylinder is hinged to the horizontal adjustment table. The grinding motor and the grinding wheel are both installed on the horizontal adjustment table via the horizontal adjustment mechanism, which allows the grinding wheel to move laterally. The grinding wheel is driven to rotate by the grinding motor.

2. The adaptive grinding device for the contact wire of a pantograph-catenary system as described in claim 1, characterized in that, The lateral adjustment mechanism includes a screw parallel to the lateral adjustment table. The grinding motor and grinding wheel are both mounted on a slider. The screw passes through the slider and meshes with it. A guide plate is provided on the slider and inserted into the guide groove of the lateral adjustment table. The guide groove extends in the same direction as the screw. The screw is driven to rotate by the adjustment motor, causing the slider to move along the guide groove.

3. The adaptive grinding device for the contact wire of a pantograph-catenary system as described in claim 1, characterized in that, The number of polishers is two, and the two polishers are arranged alternately.

4. The adaptive grinding device for the contact wire of a pantograph-catenary system as described in claim 1, characterized in that, The lower part of the horizontal adjustment platform is connected to the guide rod of the lifting platform via a steering cylinder, so that when the horizontal adjustment platform is moved up and down by the lifting platform, the grinding wheel on it will not change angle.

5. The adaptive grinding device for the contact wire of a pantograph-catenary system as described in claim 1, characterized in that, In the clamping part, two traveling wheels are mounted on the same track, and the traveling wheels can move on the track, making it convenient to adjust the distance between the two traveling wheels.

6. An adaptive grinding system for the contact wire of a catenary system, characterized in that, include: A polishing device for polishing the contact wire of a pantograph-catenary system, wherein the polishing device is as described in any one of claims 1-5; The controller outputs control commands to the grinding device; The surface roughness detection module is used to detect the surface roughness data of the contact wire in the pantograph-catenary system and send it to the controller. The vision positioning module is used to collect the surface contour status of the contact wire in the pantograph-catenary system and send it to the controller; The contact pressure sensor is used to collect the pressure sensing data of the grinding wheel on the contact wire of the pantograph system and send it to the controller for adjustment commands.

7. The adaptive grinding system for the contact wire of a catenary system as described in claim 6, characterized in that, It also includes a wheel clamping detection sensor, used to detect the clamping force between the wheel and the busbar.

8. A method for adaptive grinding of the contact wire in a pantograph-catenary system, characterized in that, include: Step S1: Place the two traveling wheels of the clamping part on both sides of the busbar and adjust their position to clamp the busbar. The traveling wheels are located on the edge of the busbar, and the entire device is suspended on the busbar. Step S2: The controller starts the walking motor to make the device walk along the busbar, and starts the roughness detection module to detect the contact wire. When the set roughness is detected on the contact wire, the corresponding position is located by the vision positioning module and the walking motor is turned off. Step S3: The controller starts the lifting cylinder, which drives the lifting platform upward, thereby driving the grinder upward until the grinding wheel contacts the contact line. The contact pressure sensor collects the pressure of the grinding wheel on the contact line. Under the set pressure, the grinding wheel grinds the contact line. Step S4: The controller starts the steering cylinder and the lateral adjustment mechanism to adjust the position of the grinding wheel, thereby grinding different positions of the contact line.

9. The adaptive grinding method for the contact wire of a pantograph-catenary system as described in claim 8, characterized in that, The grinding wheels are two in number. The controller activates the corresponding steering cylinder and lateral adjustment mechanism to adjust the position of the two grinding wheels respectively, so as to grind different areas of the contact line synchronously or in sections.

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