Contact network line climbing detection robot

Abstract

The utility model discloses a contact network line climbing detection robot which comprises four groups of guide pillar mechanisms which are arranged in a pairwise staggered mode, five groups of detection units used for self-adaptive line patrol are installed among the four groups of guide pillar mechanisms, and four groups of obstacle crossing mechanisms used for being matched with the detection units to automatically avoid obstacles are arranged between every two adjacent detection units. A base is installed at the bottoms of the four sets of guide column mechanisms, and a jacking mechanism used for being matched with the obstacle crossing mechanism to enable the robot to patrol through a curve line and a zigzag line is installed on the base. According to the utility model, long-distance line patrol can be carried out on a contact line, curve lines and zigzag lines can be smoothly passed, and functions of automatic swinging and automatic obstacle crossing are realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection robot technical field, concretely is a catenary climbing detection robot. BACKGROUND

[0002] At present, railway track traffic traction power supply system basically adopts catenary type power supply network, but along with catenary and slideboard friction time increase, catenary wear amount will gradually increase, makes the contact pressure drop when working, leads to unstable power supply, serious time can produce arc, causes catenary to be burnt and lost. Therefore, in order to guarantee that bow net relationship is normal, it is required to carry out catenary wear measurement at least twice a year, when catenary wears to certain degree, should be reinforced or replaced.

[0003] At present, the detection of the contact wire often relies on manual measurement of the residual height using a vernier caliper, and the remaining conductive area is calculated by comparing with a catenary wear table. Manual point detection of catenary wear has the problems of high work intensity, low efficiency, inaccuracy and easy omission. Railway operation and maintenance departments have begun to introduce line inspection robots, but most of the current line inspection robots can only move in a straight line, cannot pass through curves, are not suitable for zigzag lines, cannot cross obstacles, and can only detect within one section.

[0004] Therefore, it is necessary to provide a novel climbing detection robot that can patrol a long distance on a contact wire, smoothly pass through curves and zigzag lines, and autonomously cross obstacles. UTILITY MODEL CONTENTS

[0005] In view of the deficiencies of the prior art, the utility model aims to provide a catenary climbing detection robot to solve the problem that the robot used for current contact wire detection cannot cross obstacles.

[0006] To achieve the above object, the utility model provides the following technical scheme: a catenary climbing detection robot, comprising four groups of guide column mechanisms arranged in a staggered manner, five groups of detection units for adaptive line patrol are installed between the four groups of guide column mechanisms, four groups of obstacle crossing mechanisms for cooperating with the detection units to avoid obstacles are arranged between adjacent two detection units, a base is installed at the bottom of the four groups of guide column mechanisms, and a jacking mechanism for cooperating with the obstacle crossing mechanisms to enable the robot to patrol curves and zigzag lines is installed on the base.

[0007] Preferably, the guide column mechanism is composed of a guide wheel, a guide pillar, a torsional spring and a seat body, the seat body is detachably connected to the base by bolts, the guide pillar is rotatably installed on the seat body, the torsional spring is sleeved on the outer surface of the guide pillar and located inside the seat body, and the guide wheel is installed at one end of the top of the guide pillar.

[0008] As preferred, the detection unit is composed of a support frame arranged in a T shape, and two groups of opposite sensors mounted at two ends of the top of the support frame, and the support frame is detachably mounted on the base through bolts.

[0009] As preferred, the obstacle surmounting mechanism comprises a support assembly mounted on the base, and an obstacle avoiding assembly mounted on the support assembly.

[0010] As preferred, the support assembly comprises a fixing seat mounted on the top surface of the base, a motorized push rod rotatably connected to the fixing seat, a double-plate connecting shaft rotatably connected to the free end of the motorized push rod, a connecting rod one rotatably connected to the middle part of the double-plate connecting shaft, and a connecting rod two rotatably connected to the tail end of the double-plate connecting shaft.

[0011] As preferred, the obstacle avoiding assembly comprises a rectangular shell rotatably mounted on the connecting rod one and the connecting rod two, an adapter seat fixedly mounted on the outer surface of the rectangular shell, a driving wheel rotatably connected to the adapter seat, a hollow cup motor mounted on the top of the adapter seat, a gear one drivingly connected to the output end of the hollow cup motor, a gear two mounted on the shaft body of the driving wheel and located inside the adapter seat, and a V-belt sleeved on the outer surfaces of the gear one and the gear two.

[0012] As preferred, the jacking mechanism comprises two T-shaped mounting seats, a traveling wheel rotatably mounted between the two T-shaped mounting seats, a plane plate one mounted on the bottom of the two T-shaped mounting seats, a plane plate two arranged below the plane plate one, a damping spring mounted between the plane plate one and the plane plate two, an optical shaft one flange-mounted on both sides of the top of the plane plate one, an optical shaft two flange-mounted between the plane plate two and the base, a gasket sleeved on the optical shaft two, and three sliding grooves formed in the plane plate two.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1、The line crawling detection robot can perform long-distance line patrolling on the contact line, can smoothly pass through curved lines and zigzag lines, and has the functions of automatic swinging and autonomous obstacle surmounting.

[0015] 2、The hollow cup motor provides the power required for the line crawling detection robot to run, the hollow cup motor is operated, gear one is controlled to rotate towards the set direction, the rotating force is transmitted to gear two through the V-belt, the driving wheel is controlled to rotate along the contact line, and the overall advancing movement of the robot is realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a whole structure schematic view of the utility model;

[0017] Figure 2 It is a structure schematic view of the guide column mechanism of the utility model;

[0018] Figure 3 It is a structural schematic view of the detection unit of the utility model;

[0019] Figure 4 It is a structural schematic view of the support assembly of the utility model;

[0020] Figure 5 It is a structural schematic view of the barrier avoidance assembly of the utility model;

[0021] Figure 6 It is a structural schematic view of the jacking mechanism of the utility model.

[0022] In the figure:

[0023] 1, guide column mechanism; 101, guide wheel; 102, guide support; 103, torsion spring; 104, seat body structure;

[0024] 2, detection unit; 201, opposite emission sensor; 202, support frame;

[0025] 3, barrier crossing mechanism; 301, support assembly; 3011, fixed seat; 3012, electric push rod; 3013, double-plate connection shaft; 3014, connecting rod one; 3015, connecting rod two; 302, barrier avoidance assembly; 3021, rectangular shell; 3022, connection seat; 3023, driving wheel; 3024, hollow cup motor; 3025, gear one; 3026, gear two; 3027, triangular belt;

[0026] 4, jacking mechanism; 401, T-shaped mounting seat; 402, walking wheel; 403, plane plate one; 404, plane plate two; 405, damping spring; 406, optical axis one; 407, optical axis two; 408, gasket;

[0027] 5, base. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0029] To solve the problem that the robot used for contact line detection cannot cross obstacles, please refer to Figures 1-6The utility model provides a contact net climbs line detection robot, can when carrying out contact line detection, autonomous striding over obstacles. This detection robot has four groups two two misplacement arrangement's guide post mechanism 1, four groups guide post mechanism 1 between installation has five groups for the detection unit 2 of adaptive patrol line, is provided with four groups for the cooperation detection unit 2 and keeps away from the obstacle crossing mechanism 3 between two adjacent detection units 2, four groups guide post mechanism 1's bottom is installed with base 5, is installed with the jacking mechanism 4 for the cooperation crossing mechanism 3 and makes the robot pass through curve and zigzag line patrol line on base 5. Through the cooperation application of guide post mechanism 1, detection unit 2, crossing mechanism 3 and jacking mechanism 4, make the climbing detection robot have adaptive patrol line and over curve, avoid the function of barrier, and the climbing detection robot can pass through the detection of contact line abrasion and carry abrasion detection instrument. Wherein utilize detection unit 2 and detect whether there is an obstacle on contact line, subsequently in the corresponding action of detection unit 2 electric connection crossing mechanism 3 and jacking mechanism 4, make the whole robot striding over obstacles more stably.

[0030] In order to guarantee the obstacle crossing stability of climbing detection robot and the detection precision when crossing obstacles, as shown in Figures 1-2 Guide post mechanism 1 is composed of guide wheel 101, guide pillar 102, torsional spring 103 and seat body structure 104, wherein seat body structure 104 is detachably connected on base 5 through bolts, guide pillar 102 is rotatably installed on seat body structure 104, torsional spring 103 is sleeved on the outer surface of guide pillar 102 and located in the interior of seat body structure 104, and guide wheel 101 is installed on one end of the top of guide pillar 102. By mounting guide post mechanism 1 on base 5, when the robot performs obstacle crossing action, both ends of guide post mechanism 1 are suspended on the contact, so that the phenomenon that the robot sinks to one end does not occur, and the application of torsional spring 103 makes guide wheel 101 have the function of left and right swinging and automatic return, so that the whole guide post mechanism 1 can adapt to different extension directions of contact line.

[0031] As shown in Figure 1 And Figure 3As shown, the detection unit 2 is composed of a support frame 202 arranged in a Z shape and two groups of reflection sensors 201 mounted at both ends of the top of the support frame 202, which is detachably mounted on the base 5 by bolts. The emitter in the reflection sensor 201 emits a light beam, and the receiver in the reflection sensor 201 receives the light emitted from the emitter. When there is no obstacle on the contact line, the receiver normally receives the light beam emitted by the emitter, and vice versa, when there is an obstacle on the contact line, the light beam emitted by the emitter is blocked by the obstacle, so that the receiver detects that the light intensity of the light beam is reduced or there is none, and then it converts these changes into electrical signals and processes them through the internal circuit, thereby realizing the adaptive line patrol function of the robot. In addition, the obstacle crossing mechanism 3 and the jacking mechanism 4 are fed back, so that they make corresponding actions. Thus, the timeliness of obstacle crossing is ensured.

[0032] As shown in Figure 1 , Figure 4 and Figure 5 , the obstacle crossing mechanism 3 includes a support assembly 301 mounted on the base 5, and an obstacle avoidance assembly 302 mounted on the support assembly 301. The support assembly 301 includes a fixed seat 3011 mounted on the top surface of the base 5, a motorized push rod 3012 rotatably connected to the fixed seat 3011, a double-plate connecting shaft 3013 rotatably connected to the free end of the motorized push rod 3012, a link one 3014 rotatably connected to the middle part of the double-plate connecting shaft 3013, and a link two 3015 rotatably connected to the tail end of the double-plate connecting shaft 3013. The obstacle avoidance assembly 302 includes a rectangular housing 3021 rotatably mounted on the link one 3014 and the link two 3015, a connecting seat 3022 fixedly mounted on the outer surface of the rectangular housing 3021, a drive wheel 3023 rotatably connected to the connecting seat 3022, a hollow cup motor 3024 mounted on the top of the connecting seat 3022, a gear one 3025 drivingly connected to the output end of the hollow cup motor 3024, a gear two 3026 mounted on the shaft of the drive wheel 3023 inside the connecting seat 3022, and a V-belt 3027 sleeved on the outer surfaces of the gear one 3025 and the gear two 3026. The rectangular housing 3021 is divided into upper and lower parts, one end of the connecting seat 3022 is in a cylindrical arc shape, which is fixed by bolts through the upper and lower parts of the rectangular housing 3021, and a certain space is reserved inside the rectangular housing 3021, so that the entire drive wheel 3023 part can be adjusted by a certain amount of rotation and movement.

[0033] As shown in Figure 1 and Figure 6As shown, the jacking mechanism 4 includes two T-shaped mounting seats 401, a walking wheel 402 is rotatably mounted between the two T-shaped mounting seats 401, a flat plate one 403 is mounted at the bottom of the two T-shaped mounting seats 401, a flat plate two 404 is arranged below the flat plate one 403, a damping spring 405 is mounted between the flat plate one 403 and the flat plate two 404, a light shaft one 406 is flange-mounted on both sides of the top of the flat plate one 403, a light shaft two 407 is flange-mounted between the flat plate two 404 and the base 5, and a gasket 408 is sleeved on the light shaft two 407. The jacking mechanism 4 includes the part above the flat plate two 404, which can be regarded as a whole. In actual application, the contact line is in contact with the walking wheel 402. Three sliding grooves are formed in the flat plate two 404, and the upper part of the mechanism is fixedly connected to the light shaft of the light shaft two 407 through bolts and round nuts, so that the jacking mechanism 4 has a certain movement adjustment capability. The jacking mechanism 4 is connected to the base 5 through the flange, the gasket 408 and the light shaft two 407. The connection between the flange, the gasket 408 and the light shaft two 407 enables the jacking mechanism 4 to have a certain rotation adjustment capability. Therefore, the obstacle surmounting mechanism 3 and the jacking mechanism 4 cooperate with the robot to move along a curved line and a zigzag line.

[0034] In actual application, the obstacle surmounting mechanism 3 is mounted on the base 5 by means of the fixed seat 3011, the bolt and the connecting rod one 3014, and cooperates with the detection unit 2 to surmount obstacles. When the detection unit 2 detects an obstacle, the electric push rod 3012 moves, drives the connected connecting rod one 3014, double-plate connecting shaft 3013 and connecting rod two 3015 to move correspondingly, and realizes swinging towards the outside, thereby achieving the purpose of avoiding obstacles.

[0035] The power of the wire climbing detection robot is provided by the hollow cup motor 3024 in the obstacle surmounting mechanism 3. By operating the hollow cup motor 3024, the gear one 3025 is controlled to rotate towards the set direction, and then the rotating force is transmitted to the gear two 3026 through the triangular belt 3027, so that the driving wheel 3023 rotates along the contact line, and the overall movement of the robot is realized.

[0036] In addition, since the overhead line detection robot has four groups of obstacle surmounting mechanisms 3, when one group is opened, the other groups of rollers continue to rotate, and the detection unit 2 is used to realize the functions of automatic swinging and autonomous obstacle surmounting of the obstacle surmounting mechanism 3.

[0037] It should be noted that the terms “include”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0038] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A catenary climbing detection robot, comprising four groups of guide post mechanisms (1) arranged in twos in staggered positions, characterized in that: Five groups of detection units (2) for adaptive line inspection are installed between the four groups of guide column mechanisms (1), four groups of obstacle crossing mechanisms (3) for cooperating with the detection units (2) to avoid obstacles are arranged between adjacent two detection units (2), and a jacking mechanism (4) for cooperating with the obstacle crossing mechanism (3) to enable the robot to pass through curves and zigzag lines is installed on the bottom of the four groups of guide column mechanisms (1).

2. The contact line climbing detection robot according to claim 1, characterized in that: The guide column mechanism (1) is composed of a guide wheel (101), a guide support column (102), a torsional spring (103) and a seat body structure (104), wherein the seat body structure (104) is detachably connected to the bottom seat (5) by bolts, the guide support column (102) is rotatably installed on the seat body structure (104), the torsional spring (103) is sleeved on the outer surface of the guide support column (102) and located inside the seat body structure (104), and the guide wheel (101) is installed at one end of the top of the guide support column (102).

3. The contact line climbing detection robot according to claim 1, characterized in that: The detection unit (2) is composed of a support frame (202) arranged in a shape and two groups of reflection sensors (201), wherein the two groups of reflection sensors (201) are installed at both ends of the top of the support frame (202), and the support frame (202) is detachably installed on the bottom seat (5) by bolts.

4. The contact line climbing detection robot according to claim 1, characterized in that: The obstacle crossing mechanism (3) comprises a support assembly (301) installed on the bottom seat (5), and an obstacle avoidance assembly (302) is installed on the support assembly (301).

5. The contact line climbing detection robot according to claim 4, characterized in that: The support assembly (301) comprises a fixed seat (3011) installed on the top surface of the bottom seat (5), a motorized push rod (3012) rotatably connected to the fixed seat (3011), a double-plate connecting shaft (3013) rotatably connected to the free end of the motorized push rod (3012), a connecting rod one (3014) rotatably connected to the middle part of the double-plate connecting shaft (3013), and a connecting rod two (3015) rotatably connected to the tail end of the double-plate connecting shaft (3013).

6. The contact line climbing detection robot according to claim 5, characterized in that: The obstacle avoidance assembly (302) comprises a rectangular housing (3021) rotatably installed on the connecting rod one (3014) and the connecting rod two (3015), a connecting seat (3022) fixedly installed on the outer surface of the rectangular housing (3021), a drive wheel (3023) rotatably connected to the connecting seat (3022), a hollow cup motor (3024) installed on the top of the connecting seat (3022), a gear one (3025) drivingly connected to the output end of the hollow cup motor (3024), a gear two (3026) installed on the shaft body of the drive wheel (3023) and located inside the connecting seat (3022), and a triangular belt (3027) sleeved on the outer surfaces of the gear one (3025) and the gear two (3026).

7. The contact line climbing detection robot according to claim 1, characterized in that: The jacking mechanism (4) comprises two T-shaped mounting seats (401), a walking wheel (402) is rotatably installed between the two T-shaped mounting seats (401), a plane plate one (403) is installed at the bottom of the two T-shaped mounting seats (401), a plane plate two (404) is arranged below the plane plate one (403), a damping spring (405) is installed between the plane plate one (403) and the plane plate two (404), an optical shaft one (406) is flange-mounted on both sides of the top of the plane plate one (403), an optical shaft two (407) is flange-mounted between the plane plate two (404) and the base (5), a gasket (408) is sleeved on the optical shaft two (407), and three sliding grooves are formed in the plane plate two (404).

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