CN113829323A - Guide rail conversion device and method for hanger rail type inspection robot - Google Patents
Guide rail conversion device and method for hanger rail type inspection robot Download PDFInfo
- Publication number
- CN113829323A CN113829323A CN202111134586.7A CN202111134586A CN113829323A CN 113829323 A CN113829323 A CN 113829323A CN 202111134586 A CN202111134586 A CN 202111134586A CN 113829323 A CN113829323 A CN 113829323A
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- rail
- running
- rotating
- guide rail
- inspection robot
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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
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Abstract
The invention provides a guide rail conversion device and a method for a hanger rail type inspection robot, wherein the guide rail conversion device is matched with at least two running guide rails, and the guide rail conversion device comprises: the rotating mechanism is matched with the at least two running guide rails; the driving device is connected with the rotating mechanism and is used for driving the rotating mechanism to switch between a first position and a second position; the at least two running guide rails comprise a first running guide rail and a second running guide rail, and the rotating mechanism is in butt joint with the first running guide rail at a first position and in butt joint with the second running guide rail at a second position. The invention solves the technical problems that the hanger rail type inspection robot can only walk straight or turn at a fixed angle when running on the rail and can not adapt to the underground pipeline with complex rail turning conditions, and realizes the technical effect that the hanger rail type inspection robot can turn at any angle when running on the guide rail.
Description
Technical Field
The invention relates to the technical field of inspection equipment, in particular to inspection equipment capable of inspecting areas such as factories and tunnels, and particularly relates to a guide rail conversion device and method of a hanger rail type inspection robot.
Background
The hanger rail type inspection robot can be used for various regions or scenes such as plants, tunnels and the like. Especially, the hanger rail formula inspection robot of this application can regard as the piping lane machine, uses in the scene that the piping lane was patrolled and examined needs to carry out. However, the existing hanger rail type inspection robot has single function, can only simply walk or turn straight, has limited adjustment of the turning angle, cannot adapt to complex underground pipelines in cities, and cannot well steer particularly when the guide rail is steered.
Disclosure of Invention
The invention solves the technical problems that the hanger rail type inspection robot can only walk straight or turn at a fixed angle when running on a rail and cannot adapt to underground pipelines with complex rail turning conditions, and realizes the technical effect that the hanger rail type inspection robot can turn at any angle when running on a guide rail.
In order to solve the above problems, the present invention provides a guide rail switching device for a hanger rail type inspection robot, the guide rail switching device being engaged with at least two running guide rails, the guide rail switching device comprising: the rotating mechanism is matched with the at least two running guide rails; the driving device is connected with the rotating mechanism and is used for driving the rotating mechanism to switch between a first position and a second position; the at least two running guide rails comprise a first running guide rail and a second running guide rail, and the rotating mechanism is in butt joint with the first running guide rail at a first position and in butt joint with the second running guide rail at a second position.
Compared with the prior art, the technical scheme has the following technical effects: the guide rail conversion device is matched with at least two running guide rails, and when the guide rail conversion device is matched with a first running guide rail where the hanger rail type inspection robot is located, the hanger rail type inspection robot can run onto the guide rail conversion device from the first running guide rail; the hanger rail type inspection robot stops running after running to the guide rail conversion device, the guide rail conversion device rotates through the rotating mechanism, the guide rail conversion device can be matched with the second running guide rail, the hanger rail type inspection robot continues running after matching, and the hanger rail type inspection robot continues running to the second running guide rail through matching of the guide rail conversion device and the second running guide rail. The guide rail conversion device is provided with a rotating mechanism, the hanger rail type inspection robot can operate to the rotating mechanism, and the hanger rail type inspection robot can rotate to any angle along with the rotating mechanism after stopping, so that the operation direction is changed. The driving device is connected with the rotating mechanism and can control the rotating mechanism to rotate between the running guide rails. Through the cooperation of the guide rail conversion device and at least two running rails, the change of the direction of the hanger rail type inspection robot in the running process can be realized.
In one example of the present invention, a rotary mechanism includes: rotating the guide rail; at least one rotating frame, wherein the at least one rotating frame is connected with the rotating guide rail; the rotating guide rail is in butt joint with the first running guide rail at a first position and is in butt joint with the second running guide rail at a second position; at least one rotating frame is in butt joint with the second running guide rail at a first position and in butt joint with the first running guide rail at a second position.
Compared with the prior art, the technical scheme has the following technical effects: the swivel mount can play certain support and balanced action to the rotating guide rail, and swivel mount and rotating guide rail cooperate with the operation guide rail of difference respectively, can realize putting through an operation guide rail and blocking the effect of another operation guide rail.
In one example of the present invention, a rotary guide rail includes: the rotating bottom plate is connected with the rotating guide rail in a fitting manner.
Compared with the prior art, the technical scheme has the following technical effects: the rotating bottom plate and the rotating guide rail are connected in a fitting mode through the contact surface, the contact area of the rotating bottom plate and the rotating guide rail is increased, the connection is more tight and safe, and the rotating bottom plate and the rotating guide rail are not prone to falling off.
In one example of the present invention, at least one rotating rack comprises: and the anti-collision block is arranged at one end of the at least one rotating frame matched with the at least two running guide rails.
Compared with the prior art, the technical scheme has the following technical effects: the anti-collision block is arranged at one end of the rotating frame matched with the running guide rail, so that the condition that the other running guide rails are also provided with a hanging rail type inspection robot running over and colliding with the hanging rail type inspection robot on the rotating guide rail can be prevented. .
In one example of the present invention, a driving apparatus includes: the output shaft, the week side of output shaft is equipped with at least one first strengthening rib, and at least one first strengthening rib surrounds the week side of output shaft, and at least one first strengthening rib and output shaft are connected.
Compared with the prior art, the technical scheme has the following technical effects: the output shaft is more firm when rotating with rotary mechanism rotation with the one end that rotary mechanism is connected to week side is equipped with at least one strengthening rib.
In one embodiment of the invention, the shaft end face of the output shaft is provided with a base, the middle part of the rotating bottom plate is provided with a groove, and the groove and the base are matched and fixed.
Compared with the prior art, the technical scheme has the following technical effects: through base and recess mutually supporting, can be better fix output shaft and rotary mechanism together.
In one example of the present invention, one end of at least one rotating frame is connected to at least one first reinforcing rib.
Compared with the prior art, the technical scheme has the following technical effects: the output shaft passes through the strengthening rib and links to each other with the swivel mount, can improve the firm degree between the two.
In one embodiment of the present invention, the bottom surface of the rotating base plate is provided with at least two second reinforcing ribs, and the at least two second reinforcing ribs are connected with the at least one first reinforcing rib.
Compared with the prior art, the technical scheme has the following technical effects: at least two second strengthening ribs are connected with at least one first strengthening rib on the output shaft, have further stabilized the steadiness of being connected between output shaft and the rotating bottom plate.
In one example of the present invention, at least two running rails are used for the hanger rail type inspection robot to travel, and the rail switching device further includes: a control module; the sensing module is in communication connection with the control module and used for sensing the position of the hanger rail type inspection robot.
Compared with the prior art, the technical scheme has the following technical effects: and the control module is used for controlling the guide rail conversion device. The cooperation of the hanging rail type inspection robot and the guide rail conversion device is realized through the induction module.
In one embodiment of the present invention, a control method of a guideway switching apparatus includes: under the condition that the hanger rail type inspection robot walks to the guide rail conversion device along any one of the at least two running guide rails, the control driving device drives the rotating mechanism to be switched between the first position and the second position, so that the rotating mechanism is in butt joint with any one of the rails.
Compared with the prior art, the technical scheme has the following technical effects: through the guide rail conversion control method, the guide rail conversion device can be matched with the running guide rail and the hanger rail type inspection robot, and the direction conversion of the hanger rail type inspection robot on the guide rail conversion device is realized.
After the technical scheme of the invention is adopted, the following technical effects can be achieved:
(1) the direction conversion of the hanging rail type inspection robot in the operation process can be realized through the guide rail conversion device;
(2) the guide rail conversion device is provided with the rotating frame, so that when one hanger rail type inspection robot converts the operation direction, other hanger rail type inspection robots can be prevented from coming over, and collision of the hanger rail type inspection robots on different operation rails can be avoided;
(3) set up a plurality of strengthening ribs and bearing frame, ensure that guide rail conversion equipment is firm, be difficult to receive the destruction.
Drawings
Fig. 1 is a schematic diagram of a guide rail conversion device, an operation guide rail, and a hanger rail type inspection robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of a guide rail switching apparatus.
Fig. 3 is a schematic structural view of the rotating mechanism.
Fig. 4 is a schematic view of the cooperation of the rotating mechanism, the driving device and the running rail.
Fig. 5 is a schematic view of the rotation mechanism.
Fig. 6 is a schematic diagram of the engagement of the rotating frame and the output shaft.
Fig. 7 is a schematic view of the output shaft.
Fig. 8 is a schematic block diagram of the rail conversion apparatus.
Description of reference numerals:
100-guide rail switching device; 110-a rotation mechanism; 111-rotating guide rails; 111 a-rotating baseplate; 111 b-grooves; 111 c-a load-bearing support; 111 d-a second stiffener; 112-a rotating frame; 112 a-crash block; 120-a drive device; 121-an output shaft; 121 a-a base; 121 b-a first stiffener; 130-a control module; 140-a sensing module; 200-running guide rails; 210-a first running rail; 220-a second running rail; 300-hanging rail type inspection robot.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The first embodiment is as follows:
in one embodiment, a track switch 100, see fig. 1-3, is a schematic diagram of a track switch in conjunction with a running track and hanger rail inspection robot. The guideway-switching apparatus 100 is engaged with at least two running guideways 200, the guideway-switching apparatus 100 comprising: the rotating mechanism 110, the rotating mechanism 110 and at least two running rails 200 are matched; a driving device 120, wherein the driving device 120 is connected with the rotating mechanism 110 and is used for driving the rotating mechanism 110 to switch between the first position and the second position; wherein the at least two running rails 200 comprise a first running rail 210 and a second running rail 220, the rotation mechanism 110 interfaces with the first running rail 210 in a first position and interfaces with the second running rail 220 in a second position.
In the present embodiment, the guide rail transit apparatus 100 is used for the direction transit of the hanger rail type inspection robot 300 when it operates on the operation guide rail 200. The hanger rail type inspection robot 300 operates on the operation guide rail 200, and the hanger rail type inspection robot 300 can change the operation direction on the guide rail converting device 100. The operation guide rail 200 and the guide rail transfer device 100 can be completely butted, and after the butting, the hanger rail type inspection robot 300 can run from the operation guide rail 200 to the guide rail transfer device.
Further, the rotating mechanism 110 is a main rotating component in the guide rail switching device 100, and the hanger rail type inspection robot 300 can run from the running guide rail 200 to the guide rail switching device by matching the rotating mechanism 110 with the running guide rail 200. The driving device 120 is connected to the rotating mechanism 110, and the driving device drives the rotating mechanism 110 to rotate. After the hanger rail type inspection robot 300 runs on the guide rail switching mechanism, the driving device 120 drives the rotating mechanism 110 to rotate, and the rotating mechanism 110 drives the hanger rail type inspection robot 300 to rotate, so that the direction switching of the hanger rail type inspection robot 300 is realized.
It can be understood that there may be a plurality of running rails 200, and the extending directions of the running rails 200 are all different, referring to fig. 1, this embodiment provides two running rails, which are a first running rail 210 and a second running rail 220, respectively, an included angle exists between the extending directions of the first running rail 210 and the second running rail 220, and the running directions of the rail type inspection robot 300 on each running rail are all different. The rotation mechanism 110 is capable of interfacing with the first running rail 210 when rotated to a first position and the rotation mechanism 110 is capable of interfacing with the second running rail when rotated to a second position.
Example two:
in one particular embodiment, referring to fig. 1-2, the rotation mechanism 110 includes: a rotating guide rail 111; at least one rotating frame 112, wherein the at least one rotating frame 112 is connected with the rotating guide rail 111; wherein the rotating rail 111 interfaces with the first running rail 210 in a first position and with the second running rail 220 in a second position; the at least one rotating gantry 112 interfaces with the second travel rail 220 in a first position and with the first travel rail 210 in a second position.
In this embodiment, the rotating rail 111 and the moving rail 200 have similar shapes, the rails can be completely butted, and the hanger rail type inspection robot 300 can move on the rotating rail 111. The rotating frame 112 is connected with the rotating guide rail 111, and the rotating frame 112 is connected with the rotating guide rail 111 at a certain angle, so that the rotating frame 112 can play a certain supporting role on the rotating guide rail 111.
Example three:
in a specific embodiment, referring to fig. 4, the rotating guide 111 comprises: the rotating base plate 111a, the rotating base plate 111a and the rotating guide rail 111 are jointed and connected.
In the present embodiment, the rotating base plate 111a is a rectangular base plate, and the width thereof may be the same as the width of the rotating guide rail 111 or may be larger than the width of the rotating guide rail 111. The rotating guide rail 111 and the rotating base plate 111a are in contact connection through a contact surface. Wherein, be equipped with the hole that distributes evenly on swivel base plate 111a, also be equipped with the hole that distributes evenly on swivel guide rail 111, when swivel base plate 111a and swivel guide rail 111 laminating are connected, relative between the hole, through the screw-up together.
Furthermore, the rotating base plate 111a and the rotating guide rail 111 are connected in a fitting manner through contact surfaces, so that the contact area between the rotating base plate and the rotating guide rail is increased, the connection is more compact and safer, and the falling is not easy to occur.
Example four:
in a particular embodiment, referring to fig. 4, the at least one rotating rack 112 comprises: and the anti-collision block 112a is arranged on the rotating frame 112 and is positioned at one end matched with the at least two running guide rails 200.
In the present embodiment, according to the first embodiment described above, when the rotating rail 111 is engaged with any one of the running rails 200, the rotating frame 112 is engaged with the other running rail 200. The collision prevention block 112a is provided at the end of the rotating frame 112 engaged with the operation rail 200 to prevent the hanger rail type inspection robot 300 on the other operation rail 200 from colliding with the hanger rail type inspection robot 300 on the rotating rail 111.
Example five:
in a specific embodiment, referring to fig. 3, the driving device 120 includes: the output shaft 121, the peripheral side of the output shaft 121 is provided with at least one first rib 121b, the at least one first rib 121b surrounds the peripheral side of the output shaft 121, and the at least one first rib 121b is connected with the output shaft 121.
In the present embodiment, the driving device 120 is connected to the rotating mechanism 110, and the driving device 120 is connected to the rotating mechanism 110 through the output shaft 121. At least one reinforcing rib 121b is disposed on the peripheral side of the end of the output shaft 121 connected to the rotating mechanism 110, so that the output shaft 121 can rotate the rotating mechanism 110 more stably.
Example six:
in a specific embodiment, referring to fig. 6, a base 121a is provided on the axial end surface of the output shaft 121, a groove 111b is provided in the middle of the rotating base plate 111a, and the groove 111b and the base 121a are fixed in a matching manner.
In the present embodiment, the output shaft 121 is connected to the rotation mechanism 110 through the rotation base plate 111 a. The rotating base plate 111a is provided with a groove 111b which is matched with a base 121a on the output shaft 121, and the base 121a can be just clamped on the groove 111 b. The base 121a is larger than the shaft diameter of the output shaft 121, and the groove 111b is the same size as the shaft diameter. The output shaft 121 can just pass through the groove 111b, but the base 121a on the output shaft 121 is larger than the groove 111b and cannot pass through the groove 111b, so the base 121a and the groove 111b are matched to clamp the rotating base plate 111a on the output shaft 121. The output shaft 121 and the rotating mechanism 110 can be better fixed together by the mutual matching of the base 121a and the groove 111 b.
Example seven:
in a specific embodiment, referring to fig. 5, one end of at least one rotating frame 112 is coupled to at least one first reinforcing rib 121 b.
In the present embodiment, the rotating frame 112 is fixed on the output shaft 121 by being connected with the reinforcing rib 121b, so that the rotating frame 112 rotates along with the output shaft 121. The peripheral side of the output shaft 121 is provided with a plurality of reinforcing ribs 121b, and each reinforcing rib 121b can be connected with one rotating frame, so that a plurality of rotating frames can be connected. The output shaft 121 is connected to the rotating frame 112 through the reinforcing rib 121b, and the degree of stability between the two can be improved.
Example eight:
in a specific embodiment, referring to fig. 5, the bottom surface of the rotating base plate 111a is provided with at least two second reinforcing ribs 111d, and the at least two second reinforcing ribs 111d are coupled to the at least one first reinforcing rib 121 b.
In the present embodiment, at least two second reinforcing ribs 111d are provided at the middle of the rotation base plate 111a and extend in the direction of the rotation base plate 111 a. The at least two second reinforcing ribs 111d are coupled to the at least one first reinforcing rib 121b of the output shaft 121, further stabilizing the coupling between the output shaft 121 and the rotating base plate 111 a.
Example nine:
in a specific embodiment, at least two running rails 200 are used for the hanger rail type inspection robot 300 to walk, and the rail converting apparatus 100 further includes: a control module 130; the sensing module 140, the sensing module 140 and the control module 130 are in communication connection, and the sensing module 140 is used for sensing the position of the hanger rail type inspection robot 300.
In the present embodiment, the control of the guideway switching apparatus 100 is realized by the control module 130. The cooperation of the hanger rail type inspection robot 300 and the guide rail converting apparatus 100 is realized through the sensing module 140.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Example ten:
in a specific embodiment, a control method of a guideway switching apparatus includes: under the condition that the hanger rail type inspection robot walks to the guide rail conversion device along any one of the at least two running guide rails, the control driving device drives the rotating mechanism to be switched between the first position and the second position, so that the rotating mechanism is in butt joint with any one of the rails.
In the present embodiment, the hanger rail type inspection robot 300 operates on any one of the operation rails 200 to the rail switching device 100, and the hanger rail type inspection robot 300 transmits a rail change signal to the rail switching device 100.
After the sensing module 140 of the guide rail converting device 100 receives the rail replacing signal of the rail-mounted inspection robot 300, the control module 130 controls the driving device 120 to drive the rotating mechanism 110 to rotate, so that the rotating guide rail 111 is matched with the running guide rail 200 where the rail-mounted inspection robot 300 is located.
After the guide rail conversion device 100 and the operation guide rail 200 are matched, the hanger rail type inspection robot 300 operates to the guide rail conversion device 100 and stops, and the hanger rail type inspection robot 300 rotates along with the guide rail conversion device 100 so as to change the operation direction. The control module 130 controls the driving device 120 to drive the rotating mechanism 110 to rotate, and the hanging rail type inspection robot 300 on the guide rail conversion device 100 rotates along with the rotating mechanism. The rotating guide rail 111 is matched with the running guide rail 200 in the other direction, and after the matching is completed, the hanging rail type inspection robot 300 continues running to realize direction conversion.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A guide rail conversion equipment (100) for a hanger rail inspection robot, the guide rail conversion equipment (100) cooperating with at least two running guide rails (200), characterized in that the guide rail conversion equipment (100) comprises:
a rotating mechanism (110), the rotating mechanism (110) cooperating with the at least two running rails (200);
the driving device (120) is connected with the rotating mechanism (110) and is used for driving the rotating mechanism (110) to switch between a first position and a second position;
wherein the at least two running rails (200) comprise a first running rail (210) and a second running rail (220), the rotation mechanism (110) interfacing with the first running rail (210) in the first position and interfacing with the second running rail (220) in the second position.
2. The guideway transit apparatus (100) of claim 1, wherein the rotation mechanism (110) comprises:
a rotating guide rail (111);
at least one swivel mount (112), the at least one swivel mount (112) being connected to the swivel guide (111);
wherein the rotating rail (111) is in abutment with the first running rail (210) in the first position and in abutment with the second running rail (220) in the second position; the at least one rotating gantry (112) interfaces with the second running rail (220) in the first position and interfaces with the first running rail (210) in the second position.
3. The guideway transition apparatus (100) of claim 2, wherein the rotating guideway (111) comprises:
and the rotating bottom plate (111a) is attached and connected with the rotating guide rail (111).
4. The guideway transit apparatus (100) of claim 3, wherein the at least one rotating gantry (112) comprises:
the anti-collision block (112a) is arranged at one end of the at least one rotating frame (112) matched with the at least two running guide rails (200).
5. The guideway transit apparatus (100) of claim 4, wherein the drive apparatus (120) comprises:
the output shaft (121), the periphery side of output shaft (121) is equipped with at least one first strengthening rib (121b), at least one first strengthening rib (121b) surrounds the periphery side of output shaft (121), at least one first strengthening rib (121b) and output shaft (121) are connected.
6. The guide rail switching device (100) of claim 5, wherein a base (121a) is arranged on the end face of the output shaft (121), a groove (111b) is arranged in the middle of the rotating base plate (111a), and the groove (111b) is matched and fixed with the base (121 a).
7. The guideway transit apparatus (100) of claim 6, wherein an end of the at least one rotating frame (112) is coupled to the at least one first stiffener (121 b).
8. The guideway transit apparatus (100) of claim 7, wherein the bottom surface of the rotating base plate (111a) is provided with at least two second reinforcing ribs (111d), and the at least two second reinforcing ribs (111d) are connected with the at least one first reinforcing rib (121 b).
9. The rail conversion apparatus (100) of any one of claims 1 to 8, wherein the at least two running rails (200) are used for a rail inspection robot (300) to travel, the rail conversion apparatus (100) further comprising:
a control module (130);
the sensing module (140), sensing module (140) with control module (130) communication connection, sensing module (140) are used for the response the hanger rail formula is patrolled and examined robot (300) position.
10. A control method of a guideway switching apparatus, characterized in that the control method is used for the guideway switching apparatus according to claim 9, the control method comprising:
and under the condition that the hanger rail type inspection robot walks to the guide rail conversion device along any one of the at least two running guide rails, controlling the driving device to drive the rotating mechanism to be switched between the first position and the second position so as to enable the rotating mechanism to be in butt joint with any one of the rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111134586.7A CN113829323A (en) | 2021-09-27 | 2021-09-27 | Guide rail conversion device and method for hanger rail type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111134586.7A CN113829323A (en) | 2021-09-27 | 2021-09-27 | Guide rail conversion device and method for hanger rail type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113829323A true CN113829323A (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111134586.7A Pending CN113829323A (en) | 2021-09-27 | 2021-09-27 | Guide rail conversion device and method for hanger rail type inspection robot |
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| CN (1) | CN113829323A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114367994A (en) * | 2022-02-10 | 2022-04-19 | 马鞍山钢铁股份有限公司 | Multi-track transformation system of rail-hanging type inspection robot |
| CN114536298A (en) * | 2022-03-23 | 2022-05-27 | 中科开创（广州）智能科技发展有限公司 | Rail transfer device and application system of rail inspection robot |
-
2021
- 2021-09-27 CN CN202111134586.7A patent/CN113829323A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114367994A (en) * | 2022-02-10 | 2022-04-19 | 马鞍山钢铁股份有限公司 | Multi-track transformation system of rail-hanging type inspection robot |
| CN114536298A (en) * | 2022-03-23 | 2022-05-27 | 中科开创（广州）智能科技发展有限公司 | Rail transfer device and application system of rail inspection robot |
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