CN113894824B - Track inspection robot - Google Patents
Track inspection robot Download PDFInfo
- Publication number
- CN113894824B CN113894824B CN202111495369.0A CN202111495369A CN113894824B CN 113894824 B CN113894824 B CN 113894824B CN 202111495369 A CN202111495369 A CN 202111495369A CN 113894824 B CN113894824 B CN 113894824B
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- seat
- fixed
- shaft
- connecting shaft
- 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.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims description 30
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000007664 blowing Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 230000017525 heat dissipation Effects 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 238000009826 distribution Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 239000012535 impurity Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000012790 adhesive layer Substances 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of rail detection, and discloses a rail inspection robot, which comprises a bottom plate, wherein four corners of the top surface of the bottom plate are respectively provided with a roller seat, a roller shaft is rotatably arranged in each roller seat, and the outer end of each roller shaft is fixedly provided with a roller; the center of bottom plate is equipped with and is used for driving gyro wheel axle pivoted double-end motor simultaneously, the bottom surface of bottom plate is fixed with the slide rail of two parallels, is equipped with two sliders between the slide rail, all is fixed with the measuring stick of coaxial distribution on two sliders, the outer end of measuring stick is rotated and is equipped with the detection wheel, and the inner of measuring stick is equipped with displacement sensor, and the cover is equipped with the pressure spring between the inner of two measuring sticks. The invention has the advantages of compact structure, good stability and high track gauge detection precision.
Description
Technical Field
The invention relates to the technical field of track detection, in particular to a track inspection robot.
Background
The track inspection robot is a robot that travels along a track (rail) to be laid and detects various parameter information of the track. The track inspection robot generally walks along two rails through the gyro wheel, and the walking in-process detects the distance between two rails through scale or laser detector to be convenient for maintenance personal maintains, adjusts the rail. At present, the track distance detection usually uses non-contact measurement, that is, distance detection sensors or induction sensors are respectively arranged on two sides of a track, the two sensors respectively detect the distance between the sensor and the corresponding track, and then the distance value detected by the two sensors is subtracted from the distance (fixed value) between the two sensors, so as to obtain the track gauge value of the track. Detection errors exist between detection values and real values of the two sensors, and accumulated errors can be increased when the two data are obtained through detection, so that the track gauge detection precision is reduced.
Disclosure of Invention
In order to solve the problems of the track inspection robot in the prior art, the invention provides the track inspection robot which is compact in structure, good in stability and high in track gauge detection precision.
In order to achieve the purpose, the invention adopts the following technical scheme:
a track inspection robot comprises a bottom plate, wherein four corners of the top surface of the bottom plate are respectively provided with a roller seat, a roller shaft is rotatably arranged in each roller seat, and a roller is fixed at the outer end of each roller shaft; the center of bottom plate is equipped with and is used for driving gyro wheel axle pivoted double-end motor simultaneously, the bottom surface of bottom plate is fixed with the slide rail of two parallels, is equipped with two sliders between the slide rail, all is fixed with the measuring stick of coaxial distribution on two sliders, the outer end of measuring stick is rotated and is equipped with the detection wheel, and the inner of measuring stick is equipped with displacement sensor, and the cover is equipped with the pressure spring between the inner of two measuring sticks. Four gyro wheels of double-end motor drive move along two tracks, the detection wheel of measuring pole outer end contacts with orbital inside wall all the time under the effect of pressure spring, the length of measuring pole is the definite value, through the distance between two measuring pole inner of displacement sensor real-time detection, the distance between measuring pole inner is exactly the gauge length with two measuring poles in addition, just can obtain real-time gauge value through detecting a distance value, detection error is little, it is more accurate to detect, the track patrols and examines robot overall structure compactness, it is stable.
Preferably, a clamping groove is formed in the bottom surface of the sliding block, the detection rod is clamped into the clamping groove and fixedly connected with the clamping groove through a pressing block, limiting columns are arranged at two ends of the sliding rail, and a flexible protective sleeve is sleeved on the outer side of the pressure spring. The detection rod is connected with the sliding block through the pressing block, the detection rod is very convenient to mount and dismount, and the mounting position of the detection rod can be manually adjusted according to the width of the gauge to be detected so as to meet the gauge detection requirements of different widths; the flexible protective sleeve plays a role in safety protection of the pressure spring and the displacement sensor.
Preferably, the inner of the roller shaft is fixed with a driven wheel I, the shaft end of the double-head motor is provided with a driving wheel I which corresponds to the driven wheel I one to one, and a transmission belt I is arranged between the driving wheel I and the driven wheel I. The driving wheel I at the shaft end of the double-end motor drives the driven wheel I to rotate through the driving belt I, so that the roller can automatically and stably walk on the rail.
Preferably, fin radiators are arranged on the front side and the rear side of the double-end motor on the bottom plate, a flow guide seat is arranged on the top surface of the double-end motor, a flow guide cavity is arranged in the flow guide seat, a flow guide through hole is formed in the top surface of the flow guide seat, a flow guide fan is arranged at the position of the flow guide through hole, a plurality of heat conduction pipes are arranged on the side surface of the flow guide seat, the heat conduction pipes penetrate through the fin radiators and extend out of the bottom surface of the bottom plate, and a heat conduction adhesive layer is arranged between the bottom surface of the double-end motor and the bottom plate. The heat conduction and the heat dissipation are carried out on the two sides of the double-end motor through the finned radiator, the active heat dissipation is realized on the top surface of the double-end motor through the cooperation of the flow guide seat and the flow guide fan, and the heat on the bottom surface of the double-end motor is transferred to the bottom plate through the heat conduction adhesive layer and then dissipated through the bottom plate.
Preferably, four corners of the bottom surface of the bottom plate are respectively provided with a rail cleaning assembly. Track (rail) all are open-air setting, and the easy various impurity of adhesion of orbital inside wall, for example soil block, leaf etc. lead to the gauge reduction easily when detecting the wheel through the soil block, consequently in this application, the track is patrolled and examined the robot and is walked the in-process, and the track cleans the subassembly and cleans the track inside wall, sweeps impurity such as soil block, leaf to improve gauge detection precision.
Preferably, the track cleaning assembly comprises a connecting seat, a connecting shaft and a cleaning head, the connecting seat is fixed on the bottom surface of the bottom plate, the connecting shaft penetrates through the connecting seat, the cleaning head is arranged at the outer end of the connecting shaft, and a steel wire brush is arranged on the outer side surface of the cleaning head. The inspection robot cleans impurities on the inner wall of the track through the steel wire hairbrush in the walking process, so that the detection precision is improved conveniently.
Preferably, the connecting shaft is rotatably connected with the connecting seat, a driven wheel II is fixed at the inner end of the connecting shaft, a driving wheel II is fixed at the shaft end of the double-head motor, and a driving belt II is arranged between one driving wheel II and two driven wheels II. In the walking process of the inspection robot, the motor drives the connecting shaft to rotate through the driving wheel II, the driving belt II and the driven wheel II, so that the cleaning head actively rotates to clean, and the cleaning effect is better.
Preferably, an eccentric seat is fixed at the outer end of the connecting shaft, an eccentric shaft eccentrically distributed with the connecting shaft is arranged on the eccentric seat, the cleaning head is fixedly connected with the eccentric shaft, a driving gear is fixed on the connecting shaft, a driven gear meshed with the driving gear is fixed on the eccentric shaft, and a protective seat is arranged on the outer side of the driving gear and the outer side of the driven gear. The eccentric shaft revolves around the axis of the connecting shaft while rotating, the cleaning range of the cleaning head is larger, and the cleaning effect is further enhanced.
Preferably, the center of the connecting shaft is provided with a central through hole, the inner end of the connecting shaft is provided with a rotary joint, the lower end of the heat conducting pipe is connected with the rotary joint through a connecting pipe, and the eccentric seat is provided with a plurality of air blowing holes communicated with the central through hole. In the cleaning process, the air flow of the guide fan is blown out from the air blowing hole after sequentially passing through the guide cavity, the heat conduction pipe, the connecting pipe, the rotary joint and the central through hole, and impurities remained on the inner wall of the track are blown off, so that the track gauge detection precision is higher.
Preferably, the downside that the bottom surface of bottom plate is located the test bar is equipped with the protection casing, and the top surface of bottom plate is located double-end motor's axle head both sides and all is equipped with the battery, the top surface of bottom plate is equipped with the shell, and both sides are equipped with a plurality of radiating grooves around the shell, the top surface of shell is fixed with the handle.
Therefore, the invention has the advantages of compact structure, good stability and high track gauge detection precision.
Drawings
FIG. 1 is a schematic diagram of a structure of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a schematic structural diagram of fig. 1 from another view angle.
Fig. 4 is a schematic view of the internal structure of fig. 1.
Fig. 5 is a top view of fig. 4.
Fig. 6 is a schematic structural diagram of another view angle of fig. 4.
Fig. 7 is a bottom view of fig. 4.
FIG. 8 is a schematic view of the structure of the slide rail, the slide block and the detection rod
Fig. 9 is an exploded view of fig. 8.
Fig. 10 is a schematic diagram of the transmission of the double-headed motor and the roller.
Fig. 11 is a schematic transmission diagram of the double-head motor and the connecting shaft.
Fig. 12 is a schematic connection diagram of the air guiding fan, the heat conducting pipe and the transmission shaft.
Figure 13 is an exploded view of the cleaning assembly.
Fig. 14 is a schematic view of the usage state of the present invention.
Fig. 15 is a front view of fig. 14.
In the figure: the device comprises a bottom plate 1, a roller seat 2, a roller shaft 3, a roller 4, a double-head motor 5, a driven wheel I6, a driving wheel I7, a transmission belt I8, a sliding rail 9, a limiting column 90, a sliding block 10, a clamping groove 100, a detection rod 11, a pressing block 12, a detection wheel 13, a displacement sensor 14, a pressure spring 15, a flexible protective sleeve 16, a finned radiator 17, a guide seat 18, a guide fan 19, a heat pipe 20, a track cleaning component 21, a connecting seat 210, a connecting shaft 211, a cleaning head 212, a wire brush 213, a driven wheel II 214, a driving wheel II 215, a transmission belt II 216, an eccentric seat 217, an eccentric shaft 218, a driving gear 219, a driven gear 220, a protective seat 221, a rotary joint 222, a connecting pipe 223, an air blowing hole 224, a protective cover 30, a storage battery 31, a shell 32, a heat dissipation groove 33, a handle 34 and a track 35.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
as shown in fig. 1-5, the track inspection robot comprises a bottom plate 1, four corners of the top surface of the bottom plate 1 are respectively provided with a roller seat 2, a roller shaft 3 is rotatably arranged in each roller seat, and a roller 4 is fixed at the outer end of each roller shaft 3; the center of the bottom plate 1 is provided with a double-end motor 5 for driving the roller shafts to rotate simultaneously, the inner ends of the roller shafts 3 are fixed with driven wheels I6, the shaft ends of the double-end motor 5 are provided with driving wheels I7 which correspond to the driven wheels I one by one, and a transmission belt I8 is arranged between the driving wheels I and the driven wheels I; the downside that the bottom surface of bottom plate 1 is located the test bar is equipped with protection casing 30, and the top surface of bottom plate lies in double-end motor's axle head both sides and all is equipped with battery 31, and the top surface of bottom plate is equipped with shell 32, and both sides are equipped with a plurality of radiating grooves 33 around the shell, and the top surface of shell is fixed with handle 34.
The double-headed motor drives the four rollers to synchronously rotate at the same time, so that the rollers automatically travel on the track, and the traveling state is shown in fig. 14 and 15.
As shown in fig. 6, 7, 8 and 9, two parallel slide rails 9 are fixed on the bottom surface of the bottom plate 1, two ends of each slide rail are provided with a limiting post 90, two sliders 10 are arranged between the slide rails, detection rods 11 which are coaxially distributed are fixed on the two sliders, a clamping groove 100 is arranged on the bottom surface of each slider 10, the detection rods 11 are clamped into the clamping grooves and fixedly connected through pressing blocks 12, the outer ends of the detection rods 11 are provided with detection wheels 13 in a rotating mode, the inner ends of the detection rods are provided with displacement sensors 14, a pressure spring 15 is sleeved between the inner ends of the two detection rods 11, and a flexible protective sleeve 16 is sleeved on the outer side of the pressure spring.
As shown in fig. 4, 10 and 11, fin radiators 17 are disposed on the front and rear sides of the double-head motor on the bottom plate 1, a diversion seat 18 is disposed on the top surface of the double-head motor 5, a diversion cavity is disposed in the diversion seat, a diversion through hole is disposed on the top surface of the diversion seat, a diversion fan 19 is disposed at the diversion through hole, a plurality of heat pipes 20 are disposed on the side surface of the diversion seat, the upper ends of the heat pipes 20 are communicated with the diversion cavity, the heat pipes 20 pass through the fin radiators 17 and extend out of the bottom surface of the bottom plate, and a heat conductive adhesive layer is disposed between the bottom surface of the double-head motor and the bottom plate.
As shown in fig. 4, 12 and 13, the four corners of the bottom surface of the bottom plate 1 are respectively provided with a track cleaning assembly 21, the track cleaning assembly 21 comprises a connecting seat 210, a connecting shaft 211 and a cleaning head 212, the connecting seat is fixed on the bottom surface of the bottom plate, the connecting shaft 211 penetrates through the connecting seat, the cleaning head is arranged at the outer end of the connecting shaft, and the outer side surface of the cleaning head is provided with a steel wire brush 213; the connecting shaft 211 is rotatably connected with the connecting seat 210, a driven wheel II 214 is fixed at the inner end of the connecting shaft, driving wheels II 215 are fixed at the shaft ends of the double-head motor 5, and a driving belt II 216 is arranged between one driving wheel II and two driven wheels II; an eccentric seat 217 is fixed at the outer end of the connecting shaft 211, an eccentric shaft 218 which is eccentrically distributed with the connecting shaft is arranged on the eccentric seat 217, the cleaning head is fixedly connected with the eccentric shaft, a driving gear 219 is fixed on the connecting shaft, a driven gear 220 which is engaged with the driving gear is fixed on the eccentric shaft, and a protective seat 221 is arranged at the outer side of the driving gear and the driven gear; the center of the connecting shaft 211 is provided with a central through hole, the inner end of the connecting shaft is provided with a rotary joint 222, the lower end of the heat conducting pipe 20 is connected with the rotary joint 222 through a connecting pipe 223, and the eccentric seat 217 is provided with a plurality of air blowing holes 224 communicated with the central through hole.
The principle of the invention is as follows with reference to the attached drawings: as shown in fig. 14 and 15, the rollers at two sides of the track inspection robot are respectively supported in contact with the top surfaces of two tracks 35, the detection wheels at the outer ends of the detection rods are elastically abutted against the inner wall (track gauge detection position) of the track under the action of the pressure spring, and the steel wire brushes in the cleaning assembly are in contact with the inner wall of the track; when the double-end motor is started, the double-end motor drives the roller to automatically walk along the track, in the walking process, the double-end motor drives the connecting shaft to rotate, the connecting shaft drives the eccentric shaft to rotate, the eccentric shaft revolves around the axis of the connecting shaft while rotating, thereby leading the cleaning head to rotate and revolve at the same time to clean the inner wall of the orbit, the air flow of the guide fan is blown out from the air blowing hole after passing through the guide cavity, the heat conducting pipe, the connecting pipe, the rotary joint and the central through hole in sequence, impurities remained on the inner wall of the track are blown off, thereby cleaning up the impurities on the inner wall of the track to be detected, detecting the distance between the inner ends of the two detection rods by the displacement sensors at the inner ends of the detection rods when the detection wheels pass through the cleaned inner wall of the track, the length (including the detection wheel) of the detection value plus the two detection rods is equal to the track gauge, so that the overall detection precision is high; four sides of the double-end motor all have good heat dissipation, and the service life and the stability of the double-end motor are improved.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made based on the present invention to solve the same technical problems and achieve the same technical effects are within the scope of the present invention.
Claims (4)
1. A track inspection robot comprises a bottom plate and is characterized in that four corners of the top surface of the bottom plate are respectively provided with a roller seat, a roller shaft is rotatably arranged in each roller seat, and rollers are fixed at the outer ends of the roller shafts; the center of the bottom plate is provided with a double-end motor for driving the roller shafts to rotate simultaneously, two parallel slide rails are fixed on the bottom surface of the bottom plate, two slide blocks are arranged between the slide rails, detection rods which are coaxially distributed are fixed on the two slide blocks, the outer ends of the detection rods are rotatably provided with detection wheels, the inner ends of the detection rods are provided with displacement sensors, and a pressure spring is sleeved between the inner ends of the two detection rods; finned radiators are arranged on the front side and the rear side of the double-end motor on the bottom plate, a flow guide seat is arranged on the top surface of the double-end motor, a flow guide cavity is arranged in the flow guide seat, a flow guide through hole is formed in the top surface of the flow guide seat, a flow guide fan is arranged at the position of the flow guide through hole, a plurality of heat conduction pipes are arranged on the side surface of the flow guide seat, the heat conduction pipes penetrate through the finned radiators and extend out of the bottom surface of the bottom plate, and a heat conduction glue layer is arranged between the bottom surface of the double-end motor and the bottom plate; four corners of the bottom surface of the bottom plate are respectively provided with a track cleaning assembly, the track cleaning assembly comprises a connecting seat, a connecting shaft and a cleaning head, the connecting seat is fixed on the bottom surface of the bottom plate, the connecting shaft penetrates through the connecting seat, the cleaning head is arranged at the outer end of the connecting shaft, the outer side surface of the cleaning head is provided with a steel wire brush, the connecting shaft is rotatably connected with the connecting seat, a driven wheel II is fixed at the inner end of the connecting shaft, driving wheels II are fixed at the shaft ends of the double-head motors, a driving belt II is arranged between one driving wheel II and two driven wheels II, an eccentric seat is fixed at the outer end of the connecting shaft, an eccentric shaft eccentrically distributed with the connecting shaft is arranged on the eccentric seat, the cleaning head is fixedly connected with an eccentric shaft, a driving gear is fixed on the connecting shaft, a driven gear meshed with the driving gear is fixed on the eccentric shaft, and protective seats are arranged on the outer sides of the driving gear and the driven gear; the center of the connecting shaft is provided with a central through hole, the inner end of the connecting shaft is provided with a rotary joint, the lower end of the heat conducting pipe is connected with the rotary joint through a connecting pipe, and the eccentric seat is provided with a plurality of air blowing holes communicated with the central through hole.
2. The track inspection robot according to claim 1, wherein a clamping groove is formed in the bottom surface of the sliding block, the detection rod is clamped into the clamping groove and fixedly connected through a pressing block, limiting columns are arranged at two ends of the sliding rail, and a flexible protective sleeve is sleeved on the outer side of the pressure spring.
3. The track inspection robot according to claim 1, wherein driven wheels I are fixed to inner ends of the roller shafts, driving wheels I corresponding to the driven wheels I are arranged at shaft ends of the double-head motors, and transmission belts I are arranged between the driving wheels I and the driven wheels I.
4. The track inspection robot according to claim 1, wherein a protective cover is arranged on the bottom surface of the bottom plate and located on the lower side of the detection rod, storage batteries are arranged on the top surface of the bottom plate and located on two sides of the shaft end of the double-end motor, a shell is arranged on the top surface of the bottom plate, a plurality of heat dissipation grooves are formed in the front side and the rear side of the shell, and a handle is fixed to the top surface of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495369.0A CN113894824B (en) | 2021-12-09 | 2021-12-09 | Track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495369.0A CN113894824B (en) | 2021-12-09 | 2021-12-09 | Track inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113894824A CN113894824A (en) | 2022-01-07 |
| CN113894824B true CN113894824B (en) | 2022-03-08 |
Family
ID=79025929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111495369.0A Active CN113894824B (en) | 2021-12-09 | 2021-12-09 | Track inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113894824B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183095A (en) * | 2022-07-08 | 2022-10-14 | 深圳市能智工业信息技术有限公司 | Monitoring device suitable for rail transit |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005299110A (en) * | 2004-04-07 | 2005-10-27 | East Japan Railway Co | Traveling type sleeper determination apparatus |
| CN202329599U (en) * | 2011-11-08 | 2012-07-11 | 中铁第一勘察设计院集团有限公司 | Track gauge measuring device of railway track detecting instrument |
| KR20130123878A (en) * | 2012-05-04 | 2013-11-13 | 주식회사 티엠이앤씨 | Automatic measurement apparatus of track guage and rail slope |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN206624343U (en) * | 2017-02-18 | 2017-11-10 | 汪成立 | A kind of lithium battery group pole piece rotary transport dolly |
| CN210449957U (en) * | 2019-07-01 | 2020-05-05 | 董皓 | Track cleaning robot |
| CN112068540A (en) * | 2019-05-24 | 2020-12-11 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN112193274A (en) * | 2020-09-27 | 2021-01-08 | 北京海益同展信息科技有限公司 | Track device and detection method |
| CN212500409U (en) * | 2020-06-11 | 2021-02-09 | 南京航空航天大学 | Portable track detection device |
| CN212654361U (en) * | 2020-05-09 | 2021-03-05 | 北京海益同展信息科技有限公司 | Chassis for track inspection robot and track inspection robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101590157B1 (en) * | 2015-04-30 | 2016-02-01 | 한국철도기술연구원 | Trolley apparatus for measuring track irregularity of versine-type |
| KR101602327B1 (en) * | 2015-10-30 | 2016-03-10 | 김성호 | Rail type vacuum cleaner for controlled horticulture |
| CN109048944A (en) * | 2018-09-13 | 2018-12-21 | 武汉轻工大学 | Suspension cable type crack detection robot |
| CN110435688B (en) * | 2019-07-21 | 2023-09-12 | 五邑大学 | Detection device for track |
| CN214391248U (en) * | 2021-03-26 | 2021-10-15 | 上海昊城混凝土有限公司 | Track sweeper |
-
2021
- 2021-12-09 CN CN202111495369.0A patent/CN113894824B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005299110A (en) * | 2004-04-07 | 2005-10-27 | East Japan Railway Co | Traveling type sleeper determination apparatus |
| CN202329599U (en) * | 2011-11-08 | 2012-07-11 | 中铁第一勘察设计院集团有限公司 | Track gauge measuring device of railway track detecting instrument |
| KR20130123878A (en) * | 2012-05-04 | 2013-11-13 | 주식회사 티엠이앤씨 | Automatic measurement apparatus of track guage and rail slope |
| CN206624343U (en) * | 2017-02-18 | 2017-11-10 | 汪成立 | A kind of lithium battery group pole piece rotary transport dolly |
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN112068540A (en) * | 2019-05-24 | 2020-12-11 | 北京海益同展信息科技有限公司 | Track inspection robot |
| CN210449957U (en) * | 2019-07-01 | 2020-05-05 | 董皓 | Track cleaning robot |
| CN212654361U (en) * | 2020-05-09 | 2021-03-05 | 北京海益同展信息科技有限公司 | Chassis for track inspection robot and track inspection robot |
| CN212500409U (en) * | 2020-06-11 | 2021-02-09 | 南京航空航天大学 | Portable track detection device |
| CN112193274A (en) * | 2020-09-27 | 2021-01-08 | 北京海益同展信息科技有限公司 | Track device and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113894824A (en) | 2022-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113894824B (en) | Track inspection robot | |
| CN108974045A (en) | A kind of automatically walk track detector based on machine vision | |
| CN105009012A (en) | Self-contained holonomic tracking method and apparatus for non-destructive inspection | |
| CN110409265A (en) | A kind of industrial robot for surface evenness detection | |
| CN103267499B (en) | A kind of bent plate breeches joint structural parameters self-operated measuring unit | |
| CN114346991A (en) | Track cleaning system based on track inspection robot | |
| CN212670428U (en) | Road surface detection device | |
| CN112644556A (en) | Robot for detecting train rail abrasion | |
| CN216564286U (en) | High-low voltage line inspection device | |
| KR20070108618A (en) | Structure of enhancing odometry measurement for robot cleaner and robot cleaner using the same | |
| CN112986255A (en) | Cable aging detection equipment and use method thereof | |
| CN112504466B (en) | Infrared imaging detector with adjustable detection distance | |
| CN111610252B (en) | Intelligent building engineering quality detection device and detection method based on Internet of things | |
| CN114076944A (en) | Ground penetrating radar for surveying and mapping engineering | |
| CN211505119U (en) | Road dust accumulation detection device and robot | |
| CN211364324U (en) | Wireless charging positioning device for electric automobile | |
| JP2003237576A (en) | Traction type vehicle for inspecting track | |
| CN114960374A (en) | Highway road flatness detection method | |
| CN214362745U (en) | Town road pavement roughness detection device | |
| CN213867258U (en) | Wheeled check out test set of highway roughness bears device | |
| CN114941976A (en) | Crack detection device for concrete | |
| CN113686320A (en) | Surveying and mapping device and mobile chassis | |
| CN210294307U (en) | Power cable moving speed measuring device | |
| CN220005087U (en) | Road crack detection device | |
| CN217097761U (en) | Cleaning assembly structure for track inspection robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |