CN111185894A - Tunnel track inspection robot - Google Patents
Tunnel track inspection robot Download PDFInfo
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- CN111185894A CN111185894A CN202010138111.4A CN202010138111A CN111185894A CN 111185894 A CN111185894 A CN 111185894A CN 202010138111 A CN202010138111 A CN 202010138111A CN 111185894 A CN111185894 A CN 111185894A
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- 238000007689 inspection Methods 0.000 title claims description 14
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 239000013589 supplement Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 108010066114 cabin-2 Proteins 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a tunnel track detection robot, which comprises a frame, a first driving mechanism and a second driving mechanism which are fixed at two ends of the frame in a one-to-one correspondence manner, slide in a limiting manner with a track and have the same structure, a first track surface acquisition assembly, the bottom of which is fixedly connected with the first driving mechanism and is used for shooting an image at one side of the track, a second track surface acquisition assembly, the bottom of which is fixedly connected with the second driving mechanism and is used for shooting an image at the other side of the track, a vault acquisition assembly, the bottom of which is fixed at the middle part of the frame and is used for shooting an image of a vault of a tunnel, and an electronic bin, which is fixed on the frame in a bridging manner and is respectively and electrically connected with the first driving mechanism, the second driving mechanism, the first track surface acquisition assembly, the vault acquisition assembly and the. Through the scheme, the rail track detection device has the advantages of simple structure, complete functions, low equipment investment cost and the like, and has high practical value and popularization value in the technical field of rail detection.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a tunnel track detection robot.
Background
With the continuous development of railway engineering, the railway mileage is continuously increased; according to the requirements of railway detection and maintenance, regular or/and irregular detection needs to be carried out on a railway line, at present, the railway line in the prior art mostly adopts manual or semi-automatic detection, the detection efficiency is extremely low, and long time is needed; meanwhile, in the prior art, the track detection of the tunnel track and the surface defect detection of the track segment are independent and separated, and the track segment surface defect detection equipment is complex; moreover, some railway line check out test set functions among the prior art are comparatively simple, can't realize the high-efficient comprehensive defect detection to track board, contact net, tunnel vault, track additional structure.
Therefore, it is urgently needed to provide a tunnel track detection robot capable of detecting a track and a tunnel.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a tunnel track inspection robot, which adopts the following technical solutions:
the utility model provides a tunnel track inspection robot, advance along the track direction, which comprises a vehicle rack, the one-to-one is fixed at the both ends of frame, and with the spacing slip of track, and first actuating mechanism and second actuating mechanism that the structure is the same, bottom and first actuating mechanism fixed connection, and be used for shooting the first track face collection subassembly of the image of track one side, bottom and second actuating mechanism fixed connection, be used for shooting the image of track opposite side, and the second track face collection subassembly that is the same with first track face collection subassembly structure, the middle part at the frame is fixed to the bottom, the vault collection subassembly that is used for shooting the image of tunnel vault, and the crossover joint is fixed on the frame, and respectively with first actuating mechanism, second actuating mechanism, first track face collection subassembly, vault collection subassembly and second track face collection subassembly electrical connection's electron storehouse.
Further, the electronic bin comprises a box body fixed on the frame in a bridging mode, and a battery pack and a circuit board which are arranged in the box body and electrically connected with the first driving mechanism, the second driving mechanism, the first track surface acquisition assembly, the vault acquisition assembly and the second track surface acquisition assembly respectively.
Furthermore, the first driving mechanism comprises a driving box, a first frame mounting seat and a second frame mounting seat which are arranged in the driving box and fixedly connected with the frame, a hub motor which is fixed on the driving box and advances along the track direction, a second bearing which is arranged at the bottom of the driving box and is matched with the hub motor to be limited on the track, a driven wheel which is in sliding contact with the track and is arranged with the end part of the bearing penetrating through the driving box, a first bearing which is arranged at the bottom of the driving box and is matched with the driven wheel to be limited on the track, and a connecting port which is fixed on the driving box and is respectively connected with the hub motor and the electronic bin by cables.
Furthermore, the first driving mechanism further comprises a driving gear which is arranged in the driving box and is coaxially connected with the bearing end part of the driven wheel, a driven gear which is meshed with the driving gear, and an encoder which is fixed in the driving box and is coaxially connected with the driven gear.
Still further, the first driving mechanism further comprises a track collection mounting seat arranged in the driving box.
Still further, the first driving mechanism further comprises a lifting lug arranged at the top of the driving box.
Further, first track face collection subassembly includes that the bottom is fixed at the track collection installing support on first actuating mechanism, fixes the camera mounting panel at the top of track collection installing support to and install light filling lamp and radiator and track face camera on the camera mounting panel perpendicularly downwards.
Furthermore, the vault acquisition assembly comprises a first vault acquisition assembly support and a second vault acquisition assembly support, the bottoms of the first vault acquisition assembly support and the second vault acquisition assembly support are fixed on the frame and jointly form a splayed shape, a vault camera installation seat is fixed at the tops of the first vault acquisition assembly support and the second vault acquisition assembly support, is arranged along the track direction and is U-shaped, a driving installation seat is arranged at one side of the vault camera installation seat, a rotary driving motor penetrates through and is fixed on the driving installation seat from bottom to top, and a first gear is arranged at the top of the rotary driving motor, the device comprises a first gear, a second gear, a conductive slip ring, a camera and light source bracket, a first dome camera and a second dome camera, wherein the first gear is meshed with the second gear and converts horizontal rotation into longitudinal circumferential rotation; the camera and the light source support are provided with two pieces, and the first dome camera and the second dome camera are clamped between the two pieces of cameras and the light source support.
Preferably, the frame is two support columns which are arranged in parallel, and the end parts of the support columns are fixedly connected with the first frame mounting seat and the second frame mounting seat in a one-to-one correspondence manner.
Preferably, the angle between the track collection and installation bracket and the track direction is 45 °.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention skillfully adopts two support columns which are arranged in parallel as a frame and utilizes an electronic bin as a bridging connection component; therefore, the support connection strength can be ensured, and the weight can be reduced; meanwhile, a frame mounting seat fixedly connected with the support column is arranged in the driving mechanism, and the connection is reliable.
(2) The tunnel track detection robot ingeniously adopts the hub motor as the advancing drive, and the hub motor and the first bearing, the driven wheel and the second bearing are used for limiting and sliding on the track, so that the tunnel track detection robot is guaranteed to move along the track direction; in addition, the hub motor of the first driving mechanism and the hub motor of the second driving mechanism are arranged diagonally, so that the tunnel track detection robot can move forward and backward along the track direction;
(3) the encoder is arranged in the drive box to record the position of the tunnel track detection robot, so that the position of the track or/and vault defects can be conveniently recorded, and the later-stage maintenance is guaranteed;
(4) the invention is provided with a first track surface acquisition component and a second track surface acquisition component to shoot images at two sides of a track; in addition, the invention is also provided with a light supplement lamp to ensure that clear track images can be shot;
(5) the vault camera is driven by the aid of the camera, the light source support, the conductive slip ring and the vault camera and the rotary driving motor, so that multi-angle vault image shooting is achieved; the device is simplified, and simultaneously, complete image shooting of tunnel vault segment can be ensured;
in conclusion, the track detection device has the advantages of simple structure, complete functions, low equipment investment cost and the like, and has high practical value and popularization value in the technical field of track detection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of protection, and it is obvious for those skilled in the art that other related drawings can be obtained according to these drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the frame and the driving mechanism of the present invention.
FIG. 3 is a schematic diagram of the structure of the present invention (de-electron bin).
Fig. 4 is a schematic structural diagram (one) of the driving mechanism of the present invention.
Fig. 5 is a schematic structural diagram (ii) of the driving mechanism of the present invention.
Fig. 6 is a schematic structural view of the track surface collection assembly of the present invention.
Figure 7 is a schematic structural view (one) of the dome acquisition assembly of the present invention.
Figure 8 is a schematic structural view of the vault acquisition assembly of the present invention (two).
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1-a vehicle frame, 2-an electronic cabin, 3-a first driving mechanism, 4-a second driving mechanism, 5-a first track surface acquisition component, 6-a vault acquisition component, 7-a second track surface acquisition component, 20-a box body, 21-a battery pack, 22-a circuit board, 30-a driving box, 31-a hub motor, 32-a driven wheel, 36-a track acquisition mounting seat, 37-a connecting port, 38-a lifting lug, 51-a track acquisition mounting bracket, 52-a camera mounting plate, 53-a track surface camera, 54-a light supplement lamp and a heat radiator, 61-a first vault acquisition component bracket, 62-a second vault acquisition component bracket, 63-a vault camera mounting seat, 64-a driving mounting seat and 65-a rotary driving motor, 67-camera and light source holder, 69-conductive slip ring, 331-driving gear, 332-driven gear, 333-encoder, 341-first frame mount, 342-second frame mount, 351-first bearing, 352-second bearing, 661-first gear, 662-second gear, 681-first dome camera, 682-second dome camera.
Detailed Description
To further clarify the objects, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1 to 8, the present embodiment provides a tunnel track inspection robot that travels (advances or retreats) in a track direction. In the present embodiment, the terms "first", "second", and the like are used only for distinguishing the similar components, and are not to be construed as limiting the scope of protection. In addition, in the present embodiment, the directional terms such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings; moreover, the circuit board of the present embodiment is obtained by purchasing, and the control method thereof is conventional in the art, and will not be described herein again.
In this embodiment, the tunnel track inspection robot comprises a vehicle frame 1, a first driving mechanism 3 and a second driving mechanism 4 which are fixed at two ends of the vehicle frame 1 in a one-to-one correspondence manner, slide with a track in a limiting manner and have the same structure, a first track surface acquisition assembly 5 which is fixedly connected with the first driving mechanism 3 at the bottom and is used for shooting an image at one side of the track, a second track surface acquisition assembly 7 which is fixedly connected with the second driving mechanism 4 at the bottom and is used for shooting an image at the other side of the track and has the same structure with the first track surface acquisition assembly 5, a vault acquisition assembly 6 which is fixed at the middle part of the vehicle frame 1 at the bottom and is used for shooting an image of a tunnel vault, and the electronic bin 2 is fixed on the frame 1 in a bridging manner and is electrically connected with the first driving mechanism 3, the second driving mechanism 4, the first track surface acquisition component 5, the vault acquisition component 6 and the second track surface acquisition component 7 respectively. The frame 1 is two support columns arranged in parallel, and the end portions of the support columns are fixedly connected with the first frame mounting seat 341 and the second frame mounting seat 342 in a one-to-one correspondence manner.
In this embodiment, the electronic cabin 2 includes a box 20 fixed on the frame 1 in a bridging manner, and a battery pack 21 and a circuit board 22 disposed in the box 20 and electrically connected to the first driving mechanism 3, the second driving mechanism 4, the first track surface collecting assembly 5, the dome collecting assembly 6 and the second track surface collecting assembly 7, respectively. The battery pack 21 provides power for the hub motor 31, the camera, the light supplement lamp, the rotation driving motor, the circuit board, and the like, and controls the robot to move and take pictures by using the circuit board 22 (with a chip embedded therein) (conventional procedures).
In the embodiment, in order to drive the robot to travel along the track direction, the traveling position of the robot is recorded, so that the defect position can be searched in the later period; the first driving mechanism 3 and the second driving mechanism 4 are skillfully arranged in the embodiment, and the first driving mechanism 3 and the second driving mechanism 4 have the same structure and are diagonally and symmetrically arranged; the structure of the first driving mechanism 3 will be described by taking only the first driving mechanism 3 as an example, the first driving mechanism 3 includes a driving box 30, a first frame mounting base 341 and a second frame mounting base 342 which are provided in the driving box 30 and fixedly connected to the frame 1, a wheel hub motor 31 which is fixed to the driving box 30 and travels in the track direction, a second bearing 352 which is provided at the bottom of the driving box 30 and is engaged with and restrained on the track by the wheel hub motor 31, a driven wheel 32 which is slidably contacted on the track and is provided with a bearing end portion penetrating the driving box 30, a first bearing 351 which is provided at the bottom of the driving box 30 and is engaged with and restrained on the track by the driven wheel 32, a connection port 37 which is fixed to the driving box 30 and is connected to the wheel hub motor 31 and the electronic compartment 2 by a cable, a driving gear 331 which is provided in the driving box 30 and is coaxially connected to the bearing end portion of the driven wheel 32, and a driven gear 332 which is engaged with, an encoder 333 fixed in the driving box 30 and coaxially connected to the driven gear 332, a rail-collecting mount 36 provided in the driving box 30, and a lifting lug 38 provided on the top of the driving box 30. In the present embodiment, the first bearing 351 and the second bearing 352 are caught at the inner side of the track, and the hub motor 31 and the driven wheel 32 are placed on the track surface.
In order to obtain an image of a track surface, a first track surface acquisition component 5 and a second track surface acquisition component 7 which have the same structure are arranged; the first track surface collecting assembly 5 includes a track collecting mounting bracket 51 fixed at the bottom of the first driving mechanism 3 (the included angle between the track collecting mounting bracket 51 and the track direction is 45 °), a camera mounting plate 52 fixed at the top of the track collecting mounting bracket 51, a light supplement lamp and heat sink 54 vertically installed downward on the camera mounting plate 52, and a track surface camera 53. In order to ensure the definition of the image shot by the track, the light supplementing lamp is skillfully adopted for compensating illumination in the embodiment. In addition, the vault acquisition assembly 6 comprises a first vault acquisition assembly bracket 61 and a second vault acquisition assembly bracket 62 which are fixed on the vehicle frame 1 at the bottom and jointly form an eight-character shape, a vault camera mounting seat 63 which is fixed at the top of the first vault acquisition assembly bracket 61 and the second vault acquisition assembly bracket 62, is arranged along the track direction and is U-shaped, a driving mounting seat 64 arranged at one side of the vault camera mounting seat 63, a rotary driving motor 65 which penetrates through and is fixed on the driving mounting seat 64 from bottom to top, a first gear 661 arranged at the top of the rotary driving motor 65, a second gear 662 engaged with the first gear 661 and converting a horizontal direction rotation into a longitudinal circumferential rotation, a conductive slip ring 69 and a camera and light source bracket 67 provided between the U-shapes of the dome camera mount 63, and a first dome camera 681 and a second dome camera 682 fixed to the camera and light source bracket 67; the camera and light source bracket 67 is provided in two pieces, and the first dome camera 681 and the second dome camera 682 are sandwiched between the two pieces of camera and light source bracket 67. In the present embodiment, the rotation driving motor 65 drives the first gear 661 and the second gear 662 to rotate, and drives the first dome camera 681 and the second dome camera 682 to rotate in the tunnel radial direction; in addition, the conductive slip ring 69 of the present embodiment is a mature component, and the data line is connected through the conductive slip ring, so as to ensure the data transmission of the first dome camera 681 and the second dome camera 682, which rotate.
The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the scope of the present invention, but all the modifications made by the principles of the present invention and the non-inventive efforts based on the above-mentioned embodiments shall fall within the scope of the present invention.
Claims (10)
1. The utility model provides a tunnel track inspection robot, advance along the track direction, a serial communication port, which comprises a vehicle rack (1), the one-to-one correspondence is fixed at the both ends of frame (1), and slide with the track is spacing, and first actuating mechanism (3) and second actuating mechanism (4) that the structure is the same, bottom and first actuating mechanism (3) fixed connection, and be used for shooting first track face acquisition component (5) of the image of track one side, bottom and second actuating mechanism (4) fixed connection, be used for shooting the image of track opposite side, and second track face acquisition component (7) that the structure is the same with first track face acquisition component (5), the middle part at frame (1) is fixed to the bottom, vault acquisition component (6) of the image that is used for shooting the tunnel vault, and the crossover mounting is on frame (1), and respectively with first actuating mechanism (3), second actuating mechanism (4), The electronic bin (2) is electrically connected with the first track surface acquisition assembly (5), the vault acquisition assembly (6) and the second track surface acquisition assembly (7).
2. The tunnel track detection robot as claimed in claim 1, wherein the electronic cabin (2) comprises a box body (20) fixed on the frame (1) in a bridging manner, and a battery pack (21) and a circuit board (22) which are arranged in the box body (20) and electrically connected with the first driving mechanism (3), the second driving mechanism (4), the first track surface acquisition assembly (5), the vault acquisition assembly (6) and the second track surface acquisition assembly (7) respectively.
3. The tunnel track detection robot as claimed in claim 1, wherein the first driving mechanism (3) comprises a driving box (30), a first frame mounting seat (341) and a second frame mounting seat (342) which are arranged in the driving box (30) and fixedly connected with the frame (1), a hub motor (31) which is fixed on the driving box (30) and travels along the track direction, a second bearing (352) which is arranged at the bottom of the driving box (30) and is matched with the hub motor (31) to be limited on the track, a driven wheel (32) which is in sliding contact with the track and is arranged with the end part of the bearing penetrating through the driving box (30), a first bearing (351) which is arranged at the bottom of the driving box (30) and is matched with the driven wheel (32) to be limited on the track, and a connecting port (37) which is fixed on the driving box (30) and is respectively connected with the hub motor (31) and the electronic bin (2) by cables.
4. The tunnel track inspection robot according to claim 3, wherein the first driving mechanism (3) further comprises a driving gear (331) disposed in the driving box (30) and coaxially connected to the bearing end of the driven wheel (32), a driven gear (332) engaged with the driving gear (331), and an encoder (333) fixed in the driving box (30) and coaxially connected to the driven gear (332).
5. A tunnel track inspection robot according to claim 3 or 4, characterized in that the first drive mechanism (3) further comprises a track pick-up mount (36) arranged in the drive box (30).
6. A tunnel track inspection robot according to claim 3 or 4, characterized in that the first drive mechanism (3) further comprises a lifting lug (38) arranged at the top of the drive box (30).
7. The tunnel track inspection robot according to claim 1, wherein the first track plane acquisition assembly (5) comprises a track acquisition mounting bracket (51) fixed at the bottom on the first driving mechanism (3), a camera mounting plate (52) fixed at the top of the track acquisition mounting bracket (51), and a fill light and heat sink (54) and a track plane camera (53) vertically installed downwards on the camera mounting plate (52).
8. The tunnel track inspection robot according to claim 1, wherein the vault pickup assembly (6) includes a first vault pickup assembly support (61) and a second vault pickup assembly support (62) which are fixed to the vehicle frame (1) at the bottom and jointly form a splay shape, a vault camera mounting base (63) which is fixed to the top of the first vault pickup assembly support (61) and the second vault pickup assembly support (62) and arranged along the track direction and has a U shape, a driving mounting base (64) which is arranged at one side of the vault camera mounting base (63), a rotation driving motor (65) which penetrates through the driving mounting base (64) from bottom to top, a first gear (661) which is arranged at the top of the rotation driving motor (65), and a second gear (662) which is engaged with the first gear (661) and converts the horizontal rotation into the longitudinal circumferential rotation, a conductive slip ring (69) and a camera and light source bracket (67) disposed between the U-shape of the dome camera mount (63), and a first dome camera (681) and a second dome camera (682) fixed to the camera and light source bracket (67); the camera and light source bracket (67) is provided with two pieces, and the first dome camera (681) and the second dome camera (682) are sandwiched between the two pieces of camera and light source bracket (67).
9. The tunnel track inspection robot as claimed in claim 3, wherein the carriage (1) is two support columns arranged in parallel, and the ends of the support columns are fixedly connected with the first carriage mounting seat (341) and the second carriage mounting seat (342) in a one-to-one correspondence manner.
10. The tunnel track inspection robot according to claim 7, characterized in that the track collection mounting bracket (51) is at an angle of 45 ° to the track direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138111.4A CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138111.4A CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
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| CN111185894A true CN111185894A (en) | 2020-05-22 |
| CN111185894B CN111185894B (en) | 2024-04-26 |
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| CN202010138111.4A Active CN111185894B (en) | 2020-03-03 | 2020-03-03 | Tunnel track detection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111348061A (en) * | 2020-04-26 | 2020-06-30 | 中国铁路设计集团有限公司 | Novel rail transit apparent state detection trolley |
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
| CN114683315A (en) * | 2020-12-31 | 2022-07-01 | 同方威视技术股份有限公司 | Robot |
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