CN111118981A - Cable tunnel track robot turnout guide way - Google Patents
Cable tunnel track robot turnout guide way Download PDFInfo
- Publication number
- CN111118981A CN111118981A CN201811292293.XA CN201811292293A CN111118981A CN 111118981 A CN111118981 A CN 111118981A CN 201811292293 A CN201811292293 A CN 201811292293A CN 111118981 A CN111118981 A CN 111118981A
- Authority
- CN
- China
- Prior art keywords
- track
- platform
- rotating
- sensor
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B25/00—Tracks for special kinds of railways
- E01B25/22—Tracks for railways with the vehicle suspended from rigid supporting rails
- E01B25/26—Switches; Crossings
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B2202/00—Characteristics of moving parts of rail systems, e.g. switches, special frogs, tongues
- E01B2202/02—Nature of the movement
- E01B2202/021—Turning or tilting or elastically bending
- E01B2202/024—Turning or tilting or elastically bending about vertical axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of turnout guides of robots, in particular to a turnout guide of a cable tunnel track robot, which comprises a fixed platform, a working track and an overhaul track, wherein a rotating mechanism is arranged on the fixed platform and connected with a rotating platform positioned below the fixed platform, a rotating sensor is arranged in the middle of the bottom surface of the rotating platform, the rotating platform is connected with a rotating track for a robot body to pass through a connecting mechanism, and an airborne sensor and a bar code reader are respectively arranged on the top and two sides of the robot body. According to the invention, the fixed platform is provided with the rotating mechanism, the rotating mechanism is arranged on the fixed platform and connected with the rotating platform, the rotating platform is connected with the rotating track through the connecting mechanism, and the rotating platform is respectively contacted with the working track and the maintenance track through the rotation of the rotating track, so that the operation of changing the track of the robot body is facilitated, and the maintenance of the robot body is facilitated.
Description
Technical Field
The invention relates to the technical field of robot turnout guides, in particular to a turnout guide of a cable tunnel rail robot.
Background
In the current urban planning, the circuits of cables, gas transmission pipelines, water supply and drainage pipelines, communication cables and the like are uniformly distributed in an underground comprehensive pipe gallery or a tunnel. In order to ensure the normal operation of a city, the equipment needs to be regularly checked to ensure the stable and reliable work. The current inspection mode which is commonly used adopts manual periodic inspection, but the defects of the mode are also very obvious: firstly, potential safety hazards such as abnormal heating, toxic and harmful gases and the like cannot be found in time through manual inspection; secondly, the requirement of manual inspection on the service level of inspection workers is high, and inspection results are obviously different due to the fact that the service levels are different; finally, the inspection work needs to carry a large amount of equipment, the work repeatability is strong, the work intensity is high, and the inspection talents are difficult to keep for a long time. In addition, the ground space of buildings such as underground comprehensive pipe galleries, tunnels and the like is narrow, so that the robot body is not beneficial to inspection and obstacle surmounting, and the rail type inspection robot body effectively utilizing the top space of the buildings comes from the beginning.
In the process of patrolling and examining a robot body in the prior art, when a plurality of robot bodies are jointly patrolled and examined, the operation of changing a track is required when the robot body needs to be overhauled, but at present, no turnout mechanism aiming at a track type patrolling and examining robot body is provided to complete the change of the track, so that when a plurality of robot bodies are jointly patrolled and examined, the operation of changing the track by the robot body is inconvenient, and the overhaul of the robot body is inconvenient.
Therefore, it is a realistic meaning for those skilled in the art how to solve the above technical problems.
Disclosure of Invention
Based on the problems, the invention provides a turnout guide way of a cable tunnel rail robot. According to the invention, the fixed platform is provided with the rotating mechanism, the rotating mechanism is arranged on the fixed platform and connected with the rotating platform, the rotating platform is connected with the rotating track through the connecting mechanism, and the rotating platform is respectively contacted with the working track and the maintenance track through the rotation of the rotating track, so that the operation of changing the track of the robot body is facilitated, and the maintenance of the robot body is facilitated.
The invention specifically adopts the following technical scheme for realizing the purpose:
the utility model provides a cable tunnel track robot switch guide way, includes fixed platform, work track and maintenance track, the last rotary mechanism of installing of fixed platform, rotary mechanism is connected with and is located the rotary platform of fixed platform below, rotary platform bottom surface mid-mounting has rotary sensor, rotary platform is connected with the rotation track that is used for the robot body to pass through coupling mechanism, machine carries sensor and bar code reader are installed respectively to the top and the both sides of robot body, install on work track and the maintenance track with the spacing sensor that rotation track contacted, work track and rotation track end are all posted and are let the bar code that the robot body stopped.
In the invention, when the robot body needs to be maintained, the robot body slides along the working track, and when the robot body reaches the tail end of the working track, the bar code readers arranged at two sides of the robot body read the bar codes adhered to the tail end of the working track and stop; the airborne sensor sends communication information to a rotary sensor on the rotary platform, the rotary sensor on the rotary platform sends related information after receiving the communication information, so that the driving motor rotates to drive the rotary platform to rotate, and the rotary platform stops rotating after the rotary track contacts a limit sensor on the working track; the limit sensor at the tail end of the working track sends a communication signal to the airborne sensor, so that the inspection robot body continues to advance; after the inspection robot body lands on the rotating track, bar code readers arranged on two sides of the robot body read bar codes adhered on the rotating track and stay on the rotating track; the airborne sensor sends a positioned message to the sensor on the rotating platform, and after receiving the positioned message, the rotating sensor on the rotating platform sends a related message to enable the driving motor to rotate reversely, so that the rotating platform rotates reversely; after the rotating track is contacted with the limit sensor on the maintenance track, the rotating platform stops rotating; the spacing sensor on the maintenance track sends the start message to the machine-carried sensor on the robot body to make the robot body start and get into the maintenance track, after the robot body has been maintained, the robot body gets into the work track according to above-mentioned principle again and continues work.
As a preferable mode, the rotating mechanism comprises a driving motor installed on the fixed platform, the driving motor is connected with a driving shaft in the vertical direction, and the driving shaft is provided with a driving gear; the fixed platform is further connected with a driven shaft, a driven gear meshed with the driving gear is mounted on the driven shaft, and the driven shaft is fixedly connected with the rotating platform.
Preferably, the pitch circle diameter of the driving gear is smaller than the pitch circle diameter of the driven gear.
Preferably, a bearing is mounted on the fixed platform at a position where the fixed platform is in contact with the driven shaft.
As a preferable mode, the connecting mechanism includes four connecting rods, the upper ends of the four connecting rods are connected with the bottom surface of the rotating platform, and the lower ends of the four connecting rods are connected with two rotating rails which are parallel to each other.
Preferably, the rotating platform is disposed at an end of the working rail.
In a preferred mode, the model of the driving motor is PD4-N6018L4204, the model of the limit sensor is IMB08-02BNSVU2K SICK, the model of the rotation sensor and the model of the onboard sensor are LR-W500C, and the model of the bar code reader is VF 2406.
The invention has the following beneficial effects:
(1) according to the invention, the fixed platform is provided with the rotating mechanism, the rotating mechanism is arranged on the fixed platform and connected with the rotating platform, the rotating platform is connected with the rotating track through the connecting mechanism, and the rotating platform is respectively contacted with the working track and the maintenance track through the rotation of the rotating track, so that the operation of changing the track of the robot body is facilitated, and the maintenance of the robot body is facilitated.
(2) According to the invention, the driving motor rotates to drive the driving shaft to rotate, the driving shaft drives the driving gear to rotate, the driving gear drives the driven gear meshed with the driving gear to rotate, and the driven gear rotates to drive the rotating platform to rotate, so that the rotating platform can be contacted with the maintenance track or the working track, the robot body can be conveniently transited from the working track to the maintenance track, and the robot body is maintained.
(3) The diameter of the reference circle of the driving gear is smaller than that of the driven gear, so that the rotating speed of the driven gear is lower than that of the driving gear, and the effect of saving energy can be achieved.
(4) According to the invention, the bearing is arranged at the contact part of the fixed platform and the driven shaft, so that the friction between the driven shaft and the fixed platform can be reduced, and the driven shaft and the fixed platform are more durable.
(5) The connecting mechanism comprises four connecting rods, the upper ends of the four connecting rods are connected with the bottom surface of the rotating platform, the lower ends of the four connecting rods are connected with the two rotating rails which are parallel to each other, and the four connecting rods are connected with the rotating rails, so that the rotating platform can drive the rotating rails to rotate conveniently, and the robot body is not prevented from passing through the rotating rails.
(6) The rotary platform is arranged at the tail end of the working track, so that the influence on the inspection work can be reduced, and the rotating times of the rotary platform are reduced, so that the energy can be saved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic view of a rotary mechanism of the present invention;
fig. 4 is an enlarged view of the invention at a in fig. 2.
Reference numerals: 1 fixed platform, 2 driving motor, 3 drive shafts, 4 drive gears, 5 driven shafts, 6 bearings, 7 driven gears, 8 rotary platforms, 9 rotary sensors, 10 connecting rods, 11 rotary tracks, 12 robot bodies, 13 airborne sensors, 14 working tracks, 15 overhaul tracks, 16 limit sensors, 17 bar code readers and 18 bar codes.
Detailed Description
For a better understanding of the present invention by those skilled in the art, the present invention will be described in further detail below with reference to the accompanying drawings and the following examples.
Example 1:
as shown in fig. 1-4, a cable tunnel track robot switch guide way, including fixed platform 1, work track 14 and maintenance track 15, the last rotary mechanism that installs of fixed platform 1, rotary mechanism is connected with rotary platform 8 that is located fixed platform 1 below, 8 bottom surface mid-mounting of rotary platform have rotary sensor 9, rotary platform 8 is connected with the rotation track 11 that is used for robot body 12 to pass through coupling mechanism, machine carries sensor 13 and bar code reader 17 are installed respectively to the top and both sides of robot body 12, install the spacing sensor 16 that contacts with rotation track 11 on work track 14 and the maintenance track 15, work track 14 and 11 end of rotation track all paste the bar code 18 that can let robot body 12 stop.
In the invention, a fixed platform 1 is fixed on the top surfaces of tunnels and the like, an airborne sensor 13 and a bar code reader 17 are respectively installed on the top and two sides of a robot body 12, when the robot body 12 needs to be maintained and slides along a working rail 14, and when the robot body reaches the tail end of the working rail 14, the bar code readers 17 installed on the two sides of the robot body 12 read bar codes 18 adhered to the tail end of the working rail 14 and stop; the on-board sensor 13 sends a communication message to the rotation sensor 9 on the rotation platform 8, and after the rotation sensor 9 on the rotation platform 8 receives the communication message, the rotation sensor 9 sends a related message, where the related message is a message sent by the rotation sensor 9 to inform a circuit controlling the driving motor 2 that the driving motor 2 needs to be driven to rotate. So that the motor rotates to drive the rotating platform 8 to rotate, and after the rotating track 11 contacts the limit sensor 16 on the working track 14, the rotating platform 8 stops rotating; the limit sensor 16 at the tail end of the working track 14 sends a communication signal to the airborne sensor 13, so that the inspection robot body 12 continues to advance; after the inspection robot body 12 lands on the rotating track 11, the bar code readers 17 mounted on both sides of the robot body 12 read the bar codes 18 attached to the rotating track 11 and stay on the rotating track 11; the onboard sensor 13 sends a positioned message to the rotating sensor 9 on the rotating platform 8, and after receiving the positioned message, the rotating sensor 9 on the rotating platform 8 sends a relevant message to reversely rotate the driving motor 2, wherein the relevant message is the same as the above message, so that the rotating platform 8 reversely rotates; after the rotating rail 11 is contacted with the limit sensor 16 on the overhauling rail 15, the rotating platform 8 stops rotating; the limit sensor 16 on the maintenance track 15 sends a starting message to the airborne sensor 13 on the robot body 12, so that the robot body 12 is started to enter the maintenance track 15, and after the maintenance of the robot body 12, the robot body 12 enters the working track 14 to continue working according to the principle.
Example 2:
as shown in fig. 1-4, a cable tunnel track robot switch guide way, including fixed platform 1, work track 14 and maintenance track 15, the last rotary mechanism that installs of fixed platform 1, rotary mechanism is connected with rotary platform 8 that is located fixed platform 1 below, 8 bottom surface mid-mounting of rotary platform have rotary sensor 9, rotary platform 8 is connected with the rotation track 11 that is used for robot body 12 to pass through coupling mechanism, machine carries sensor 13 and bar code reader 17 are installed respectively to the top and both sides of robot body 12, install the spacing sensor 16 that contacts with rotation track 11 on work track 14 and the maintenance track 15, work track 14 and 11 end of rotation track all paste the bar code 18 that can let robot body 12 stop.
In the embodiment, the rotating mechanism comprises a driving motor 2 arranged on the fixed platform 1, the driving motor 2 is connected with a driving shaft 3 in the vertical direction, and a driving gear 4 is arranged on the driving shaft 3; the fixed platform 1 is also connected with a driven shaft 5, the driven shaft 5 is provided with a driven gear 7 meshed with the driving gear 4, and the driven shaft 5 is fixedly connected with a rotary platform 8. Drive motor 2 rotates and drives drive shaft 3 and rotates, drive shaft 3 drives drive gear 4 again and rotates, drive gear 4 drives 7 rotations with drive gear 4 engaged with, driven gear 7 rotates and drives rotary platform 8 rotation again, thereby make rotary platform 8 can with overhaul track 15 or work track 14 contact, conveniently make robot 12 transition from work track 14 to overhauing track 15, overhaul robot 12.
Preferably, the pitch circle diameter of the driving gear 4 is smaller than that of the driven gear 7, so that the rotating speed of the driven gear 7 is lower than that of the driving gear 4, and the effect of saving energy can be achieved.
Preferably, the bearing 6 is arranged at the contact position of the fixed platform 1 and the driven shaft 5, so that the friction between the driven shaft 5 and the fixed platform 1 can be reduced, and the driven shaft 5 and the fixed platform 1 are both more durable.
Other parts of this embodiment are the same as those of the above embodiment, and are not described herein again.
Example 3:
as shown in fig. 1-4, a cable tunnel track robot switch guide way, including fixed platform 1, work track 14 and maintenance track 15, the last rotary mechanism that installs of fixed platform 1, rotary mechanism is connected with rotary platform 8 that is located fixed platform 1 below, 8 bottom surface mid-mounting of rotary platform have rotary sensor 9, rotary platform 8 is connected with the rotation track 11 that is used for robot body 12 to pass through coupling mechanism, machine carries sensor 13 and bar code reader 17 are installed respectively to the top and both sides of robot body 12, install the spacing sensor 16 that contacts with rotation track 11 on work track 14 and the maintenance track 15, work track 14 and 11 end of rotation track all paste the bar code 18 that can let robot body 12 stop.
In this embodiment, coupling mechanism includes four connecting rods 10, and the upper end and the 8 bottom surfaces of rotary platform of four connecting rods 10 are connected, and the lower extreme is connected with two rotation rails 11 that are parallel to each other, is connected with rotation rails 11 through four connecting rods 10, both can make things convenient for rotation platform 8 to drive rotation rails 11 rotatory, does not hinder again that robot body 12 passes through from rotation rails 11.
Preferably, the rotary platform 8 is arranged at the tail end of the working track 14, so that the influence on the inspection work can be reduced, and the rotating frequency of the rotary platform 8 is reduced, so that the energy can be saved.
Other parts of this embodiment are the same as those of the above embodiment, and are not described herein again.
Example 4:
as shown in fig. 1-4, a cable tunnel track robot switch guide way, including fixed platform 1, work track 14 and maintenance track 15, the last rotary mechanism that installs of fixed platform 1, rotary mechanism is connected with rotary platform 8 that is located fixed platform 1 below, 8 bottom surface mid-mounting of rotary platform have rotary sensor 9, rotary platform 8 is connected with the rotation track 11 that is used for robot body 12 to pass through coupling mechanism, machine carries sensor 13 and bar code reader 17 are installed respectively to the top and both sides of robot body 12, install the spacing sensor 16 that contacts with rotation track 11 on work track 14 and the maintenance track 15, work track 14 and 11 end of rotation track all paste the bar code 18 that can let robot body 12 stop.
In this embodiment, the model of the driving motor 2 is PD4-N6018L4204, the model of the limit sensor 16 is IMB08-02BNSVU2K SICK, the models of the rotation sensor 9 and the onboard sensor 13 are LR-W500C, the model of the barcode 18 reader 17 is VF2406, and the driving motor 2, the limit sensor 16, the rotation sensor 9, the onboard sensor 13, and the barcode reader 17 are not limited to the above models, and a user may select another model more practically.
Other parts of this embodiment are the same as those of the above embodiment, and are not described herein again.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not to be used for limiting the scope of the invention, which is defined by the claims, and all the equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be included in the scope of the invention.
Claims (7)
1. The utility model provides a cable tunnel track robot switch guide way, a serial communication port, including fixed platform (1), work track (14) and maintenance track (15), install rotary mechanism on fixed platform (1), rotary mechanism is connected with and is located rotary platform (8) of fixed platform (1) below, rotary platform (8) bottom surface mid-mounting has rotary sensor (9), rotary platform (8) are connected with through coupling mechanism and are used for rotatory track (11) that robot body (12) pass through, airborne sensor (13) and bar code reader (17) are installed respectively to the top and the both sides of robot body (12), install on work track (14) and maintenance track (15) with spacing sensor (16) that rotation track (11) contacted, work track (14) and rotation track (11) end all paste bar code (18) that can let robot body (12) stop.
2. The cable tunnel rail robot turnout guide of claim 1, wherein the rotating mechanism comprises a driving motor (2) installed on a fixed platform (1), the driving motor (2) is connected with a driving shaft (3) in a vertical direction, and a driving gear (4) is installed on the driving shaft (3); still be connected with driven shaft (5) on fixed platform (1), install driven gear (7) with drive gear (4) looks meshing on driven shaft (5), driven gear (7) fixed connection rotary platform (8).
3. The cable tunnel rail robot turnout guide of claim 2, wherein the drive gear (4) has a pitch circle diameter smaller than the pitch circle diameter of the driven gear (7).
4. The turnout guide of a cable tunnel rail robot according to claim 2, characterized in that a bearing (6) is installed on the fixed platform (1) in contact with the driven shaft (5).
5. The turnout guide of a cable tunnel track robot according to claim 1, wherein the connecting mechanism comprises four connecting rods (10), the upper ends of the four connecting rods (10) are connected with the bottom surface of the rotating platform (8), and the lower ends of the four connecting rods are connected with two rotating rails (11) which are parallel to each other.
6. The cable tunnel rail robot turnout guide of claim 5, wherein the rotating platform (8) is provided at the end of the working rail (14).
7. The cable tunnel rail robot turnout guide of claim 1, wherein the drive motor (2) is of the type PD4-N6018L4204, the limit sensor (16) is of the type IMB08-02BNSVU2K SICK, the rotation sensor (9) and the on-board sensor (13) are of the type LR-W500C, and the barcode reader (17) is of the type VF 2406.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811292293.XA CN111118981A (en) | 2018-10-31 | 2018-10-31 | Cable tunnel track robot turnout guide way |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811292293.XA CN111118981A (en) | 2018-10-31 | 2018-10-31 | Cable tunnel track robot turnout guide way |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111118981A true CN111118981A (en) | 2020-05-08 |
Family
ID=70494485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811292293.XA Pending CN111118981A (en) | 2018-10-31 | 2018-10-31 | Cable tunnel track robot turnout guide way |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111118981A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114151647A (en) * | 2021-11-25 | 2022-03-08 | 南方科技大学台州研究院 | Walking device of rain and sewage pipe network detection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR512274A (en) * | 1920-03-23 | 1921-01-19 | Hugh Alexander Coulter | Improvements to rail crossing devices |
| CN2701805Y (en) * | 2004-03-18 | 2005-05-25 | 王树生 | Rotary turnout for accumulation-release conveyor |
| CN103074827A (en) * | 2012-11-13 | 2013-05-01 | 任海 | Constituting method of aerial double-steel-rail lane turnoff machinery |
| CN203451954U (en) * | 2013-09-05 | 2014-02-26 | 武汉武桥交通装备技术有限公司 | Device for bridge detector car walking track manual conversion |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| CN207033494U (en) * | 2017-04-21 | 2018-02-23 | 深圳市朗驰欣创科技股份有限公司 | A kind of omnidirectional is connected device and track switch machine structure |
-
2018
- 2018-10-31 CN CN201811292293.XA patent/CN111118981A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR512274A (en) * | 1920-03-23 | 1921-01-19 | Hugh Alexander Coulter | Improvements to rail crossing devices |
| CN2701805Y (en) * | 2004-03-18 | 2005-05-25 | 王树生 | Rotary turnout for accumulation-release conveyor |
| CN103074827A (en) * | 2012-11-13 | 2013-05-01 | 任海 | Constituting method of aerial double-steel-rail lane turnoff machinery |
| CN203451954U (en) * | 2013-09-05 | 2014-02-26 | 武汉武桥交通装备技术有限公司 | Device for bridge detector car walking track manual conversion |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| CN207033494U (en) * | 2017-04-21 | 2018-02-23 | 深圳市朗驰欣创科技股份有限公司 | A kind of omnidirectional is connected device and track switch machine structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114151647A (en) * | 2021-11-25 | 2022-03-08 | 南方科技大学台州研究院 | Walking device of rain and sewage pipe network detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11364620B2 (en) | Rail-mounted intelligent inspection robot | |
| KR101245778B1 (en) | Blade maintenance device for wind turbine | |
| CN104390112B (en) | A kind of The Cloud Terrace of measuring self anglec of rotation | |
| CN111118981A (en) | Cable tunnel track robot turnout guide way | |
| CN204294536U (en) | For the automatic ash removing device of grating sensor | |
| CN106193640A (en) | A kind of steel tower inspecting robot and method of work thereof | |
| CN212635728U (en) | Cable tunnel robot | |
| CN204759185U (en) | Eliminate rail vehicle precision positioning device that wheel -slip was disturbed | |
| CN105479432A (en) | Driving wheel device of inspection robot | |
| CN218847141U (en) | Rack pitch automatic measuring device | |
| CN205825911U (en) | A kind of 3 D laser scanning for being arranged on bridge pier internal cavities checks system | |
| KR101194762B1 (en) | Rotary module, moving platform and moving apparatus having the same | |
| CN214235560U (en) | Portable normal atmospheric temperature turns over throwing equipment | |
| CN210802927U (en) | Indoor ACC function offline detection device of intelligent automobile | |
| CN112570435A (en) | Portable normal atmospheric temperature turns over throwing equipment | |
| CN109353374B (en) | Reloading mobile platform and method | |
| CN105220925A (en) | A kind of mechanical wheel for having carrying rolling and positioning function in parking apparatus concurrently | |
| CN207289634U (en) | A kind of rail milling turnning and milling cuts operation unit test platform | |
| CN216376271U (en) | Wheel pair transportation system | |
| CN220795052U (en) | All-round detection device of bridge anchor head | |
| CN221483224U (en) | Auxiliary device for automatic meter reading | |
| CN106012780B (en) | Pavement detection equipment and pavement detection method | |
| CN204588574U (en) | A kind ofly be applicable to the automatic winding displacement apparatus that spentnuclear fuel associated component switches gripping apparatus | |
| CN209603989U (en) | A kind of drill loader group limiting drill boom trolley | |
| CN215629063U (en) | Automatic track switching device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200508 |
|
| RJ01 | Rejection of invention patent application after publication |