CN207328475U - A kind of centralising device of rail examination module - Google Patents

A kind of centralising device of rail examination module Download PDF

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Publication number
CN207328475U
CN207328475U CN201721442948.8U CN201721442948U CN207328475U CN 207328475 U CN207328475 U CN 207328475U CN 201721442948 U CN201721442948 U CN 201721442948U CN 207328475 U CN207328475 U CN 207328475U
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China
Prior art keywords
rail
longeron
examination module
bogie
centralising device
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CN201721442948.8U
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Chinese (zh)
Inventor
张发成
白洪林
杜章国
王朋娟
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Beijing Li Tie Transit Equipment Co Ltd
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Beijing Li Tie Transit Equipment Co Ltd
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Priority to CN201721442948.8U priority Critical patent/CN207328475U/en
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Publication of CN207328475U publication Critical patent/CN207328475U/en
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Abstract

The utility model discloses a kind of centralising device of rail examination module, hangs on below the bogie of vehicle, and between two wheels along rail extending direction of bogie side;Its key points of the technical solution are that it is included in the longeron set below bogie along the extending direction of rail, the centering magnet below longeron and arranged on longeron both ends, below longeron and for detecting the ultrasonic examination module of Rail Surface Abrasion and whole device being hung on to two connectors below bogie;Longeron is located at the medium position above rail, ultrasonic examination module is located at the medium position below longeron, ultrasonic examination module lower surface and rail upper surface are CONTACT WITH FRICTION, vehicle detects the damage of Rail Surface when advancing on rail by ultrasonic examination module, ensures that ultrasonic examination module centers face is located in same perpendicular with rail median plane to the adsorptivity of rail by the centering magnet at longeron both ends.

Description

A kind of centralising device of rail examination module
Technical field
Rail examination field is the utility model is related to, more particularly to a kind of centralising device of rail examination module.
Background technology
The function of rail is that guiding wheel of vehicle advances, and bears the immense pressure from wheel.In-service rail is for a long time Rolling repeatedly for wheel is born, inevitably there are fatigue defect and defect.Therefore in order to ensure the safe operation of locomotive, Need often to carry out in-service rail carrying out flaw detection, find the hurt being present in rail in time, to adopt remedial measures, prevent Model is in possible trouble.
Ultrasonic rail inspection car is a kind of ultrasonic echo reflected according to rail defects and failures to detect the rail of rail defects and failures Failure detector.Ultrasonic rail inspection car using ultrasonic probe when carrying out rail examination, it is necessary to makes 0 degree of ultrasonic probe suitable It is directed at the geometric center lines of rail section.When ultrasonic probe is directed at rail section center line, if rail does not have hurt, surpass Sonic probe can receive stronger boundary echo signal, if rail has hurt ultrasonic probe to receive hurt Echo-signal, so as to detect the hurt of rail;And when ultrasonic probe deviates the geometric center lines of rail section, part is visited The signal of head just can not normal incidence, or regular reflection ripple can not be received, thus be difficult to or even cannot detect rail defects and failures.
Due to the serpentine locomotion of the irregularity and wheel pair of circuit, rail-defect detector car is detected a flaw inevitable when advancing on the line Ground will have yaw, yaw motion, if ultrasonic probe is directly rigidly mounted on inspection car car body or car body bogie, car body This transverse movement and catenary motion make ultrasonic probe be difficult to be aligned rail center line so that the detection of ultrasonic probe There is deviation.
To solve the problems, such as that detection ultrasonic probe deviates rail center line(That is the centering problem of failure detector), existing skill Art proposes installation flaw detection traveling trolley, ultrasonic probe on ultrasonic rail inspection car and is installed on the flaw detection traveling trolley On, the centering of whole device is realized using the interaction of the mechanical expanding wheel and rail of traveling trolley of detecting a flaw, so as to fulfill super The centering of sonic probe.
As shown in Figure 1, the flaw detection traveling trolley mechanical expanding wheel construction schematic diagram proposed for the prior art.To visit ultrasonic wave The center line of head alignment rail 1, low speed flaw detection trolley use the mechanical expanding wheel construction of changeable wheelbase more.When by stomata 2c give with Track cylinder 2a rear ends pass to the compressed gas of certain pressure, and tracking cylinder 2a, which just acts on pressure, to rise on wheel 2b, so that The wheel rim of wheel 2b of rising is close on the inside of the rail head of rail 1 all the time, and wheel 2b centers of so rising are directed at 1 center of rail all the time.And visit Hinder the median plane of the ultrasonic probe of traveling trolley and wheel 2b centers of rising are in same longitudinal surface, therefore ensure that ultrasonic wave Center probe face and 1 median plane of rail overlap, it is achieved thereby that (L is ultrasonic probe center in figure for the centering of ultrasonic probe Face, the coincidence line for wheel 1 median plane of 2b median planes and rail that rises).
But such scheme centering by the way of mechanical expanding wheel, though it is simple and reliable for structure, in flaw detection traveling trolley low speed Good centering requirement can be realized during operation, but with the growth on the inside of the rail head of rail with the fraction time for the wheel that rises, rail Rail head on the inside of easily wear;Or rail is rubbed be subject to train wheel in itself, abrasion equally occurs on the inside of rail head (What P was indicated is the area easy to wear of rail head of rail in figure)So that there is larger deviation in the centring property for the wheel that rises, so that Ultrasonic probe median plane deviates rail median plane, is unfavorable for the centering of flaw detection trolley.
Therefore, inevitably worn existing for the rail head inner side of rail, to the shadow of the centring property of steel rail flaw detection device Sound is larger.
Utility model content
The purpose of this utility model is to provide a kind of centralising device of rail examination module, utilizes the side of permanent magnetic suck centering Formula, can avoid the influence of abrasion on the inside of rail head of rail to the centring property of the centralising device of steel rail ultrasonic flaw detecting module, Steel rail ultrasonic flaw detecting module is preferably detected rail.
The above-mentioned technical purpose of the utility model technical scheme is that:A kind of rail examination module Centralising device, hang on below the bogie of vehicle, and positioned at two wheels along rail extending direction of bogie side Between;It is included in the longeron set along the extending direction of rail below bogie, below longeron and is arranged on longeron both ends Centering magnet, below the longeron and for detecting the ultrasonic examination module of Rail Surface Abrasion and by whole device Hang on two connectors below bogie;Longeron is located at the medium position above rail, and ultrasonic examination module is positioned at vertical Medium position below beam, ultrasonic examination module lower surface and rail upper surface are CONTACT WITH FRICTION, and longeron median plane, ultrasound The median plane of wave inspection module centers face and rail is located in same perpendicular, and vehicle passes through ultrasonic wave when advancing on rail The damage of module of detecting a flaw detection Rail Surface, ensures ultrasonic examination by the centering magnet at longeron both ends to the adsorptivity of rail Module centers face is located in same perpendicular with rail median plane.
By using above-mentioned technical proposal, when vehicle drives bogie to advance along rail, whole device movement is driven, is surpassed Sonic flaw detection module detects the damage of Rail Surface in the traveling process with vehicle, and by the centering magnetic at longeron both ends Iron ensures that ultrasonic examination module centers face is located in same perpendicular with rail median plane to the adsorption capacity of rail, by institute Stating adsorption capacity tends to whole section position of centre of gravity, will not be to centering magnet to rail even if there is abrasion on the inside of rail head of rail Absorption produce large effect, ensure that the centring property of ultrasonic examination module;And the centralising device is using non-contact The mode of magnetic suck carries out centering, impact when avoiding using directive wheel during mechanical centering by the idle spaces of switch zones And security risk.
Preferably, connector arranges that it includes the transverse direction being fixedly connected with longeron in the positional symmetry close to longeron both ends Connecting portion and two montants being articulated between connecting portion and bogie, connecting portion is below longeron and opposing side rails It is arranged vertically, montant is arranged symmetrically at connecting portion both ends, and the upper end is hinged with bogie, and one end of lower end and connecting portion is hinged.
By using above-mentioned technical proposal, when vehicle passes through the bend of rail, work of the whole device in centrifugal force Swing under, then ensure ultrasonic examination by returning to original position under the suction-operated to middle magnet at both ends Module centers face does not have larger deviation with rail median plane so that ultrasonic examination module can continue to the steel to corner Rail is detected so that whole device can pass through various types of track switch.
Preferably, the medium position of connecting portion upper surface offers the fixing groove for allowing longeron to pass through, the shape of fixing groove It is adapted with size with the shapes and sizes of the cross section of longeron, longeron is fixedly connected after passing through fixing groove with connecting portion.
By using above-mentioned technical proposal, longeron is in through being fixedly connected with connecting portion after fixing groove so that longeron and company The connection of socket part is more close.
Preferably, the position being connected with montant at the both ends of connecting portion offers the storage tank for allowing montant lower end to insert, The lower end of montant is placed in storage tank and is hinged with connecting portion.
By using above-mentioned technical proposal, storage tank causes the structural stronger of connector.
Preferably, montant is engraved structure.
By using above-mentioned technical proposal, the montant of engraved structure can save material, and cause whole device weight compared with Gently.
Preferably, which further includes the elastic spacing bar being vertically arranged between longeron and bogie, elastic spacing bar Upper end is fixedly connected with bogie lower surface, and lower end is fixedly connected with longeron upper surface.
By using above-mentioned technical proposal, when vehicle is swung by the bend whole device of rail, elasticity Gag lever post produces resistance to the longeron to swing so that the swing angle of whole device is not too large, so that ultrasonic wave The time of flaw detection module offset track will not be too long, adds the detection performance of the device.
Preferably, the elastic spacing bar is two, is set in the positional symmetry close to longeron both ends, and perpendicular positioned at two Between bar.
By using above-mentioned technical proposal, the spacing effect of swing of the symmetrically arranged two elastic spacing bars to whole device Fruit is more obvious.
Preferably, the centering magnet is in rectangular-shape, is fixedly connected on by connecting seat below longeron;Connecting seat includes The fixed block being fixedly connected with centering magnet and two pieces of companies being fixedly connected between fixed block upper surface and longeron lower surface Contact pin, connection sheet are symmetrical arranged at fixed block both ends along the direction of rail, and centering magnet is adhered to fixed block lower surface.
By using above-mentioned technical proposal, support base reduces the distance between centering magnet and rail so that centering magnetic Iron is more preferable to the adsorption effect of rail.
Preferably, the lower surface of fixed block offers the groove of inserting for allowing centering magnet to be embedded in, and the insertion of centering magnet is inserted Positioned at inserting in groove, a part is located to be inserted outside groove rear portion, and is adhered to and is inserted in groove by bonding agent in groove.
By using above-mentioned technical proposal, insert groove and make it that installation of the centering magnet on support base is more firm.
Preferably, the distance between centering magnet lower surface and rail upper surface are 5-10mm.
By using above-mentioned technical proposal, centering magnet lower surface can be avoided to be contacted with the direct of rail upper surface, can be increased Add the service life of the device.
In conclusion the utility model has the advantages that:
1. by way of non-contact permanent magnetic suck centering, which has good centering effect;
2. the device is suitable for the different track switches of rail.
Brief description of the drawings
Fig. 1 is the flaw detection traveling trolley mechanical expanding wheel construction schematic diagram that the prior art proposes;
Fig. 2 is the schematic diagram when centralising device is arranged on below bogie;
Fig. 3 is the schematic diagram for the connection structure for highlighting the centralising device and bogie lower surface;
Fig. 4 is the overall structure diagram of the centralising device;
Fig. 5 is the structure diagram of connector;
Fig. 6 is the structure diagram of connecting portion;
Fig. 7 is the enlarged drawing at A positions in Fig. 3;
Fig. 8 is the structure diagram of connecting seat.
In figure, 1, rail;2a, tracking cylinder;2b, rise wheel;2c, stomata;2nd, bogie;21st, wheel;22nd, first clamping piece; 3rd, longeron;31st, second intermediate plate;4th, centering magnet;5th, ultrasonic examination module;6th, connector;61st, connecting portion;611st, fixing groove; 612nd, storage tank;62nd, montant;7th, elastic spacing bar;8th, connecting seat;81st, fixed block;82nd, connection sheet;821st, groove is inserted.
Embodiment
The utility model is described in further detail below in conjunction with attached drawing.The identical attached drawing of wherein identical parts Mark represents.It should be noted that word "front", "rear" used in the following description, "left", "right", " on ", " under ", " bottom Face " and " top surface " refer to the direction in attached drawing, and word " interior " and " outer " are referred respectively to towards or away from particular elements geometry The direction at center.
A kind of centralising device of rail examination module, as shown in Fig. 2, the device hangs on the lower section of bogie 2 of vehicle, and Between two wheels 21 along 1 extending direction of rail of 2 side of bogie.The device is included in the lower section of bogie 2 along steel Longeron 3 that the extending direction of rail 1 is set, the centering magnet 4 positioned at the lower section of longeron 3 and arranged on 3 both ends of longeron, under longeron 3 Just and for detecting the ultrasonic examination module 5 of 1 surface damage of rail and whole device being hung on the lower section of bogie 2 Two connectors 6.Longeron 3 is located at the medium position of the top of rail 1, and ultrasonic examination module 5 is located at the middle position of the lower section of longeron 3 Put, 5 lower surface of ultrasonic examination module and 1 upper surface of rail are CONTACT WITH FRICTION, and 3 median plane of longeron, ultrasonic examination module 5 The median plane of median plane and rail 1 is in same perpendicular.
When vehicle drives bogie 2 to advance along rail 1, drive whole device mobile above rail 1, ultrasonic examination Module 5 detects the damage on 1 surface of rail in the traveling process with vehicle, and right by the centering magnet 4 at 3 both ends of longeron The adsorptivity of rail 1 ensures that 5 median plane of ultrasonic examination module is located in same perpendicular with 1 median plane of rail, even if steel There is abrasion on the inside of 1 rail head of rail, large effect will not be produced to absorption of the centering magnet 4 to rail 1, ensure that ultrasonic wave The centring property for module 5 of detecting a flaw.
And the centralising device carries out centering by the way of non-contact magnetically absorption, it is oriented to when avoiding using mechanical centering Impact and security risk when wheel is by the idle spaces of switch zones.
With reference to Fig. 3 and Fig. 4, longeron 3 is in rectangular-shape, and the lower section of bogie 2 is hung on by connector 6, connector 6 by The positional symmetry arrangement at nearly 3 both ends of longeron, it includes the horizontal connecting portion 61 being fixedly connected with longeron 3 and the company of being articulated with Two montants 62 between socket part 61 and bogie 2.Connecting portion 61 is located at the lower section of longeron 2 and opposing side rails 3 are arranged vertically, even The medium position of 61 upper surface of socket part, which offers, allows the fixing groove 611 that passes through of longeron 3, the shapes and sizes of fixing groove 611 with The shapes and sizes of 3 cross section of longeron are adapted, and longeron 3 is fixedly connected after passing through fixing groove 611 with connecting portion 61 so that vertical Beam 3 and the connection of connecting portion 61 are more close.
With reference to Fig. 5, montant 62 is engraved structure, is symmetrical arranged at the both ends of connecting portion 61, and 62 upper end of montant is with turning to Frame 2 is hinged, and lower end and one end of connecting portion 61 are hinged, and this connection mode enables whole device left below bogie 2 Right swing.When vehicle passes through the bend of rail 1, whole device swings under the influence of centrifugal force, then two Original position is returned under the suction-operated of the centering magnet 4 at end, is ensured in 5 median plane of ultrasonic examination module and rail 1 Heart face does not have larger deviation so that and ultrasonic examination module 5 can continue to be detected the rail 1 of corner, so that Whole device is enabled to pass through various types of track switch.
With reference to Fig. 6, offered in the position being connected with montant 62 at the both ends of connecting portion 61 and allow 62 lower end of montant to insert Storage tank 612, the lower end of montant 62 is placed in hinged with connecting portion 61 in storage tank 612 so that whole device it is structural more By force.
Fig. 3 and Fig. 4 are reviewed, whole device swing angle when passing through track switch is too big in order to prevent, in longeron 3 and bogie Set between 2 and be additionally provided with elastic spacing bar 7.
With reference to Fig. 7, elastic spacing bar 7 can be the rubber strip of rectangular-shape, be vertically arranged between longeron 3 and bogie 2, 7 upper end of elastic spacing bar is fixedly connected with 2 lower surface of bogie, and lower end is fixedly connected with 3 upper surface of longeron, elastic spacing bar 7 Set in the positional symmetry close to 3 both ends of longeron, and between two montants 62.
2 lower surface of bogie and the position that elastic spacing bar 7 the connects first clamping piece 22 that to be fixedly connected with two parallel, two A 22 arranged for interval of first clamping piece, 7 upper end of elastic spacing bar are embedded in the space between two first clamping pieces 22, and elasticity limit The position bar lateral surface of the 7 upper end two medial surface CONTACT WITH FRICTION with two first clamping pieces 22, and two are each passed through by bolt respectively 7 upper end of a first clamping piece 22 and elastic spacing bar, is fixed on 2 lower surface of bogie by 7 upper end of elastic spacing bar;3 upper table of longeron Face and the position that elastic spacing bar 7 the connects second intermediate plate 31 that to be fixedly connected with two parallel, two second intermediate plates 31 are spaced cloth Put, 7 lower end of elastic spacing bar is embedded in the space between two second intermediate plates 31, and the outside of 7 lower end of elastic spacing bar two The face medial surface CONTACT WITH FRICTION with two second intermediate plates 31, and two second intermediate plates 31 and elasticity are each passed through by bolt respectively 7 lower end of gag lever post, is fixed on 3 upper surface of longeron by 7 lower end of elastic spacing bar.
When vehicle is swung by the bend whole device of rail 1, elastic spacing bar 7 is vertical to what is swung Beam 3 produces resistance so that and the swing angle of whole device is not too large, so that 5 offset track of ultrasonic examination module Time will not be too long, adds the detection performance of the device.
Review Fig. 4 and combine Fig. 8, centering magnet 4 is in rectangular-shape, and the lower section of longeron 3 is fixedly connected on by connecting seat 8; Connecting seat 8 includes the fixed block 81 being fixedly connected with centering magnet 4 and is fixedly connected on 81 upper surface of fixed block and longeron 3 Two bump contacted chips 82 between lower surface, connection sheet 82 is arranged in parallel at 81 both ends of fixed block along the direction of rail 1, and connection sheet 82 upper surfaces are fixedly connected with 3 lower surface of longeron, and lower face is fixedly connected with 81 upper surface of fixed block.And in fixed block 81 Lower surface offers the shape inserted groove 821, insert 821 shapes and sizes of groove and centering magnet 4 for allowing centering magnet 4 to be embedded in It is adapted with size, rear portion in groove 821 is inserted in the insertion of centering magnet 4, and, positioned at inserting in groove 821, a part, which is located at, inserts groove Outside 821, and centering magnet 4 is adhered to by bonding agent and is inserted in groove 821, so as to be fixed on 8 lower surface of connecting seat.
As a preferred embodiment, 4 lower surface of centering magnet and 1 upper surface of rail are somebody's turn to do there are a certain distance Distance is 5-10mm, and 4 lower surface of centering magnet can be avoided to be contacted with the direct of 1 upper surface of rail, can increase the use of the device Service life;If the hypertelorism, suction-operated of the centering magnet 4 to rail 1 can be reduced.
This specific embodiment is only explanation to the utility model, it is not the limitation to the utility model, ability Field technique personnel as needed can make the present embodiment the modification of no creative contribution after this specification is read, but As long as all protected in the right of the utility model be subject to Patent Law.

Claims (10)

1. a kind of centralising device of rail examination module, it hangs on the bogie of vehicle(2)Lower section, and it is located at bogie(2) Side along rail(1)Extending direction two wheels(21)Between, it is characterised in that:It is included in bogie(2)Lower section edge Rail(1)Extending direction set longeron(3), positioned at longeron(3)Lower section and it is arranged on longeron(3)The centering magnet at both ends(4)、 Arranged on longeron(3)Lower section and for detecting rail(1)The ultrasonic examination module of surface damage(5)And whole device is hanged It is hung on bogie(2)Two connectors of lower section(6);Longeron(3)Positioned at rail(1)The medium position of top, ultrasonic examination Module(5)Positioned at longeron(3)The medium position of lower section, and ultrasonic examination module(5)Lower surface and rail(1)Upper surface is to rub Wipe contact, longeron(3)Median plane, ultrasonic examination module(5)Median plane and rail(1)Median plane be located at same perpendicular It is interior;Vehicle drives bogie(2)In rail(1)During upper traveling, pass through ultrasonic examination module(5)Detect rail(1)Surface Damage, by longeron(3)The centering magnet at both ends(4)To rail(1)Adsorptivity ensure ultrasonic examination module(5)Median plane With rail(1)Median plane is located in same perpendicular.
A kind of 2. centralising device of rail examination module according to claim 1, it is characterised in that:Connector(6)By Nearly longeron(3)The positional symmetry arrangement at both ends, it includes and longeron(3)The horizontal connecting portion being fixedly connected(61)And hinge It is connected to connecting portion(61)With bogie(2)Between two montants(62), connecting portion(61)Positioned at longeron(3)Lower section and relatively vertical Beam(3)It is arranged vertically, montant(62)In connecting portion(61)Both ends are arranged symmetrically, the upper end and bogie(2)It is hinged, lower end and company Socket part(61)One end be hinged.
A kind of 3. centralising device of rail examination module according to claim 2, it is characterised in that:Connecting portion(61)Upper table The medium position in face offers permission longeron(3)The fixing groove passed through(611), fixing groove(611)Shapes and sizes and longeron (3)The shapes and sizes of cross section be adapted, longeron(3)Through fixing groove(611)Afterwards with connecting portion(61)It is fixedly connected.
A kind of 4. centralising device of rail examination module according to claim 3, it is characterised in that:Connecting portion(61)Two Hold and montant(62)The position of connection, which offers, allows montant(62)The storage tank that lower end is inserted(612), montant(62)Under End is placed in storage tank(612)Interior and and connecting portion(61)It is hinged.
A kind of 5. centralising device of rail examination module according to claim 4, it is characterised in that:Montant(62)For hollow out Structure.
6. according to a kind of centralising device of any rail examination modules of claim 1-5, it is characterised in that:The device is also Including being vertically arranged at longeron(3)With bogie(2)Between elastic spacing bar(7), elastic spacing bar(7)Upper end and bogie (2)Lower surface is fixedly connected, lower end and longeron(3)Upper surface is fixedly connected, and is located at two montants(62)Between.
A kind of 7. centralising device of rail examination module according to claim 6, it is characterised in that:The elastic spacing bar (7)For two, close to longeron(3)The positional symmetry at both ends is set.
A kind of 8. centralising device of rail examination module according to claim 7, it is characterised in that:The centering magnet (4)In rectangular-shape, pass through connecting seat(8)It is fixedly connected on longeron(3)Lower section;Connecting seat(8)Including with centering magnet(4)Gu Surely the fixed block connected(81)And it is fixedly connected on fixed block(81)Upper surface and longeron(3)Two pieces of companies between lower surface Contact pin(82), connection sheet(82)In fixed block(81)Both ends are along rail(1)Extending direction be symmetrical arranged, centering magnet(4)Gu Surely it is connected to fixed block(81)Lower surface.
A kind of 9. centralising device of rail examination module according to claim 8, it is characterised in that:Fixed block(81)Under Surface, which offers, allows centering magnet(4)Embedded inserts groove(821), centering magnet(4)Groove is inserted in insertion(821)Interior latter portion Divide to be located at and insert groove(821)Interior, a part, which is located at, inserts groove(821)Outside, and it is adhered to by bonding agent and inserts groove(821) It is interior.
A kind of 10. centralising device of rail examination module according to claim 9, it is characterised in that:Centering magnet(4)Under Surface and rail(1)The distance between upper surface is 5-10mm.
CN201721442948.8U 2017-11-02 2017-11-02 A kind of centralising device of rail examination module Active CN207328475U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113002574A (en) * 2021-03-22 2021-06-22 神华新朔铁路有限责任公司 Centering system, centering method and controller for steel rail flaw detection vehicle
CN113071532A (en) * 2020-09-30 2021-07-06 常州市瑞泰工程机械有限公司 Sliding shoe transverse adjusting mechanism, steel rail flaw detection device, steel rail flaw detection system and steel rail flaw detection vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113071532A (en) * 2020-09-30 2021-07-06 常州市瑞泰工程机械有限公司 Sliding shoe transverse adjusting mechanism, steel rail flaw detection device, steel rail flaw detection system and steel rail flaw detection vehicle
CN113002574A (en) * 2021-03-22 2021-06-22 神华新朔铁路有限责任公司 Centering system, centering method and controller for steel rail flaw detection vehicle
CN113002574B (en) * 2021-03-22 2022-08-19 神华新朔铁路有限责任公司 Centering system, centering method and controller for steel rail flaw detection vehicle

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