CN220896202U - Foreign matter removing robot for high-speed railway contact net - Google Patents

Abstract

The utility model discloses a high-speed railway overhead line system foreign matter removal robot which comprises a rail walking vehicle body, a scissor type lifter, a bottom frame, a cutting disc mechanism, a clamping manipulator mechanism, an electric cylinder mechanism, a radar detection mechanism and an intelligent cradle head camera, wherein the bottom frame is arranged above the rail walking vehicle body, rails are symmetrically arranged on the bottom frame, rollers are arranged in the rails in a rolling manner, one of the rollers is provided with a shaft lever, the other end of the shaft lever is connected with the other roller, a first motor is arranged on the bottom frame, two supporting seats are correspondingly arranged on the bottom frame, a rotating shaft of the first motor is connected with a lead screw through a shaft coupling, the lead screw is rotationally connected with the supporting seats, a sliding block is arranged at a position between the two supporting seats on the lead screw and is in threaded connection with the lead screw, the sliding block is rotationally connected with the shaft lever through a bolt, two supporting rods at the bottom of the scissor type lifter are rotationally connected with the bottom frame, the other two supporting rods at the bottom of the scissor type lifter are rotationally connected with the shaft lever, and a platform is arranged at the upper end of the scissor type lifter.

Description

Foreign matter removing robot for high-speed railway contact net

Technical Field

The utility model relates to the technical field of overhead line system maintenance equipment, in particular to a high-speed railway overhead line system foreign matter removal robot.

Background

The high-speed railway contact net is an important component part of a high-speed railway power supply system, is an indispensable part for normal running of a high-speed railway, and the normal operation of the contact net is a necessary condition for stable and orderly running of a railway; the foreign matters can damage the high-speed rail pantograph during operation and cause serious consequences such as high-speed rail late time and the like even wound on the high-speed rail pantograph;

Because the overhead contact system is electrified with high-voltage power of 27.5kv and needs to be in direct contact with a pantograph of a train for power supply, the overhead contact system cannot be protected by a wrapping method.

At present, foreign matters are mostly found through a manual inspection mode, then power failure is reported, and then the manual foreign matters are removed. If the train encounters such sudden problems in the travelling process, the train can only stop for a long time temporarily, and wait for private persons and equipment to rescue from nearby stations and stations; the series of steps can lead to the failure of the normal running of the train, can cause large-area delay of the national railway, and has great influence on the traveling of passengers.

Aiming at the problem, a robot device with bionic arms is developed, which can directly perform high-voltage live working, remove foreign matters, furthest reduce the influence of foreign matters of a contact net on train operation, and further ensure the normal and orderly operation of a railway network.

Disclosure of utility model

The utility model aims to overcome the defects of the technology and provide the foreign matter removal robot for the high-speed railway overhead contact system.

In order to solve the technical problems, the technical scheme provided by the utility model is that the foreign matter removing robot for the high-speed railway overhead contact system comprises: the intelligent robot comprises a rail traveling car body, a scissor type lifter, a chassis, a cutting disc mechanism, a clamping manipulator mechanism, an electric cylinder mechanism, a radar detection mechanism and an intelligent cradle head camera, wherein the chassis is arranged above the rail traveling car body, rails are symmetrically arranged on the chassis, rollers are arranged in the rails in a rolling manner, one of the rollers is provided with a shaft rod, the other end of the shaft rod is connected with the other roller, a first motor is arranged on the chassis, two supporting seats are correspondingly arranged on the chassis, a screw is connected to a rotating shaft of the first motor through a coupler, the screw is in rotary connection with the supporting seats, a sliding block is arranged at a position between the two supporting seats on the screw, the sliding block is in threaded connection with the shaft rod through a bolt, the other two supporting rods at the bottom of the scissor type lifter are in rotary connection with the shaft rod, the upper ends of the scissor type lifter are respectively and symmetrically provided with an electric cylinder mechanism, one side of the electric cylinder mechanism is provided with a sliding groove, the sliding groove is correspondingly arranged on one side of the electric cylinder mechanism, the sliding groove is correspondingly connected with the sliding groove of the electric cylinder mechanism, and the sliding groove is correspondingly arranged on the sliding groove is connected with the sliding groove of the electric cylinder mechanism, and the sliding groove is correspondingly arranged on the side of the electric cylinder;

The rail-mounted vehicle body is provided with a plurality of storage batteries, and the rail-mounted vehicle body is provided with a controller.

As an improvement, the cutting disc mechanism comprises a supporting arm, a protective cover, a cutting wheel disc and a second motor, wherein the supporting arm is arranged in a sliding groove rail in a sliding manner and is connected with a telescopic rod of the electric cylinder mechanism, the second motor is arranged at the upper end of the supporting arm, the cutting wheel disc is arranged on a shaft of the second motor, the protective cover is arranged on the second motor, and the protective cover covers the outer part of the cutting wheel disc.

As an improvement, press from both sides and get manipulator mechanism and include support column, support body, clamping jaw, L type connecting piece, step motor and screw rod, the support column sliding arrangement is in the sliding tray rail and with the telescopic link of electric jar mechanism be connected, the support column top is equipped with the support body, one end is equipped with step motor on the support body, step motor's epaxial shaft coupling and the screw rod connection of passing through, the other end and the support body rotation of screw rod are connected, be equipped with the spiral shell piece on the screw rod, spiral shell piece both ends symmetry is equipped with first connecting plate, first connecting plate and spiral shell piece are through the round pin axle rotation connection, support body bilateral symmetry is equipped with L type connecting piece, the corner of L type connecting piece is through round pin axle and support body rotation connection, the one end of L type connecting piece is through round pin axle and the first connecting plate rotation connection that corresponds, the other end rotation of L type connecting piece is equipped with the clamping jaw, the clamping jaw upper and lower extreme symmetry is equipped with the second connecting plate, the second connecting plate is through round pin axle and clamping jaw rotation connection, the other end of second connecting plate is through round pin axle and support body rotation connection.

As an improvement, the track walking vehicle body is provided with a shell, the track walking vehicle body is provided with a sliding cover capable of sliding, and the sliding cover can slide into the shell.

Compared with the prior art, the utility model has the advantages that: 1. the rail traveling car body drives equipment to move on a rail, the position of a target object is accurately judged by combining the radar detection mechanism and the intelligent cradle head camera, then the controller controls the rail traveling car body to drive the equipment to move to the corresponding position, then controls the scissor fork type lifter to ascend, when the scissor fork type lifter ascends to a certain position, the corresponding cutting disc mechanism and the clamping manipulator mechanism can be pushed to move back and forth through the electric cylinder mechanism, after the scissor fork type lifter reaches a proper position, two clamping jaws of the clamping manipulator mechanism are controlled to clamp the target object, then the cutting wheel disc of the cutting disc mechanism is controlled to cut the target object, the target object is cut off from the contact net, and then the clamping manipulator mechanism is used for clamping the target object, so that foreign matters on the contact net can be removed;

2. The radar detection mechanism can perform non-contact ranging, and has high precision and wide measurement range; the radar detection mechanism and the intelligent cradle head camera can work at night and in dim occasions, so that the operation is more convenient, and obstacles can be found in the running process, so that the equipment can be stopped in time, avoidance is made, and the safety of the equipment is ensured;

3. The equipment can be on the patrol of track more time, has reduced the human cost, has ensured workman's safety, can timely clear up the foreign matter of contact net, reduces the time of the highway section maintenance that causes because of the foreign matter on the contact net, prevents to appear the large tracts of land later problem of railway network that long-time parking brought to high railway operation efficiency improves railway safety level, guarantee public transport trip safety.

Drawings

Fig. 1 is a side view of a foreign matter removal robot for a high-speed railway overhead line system according to the present utility model.

Fig. 2 is a first perspective view of a foreign matter removal robot for a high-speed railway overhead line system according to the present utility model.

Fig. 3 is a second perspective view of the foreign matter removal robot for the high-speed railway overhead line system of the present utility model.

Fig. 4 is a third perspective view of a foreign matter removal robot for a high-speed railway overhead line system according to the present utility model.

Fig. 5 is a schematic structural view of a scissor lift of a foreign matter removal robot for a high-speed railway overhead line system.

Fig. 6 is a first structural schematic diagram of a disc cutting mechanism and a clamping manipulator mechanism of the foreign matter removal robot for the high-speed railway overhead contact system.

Fig. 7 is a second structural schematic diagram of a pallet cutting mechanism and a gripping manipulator mechanism of the foreign matter removal robot for the high-speed railway overhead contact system.

Fig. 8 is a schematic structural view of a manipulator mechanism for a scissor lift of a high-speed railway overhead line system foreign matter removal robot.

Fig. 9 is a partial enlarged view at a in fig. 5.

Fig. 10 is a partial enlarged view at B in fig. 6.

Fig. 11 is a reference diagram of a use state of the foreign matter removal robot for the high-speed railway overhead contact line according to the present utility model.

As shown in the figure:

1. The intelligent robot comprises a rail walking car body, 2, a scissor type lifter, 3, an underframe, 4, an electric cylinder mechanism, 5, a radar detection mechanism, 6, an intelligent cradle head camera, 7, a rail, 8, a roller, 9, a shaft lever, 10, a first motor, 11, a supporting seat, 12, a lead screw, 13, a sliding block, 14, a platform, 15, a sliding groove rail, 16, a storage battery, 17, a supporting arm, 18, a protective cover, 19, a cutting wheel disc, 20, a second motor, 21, a supporting column, 22, a frame body, 23, a clamping jaw, 24, an L-shaped connecting piece, 25, a stepping motor, 26, a screw, 27, a screw block, 28, a first connecting plate, 29, a second connecting plate, 30, a shell, 31, a sliding cover, 32 and a controller.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

In combination with the accompanying drawings 1-11, a high-speed railway contact net foreign matter removal robot comprises a track walking car body 1, a scissor lift 2, a bottom frame 3, a cutting disc mechanism, a clamping manipulator mechanism, an electric cylinder mechanism 4, a radar detection mechanism 5 and an intelligent cradle head camera 6, wherein the bottom frame 3 is arranged above the track walking car body 1, the bottom frame 3 is symmetrically provided with a track 7, rollers 8 are arranged in the track 7 in a rolling way, one of the rollers 8 is provided with a shaft rod 9, the other end of the shaft rod 9 is connected with the other roller 8, a first motor 10 is arranged on the bottom frame 3, two supporting seats 11 are correspondingly arranged on the bottom frame 3, a screw rod 12 is connected to a rotating shaft of the first motor 10 through a coupler, the screw rod 12 is connected with the supporting seats 11 in a rotating way, a sliding way is arranged at the position between the two supporting seats 11 on the screw rod 12, the sliding rod 13 is in threaded connection with the screw rod 12, two supporting rods at the bottom of the scissor lift 2 are rotationally connected with the bottom frame 3 through bolts, two supporting rods of the scissor lift 2 are rotationally connected with the bottom frame 9 through bolts, two telescopic shafts 15 are correspondingly arranged on the two sides of the electric cylinder mechanism 4, two telescopic disc mechanisms are correspondingly arranged in the clamping manipulator mechanism 4, the two side frames 4 are respectively, the two telescopic disc mechanisms are respectively arranged in the two side of the electric cylinder mechanism 4 are respectively, the telescopic disc mechanism 4 is connected with a telescopic platform 15, and the telescopic platform 14 is arranged in a telescopic platform 15, and a telescopic platform is connected to one side, and a telescopic platform 15 is connected to a telescopic platform 15, and a telescopic mechanism is connected to a telescopic platform 15, and a telescopic platform is connected to a telescopic platform, and a telescopic mechanism 15. An intelligent cradle head camera 6 is arranged in the middle of the upper part of the platform 14, and radar detection mechanisms 5 are arranged at the front end and the rear end of the track walking vehicle body 1;

The rail-mounted vehicle body 1 is provided with a plurality of storage batteries 16, and the rail-mounted vehicle body 1 is provided with a controller 32.

The cutting disc mechanism comprises a supporting arm 17, a protective cover 18, a cutting disc 19 and a second motor 20, wherein the supporting arm 17 is arranged in the sliding groove rail 15 in a sliding mode and is connected with a telescopic rod of the electric cylinder mechanism 4, the second motor 20 is arranged at the upper end of the supporting arm 17, the cutting disc 19 is arranged on a shaft of the second motor 20, the protective cover 18 is arranged on the second motor 20, and the protective cover 18 is covered outside the cutting disc 19.

The clamping manipulator mechanism comprises a support column 21, a frame 22, clamping jaws 23, an L-shaped connecting piece 24, a stepping motor 25 and a screw 26, wherein the support column 21 is arranged in a sliding groove rail 15 in a sliding way and is connected with a telescopic rod of an electric cylinder mechanism 4, the frame 22 is arranged above the support column 21, one end of the frame 22 is provided with the stepping motor 25, the stepping motor 25 is connected with the screw 26 through a shaft coupling, the other end of the screw 26 is rotationally connected with the frame 22, the screw 26 is provided with a screw block 27, two ends of the screw block 27 are symmetrically provided with a first connecting plate 28, the first connecting plate 28 and the screw block 27 are rotationally connected through a pin shaft, two sides of the frame 22 are symmetrically provided with the L-shaped connecting piece 24, the corner of the L-shaped connecting piece 24 is rotationally connected with the frame 22 through the pin shaft, one end of the L-shaped connecting piece 24 is rotationally connected with the corresponding first connecting plate 28 through the pin shaft, the other end of the L-shaped connecting piece 24 is rotationally provided with a second connecting plate 29, the upper end and the lower end of the clamping jaws 23 are symmetrically provided with a second connecting plate 29, and the clamping jaws 29 are rotationally connected with the first connecting plate 29 through the pin shaft and the second connecting plate 29.

The track walking vehicle body 1 is provided with a housing 30, the track walking vehicle body 1 is provided with a sliding cover 31 capable of sliding, and the sliding cover 31 can slide into the housing 30.

When the device is used, the whole device is controlled by the controller 32, the rail-walking vehicle body 1 is controlled to drive the device to move on a rail, the radar detection mechanism 5 and the intelligent holder camera 6 can accurately judge the position of a target object, the device can also be used as an 'eye' of a cleaning robot, when a target object is detected, the controller 32 can control the rail-walking vehicle body 1 to drive the device to move to a corresponding position, then the first motor 10 is controlled to rotate, the first motor 10 can drive the sliding block 13 to move back and forth on the lead screw 12, then the scissor type lifter 2 is driven to lift, the scissor type lifter 2 is controlled to lift, when the disc cutting mechanism and the clamping manipulator mechanism are close to the target object, the corresponding electric cylinder mechanism 4 can be controlled to stretch out and draw back, and then the disc cutting mechanism and the clamping manipulator mechanism can be driven to move in the sliding groove rail 15, the position of the disc cutting mechanism and the clamping manipulator mechanism is adjusted, when the clamping manipulator mechanism is contacted with the target object, the stepping motor 25 is controlled to rotate, then the stepping motor 25 is controlled to drive the screw 27 to move back and forth along the screw 26, the sliding block 27 is driven to move back and forth on the lead screw rod 12 to move back along the lead screw rod, then the first connecting plate 23 is controlled to drive the target object 23 to be pulled down, and then the target object 23 is controlled to be lifted, and then the target object is cut off from the connecting plate 23 is controlled to be pulled down, and then the target object is driven to be lifted, and then the target object is cut;

When the radar detection mechanism 5 works, a beam of electromagnetic waves are emitted to a target object, when the electromagnetic waves meet the target object, a part of the electromagnetic waves are reflected back by the surface of the object, the reflected electromagnetic waves are received by an antenna receiver of the radar detection mechanism 5, the received electric signals are converted into digital signals, and then the digital signals are sent to a signal processor of the radar detection mechanism 5 for processing; according to the propagation speed of the electromagnetic wave and the time difference between the transmitting signal and the receiving signal, the distance from the target object to the radar can be obtained through simple calculation.

The intelligent cradle head camera 6 collects the image of the target object in real time, analyzes and processes the position, the size and other information of the target object through image processing, and further calculates the distance from the target to the camera.

In the description of the embodiments of the present utility model, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the product of the present utility model is conventionally put when used, it is merely for convenience of describing the present utility model and simplifying the description, and it does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present utility model, "plurality" means at least 2.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The utility model and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the utility model as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present utility model.

Claims (4)

1. The utility model provides a high-speed railway contact net foreign matter clearance robot which characterized in that: including track walking automobile body (1), scissor lift (2), chassis (3), cut dish mechanism, clamp and get manipulator mechanism, electric cylinder mechanism (4), radar detection mechanism (5) and intelligent cloud platform camera (6), track walking automobile body (1) top is equipped with chassis (3), symmetry is equipped with track (7) on chassis (3), roll in track (7) and be equipped with gyro wheel (8), one of them be equipped with axostylus axostyle (9) on gyro wheel (8), the other end and the another gyro wheel (8) of axostylus axostyle (9) are connected, be equipped with first motor (10) on chassis (3), correspond on chassis (3) and be equipped with two supporting seats (11), be connected with lead screw (12) through the shaft coupling in the pivot of first motor (10), the position between two supporting seats (11) on lead screw (12) is equipped with slider (13) and lead screw (12) threaded connection, slider (13) and axostylus axostyle (9) are passed through in fork connection axostylus axostyle (2) and are connected to two bottom of scissor lift (2) wherein two axostylus axostyle (2) rotate bottom portion (2), the upper end of the scissor lift (2) is provided with a platform (14), two sides above the platform (14) are symmetrically provided with electric cylinder mechanisms (4), one side of each electric cylinder mechanism (4) is provided with a sliding groove rail (15), a telescopic rod of each electric cylinder mechanism (4) extends into each sliding groove rail (15) and is in sliding connection with each sliding groove rail (15), two of one sides of the platform (14) are provided with a disc cutting mechanism in each sliding groove rail (15), the disc cutting mechanism is connected with the telescopic rod of each corresponding electric cylinder mechanism (4), two of the other sides of the platform (14) are provided with clamping manipulator mechanisms in the corresponding sliding groove rails (15), the middle part above the platform (14) is provided with an intelligent tripod head camera (6), and the front end and the rear end of the track walking vehicle body (1) are provided with radar detection mechanisms (5);

the rail-mounted vehicle body (1) is provided with a plurality of storage batteries (16), and the rail-mounted vehicle body (1) is provided with a controller (32).

2. The foreign matter removal robot for a high-speed railway overhead line system according to claim 1, wherein: the cutting disc mechanism comprises a supporting arm (17), a protective cover (18), a cutting disc (19) and a second motor (20), wherein the supporting arm (17) is arranged in a sliding groove rail (15) in a sliding mode and is connected with a telescopic rod of the electric cylinder mechanism (4), the second motor (20) is arranged at the upper end of the supporting arm (17), the cutting disc (19) is arranged on a shaft of the second motor (20), the protective cover (18) is arranged on the second motor (20), and the protective cover (18) is covered outside the cutting disc (19).

3. The foreign matter removal robot for a high-speed railway overhead line system according to claim 1, wherein: the clamping manipulator mechanism comprises a support column (21), a frame body (22), clamping jaws (23), an L-shaped connecting piece (24), a stepping motor (25) and a screw rod (26), wherein the support column (21) is arranged in a sliding groove rail (15) in a sliding way and is connected with a telescopic rod of an electric cylinder mechanism (4), the frame body (22) is arranged above the support column (21), one end of the frame body (22) is provided with the stepping motor (25), the shaft of the stepping motor (25) is connected with the screw rod (26) through a coupler, the other end of the screw rod (26) is rotationally connected with the frame body (22), a screw block (27) is arranged on the screw rod (26), two ends of the screw block (27) are symmetrically provided with a first connecting plate (28), the first connecting plate (28) and the screw block (27) are rotationally connected through a pin shaft, two sides of the frame body (22) are symmetrically provided with the L-shaped connecting piece (24), the corner of the L-shaped connecting piece (24) is rotationally connected with the frame body (22) through a pin shaft, one end of the L-shaped connecting piece (24) is rotationally connected with the corresponding first connecting plate (28) through the corresponding pin shaft (23), the second connecting plate (29) is rotationally connected with the clamping jaw (23) through a pin shaft, and the other end of the second connecting plate (29) is rotationally connected with the frame body (22) through a pin shaft.

4. The foreign matter removal robot for a high-speed railway overhead line system according to claim 1, wherein: the track walking vehicle body (1) is provided with a housing (30), the track walking vehicle body (1) is provided with a sliding cover (31) capable of sliding, and the sliding cover (31) can slide into the housing (30).