CN110696855A - Full-automatic track inspection tester - Google Patents
Full-automatic track inspection tester Download PDFInfo
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- CN110696855A CN110696855A CN201911076849.6A CN201911076849A CN110696855A CN 110696855 A CN110696855 A CN 110696855A CN 201911076849 A CN201911076849 A CN 201911076849A CN 110696855 A CN110696855 A CN 110696855A
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- 238000007689 inspection Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- 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
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- Machines For Laying And Maintaining Railways (AREA)
Abstract
The invention discloses a full-automatic track inspection tester, which comprises a main vehicle body, a left vehicle body and a right vehicle body, wherein driving wheels are respectively arranged on the outer sides of the corresponding ends of the left vehicle body and the right vehicle body, driven wheels are respectively arranged on the outer sides of the corresponding ends of the left vehicle body and the right vehicle body, laser range finders are respectively arranged on the lower sides of the middle parts of the left vehicle body and the right vehicle body, a detection control box body is arranged at the top of the left vehicle body, a power supply box is arranged at the top of the right vehicle body, elastic side wheel mechanisms matched with the inner wall of a track are respectively arranged at the front end and the rear end of the left vehicle body or the front end and the rear end. The vehicle body structure is formed in one step, the two wheels are used for driving, the walking stability, the uniform speed and the high speed of the inspection tester can be ensured, the vehicle body is stably limited on the two rails through the matching of the elastic side wheel mechanism and the fixed side wheel mechanism, the plurality of sensors work together, the micro-change of the railway rails is accurately collected, and the measurement precision is ensured.
Description
Technical Field
The invention belongs to the technical field of rail inspection, and particularly relates to a full-automatic rail inspection tester.
Background
With the development of railway traffic towards high speed and high density, the running of trains is not only fast, but also has high requirements on safety, stability and punctuality, and rail irregularity is an external disturbance to a locomotive system and is a main source for generating vibration of the locomotive system, so that the measurement of rail irregularity is very important. And the high-quality maintenance and repair of the track can be ensured within the short maintenance window-free time, so that the running safety and stability of the passenger special line can be ensured, the non-vehicle time for effective operation of railway maintenance workers is shorter and shorter, and the daily static detection work of the line is harder and harder. According to the requirement of line maintenance and repair rules, line static detection must be forcibly carried out according to a fixed period. The traditional detection mode is carried out by adopting a mechanical type track gauge and a manual wire pulling mode, and the workload is large. Rail detectors have appeared in recent years, which are manually pushed to move on the rail for detection. However, the rail detector needs to be pushed on the rail by people, the physical consumption is large, the operation of a user is highly required, the detection result is inaccurate due to uneven pushing, and the automation and intelligence of the product need to be improved. In recent years, automatic rail detection equipment appears in the industry, but due to the structural modes of a vehicle body and a roller, including the layout of the used sensors, the problems that the rail parameters cannot be accurately and stably measured and the running speed is low still exist.
Disclosure of Invention
The invention aims to solve the technical problem that the defects in the prior art are overcome, and the full-automatic track inspection tester is novel and reasonable in design, stable in structure and capable of ensuring stable, uniform and high-speed walking of the tester by means of two-wheel driving.
In order to solve the technical problems, the invention adopts the technical scheme that: full-automatic track inspection tester, its characterized in that: the device comprises a main vehicle body, a left vehicle body and a right vehicle body which are symmetrically arranged on two sides of the main vehicle body and have the same structural size, wherein driving wheels matched with a track are arranged on the outer sides of one ends, corresponding to the left vehicle body and the right vehicle body, of the left vehicle body, driven wheels matched with the track are arranged on the outer sides of the other ends, corresponding to the left vehicle body and the right vehicle body, of the left vehicle body, laser range finders used for measuring track gauges are arranged on the lower sides of the middle parts of the left vehicle body and the right vehicle body, a detection control box body is arranged at the top of the left vehicle body, a power supply box used for supplying power to the detection control box body is arranged at the top of the right vehicle body, elastic side wheel mechanisms matched with the inner wall of the track;
the elastic side wheel mechanism comprises two guide optical axes which are fixedly arranged in the vehicle body and used for sliding a vertical sliding rod, a spring is sleeved on one side, close to the inner end of the vehicle body, of the guide optical axis, a first linear bearing and a second linear bearing are respectively arranged on two sides, matched with the guide optical axes, of the sliding rod, an elastic side wheel installation shaft is arranged at the bottom of the sliding rod, and an elastic side wheel matched with the inner wall of a track is arranged at one end, far away from the sliding rod, of the elastic side wheel installation shaft;
an electronic circuit board and a strapdown inertial navigation system for measuring the three-dimensional geometric dimension of the track are installed in the detection control box body, and a microcontroller, a gyroscope, an inertial sensor and a photoelectric scanner which extends out of the box body and is used for collecting the number of sleepers are integrated on the electronic circuit board; and the signal output end of the laser range finder is connected with the signal input end of the microcontroller.
The full-automatic track inspection tester is characterized in that: the servo motor that drives the drive wheel work is all installed to the one end inboard that left side automobile body and right automobile body correspond, and the cover is equipped with first band pulley on servo motor's the output shaft, and the cover is equipped with the second band pulley in the drive shaft of drive wheel, first band pulley pass through the hold-in range with the second band pulley is connected, servo motor by microcontroller control, install motor encoder on the servo motor, motor encoder's signal output part and microcontroller's signal input part are connected.
The full-automatic track inspection tester is characterized in that: the fixed side wheel mechanism comprises a fixed rod fixedly installed in the vehicle body, a fixed side wheel installation shaft is arranged at the bottom of the fixed rod, and one end, far away from the fixed rod, of the fixed side wheel installation shaft is provided with a fixed side wheel matched with the inner wall of the track.
The full-automatic track inspection tester is characterized in that: and the left vehicle body and the right vehicle body are fixedly connected with the main vehicle body through positioning shafts.
The full-automatic track inspection tester is characterized in that: the main vehicle body is of a hollow structure, and the main vehicle body, the left vehicle body and the right vehicle body are all aluminum vehicle bodies formed in one step.
The full-automatic track inspection tester is characterized in that: the upper side of the middle cross beam of the main vehicle body is provided with a tablet computer support for installing a tablet computer, the lower side of the middle cross beam of the main vehicle body is provided with an inclination angle sensor, the signal output end of the inclination angle sensor is connected with the signal input end of a microcontroller, and the microcontroller is further connected with a wireless communication module communicated with the tablet computer.
The full-automatic track inspection tester is characterized in that: handles are mounted on the outer side walls of the left vehicle body and the right vehicle body.
Compared with the prior art, the invention has the following advantages:
1. the automobile body main frame is formed by the main automobile body, the left automobile body and the right automobile body which are symmetrically arranged on the two sides of the main automobile body and have the same structural size, and the automobile body structure is made of aluminum through one-step forming, so that the stress distribution and the structural stability of an external structure are ensured through the integrated design, fewer combined parts are used, the stability and the processing precision of the whole structure are ensured, the weight is light, the strength is high, and the popularization and the use are convenient.
2. According to the invention, the laser distance measuring devices for measuring the track gauge are arranged on the lower sides of the middle parts of the left vehicle body and the right vehicle body, and the track gauge detection adopts a mode of laser synchronous detection on two sides, which is different from a transmission single-side stay rope type distance measuring method.
3. The invention has novel and reasonable design, utilizes the gyroscope, the inertial sensor and the tilt angle sensor to acquire data of the train body, and the sensors work together to accurately acquire the micro-change of the railway track, thereby ensuring the measurement precision.
4. According to the invention, the driving wheels matched with the rails are respectively arranged on the outer sides of the corresponding ends of the left vehicle body and the right vehicle body, the vehicle body moves to drive the driven wheels matched with the rails and respectively arranged on the outer sides of the corresponding other ends of the left vehicle body and the right vehicle body, the driving wheels are driven by the servo motor, the two wheels are driven, the walking stability and the uniform speed of the inspection tester can be ensured, the walking speed of the inspection tester can be adjusted between 5km/h and 20km/h, and the high-speed measurement requirement of the inspection tester is ensured.
5. According to the invention, the elastic side wheel mechanisms matched with the inner wall of the track are arranged at the front end and the rear end of the left vehicle body or the right vehicle body, the fixed side wheel mechanisms matched with the inner wall of the track are arranged at the front end and the rear end of the right vehicle body or the left vehicle body, and the elastic side wheel mechanisms are matched with the fixed side wheel mechanisms to stably limit the vehicle body on the two tracks, so that the driving wheel and the driven wheel are prevented from being separated from the track when the vehicle body runs at a high speed, and the use safety of the inspection tester is ensured.
In conclusion, the invention has novel and reasonable design, the vehicle body structure is formed in one step, the structure is stable, the two-wheel drive is utilized, the walking of the inspection tester can be ensured to be stable, uniform and high-speed, the vehicle body is stably limited on the two rails by matching the elastic side wheel mechanism and the fixed side wheel mechanism, the sensors work together, the micro-change of the railway rails is accurately collected, the measurement precision is ensured, and the popularization and the use are convenient.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a bottom view of the present invention.
FIG. 5 is a schematic structural diagram of the elastic side wheel mechanism of the present invention.
FIG. 6 is a schematic structural diagram of the fixed side wheel mechanism of the present invention.
Description of reference numerals:
1-main vehicle body; 2-left vehicle body; 3-right vehicle body;
4, detecting a control box body; 5, a power box; 6-tablet computer holder;
7-a tablet computer; 8-a servo motor; 9-driving wheels;
10-a driven wheel; 11-a laser rangefinder; 12-positioning the shaft;
13-synchronous belt; 14-a handle; 15-a slide bar;
16-a guide optical axis; 17-a spring; 18-a first linear bearing;
19-a second linear bearing; 20-elastic side wheel mounting shaft; 21-elastic side wheels;
22-a fixation rod; 23-fixing the side wheel mounting shaft; 24-fixed side wheels;
25-driving shaft.
Detailed Description
As shown in fig. 1 to 6, the invention comprises a main vehicle body 1, and a left vehicle body 2 and a right vehicle body 3 which are symmetrically arranged on both sides of the main vehicle body 1 and have the same structural size, wherein driving wheels 9 matched with a rail are respectively arranged on the outer sides of one ends of the left vehicle body 2 and the right vehicle body 3, driven wheels 10 matched with the rail are respectively arranged on the outer sides of the other ends of the left vehicle body 2 and the right vehicle body 3, laser range finders 11 used for measuring a rail distance are respectively arranged on the lower sides of the middle parts of the left vehicle body 2 and the right vehicle body 3, a detection control box body 4 is arranged on the top of the left vehicle body 2, a power supply box 5 used for supplying power to the detection control box body 4 is arranged on the top of the right vehicle body 3, elastic side wheel mechanisms matched with the inner wall of the rail are respectively arranged at the front and rear ends of the left vehicle body 3 or;
the elastic side wheel mechanism comprises two guide optical shafts 16 which are fixedly arranged in a vehicle body and used for sliding vertical sliding rods 15, a spring 17 is sleeved on one side, close to the inner end of the vehicle body, of each guide optical shaft 16, a first linear bearing 18 and a second linear bearing 19 are respectively arranged on two sides, matched with the guide optical shafts 16, of each sliding rod 15, an elastic side wheel mounting shaft 20 is arranged at the bottom of each sliding rod 15, and an elastic side wheel 21 matched with the inner wall of a track is arranged at one end, far away from the sliding rod 15, of each elastic side wheel mounting shaft 20;
an electronic circuit board and a strapdown inertial navigation system for measuring the three-dimensional geometric dimension of the track are installed in the detection control box body 4, and a microcontroller, a gyroscope, an inertial sensor and a photoelectric scanner which extends out of the box body and is used for collecting the number of sleepers are integrated on the electronic circuit board; and the signal output end of the laser range finder 11 is connected with the signal input end of the microcontroller.
The main body 1, the left body 2 and the right body 3 which are symmetrically arranged on two sides of the main body 1 and have the same structural size form a main body frame, and the body structure adopts an aluminum body formed in one step, so that the stress distribution and structural stability of an external structure are ensured by integrated design, fewer combined parts are required, the stability and processing precision of the whole structure are ensured, and the automobile is light and high in strength; the laser distance measuring devices 11 for measuring the track gauge are arranged on the lower sides of the middle parts of the left vehicle body 2 and the right vehicle body 3, and the track gauge detection adopts a two-side laser synchronous detection mode, which is different from a transmission single-side stay rope type distance measuring method, so that on one hand, the laser distance measurement has higher corresponding speed and is more accurate, and is suitable for the track gauge detection in high-speed motion, and in addition, the two-side synchronous detection has the advantages of avoiding the accuracy of the track gauge detection when the vehicle body slightly inclines with a steel rail in the rapid motion, and having good use effect; the gyroscope, the inertial sensor and the tilt angle sensor are used for acquiring data of a vehicle body, a plurality of sensors work together to accurately acquire micro-changes of a railway track, so that the measurement precision is ensured, and in addition, the photoelectric scanner is used for acquiring the number of sleepers so as to ensure the safety and effectiveness of the track; through all being provided with around left automobile body 2 or right automobile body 3 both ends with track inner wall complex elasticity side wheel mechanism, all be provided with around right automobile body 3 or left automobile body 2 with track inner wall complex fixed side wheel mechanism, elasticity side wheel mechanism and fixed side wheel mechanism cooperation, with the stable spacing of automobile body on two tracks, avoid under the automobile body high-speed operation, drive wheel and follow driving wheel break away from the track, guarantee the safety in utilization of inspection tester.
When the track three-dimensional geometric dimension measuring device is actually used, the inspection instrument is controlled to advance at a constant speed, and when the inspection instrument moves at a constant speed, the strapdown inertial navigation system can effectively measure the three-dimensional geometric dimension of the track.
In this embodiment, the servo motor 8 that drives the work of drive wheel 9 is all installed to the one end inboard that left side automobile body 2 and right automobile body 3 correspond, and the cover is equipped with first band pulley on servo motor 8's the output shaft, and the cover is equipped with the second band pulley on drive shaft 25 of drive wheel 9, first band pulley pass through hold-in range 13 with the second band pulley is connected, servo motor 8 by microcontroller control, install motor encoder on the servo motor 8, motor encoder's signal output part and microcontroller's signal input part are connected.
It should be noted that, the driving wheels 9 matched with the rails are arranged on the outer sides of the corresponding ends of the left vehicle body 2 and the right vehicle body 3, the vehicle body moves to drive the driven wheels 10 matched with the rails and arranged on the outer sides of the corresponding other ends of the left vehicle body 2 and the right vehicle body 3, the driving wheels 9 are driven by the servo motors, the two wheels are driven, the walking of the inspection tester can be guaranteed to be stable and uniform, the walking speed of the inspection tester can be adjusted between 5km/h and 20km/h, the requirement for high-speed measurement of the inspection tester is met, the driving mode adopts a servo motor and synchronous pulley transmission mode, the servo motors are high in power, good in synchronism, low in noise and stable in transmission, the synchronous belt can reduce vibration during transmission, the motor encoder is connected with the output shaft of the servo motors.
In this embodiment, fixed side wheel mechanism includes vertical dead lever 22 of fixed mounting in the automobile body, and the bottom of dead lever 22 is provided with fixed side wheel installation axle 23, and the fixed side wheel 24 of track inner wall complex is installed to the one end that dead lever 22 was kept away from to fixed side wheel installation axle 23.
In this embodiment, the left vehicle body 2 and the right vehicle body 3 are both fixedly connected with the main vehicle body 1 through the positioning shaft 12.
In this embodiment, the main vehicle body 1 is a hollow structure, and the main vehicle body 1, the left vehicle body 2, and the right vehicle body 3 are all aluminum vehicle bodies formed in one step.
In this embodiment, the upper side of the middle cross beam of the main vehicle body 1 is provided with a tablet computer support 6 for mounting a tablet computer 7, the lower side of the middle cross beam of the main vehicle body 1 is provided with an inclination angle sensor, a signal output end of the inclination angle sensor is connected with a signal input end of a microcontroller, and the microcontroller is further connected with a wireless communication module for communicating with the tablet computer 7.
In practical use, the wireless communication module preferably adopts a GPS wireless communication module; the microcontroller preferably adopts an ARM microcontroller.
In this embodiment, the handles 14 are mounted on the outer side walls of the left vehicle body 2 and the right vehicle body 3, so that the inspection tester can be placed and lifted conveniently.
When the invention is used, an inspection tester is placed on a double track through a handle 14, two driving wheels 9 are respectively positioned on the two tracks, two driven wheels 10 are respectively positioned on the two tracks, a sliding rod 15 is extruded towards the inner side of the double track, two elastic side wheels 21 and two fixed side wheels 24 are respectively abutted against the inner side walls of the two tracks, a whole vehicle body is positioned on the double track, the inspection tester is started, a servo motor 8 rotates to drive a synchronous belt 13 to rotate, and further drive the driving wheels 9 to rotate, the whole inspection tester moves on the double track, a gyroscope, an inertial sensor and an inclination angle sensor are used for collecting vehicle body data, a plurality of sensors work together, the micro-change of the railway track is accurately collected, the measurement precision is ensured, in addition, the number of sleepers is collected by using a photoelectric scanner, the safety and the effectiveness of the tracks are ensured, a microcontroller transmits the data to a tablet personal computer through a GPS wireless communication, and a reliable data base is provided for the post data processing.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. Full-automatic track inspection tester, its characterized in that: the track gauge measurement device comprises a main vehicle body (1), and a left vehicle body (2) and a right vehicle body (3) which are symmetrically arranged on two sides of the main vehicle body (1) and have the same structural size, wherein driving wheels (9) matched with a track are respectively arranged on the outer sides of one ends, corresponding to the left vehicle body (2) and the right vehicle body (3), of the left vehicle body, driven wheels (10) matched with the track are respectively arranged on the outer sides of the other ends, corresponding to the left vehicle body (2) and the right vehicle body (3), of the left vehicle body, laser range finders (11) used for measuring track gauges are respectively arranged on the lower sides of the middles of the left vehicle body (2) and the right vehicle body (3), a detection control box body (4) is arranged at the top of the left vehicle body (2), a power supply box (5) used for supplying power to the detection control box body (4) is arranged on the top of the right vehicle body (3), elastic side wheel mechanisms matched with the inner wall of the track are respectively arranged at the;
the elastic side wheel mechanism comprises two guide optical shafts (16) which are fixedly installed in a vehicle body and used for enabling a vertical sliding rod (15) to slide, a spring (17) is sleeved on one side, close to the inner end of the vehicle body, of the sliding rod (15) on each guide optical shaft (16), a first linear bearing (18) and a second linear bearing (19) are installed on two sides, matched with the guide optical shafts (16), of the sliding rod (15), an elastic side wheel installation shaft (20) is arranged at the bottom of the sliding rod (15), and an elastic side wheel (21) matched with the inner wall of a track is installed at one end, far away from the sliding rod (15), of the elastic side wheel installation shaft (20);
an electronic circuit board and a strapdown inertial navigation system for measuring the three-dimensional geometric dimension of the track are installed in the detection control box body (4), and a microcontroller, a gyroscope, an inertial sensor and a photoelectric scanner which extends out of the box body and is used for collecting the number of sleepers are integrated on the electronic circuit board; and the signal output end of the laser range finder (11) is connected with the signal input end of the microcontroller.
2. The fully automatic orbital inspection machine of claim 1 wherein: the one end inboard that left side automobile body (2) and right automobile body (3) correspond all installs servo motor (8) that drives drive wheel (9) work, and the cover is equipped with first band pulley on the output shaft of servo motor (8), and the cover is equipped with the second band pulley on drive shaft (25) of drive wheel (9), first band pulley pass through hold-in range (13) with the second band pulley is connected, servo motor (8) by microcontroller control, install the motor encoder on servo motor (8), the signal output part of motor encoder is connected with microcontroller's signal input part.
3. The fully automatic orbital inspection machine of claim 1 wherein: the fixed side wheel mechanism comprises a fixed rod (22) fixedly mounted in the vehicle body in a vertical direction, a fixed side wheel mounting shaft (23) is arranged at the bottom of the fixed rod (22), and a fixed side wheel (24) matched with the inner wall of the track is mounted at one end, far away from the fixed rod (22), of the fixed side wheel mounting shaft (23).
4. The fully automatic orbital inspection machine of claim 1 wherein: the left vehicle body (2) and the right vehicle body (3) are fixedly connected with the main vehicle body (1) through positioning shafts (12).
5. The fully automatic orbital inspection machine of claim 1 wherein: the main vehicle body (1) is of a hollow structure, and the main vehicle body (1), the left vehicle body (2) and the right vehicle body (3) are all aluminum vehicle bodies formed in one step.
6. The fully automatic orbital inspection machine of claim 1 wherein: the middle cross beam upper side of the main car body (1) is provided with a tablet computer support (6) used for installing a tablet computer (7), the middle cross beam lower side of the main car body (1) is provided with an inclination angle sensor, the signal output end of the inclination angle sensor is connected with the signal input end of a microcontroller, and the microcontroller is further connected with a wireless communication module communicated with the tablet computer (7).
7. The fully automatic orbital inspection machine of claim 1 wherein: handles (14) are mounted on the outer side walls of the left vehicle body (2) and the right vehicle body (3).
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| CN201911076849.6A CN110696855A (en) | 2019-11-06 | 2019-11-06 | Full-automatic track inspection tester |
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| CN201911076849.6A CN110696855A (en) | 2019-11-06 | 2019-11-06 | Full-automatic track inspection tester |
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| CN111185894A (en) * | 2020-03-03 | 2020-05-22 | 成都圭目机器人有限公司 | Tunnel track inspection robot |
| CN111267884A (en) * | 2020-03-03 | 2020-06-12 | 成都圭目机器人有限公司 | Tunnel track inspection robot's mechanism of marcing |
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
| CN112501966A (en) * | 2020-11-20 | 2021-03-16 | 滨州职业学院 | Detection feedback device based on BIM model |
| WO2022052792A1 (en) * | 2020-09-08 | 2022-03-17 | 京东科技信息技术有限公司 | Track inspection robot drive mechanism and track inspection robot |
| CN114802342A (en) * | 2022-04-24 | 2022-07-29 | 西南交通大学 | Visual self-walking inspection equipment for railway track machine |
| CN117146721A (en) * | 2023-09-11 | 2023-12-01 | 铁科（北京）轨道装备技术有限公司 | Rail parameter measuring ruler |
| CN117261503A (en) * | 2023-08-29 | 2023-12-22 | 北京市市政工程设计研究总院有限公司 | Vehicle bottom overhauling equipment |
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| CN111267884A (en) * | 2020-03-03 | 2020-06-12 | 成都圭目机器人有限公司 | Tunnel track inspection robot's mechanism of marcing |
| CN111267884B (en) * | 2020-03-03 | 2021-04-27 | 成都圭目机器人有限公司 | Tunnel track inspection robot's mechanism of marcing |
| CN111185894B (en) * | 2020-03-03 | 2024-04-26 | 成都圭目机器人有限公司 | Tunnel track detection robot |
| CN111300444A (en) * | 2020-03-04 | 2020-06-19 | 成都圭目机器人有限公司 | Rotary scanning assembly for tunnel track detection robot |
| WO2022052792A1 (en) * | 2020-09-08 | 2022-03-17 | 京东科技信息技术有限公司 | Track inspection robot drive mechanism and track inspection robot |
| CN112501966A (en) * | 2020-11-20 | 2021-03-16 | 滨州职业学院 | Detection feedback device based on BIM model |
| CN112501966B (en) * | 2020-11-20 | 2022-07-05 | 滨州职业学院 | Detection feedback device based on BIM model |
| CN114802342A (en) * | 2022-04-24 | 2022-07-29 | 西南交通大学 | Visual self-walking inspection equipment for railway track machine |
| CN117261503A (en) * | 2023-08-29 | 2023-12-22 | 北京市市政工程设计研究总院有限公司 | Vehicle bottom overhauling equipment |
| CN117146721A (en) * | 2023-09-11 | 2023-12-01 | 铁科（北京）轨道装备技术有限公司 | Rail parameter measuring ruler |
| CN117146721B (en) * | 2023-09-11 | 2024-04-05 | 铁科（北京）轨道装备技术有限公司 | Rail parameter measuring ruler |
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