CN109079748A - A kind of rail polling robot - Google Patents
A kind of rail polling robot Download PDFInfo
- Publication number
- CN109079748A CN109079748A CN201811187378.1A CN201811187378A CN109079748A CN 109079748 A CN109079748 A CN 109079748A CN 201811187378 A CN201811187378 A CN 201811187378A CN 109079748 A CN109079748 A CN 109079748A
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- Prior art keywords
- axis
- partial discharge
- cabinet
- lifting
- motor
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- 238000001514 detection method Methods 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000007689 inspection Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 description 4
- 229960000909 sulfur hexafluoride Drugs 0.000 description 4
- 229910018503 SF6 Inorganic materials 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention relates to transformer equipment service technique fields, more particularly to a kind of rail polling robot, including sequentially connected track mobile device, lifting device, Z axis rotating device and detection device, track mobile device includes support frame, for the driven guidance set in the mobile active support component of drum orbital groove inner surface and for being bonded with drum track, support frame is connect with lifting device, lifting device includes crane, crane is equipped with the lifting assembly for going up and down Z axis rotating device, Z axis rotating device includes rotary shaft, rotary shaft is connect with detection device.The present invention provides the convenient crusing robots moved in orbit, and pass through lifting device and Z axis rotating device, realize the freedom degree of Z-direction and Z axis direction of rotation of the detection device in track moving process, so that detection device is obtained the operational data of transformer equipment in more different angles, improves the efficiency of detection and the levels of precision of detection.
Description
Technical field
The present invention relates to transformer equipment service technique field more particularly to a kind of rail polling robots.
Background technique
Currently, the maintenance of substation usually carries out inspection and maintenance by artificial, and in order to prevent the damage of substation,
It usually requires periodically progress inspection to repair in time to find the problem in advance, but regularly inspection is not only unrestrained for a long time
Take a large amount of manpower, and since patrol officer's long term repeatability is worked, be easy the generation due to neglecting the case where causing missing inspection,
The effect of inspection is caused to decline；In addition, the hyperbaric environment of substation also has certain threat to the safety of patrol officer, it is easy to happen
The injures and deaths of personnel.
Summary of the invention
The object of the present invention is to provide being conducive to improve transformer equipment routing inspection efficiency and quality, while artificial investment is reduced,
Avoid leading to the problem of a kind of rail polling robot of work of transformer substation personnel safety.
To achieve the goals above, the present invention provides a kind of rail polling robot, including the movement of sequentially connected track
Device, lifting device, Z axis rotating device and detection device, the track mobile device include support frame, in drum track
The mobile active support component of groove inner surface and the driven guidance set for being bonded with drum track, support frame as described above and liter
Falling unit connection, the lifting device includes crane, and the crane is equipped with the lifting for going up and down Z axis rotating device
Component, the Z axis rotating device includes rotary shaft, and the rotary shaft is connect with detection device.
Optionally, the active support component includes support motor and the branch for rolling in drum orbital groove inner surface
Idler wheel is supportted, the support motor is equipped with support shaft, and the both ends of the support shaft have passed through the connection of the first transmission component respectively
Back-up roller wheel is stated, the support motor is installed on support frame.
Optionally, the driven guidance set includes Z axis guide roller and Y-axis guide roller, the Z axis guide roller with
Back-up roller wheel parallel arrangement, the Z axis guide roller medial surface rolling opposite with back-up roller wheel rolling surface in drum track
Dynamic, the Y-axis guide roller is arranged in the two sides of drum track and is bonded with drum track side surfaces, and the Y-axis guide roller connects
It is connected to support frame.
Optionally, the lifting assembly includes lifting motor, and the lifting motor is connected with by the second transmission component and is put
Spool, the paying out reel, which is arranged, is fixed with rope rolling, and the first end of the rope rolling is fixed on paying out reel, second end is fixed on Z axis rotation
Rotary device.
Optionally, the lifting assembly further includes telescopic rod, and it is solid that the telescopic rod first end is fixed on crane, second end
Due to Z axis rotating device, the second end of the rope rolling wears telescopic rod and connect with Z axis rotating device.
Optionally, the Z axis rotating device includes swivel mount, and the swivel mount is connect with lifting device, the swivel mount
Interior to be equipped with Z axis motor, the Z axis motor can be turned by third transmission component and rotation axis connection, the rotary shaft with swivel mount
Dynamic connection, the two sides of the swivel mount are respectively equipped with ultrasonic sensor.
Optionally, the detection device includes cabinet, partial discharge component is equipped in the cabinet, the partial discharge component includes Y
Axis rail, partial discharge driving motor and partial discharge detector, the partial discharge detection device are slidably mounted on the Y-axis guide rail, the partial discharge
Driving motor and partial discharge detection device are drivingly connected, and the cabinet offers movable span, and the partial discharge detection device passes through driving motor
Driving is moved in movable span along Y-axis guide rail.
Optionally, pickup unit and gas detection cell are equipped in the cabinet, it is gentle that the cabinet corresponds to pickup unit
The position of body detection unit offers pickup hole and air hole respectively, and the cabinet is equipped with X rotary shaft, and the X rotary shaft is logical
It crosses the 4th transmission component and is connected with X-axis motor, the X-axis motor is installed in cabinet, and the both ends of the X rotary shaft are separately connected
There are camera unit and infrared photography unit.
Optionally, the cabinet includes bottom plate, and the air hole is opened in bottom plate, and the gas detection cell is close to institute
State bottom plate.
Optionally, the cabinet is equipped with wireless transmission unit, the pickup unit, gas detection cell, camera unit, red
Outer camera unit and partial discharge detector are electrically connected with wireless transmission unit.
Implement the embodiment of the present invention, has following technical effect that
The present invention provides the convenient crusing robots moved in orbit, and pass through lifting device and Z axis rotating device,
The freedom degree for realizing Z-direction and Z axis direction of rotation of the detection device in track moving process, allows detection device to exist
More different angles obtain the operational data of transformer equipment, improve the efficiency of detection and the levels of precision of detection；Meanwhile it reducing
The investment of substation inspection personnel reduces the security risk of work of transformer substation person, improves the working environment of work of transformer substation personnel.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the structural schematic diagram of preferred embodiment of the present invention middle orbit mobile device；
Fig. 3 is the structural schematic diagram of lifting device in the preferred embodiment of the present invention；
Fig. 4 is the structural schematic diagram of Z axis rotating device and detection device in the preferred embodiment of the present invention；
Fig. 5 is the partial structural diagram of detection device in the preferred embodiment of the present invention.
Description of symbols:
1, track mobile device, 11, support frame, 12, active support component, 121, support motor, 122, back-up roller wheel,
123, support shaft, 13, driven guidance set, 131, Z axis guide roller, 132, Y-axis guide roller, 2, lifting device, 21, lifting
Frame, 22, lifting assembly, 221, lifting motor, 222, paying out reel, 223, rope rolling, 224, telescopic rod, 3, Z axis rotating device, 31,
Rotary shaft, 32, swivel mount, 33, Z axis motor, 34, ultrasonic sensor, 4, detection device, 41, cabinet, 411, bottom plate, 42, office
Put component, 421, Y-axis guide rail, 422, partial discharge driving motor, 423, partial discharge detection device, 43, pickup unit, 44, gas detection list
Member, 45, X rotary shaft, 46, X-axis motor, 47, camera unit, 48, infrared photography unit, 49, wireless transmission unit, 5, drum rail
Road.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
With reference to FIG. 1 to FIG. 5, a kind of rail polling robot, including the movement of sequentially connected track are present embodiments provided
Device 1, lifting device 2, Z axis rotating device 3 and detection device 4, track mobile device 1 include support frame 11, in drum
The mobile active support component 12 of 5 groove inner surface of track and the driven guidance set 13 for being bonded with drum track 5, support
Frame 11 is connect with lifting device 2, and lifting device 2 includes crane 21, and crane 21 is equipped with for making 3 liters of Z axis rotating device
The lifting assembly 22 of drop, Z axis rotating device 3 include rotary shaft 31, and rotary shaft 31 is connect with detection device 4.The present invention provides
The convenient crusing robot moved in orbit, and by lifting device 2 and Z axis rotating device 3, it realizes detection device 4 and exists
The freedom degree of Z-direction and Z axis direction of rotation in track moving process allows detection device 4 in more different angles
The operational data for obtaining transformer equipment, improves the efficiency of detection and the levels of precision of detection；Meanwhile reducing substation inspection personnel
Investment, reduce work of transformer substation person security risk, improve work of transformer substation personnel working environment.
With reference to Fig. 1 and Fig. 2, on the one hand, active support component 12 includes support motor 121 and is used for recessed in drum track 5
The back-up roller wheel 122 that slot inner surface rolls, support motor 121 are equipped with support shaft 123, and the both ends of support shaft 123 pass through respectively
First transmission component is connected with back-up roller wheel 122, and support motor 121 is installed on support frame 11, back-up roller wheel 122 is made to be buckled in drum
It in the groove of track 5, while driving back-up roller wheel 122 to roll by support motor 121, realizes robot in drum track 5
It is mobile；
Second aspect, driven guidance set 13 include Z axis guide roller 131 and Y-axis guide roller 132, Z axis guide roller
131 are arranged in parallel with back-up roller wheel 122, and Z axis guide roller 131 is opposite with 122 rolling surface of back-up roller wheel in drum track 5
One medial surface rolls, and is bonded the two sides of 5 groove of drum track respectively with back-up roller wheel 122 by Z axis guide roller 131, prevents
Only the stability of detection is influenced in the bounce of X-direction in robot moving process；
The third aspect, Y-axis guide roller 132 are arranged in the two sides of drum track 5 and are bonded with 5 side of drum track, Y-axis
Guide roller 132 is connected to support frame 11, limits robot in the movement of Y direction, is arranged in the Y-axis of 5 two sides of drum track
Guide roller 132 reduces robot in the shaking of Y direction, while making the standard for being moved along the movement of drum track 5 of robot
True property is higher.
With reference to Fig. 3, the lifting assembly 22 of the present embodiment includes lifting motor 221, and lifting motor 221 passes through the second transmission group
Part is connected with paying out reel 222, and paying out reel 222, which is arranged, is fixed with rope rolling 223, the first end of rope rolling 223 be fixed on paying out reel 222,
Second end is fixed on Z axis rotating device 3, is drawn high or is declined by rope rolling 223, reduces Z axis rotating device 3 in lifting process
In rigid collision, improve the service life of robot, further, lifting assembly 22 further includes telescopic rod 224, telescopic rod
224 first ends are fixed on crane 21, second end is fixed on Z axis rotating device 3, and the second end of rope rolling 223 wears telescopic rod 224
It is connect with Z axis rotating device 3, reduces the shaking for carrying out lifting generation by rope rolling 223, improve the stability of lifting, meanwhile, it stretches
The setting of contracting bar 224 increases the height of the lifting of Z axis rotating device 3, keeps the working range of robot wider.
With reference to Fig. 4, the Z axis rotating device 3 of the present embodiment includes swivel mount 32, and swivel mount 32 is connect with lifting device 2, is revolved
Z axis motor 33 is equipped in pivoted frame 32, Z axis motor 33 is connect by third transmission component with rotary shaft 31, rotary shaft 31 and rotation
Frame 32 is rotatably connected, and the two sides of swivel mount 32 are respectively equipped with ultrasonic sensor 34, realizes detection device 4 in Z axis rotation side
To rotation, meanwhile, by ultrasonic sensor 34 carry out barrier detection, improve robot kinematics in safety
Property.
With reference to Fig. 4 and Fig. 5, the detection device 4 of the present embodiment includes cabinet 41, and it is gentle to be equipped with pickup unit 43 in cabinet 41
The position of body detection unit 44, the corresponding pickup unit 43 of cabinet 41 and gas detection cell 44 offers pickup hole respectively and breathes freely
Hole, cabinet 41 are equipped with X rotary shaft 45, and X rotary shaft 45 is connected with X-axis motor 46 by the 4th transmission component, and X-axis motor 46 fills
In cabinet 41, the both ends of X rotary shaft 45 are connected separately with camera unit 47 and infrared photography unit 48, on the one hand, pass through
Pickup unit 43, which detects transformer equipment, whether there is noise, specifically, gas detection cell 44 is sulfur hexafluoride detector, pass through
Gas detection cell 44 detects the concentration of the sulfur hexafluoride in transformer equipment, realizes whether detection transformer equipment is in safe operation
State, on the other hand, being realized by camera unit 47 and infrared photography unit 48 can be real in different light operating environments
Now the image of transformer equipment is obtained, stability in use is stronger, and convenience is higher, meanwhile, X rotation is driven by X-axis motor 46
Shaft 45 can carry out multi-angle to transformer equipment so that camera unit 47 and infrared photography unit 48 be driven to rotate along X-axis
Image obtains, and judges convenient for subsequent whether transformer equipment needs further to overhaul, improves the levels of precision of judgement.
Further, bottom plate 411, air hole are opened in bottom plate 411, and gas detection cell 44 is close to bottom plate 411, make to become
Sulfur hexafluoride in electric equipment can penetrate air hole, so that gas detection cell 44 be enable more accurately to detect six in transformer equipment
Concentration in sulfur fluoride improves the levels of precision of detection.
Specifically, being equipped with partial discharge component 42 in cabinet 41, running device failure, vibration are sensed by partial discharge detection device 423
High-frequency signal caused by dynamic, leakage and electric partial discharge makes testing staff by the way that high-frequency signal is converted to audio signal
Can be judged by audio signal transformer equipment whether failure, partial discharge detection device 423 is slidably mounted on Y-axis guide rail 421, and partial discharge drives
Motor 422 and partial discharge detection device 423 are drivingly connected, and cabinet 41 offers movable span, and partial discharge detection device 423 is driven by driving motor
It is dynamic to be moved in movable span along Y-axis guide rail 421, realize that partial discharge detection in the movement of Y direction, feels partial discharge detection device 423
The high-frequency signal for surveying transformer equipment is more convenient, improves the levels of precision that partial discharge detection device 423 detects.
Further, the cabinet 41 of the present embodiment is equipped with wireless transmission unit 49, pickup unit 43, gas detection cell
44, camera unit 47, infrared photography unit 48 and partial discharge detector 423 are electrically connected with wireless transmission unit 49, convenient for that will examine
The efficiency that the data feedback of survey is determined to data processing equipment, raising data processing and failure improves robot and uses bring
Convenience.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, various information are described in the present invention using term " first ", " second " etc., but these information should not necessarily be limited by
These terms, these terms are only used to for same type of information being distinguished from each other out.For example, in the feelings for not departing from the scope of the invention
Under condition, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as " first " letter
Breath.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of rail polling robot, which is characterized in that including sequentially connected track mobile device, lifting device, Z axis rotation
Rotary device and detection device, the track mobile device include support frame, for the master mobile in drum orbital groove inner surface
Dynamic support component and the driven guidance set for being bonded with drum track, support frame as described above are connect with lifting device, the liter
Falling unit includes crane, and the crane is equipped with the lifting assembly for going up and down Z axis rotating device, the Z axis rotation
Device includes rotary shaft, and the rotary shaft is connect with detection device.
2. rail polling robot according to claim 1, which is characterized in that the active support component includes support electricity
Machine and back-up roller wheel for rolling in drum orbital groove inner surface, the support motor are equipped with support shaft, the support
The both ends of axis pass through the first transmission component respectively and are connected with the back-up roller wheel, and the support motor is installed on support frame.
3. rail polling robot according to claim 2, which is characterized in that the driven guidance set includes that Z axis is led
Way roller and Y-axis guide roller, the Z axis guide roller and back-up roller wheel are arranged in parallel, and the Z axis guide roller is in drum rail
A road medial surface opposite with back-up roller wheel rolling surface rolls, the Y-axis guide roller be arranged in the two sides of drum track and
It is bonded with drum track side surfaces, the Y-axis guide roller is connected to support frame.
4. rail polling robot according to claim 1, which is characterized in that the lifting assembly includes lifting motor,
The lifting motor is connected with paying out reel by the second transmission component, and the paying out reel, which is arranged, is fixed with rope rolling, the rope rolling
First end is fixed on paying out reel, second end is fixed on Z axis rotating device.
5. rail polling robot according to claim 4, which is characterized in that the lifting assembly further includes telescopic rod,
The telescopic rod first end is fixed on crane, second end is fixed on Z axis rotating device, and the second end of the rope rolling wears flexible
Bar is connect with Z axis rotating device.
6. rail polling robot according to claim 1, which is characterized in that the Z axis rotating device includes swivel mount,
The swivel mount is connect with lifting device, and Z axis motor is equipped in the swivel mount, and the Z axis motor passes through third transmission component
With rotation axis connection, the rotary shaft is rotatably connected with swivel mount, and the two sides of the swivel mount are respectively equipped with supersonic sensing
Device.
7. rail polling robot according to claim 1, which is characterized in that the detection device includes cabinet, described
Partial discharge component is equipped in cabinet, the partial discharge component includes Y-axis guide rail, partial discharge driving motor and partial discharge detector, the partial discharge
Detector is slidably mounted on the Y-axis guide rail, and the partial discharge driving motor and partial discharge detection device are drivingly connected, and the cabinet opens up
There is movable span, the partial discharge detection device is driven by driving motor and moved in movable span along Y-axis guide rail.
8. rail polling robot according to claim 7, which is characterized in that it is gentle to be equipped with pickup unit in the cabinet
Body detection unit, the cabinet corresponds to pickup unit and the position of gas detection cell offers pickup hole and air hole respectively,
The cabinet is equipped with X rotary shaft, and the X rotary shaft is connected with X-axis motor, the X-axis motor dress by the 4th transmission component
In cabinet, the both ends of the X rotary shaft are connected separately with camera unit and infrared photography unit.
9. rail polling robot according to claim 8, which is characterized in that the cabinet includes bottom plate, described ventilative
Hole is opened in bottom plate, and the gas detection cell is close to the bottom plate.
10. rail polling robot according to claim 9, which is characterized in that the cabinet is equipped with wireless transmission unit,
The pickup unit, gas detection cell, camera unit, infrared photography unit and partial discharge detector are electric with wireless transmission unit
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187378.1A CN109079748A (en) | 2018-10-12 | 2018-10-12 | A kind of rail polling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187378.1A CN109079748A (en) | 2018-10-12 | 2018-10-12 | A kind of rail polling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079748A true CN109079748A (en) | 2018-12-25 |
Family
ID=64843562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187378.1A Pending CN109079748A (en) | 2018-10-12 | 2018-10-12 | A kind of rail polling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079748A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109931984A (en) * | 2019-04-01 | 2019-06-25 | 北京卫星环境工程研究所 | The one-dimensional movement measuring system of manned spacecraft interior flow field parameter measurement |
| CN110577125A (en) * | 2019-08-09 | 2019-12-17 | 中国矿业大学 | Shaft inspection system and steel wire rope moving device thereof |
| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
| CN111791215A (en) * | 2020-07-07 | 2020-10-20 | 安徽华典大数据科技有限公司 | Large-scale computer lab database inspection device |
| WO2020238310A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN112720413A (en) * | 2020-12-21 | 2021-04-30 | 上海贽匠智能科技有限公司 | Lifting telescopic mechanism of track inspection robot |
| CN113103208A (en) * | 2021-04-27 | 2021-07-13 | 重庆大学 | Track type inspection robot |
| CN113483214A (en) * | 2021-07-02 | 2021-10-08 | 江苏瀚天智能科技股份有限公司 | Intelligent safety supervision device based on big data co-construction sharing and information management system |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110577125A (en) * | 2019-08-09 | 2019-12-17 | 中国矿业大学 | Shaft inspection system and steel wire rope moving device thereof |
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| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
| CN111791215A (en) * | 2020-07-07 | 2020-10-20 | 安徽华典大数据科技有限公司 | Large-scale computer lab database inspection device |
| CN112720413A (en) * | 2020-12-21 | 2021-04-30 | 上海贽匠智能科技有限公司 | Lifting telescopic mechanism of track inspection robot |
| CN113103208A (en) * | 2021-04-27 | 2021-07-13 | 重庆大学 | Track type inspection robot |
| CN113483214A (en) * | 2021-07-02 | 2021-10-08 | 江苏瀚天智能科技股份有限公司 | Intelligent safety supervision device based on big data co-construction sharing and information management system |
| CN113483214B (en) * | 2021-07-02 | 2022-09-06 | 江苏瀚天智能科技股份有限公司 | Intelligent safety supervision device based on big data co-construction sharing and information management system |
| CN115229761A (en) * | 2022-09-23 | 2022-10-25 | 太原理工大学 | Track type inspection robot |
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