CN119189806A - An automatic inspection device for electrified railway contact network - Google Patents
An automatic inspection device for electrified railway contact network Download PDFInfo
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- CN119189806A CN119189806A CN202411412830.5A CN202411412830A CN119189806A CN 119189806 A CN119189806 A CN 119189806A CN 202411412830 A CN202411412830 A CN 202411412830A CN 119189806 A CN119189806 A CN 119189806A
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- assembly
- pair
- inspection device
- electrified railway
- carrier cable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention provides an automatic inspection device for an electrified railway contact net, and relates to the technical field of electrified railway inspection. The overhead line system comprises a plurality of modularized assemblies which are sequentially connected through connecting joints, wherein the modularized assemblies comprise a frame, a moving assembly, a connecting rod assembly and a balancing assembly, the moving assembly is used for being connected to a bearing rope of an electrified railway overhead line system and driving the modularized assemblies to move forwards on the bearing rope, the connecting rod assembly is used for connecting the moving assembly to the frame and keeping the moving assembly in contact with the bearing rope, and the balancing assembly is mounted on the frame and used for keeping the modularized assemblies to move forwards on the bearing rope in a vertical posture. The invention can monitor both insulation resistance and leakage capacitance on any branch in the power supply system. The automatic inspection device can move forward on the carrier cable of the overhead contact system to carry out inspection without working on the contact line of the overhead contact system, can carry out uninterrupted measurement inspection on the electrified railway contact system, does not need to work when railway service is suspended, and has better railway overhead contact system inspection convenience.
Description
Technical Field
The invention belongs to the technical field of electrified railway inspection, and particularly relates to an automatic inspection device for an electrified railway contact network.
Background
The overhead contact system is used for transmitting electric energy to the train, is an important component of an electric railway, and is responsible for providing electric power supply for the train. However, prolonged use and environmental factors may cause the catenary to fail, thereby creating potential risks to train operation safety and passenger safety. In order to ensure the safety and reliability of the overhead line system, and to discover potential faults and repair problems in time, regular inspection and monitoring is required.
The prior art CN212195167U discloses an automatic inspection device for an electrified railway contact network, which comprises a base and a travelling mechanism, wherein the travelling mechanism is connected to the base and comprises a plurality of travelling wheels, the travelling wheels are arranged on concave suspension grooves on two sides of a contact line conductor, the base is hung upside down on the contact line, the travelling mechanism is used for travelling along the contact line, the driving mechanism is connected to the base and comprises a plurality of drivers, each driver is correspondingly connected with one travelling wheel and is used for driving the corresponding travelling wheel to rotate, the contact network detection mechanism comprises two detectors which are respectively arranged on two sides of the length direction of the contact line, each detector comprises a camera, an infrared sensor and a data management module, the cameras and the infrared sensors are connected with the corresponding data management module, and the data management module is used for wirelessly transmitting collected data. However, the existing automatic inspection device for the electrified railway overhead contact system walks on the contact line of the overhead contact system and is easy to interfere with the pantograph of the train to cause potential safety hazards of operation of the train, so that the inspection device can only work when railway service is suspended, and the inspection of the railway overhead contact system is inconvenient.
Disclosure of Invention
The invention aims to provide an automatic inspection device for an electrified railway overhead contact system, which walks on a carrier cable of the overhead contact system, does not interfere with a pantograph of a train, can inspect during railway service operation, and improves the convenience of railway overhead contact system inspection.
The invention provides an automatic inspection device for an electrified railway contact network, which comprises a plurality of modularized assemblies, a plurality of sensor units, a plurality of camera units and a plurality of control units, wherein the modularized assemblies are sequentially connected through connecting joints and are provided with sensors and cameras for inspecting the railway contact network;
The modular assembly includes:
A frame;
The movable assembly is used for being connected to a carrier cable of the electrified railway contact network and driving the modularized assembly to move forward on the carrier cable;
a link assembly connecting the moving assembly to the frame and maintaining the moving assembly in contact with the carrier cable;
a counterbalance assembly mounted on the frame for maintaining the modular assembly in a vertical posture for advancement over the carrier cable.
Further, the frame comprises a front closing plate, a rear closing plate and a connecting plate for connecting the front closing plate and the rear closing plate;
the balance assembly comprises a pair of linear drivers and a pair of balance weights, wherein the pair of linear drivers are respectively supported on the front sealing plate and the rear sealing plate, the upper ends of the pair of linear drivers are obliquely and bilaterally symmetrically arranged on the balance assembly towards the bearing rope, the pair of balance weights are respectively arranged at the lower ends of the pair of linear drivers and are positioned below the bearing rope, and the balance assembly further comprises a rotary executing element arranged on a frame.
Further, the moving assembly includes:
a saddle at the front;
the moving mechanism is positioned in the middle and used for driving the modularized assembly to move forward on the carrying rope;
A sleeve at the rear is made up of two separable parts which can be clamped around the carrier cable and slid.
Further, the movement mechanism comprises two crawler wheels, each crawler wheel comprising a belt transmitting the motion of two driving wheels driven by a driving motor to five idler wheels and an elastic suspension equipped with the same number, the two crawler wheels being mounted symmetrically on the movement assembly with respect to the vertical axis of the carrying cable.
Further, the moving mechanism includes a pair of rollers having concave surfaces, the concave surfaces of the pair of rollers being mounted tangentially to the underlying carrier cable, the rollers being driven by a drive motor.
Further, the sleeve also acts as a current grabber for the carrier cable, comprising an induction coil for powering the battery of the modular assembly, the sleeve being made up of two semicircular electromagnetic elements connected by a hinge to encircle the carrier cable, each semicircular electromagnetic element being connected to the frame by an actuator.
Further, the moving assembly further comprises a safety assembly for locking the modular assembly with the carrier cable to prevent the modular assembly from falling off when the modular assembly is traveling.
Further, a plurality of proximity sensors are disposed around the saddle at the front of the moving assembly.
Further, the link mechanism comprises a pair of pivoting link assemblies which are arranged in a front-back symmetrical manner and a pair of screw rods which are arranged in a left-right symmetrical manner, wherein the pivoting link assemblies can rotate around pivoting shafts which extend in the left-right direction, the upper ends of the pivoting link assemblies are connected with connecting blocks of the frame through pin shafts, the lower ends of the pivoting link assemblies are connected with the top of the moving mechanism through pin shafts, and the screw rods are connected to front-back opposite ends of the pivoting shafts of the pivoting link assemblies through screw threads in a matched manner.
Further, each of the connection joints is composed of a movable parallelogram structure to allow deflection of two consecutive modular assemblies with respect to a vertical axis, and both ends of each of the connection joints are connected to frames of front and rear adjacent modular assemblies by a rotation joint rotatable about an axis extending in a left-right direction, respectively.
The technical scheme adopted by the invention has the beneficial effects that:
(1) The automatic inspection device for the electrified railway contact net comprises a plurality of modularized assemblies, a connecting rod assembly, a balancing assembly and an automatic inspection device, wherein the modularized assemblies are sequentially connected through connecting joints and are provided with sensors and cameras for inspecting the railway contact net, the modularized assemblies comprise a frame, a moving assembly, a connecting rod assembly, a balancing assembly and a sensor, the moving assembly is used for being connected to a carrying rope of the electrified railway contact net and driving the modularized assemblies to move forwards on the carrying rope, the connecting rod assembly is connected to the frame and keeps the moving assembly to be contacted with the carrying rope, the balancing assembly is arranged on the frame and is used for keeping the modularized assemblies to move forwards on the carrying rope in a vertical posture, the automatic inspection device can move forwards on the carrying rope of the contact net and does not work on a contact line of the contact net, so that potential safety hazards of operation of the train caused by interference influence on a pantograph of the contact net do not exist, uninterrupted measurement inspection can be performed on the electrified railway contact net, the operation is not needed when railway service is suspended, and the automatic inspection device has better railway contact net inspection convenience;
(2) The balance assembly comprises a pair of linear drivers, a pair of balance weights and a rotary executing element, wherein the upper ends of the pair of linear drivers are obliquely and bilaterally symmetrically arranged on the balance assembly towards the carrying rope, and the pair of balance weights are respectively arranged at the lower ends of the pair of linear drivers and are positioned below the carrying rope, so that any external force interference can be balanced and compensated, and the vertical gesture operation can be kept to stably and reliably carry out inspection and detection;
(3) The invention is composed of two semicircular electromagnetic elements which are connected by a hinge to encircle the carrier cable, each semicircular electromagnetic element is connected to the frame by an actuator, and the sleeve can be opened to overcome the obstacle when the modularized assembly operates;
(4) According to the invention, the connecting joints are formed by a movable parallelogram structure, so that two continuous modularized assemblies are allowed to deflect relative to a vertical axis, and two ends of each connecting joint are respectively connected to the frames of the front-back adjacent modularized assemblies through the rotating joints capable of rotating around the axis extending in the left-right direction, so that the modularized assemblies can adapt to the change in curvature and height of the carrying cable in the advancing process.
Drawings
Fig. 1 shows a schematic view of the automatic inspection device of the present invention on a carrier cable of an electrified railway catenary;
FIG. 2 shows a schematic external structure of the whole automatic inspection device;
FIG. 3 shows a schematic structural view of each modular assembly inside the automated inspection device;
FIG. 4 shows a partially exploded schematic view of the modular components of the automated inspection device;
FIG. 5 shows a partially exploded schematic view of a modular assembly;
FIG. 6 illustrates a front view of a modular assembly;
FIG. 7 illustrates a side view of the modular assembly;
FIG. 8 illustrates the configuration of the counterbalance assembly in a vertical attitude position;
FIG. 9 illustrates the configuration of the counterbalance assembly when subjected to a rightward external force;
FIG. 10 illustrates the configuration of the counterbalance assembly when subjected to a leftward force;
FIG. 11 illustrates a schematic diagram of maintaining the balance of angular momentum by a stabilizing moment generated by the rotation of a rotary actuator;
FIG. 12 shows a schematic structural view of the mobile assembly of the first embodiment;
FIG. 13 illustrates a front view of the mobile assembly of the first embodiment;
FIG. 14 shows a schematic structural view of a mobile assembly of the second embodiment;
FIG. 15 illustrates a front view of a mobile assembly of a second embodiment;
FIG. 16 illustrates a top view of the mobile assembly;
FIG. 17 shows a schematic structural view of the modular assembly connected to the carrier cable when the safety assembly is in the open position;
FIG. 18 shows a partial enlarged view of the modular assembly connected to the carrier cable when the safety assembly is in the open position;
FIG. 19 shows a schematic structural view of the modular assembly connected to the carrier cable when the safety assembly is in the closed position;
FIG. 20 shows an enlarged partial view of the portion of the modular assembly connected to the carrier cable when the safety assembly is in the closed position;
FIG. 21 illustrates a partial cross-sectional side view of the automated inspection device while overcoming an obstacle;
FIG. 22 shows a partial enlarged view of FIG. 21;
FIG. 23 illustrates a top view of the automated inspection device in the XY plane as the curvature of the carrier cable changes;
FIG. 24 shows a side view of FIG. 23;
Fig. 25 shows a schematic view of the automated inspection device in the XY plane and in the XZ plane as the curvature and level of the carrier cable change.
Detailed Description
For a clearer understanding of the objects, technical solutions and effects of the present invention, embodiments of the present invention will be further described with reference to the accompanying drawings.
Fig. 1 shows a schematic view of the automatic inspection device according to the invention on a carrier cable of an electrified railway contact network, wherein the electrified railway contact network is only partially shown in a small section. The electrified railway contact net comprises a strut 3, an insulator 6, a carrier rope 4, a contact wire 5, a stay wire 8 and a suspension rope 7 allowing to keep the contact wire 5 at a constant height with respect to the carrier rope 4. The automatic inspection device 100 is mounted on the carrier cable 4.
Fig. 2 and 3 show the overall external structural schematic of the automatic inspection device and the structural schematic of each modular component inside the automatic inspection device, respectively. The automatic inspection device 100 is composed of three modular assemblies 110 connected by two connection joints 380 and equipped with sensors and cameras for inspection of railway catenary, such as a lidar sensor 501, an RGB camera 502, a thermal imaging camera 503, etc. It should be appreciated that the modular assembly 110 is not limited to three in alternative embodiments and may be other numbers of multiple modular assemblies 110.
Fig. 4 illustrates a partially exploded schematic view of the modular assembly 110 of the automated inspection device 100 of fig. 2, showing that the modular assembly 110 includes a frame 200, a balancing assembly 400, and a moving assembly 300.
Fig. 5, 6 and 7 show a partially exploded schematic view, a front view and a side view, respectively, of modular assembly 110. Within the frame 200 is mounted a symmetrically configured balancing apparatus 400, the balancing apparatus 400 comprising two linear drives 403 and a pair of weights 402, the frame 200 comprising a front closing plate 405 and a rear closing plate 406, which support the two linear drives 403 and are adapted to accommodate a plurality of batteries required to power the modular assembly 110 of the automatic inspection device 100. The battery serves as a weight 402, which will be described later. The balancing assembly 400 is intended to maintain the vertical axis of each modular assembly 110 of the automated inspection device 100 perpendicular to the railroad track, regardless of the curvature of the carrier cable 4 at the point of contact. Obviously, other embodiments of the balancing assembly may be employed that do not use a weight. A web 407 is located between the front closure plate 405 and the rear closure plate 406, shown in more detail in fig. 5, and is structured to receive the rotary actuator 401.
Fig. 8, 9 and 10 show the arrangement of the balancing assembly in different positions of the center of gravity, and fig. 11 shows the balancing of the angular momentum by the stabilizing moment generated by the rotation of the rotary actuator 401. Fig. 8, 9, 10, 11 illustrate the forces experienced by each modular assembly 110 of the automated inspection device 100 during travel along the carrier cable 4. The modular assembly 110 can be stabilized on the carrier cable 4 by the combined control of the counter weight 402 and the rotary actuator 401. Given an external force F e1、Fe2, which tends to rotate the modular assembly 110 about the carrier cable 4 and possibly out of it (fig. 9 and 10), by changing the position of the counterweight 402, a moment C 0 is created which tends to re-stabilize the modular assembly 110, returning it to equilibrium. The combination of the moments C 0, etc. of the different modular assemblies 110 ensures the correct arrangement of the entire automated inspection device 100. Fig. 11 shows that the rotary actuator 401 provided on the frame 200 is continuously rotating at a speed W, the stabilizing moment resulting from conservation of angular momentum due to angular change of the rotation axis J 2 caused by any obstacle or posture change during travel.
Specifically, as shown in fig. 8, the upper ends of the pair of linear drivers 403 are arranged symmetrically on the balance assembly 400 obliquely left and right toward the carrier rope 4, and the pair of weights 402 are respectively provided at the lower ends of the pair of linear drivers 403 below the carrier rope 4, so that when the modular assembly 110 is operated in a vertical posture in which the balance axis P is horizontal without receiving an external force affecting the balance, the gravity moment of the pair of weights 402 around the carrier rope 4 is cancelled, and the modular assembly 110 keeps a balanced vertical posture to advance. As shown in fig. 9, when the modularized assembly 110 receives a rightward external force F e1, the modularized assembly 110 tilts rightward to generate a tilting angle θ between the balance axis P and the horizontal axis P', and in order to restore the vertical posture of the modularized assembly 110, the right linear driver 403 is controlled to drive the right counterweight 402 to move upward, so that the gravitational moment F p1 of the left counterweight 402 around the carrier rope 4 is greater than the gravitational moment F p2 of the right counterweight 402 around the carrier rope 4, and a counterclockwise moment C 0 is generated to restore the modularized assembly 110 to the balanced vertical posture state in a tilting manner. As shown in fig. 10, when the modularized assembly 110 receives a leftward external force F e2, the modularized assembly 110 tilts to the left to generate a tilting angle- θ between the balance axis P and the horizontal axis P', and in order to restore the vertical posture of the modularized assembly 110, the left linear driver 403 is controlled to drive the left counterweight 402 to move upward, so that the gravitational moment F p2 of the right counterweight 402 around the carrier rope 4 is greater than the gravitational moment F p1 of the left counterweight 402 around the carrier rope 4, and a clockwise moment C 0 is generated to enable the modularized assembly 110 to tilt to the right to restore the balanced vertical posture.
Fig. 12 and 13 show a schematic structural view and a front view, respectively, of the moving assembly of the first embodiment. The modular assembly 110 is equipped with an assembly for a firm and controlled advance along the carrying cable 4, the moving assembly 300 being mounted above the centre of gravity of the modular assembly 110, the linkage 330 connecting the frame 200 to the moving assembly 300.
In a first embodiment, shown in connection with fig. 4, the mobile assembly 300 comprises a saddle 301 at the front and a sleeve 302 at the rear, the sleeve 302 being formed of two separable parts which can be gripped around the carrier cable 4 and slid. The movement assembly 300 further includes a movement mechanism 310, the movement mechanism 310 including two track wheels 320. Each track wheel 320 comprises a belt 321 transmitting the motion of two drive wheels 322 to five idler wheels 323 and an identical number of resilient suspensions 324, the drive wheels 322 being driven by a drive motor. As shown in fig. 13, two crawler wheels 320 are mounted on the movement assembly 300 symmetrically with respect to the vertical axis J1 of the carrier cable 4. The vertical axis J1 coincides with the vertical or z-axis of the modular assembly 110, perpendicular to the railroad track. The inclination angle of each track wheel 320 with respect to the vertical axis J1 is at least 20 °, which allows for a contact surface between the moving mechanism 310 of the modular assembly 110 and the carrier cable 4 that is as large as possible, ensuring a stable advancement of the moving mechanism 310 along the carrier cable 4 and flexible adaptation to any obstacle during transit.
Fig. 14 and 15 show a schematic structural view and a front view, respectively, of a moving assembly of the second embodiment. Figures 14 and 15 retain the reference numerals previously given and indicate the linkage mechanism indicated by 330, the movement assembly indicated by 300 and the movement mechanism indicated by 350, the movement mechanism comprising a pair of rollers 311 having concave surfaces, the concave surfaces of the pair of rollers 311 being mounted tangentially to the underlying carrier cable 4 so that the pair of rollers 311 can roll stably on the carrier cable 4, the rollers 311 being driven by a drive motor.
Fig. 16 shows a top view of the movement assembly, in combination with fig. 11, 12 and 14, with a linkage 330 for connecting the movement assembly 300 to the frame 200 and for maintaining the movement mechanisms 310, 350 in contact with the carrier cable 4. Specifically, the link mechanism 330 includes a pair of pivot link assemblies symmetrically disposed front and rear and a pair of screw rods 336 symmetrically disposed left and right, the pivot link assemblies being rotatable about pivot shafts 335 extending in the left and right directions, upper ends of the pair of pivot link assemblies being connected to the connection blocks of the frame 200 by pin shafts, lower ends of the pair of pivot link assemblies being connected to top portions of the moving mechanisms 310, 350 by pin shafts, and the pair of screw rods 336 being connected to front and rear opposite ends of the pivot shafts 335 of the pair of pivot link assemblies by screw-fitting. The pair of pivot link assemblies may be driven by rotating the lead screw 336 to adjust the height of the pivot link assemblies and thus the height of the frame 200 relative to the carrier cable 4.
In addition, as shown in fig. 11, 12, 14 and 16, each pair of pivoting link assemblies of the link mechanism 330 includes a pair of pivoting link groups arranged symmetrically left and right, and a return spring 331 is laterally sleeved between the pivoting link groups arranged symmetrically left and right on a pin shaft connected to the top of the moving mechanism 310, 350 at the lower end of the pivoting link assembly, and the return spring 331 is decoupled from rotation of the pivoting link groups, so as to maintain symmetry of the moving assembly 300 with respect to the carrier cable 4 during traveling, thereby maintaining the vertical posture of the modular assembly 110.
As shown in fig. 4, 8, 9, 10, 11, 12, 13, 14 and 15, in each modular assembly 110, the mobile assembly 300 is also equipped with a safety assembly 340. Fig. 17 and 18 show a schematic structural view and a partially enlarged partial view, respectively, of the connection of the modular assembly to the carrier cable when the safety assembly is in the open position, and fig. 19 and 20 show a schematic structural view and a partially enlarged partial view, respectively, of the connection of the modular assembly to the carrier cable when the safety assembly is in the closed position. The safety assembly 340 comprises two separate annular rods 341, the annular rods 341 being arranged telescopically and being provided with rollers 342 to reduce friction with the carrier cable 4. Stretching the two annular rods 341 together secures the modular assembly 110 to the carrier cable 4 and compressing the two annular rods 341 to unlock the modular assembly 110 from the carrier cable 4, the safety assembly 340 providing protection for the modular assembly 110 around the carrier cable 4 from falling off the carrier cable 4 during travel. A plurality of proximity sensors 345 are provided around saddle 301 at the front of mobile assembly 300, proximity sensors 345 allowing detection of an obstacle in the path of travel of modular assembly 110 and controlling safety assembly 340 to open so that an obstacle can be cleared when approaching the obstacle, as shown in more detail in fig. 21 and 22.
Fig. 21 is a partial cross-sectional side view of the automatic inspection device 100 when overcoming an obstacle, and fig. 22 is a partial enlarged view of fig. 21. As shown in fig. 21, 22, the middle modular assembly 110 is encountering a suspension cable 7, the sleeve 302 of the modular assembly 110 and the annular rod 341 of the safety assembly 340 open to clear the suspension cable 7. The sleeve 302 also serves as a current grabber for the carrier cable 4 for powering the battery of the modular assembly 110, and the sleeve 302 comprises at least one induction coil of copper for generating an induction current by electromagnetic induction with the carrier cable 4 and for transmitting the induction current to the battery of the modular assembly 110 via an electrical circuit. The current grabber consists of two semicircular electromagnetic elements connected by a hinge to encircle the carrier cable 4, each semicircular electromagnetic element being connected to the frame 200 by an actuator. When the sleeve 302 clamps around the carrier cable 4 and slides normally, the current of the two semicircular electromagnetic elements is controlled to make the two semicircular electromagnetic elements attractive to close the sleeve 302, and when an obstacle such as the suspension cable 7 or the insulator 6 is encountered during the running process of the modular assembly 110, the current of the two semicircular electromagnetic elements is changed to make the two semicircular electromagnetic elements repulsive to open the sleeve 302, and an actuator can lift the electromagnetic elements to bypass the obstacle on the path and return to the initial state after the electromagnetic elements pass the obstacle.
Fig. 23 shows a top view of the automatic inspection device in the XY plane when the curvature of the carrier cable is changed, fig. 24 shows a side view of fig. 23, and fig. 25 shows a schematic view of the automatic inspection device in the XY plane and the XZ plane when the curvature of the carrier cable is changed and the horizontal height is changed. The connection tabs 380 connect the rear of one modular assembly to the front of the next modular assembly. Each connection joint 380 is comprised of a movable parallelogram structure that allows two consecutive modular assemblies 110 to deflect relative to a vertical axis to accommodate the curvature of the carrier cable and overcome any obstructions and to maintain the vertical axis of each modular assembly 110 perpendicular to the railroad track. The two ends of each connector 380 are connected to the frame 200 of the front-to-back adjacent modular assembly 110 by a swivel joint 420 rotatable about an axis extending in the left-to-right direction, respectively, to accommodate any horizontal misalignment of the carrier cable 4 along the line. These are more clearly shown in the detailed images of fig. 23, 24 and 25, which illustrate the possibility of the automated inspection device 100 adapting to the trajectory variation of the carrier rope 4 in the XY plane, as well as the variation in the XZ plane. Obviously, combined variations in the XY and XZ planes are also possible.
In the process that the automatic inspection device 100 performs the inspection operation on the electrified railway contact network, when the automatic inspection device 100 starts, the automatic inspection device 100 is placed on the carrier cable 4 of the electrified railway contact network, the safety assembly 340 is closed, the current grabber works, and the driving motor is activated to drive the moving assembly 300 to advance, so that the automatic inspection device 100 is driven to advance to monitor the electrified railway contact network. The sensors used to monitor the electrified railroad catenary operate and save data during the advancement of the automated inspection device 100 and may send the collected data in real time or with a delay through access points along the railroad route. When an obstacle such as an insulator 6 or a suspension wire 7 is detected, a sequence of steps to overcome it will be initiated and this operation repeated for each modular assembly 110. This sequence of steps includes stopping the drive motor, opening the safety assembly, opening the sleeve 302 of the charging system, and restarting the drive motor. If necessary, the affected modular assembly 110 is lifted, the safety assembly 340 is closed after overcoming the obstacle, and finally the charging system sleeve 302 is closed. When the automatic inspection device 100 reaches a preset destination, the operation when starting is performed in the opposite direction will perform the reciprocating inspection of the electrified railway catenary.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An automatic inspection device for an electrified railway contact network comprises a plurality of modularized assemblies, a plurality of detection units and a plurality of detection units, wherein the modularized assemblies are sequentially connected through connecting joints and are provided with sensors and cameras for inspecting the railway contact network;
characterized in that the modular assembly comprises:
A frame;
The movable assembly is used for being connected to a carrier cable of the electrified railway contact network and driving the modularized assembly to move forward on the carrier cable;
a link assembly connecting the moving assembly to the frame and maintaining the moving assembly in contact with the carrier cable;
a counterbalance assembly mounted on the frame for maintaining the modular assembly in a vertical posture for advancement over the carrier cable.
2. The automatic inspection device for an electrified railway catenary according to claim 1, wherein the frame comprises a front closing plate, a rear closing plate, and a connecting plate connecting the front closing plate and the rear closing plate;
the balance assembly comprises a pair of linear drivers and a pair of balance weights, wherein the pair of linear drivers are respectively supported on the front sealing plate and the rear sealing plate, the upper ends of the pair of linear drivers are obliquely and bilaterally symmetrically arranged on the balance assembly towards the bearing rope, the pair of balance weights are respectively arranged at the lower ends of the pair of linear drivers and are positioned below the bearing rope, and the balance assembly further comprises a rotary executing element arranged on a frame.
3. The automated inspection device for an electrified railway catenary of claim 1, wherein the mobile assembly comprises:
a saddle at the front;
the moving mechanism is positioned in the middle and used for driving the modularized assembly to move forward on the carrying rope;
A sleeve at the rear is made up of two separable parts which can be clamped around the carrier cable and slid.
4. An automatic inspection device for an electrified railway catenary according to claim 3, wherein said moving means comprise two crawler wheels, each comprising a belt transmitting the motion of two driving wheels, driven by a driving motor, to five idler wheels and an elastic suspension equipped in the same number, the two crawler wheels being mounted symmetrically on the moving assembly with respect to the vertical axis of the carrying cable.
5. An automatic inspection device for an electrified railway catenary according to claim 3, wherein said moving means comprises a pair of rollers having concave surfaces, the concave surfaces of the pair of rollers being mounted tangentially to the underlying carrier cable, the rollers being driven by a drive motor.
6. An automatic inspection device for an electrified railway catenary according to claim 3, wherein said sleeve also acts as a current gripper for the carrier cable and comprises an induction coil for powering the battery of the modular assembly, said sleeve being composed of two semicircular electromagnetic elements connected by a hinge to surround the carrier cable, each semicircular electromagnetic element being connected to the frame by an actuator.
7. The automated inspection device for an electrified railway catenary of claim 3, wherein the mobile assembly further comprises a safety assembly for locking the modular assembly with the carrier cable against removal as the modular assembly travels.
8. An automatic inspection device for overhead contact lines of electrified railway according to claim 3 and characterized in that a plurality of proximity sensors are provided around said saddle at the front of the mobile assembly.
9. The automatic inspection device for the overhead contact line system of the electrified railway according to claim 3, wherein the link mechanism comprises a pair of pivoting link assemblies which are arranged in a front-rear symmetrical manner and a pair of screw rods which are arranged in a left-right symmetrical manner, the pivoting link assemblies can rotate around pivoting shafts which extend in the left-right direction, the upper ends of the pair of pivoting link assemblies are connected with a connecting block of the frame through pin shafts, the lower ends of the pair of pivoting link assemblies are connected with the top of the moving mechanism through pin shafts, and the pair of screw rods are connected on front-rear opposite ends of the pivoting shafts of the pair of pivoting link assemblies through screw thread matching.
10. The automatic inspection device for overhead contact systems of electrified railways according to claim 1, wherein each of said connection joints is composed of a movable parallelogram structure to allow deflection of two consecutive modular assemblies with respect to a vertical axis, and both ends of each of said connection joints are respectively connected to the frames of the front and rear adjacent modular assemblies by means of rotary joints rotatable about axes extending in the left-right direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411412830.5A CN119189806A (en) | 2024-10-11 | 2024-10-11 | An automatic inspection device for electrified railway contact network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411412830.5A CN119189806A (en) | 2024-10-11 | 2024-10-11 | An automatic inspection device for electrified railway contact network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119189806A true CN119189806A (en) | 2024-12-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411412830.5A Pending CN119189806A (en) | 2024-10-11 | 2024-10-11 | An automatic inspection device for electrified railway contact network |
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| Country | Link |
|---|---|
| CN (1) | CN119189806A (en) |
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2024
- 2024-10-11 CN CN202411412830.5A patent/CN119189806A/en active Pending
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