Catenary cable self-walking inspection device capable of automatically avoiding multiple obstacles

Abstract

The utility model discloses a contact network cable self-walking inspection device capable of automatically avoiding a plurality of obstacles, which comprises a guide rail, auxiliary opening and closing mechanisms are arranged at two ends of the guide rail and can clamp a contact network cable, a base is sleeved on the peripheral wall of the guide rail, and a movement mechanism, a detection mechanism and an infrared sensor are arranged at the top end of the base. A sliding mechanism is arranged in the base and comprises a driving wheel and a driven wheel set, the driving wheel is arranged on the top face of the guide rail, the driven wheel set is arranged on the bottom face of the guide rail, elastic pressing shafts are arranged between the two ends of the driving wheel and the two ends of the driven wheel set, the two ends of the driving wheel are rotationally connected with the top ends of the elastic pressing shafts, and the driving wheel is in transmission connection with a driving motor. The two ends of the driven wheel set are rotationally connected with the bottom end of the elastic pressing shaft. The utility model provides the self-walking inspection tour device for the contact network cable, which can automatically avoid a plurality of obstacles, can automatically avoid the obstacles, can automatically walk along the contact network cable, and can detect problems of the contact network cable.

Description

Technical Field

[0001] This utility model relates to the field of contact wire detection technology, and in particular to a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles. Background Technology

[0002] The overhead contact system is a special type of power transmission line that is erected above the railway line to supply power to electric locomotives. As an important infrastructure to ensure the reliable operation of electrified railways, the overhead contact system has many components, a complex structure, and a continuous power supply method involving moving contacts. This means that the equipment is affected not only by the normal natural environment and vibrations during operation, but also by the electrochemical effects generated by the sliding contact. Therefore, its maintenance and repair are highly specialized and unique.

[0003] Improving maintenance efficiency and ensuring the safety and reliability of railway operations during the operational period has always been a major concern for the power supply sections of the railway system. Regular inspections of the overhead contact line equipment are essential, including the appearance of contact line components, the condition of the contact line itself, and the mechanical and electrical service status of key components in special locations. Current inspection methods typically involve walking inspections on the ground or traveling from a vehicle, relying primarily on visual inspection by workers. However, because the contact line is 5.2-5.8 meters above the ground, the distance is considerable, making it easy to miss inspections or oversights. Furthermore, small defects on the contact line equipment are difficult to detect from a distance. Utility Model Content

[0004] The purpose of this invention is to provide a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles. It can automatically avoid obstacles, walk along the contact wire, and detect problems in the contact wire.

[0005] The technical solution adopted by the contact wire self-propelled inspection device that can automatically avoid multiple obstacles disclosed in this utility model is:

[0006] A self-propelled inspection device for contact wires that can automatically avoid multiple obstacles includes a guide rail. Auxiliary opening and closing mechanisms are provided at both ends of the guide rail to clamp the contact wire. A base is fitted around the periphery of the guide rail. A motion mechanism, a detection mechanism, and an infrared sensor are provided at the top of the base. The motion mechanism drives the base to move along the contact wire. The detection mechanism detects the contact wire. The infrared sensor detects obstacles. A sliding mechanism is provided inside the base. The sliding mechanism includes a driving wheel and a driven wheel assembly. The driving wheel is located on the top surface of the guide rail, and the driven wheel assembly is located on the bottom surface of the guide rail. An elastic clamping shaft is provided between the two ends of the driving wheel and the two ends of the driven wheel assembly. The two ends of the driving wheel are rotatably connected to the top of the elastic clamping shaft, and the driving wheel is driven by a drive motor. The two ends of the driven wheel assembly are rotatably connected to the bottom of the elastic clamping shaft.

[0007] As a preferred embodiment, the output end of the drive motor is connected to the drive wheel via a reduction gear.

[0008] As a preferred embodiment, the motion mechanism includes a traveling wheel, a first clamping wheel, and a second clamping wheel. The traveling wheel is rotatably mounted on a base and is driven by a traveling motor. The first clamping wheel and the second clamping wheel are both located above the traveling wheel. The first clamping wheel is rotatably mounted on the base via a first clamping arm, and the second clamping wheel is rotatably mounted on the base via a second clamping arm. The first clamping arm and the second clamping arm are arranged opposite to each other. An opening and closing motor is provided on the base, and both the first clamping arm and the second clamping arm are driven by the opening and closing motor. The opening and closing motor is used to control the opening and closing between the first clamping arm and the second clamping arm.

[0009] As a preferred embodiment, the base is provided with an upper pressure seat, the traveling wheel is rotatably mounted on the upper pressure seat, and an elastic upper pressure shaft is provided between the upper pressure seat and the base.

[0010] As a preferred embodiment, the output end of the opening and closing motor is provided with a worm gear assembly, the first clamping arm is provided with a first gear, the first gear is connected to the worm gear assembly for transmission, the second clamping arm is provided with a second gear, and the second gear meshes with the first gear.

[0011] As a preferred embodiment, the auxiliary opening and closing mechanism includes an auxiliary motor, the output end of which is provided with a guide rod, and an auxiliary clamp is provided on the guide rod. The auxiliary clamp is connected to the guide rod through a connecting rod, and the auxiliary motor drives the guide rod to rise and fall to realize the opening and closing of the auxiliary clamp.

[0012] As a preferred embodiment, the detection mechanism includes a motion monitoring camera, a wear detector, a condition inspection camera, and an environmental monitoring camera.

[0013] As a preferred embodiment, the guide rail includes a first guide rail body and a second guide rail body connected together. The first guide rail body and the second guide rail body are connected by a hinge assembly. Both sides of the hinge assembly are provided with compression springs, and the two ends of the compression springs are respectively connected to the first guide rail body and the second guide rail body.

[0014] The beneficial effects of the self-propelled inspection device for contact wires that can automatically avoid multiple obstacles disclosed in this utility model are as follows: the base moves along the contact wire through a motion mechanism, the detection mechanism detects the contact wire, and the guide rail is connected to the base through a sliding mechanism and moves with the base. The auxiliary opening and closing mechanism is in a normally open state. When the infrared sensor detects an obstacle in the direction of travel, the motion mechanism stops driving the base forward, the auxiliary opening and closing mechanism clamps the contact wire, the motion mechanism releases the contact wire, the drive motor starts, and drives the drive wheel to rotate and move forward along the top of the guide rail, thereby driving the base forward along the guide rail. When the base passes the obstacle, it stops, the motion mechanism re-clamps the contact wire, the auxiliary opening and closing mechanism releases the contact wire, and the motion mechanism continues to drive the base and guide rail forward. After the entire device passes the obstacle, the base returns to the middle of the guide rail with the cooperation of the auxiliary opening and closing mechanism, the motion mechanism, and the sliding mechanism. In addition, the driving wheel and the driven wheel assembly are connected by an elastic clamping shaft, which allows the driving wheel and the driven wheel assembly to clamp the guide rail, ensuring that the motion mechanism can drive the base forward while also moving the guide rail together. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0016] Figure 2 This is a schematic diagram of the sliding mechanism of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0017] Figure 3 This is a schematic diagram of the motion mechanism of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0018] Figure 4 This is a partial structural diagram of the motion mechanism of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0019] Figure 5 This is a schematic diagram of the auxiliary opening and closing mechanism of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0020] Figure 6 This is a schematic diagram of the guide rail of a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, according to this utility model.

[0021] 10. Guide rail; 11. First guide rail body; 12. Second guide rail body; 13. Hinge assembly; 14. Compression spring; 20. Auxiliary opening and closing mechanism; 21. Auxiliary motor; 22. Guide rod; 23. Connecting rod; 24. Auxiliary clamp; 30. Base; 31. Upper pressure seat; 32. Elastic upper pressure shaft; 40. Motion mechanism; 41. Traveling wheel; 42. First clamping wheel; 43. Second clamping wheel; 44. Traveling motor; 45. First clamping arm; 451. First gear; 46. Second clamping arm; 461. Second gear; 47. Opening and closing motor; 48. Worm gear assembly; 50. Sliding mechanism; 51. Driving wheel; 52. Driven wheel assembly; 53. Elastic pressure shaft; 54. Drive motor; 55. Reduction device; 60. Infrared sensor; 61. Motion monitoring camera; 62. Wear detector; 63. Status inspection camera; 64. Environmental monitoring camera. Detailed Implementation

[0022] The present invention will be further described and illustrated below with reference to specific embodiments and the accompanying drawings:

[0023] Please refer to Figure 1 and Figure 2 A self-propelled inspection device for contact wires that can automatically avoid multiple obstacles includes a guide rail 10. Auxiliary opening and closing mechanisms 20 are provided at both ends of the guide rail 10, which can clamp the contact wire. A base 30 is sleeved on the periphery of the guide rail 10. A motion mechanism 40, a detection mechanism, and an infrared sensor 60 are provided at the top of the base 30. The motion mechanism 40 drives the base 30 to move along the contact wire, the detection mechanism detects the contact wire, and the infrared sensor 60 detects obstacles. The base 30 is provided with a sliding mechanism 50, which includes a driving wheel 51 and a driven wheel set 52. The driving wheel 51 is located on the top surface of the guide rail 10, and the driven wheel set 52 is located on the bottom surface of the guide rail 10. An elastic clamping shaft 53 is provided between the two ends of the driving wheel 51 and the two ends of the driven wheel set 52. The two ends of the driving wheel 51 are rotatably connected to the top end of the elastic clamping shaft 53, and the driving wheel 51 is driven by a drive motor 54. The two ends of the driven wheel set 52 are rotatably connected to the bottom end of the elastic clamping shaft 53.

[0024] In the above scheme, the base 30 moves along the contact wire via the motion mechanism 40, the detection mechanism detects the contact wire, and the guide rail 10 is connected to the base 30 via the sliding mechanism 50 and moves with the base 30. The auxiliary opening and closing mechanism 20 is in the normally open state. When the infrared sensor 60 detects an obstacle in the direction of travel, the motion mechanism 40 stops driving the base 30 forward, the auxiliary opening and closing mechanism 20 clamps the contact wire, the motion mechanism 40 releases the contact wire, the drive motor 54 starts, and drives the drive wheel 51 to rotate and move forward along the top of the guide rail 10, thereby driving the base 30 forward along the guide rail 10. When the base 30 passes the obstacle, it stops, the motion mechanism 40 re-clamps the contact wire, the auxiliary opening and closing mechanism 20 releases the contact wire, the motion mechanism 40 continues to drive the base 30 and the guide rail 10 forward, and after the whole body passes the obstacle, the base 30 returns to the middle of the guide rail 10 with the cooperation of the auxiliary opening and closing mechanism 20, the motion mechanism 40, and the sliding mechanism 50. In addition, the driving wheel 51 and the driven wheel set 52 are connected by an elastic clamping shaft 53, which enables the driving wheel 51 and the driven wheel set 52 to clamp the guide rail 10, ensuring that the motion mechanism 40 can drive the base 30 forward while also driving the guide rail 10 to move together.

[0025] Please refer to Figure 2 and Figure 6 The output end of the drive motor 54 is connected to the drive wheel 51 through a reduction gear 55.

[0026] In the above scheme, the reduction device 55 can reduce the speed of the drive motor 54, increase the output torque, and reduce the load inertia. In addition, this embodiment also includes a driven mechanism. The driven mechanism and the sliding mechanism 50 are respectively disposed on both sides of the base 30. The only difference between the driven mechanism and the sliding mechanism 50 is that the drive motor 54 and the reduction device 55 are absent. With the cooperation of the sliding mechanism 50 and the driven mechanism, the relative sliding between the base 30 and the guide rail 10 is stably realized.

[0027] Please refer to Figure 3 and Figure 4 The motion mechanism 40 includes a traveling wheel 41, a first clamping wheel 42, and a second clamping wheel 43. The traveling wheel 41 is rotatably mounted on the base 30 and is driven by a traveling motor 44. The first clamping wheel 42 and the second clamping wheel 43 are both located above the traveling wheel 41. The first clamping wheel 42 is rotatably mounted on the base 30 via a first clamping arm 45, and the second clamping wheel 43 is rotatably mounted on the base 30 via a second clamping arm 46. The first clamping arm 45 and the second clamping arm 46 are arranged opposite to each other. An opening and closing motor 47 is provided on the base 30. The first clamping arm 45 and the second clamping arm 46 are both driven by the opening and closing motor 47. The opening and closing motor 47 is used to control the opening and closing between the first clamping arm 45 and the second clamping arm 46.

[0028] In the above scheme, the traveling wheel 41 abuts against the lower surface of the contact wire and moves along the contact wire under the drive of the traveling motor 44. At the same time, the contact wire can be clamped by the action of the first clamping arm 45 and the second clamping arm 46. The first clamping wheel 42 and the second clamping wheel 43 abut against the upper surface of the contact wire, resulting in low rolling friction. The cooperation between the clamping wheel and the traveling wheel 41 achieves the clamping of the contact wire.

[0029] Please refer to Figure 3 The base 30 is provided with an upper pressure seat 31, the traveling wheel 41 is rotatably mounted on the upper pressure seat 31, and an elastic upper pressure shaft 32 is provided between the upper pressure seat 31 and the base 30.

[0030] In the above scheme, the elastic upper pressure shaft 32 presses the walking wheel 41 upward, increasing the pre-tightness between the walking wheel 41 and the contact wire, and increasing the walking friction.

[0031] Please refer to Figure 4 The output end of the opening and closing motor 47 is provided with a worm gear assembly 48, the first clamping arm 45 is provided with a first gear 451, the first gear 451 is connected to the worm gear assembly 48 for transmission, and the second clamping arm 46 is provided with a second gear 461, the second gear 461 meshes with the first gear 451.

[0032] In the above scheme, the worm gear assembly 48 drives the first gear 451 and the second gear 461 to rotate in opposite directions, realizing the opening and closing between the first clamping arm 45 and the second clamping arm 46. In addition, the opening and closing motor 47 outputs deceleration while increasing torque, and the worm gear assembly 48 has a reverse self-locking function, improving the safety of clamping.

[0033] Please refer to Figure 5 The auxiliary opening and closing mechanism 20 includes an auxiliary motor 21. The output end of the auxiliary motor 21 is provided with a guide rod 22. An auxiliary clamp 24 is provided on the guide rod 22. The auxiliary clamp 24 is connected to the guide rod 22 through a connecting rod 23. The auxiliary motor 21 drives the guide rod 22 to rise and fall to realize the opening and closing of the auxiliary clamp 24.

[0034] In the above scheme, under normal walking conditions, the auxiliary clamp 24 is in the open state. When encountering an obstacle, the auxiliary motor 21 rotates, driving the guide rod 22 to extend and retract, and the auxiliary clamp 24 is opened and closed through the action of the connecting rod 23.

[0035] Please refer to Figure 1 The testing equipment includes a motion monitoring camera 61, a wear detector 62, a condition inspection camera 63, and an environmental monitoring camera 64.

[0036] In the above scheme, the motion monitoring camera 61 can monitor the operation of each mechanism on the base 30. If any abnormality is found, the equipment can be stopped via a ground terminal. The wear detector 62 can detect the wear value of the contact wire and display it on the ground terminal. The status inspection camera 63 can perform close-range, blind-spot-free detection of the contact wire's condition when the device slows down to pass over obstacles. The environmental monitoring camera 64 can monitor the contact wire and its surrounding environment and automatically identify various defects. Furthermore, lighting compensation mechanisms are installed at the positions corresponding to the motion monitoring camera 61, status inspection camera 63, and environmental monitoring camera 64 to compensate for insufficient light.

[0037] Please refer to Figure 6 The guide rail 10 includes a first guide rail body 11 and a second guide rail body 12 connected together. The first guide rail body 11 and the second guide rail body 12 are connected by a hinge assembly 13. Both sides of the hinge assembly 13 are provided with compression springs 14, and the two ends of the compression springs 14 are respectively connected to the first guide rail body 11 and the second guide rail body 12.

[0038] In the above scheme, the first guide rail body 11 and the second guide rail body 12 can rotate relative to each other through the hinge assembly 13. After the first guide rail body 11 and the second guide rail body 12 are rotated by an external force, they can automatically return to a straight state by the compression spring 14 when the external force disappears, thereby realizing the turning of the self-propelled inspection device. Specifically, a corner sensor is provided on the guide rail 10 to provide a turning signal. Furthermore, several grooves are evenly distributed on the surface of the guide rail 10 to increase sliding friction.

[0039] This utility model provides a self-propelled inspection device for contact wires that can automatically avoid multiple obstacles. The base moves along the contact wire via a motion mechanism, and the detection mechanism detects the contact wire. Simultaneously, the guide rail is connected to the base via a sliding mechanism and moves with the base. The auxiliary opening and closing mechanism is in a normally open state. When the infrared sensor detects an obstacle in the direction of travel, the motion mechanism stops driving the base forward, the auxiliary opening and closing mechanism clamps the contact wire, the motion mechanism releases the contact wire, the drive motor starts, and the drive wheel rotates, moving forward along the top of the guide rail, thereby driving the base forward along the guide rail. When the base passes the obstacle, it stops, the motion mechanism re-clamps the contact wire, the auxiliary opening and closing mechanism releases the contact wire, and the motion mechanism continues to drive the base and guide rail forward. After the entire device passes the obstacle, the base returns to the middle of the guide rail with the cooperation of the auxiliary opening and closing mechanism, the motion mechanism, and the sliding mechanism. In addition, the driving wheel and the driven wheel assembly are connected by an elastic clamping shaft, which allows the driving wheel and the driven wheel assembly to clamp the guide rail, ensuring that the motion mechanism can drive the base forward while also moving the guide rail together.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. A self-propelled inspection device for contact wires that can automatically avoid multiple obstacles, characterized in that, The system includes a guide rail with auxiliary opening and closing mechanisms at both ends for clamping the contact wire. A base is fitted around the periphery of the guide rail, and a motion mechanism, a detection mechanism, and an infrared sensor are located at the top of the base. The motion mechanism drives the base to move along the contact wire, the detection mechanism detects the contact wire, and the infrared sensor detects obstacles. A sliding mechanism is located within the base, comprising a driving wheel and a driven wheel assembly. The driving wheel is located on the top surface of the guide rail, and the driven wheel assembly is located on the bottom surface of the guide rail. An elastic clamping shaft is located between the two ends of the driving wheel and the two ends of the driven wheel assembly. The two ends of the driving wheel are rotatably connected to the top of the elastic clamping shaft, and the driving wheel is driven by a drive motor. The two ends of the driven wheel assembly are rotatably connected to the bottom of the elastic clamping shaft.

2. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 1, characterized in that, The output end of the drive motor is connected to the drive wheel via a reduction gear.

3. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 1, characterized in that, The motion mechanism includes a traveling wheel, a first clamping wheel, and a second clamping wheel. The traveling wheel is rotatably mounted on a base and is driven by a traveling motor. The first clamping wheel and the second clamping wheel are both located above the traveling wheel. The first clamping wheel is rotatably mounted on the base via a first clamping arm, and the second clamping wheel is rotatably mounted on the base via a second clamping arm. The first clamping arm and the second clamping arm are arranged opposite to each other. An opening and closing motor is provided on the base, and both the first clamping arm and the second clamping arm are driven by the opening and closing motor. The opening and closing motor is used to control the opening and closing between the first clamping arm and the second clamping arm.

4. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 3, characterized in that, The base is provided with an upper pressure seat, the walking wheel is rotatably mounted on the upper pressure seat, and an elastic upper pressure shaft is provided between the upper pressure seat and the base.

5. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 3, characterized in that, The output end of the opening and closing motor is provided with a worm gear assembly, the first clamping arm is provided with a first gear, the first gear is connected to the worm gear assembly for transmission, the second clamping arm is provided with a second gear, and the second gear meshes with the first gear.

6. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 1, characterized in that, The auxiliary opening and closing mechanism includes an auxiliary motor, the output end of which is provided with a guide rod, and an auxiliary clamp is provided on the guide rod. The auxiliary clamp is connected to the guide rod through a connecting rod, and the auxiliary motor drives the guide rod to rise and fall to realize the opening and closing of the auxiliary clamp.

7. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 1, characterized in that, The detection mechanism includes motion monitoring cameras, wear detectors, condition inspection cameras, and environmental monitoring cameras.

8. The self-propelled inspection device for contact wires capable of automatically avoiding multiple obstacles as described in claim 1, characterized in that, The guide rail includes a first guide rail body and a second guide rail body connected together. The first guide rail body and the second guide rail body are connected by a hinge assembly. Both sides of the hinge assembly are provided with compression springs, and the two ends of the compression springs are respectively connected to the first guide rail body and the second guide rail body.

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