Catenary climbing detection robot

Abstract

This invention solves the problem of obstacle crossing difficulties for contact wire climbing inspection robots, relating to the field of inspection robot technology, and particularly to a contact wire climbing inspection robot. The robot includes a base with contact wire grinding mechanisms installed at both ends. The base comprises a base plate and several support frames mounted axially along the base plate. Each support frame has two opposing infrared detection units mounted on it. Two rocker-arm obstacle-crossing mechanisms are mounted on the base plate, along with a lifting mechanism located behind these mechanisms. Both the rocker-arm obstacle-crossing mechanisms and the lifting mechanism are electrically connected to the infrared detection units. Two opposing detection radars are mounted on the top surface of the base. Each rocker-arm obstacle-crossing mechanism includes a rocker arm pad mounted on the base. A guide assembly and a lifting seat are mounted on the top surface of the rocker arm pad, with two rocker arm side plates rotatably connected to the top of the lifting seat. This invention enables the robot to cross obstacles promptly and effectively.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a contact wire climbing inspection robot. Background Technology

[0002] The overhead contact line is a core component of the rail transit power supply system, and its operational status directly affects train safety and punctuality. Because the overhead contact line is constantly exposed to the complex outdoor environment, it is susceptible to wear, broken strands, loose or detached parts due to factors such as wind, rain, snow, vibration, and material aging. Therefore, regular inspection and maintenance of the overhead contact line is a crucial step in ensuring the safe operation of the rail transit system.

[0003] With the development of robotics technology, overhead contact line climbing and inspection robots have emerged. Early climbing robots mostly adopted simple wheeled or tracked structures, relying on the friction between the drive wheels and the contact line to move, and were equipped with sensors to collect data. However, the overhead contact line is not a smooth straight line structure; it contains a large number of obstacles of varying sizes and shapes, densely and irregularly distributed. Therefore, these inspection robots mostly stalled when encountering obstacles and were unable to cross them. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a catenary climbing inspection robot to solve the problem of difficulty in obstacle crossing for catenary climbing inspection robots mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a contact wire climbing inspection robot, including a base, with contact wire grinding mechanisms installed at both ends of the base. The base includes a bottom plate and several support frames installed along the front-rear axis of the bottom plate. Each of the support frames is equipped with two opposing infrared detection units. Two rocker arm walking obstacle-crossing mechanisms are installed on the bottom plate. A lifting mechanism located behind the rocker arm walking obstacle-crossing mechanisms is also installed on the bottom plate. Both the rocker arm walking obstacle-crossing mechanisms and the lifting mechanism are electrically connected to the infrared detection units. Two opposing detection radars are installed on the top surface of the base. The rocker arm walking obstacle-crossing mechanism includes a rocker arm pad mounted on a base. A guide assembly and a lifting seat are mounted on the top surface of the rocker arm pad. Two rocker arm side plates are rotatably connected to the top of the lifting seat. One end of each rocker arm side plate is equipped with a roller. The two rollers and the guide assembly located below form a triangular arrangement. A stepper motor that is drivenly connected to the two rocker arm side plates is mounted on the top of the lifting seat.

[0006] Preferably, a mechanical limit switch is installed on the top of the lifting seat, which is used to limit the upward and downward rotation range of the rocker arm side plate.

[0007] Preferably, the guide assembly includes a spring seat detachably mounted on the rocker arm pad, a second roller is rotatably mounted on the spring seat, a reduction motor is provided at the bottom of the spring seat, and bevel gears are provided at the output end of the reduction motor and one end of the second roller, and the two bevel gears are meshed through tooth grooves.

[0008] Preferably, the contact line grinding mechanism includes two mounting frames, one of which is fixed to the base, and two connecting rods arranged vertically opposite each other between the two mounting frames. A drive motor is mounted on the mounting frame away from the base, and the output end of the drive motor is connected to the grinding disc.

[0009] Preferably, the connecting rod is hinged to the bushing, and an electric push rod is provided between the two mounting frames. The extension and retraction of the electric push rod controls the deformation of the quadrilateral formed by the two mounting frames and the two connecting rods.

[0010] Preferably, the base plate is equipped with three connecting seats, which are respectively connected to the lifting mechanism and the two rocker arm walking obstacle-crossing mechanisms.

[0011] Preferably, the connecting seat consists of an optical shaft, a thrust ball bearing, a bushing, and two mounting flanges.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model can detect obstacles on the contact line in a timely manner through the infrared detection unit, and react in a timely manner with the stepper motor in the rocker arm walking obstacle crossing mechanism. It increases the distance between roller one and roller two in the guide assembly, so that the distance is at least greater than the vertical dimensions of the contact line and the obstacle, thereby enabling the entire robot to cross obstacles in a timely and effective manner.

[0013] 2. This utility model, through the combination of an infrared detection unit and a detection radar, can provide a more comprehensive and accurate monitoring method for the contact wire climbing inspection robot, realize the comprehensive status detection of the contact wire, obstacle detection, maintenance decision optimization, and ultimately achieve the purpose of improving the accuracy, efficiency, safety and preventive maintenance of the line. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the planar structure of the present invention; Figure 3 This is a schematic diagram of the rocker arm walking obstacle-crossing mechanism of this utility model; Figure 4 This is a schematic diagram of the contact wire grinding mechanism of this utility model; Figure 5 This is a schematic diagram of the structure of the base of this utility model.

[0015] In the diagram: 1. Base; 101. Base plate; 102. Infrared detection unit; 103. Connecting seat; 1031. Optical axis; 1032. Thrust ball bearing; 1033. Bushing; 1034. Mounting flange; 2. Contact line grinding mechanism; 201. Mounting frame; 202. Connecting rod; 203. Drive motor; 204. Grinding disc; 205. Electric push rod; 3. Rocker arm walking obstacle-crossing mechanism; 301. Rocker arm pad; 302. Guide assembly; 3021. Spring seat; 3022. Roller 2; 3023. Gear motor; 3024. Bevel gear; 303. Lifting seat; 304. Rocker arm side plate; 305. Roller 1; 306. Stepper motor; 307. Mechanical limit switch; 4. Lifting mechanism; 5. Detection radar. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1 This invention proposes a contact wire climbing and inspection robot, capable of timely and effective obstacle crossing. Please refer to [link / reference]. Figures 1-5 The contact wire climbing inspection robot includes a base 1, which serves as a support carrier for other structures. Contact wire grinding mechanisms 2 are installed at both ends of the base 1 to grind the surface of the contact wire during the device's entry and exit. The base 1 includes a base plate 101 and several support frames mounted along the front-rear axial direction of the base plate 101. Each support frame is equipped with two opposing infrared detection units 102. Two opposing detection radars 5 are mounted on the top surface of the base 1. Two rocker-arm obstacle-crossing mechanisms 3 are mounted on the base plate 101. A lifting mechanism 4 located behind the rocker-arm obstacle-crossing mechanisms 3 is also mounted on the base plate 101. Both the rocker-arm obstacle-crossing mechanisms 3 and the lifting mechanism 4 are electrically connected to the infrared detection units 102. The infrared detection units 102 detect whether there are obstacles on the contact wire they pass. If there are obstacles, the rocker-arm obstacle-crossing mechanisms 3 and the lifting mechanism 4, which are electrically connected to them, perform corresponding actions according to a set program, ensuring that the device can easily and accurately overcome obstacles. The detection radar 5 is used to detect the wear on the surface of the contact line it passes through.

[0018] Specifically, obstacles tend to accumulate on the upper surface of the contact line. To address this, in order for the robot to effectively overcome obstacles, such as... Figures 1-3As shown, the rocker arm obstacle-crossing mechanism 3 includes a rocker arm pad 301 mounted on a base 1. A guide assembly 302 and a lifting seat 303 are mounted on the top surface of the rocker arm pad 301. Two rocker arm side plates 304 are rotatably connected to the top of the lifting seat 303. A roller 305 is mounted at one end of each rocker arm side plate 304. The two rollers 305 and the guide assembly 302 below form a triangular arrangement. A stepper motor 306 is mounted on the top of the lifting seat 303. The stepper motor 306 is connected to the two rocker arm side plates 304 via a rotating shaft. In practical applications, as the contact wire passes sequentially through the first contact wire polishing mechanism 2, the two rocker arm obstacle-crossing mechanisms 3, the lifting mechanism 4, and the next contact wire polishing mechanism 2, infrared detection units 102 at their respective positions continuously detect whether there are obstacles on the contact wire it passes through. The contact line passes between the two rollers 305 and the guide assembly 302 below. During this process, when the infrared detection unit 102 detects an obstacle on the contact line, it works in conjunction with the stepper motor 306 to control the two rocker arm side plates 304 to rotate upwards by a set angle around the rotation axis. This increases the distance between the rollers 305 and the guide assembly 302, making the distance at least greater than the vertical dimensions of the contact line and the obstacle, thus enabling the robot to cross the obstacle in a timely and effective manner.

[0019] Following the above, the guide assembly 302 includes a spring seat 3021 detachably mounted on the rocker arm pad 301. A second roller 3022 is rotatably mounted on the spring seat 3021. A reduction motor 3023 is located at the bottom of the spring seat 3021. Both the output end of the reduction motor 3023 and one end of the second roller 3022 are equipped with bevel gears 3024, which mesh through tooth grooves. The spring seat 3021 itself possesses a certain degree of elasticity, allowing for flexible adjustment of the distance between the first roller 305 and the second roller 3022, further meeting obstacle-crossing requirements. Furthermore, when the reduction motor 3023 is running, the two meshing bevel gears 3024 drive the second roller 3022 to rotate, thereby generating friction on the contact line adhering to the upper surface of the second roller 3022. This friction, combined with the rotation of the second roller 3022, converts the rotation of the second roller 3022 into the movement of the entire robot, ensuring stable and smooth progress along the contact line.

[0020] Example 2 Following the first embodiment described above, a mechanical limit switch 307 is installed on the top of the lifting seat 303. The mechanical limit switch 307 is used to limit the upward and downward rotation range of the rocker arm side plate 304, control the maximum and minimum distance between roller 1 305 and roller 2 3022, and prevent the robot from falling accidentally.

[0021] Example 3 like Figure 1 , Figure 4 As shown, the contact wire grinding mechanism 2 in this embodiment includes two mounting frames 201. One mounting frame 201 is fixed to the base 1, and the fixing method can be welding or bolted detachable connection. Two connecting rods 202 arranged vertically opposite each other are provided between the two mounting frames 201. The cross-section of the connecting rods 202 is arranged in an [-shape]. The sides of both ends of the connecting rods 202 are connected to the mounting frame 201 through hinge shafts. The hinge shafts are made of high-strength alloy material, and both ends are limited by shaft retaining rings to ensure that the connecting rods 202 can rotate flexibly around the mounting frame 201. The two connecting rods 202 and the two mounting frames 201 together form a parallelogram structure, providing a basis for the angle adjustment of the grinding mechanism. A drive motor 203 is fixedly mounted on the mounting frame 201 away from the base 1 through a motor bracket. The output end of the drive motor 203 is connected to the grinding disc 204 through a coupling.

[0022] Based on the above, the contact wire grinding mechanism 2 also includes an electric push rod 205 disposed between two mounting frames 201.

[0023] When it is necessary to adjust the relative position between the grinding disc 204 and the contact line, the distance between the two mounting frames 201 changes by controlling the extension and retraction of the electric push rod 205. Since the connecting rod 202 is hinged to the mounting frame 201, the parallelogram structure formed by the two mounting frames 201 and the two connecting rods 202 will deform. The driven mounting frame 201 (the one furthest from the base 1) will translate and deflect with the rotation of the connecting rod 202, thereby driving the drive motor 203 and the grinding disc 204 to adjust their positions. When the grinding disc 204 reaches the preset grinding position, the drive motor 203 is started, and the grinding disc 204 rotates at high speed to grind the surface of the contact line. During the grinding process, the position of the grinding disc 204 can be finely adjusted in real time using the electric push rod 205 to ensure that the grinding accuracy meets the surface roughness requirements of the contact line.

[0024] Therefore, this embodiment can perform grinding operations on the surface of the contact wire of the overhead contact system, and achieve precise grinding of the contact wire through an adjustable structural design, ensuring good contact performance between the contact wire and the pantograph.

[0025] Example 4 like Figure 1 and Figure 5 As shown, three connecting seats 103 are installed on the base plate 101. The three connecting seats 103 are respectively connected to the lifting mechanism 4 and the two rocker arm walking obstacle-crossing mechanisms 3. The connecting seat 103 is composed of an optical shaft 1031, a thrust ball bearing 1032, a bushing 1033, and two mounting flanges 1034. Through the modular design of the connecting seats 103, the base plate 101 and each functional mechanism are standardized, effectively simplifying the assembly process and improving the structural stability and motion reliability of the device in complex environments.

[0026] It should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A contact wire climbing inspection robot, including a base (1), characterized in that: The base (1) is equipped with a contact line grinding mechanism (2) at both ends. The base (1) includes a base plate (101) and several support frames installed along the front and rear axial direction of the base plate (101). Two infrared detection units (102) are installed on each of the support frames. Two rocker arm walking obstacle crossing mechanisms (3) are installed on the base plate (101). A lifting mechanism (4) located behind the rocker arm walking obstacle crossing mechanism (3) is also installed on the base plate (101). The rocker arm walking obstacle crossing mechanism (3) and the lifting mechanism (4) are electrically connected to the infrared detection unit (102). Two detection radars (5) are installed on the top surface of the base (1). The rocker arm walking obstacle crossing mechanism (3) includes a rocker arm pad (301) mounted on a base (1). A guide assembly (302) and a lifting seat (303) are mounted on the top surface of the rocker arm pad (301). Two rocker arm side plates (304) are rotatably connected to the top of the lifting seat (303). A roller (305) is mounted on one end of the rocker arm side plate (304). The two rollers (305) and the guide assembly (302) located below form a triangular arrangement. A stepper motor (306) that is drivenly connected to the two rocker arm side plates (304) is mounted on the top of the lifting seat (303).

2. The contact wire climbing inspection robot according to claim 1, characterized in that: A mechanical limit switch (307) is installed on the top of the lifting seat (303), which is used to limit the upward and downward rotation range of the rocker arm side plate (304).

3. The contact wire climbing inspection robot according to claim 1, characterized in that: The guide assembly (302) includes a spring seat (3021) detachably mounted on a rocker arm pad (301), a roller (3022) rotatably mounted on the spring seat (3021), a reduction motor (3023) at the bottom of the spring seat (3021), a bevel gear (3024) at the output end of the reduction motor (3023) and at one end of the roller (3022), and the two bevel gears (3024) mesh through tooth grooves.

4. The contact wire climbing inspection robot according to claim 1, characterized in that: The contact line grinding mechanism (2) includes two mounting frames (201), one of which is fixed to the base (1). Two connecting rods (202) are arranged vertically and horizontally between the two mounting frames (201). A drive motor (203) is provided on the mounting frame (201) away from the base (1). The output end of the drive motor (203) is connected to the grinding disc (204).

5. The contact wire climbing inspection robot according to claim 4, characterized in that: The connecting rod (202) is hinged to the bushing (1033), and an electric push rod (205) is provided between the two mounting frames (201). By extending and retracting the electric push rod (205), the quadrilateral formed by the two mounting frames (201) and the two connecting rods (202) is controlled to deform.

6. The contact wire climbing inspection robot according to claim 1, characterized in that: Three connecting seats (103) are installed on the base plate (101), and the three connecting seats (103) are respectively connected to the lifting mechanism (4) and the two rocker arm walking obstacle crossing mechanisms (3).

7. The contact wire crawling inspection robot according to claim 6, characterized in that: The connecting seat (103) consists of an optical shaft (1031), a thrust ball bearing (1032), a bushing (1033), and two mounting flanges (1034).

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