CN114940105A

CN114940105A - Railway contact net inspection robot

Info

Publication number: CN114940105A
Application number: CN202210640461.XA
Authority: CN
Inventors: 倪泽昊; 张锴轩; 吉海洋; 张培; 魏祥; 张艺翔; 李姣; 王英杰
Original assignee: Zhengzhou Railway Vocational and Technical College
Current assignee: Zhengzhou Railway Vocational and Technical College
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-08-26

Abstract

The invention discloses a railway contact net inspection robot which comprises a walking device and a moving mechanism, wherein the walking device is used for driving the device to move along a rail, two support frames are symmetrically arranged at the bottom of the walking device, two universal wheels are arranged at the bottoms of the support frames and used for moving the device, and a first rotating shaft is rotatably connected to the upper side of the walking device. Has the advantages that: rotate the fourth pivot through drive assembly, drive the slide rail through the fourth pivot and rotate ninety degrees, during the orbit, it removes running gear from ground to the rail upside through moving mechanism, and when leaving the field, move running gear from the rail upside to the level land upside through moving mechanism, the device not only reduced staff's physical demands and the occupation of large-scale hoist equipment when leaving the field and entering the orbit through above setting, simultaneously effectual improvement work efficiency, the work of patrolling and examining for the staff has brought very big facility.

Description

Railway contact net inspection robot

Technical Field

The invention belongs to the technical field of railway inspection, and particularly relates to a railway contact net inspection robot.

Background

In recent years, the railway traffic network in China is rapidly increased, a large number of railway traffic infrastructures enter a maintenance period in succession, line safety and monitoring face pressure is gradually increased, the conventional railway traffic line inspection is mainly completed in a mode of manual static inspection and a small number of dynamic inspection vehicles as assistance, namely, a mode of integrating manual vehicles and rail vehicles, inspection contents comprise internal qualities of contact suspension, additional suspension and supporting devices, whether bolts are fastened or not, whether obstacles are suspended on high-voltage cables or not, and maintenance contents mainly comprise necessary anticorrosion treatment and fastening and replacement of parts in the inspection process.

The existing inspection vehicle has single function, does not have the functions of entering into the rail and leaving the field, when the inspection vehicle is used for inspection, the inspection vehicle needs to be placed on the track firstly, after the inspection is finished, the inspection vehicle needs to be evacuated from the track, the process generally needs a plurality of workers to carry the inspection vehicle in a cooperative manner, and because the inspection vehicle has heavier dead weight, therefore, the process of manually lifting the vehicle is very dangerous, the lumbar vertebrae of the workers are easy to be damaged, and the method of lifting the vehicle by a crane can reduce the labor of the workers, however, the hoisting process of the crane often requires a certain time, the process is complicated, the working schedule is influenced, and the crane is called to increase the cost of the inspection work, and importantly, not all railway sections are suitable for the crane to enter, therefore, the inspection vehicle can not well deal with the rail entering and leaving work of the inspection vehicle in both manual carrying and crane lifting.

Disclosure of Invention

In order to solve the problems, the invention provides the railway contact net inspection robot which is convenient for entering and leaving, not only reduces the physical consumption of workers and the occupation of large-scale lifting appliance equipment, but also effectively improves the working efficiency and brings great convenience to the inspection work of the workers.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a railway contact net inspection robot, which comprises a walking device and a moving mechanism, wherein the walking device is used for driving the device to move along a rail, two support frames are symmetrically arranged at the bottom of the walking device, two universal wheels are arranged at the bottoms of the support frames and are used for moving the device, a first rotating shaft is rotatably connected to the upper side of the walking device, a limiting component used for limiting the rotation of the first rotating shaft is arranged at the upper side of the walking device, the moving mechanism can move the walking device through the first rotating shaft, a fourth rotating shaft is rotatably connected to the upper side of the moving mechanism, a sliding rail is fixedly connected to the upper end of the fourth rotating shaft, a driving component used for rotating the fourth rotating shaft is arranged at the upper side of the moving mechanism, a fixed frame is fixedly connected to the upper side of the moving mechanism, and the fixed frame is rotatably connected with two winding disks through the second rotating shaft, the moving mechanism upside is provided with drive assembly, drive assembly is used for linkage fourth pivot and second pivot, fourth pivot and second pivot syntropy rotate, and the fourth pivot then rotates several circles if rotating half a turn of second pivot.

The two movable plates are arranged in the slide rail in a sliding mode and in clearance fit with the slide rail, the back ends of the two movable plates are fixedly connected with a jacking mechanism, the jacking mechanism can jack the walking device up through matching with the ground to enable the walking device to be away from the rail, the upper sides of the movable plates are fixedly connected with first traction ropes through connecting rods, one ends, away from the connecting rods, of the two first traction ropes are fixedly connected with the two winding disks respectively, two elastic pieces are symmetrically arranged at the bottom of the slide rail and used for pushing the jacking mechanism to enable the jacking mechanisms on the two sides of the slide rail to be away from each other, the upper sides of the fixing frames are connected with extension rods through threaded cylinders in a threaded mode, a camera body is arranged at the upper end of each extension rod, a control module and a GPS module are arranged at the bottom of the camera body respectively, and the control module is used for executing instructions sent by a control room and transmitting positioning information of the GPS module and pictures captured by the camera body back, the bottom of the walking device is provided with a storage battery which is used for supplying power to all electrical appliances carried by the device.

By adopting the railway contact net inspection robot, the device is convenient to move by arranging the support frame and the universal wheels, the device is moved beside a rail, the length direction of the moving mechanism is perpendicular to the rail, then the fourth rotating shaft is rotated by the driving component, the sliding rail is driven to rotate for ninety degrees by the fourth rotating shaft, then the sliding rail is perpendicular to the rail and crosses the rail, meanwhile, the fourth rotating shaft drives the second rotating shaft and the two winding disks to rotate by the transmission component, the winding disks release the first traction rope, the two jacking mechanisms are far away from each other under the pushing of the two elastic pieces when the winding disks release the first traction rope, after the sliding rail rotates for ninety degrees, the distance between the two jacking mechanisms is in the maximum state, then the height of the traveling device is lifted by the two jacking mechanisms, the bottom of the traveling device is higher than the rail, and then the traveling device is translated by the moving mechanism, the running gear is moved to the position right above the rail, and simultaneously the running gear is rotated to adjust the posture of the running gear, so that the running gear can be completely aligned with the rail, after the posture of the running gear is adjusted, the first rotating shaft is locked through the limiting component, thereby preventing the running gear from rotating, finally reducing the height of the running gear through the top bracing mechanism until the running gear falls on the rail, thereby completing the rail entering work, not only reducing the physical consumption of workers and the occupation of large-scale lifting appliance equipment, but also effectively improving the rail entering efficiency of the device, after the device is inserted into the rail, the sliding rail is reversely rotated back, so that the length direction of the sliding rail is parallel to the rail, the distance between the two jacking mechanisms is also retracted to the minimum state, therefore, the size of the device can be effectively reduced, and interference caused by other objects in the process of traveling is prevented.

Can make this device advance along the rail through running gear, the staff's of control room accessible camera body patrols the contact net along the railway line, after the discovery problem, usable GPS module notes the current position, thereby be convenient for the staff goes the field processing, after patrolling the work, when needing to remove the device from the rail, the operation of repeated operation once the process of entering the rail can, the place that departs the operating procedure and the step of entering the rail is different lies in, during the time of entering the rail, it removes running gear from ground to the rail upside through moving mechanism, and during the departure, it removes running gear from the rail upside to the flat ground upside through moving mechanism, the device is through above setting, time and manpower have all been saved by a wide margin when departing and entering the rail, the work of patrolling and examining for the staff has brought very big facility.

Preferably, the walking device comprises a supporting plate, two rotating shaft mounting seats are arranged at the bottom of the supporting plate, the rotating shaft mounting seats are rotatably connected with two track wheels through a third rotating shaft, the track wheels are matched with rails, a first chain wheel is fixedly connected to the surface of the third rotating shaft, a power motor is arranged at the bottom of the supporting plate, a second chain wheel is fixedly connected to an output shaft of the power motor, and the second chain wheel is in transmission connection with the two first chain wheels through a chain.

Preferably, the upper side of the walking device is provided with a spraying assembly, and the spraying assembly is used for spraying water-soluble dye to the ground so as to mark the geographical position.

Preferably, the spraying assembly comprises a mounting frame, the upper side of the supporting plate is fixedly connected with the mounting frame, a storage tank and a water pump are respectively arranged at the bottom of the mounting frame, and the input end of the water pump is communicated with the storage tank through a connecting pipe.

Preferably, the limiting assembly comprises a first mounting seat and a first gear, a first electric push rod is fixedly connected to the upper side of the supporting plate through the first mounting seat, an arc-shaped toothed plate is fixedly connected to the movable end of the first electric push rod, and the arc-shaped toothed plate is matched with the first gear fixed to the surface of the first rotating shaft.

As preferred, the running gear upside uses first pivot to be provided with two fixture as central symmetry, fixture includes the U template, backup pad upside fixedly connected with U template, the spout has been seted up in the U template, it is provided with two sliders to slide in the spout, slider side fixedly connected with splint, and the equal fixedly connected with rubber pad of opposite face of two splint, two fixed plate two of one side fixedly connected with of U template splint dorsad, and rotate between two fixed plate two and be connected with screw rod two, screw rod two-terminal surface fixedly connected with carousel, two kinds of orientations have been offered on screw rod two surfaces each other for opposite screw thread, and the equal threaded connection of every kind of screw thread surface has thread bush two, and two thread bush two respectively with two slider fixed connection.

Preferably, the moving mechanism comprises a first fixing plate, a T-shaped chute is formed in the first fixing plate, a T-shaped sliding block is arranged in the T-shaped chute in a sliding mode, a first rotating shaft is fixedly connected to the bottom of the T-shaped sliding block, a first screw rod is rotatably connected to the T-shaped chute in a rotating mode, a first threaded sleeve is in threaded connection with the surface of the first screw rod, the first threaded sleeve is fixedly connected with the T-shaped sliding block, and a motor used for rotating the first screw rod is arranged on one side face of the first fixing plate.

Preferably, the top bracing mechanism comprises a first connecting plate and a third electric push rod, the first connecting plate and the third electric push rod are respectively fixed on the upper side and the lower side of the movable plate, the movable end of the third electric push rod is fixedly connected with a rectangular sleeve, two rectangular plates are slidably arranged in the rectangular sleeve, the rectangular plates are in clearance fit with the rectangular sleeve, the opposite sides of the two rectangular plates are respectively provided with a wire guide groove, the upper side wall and the lower side wall of the rectangular sleeve are respectively provided with a first rectangular groove and a second rectangular groove, the two sides of the bottom of the rectangular sleeve are respectively provided with a second traction rope, one end of the second traction rope, far away from the rectangular sleeve, sequentially passes through the second rectangular groove, the wire guide groove and the first rectangular groove and is fixedly connected with the first connecting plate, the two ends of the second traction rope vertically correspond to each other, the middle position of the bottom of the rectangular sleeve is fixedly connected with a second connecting plate, and the opposite sides of the second connecting plate are both fixedly connected with second telescopic rods, the movable end of the second telescopic rod is fixedly connected with a supporting block, the surface of the second telescopic rod is sleeved with a tension spring, two ends of the tension spring are fixedly connected with the supporting block and the connecting plate respectively, and the two supporting blocks are fixedly connected with the bottoms of the two rectangular plates respectively.

Preferably, the elastic part comprises a third mounting seat, the bottom of the sliding rail is fixedly connected with a first telescopic rod through the third mounting seat, the movable end of the first telescopic rod is fixedly connected with a third electric push rod, the surface of the first telescopic rod is sleeved with a spring, and two ends of the spring are respectively fixedly connected with the third electric push rod and the third mounting seat.

Has the advantages that:

1. the fourth rotating shaft is driven by the driving component to rotate, the sliding rail is driven by the fourth rotating shaft to rotate ninety degrees, meanwhile, the fourth rotating shaft drives the second rotating shaft and the two rolling discs to rotate through the transmission component, the rolling discs release the first traction rope, the two jacking mechanisms are far away from each other under the pushing of the two elastic pieces when the rolling discs release the first traction rope, when the sliding rail rotates ninety degrees, the distance between the two jacking mechanisms is in the maximum state, then the height of the walking device is lifted through the two jacking mechanisms, the bottom of the walking device is higher than the rail, the walking device is moved to the position right above the rail through the translation walking device of the moving mechanism, the walking device is rotated simultaneously, the posture of the walking device is adjusted, the walking device can be completely aligned with the rail, after the posture of the walking device is adjusted, the first rotating shaft is locked through the limiting component, the device can prevent the running gear from rotating, finally, the height of the running gear is reduced through the top bracing mechanism until the running gear falls on a rail, thereby completing the rail entering work, after the device enters the rail, the sliding rail is reversely rotated back, the length direction of the sliding rail is enabled to be parallel to the rail, then, the distance between the two top bracing mechanisms is also retracted to the minimum state, thereby effectively reducing the size of the device, preventing other objects from interfering in the process of running, when the device needs to be withdrawn from the rail after the inspection work is finished, the rail entering process is repeatedly operated once, the departure operation step and the rail entering step are different in the place that the running gear is moved from the ground to the upper side of the rail through the moving mechanism during the rail entering, and the running gear is moved from the upper side of the rail to the upper side of the flat ground through the moving mechanism during the departure, and the physical consumption of workers is reduced during the departure and the rail entering through the arrangement, and the large-scale sling arrangement is not only reduced The occupation of the equipment effectively improves the working efficiency and brings great convenience to the polling work of the working personnel.

2. Can make this device advance along the rail through running gear, the contact net of staff's accessible camera body along the railway line of control room patrols the railway, after the discovery problem, usable GPS module notes the current position, thereby be convenient for the staff goes the field treatment, be used for spraying water-soluble dyestuff with mark geographical position to ground through setting up spraying assembly, spraying assembly combines the GPS module can carry out accurate position mark, spraying assembly is as ensured location marking equipment, when GPS module signal is weak, spraying assembly's setting has just embodied the significance, and the dyestuff is the water-soluble, can erode totally during the rainfall, can not influence the railway environment.

3. Through setting up the ladder that two fixture were used for the centre gripping staff to maintain the climbing when the contact net, when needs were maintained the contact net, the staff can put the climbing ladder between two fixture above the backup pad, then the centre gripping is carried out to the both sides of climbing ladder to two fixture of rethread to can improve the steadiness of ladder.

4. The device adopts a jacking mechanism which is different from the traditional equipment with a jacking function, the traditional jacking mechanism generally takes an electric push rod or an air cylinder and other telescopic components as main bodies and has single functionality, the jacking mechanism of the device has a basic jacking function and simultaneously comprises a transverse telescopic mechanism, namely two rectangular plates, when the walking device needs to be jacked, a rectangular sleeve is pushed downwards by a third electric push rod, the rectangular sleeve is mutually separated under the combined action of two second traction ropes by the two rectangular plates in the downward movement process, so that the distance between the two supporting blocks can be increased, the stability of the whole device after the jacking mechanism jacks up the walking device can be improved, the process is completely carried out correspondingly along with the extension and retraction of the third electric push rod, other electric equipment or driving equipment is not added, the cost is reduced, and the jacking mechanism has good linkage, therefore, the operation steps are simple, when the top support is not needed, the third electric push rod retracts, the two rectangular plates are close to each other under the action of the two tension springs, the size of the whole top support mechanism can be reduced, and the whole using effect and the practicability of the device are further improved through the top support mechanism.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic perspective view of a spacing assembly of the present invention;

FIG. 4 is a schematic perspective view of the walking device of the present invention;

FIG. 5 is a schematic perspective view of the moving mechanism of the present invention;

FIG. 6 is an enlarged perspective view of the drive assembly of the present invention;

FIG. 7 is a perspective view of the transmission assembly of the present invention;

FIG. 8 is a perspective view of the slide rail of the present invention;

FIG. 9 is a schematic perspective view of a rectangular plate according to the present invention;

FIG. 10 is a perspective view of the clamping mechanism of the present invention;

FIG. 11 is an enlarged perspective view of the jacking mechanism of the present invention;

FIG. 12 is an enlarged side view of the top support mechanism of the present invention.

The reference numerals are illustrated below:

1. a traveling device; 2. a clamping mechanism; 3. a limiting component; 4. a spray assembly; 5. a first rotating shaft; 6. a moving mechanism; 7. a transmission assembly; 8. a drive assembly; 9. a winding disc; 10. a second rotating shaft; 11. a fixed mount; 12. a first pull cord; 13. a connecting rod; 14. a threaded barrel; 15. a control module; 16. an extension pole; 17. a camera body; 18. a slide rail; 19. an elastic member; 20. a movable plate; 21. a first mounting seat; 22. a first electric push rod; 23. an arc toothed plate; 24. a first gear; 25. a mounting frame; 26. a storage tank; 27. a water pump; 28. a connecting pipe; 29. a support plate; 30. a support frame; 31. a universal wheel; 32. a rotating shaft mounting base; 33. a third rotating shaft; 34. a rail wheel; 35. a first sprocket; 36. a chain; 37. a power motor; 38. a second sprocket; 39. a shoring mechanism; 40. a GPS module; 41. a second mounting seat; 42. a second electric push rod; 43. a toothed plate; 44. a second gear; 45. a fourth rotating shaft; 46. a first transmission gear; 47. a second transmission gear; 48. a fifth rotating shaft; 49. a third transmission gear; 50. a fourth transmission gear; 51. a first fixing plate; 52. a first screw rod; 53. a motor; 54. sleeving a first thread; 55. a T-shaped slider; 56. a third mounting seat; 57. a spring; 58. a first telescopic rod; 59. a first connecting plate; 60. a third electric push rod; 61. a second pull cord; 62. a rectangular sleeve; 63. a second connecting plate; 64. a support block; 65. a rectangular plate; 66. a tension spring; 67. a second telescopic rod; 68. a U-shaped plate; 69. a second fixing plate; 70. a second thread sleeve; 71. a slider; 72. a second screw; 73. a chute; 74. a splint; 75. a rubber pad; 76. a turntable; 77. a wire guide groove; 78. a storage battery; 79. a T-shaped chute; 80. a rail.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Referring to fig. 1-12, the invention provides a railway contact net inspection robot, comprising a walking device 1 and a moving mechanism 6, wherein the walking device 1 is used for driving the device to move along a rail 80, two support frames 30 are symmetrically arranged at the bottom of the walking device 1, two universal wheels 31 are arranged at the bottom of the support frames 30, the universal wheels 31 are used for moving the device, a first rotating shaft 5 is rotatably connected at the upper side of the walking device 1, a limiting component 3 for limiting the rotation of the first rotating shaft 5 is arranged at the upper side of the walking device 1, the moving mechanism 6 can move the walking device 1 through the first rotating shaft 5, a fourth rotating shaft 45 is rotatably connected at the upper side of the moving mechanism 6, a slide rail 18 is fixedly connected at the upper end of the fourth rotating shaft 45, a driving component 8 for rotating the fourth rotating shaft 45 is arranged at the upper side of the moving mechanism 6, a fixing frame 11 is fixedly connected at the upper side of the moving mechanism 6, the fixed frame 11 is connected with two winding disks 9 through the rotation of the second rotating shaft 10, the upper side of the moving mechanism 6 is provided with a transmission assembly 7, the transmission assembly 7 is used for linking a fourth rotating shaft 45 and the second rotating shaft 10, the fourth rotating shaft 45 rotates in the same direction with the second rotating shaft 10, and the fourth rotating shaft 45 rotates for a plurality of circles if rotating a half circle of the second rotating shaft 10.

Two movable plates 20 are arranged in the sliding rail 18 in a sliding mode, the movable plates 20 are in clearance fit with the sliding rail 18, the back ends of the two movable plates 20 are fixedly connected with supporting mechanisms 39, the supporting mechanisms 39 are matched with the ground to jack up the walking device 1, so that the walking device 1 is far away from the rail 80, the upper sides of the movable plates 20 are fixedly connected with first traction ropes 12 through connecting rods 13, one ends of the two first traction ropes 12, which are far away from the connecting rods 13, are fixedly connected with two winding disks 9 respectively, two elastic pieces 19 are symmetrically arranged at the bottom of the sliding rail 18, the elastic pieces 19 are used for pushing the supporting mechanisms 39, so that the supporting mechanisms 39 at the two sides of the sliding rail 18 are far away from each other, an extension rod 16 is connected to the upper side of the fixed frame 11 through a threaded barrel 14 in a threaded mode, a camera body 17 is arranged at the upper end of the extension rod 16, a control module 15 and a GPS module 40 are arranged at the bottom of the camera body 17 respectively, and the control module 15 is used for executing instructions sent by the control room and transmitting positioning information of the GPS module 40 back and the camera body 17, a storage battery 78 is arranged at the bottom of the walking device 1, and the storage battery 78 is used for supplying power to all electrical appliances carried by the device.

As an optional embodiment, the traveling device 1 includes a support plate 29, two rotating shaft mounting seats 32 are disposed at the bottom of the support plate 29, the rotating shaft mounting seats 32 are rotatably connected with two track wheels 34 through a third rotating shaft 33, the track wheels 34 are adapted to the rail 80, a first chain wheel 35 is fixedly connected to the surface of the third rotating shaft 33, a power motor 37 is disposed at the bottom of the support plate 29, a second chain wheel 38 is fixedly connected to an output shaft of the power motor 37, the second chain wheel 38 is in transmission connection with the two first chain wheels 35 through a chain 36, the power motor 37 drives the second chain wheel 38 to rotate, the second chain wheel 38 is matched with the chain 36 and the two first chain wheels 35 to drive the two third rotating shafts 33 to rotate, the four track wheels 34 can be driven to rotate through the two third rotating shafts 33, and the traveling device 1 can be driven to move on the rail 80 through the four track wheels 34.

1 upside of running gear is provided with spray assembly 4, and spray assembly 4 is used for spouting water-soluble dyestuff in order to mark geographical position to ground, and spray assembly 4 combines GPS module 40 can carry out accurate position mark to the staff of being convenient for reaches the position that the contact net need maintain.

Spraying assembly 4 includes mounting bracket 25, and backup pad 29 upside fixedly connected with mounting bracket 25, and mounting bracket 25 bottom is provided with storage tank 26 and water pump 27 respectively, and connecting pipe 28 and storage tank 26 intercommunication are passed through to the input of water pump 27, set up storage tank 26 and be used for storing water-soluble dyestuff, take out and spout to ground through the dyestuff of water pump 27 in with storage tank 26 to can accomplish the mark, and the dyestuff is the water-soluble, can wash out totally during the rainfall.

Spacing subassembly 3 includes first mount pad 21 and first gear 24, the first electric putter 22 of backup pad 29 upside through first mount pad 21 fixedly connected with, first electric putter 22 activity end fixedly connected with arc pinion rack 23, arc pinion rack 23 and the first gear 24 looks adaptation of fixing on first pivot 5 surface, when needs restrict first pivot 5, remove arc pinion rack 23 through first electric putter 22, make arc pinion rack 23 and first gear 24 meshing, first pivot 5 just can't rotate when this.

The upper side of the walking device 1 is symmetrically provided with two clamping mechanisms 2 by taking the first rotating shaft 5 as a center, each clamping mechanism 2 comprises a U-shaped plate 68, the upper side of the supporting plate 29 is fixedly connected with the U-shaped plate 68, a sliding groove 73 is formed in the U-shaped plate 68, two sliding blocks 71 are arranged in the sliding groove 73 in a sliding manner, the side faces of the sliding blocks 71 are fixedly connected with clamping plates 74, opposite faces of the two clamping plates 74 are fixedly connected with rubber pads 75, one side, opposite to the clamping plate 74, of the U-shaped plate 68 is fixedly connected with two fixing plates 69, a screw rod second 72 is rotatably connected between the two fixing plates 69, the end faces of the screw rod second 72 are fixedly connected with a rotating disc 76, the surface of the screw rod second 72 is provided with two threads in opposite directions, the outer surface of each thread is in threaded connection with a thread sleeve second 70, the two thread sleeves second 70 are respectively and fixedly connected with the two contact net sliding blocks 71, and the clamping mechanisms 2 are used for clamping a ladder which is lifted up when a worker maintains the ladder, when the contact net needs to be maintained, the worker can place the climbing ladder between the two clamping mechanisms 2 on the supporting plate 29, and then the two sides of the climbing ladder are clamped through the two clamping mechanisms 2, so that the stability of the ladder can be improved.

The moving mechanism 6 comprises a first fixing plate 51, a T-shaped sliding groove 79 is formed in the first fixing plate 51, a T-shaped sliding block 55 is arranged in the T-shaped sliding groove 79 in a sliding mode, a first rotating shaft 5 is fixedly connected to the bottom of the T-shaped sliding block 55, a first screw rod 52 is connected to the T-shaped sliding groove 79 in a rotating mode, a first threaded sleeve 54 is connected to the surface of the first screw rod 52 in a threaded mode, the first threaded sleeve 54 is fixedly connected with the T-shaped sliding block 55, a motor 53 used for rotating the first screw rod 52 is arranged on the side face of the first fixing plate 51, the first screw rod 52 rotates through the motor 53, the first screw rod 52 drives the first threaded sleeve 54 in a threaded mode, the first threaded sleeve 54 can move through the T-shaped sliding block 55 matched with the T-shaped sliding groove 79, and the first rotating shaft 5 can be driven to move through the T-shaped sliding block 55.

The top bracing mechanism 39 comprises a connecting plate 59 and a third electric push rod 60, the connecting plate 59 and the third electric push rod 60 are respectively fixed on the upper side and the lower side of the movable plate 20, a rectangular sleeve 62 is fixedly connected with the movable end of the third electric push rod 60, two rectangular plates 65 are arranged in the rectangular sleeve 62 in a sliding manner, the rectangular plates 65 are in clearance fit with the rectangular sleeve 62, the opposite sides of the two rectangular plates 65 are respectively provided with a wire guide groove 77, the upper side wall and the lower side wall of the rectangular sleeve 62 are respectively provided with a first rectangular groove and a second rectangular groove, the two sides of the bottom of the rectangular sleeve 62 are respectively provided with a second traction rope 61, one end of the second traction rope 61 far away from the rectangular sleeve 62 sequentially passes through the second rectangular groove, the wire guide groove 77 and the first rectangular groove and is fixedly connected with the connecting plate 59, the two ends of the second traction rope 61 correspond up and down, the central position of the bottom of the rectangular sleeve 62 is fixedly connected with a connecting plate two 63, and the opposite sides of the connecting plate two 63 are respectively fixedly connected with a second telescopic rod 67, the movable end of the second telescopic rod 67 is fixedly connected with a supporting block 64, the surface of the second telescopic rod 67 is sleeved with a tension spring 66, two ends of the tension spring 66 are respectively fixedly connected with the supporting block 64 and the second connecting plate 63, the two supporting blocks 64 are respectively fixedly connected with the bottoms of the two rectangular plates 65, when the walking device 1 needs to be jacked, the rectangular sleeve 62 is pushed downwards through the third electric push rod 60, the two rectangular plates 65 mutually keep away from each other under the combined action of the two second traction ropes 61 in the downward moving process of the rectangular sleeve 62, so that the distance between the two supporting blocks 64 can be increased, the stability of the whole device can be improved after the jacking mechanism 39 jacks the walking device 1, the jacking mechanism 39 adopted by the device is different from the traditional equipment with a jacking function, the traditional jacking device generally takes telescopic parts such as an electric push rod or an air cylinder and the like as a main body, and has single function, the shoring mechanism 39 of the device has basic shoring function, and at the same time, the device also comprises a transverse telescopic mechanism, namely two rectangular plates 65, the stability in shoring can be improved by increasing the distance between the two rectangular plates 65, and the process is completely carried out correspondingly with the extension and retraction of the third electric push rod 60, and other electric equipment or driving equipment is not added, so that the cost is reduced, in addition, after the two supporting blocks 64 are contacted with the ground, if the third electric push rod 60 is still extended, if the ground is non-hardened ground at the moment, the two supporting blocks 64 dig a foundation pit corresponding to the volume of the foundation pit on the ground, and the two supporting blocks 64 sink into the ground, so that the stability of the device can be further increased, the shoring mechanism 39 has good linkage property, so the operation steps are simple, when the shoring is not needed, the third electric push rod 60 retracts, and the two rectangular plates 65 approach each other under the action of the two tension springs 66, further, the volume of the whole supporting mechanism 39 can be reduced, and the supporting mechanism 39 further improves the overall use effect and practicability of the device.

Elastic component 19 includes third mount pad 56, and slide rail 18 bottom is through the first telescopic link 58 of third mount pad 56 fixedly connected with, 58 expansion end of first telescopic link and third electric putter 60 fixed connection, and spring 57 has been cup jointed on the surface of first telescopic link 58, spring 57's both ends respectively with third electric putter 60 and third mount pad 56 fixed connection.

By adopting the structure, the supporting frame 30 and the universal wheel 31 are arranged to facilitate moving the device, the device is moved to the side of the rail 80, the length direction of the moving mechanism 6 is perpendicular to the rail 80, then the driving assembly 8 rotates the fourth rotating shaft 45, the sliding rail 18 is driven by the fourth rotating shaft 45 to rotate ninety degrees, then the sliding rail 18 is perpendicular to the rail 80 and crosses over the rail 80, meanwhile, the fourth rotating shaft 45 drives the second rotating shaft 10 and the two winding disks 9 to rotate through the transmission assembly 7, so that the winding disks 9 release the first traction rope 12, the two jacking mechanisms 39 are pushed by the two elastic members 19 to be away from each other while the winding disks 9 release the first traction rope 12, after the sliding rail 18 rotates ninety degrees, the distance between the two jacking mechanisms 39 is the maximum state, then the height of the traveling device 1 is raised through the two jacking mechanisms 39, so that the bottom of the traveling device 1 is higher than the rail 80, then the traveling device 1 is moved to the position right above the rail 80 by the moving mechanism 6, the traveling device 1 is rotated simultaneously, the posture of the traveling device 1 is adjusted, the traveling device 1 can be completely aligned with the rail 80, after the posture of the traveling device 1 is adjusted, the first rotating shaft 5 is locked by the limiting component 3, so that the traveling device 1 can be prevented from rotating, finally, the height of the traveling device 1 is reduced by the jacking mechanism 39 until the traveling device 1 falls on the rail, so that the rail entering work is finished, the physical consumption of workers and the occupation of large-scale lifting appliance equipment are reduced, the rail entering efficiency of the device is effectively improved, after the device enters the rail, the sliding rail 18 is reversely rotated back, the length direction of the sliding rail 18 is parallel to the rail 80, and then the distance between the two jacking mechanisms 39 is retracted to the minimum state, therefore, the size of the device can be effectively reduced, and interference caused by other objects in the process of traveling is prevented.

Can make this device advance along rail 80 through running gear 1, the staff's of control room accessible camera body 17 patrols the contact net along the railway, after discovering the problem, usable GPS module 40 notes the current position, thereby be convenient for the staff goes the field treatment, after patrolling the work, when need withdraw the device from rail 80, the operation is gone into to the repeated operation once can, the place that leaves the operation step and the step difference of entering lies in, when entering the rail, it is to remove running gear 1 from the ground to rail 80 upside through moving mechanism 6, and when leaving the field, it is to remove running gear 1 from rail 80 upside to the flat ground upside through moving mechanism 6, the device passes through above setting, time and manpower have all been saved by a wide margin when leaving the field and entering the rail, the inspection work of giving the staff has brought very big facility.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a railway contact net patrols and examines robot which characterized in that: the device comprises a walking device (1) and a moving mechanism (6), wherein the walking device (1) is used for driving the device to move along a rail (80), two support frames (30) are symmetrically arranged at the bottom of the walking device (1), two universal wheels (31) are arranged at the bottom of each support frame (30), the universal wheels (31) are used for moving the device, a first rotating shaft (5) is rotatably connected to the upper side of the walking device (1), a limiting component (3) used for limiting the first rotating shaft (5) to rotate is arranged at the upper side of the walking device (1), the moving mechanism (6) can move the walking device (1) through the first rotating shaft (5), a fourth rotating shaft (45) is rotatably connected to the upper side of the moving mechanism (6), a sliding rail (18) is fixedly connected to the upper end of the fourth rotating shaft (45), and a driving component (8) used for rotating the fourth rotating shaft (45) is arranged at the upper side of the moving mechanism (6), moving mechanism (6) upside fixedly connected with mount (11), mount (11) rotate through second pivot (10) and are connected with two rolling dishes (9), moving mechanism (6) upside is provided with drive assembly (7), drive assembly (7) are used for linkage fourth pivot (45) and second pivot (10), fourth pivot (45) and second pivot (10) syntropy rotate, and fourth pivot (45) if rotate half a circle second pivot (10) then rotate several circles.

2. The railway overhead line system inspection robot according to claim 1, wherein: the movable plates (20) are arranged in the sliding rail (18) in a sliding mode, the movable plates (20) are in clearance fit with the sliding rail (18), the back ends of the two movable plates (20) are fixedly connected with jacking mechanisms (39), the jacking mechanisms (39) can jack the walking device (1) through being matched with the ground, the walking device (1) is far away from a rail (80), the upper side of each movable plate (20) is fixedly connected with a first traction rope (12) through a connecting rod (13), one ends, separated from the connecting rod (13), of the two first traction ropes (12) are fixedly connected with two winding disks (9) respectively, two elastic pieces (19) are symmetrically arranged at the bottom of the sliding rail (18), the elastic pieces (19) are used for pushing the jacking mechanisms (39), the jacking mechanisms (39) at the two sides of the sliding rail (18) are far away from each other, the upper side of the fixed frame (11) is connected with extension rods (16) through threads of a threaded barrel (14), extension rod (16) upper end is provided with camera body (17), camera body (17) bottom is provided with control module (15) and GPS module (40) respectively, control module (15) are used for carrying out the instruction that the control room sent and pass back the locating information of GPS module (40) and the picture that camera body (17) caught, running gear (1) bottom is provided with battery (78), battery (78) are used for all electrical apparatus power supplies carried for this device.

3. The railway overhead line system inspection robot according to claim 2, wherein: running gear (1) includes backup pad (29), backup pad (29) bottom is provided with two pivot mount pads (32), pivot mount pad (32) are rotated through third pivot (33) and are connected with two rail wheels (34), and rail wheel (34) and rail (80) looks adaptation, third pivot (33) fixed surface is connected with first sprocket (35), backup pad (29) bottom is provided with motor power (37), fixedly connected with second sprocket (38) on motor power (37) output shaft, second sprocket (38) are connected with two first sprocket (35) transmissions through chain (36).

4. The railway overhead line system inspection robot according to claim 3, wherein: the upper side of the walking device (1) is provided with a spraying component (4), and the spraying component (4) is used for spraying water-soluble dye to the ground so as to mark a geographical position.

5. The railway overhead line system inspection robot according to claim 4, wherein: spraying subassembly (4) include mounting bracket (25), backup pad (29) upside fixedly connected with mounting bracket (25), mounting bracket (25) bottom is provided with storage tank (26) and water pump (27) respectively, the input of water pump (27) passes through connecting pipe (28) and storage tank (26) intercommunication.

6. The railway overhead line system inspection robot according to claim 5, wherein: spacing subassembly (3) include first mount pad (21) and first gear (24), backup pad (29) upside is through first electric putter (22) of first mount pad (21) fixedly connected with, first electric putter (22) expansion end fixedly connected with arc pinion rack (23), arc pinion rack (23) and first gear (24) looks adaptation of fixing in first pivot (5) surface.

7. The railway overhead line system inspection robot according to claim 6, wherein: the upper side of the walking device (1) is symmetrically provided with two clamping mechanisms (2) by taking the first rotating shaft (5) as a center, each clamping mechanism (2) comprises a U-shaped plate (68), the upper side of the supporting plate (29) is fixedly connected with the U-shaped plate (68), a sliding groove (73) is formed in the U-shaped plate (68), two sliding blocks (71) are arranged in the sliding groove (73) in a sliding manner, the side surfaces of the sliding blocks (71) are fixedly connected with clamping plates (74), the opposite surfaces of the two clamping plates (74) are fixedly connected with rubber pads (75), one side, opposite to the clamping plates (74), of the U-shaped plate (68) is fixedly connected with two fixing plates II (69), a screw rod II (72) is rotatably connected between the two fixing plates II (69), the end surface of the screw rod II (72) is fixedly connected with a rotating disc (76), and the surface of the screw rod II (72) is provided with two threads with opposite directions, and the outer surface of each thread is in threaded connection with a second thread sleeve (70), and the two second thread sleeves (70) are respectively and fixedly connected with the two sliding blocks (71).

8. The railway overhead line system inspection robot according to claim 1, wherein: moving mechanism (6) are including fixed plate (51), T type spout (79) have been seted up in fixed plate (51), it is provided with T type slider (55) to slide in T type spout (79), first pivot (5) of T type slider (55) bottom fixedly connected with, T type spout (79) internal rotation is connected with screw rod (52), screw rod (52) surface threaded connection has thread bush (54), thread bush (54) and T type slider (55) fixed connection, fixed plate (51) side is provided with motor (53) that are used for rotating screw rod (52).

9. The railway overhead line system inspection robot according to claim 1, wherein: the top support mechanism (39) comprises a first connecting plate (59) and a third electric push rod (60), the first connecting plate (59) and the third electric push rod (60) are respectively fixed on the upper side and the lower side of the movable plate (20), a rectangular sleeve (62) is fixedly connected with the movable end of the third electric push rod (60), two rectangular plates (65) are arranged in the rectangular sleeve (62) in a sliding mode, the rectangular plates (65) are in clearance fit with the rectangular sleeve (62), wire guide grooves (77) are formed in the opposite sides of the two rectangular plates (65), first rectangular grooves and second rectangular grooves are formed in the upper side wall and the lower side of the rectangular sleeve (62) respectively, second traction ropes (61) are arranged on the two sides of the bottom of the rectangular sleeve (62), one end, far away from the rectangular sleeve (62), of each second traction rope (61) sequentially penetrates through the second rectangular grooves, the wire guide grooves (77) and the first rectangular grooves and is fixedly connected with the first connecting plate (59), and the both ends of second haulage rope (61) correspond from top to bottom, rectangle cover (62) bottom position fixedly connected with connecting plate two (63) placed in the middle, and the equal fixedly connected with second telescopic link (67) of the opposite side of connecting plate two (63), second telescopic link (67) activity end fixedly connected with supporting shoe (64), extension spring (66) have been cup jointed on second telescopic link (67) surface, the both ends of extension spring (66) respectively with supporting shoe (64) and connecting plate two (63) fixed connection, and two supporting shoes (64) respectively with two rectangular plate (65) bottom fixed connection.

10. The railway overhead line system inspection robot according to claim 9, wherein: elastic component (19) include third mount pad (56), slide rail (18) bottom is through first telescopic link (58) of third mount pad (56) fixedly connected with, first telescopic link (58) expansion end and third electric putter (60) fixed connection, spring (57) have been cup jointed on first telescopic link (58) surface, the both ends of spring (57) respectively with third electric putter (60) and third mount pad (56) fixed connection.