CN-121994822-A - Railway cable surface defect detection robot

CN121994822ACN 121994822 ACN121994822 ACN 121994822ACN-121994822-A

Abstract

The invention relates to the technical field of railway detection and discloses a railway cable surface defect detection robot which comprises a lantern ring, a crushing piece, a driving ring, a moving piece and detection modules, wherein a plurality of groups of detection modules are arranged on the moving piece in an annular array. The crushing members driven by the driving ring and moving along the return groove are arranged, so that opposite crushing hammers alternately impact and recover the cables in opposite directions. The alternating reciprocating motion mode not only realizes the efficient crushing and stripping of the circumferential ice layer, but also generates radial forces which are balanced with each other in the whole, and forms a dynamic clamping effect similar to alternating crawling, thereby actively inhibiting and counteracting the swinging of the cable in deicing operation, fundamentally solving the problem of cable swinging caused by deicing external force, and guaranteeing the operation safety and the stability of detected images.

Inventors

WANG XIJIE
CHEN YANPING
ZHANG BEIBEI
ZHENG YONG
CHENG XIANGHUI
LIU WUJUN
Fu Wenru
XU QIYANG
GUAN JUNJIE
SHEN WEIHUA
DAI ZIBO
SONG JIE
ZUO JIHONG
TANG BAOPING
WANG ZIXIN
FAN GANG

Assignees

湖南铁道职业技术学院

Dates

Publication Date: 20260508
Application Date: 20260310

Claims (8)

1. A railway cable surface defect detection robot comprising a frame (1), characterized in that the robot further comprises: The device comprises a lantern ring (3), wherein the lantern ring (3) is arranged on the side surface of the frame (1) through a connecting plate (2), and a notch is formed in the bottom of the lantern ring (3); The crushing device comprises crushing pieces (4), wherein a plurality of groups of the crushing pieces (4) are arranged on the inner side of a sleeve ring (3), the crushing pieces (4) comprise crushing hammers (41), a return groove (31) for the plurality of crushing hammers (41) to reciprocate along the radial direction of the sleeve ring (3) is formed in the sleeve ring (3), two opposite groups of the crushing pieces (4) move oppositely or move back at the same time, and a plurality of opposite groups of the crushing pieces (4) alternately move towards a cable; The driving ring (5) is rotatably arranged outside the lantern ring (3), the driving ring (5) is used for driving the breaking hammer (41) to reciprocate along the radial direction of the lantern ring (3), a driving strip (53) is arranged on the side surface of the driving ring (5), a driving piece I (21) is arranged on the connecting plate (2), and the driving piece I (21) is in transmission connection with the driving strip (53) and drives the driving ring (5) to reciprocate; The movable piece (6) is arranged on the other side of the frame (1), and the movable piece (6) drives the frame (1) to move along the cable; the detection modules (11) are arranged on the moving piece (6) in a ring-shaped array manner, and a plurality of groups of detection modules (11) are arranged on the moving piece.
2. The railway cable surface defect detection robot according to claim 1, wherein the crushing member (4) further comprises a push-pull plate (42) and a guide block (43), the push-pull plate (42) penetrates through the sleeve ring (3), a guide rod (421) is arranged on the push-pull plate (42), the guide rod (421) is located in the return groove (31) and moves along the return groove (31), two edges of the return groove (31) in the cable direction are in an inclined state, one end of the push-pull plate (42) is provided with a mounting plate (422), the other side of the mounting plate (422) is provided with a plurality of crushing hammers (41), a guide groove (51) and a plurality of convex grooves (52) are formed in the inner side of the driving ring (5), the guide groove (51) is communicated with the convex grooves (52), the guide block (43) moves along the guide groove (51) or the convex grooves (52), and the other end of the push-pull plate (42) is in sliding connection with one side of the guide block (43).
3. The railway cable surface defect detection robot according to claim 2, wherein a plurality of groups of limiting frames (45) are arranged on the inner side of the lantern ring (3), a plurality of air cylinders (44) are slidably mounted in the limiting frames (45), the air cylinders (44) are sleeved on the periphery of the breaking hammer (41), a piston (46) is arranged on the periphery of the breaking hammer (41), the piston (46) is attached to the inner wall of the air cylinders (44), an annular groove is formed in the piston (46), a plurality of air inlets (461) are formed in one side, facing the cable, of the piston (46), the plurality of air inlets (461) are communicated with the annular groove, a flow passage (411) is formed in the breaking hammer (41), a plurality of air injection holes (412) are formed in the end portion of the breaking hammer (41), a plurality of communication holes (462) are formed between the annular groove and the breaking hammer (41), the communication holes (462) are communicated with the flow passage (411), an air inlet pipe (443) is formed in one end, close to the cable, of the piston (44), and the other end is provided with a communication pipe (442).
4. The railway cable surface defect detection robot according to claim 3, wherein two groups of sliding grooves (451) are symmetrically arranged in the limiting frame (45), two groups of sliding blocks (441) are symmetrically arranged on the outer side of the air cylinder (44), and the sliding blocks (441) move along the sliding grooves (451).
5. The railway cable surface defect detection robot according to claim 3, wherein a cleaning piece (7) is installed between the frame (1) and the lantern ring (3), the cleaning piece (7) comprises two groups of semi-ring plates (71) hinged together, rotating shafts of the two groups of semi-ring plates (71) are fixed on the side face of the frame (1), a plurality of shovel plates (72) are arranged on one side, close to the lantern ring (3), of the semi-ring plates (71), the shovel plates (72) are attached to the cable surface, and a separating plate (73) is arranged in the middle of the shovel plates (72).
6. The railway cable surface defect detection robot according to claim 5, wherein the moving member (6) comprises two groups of semi-ring plates (61) hinged together, the rotating shafts of the two groups of semi-ring plates (61) are fixed on the side face of the frame (1), a support plate (62) is arranged on one side of the semi-ring plate (61), a driving member two (63) is mounted on the support plate (62), a universal shaft (64) is arranged at the output end of the driving member two (63), a plurality of rollers (65) are mounted on the universal shaft (64), the rollers (65) are propped against the cable surface, and a plurality of detection modules (11) are mounted on the other side of the semi-ring plate (61).
7. The railway cable surface defect detection robot according to claim 6, wherein the moving part (6) and the cleaning part (7) are provided with lifting parts (8), the lifting parts (8) comprise two groups of movable plates (81) and lifting rings (82), the two groups of movable plates (81) are respectively connected with the first half ring plates (61) or the second half ring plates (71) in a rotating manner, the other ends of the two groups of movable plates (81) are respectively connected with the lifting rings (82) in a rotating manner, both sides of the frame (1) are respectively provided with limiting plates (9), limiting grooves are formed in the limiting plates (9), and the movable plates (81) move in the limiting grooves.
8. The railway cable surface defect detection robot according to claim 7, wherein the bottom ends of the first half ring plate (61) and the second half ring plate (71) are respectively provided with a balancing weight (10).

Description

Railway cable surface defect detection robot Technical Field The invention relates to the technical field of railway detection, in particular to a railway cable surface defect detection robot. Background The railway cable is a key carrier for power supply, communication and signal transmission in a rail transit system, and the structural integrity of the railway cable is directly related to the safety and stability of train operation. The protective jacket on the surface of the cable is easy to be corroded by wind and rain, temperature difference, chemical corrosion and other factors due to long-term exposure to the outdoor complex environment, and the defects of cracks, breakage, aging and the like are generated. Therefore, periodic defect detection of the cable surface is particularly important. At present, intelligent detection technology based on visual imaging is widely adopted in the industry, and automatic identification and evaluation of defects are realized through image acquisition and analysis, so that detection efficiency and accuracy are improved. However, during cold seasons or low temperature environments, the cable surface often condenses a thicker layer of ice. The coverage of the ice layer results in the visual sensor not being able to directly acquire an image of the real surface of the cable jacket, making detection impossible. In order to solve the problem, a deicing robot is generally used for carrying a deicing device and an image acquisition device in the prior art, and deicing is implemented in the moving process and synchronous shooting detection is carried out. The robot generally removes ice layers by means of mechanical scraping, vibration, hot melting or the like, and immediately performs image acquisition on the exposed cable surface after deicing. Nevertheless, existing deicing robots still have significant drawbacks in practical operation. The main problem is that the mechanical force or vibration applied by the robot in the deicing process easily causes continuous shaking of the cable. On the one hand, the shaking can be continuously aggravated in the operation process, particularly in long-span and suspended cables, the continuous shaking can bring fatigue stress, and the long-term or severe shaking can even lead to loosening, structural damage and even breakage of cable joints, thus burying great potential safety hazards. On the other hand, the shaking of the cable can cause that the image acquisition equipment cannot stably focus, the shot image is blurred, dithered or area missing, the accuracy and the reliability of defect identification are seriously influenced, missed detection or misjudgment can be caused, and the actual effect of intelligent detection is weakened. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide a railway cable surface defect detection robot so as to achieve the purposes of effectively inhibiting cable shaking and ensuring safety and image acquisition stability in a detection process while efficiently removing ice. The aim of the invention can be achieved by the following technical scheme: A railway cable surface defect inspection robot comprising a frame, the robot further comprising: The side face of the rack is provided with a lantern ring through a connecting plate, and the bottom of the lantern ring is provided with a notch; The crushing piece is provided with a plurality of groups of crushing pieces on the inner side of the lantern ring, the crushing piece comprises crushing hammers, a plurality of return grooves for the crushing hammers to reciprocate along the radial direction of the lantern ring are arranged in the lantern ring, two opposite groups of crushing pieces move oppositely or back at the same time, and a plurality of groups of opposite crushing pieces alternately move towards the cable; The driving ring is rotatably arranged outside the lantern ring and used for driving the breaking hammer to reciprocate along the radial direction of the lantern ring, a driving strip is arranged on the side face of the driving ring, a first driving piece is arranged on the connecting plate and is in transmission connection with the driving strip, and the first driving piece drives the driving ring to reciprocate; The movable piece is arranged on the other side of the rack and drives the rack to move along the cable; The detection modules are arranged on the moving part in an annular array manner. The crushing piece further comprises a push-pull plate and a guide block, wherein the push-pull plate penetrates through the sleeve ring, the push-pull plate is provided with a guide rod, the guide rod is positioned in the return groove and moves along the return groove, two sides of the return groove in the cable direction are in an inclined state, one end of the push-pull plate is provided with a mounting plate, the other side of the mounting plate is provided with a plurality of crushing hammers, the inne