Intelligent detection and polishing robot for metro contact line

Abstract

The utility model relates to detection polishing robot technical field, especially intelligent detection polishing robot of subway contact line, including the casing, the casing is installed with the supporting plate, is provided with the busbar on the supporting plate, is provided with the contact line at the bottom of busbar, both sides of busbar are provided with drive mechanism, one side of drive mechanism is provided with rotary encoder, one side of rotary encoder is provided with walking auxiliary mechanism, is provided with high accuracy vision monitoring system and polishing mechanism between drive mechanism and rotary encoder, is provided with the emergency stop button on the casing, still be provided with dust collection box on the casing. The utility model has realized detection and polishing integration, has promoted the automation level and overall efficiency of maintenance operation, can accurate measurement robot's walking distance, realizes accurate positioning to the defect position, has guaranteed the smooth and accurate of power transmission, safeguards equipment and personnel safety, and can collect the metal dust produced in real time in the polishing process.

Description

Technical Field

[0001] This utility model relates to the field of inspection and polishing robot technology, specifically an intelligent inspection and polishing robot for subway contact lines. Background Technology

[0002] The stable operation of urban rail transit systems such as subways and light rails highly depends on the reliability of the overhead contact system. The contact wire, as the core component that directly slides in contact with the pantograph and transmits electrical energy to the train, is of paramount importance in its surface condition. During long-term, high-load operation, intense mechanical friction and electrical wear occur between the pantograph and the contact wire, leading to defects such as wear, scratches, fatigue cracks, arc burns, and localized protrusions caused by hard spots on the contact wire surface. If these defects are not addressed promptly, they will exacerbate pantograph wear, generate noise, trigger offline arcing between the pantograph and the contact wire, resulting in unstable power transmission. In severe cases, they can even cause major safety accidents such as wire breaks, seriously affecting subway operation safety and efficiency.

[0003] Currently, the maintenance of contact wires mainly relies on manual inspection and hand polishing. Manual inspection is inefficient, the results are highly subjective, and it is difficult to detect microscopic defects. Hand polishing, on the other hand, is labor-intensive, has low precision, poor consistency, and depends on worker experience. It is easy to over-polish or under-polish, which cannot guarantee the original optimal profile of the contact wire, thus affecting its service life and current collection quality.

[0004] With the development of automation and intelligent technologies, the industry has begun to adopt robotics to replace manual labor. However, existing contact wire processing equipment often has limited functionality, capable of only inspection or grinding, making it difficult to achieve integrated, intelligent, closed-loop operation of inspection and processing. Furthermore, existing equipment still has shortcomings in terms of driving stability, positioning accuracy, and fine grinding of complex profiles. For example, drive wheel slippage can lead to inaccurate positioning, affecting the precise reproduction of defect locations; a single grinding head is difficult to adapt to the complex curved contours of the contact wire, failing to achieve uniform and efficient repair. No solutions have yet been proposed to address these technical problems. Utility Model Content

[0005] To address the problems in related technologies, this utility model proposes an intelligent inspection and grinding robot for subway contact lines, overcoming the aforementioned technical issues in existing technologies. The purpose of this utility model is to integrate inspection and grinding, changing the inefficient traditional mode of relying on manual inspection and manual operation, improving the automation level and overall efficiency of maintenance operations, accurately measuring the robot's walking distance, achieving precise location of defects, ensuring stable and accurate power transmission, protecting equipment and personnel safety, and collecting the generated metal dust in real time during the grinding process, avoiding the harm of dust to the subway tunnel environment, electrical equipment, and the health of operators.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a smart inspection and grinding robot for subway contact lines, comprising a shell, a support plate mounted on the shell, a busbar on the support plate, a contact line at the bottom of the busbar, a drive mechanism on both sides of the busbar, the drive mechanism mounted on the support plate, a rotary encoder on one side of the drive mechanism, a walking assist mechanism on one side of the rotary encoder, and a high-precision visual monitoring system and a grinding mechanism between the drive mechanism and the rotary encoder;

[0007] The drive mechanism includes a stepper motor, a motor bracket, and a rubber-coated drive wheel. The stepper motor is fixedly mounted on the support plate via the motor bracket, and the rubber-coated drive wheel is mounted on the output end of the stepper motor.

[0008] The walking assistance mechanism includes a second stepper motor, a second motor bracket, and a second rubber-coated drive wheel. The second motor bracket is fixedly mounted on the housing, the second stepper motor is mounted on the second motor bracket, and the second rubber-coated drive wheel is connected to the output end of the second stepper motor.

[0009] The polishing mechanism includes a stepper motor, a polishing head, and a polishing box. The polishing box is mounted on a support plate. Several stepper motors are provided and are all fixedly mounted on the support plate. The output end of each stepper motor is connected to the polishing head.

[0010] An emergency stop button is provided on the housing.

[0011] Preferably, the housing is also provided with a dust collection box.

[0012] Preferably, the high-precision visual monitoring system includes an industrial vision camera and a light source LED.

[0013] Preferably, the output end of the stepper motor is fixedly connected to a synchronous pulley, one end of the rubber-coated drive pulley is movably connected to the inner wall of one side of the motor bracket, the other end of the rubber-coated drive pulley extends into the interior of the motor bracket, and the end is fixedly connected to a synchronous pulley. The synchronous pulley and the synchronous pulley are connected by a synchronous belt.

[0014] Preferably, the output end of the stepper motor three is fixedly connected to a synchronous wheel three, one end of the grinding head passes through the support plate and extends into the interior of the support plate, and the end is fixedly connected to a synchronous wheel four. The synchronous wheel three and the synchronous wheel four are connected by a synchronous belt two, and the grinding head and the support plate are movably connected.

[0015] Preferably, the stepper motor and the grinding head are each provided with three.

[0016] Preferably, the busbar is made of aluminum alloy.

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

[0018] (1) This utility model is a smart inspection and grinding robot for subway contact lines. By setting up a high-precision visual monitoring system and a grinding mechanism, it can automatically identify defects such as wear, scratches, and arc burns on the surface of the contact line and immediately perform precise grinding. This changes the inefficient mode of relying on manual inspection and manual operation, and greatly improves the automation level and overall efficiency of maintenance operations. The grinding mechanism is equipped with three stepper motors and grinding heads to ensure the smoothness and accuracy of power transmission. It can perform all-round and uniform grinding on the complex curved contour of the contact line, effectively avoiding the contour distortion that may be caused by single-point grinding, and ensuring the surface smoothness and geometric accuracy of the contact line after grinding, thereby optimizing the current collection quality and extending the service life of the contact line.

[0019] (2) This utility model is a smart inspection and grinding robot for subway contact lines. By setting a rotary encoder and a drive mechanism, it can accurately measure the robot's walking distance and realize the accurate positioning and reproduction of the defect location. The drive mechanism is set with two sets, providing strong and stable walking drive force, effectively preventing slippage or jamming on smooth busbars, and ensuring the smoothness of the operation process. An emergency stop button is set on the shell, which can quickly cut off the power supply in an emergency to ensure the safety of equipment and personnel. At the same time, by setting a walking auxiliary mechanism, the stability and obstacle crossing ability of the robot walking on the busbar are further enhanced.

[0020] (3) This utility model is a smart inspection and grinding robot for subway contact lines. By setting up a dust collection box, it can collect the metal dust generated during the grinding process in real time, avoiding the harm of dust to the subway tunnel environment, electrical equipment and the health of operators, and meeting the requirements of green and environmentally friendly operation. At the same time, the busbar is made of aluminum alloy material, which effectively reduces the overall weight of the robot and reduces the energy consumption of operation while ensuring structural strength. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the present invention from the left view;

[0023] Figure 3 This is a schematic diagram of the structure of this utility model from the right side. Attached image description:

[0025] 1. Housing; 2. Support plate; 3. Busbar; 4. Contact wire; 5. Rotary encoder; 6. Stepper motor 1; 7. Motor bracket 1; 8. Rubber-coated drive wheel 1; 9. Stepper motor 2; 10. Motor bracket 2; 11. Rubber-coated drive wheel 2; 12. Stepper motor 3; 13. Grinding head; 14. Grinding box; 15. Emergency stop button; 16. Dust collection box; 17. Synchronous pulley 1; 18. Synchronous pulley 2; 19. Synchronous belt 1; 20. Synchronous pulley 3; 21. Synchronous pulley 4; 22. Synchronous belt 2; 23. High-precision visual monitoring system. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0027] Example

[0028] Please see Figure 1-3This utility model proposes a technical solution for an intelligent inspection and grinding robot for subway contact lines: The robot includes a housing 1, which provides overall support. A support plate 2 is mounted on the housing 1, and a busbar 3 is installed on the support plate 2. A contact line 4 is located at the bottom of the busbar 3. Drive mechanisms are located on both sides of the busbar 3, mounted on the support plate 2. A rotary encoder 5 is located on one side of each drive mechanism, and a walking assistance mechanism is located on the other side of the rotary encoder 5. A high-precision visual monitoring system 23 and a grinding mechanism are located between the drive mechanisms and the rotary encoder 5. The drive mechanism provides strong and stable driving force, effectively preventing slippage or jamming on smooth busbars and ensuring the smoothness of the operation process; the rotary encoder 5 can accurately measure the robot's walking distance, realizing precise positioning and reproduction of defect locations; the walking assistance mechanism further enhances the robot's stability and obstacle-crossing ability on the busbars; the high-precision vision monitoring system 23 can automatically identify defects such as wear, scratches, and arc burns on the contact wire surface; the grinding mechanism can immediately perform precise grinding, completely changing the inefficient mode of traditional manual inspection and manual operation, and greatly improving the automation level and overall efficiency of maintenance operations;

[0029] The drive mechanism includes a stepper motor 6, a motor bracket 7, and a rubber-coated drive wheel 8. The stepper motor 6 is fixedly mounted on the support plate 2 via the motor bracket 7, and the rubber-coated drive wheel 8 is mounted on the output end of the stepper motor 6. Specifically, the motor bracket 7 provides support, and starting the stepper motor 6 can drive the rubber-coated drive wheel 8, which is fixedly connected to it, to rotate, thereby enabling the robot to walk.

[0030] The walking assistance mechanism includes a second stepper motor 9, a second motor bracket 10, and a second rubber-coated drive wheel 11. The second motor bracket 10 is fixedly mounted on the housing 1, the second stepper motor 9 is mounted on the second motor bracket 10, and the second rubber-coated drive wheel 11 is connected to the output end of the second stepper motor 9. Specifically, the second motor bracket 10 provides support, and starting the second stepper motor 9 can drive the second rubber-coated drive wheel 11, which is fixedly connected to it, to rotate, further enhancing the stability and obstacle-crossing ability of the robot walking on the busbar 3.

[0031] The grinding mechanism includes a stepper motor 12, a grinding head 13, and a grinding box 14. The grinding box 14 is mounted on the support plate 2. Several stepper motors 12 are provided and are all fixedly mounted on the support plate 2. The output end of the stepper motor 12 is connected to the grinding head 13. Specifically, starting the stepper motor 12 can drive the grinding head 13 fixedly connected to it to rotate, thereby performing grinding. The grinding box 14 can collect the grinding debris.

[0032] Please see Figure 1-2As shown, an emergency stop button 15 is further provided on the housing 1.

[0033] In this embodiment, the emergency stop button 15 can be set to quickly cut off the power supply in an emergency, ensuring the safety of equipment and personnel.

[0034] Please see Figure 1 As shown, a dust collection box 16 is further provided on the housing 1.

[0035] In this embodiment, the dust collection box 16 can collect the metal dust generated during the grinding process in real time, avoiding the harm of dust to the subway tunnel environment, electrical equipment and the health of operators, and meeting the requirements of green and environmentally friendly operation.

[0036] Please see Figure 1 As shown, the high-precision visual monitoring system 23 further includes an industrial vision camera and a light source LED.

[0037] In this embodiment, the industrial vision camera and the light source LED adopt existing technologies, and the high-precision vision monitoring system 23 can automatically identify defects such as wear, scratches, and arc burns on the surface of the contact line, thereby improving convenience.

[0038] Please see Figure 3 As shown, further, the output end of the stepper motor 2 9 is fixedly connected to the synchronous pulley 17, one end of the rubber-coated drive pulley 2 11 is movably connected to the inner wall of one side of the motor bracket 2 10, the other end of the rubber-coated drive pulley 2 11 extends into the interior of the motor bracket 2 10, and the end is fixedly connected to the synchronous pulley 2 18. The synchronous pulley 17 and the synchronous pulley 2 18 are connected by the synchronous belt 19.

[0039] In this embodiment, the stepper motor 29 is started to drive the synchronous wheel 17 fixedly connected to it to rotate. Since the synchronous wheel 17 and the synchronous wheel 18 on the rubber-coated drive wheel 21 are connected by the synchronous belt 19, the stepper motor 29 drives the rubber-coated drive wheel 21 to rotate when it is working.

[0040] Please see Figure 2 As shown, further, the output end of the stepper motor 12 is fixedly connected to the synchronous wheel 20, one end of the grinding head 13 passes through the support plate 2 and extends into the interior of the support plate 2, and the end is fixedly connected to the synchronous wheel 21. The synchronous wheel 20 and the synchronous wheel 21 are connected by the synchronous belt 22, and the grinding head 13 and the support plate 2 are movably connected.

[0041] In this embodiment, the stepper motor 312 is started to drive the synchronous wheel 320 fixedly connected to it to rotate. Since the synchronous wheel 320 is connected to the synchronous wheel 421 on the grinding head 13 through the synchronous belt 22, the stepper motor 312 drives the grinding head 13 to rotate when it is working.

[0042] Please see Figure 2-3 As shown, furthermore, both the stepper motor 12 and the grinding head 13 are provided in threes.

[0043] In this embodiment, the smoothness and precision of power transmission are ensured. The complex curved contour of the contact line 4 can be polished in an all-round and uniform manner, which effectively avoids the contour distortion that may be caused by single-point polishing. This ensures the surface smoothness and geometric accuracy of the contact line 4 after polishing, thereby optimizing the current collection quality and extending the life of the contact line 4.

[0044] Furthermore, busbar 3 is made of aluminum alloy.

[0045] In this embodiment, while ensuring structural strength, the overall weight of the robot is effectively reduced, and the operating energy consumption is lowered.

[0046] The working principle of this utility model:

[0047] Positioning and Start-up: The staff installs the robot on the busbar 3 of the subway line, ensuring that the rubber-coated drive wheel 8 of the drive mechanism and the walking assistance mechanism are in stable contact with the surface of the busbar 3. The power is turned on, the robot system is started, the high-precision vision monitoring system 23 performs a self-check, and it is ready to start working.

[0048] Autonomous walking and detection: Stepper motor 6 of the drive mechanism starts, driving rubber-coated drive wheel 8 to rotate, providing strong and stable driving force for the robot to walk on busbar 3. Stepper motor 9 of the walking assistance mechanism works synchronously, driving rubber-coated drive wheel 11 to further enhance walking stability and obstacle crossing ability. Rotary encoder 5 works continuously during robot walking, accurately measuring walking distance, providing accurate position coordinates for subsequent defect location and reproduction. High-precision visual monitoring system 23 (composed of industrial vision camera and light source LED) continuously scans and acquires images of the contact line 4 below during robot movement. The system automatically analyzes the images, identifies and records the location and type of defects such as wear, scratches, and arc burns on the contact line 4 surface in real time.

[0049] Precision Grinding: When the robot moves to the recorded defect position, the control system controls the robot to stop precisely or adjust to the grinding posture based on the feedback information of the rotary encoder 5. The control system commands the stepper motor 12 of the grinding mechanism to start. The stepper motor 12 drives the grinding head 13 to rotate at high speed through the synchronous pulley 20 and the synchronous belt 22. The rotating grinding head 13 performs precise and uniform grinding on the surface defects of the contact line 4 to remove the damaged layer. The design of the three grinding heads 13 ensures that the complex curved surface of the contact line 4 can be fully covered and ground to avoid profile distortion.

[0050] Debris collection and safety assurance: During the grinding process, the grinding box 14 and the dust collection box 16 work synchronously to collect the metal debris and dust generated during grinding in real time, preventing them from polluting the tunnel environment and harming equipment and personnel health. Throughout the entire process, the operator can remotely monitor the operation. In case of an emergency, the emergency stop button 15 on the robot shell can be pressed at any time to quickly cut off the power supply and ensure safety.

[0051] Cycle and task completion: After polishing a defect point, the robot continues to move forward and repeats the "detection-location-polishing-collection" process from step two to four to work on the next defect. When the detection and polishing task of the entire predetermined line is completed, the robot stops running and the operator removes it from busbar 3 to end the maintenance work.

[0052] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0053] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0054] 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 smart inspection and polishing robot for subway contact lines, characterized in that, Includes a housing (1), on which a support plate (2) is mounted, on which a busbar (3) is provided, at the bottom of which a contact line (4) is provided, on both sides of which a drive mechanism is provided, the drive mechanism is mounted on the support plate (2), on one side of which a rotary encoder (5) is provided, on one side of which a walking auxiliary mechanism is provided, and between the drive mechanism and the rotary encoder (5) a high-precision visual monitoring system (23) and a grinding mechanism are provided; The drive mechanism includes a stepper motor (6), a motor bracket (7), and a rubber-coated drive wheel (8). The stepper motor (6) is fixedly mounted on the support plate (2) via the motor bracket (7), and the rubber-coated drive wheel (8) is mounted on the output end of the stepper motor (6). The walking assistance mechanism includes a second stepper motor (9), a second motor bracket (10), and a second rubber-coated drive wheel (11). The second motor bracket (10) is fixedly installed on the housing (1), the second stepper motor (9) is installed on the second motor bracket (10), and the second rubber-coated drive wheel (11) is connected to the output end of the second stepper motor (9). The polishing mechanism includes a stepper motor (12), a polishing head (13), and a polishing box (14). The polishing box (14) is mounted on a support plate (2). There are several stepper motors (12), all of which are fixedly mounted on the support plate (2). The output end of the stepper motor (12) is connected to the polishing head (13).

2. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, An emergency stop button (15) is provided on the housing (1).

3. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, A dust collection box (16) is also provided on the housing (1).

4. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, The high-precision visual monitoring system (23) includes an industrial vision camera and a light source LED.

5. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, The output end of the stepper motor 2 (9) is fixedly connected to the synchronous pulley 1 (17). One end of the rubber-coated drive pulley 2 (11) is movably connected to the inner wall of one side of the motor bracket 2 (10). The other end of the rubber-coated drive pulley 2 (11) extends into the interior of the motor bracket 2 (10) and is fixedly connected to the synchronous pulley 2 (18). The synchronous pulley 1 (17) and the synchronous pulley 2 (18) are connected by the synchronous belt 1 (19).

6. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, The output end of the stepper motor (12) is fixedly connected to the synchronous wheel (20). One end of the grinding head (13) passes through the support plate (2) and extends into the interior of the support plate (2), and the end is fixedly connected to the synchronous wheel (21). The synchronous wheel (20) and the synchronous wheel (21) are connected by the synchronous belt (22). The grinding head (13) and the support plate (2) are movably connected.

7. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, The stepper motor (12) and the grinding head (13) are each provided in three parts.

8. The intelligent inspection and grinding robot for subway contact lines according to claim 1, characterized in that, The busbar (3) is made of aluminum alloy.

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