High rail line column maintenance climbing robot

Abstract

The utility model discloses a high -speed rail line post maintenance climbing robot, including two groups same robot subassembly, and each group robot subassembly all includes car body framework, tight connecting rod, locking connecting rod, climbing mechanism, tight connecting rod and locking connecting rod are arranged respectively in car body framework left and right sides, and the climbing mechanism is arranged in car body framework front end. The utility model has solved the existing high -speed rail line post maintenance difficult, construction efficiency low etc. problem, has provided efficient, reliable comprehensive maintenance maintenance equipment solution scheme for the maintenance of stand column, is used in the maintenance operation of high -speed rail platform line post.

Description

Technical Field

[0001] This utility model relates to the field of railway engineering, and more specifically, to a climbing robot for the maintenance of high-speed railway line columns. Background Technology

[0002] In the column-free canopy structure design of high-speed railway platforms, the track columns serve as the core supporting components. Located in the middle area of ​​the station's track lines, they bear the main load-bearing responsibility of the canopy structure. To meet the requirements of structural strength and lightweight design, these track columns widely adopt a steel structure design and operate in an open or semi-open environment.

[0003] Due to long-term exposure to the natural environment, including ultraviolet radiation, alternating temperature and humidity changes, wind and rain erosion, and corrosive media such as dust and exhaust fumes around the tracks, the protective coating on the surface of the track columns is prone to aging and damage such as peeling and flaking. Once the coating is damaged, the steel structure substrate is directly exposed, which will further lead to corrosion problems. If maintenance is not carried out in a timely manner, it will seriously affect the structural stability of the track columns, thereby threatening the overall safety of the column-free canopy of the high-speed railway platform and potentially disrupting the normal operation of the high-speed railway.

[0004] However, maintenance work on track pontoons faces numerous inherent spatial constraints and technical challenges. Firstly, these pontoons are far from platforms and access routes for personnel and equipment, and their sides are typically equipped with fixed electrical equipment such as power supply cantilever arms, creating a dense obstacle zone. This prevents conventional engineering machinery (such as aerial work platforms and cranes) from approaching the work area, making mechanized maintenance difficult. Secondly, maintenance work on these pontoons must be completed within the high-speed rail maintenance window, which is typically very short (usually a few hours at night). Furthermore, the pontoons themselves are quite tall (usually exceeding 10 meters), and the surrounding environment, including track lines and electrical equipment, is complex, further increasing the difficulty of maintenance work.

[0005] Due to the aforementioned objective limitations, the industry currently mainly uses manual methods for the coating maintenance of columns between high-speed railway lines. This involves setting up scaffolds on-site or using simple climbing equipment (such as ladders) to carry out high-altitude operations and manually complete maintenance procedures such as coating cleaning, surface grinding, and recoating. However, manual maintenance has many insurmountable drawbacks: First, the construction speed is slow, as scaffolding erection and dismantling consume a lot of time, and the complete maintenance process for a single line column is often impossible to complete within the limited maintenance window; second, the construction is difficult, as obstacles such as power supply cantilever arms must be avoided during high-altitude operations, the working space is limited, and the operational precision requirements for construction personnel are extremely high; third, the construction efficiency is low, as each manual operation takes a long time, and is limited by physical strength and energy, making it difficult to achieve continuous and efficient operation; fourth, the risk factor for construction personnel is high, as high-altitude operations themselves carry the risk of falls, and the work area is close to electrified equipment, which can easily lead to safety accidents such as electric shock, while the track area may also pose potential risks such as trains accidentally entering the track area; fifth, the work quality is poor, as the consistency of manual operations is difficult to guarantee, and problems such as uneven coating thickness and insufficient surface flatness are prominent, making it difficult for the protective effect and durability after maintenance to meet design standards.

[0006] In summary, existing maintenance methods for the track supports of column-free canopies at high-speed railway platforms are limited by the operating environment and technical means, and cannot meet the actual needs of efficient, safe, and high-quality maintenance of high-speed railway infrastructure. Therefore, developing a technical equipment that can adapt to the complex operating environment of track supports, overcome spatial limitations, and achieve automated maintenance operations has become an urgent technical problem to be solved by those skilled in the art. Utility Model Content

[0007] To overcome the shortcomings of existing technologies, this utility model proposes a climbing robot for the maintenance of high-speed railway line columns, which solves the problems of difficult maintenance and low construction efficiency of existing high-speed railway line column maintenance, and provides an efficient and reliable comprehensive maintenance equipment solution for column maintenance.

[0008] The purpose of this utility model is achieved through the following technical solution.

[0009] A high-speed railway line column maintenance climbing robot includes two sets of identical robot components. Each set of robot components includes a vehicle frame, a tensioning link, a locking link, and a climbing mechanism. The tensioning link and the locking link are respectively located on the left and right sides of the vehicle frame, and the climbing mechanism is located at the front end of the vehicle frame.

[0010] Furthermore, the number of tensioning links and locking links fixed on the left and right sides of the vehicle body structure are equal and evenly distributed at equal intervals.

[0011] Furthermore, each of the tensioning links includes a first linear actuator, an inner tensioning bushing, and an outer tensioning bushing nested from the inside out. One end of the first linear actuator is fixedly connected to the outer tensioning bushing, and the other end is fixedly connected to the inner tensioning bushing. A pull stud is also fixedly connected to the end of the inner tensioning bushing, and the outer tensioning bushing is fixedly connected to the vehicle body frame.

[0012] Furthermore, one end of the pull stud is fixedly connected to the inner tensioning bushing and moves synchronously with it, while the other end has an annular groove on its outer side along the circumferential direction for connecting and fastening with the locking link.

[0013] Furthermore, each of the locking links includes a second linear actuator, an inner locking bushing, and an outer locking bushing nested sequentially from the inside out. The outer wall of the outer locking bushing is fixedly connected to the vehicle body structure, and the inner wall is fixedly connected to the inner locking bushing. One end of the inner locking bushing is located inside the outer locking bushing, and the other end is located outside the outer locking bushing, with a locking ring nested on the outer side of this end. One end of the second linear actuator is fixedly connected to the inner locking bushing, and the other end is fixedly connected to the locking ring.

[0014] Furthermore, the inner wall of the locking ring is provided with an annular mounting groove in the opposite direction along the circumference, and a steel ball is provided in the mounting groove; the end of the inner locking bushing is provided with tapered holes at equal intervals along the circumference, and the side wall of the end is provided with an axial sliding hole, and one end of the second linear actuator passes through the sliding hole and is fixedly connected to the locking ring.

[0015] Furthermore, each of the climbing mechanisms includes a climbing drive motor and two rubber track mechanisms. The two rubber track mechanisms are symmetrically arranged at the front center of the vehicle frame. The climbing drive motor is fixed between the two rubber track mechanisms, and the two output shafts of the climbing drive motor are respectively connected to the power input ends of the two rubber track mechanisms.

[0016] Furthermore, a maintenance actuator mounting platform is provided on the top of the vehicle body structure.

[0017] Compared with the prior art, the beneficial effects of the technical solution of this utility model are:

[0018] (1) The present invention uses a climbing mechanism to realize the climbing of the robot. The climbing drive motor provides climbing power to the mechanism, drives the two rubber track mechanisms to rotate forward or reverse synchronously, thereby realizing the entire robot moving up and down along the outer wall of the column between the high-speed rail lines.

[0019] (2) This utility model uses a tensioning link and a locking link to provide preload for the robot's climbing while simultaneously clamping and locking it. The first linear actuator enables relative extension and sliding between the inner and outer tensioning bushings, and the pull pin moves along the axis with the inner tensioning bushing. When the tensioning link and the locking link are connected, the pull pin is inserted into the inner locking bushing, and the second linear actuator drives the locking ring to move. The steel ball on the inner wall of the locking ring moves to the conical hole, thus clamping and locking the pull pin. When the tensioning link and the locking link are disconnected, the second linear actuator drives the locking ring to move in the opposite direction, and the steel ball moves out of the conical hole, thus unlocking the pull pin.

[0020] (3) The robot of this utility model can climb automatically without the need for manual construction and dismantling of scaffolding. It can be deployed quickly from the designated location, significantly shortening the preparation time. It can complete the full maintenance of single or even multiple line columns within the limited maintenance window of a few hours at night on high-speed railways, effectively breaking through the time constraints of traditional methods and greatly improving construction efficiency.

[0021] (4) The main body of the robot of this utility model is compact and small. It can be flexibly set according to the distribution of obstacles such as the diameter and height of the line column and the side power supply arm. It can adapt to complex working environment and reduce construction difficulty.

[0022] (5) Compared with manual maintenance, the new robot requires a lot of manpower, scaffolding and other consumables. The robot can be reused after one-time investment, which greatly reduces the cost of consumables and labor. At the same time, its efficient operation can reduce the cost of repairing the corrosion of the line column due to untimely maintenance, and the high-quality maintenance effect can reduce the frequency of subsequent repeated maintenance. The long-term economic advantage is significant. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the operation of the high-speed railway line maintenance climbing robot of this utility model.

[0024] Figure 2 This is a schematic diagram of the robot component in this utility model.

[0025] Figure 3 This is a cross-sectional view of the tensioning link in this utility model.

[0026] Figure 4 This is a cross-sectional view of the locking link in this utility model.

[0027] Reference numerals: 1-Vehicle frame; 2-Tensioning link, 201-Pulley, 202-First linear actuator, 203-Inner tension bushing, 204-Outer tension bushing; 3-Locking link, 301-Locking ring, 302-Second linear actuator, 303-Inner locking bushing, 304-Outer locking bushing; 401-Climbing drive motor, 402-Rubber track mechanism, 5-Maintenance actuator fixing point. Detailed Implementation

[0028] The present invention will now be further described with reference to the accompanying drawings.

[0029] like Figure 1 As shown, the high-speed rail line column maintenance climbing robot of this utility model consists of two sets of identical robot components. When in use, the two sets of robot components are connected to each other and locked to the outside of the high-speed rail line column, and can move up and down along the outer wall of the high-speed rail line column.

[0030] like Figure 2 As shown, each group of robot components includes a vehicle body frame 1, a tensioning link 2, a locking link 3, a climbing mechanism, etc. The tensioning link 2 and the locking link 3 are respectively located on the left and right sides of the vehicle body frame 1, and the climbing mechanism is located at the front end of the vehicle body frame 1.

[0031] In one possible implementation, each climbing mechanism includes a climbing drive motor 401 and two rubber track mechanisms 402. The two rubber track mechanisms 402 are symmetrically arranged at the front center of the vehicle frame 1. The climbing drive motor 401 is fixed between the two rubber track mechanisms 402, and the two output shafts of the climbing drive motor 401 are respectively connected to the power input ends (such as drive wheels) of the two rubber track mechanisms 402. By driving the two rubber track mechanisms 402 to rotate synchronously forward or reverse through the climbing drive motor 401, the entire robot can move up and down along the outer wall of the high-speed rail line column.

[0032] In one possible implementation, the same number of tensioning links 2 and locking links 3 are evenly fixed at equal intervals on both the left and right sides of the vehicle body structure 1; the three shown in the figure are merely examples. In use, the tensioning links 2 and locking links 3 in one set of robot components are respectively connected to the locking links 3 and tensioning links 2 in another set of robot components.

[0033] In one possible implementation, such as Figure 3As shown, each tensioning link 2 includes a first linear actuator 202, an inner tensioning bushing 203, and an outer tensioning bushing 204, nested sequentially from the inside out. One end of the first linear actuator 202 is fixedly connected to the outer tensioning bushing 204, and the other end is fixedly connected to the inner tensioning bushing 203. A pull stud 201 is also fixedly connected to the end of the inner tensioning bushing 203. The outer tensioning bushing 204 is fixedly connected to the vehicle body frame 1. The first linear actuator 202 enables relative telescopic sliding between the inner tensioning bushing 203 and the outer tensioning bushing 204. The pull stud 201 moves along the axis with the inner tensioning bushing 203, providing preload for the robot's climbing.

[0034] Preferably, one end of the pull stud 201 is fixedly connected to the inner tensioning bushing 203 and moves synchronously with it, while the other end has an annular groove on its outer side along the circumferential direction for connecting and fastening with the locking link 3.

[0035] In one possible implementation, such as Figure 4 As shown, each locking link 3 includes a second linear actuator 302, an inner locking bushing 303, and an outer locking bushing 304 nested sequentially from the inside out. The outer wall of the outer locking bushing 304 is fixedly connected to the vehicle body frame 1, and the inner wall is fixedly connected to the inner locking bushing 303. One end of the inner locking bushing 303 is located inside the outer locking bushing 304, and the other end is located outside the outer locking bushing 304, with a locking ring 301 nested on the outer side of this end. One end of the second linear actuator 302 is fixedly connected to the inner locking bushing 303, and the other end is fixedly connected to the locking ring 301. The second linear actuator 302 drives the locking ring 301 to move along the outer wall of the inner locking bushing 303.

[0036] Preferably, the inner wall of the locking ring 301 has an annular mounting groove formed in the opposite direction along the circumference, and a steel ball is disposed in the mounting groove. One end of the inner locking bushing 303 (located outside the outer locking bushing 304) has conical holes formed at equal intervals along the circumference, and the side wall of this end has an elongated axial sliding hole. One end of the second linear actuator 302 is fixedly connected to the locking ring 301 by a connecting pin, which passes through the elongated axial sliding hole. When the tensioning link 2 and the locking link 3 are connected, the pull pin 201 is inserted into the inner locking bushing 303, and the second linear actuator 302 drives the locking ring 301 to move. The steel ball on the inner wall of the locking ring 301 moves to the conical hole, thereby clamping and locking the pull pin 201. When the tensioning link 2 and the locking link 3 are disconnected, the second linear actuator 302 drives the locking ring 301 to move in the opposite direction, and the steel ball on the inner wall of the locking ring 301 moves out of the conical hole, thereby unlocking the pull pin 201.

[0037] In one possible implementation, a maintenance execution mechanism fixing platform 5 is provided on the top of the vehicle body frame 1 for mounting maintenance equipment, cameras, toolboxes, work execution arms, and other components. The vehicle body frame 1 provides a fixed mounting structure for various components such as the tensioning link 2, locking link 3, and climbing mechanism, and bears the weight.

[0038] Although the functions and working processes of this utility model have been described above in conjunction with the accompanying drawings, this utility model is not limited to the specific functions and working processes described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this utility model without departing from the spirit and scope of the claims, and all of these are within the protection scope of this utility model.

Claims

1. A high-speed railway line maintenance climbing robot, comprising two identical robot components, characterized in that, Each robot component includes a vehicle body frame (1), a tensioning link (2), a locking link (3), and a climbing mechanism; the tensioning link (2) and the locking link (3) are respectively located on the left and right sides of the vehicle body frame (1), and the climbing mechanism is located at the front end of the vehicle body frame (1).

2. The high-speed rail line column maintenance climbing robot according to claim 1, characterized in that, The number of tensioning links (2) and locking links (3) fixed on the left and right sides of the vehicle body structure (1) are equal and evenly distributed at equal intervals.

3. The high-speed rail line column maintenance climbing robot according to claim 1, characterized in that, Each of the tensioning links (2) includes a first linear actuator (202), an inner tensioning bushing (203), and an outer tensioning bushing (204) nested from the inside out. One end of the first linear actuator (202) is fixedly connected to the outer tensioning bushing (204), and the other end is fixedly connected to the inner tensioning bushing (203). The end of the inner tensioning bushing (203) is also fixedly connected to a pull stud (201). The outer tensioning bushing (204) is fixedly connected to the vehicle body frame (1).

4. The high-speed rail line column maintenance climbing robot according to claim 3, characterized in that, One end of the pull stud (201) is fixedly connected to the inner tension bushing (203) and moves synchronously with it. The other end has an annular groove on the outer side along the circumferential direction for connecting and fastening with the locking link (3).

5. The high-speed rail line column maintenance climbing robot according to claim 1, characterized in that, Each of the locking links (3) includes a second linear actuator (302), an inner locking bushing (303), and an outer locking bushing (304) nested from the inside out. The outer wall of the outer locking bushing (304) is fixedly connected to the vehicle body frame (1), and the inner wall is fixedly connected to the inner locking bushing (303). One end of the inner locking bushing (303) is located inside the outer locking bushing (304), and the other end is located outside the outer locking bushing (304). A locking ring (301) is nested on the outside of this end. One end of the second linear actuator (302) is fixedly connected to the inner locking bushing (303), and the other end is fixedly connected to the locking ring (301).

6. The high-speed rail line column maintenance climbing robot according to claim 5, characterized in that, The inner wall of the locking ring (301) is provided with an annular mounting groove along the circumference in the opposite direction, and a steel ball is provided in the mounting groove; the end of the inner locking bushing (303) is provided with tapered holes at equal intervals along the circumference, and the side wall of the end is provided with an axial sliding hole; one end of the second linear actuator (302) passes through the sliding hole and is fixedly connected to the locking ring (301).

7. The high-speed rail line column maintenance climbing robot according to claim 1, characterized in that, Each of the climbing mechanisms includes a climbing drive motor (401) and two rubber track mechanisms (402). The two rubber track mechanisms (402) are symmetrically arranged in the middle of the front end of the vehicle frame (1). The climbing drive motor (401) is fixed between the two rubber track mechanisms (402). The two output shafts of the climbing drive motor (401) are respectively connected to the power input ends of the two rubber track mechanisms (402).

8. The high-speed rail line column maintenance climbing robot according to claim 1, characterized in that, The vehicle body structure (1) is equipped with a maintenance execution mechanism fixed platform (5) on top.

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