CN208888192U - A kind of centering body and the double track ultrasonic flaw detection robot using this centering body - Google Patents
A kind of centering body and the double track ultrasonic flaw detection robot using this centering body Download PDFInfo
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- CN208888192U CN208888192U CN201821636183.6U CN201821636183U CN208888192U CN 208888192 U CN208888192 U CN 208888192U CN 201821636183 U CN201821636183 U CN 201821636183U CN 208888192 U CN208888192 U CN 208888192U
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Abstract
The utility model relates to a kind of centering body and using the double track ultrasonic flaw detection robot of this centering body, which includes rectangular frame, directive wheel, visits and take turns angular adjustment component mounting block, visit wheel angular adjustment component, visit wheel mounting rack, ultrasonic wave spy wheel and visit wheel Level tune component.The flaw detection robot includes running track, robot car body and centering body；Robot car body includes vehicle frame platform, travelling wheel mechanism, seat, station, setting coupling water tank and electric cabinet；Centering body is removably mounted on the outside of the middle section of vehicle frame platform and matching is between front truck guide wheel and rear car guide wheel.The structure design of the utility model is reasonable, compact, safety easy for operation, on the basis of the existing double track supersonic detecting vehicle detection efficiency of holding high advantage, it can efficiently realize car body control and carrying out flaw detection, while improving flaw detection person works' environment, labor intensity is reduced, is improved work efficiency, cost of labor is reduced.
Description
Technical field
The utility model relates to a kind of double track hurt inspection technique more particularly to a kind of centering body and use this transducer
The double track ultrasonic flaw detection robot of structure.
Background technique
Railway and rail traffic play one of critical lifeblood effect in social development, develop and build maintaining
The growth trend of Rapid Stability.The scale of construction of railway transportation is big, in During Process of Long-term Operation train to the abrasion of rail, squeeze with
And impact in train starting, braking process etc., inevitably fatigue and damage can be caused to rail.Therefore, railway system
System requires periodically to carry out hurt detection to rail when building up at the beginning of rail or building up operation, to be found present in rail early
Problem simultaneously performs corresponding processing, it is ensured that the safety of railway operation.
The rail of high-speed rail and ordinary train is arranged at outdoor open field, and staff needs to overcome when driving detection vehicle
Outdoor harsh environments in the case of severe cold or heat；The rail setting of subway diffuses nowhere not in tunnel, in tunnel
Dust, the carrying out flaw detection working time of rail of subway at dead of night and morning, and needs staff in maintenance process
Spiritual high concentration works at night cause testing staff uncomfortable for a long time.
Currently, China's rail defects and failures detect mainly based on carrying detection wheel on artificial trolley.The detection vehicle is using super
The advantages that sonic flaw detection, there is that penetration capacity is strong, high sensitivity, high to various hurt verification and measurement ratios, but deficiency is artificial hand propelled inspection
Measuring car belongs to single track detection more, and staff is needed to push away detection Chinese herbaceous peony manually into therefore, speed of travel when detection is generally
2 ~ 3km/h greatly reduces the working efficiency of detection, increases detection time and the labor intensity of staff.
Double track supersonic detecting vehicle, can be simultaneously to two using double track, body construction on the basis of above-mentioned hand push inspection car
A rail is detected, electric drive, can be from walking, can be manned, and speed of travel when detection is keeping spirit up to 12 ~ 15 km/h
On the basis of the advantages that sensitivity is high, high to various hurt verification and measurement ratios, detection efficiency is substantially increased, detection time is shortened, is subtracted
The light labor intensity of staff, but there is still a need for staff when deficiency is flaw detection carries out driver behavior to car body.It is double simultaneously
Rail detects vehicle in quickly detection operational process, it is necessary to assure the ultrasonic waves of two sides visits wheel and the stringent centering of rail, can have compared with
High hurt is detected a flaw quality, existing at present to mostly use servo centering, centering body complex structural designs and machinery weight is big, is made
It with not convenient and safe enough, is also not susceptible to dismount, centering efficiency is lower and precision is poor, has seriously affected hurt flaw detection efficiency and spy
Hurt quality.
Summary of the invention
The purpose of this utility model is to provide a kind of centering body and using the double track ultrasonic examination of this centering body
Robot, reasonable in design, compact, safety easy for operation, especially centering body accuracy of alignment height, high-efficient, energy
It efficiently realizes flaw detection robot control and carrying out flaw detection, improves hurt flaw detection quality, flaw detection robot is keeping existing double
On the basis of the high advantage of rail supersonic detecting vehicle detection efficiency, car body control and carrying out flaw detection can be efficiently realized, it is double reaching
While rail safe and efficient flaw detection, flaw detection person works' environment is improved, flaw detection personnel labor intensity is greatly reduced, is improved
Working efficiency, also reduces cost of labor.
The technical scheme adopted by the utility model is
Above-mentioned centering body comprising rectangular frame, directive wheel visit wheel angular adjustment component mounting block, visit wheel angle
Component is adjusted, wheel mounting rack is visited, ultrasonic wave visits wheel and visits wheel Level tune component；The rectangular frame side is installation side and sets
There is hanging hook assembly；The directive wheel has rear and front end a pair of and that the rectangular frame is respectively symmetrically mounted on by installation axle
Downside；The spy wheel angular adjustment component mounting block matching is arranged on the downside of the rectangular frame；Angular adjustment group is taken turns in the spy
Part has a pair of and difference Matching installation on the rear and front end top for visiting wheel angular adjustment component mounting block；The spy wheel peace
It shelves to be located on the inside of the rectangular frame and match and be located on the upside of spy wheel angular adjustment component mounting block；The ultrasonic wave is visited
Wheel Matching installation takes turns the inside middle portion of mounting rack in the spy and inside is provided with ultrasonic probe；Level tune group is taken turns in the spy
Part Matching installation is on the spy wheel mounting rack top close to installation side；The inner flange face of the directive wheel in the process of running with
Running track is in close contact, and is operated on the center line of running track with guaranteeing that the ultrasonic wave visits wheel.
The centering body, in which: each spy wheel angular adjustment component includes adjusting connector, visiting wheel angular adjustment electricity
Machine, angular adjustment electric putter and angular adjustment rotational pin；A pair of adjusting connector for visiting wheel angular adjustment component is solid respectively
Dingan County is mounted in the rear and front end top for visiting wheel angular adjustment component mounting block；Angular adjustment motor Matching installation is taken turns in the spy
On the adjusting connector；The angular adjustment electric putter Matching installation is in the power output for visiting wheel angular adjustment motor
End；Angular adjustment rotational pin one end is fixedly connected on the head end of the angular adjustment electric putter, and the other end connects the spy
Take turns mounting rack.
The centering body, in which: described visit is equipped with a pair on the downside of side rear and front end of the wheel mounting rack far from installation side
Angular adjustment fulcrum sliding block is equipped with a Level tune fulcrum sliding block close to installation middle side part；A pair of angular adjustment fulcrum
Perforation offers angular adjustment slide opening to sliding block in the horizontal direction, and the angular adjustment slide opening is obliquely installed from bottom to top；Institute
It states Level tune fulcrum sliding block and penetrates through along the vertical direction and offer Level tune slide opening, the Level tune slide opening inclines from the front to the back
Tiltedly setting；The other end activity of the angular adjustment rotational pin passes through in the angular adjustment slide opening；The angular adjustment electricity pushes away
Bar drives the angular adjustment rotational pin mobile and cooperates the angular adjustment under the driving for visiting wheel angular adjustment motor
Slide opening is completed to the angular adjustment for visiting wheel to the ultrasonic wave, and it is adjustable in ± 10 ° that the ultrasonic wave visits wheel.
The centering body, in which: the spy wheel Level tune component includes adjusting connector, visiting wheel Level tune electricity
Machine visits wheel horizontal electric adjusting push rod and Level tune pin；The connector that adjusts is fixedly mounted on close to the described of installation side
Visit wheel mounting rack top；The spy wheel Level tune motor Matching installation is on the adjusting connector；The horizontal electricity of spy wheel
The dynamic push rod Matching installation that adjusts is in the power output end for visiting wheel Level tune motor；Level tune pin one end is fixed to be connected
The head end visited wheel horizontal electric and adjust push rod is connect, the other end is actively located in the Level tune slide opening；The spy wheel
Horizontal electric adjusts push rod in the case where Level tune motor driven is taken turns in the spy, drives the Level tune pin to the Level tune
The forward or backward movement of slide opening, so that the ultrasonic wave is visited wheel and moved horizontally to the right or to the left.
The centering body, in which: the hanging hook assembly has a pair of and is respectively and fixedly installed to before installation side
Both ends top afterwards；A pair of hanging hook assembly includes sleeve, hanging rod, hanging block, spring and stop nut；A pair of hook groups
The sleeve of part is separately fixed at the rectangular frame close to the rear and front end top of installation side；The hanging rod is actively located in vertically
In the sleeve, the upper end is to being pierced by above the sleeve and traversing through end is horizontally fixed with the hanging block, and lower end is to the sleeve
Lower section is pierced by and is equipped with nut；The hanging rod lower end matches set on the body of rod between the nut and the sleeve lower end
Equipped with spring.
The centering body, in which: the ultrasonic wave is visited wheel and is made of entrant sound resin material, and wheel is intermediate to be connected by visiting
Bar Matching installation takes turns the inside middle portion of mounting rack in the spy and lower part is protruded into the middle part of the spy wheel angular adjustment component mounting block
Inside.
The centering body, in which: the equal horizontal connection in rear and front end for visiting wheel angular adjustment component mounting block has company
It connects arm and is connected to by the linking arm in the installation axle of a pair of directive wheel.
A kind of double track ultrasonic flaw detection robot using the centering body comprising running track, run on it is described
Robot car body in running track and the centering body being installed on the robot car body；
The robot car body includes travelling wheel mechanism, the peace of vehicle frame platform, Matching installation in vehicle frame platform bottom side
The seat of top surface central region loaded on the vehicle frame platform, Matching installation are in the operation of the upper front end of the vehicle frame platform
It platform, the coupling water tank being set on rear side of the vehicle frame platform and is installed on above the station and is located on the downside of the seat
Electric cabinet；The forward and backward side of the vehicle frame platform is respectively provided with ultrasonic sensor range finding probe；
The travelling wheel mechanism includes Matching installation in the preceding bridge and rear axle of vehicle frame platform rear and front end bottom side；It is described
Preceding bridge includes that the front axle for being removably mounted to the vehicle frame platform front bottom end and matching are hingedly installed on the front truck
The front truck guide wheel of the axial ends of axis；The rear axle includes the back axle for being removably mounted to vehicle frame platform rear end bottom
And matching is hingedly installed on the rear car guide wheel of the axial ends of the back axle；Matching installation has brake gear on the preceding bridge
And the photoelectric encoder for measuring the front truck guide wheel revolving speed；Matching installation has permanent magnetic brushless and use on the rear axle
In the motor control assembly for controlling the permanent magnetic brushless；The robot car body is under the driving of the permanent magnetic brushless
Along the running track slide displacement；
The coupling water tank is set to vehicle frame platform side, and the coupling water tank side is provided with pressure pump；It is described
The input terminal of pressure pump connects the coupling water tank by suction hose, and output end is connected with nozzle by suction hose；The nozzle
Matching is positioned close on the centering body of the running track side；
The electric cabinet is electrically connected the ultrasonic sensor range finding probe, the brake gear, the photoelectricity and compiles
Code device, the permanent magnetic brushless, the pressure pump and the centering body；
The centering body is removably mounted on the outside of the middle section of the vehicle frame platform and the electrical connection electric cabinet,
Including rectangular frame, directive wheel, visit wheel angular adjustment component mounting block, spy wheel angular adjustment component, spy wheel mounting rack, ultrasonic wave
It visits wheel and visits wheel Level tune component；The rectangular frame is equipped with hanging hook assembly close to the robot car body side and passes through institute
Hanging hook assembly is stated to be hung on the vehicle frame platform；The directive wheel has a pair of and is respectively symmetrically mounted on institute by installation axle
On the downside of the rear and front end for stating rectangular frame；The spy wheel angular adjustment component mounting block matching is arranged under the rectangular frame
Side；The spy wheel angular adjustment component has a pair of and difference Matching installation before angular adjustment component mounting block is taken turns in the spy
Both ends top afterwards；The spy wheel mounting rack is located on the inside of the rectangular frame and matching is located at spy wheel angular adjustment component peace
Shelve upside；The ultrasonic wave spy wheel Matching installation takes turns the inside middle portion of mounting rack in the spy and inside is provided with ultrasonic wave and visits
Head；A pair of of institute is symmetrically arranged on the spy wheel angular adjustment component mounting block for being located at ultrasonic wave spy wheel front and rear sides
State nozzle；The spy wheel Level tune component matching is arranged close on the spy wheel mounting rack of the robot car body side
Portion；The inner flange face of the directive wheel is in close contact with the running track in the process of running, to guarantee that the ultrasonic wave is visited
Wheel operates on the center line of the running track.
The double track ultrasonic flaw detection robot, in which: each spy wheel angular adjustment component includes adjusting connector, visiting wheel
Angular adjustment motor, angular adjustment electric putter and angular adjustment rotational pin；A pair of adjusting for visiting wheel angular adjustment component connects
It connects device and is respectively and fixedly installed to the rear and front end top for visiting wheel angular adjustment component mounting block；The spy wheel angular adjustment electricity
Machine Matching installation is electrically connected on the adjusting connector and with the electric cabinet；The angular adjustment electric putter Matching installation in
The power output end for visiting wheel angular adjustment motor；Angular adjustment rotational pin one end is fixedly connected on the angular adjustment
The head end of electric putter, the other end connect the spy and take turns mounting rack.
The double track ultrasonic flaw detection robot, in which: side of the mounting rack far from the robot car body is taken turns in the spy
Equipped with a pair of of angular adjustment fulcrum sliding block on the downside of rear and front end, a horizontal tune is equipped with close to one middle side part of robot car body
Save fulcrum sliding block；Perforation offers angular adjustment slide opening, the angle to a pair of angular adjustment fulcrum sliding block in the horizontal direction
Degree adjusts slide opening and is obliquely installed from bottom to top；The Level tune fulcrum sliding block penetrates through along the vertical direction offers Level tune
Slide opening, the Level tune slide opening are obliquely installed from the front to the back；The other end activity of the angular adjustment rotational pin passes through described
In angular adjustment slide opening；The angular adjustment electric putter drives the angle under the driving for visiting wheel angular adjustment motor
It adjusts rotational pin movement and the angular adjustment slide opening is cooperated to complete to the angular adjustment for visiting wheel to the ultrasonic wave, the ultrasound
It is adjustable in ± 10 ° that wave visits wheel.
The double track ultrasonic flaw detection robot, in which: the spy wheel Level tune component includes adjusting connector, visiting wheel
Level tune motor visits wheel horizontal electric adjusting push rod and Level tune pin；The adjusting connector is fixedly mounted on close to institute
State the spy wheel mounting rack top of robot car body side；The spy wheel Level tune motor Matching installation connects in the adjusting
It connects on device and is electrically connected with the electric cabinet；The spy wheel horizontal electric adjusts push rod Matching installation and takes turns Level tune in the spy
The power output end of motor；Level tune pin one end is fixedly connected with the head end visited wheel horizontal electric and adjust push rod, separately
One end is actively located in the Level tune slide opening；The spy wheel horizontal electric adjusts push rod in spy wheel Level tune electricity
Under machine driving, drive the Level tune pin to the forward or backward movement of the Level tune slide opening, so that the ultrasonic wave
Wheel is visited to move horizontally to the right or to the left.
The double track ultrasonic flaw detection robot, in which: the hanging hook assembly has a pair of and is respectively and fixedly installed to lean on
The rear and front end top of the nearly robot car body side；A pair of hanging hook assembly includes sleeve, hanging rod, hanging block, spring
And stop nut；The sleeve of a pair of hanging hook assembly is separately fixed at the rectangular frame close to the robot car body side
Rear and front end top；The hanging rod is actively located in vertically in the sleeve, and the upper end is pierced by and wears to the sleeve top
Outlet is horizontally fixed with the hanging block, and lower end is pierced by the sleeve lower section and is equipped with nut；The upper end of the hanging rod passes through
The hanging block and the vehicle frame platform mount, and the hanging rod lower end is on the body of rod between the nut and the sleeve lower end
Matching is arranged with spring.
The double track ultrasonic flaw detection robot, in which: the ultrasonic wave is visited wheel and is made of entrant sound resin material, leads to
It crosses and visits wheel intermediate connecting rod Matching installation in the inside middle portion for visiting wheel mounting rack and lower part protrudes into spys and takes turns angular adjustment group
Part mounting rack inside middle portion.
The double track ultrasonic flaw detection robot, in which: the rear and front end for visiting wheel angular adjustment component mounting block is equal
Horizontal connection has linking arm and is connected in the installation axle of a pair of directive wheel by the linking arm.
The utility model has the advantages that
The structure design of the utility model is reasonable, compact, safety easy for operation, and the structure design of especially centering body is skilful
Wonderful, convenient for disassembly and assembly, centering efficiency and accuracy of alignment are high, can visit wheel in the ultrasonic wave for guaranteeing double track and be in close contact with rail surface, sternly
On the basis of lattice level, left and right centering, the mechanical structure of existing center support system is greatly simplified, car body total weight is reduced.Using
The flaw detection robot of centering body is on the basis of the existing double track supersonic detecting vehicle detection efficiency of holding high advantage, Neng Gougao
Effect realizes car body control and carrying out flaw detection, improves flaw detection efficiency and flaw detection quality, is improving the same of flaw detection person works' environment
When, its labor intensity can be substantially reduced, is improved work efficiency, cost of labor is reduced.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model double track ultrasonic flaw detection robot.
Fig. 2 is the rearview of the utility model double track ultrasonic flaw detection robot.
Fig. 3 is the left view of the utility model double track ultrasonic flaw detection robot.
Fig. 4 is the top view of the utility model double track ultrasonic flaw detection robot.
Fig. 5 is the structural schematic diagram of the utility model centering body.
Fig. 6 is another structural schematic diagram of the utility model centering body.
Fig. 7 is the main view of the utility model centering body.
Fig. 8 is the top view of the utility model centering body.
Fig. 9 is the left view of the utility model centering body.
Figure 10 is the right view of the utility model centering body.
In figure: 1 running track, 2 robot car bodies, 3 centering bodies, 21 vehicle frame platforms, 22 travelling wheel mechanisms, 23 seats,
Bridge, 222 rear axles, 2211 front axles, 2212 front truck guide wheels, 2222 rear cars before 24 stations, 25 coupling water tanks, 26 electric cabinets, 221
Wheel angular adjustment component installation is visited in guide wheel, 2223 rear car axle beds, 251 nozzles, 27 pressure pumps, 31 rectangular frames, 32 directive wheels, 33
Frame, 34 are visited and take turns angular adjustment component, mounting racks are taken turns in 35 spies, 36 ultrasonic waves visit wheel, Level tune components, 311 hook groups are taken turns in 37 spies
Part, 3111 sleeves, 3112 hanging rods, 3113 hanging blocks, 3114 springs, 3115 stop nuts, 321 installation axles, 331 linking arms, 341 are adjusted
Save connector, 342 spy wheel angular adjustment motors, 343 angular adjustment electric putters, 344 angular adjustment rotational pins, 351 angular adjustments
Wheel intermediate connecting rod, 371 adjusting connectors, 372 spy wheel Level tune electricity are visited in fulcrum sliding block, 352 Level tune fulcrum sliding blocks, 361
Machine, 373 visit wheel horizontal electric and adjust push rod, 374 Level tune pins.
Specific embodiment
The utility model is further described combined with specific embodiments below.Wherein, hereinafter go out in the utility model
The nouns of locality such as existing " front, rear, top, and bottom, left and right " are with the structure in Fig. 7 towards consistent.
As shown in Fig. 1 to 10, the utility model double track ultrasonic flaw detection robot, including running track 1, robot car body
2 and centering body 3.
The running track 1 is the double-rail configuration for being arranged in ground.
The robot car body 2 is run in running track 1 comprising vehicle frame platform 21, travelling wheel mechanism 22, seat 23,
Station 24, coupling water tank 25 and electric cabinet 26.
22 Matching installation of travelling wheel mechanism is in 21 bottom of vehicle frame platform comprising preceding bridge 221 and rear axle 222；Wherein,
Preceding 221 Matching installation of bridge is in the front bottom end of the vehicle frame platform 21, and 222 Matching installation of rear axle is in the rear end of the vehicle frame platform 21
Bottom；The preceding bridge 221 includes the front truck guide wheel that front axle 2211 and matching are hingedly installed on 2211 axial ends of front axle
2212(can guarantee the flexible motion in rail turning and road fork car body, avoid the occurrence of phenomenon excessively curved by force)；The front truck
2211 both ends axis body of axis is fixedly installed with front truck axle bed, and the front truck axle bed is by the detachable mounting of pendant in the vehicle frame platform 21
Front bottom end；The rear axle 222 includes the rear car that back axle 2221 and matching are hingedly installed on 2221 axial ends of back axle
Guide wheel 2222(can guarantee the flexible motion in rail turning and road fork car body, avoid the occurrence of phenomenon excessively curved by force)；It should
2221 both ends axis body of back axle is fixedly installed with rear car axle bed 2223, which is existed by the detachable mounting of pendant
The rear end bottom of the vehicle frame platform 21；Photoelectric encoder on the preceding bridge 221 equipped with brake gear and measurement revolving speed；The rear axle
Permanent magnetic brushless and the motor control assembly for controlling permanent magnetic brushless are housed on 222；In order to guarantee flaw detection robot
Two crossbeams are arranged using H square steel among robot car body 2 in the bonding strength of car body；In the vehicle frame platform of robot car body 2
21 forward and backward side is respectively provided with ultrasonic sensor range finding probe.
The seat 23 matching is set to the top surface central region of the vehicle frame platform 21 and including front-row seats and back seat.
24 Matching installation of station is always electric in being provided with car body in the upper front end of the vehicle frame platform 21, the station 24
Source electricity quantity display module, car body robot headlamp, watering amount size regulation button, whistle loudspeaker, is used ultrasonic examination instrument
Regulation button, detection mileage the Show Button of wheel 36 are visited in the ultrasonic wave for adjusting 2 left and right sides centering body 3 of robot car body
Deng facilitating staff to operate.
The coupling water tank 25 is set to the rear side of vehicle frame platform 21 and side is placed with pressure pump 27；The pressure pump 27 it is defeated
Enter end and coupling water tank 25 is connected by suction hose, output end is connected with nozzle 251 by suction hose；Make coupling by controlling pressure pump
Water in Heshui case 25 uniformly sprays coupling liquid by nozzle 251 on 1 face of running track, it is therefore an objective to guarantee centering body 3
Ultrasonic wave is visited wheel 36 and is in close contact with running track 1, enters ultrasonic energy preferably inside running track 1, centering body 3
Ultrasonic wave visit wheel 36 and running track 1 coupling to neutralize ultrasonic wave lossless propagation.
The electric cabinet 26 is located at the top of station 24 and setting is in the rear side of vehicle frame platform 21, inside automatically controlled system is installed
System；The brake gear, photoelectric encoder, permanent magnetic brushless and motor control assembly of the electric-control system and the travelling wheel mechanism 22
It is electrically connected；The pressure pump 27 is also electrically connected 26 inside electric-control system of electric cabinet；The ultrasonic sensor range finding probe also with
Electric-control system electrical connection in electric cabinet 26.The electric-control system is powered using 48V rechargeable battery, and the electric-control system is by more
A embedded processing platform is constituted, realize to 1 obstacle detection of running track, the centering of travelling wheel mechanism, the control of the car body speed of service,
Ultrasonic examination, track defect information processing and display, fault location, the transmission of hurt information etc., guarantee double track inspection car safety,
Efficient operation.
On the outside of detachable 21 middle section of vehicle frame platform for being installed on the robot car body 2 of the centering body 3 of the utility model,
It includes rectangular frame 31, directive wheel 32, visits wheel angular adjustment component mounting block 33, visit wheel angular adjustment component 34, visit wheel peace
35, ultrasonic wave is shelved to visit wheel 36 and visit wheel Level tune component 37.
The rectangular frame 31 is respectively equipped with a pair of of hanging hook assembly 311 close to the rear and front end top of 2 side of robot car body,
A pair of hanging hook assembly 311 includes sleeve 3111, hanging rod 3112, hanging block 3113, spring 3114 and stop nut 3115；This one
The rectangular frame 31 is individually fixed on the rear and front end of 2 side of robot car body to the sleeve 3111 of hanging hook assembly 311
Portion；The hanging rod 3112 is actively located in vertically in the sleeve 3111, and the upper end is to being pierced by above sleeve 3111 and traversing through end is horizontal
It is fixed with hanging block 3113, lower end is to being pierced by below sleeve 3111 and be equipped with nut 3115；The upper end of the hanging rod 3112 passes through extension
Block 3113 is connect with vehicle frame platform 21, which is located at the body of rod between 3111 lower end of nut 3115 and sleeve
With spring 3114 is arranged with, the vibration pressure pair of 2 operational process of robot car body generation can avoid by the way that spring 3114 is arranged
Ultrasonic wave visits the damage of wheel 36, helps to extend the service life that ultrasonic wave visits wheel 36.
The directive wheel 32, which has a pair and matches respectively, to be symmetrically mounted on the downside of 31 rear and front end of rectangular frame；The a pair
Directive wheel 32 is articulated on the downside of the rear and front end of the rectangular frame 31 by installation axle 321；Wherein, the interior method of the directive wheel 32
Blue face is in close contact with running track 1 in the process of running, and basic guarantee ultrasonic wave visits the center that wheel 36 operates in running track 1
On line.
The spy wheel angular adjustment component mounting block 33 is located at 31 downside of rectangular frame, and the equal horizontal connection in rear and front end has
Linking arm 331；The rear and front end of the spy wheel angular adjustment component mounting block 33 passes through linking arm 331 and is connected to a pair of of directive wheel
In 32 installation axle 321.
The spy wheel angular adjustment component 34 has a pair of and difference Matching installation in the spy wheel angular adjustment component mounting block
33 rear and front end top；Each spy wheel angular adjustment component 34 include adjust connector 341, visit wheel angular adjustment motor 342,
Angular adjustment electric putter 343 and angular adjustment rotational pin 344；The a pair visits the adjusting connector 341 of wheel angular adjustment component 34
It is respectively and fixedly installed to the rear and front end top of the spy wheel angular adjustment component mounting block 33；The spy wheel angular adjustment motor 342
Matching installation is electrically connected on adjusting connector 341 and with the electric-control system in electric cabinet 26；The angular adjustment electric putter 343
With the power output end for being installed on the spy wheel angular adjustment motor 342；344 one end of angular adjustment rotational pin is fixedly connected on this
Wheel mounting rack 35 is visited in the head end of angle electric pushrod 343, other end connection.
The spy wheel mounting rack 35 is located at 31 inside of rectangular frame and matching is located at the spy wheel angular adjustment component mounting block
33 upsides, the rear and front end downside far from 2 side of robot car body is equipped with a pair of of angular adjustment fulcrum sliding block 351, close to machine
2 one middle side part of device people car body is equipped with a Level tune fulcrum sliding block 352；A pair of angular adjustment fulcrum sliding block 351 is along level
Direction perforation offers angular adjustment slide opening, and the angular adjustment slide opening of a pair of angular adjustment fulcrum sliding block 351 is from bottom to top
It is obliquely installed；The Level tune fulcrum sliding block 352 penetrates through offer Level tune slide opening along the vertical direction, the Level tune fulcrum
The Level tune slide opening of sliding block 352 is obliquely installed from the front to the back.Wherein, the angular adjustment rotation of the spy wheel angular adjustment component 34
344 other end activity of pin passes through in the angular adjustment slide opening of angular adjustment fulcrum sliding block 351, visits wheel angular adjustment electricity by control
Machine 342,343 stress of angular adjustment electric putter is to drive angular adjustment rotational pin 344 mobile and fit angle adjusting supporting point sliding
The angular adjustment slide opening of block 351 is completed to visit ultrasonic wave 36 angular adjustments of wheel, and it is adjustable in ± 10 ° which visits wheel 36.
The ultrasonic wave visits wheel 36 by visiting wheel 361 Matching installation of intermediate connecting rod in the inside middle portion of the spy wheel mounting rack 35,
Its inside is provided with ultrasonic probe, and spy wheel 33 inside middle portion of angular adjustment component mounting block is protruded into lower part；The ultrasonic probe
It is electrically connected with the electric-control system in electric cabinet 26；Wherein, in the spy wheel angular adjustment group for being located at 36 front and rear sides of ultrasonic wave spy wheel
The nozzle 251 of a pair of of coupling water tank 25 is symmetrically installed on part mounting rack 33.In order to allow ultrasonic probe to reach in spy wheel
Good laser propagation effect, the ultrasonic wave are visited wheel 36 and are made of entrant sound resin material, compared compared with other wheel materials, be also easy to produce shape
Become.
37 Matching installation of spy wheel Level tune component close to 2 side of robot car body 35 top of spy wheel mounting rack,
It includes adjusting connector 371, spy wheel Level tune motor 372, spy wheel horizontal electric to adjust push rod 373 and Level tune pin
374；Wherein, which is fixedly installed in close to 35 top of spy wheel mounting rack of 2 side of robot car body；The spy
Wheel 372 Matching installation of Level tune motor is electrically connected on the adjusting connector 371 and with the electric-control system in electric cabinet 26；It should
It visits wheel horizontal electric and adjusts 373 Matching installation of push rod in spy wheel 372 power output end of Level tune motor；The Level tune pin
374 one end are fixedly connected with the head end that the spy wheel horizontal electric adjusts push rod 373, and the other end is actively located in the spy wheel mounting rack 35
Level tune fulcrum sliding block 352 on Level tune slide opening in；Spy wheel horizontal electric is driven when visiting wheel Level tune motor 372
Adjust 373 head end of push rod Level tune slide opening propulsion from Level tune pin 374 to Level tune fulcrum sliding block 352 when,
The center connecting shaft 361 that will drive ultrasonic wave spy wheel 36 moves horizontally to the right；Conversely, when Level tune motor 351 drives level
Level tune slide opening reverse from motorized adjustment push rod 352 to Level tune fulcrum sliding block 352 when, will drive ultrasonic wave visit wheel
36 center connecting shaft 331 moves horizontally to the left, to realize that ultrasonic wave visits horizontal position tune of the wheel 36 in running track 1
Section.
The utility model ultrasonic track flaw detection robot is also equipped with GPS real-time positioning system, it can be achieved that flaw detection machine
The long range positioning of people tracks, and grasps the information such as position, the speed of service, the driving direction of monitored flaw detection robot in real time, simultaneously
The playback that can be realized robot running track checks its history run stroke etc., when robot drives to outside predeterminable area,
It can be monitored and is alarmed.
The utility model ultrasonic track flaw detection robot can also be run under unmanned mode, in unmanned mode
When lower operation, power supply control task is initially located in suspended state, after receiving control command, is updated to power supply status, leads to
The standard functions for crossing network communication offer, change the level output of certain power pins, and then control the switching of corresponding relay
State realizes turning on and off for certain power supply power supply.In control process, by the high and low level for reading input and output pin
Signal observes the switching state of relay, specifies the information that switches on and off of corresponding power, finally turns make-and-break status information
There is data transmit-receive task to carry out the packing and transmission of data.
The utility model ultrasonic track flaw detection robot is also equipped with automatic turnout control function, when inspection car is in operation rail
When running on road 1, the steering task in vehicle remote control is suspended always, detects track switch information according to path planning system
When, the PWM input signal by controlling permanent magnetic brushless on the rear axle 222 timely updates the steering angle of permanent magnetic brushless,
Realize that track switch turns to task.
The utility model ultrasonic track flaw detection robot also has flaw detection car light automatic control system, when inspection car exists
To the left, to the right, braking or robot car body light is controlled when ambient deficiency.When corresponding sensor detects vehicle
When lamp adjusts event, using the write operation in signal procedure, controls corresponding port and export high/low level, in hop controller
Timer module, realization is turned on/off to robot headlight, warning lamp and its automatic control of runing time.
When the utility model ultrasonic track flaw detection robot operates in unmanned mode, it is also equipped with oneself of centering body
Dynamic regulatory function.When inspection car detection signal is normal, the 3 adjusting task of centering body in vehicle remote control is hung always
It rises, when observing ultrasound examination feedback signal exception, judges that centering body 3 deviates the position of 1 center line of running track, lead to
It crosses controlled level and adjusts the output torque of motor 351, to drive the movement of electric pushrod 13, realize that ultrasonic wave visits the water of wheel 36
Heibei provincial opera section；The output torque and steering angle that wheel angular adjustment motor 361 is visited by control, to drive angular adjustment electric putter
362 movement realizes that ultrasonic wave visits the angular adjustment of wheel 36.
The utility model ultrasonic track flaw detection robot is additionally provided with by sweeping stone implement, this sweep stone implement with couple water tank 25,
The coupling mechanism that pressure pump 27 and nozzle 251 form, coupling liquid are water, and the front and back that ultrasonic wave visits wheel 36 is respectively equipped with nozzle 251,
The foreign matter in stone implement cleaning running track 1 is swept, is running the uniform spray coupling liquid of nozzle 251 by remotely controlling pressure pump 27
On 1 face of track, it is therefore an objective to guarantee that ultrasonic wave is visited wheel 36 and is in close contact with 1 rail level of running track, enter ultrasonic energy preferably
To inside running track 1, ultrasonic wave visits the coupling of wheel 36 and running track 1 to the lossless propagation for neutralizing ultrasonic wave.
The utility model ultrasonic track flaw detection robot can run on someone/unmanned mode, in certain special feelings
When needing staff to drive under condition, station provides the starting, operation and stop button of robot car body.
When the utility model ultrasonic track flaw detection robot runs on unmanned mode, electric-control system is automatically controlled
Robot car body 2 is travelled by certain speed in orbit, and utilizes ultrasound examination track health status in real time, finds hurt
When extract and record hurt data, hurt position, and the doubtful hurt found when fast passing detects is rechecked at a slow speed
And data are recorded, it lays the foundation for follow-up work personnel off-line analysis.When ultrasonic flaw detection robot is transported automatically in running track 1
When row, should also have automatic obstacle avoidance functions, therefore, be respectively provided in the forward and backward side of the vehicle frame platform 21 of robot car body 2 super
Sonic sensor range finding probe, when obstacle distance car body robot reaches certain distance, car body automatic alarm parking.
The structure design of the utility model is reasonable, compact, safety easy for operation, especially centering body accuracy of alignment it is high,
It is high-efficient, it can efficiently realize flaw detection robot control and carrying out flaw detection, improve hurt flaw detection quality；Flaw detection robot is being kept
On the basis of the high advantage of existing double track supersonic detecting vehicle detection efficiency, car body control and carrying out flaw detection can be efficiently realized,
While reaching safety dual-rail, efficiently flaw detection, flaw detection person works' environment is improved, it is strong to greatly reduce flaw detection personnel labour
Degree, improves work efficiency, also reduces cost of labor.
Claims (14)
1. a kind of centering body, it is characterised in that: including rectangular frame, directive wheel, visit wheel angular adjustment component mounting block, spy wheel
Angular adjustment component visits wheel mounting rack, ultrasonic wave visits wheel and visits wheel Level tune component；The rectangular frame side is installation side
And it is equipped with hanging hook assembly；The directive wheel has front and back a pair of and that the rectangular frame is respectively symmetrically mounted on by installation axle
On the downside of both ends；The spy wheel angular adjustment component mounting block matching is arranged on the downside of the rectangular frame；Angle tune is taken turns in the spy
Saving component has a pair of and difference Matching installation on the rear and front end top for visiting wheel angular adjustment component mounting block；The spy
Mounting rack is taken turns to be located on the inside of the rectangular frame and match on the upside of spy wheel angular adjustment component mounting block；The ultrasound
Wave spy wheel Matching installation takes turns the inside middle portion of mounting rack in the spy and inside is provided with ultrasonic probe；The spy wheel is horizontal to be adjusted
Section component matching is arranged close to the spy wheel mounting rack top of installation side；The inner flange face of the directive wheel is in operational process
In be in close contact with running track, operated on the center line of running track with guaranteeing that the ultrasonic wave visits wheel.
2. centering body as described in claim 1, it is characterised in that: each spy wheel angular adjustment component includes adjusting connection
Device visits wheel angular adjustment motor, angular adjustment electric putter and angular adjustment rotational pin；A pair of described visit takes turns angular adjustment component
It adjusts connector and is respectively and fixedly installed to the rear and front end top for visiting wheel angular adjustment component mounting block；Angle is taken turns in the spy
Motor Matching installation is adjusted on the adjusting connector；The angular adjustment electric putter Matching installation takes turns angle tune in the spy
Save the power output end of motor；Angular adjustment rotational pin one end is fixedly connected on the head end of the angular adjustment electric putter,
The other end connects the spy and takes turns mounting rack.
3. centering body as claimed in claim 2, it is characterised in that: described to visit side front and back of the wheel mounting rack far from installation side
It is equipped with a pair of of angular adjustment fulcrum sliding block on the downside of both ends, is equipped with a Level tune fulcrum sliding block close to installation middle side part；
Perforation offers angular adjustment slide opening to a pair of angular adjustment fulcrum sliding block in the horizontal direction, and the angular adjustment is sliding
Kong Jun is obliquely installed from bottom to top；
The Level tune fulcrum sliding block penetrates through along the vertical direction offers Level tune slide opening, and the Level tune slide opening is by preceding
Tilt backwards setting；
The other end activity of the angular adjustment rotational pin passes through in the angular adjustment slide opening；The angular adjustment electric putter exists
Under the driving for visiting wheel angular adjustment motor, drives the angular adjustment rotational pin mobile and cooperate the angular adjustment slide opening
It completes to the angular adjustment for visiting wheel to the ultrasonic wave, it is adjustable in ± 10 ° that the ultrasonic wave visits wheel.
4. centering body as claimed in claim 3, it is characterised in that: the spy wheel Level tune component includes adjusting connection
Device visits wheel Level tune motor, visits wheel horizontal electric adjusting push rod and Level tune pin；
The connector that adjusts is fixedly mounted on the spy wheel mounting rack top close to installation side；
The spy wheel Level tune motor Matching installation is on the adjusting connector；
The wheel horizontal electric of visiting adjusts push rod Matching installation in the power output end for visiting wheel Level tune motor；
Level tune pin one end is fixedly connected with the head end visited wheel horizontal electric and adjust push rod, and the other end is actively located in
In the Level tune slide opening；
Spy wheel horizontal electric adjusts push rod under spys wheel Level tune motor driven, drive the Level tune pin to
The forward or backward movement of the Level tune slide opening, so that the ultrasonic wave is visited wheel and moved horizontally to the right or to the left.
5. centering body as described in claim 1, it is characterised in that: the hanging hook assembly has a pair of and is fixedly mounted respectively
On the rear and front end top close to installation side；A pair of hanging hook assembly includes sleeve, hanging rod, hanging block, spring and limit spiral shell
It is female；
The sleeve of a pair of hanging hook assembly is separately fixed at the rectangular frame close to the rear and front end top of installation side；
The hanging rod is actively located in vertically in the sleeve, and the upper end is pierced by the sleeve top and traversing through end level is fixed
There is the hanging block, lower end is pierced by the sleeve lower section and is equipped with nut；
The hanging rod lower end matches on the body of rod between the nut and the sleeve lower end and is arranged with spring.
6. centering body as described in claim 1, it is characterised in that: the ultrasonic wave visits wheel and uses entrant sound resin material system
At by visiting, wheel intermediate connecting rod Matching installation takes turns the inside middle portion of mounting rack in the spy and lower part protrudes into the spy and takes turns angle
Adjust component mounting block inside middle portion.
7. centering body as described in claim 1, it is characterised in that: the front and back two for visiting wheel angular adjustment component mounting block
Equal horizontal connection is held to have linking arm and be connected in the installation axle of a pair of directive wheel by the linking arm.
8. a kind of double track ultrasonic flaw detection robot using centering body described in 1 to 7 any one of the claims,
Be characterized in that: the robot includes running track, runs on the robot car body in the running track and be installed on described
Centering body on robot car body；
The robot car body include vehicle frame platform, Matching installation in vehicle frame platform bottom side travelling wheel mechanism, be installed on
The seat of the top surface central region of the vehicle frame platform, Matching installation in the upper front end of the vehicle frame platform station, set
It is placed in the coupling water tank on rear side of the vehicle frame platform and is installed on the electricity above the station and being located on the downside of the seat
Control case；The forward and backward side of the vehicle frame platform is respectively provided with ultrasonic sensor range finding probe；
The travelling wheel mechanism includes Matching installation in the preceding bridge and rear axle of vehicle frame platform rear and front end bottom side；The preceding bridge
Front axle and matching including being removably mounted to the vehicle frame platform front bottom end are hingedly installed on the front axle
The front truck guide wheel of axial ends；The rear axle include be removably mounted to vehicle frame platform rear end bottom back axle and
Matching is hingedly installed on the rear car guide wheel of the axial ends of the back axle；Matching installation has brake gear and use on the preceding bridge
In the photoelectric encoder for measuring the front truck guide wheel revolving speed；Matching installation has permanent magnetic brushless and for controlling on the rear axle
Make the motor control assembly of the permanent magnetic brushless；Driving lower edge institute of the robot car body in the permanent magnetic brushless
State running track slide displacement；
The coupling water tank is set to vehicle frame platform side, and the coupling water tank side is provided with pressure pump；The pressure
The input terminal of pump connects the coupling water tank by suction hose, and output end is connected with nozzle by suction hose；The nozzle matches
It is positioned close on the centering body of the running track side；
The electric cabinet be electrically connected the ultrasonic sensor range finding probe, the brake gear, the photoelectric encoder,
The permanent magnetic brushless, the pressure pump and the centering body；
The centering body is removably mounted on the outside of the middle section of the vehicle frame platform and the electrical connection electric cabinet comprising
Rectangular frame, directive wheel are visited and take turns angular adjustment component mounting block, visit wheel angular adjustment component, visit wheel mounting rack, ultrasonic wave spy wheel
Level tune component is taken turns with visiting；The rectangular frame is equipped with hanging hook assembly close to the robot car body side and passes through the extension
Hook assembly is hung on the vehicle frame platform；The directive wheel has a pair of and is respectively symmetrically mounted on the square by installation axle
On the downside of the rear and front end of shape frame；The spy wheel angular adjustment component mounting block matching is arranged on the downside of the rectangular frame；Institute
Stating spy wheel angular adjustment component has a pair of and difference Matching installation two before and after angular adjustment component mounting block is taken turns in the spy
Hold top；The spy wheel mounting rack is located on the inside of the rectangular frame and matching is located at the spy and takes turns angular adjustment component mounting block
Upside；The ultrasonic wave spy wheel Matching installation takes turns the inside middle portion of mounting rack in the spy and inside is provided with ultrasonic probe；
It is symmetrically arranged with described in a pair on the spy wheel angular adjustment component mounting block for being located at ultrasonic wave spy wheel front and rear sides
Nozzle；The spy wheel Level tune component matching is arranged close on the spy wheel mounting rack of the robot car body side
Portion；The inner flange face of the directive wheel is in close contact with the running track in the process of running, to guarantee that the ultrasonic wave is visited
Wheel operates on the center line of the running track.
9. double track ultrasonic flaw detection robot as claimed in claim 8, it is characterised in that: angular adjustment component packet is taken turns in each spy
It includes and adjusts connector, visits wheel angular adjustment motor, angular adjustment electric putter and angular adjustment rotational pin；Angle is taken turns in a pair of spy
The adjusting connector for adjusting component is respectively and fixedly installed to the rear and front end top for visiting wheel angular adjustment component mounting block；Institute
Spy wheel angular adjustment motor Matching installation is stated to be electrically connected on the adjusting connector and with the electric cabinet；The angular adjustment
Electric putter Matching installation is in the power output end for visiting wheel angular adjustment motor；Angular adjustment rotational pin one end is fixed to be connected
The head end in the angular adjustment electric putter is connect, the other end connects the spy and takes turns mounting rack.
10. double track ultrasonic flaw detection robot as claimed in claim 9, it is characterised in that: the spy wheel mounting rack is far from institute
It states and is equipped with a pair of of angular adjustment fulcrum sliding block on the downside of the side rear and front end of robot car body, close to the robot car body side
Middle part is equipped with a Level tune fulcrum sliding block；
Perforation offers angular adjustment slide opening to a pair of angular adjustment fulcrum sliding block in the horizontal direction, and the angular adjustment is sliding
Kong Jun is obliquely installed from bottom to top；
The Level tune fulcrum sliding block penetrates through along the vertical direction offers Level tune slide opening, and the Level tune slide opening is by preceding
Tilt backwards setting；
The other end activity of the angular adjustment rotational pin passes through in the angular adjustment slide opening；The angular adjustment electric putter exists
Under the driving for visiting wheel angular adjustment motor, drives the angular adjustment rotational pin mobile and cooperate the angular adjustment slide opening
It completes to the angular adjustment for visiting wheel to the ultrasonic wave, it is adjustable in ± 10 ° that the ultrasonic wave visits wheel.
11. double track ultrasonic flaw detection robot as claimed in claim 10, it is characterised in that: Level tune component is taken turns in the spy
Push rod and Level tune pin are adjusted including adjusting connector, spy wheel Level tune motor, visiting wheel horizontal electric；The adjusting connection
Device is fixedly mounted on close to the spy wheel mounting rack top of the robot car body side；Level tune motor is taken turns in the spy
With being installed on the adjusting connector and be electrically connected with the electric cabinet；The spy wheel horizontal electric adjusts push rod Matching installation
In the power output end for visiting wheel Level tune motor；Level tune pin one end is fixedly connected with the spy wheel horizontal electric
The head end of push rod is adjusted, the other end is actively located in the Level tune slide opening；The spy wheel horizontal electric adjusts push rod and exists
Under the spy wheel Level tune motor driven, drive the Level tune pin to the forward or backward fortune of the Level tune slide opening
It is dynamic, so that the ultrasonic wave is visited wheel and is moved horizontally to the right or to the left.
12. double track ultrasonic flaw detection robot as claimed in claim 8, it is characterised in that: the hanging hook assembly has a pair
And it is respectively and fixedly installed to close to the rear and front end top of the robot car body side；A pair of hanging hook assembly includes set
Cylinder, hanging rod, hanging block, spring and stop nut；It is close that the sleeve of a pair of hanging hook assembly is separately fixed at the rectangular frame
The rear and front end top of the robot car body side；The hanging rod is actively located in vertically in the sleeve, and the upper end is to institute
It states and is pierced by above sleeve and traversing through end is horizontally fixed with the hanging block, lower end is to being pierced by below the sleeve and be equipped with nut；
The upper end of the hanging rod is mounted by the hanging block and the vehicle frame platform, and the hanging rod lower end is located at the nut and the set
Matching is arranged with spring on the body of rod between cylinder lower end.
13. double track ultrasonic flaw detection robot as claimed in claim 8, it is characterised in that: the ultrasonic wave visits wheel using saturating
Sound resin material is made, and by visiting, wheel intermediate connecting rod Matching installation takes turns the inside middle portion of mounting rack in the spy and lower part is protruded into
Angular adjustment component mounting block inside middle portion is taken turns in the spy.
14. double track ultrasonic flaw detection robot as claimed in claim 8, it is characterised in that: angular adjustment component is taken turns in the spy
The equal horizontal connection in the rear and front end of mounting rack has linking arm and is connected to a pair of directive wheel by the linking arm
In installation axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821636183.6U CN208888192U (en) | 2018-10-10 | 2018-10-10 | A kind of centering body and the double track ultrasonic flaw detection robot using this centering body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821636183.6U CN208888192U (en) | 2018-10-10 | 2018-10-10 | A kind of centering body and the double track ultrasonic flaw detection robot using this centering body |
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| CN208888192U true CN208888192U (en) | 2019-05-21 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109187764A (en) * | 2018-10-10 | 2019-01-11 | 宝鸡知为机电技术有限公司 | A kind of centering body and the double track ultrasonic flaw detection robot using this centering body |
| CN110412137A (en) * | 2019-09-09 | 2019-11-05 | 中铁宝桥集团有限公司 | A kind of steel rail ultrasonic flaw detecting vehicle |
| CN110514741A (en) * | 2019-09-06 | 2019-11-29 | 长春工程学院 | A kind of automatic flaw detection device and method based on ultrasonic technology |
-
2018
- 2018-10-10 CN CN201821636183.6U patent/CN208888192U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109187764A (en) * | 2018-10-10 | 2019-01-11 | 宝鸡知为机电技术有限公司 | A kind of centering body and the double track ultrasonic flaw detection robot using this centering body |
| CN109187764B (en) * | 2018-10-10 | 2024-05-03 | 宝鸡知为机电技术有限公司 | Centering mechanism and double-rail ultrasonic flaw detection robot adopting same |
| CN110514741A (en) * | 2019-09-06 | 2019-11-29 | 长春工程学院 | A kind of automatic flaw detection device and method based on ultrasonic technology |
| CN110514741B (en) * | 2019-09-06 | 2021-11-19 | 长春工程学院 | Automatic flaw detection device and method based on ultrasonic technology |
| CN110412137A (en) * | 2019-09-09 | 2019-11-05 | 中铁宝桥集团有限公司 | A kind of steel rail ultrasonic flaw detecting vehicle |
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