CN209833649U - Automatic maintenance system for urban rail transit vehicle - Google Patents
Automatic maintenance system for urban rail transit vehicle Download PDFInfo
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- CN209833649U CN209833649U CN201920409697.6U CN201920409697U CN209833649U CN 209833649 U CN209833649 U CN 209833649U CN 201920409697 U CN201920409697 U CN 201920409697U CN 209833649 U CN209833649 U CN 209833649U
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Abstract
The utility model discloses an automatic maintenance system for urban rail transit vehicles, which comprises a patrol vehicle device, an automatic boarding ladder device and a lifting trench platform device; the inspection vehicle device comprises a mechanical arm with multiple degrees of freedom and imaging equipment on the mechanical arm, and is used for identifying guide lines on the ground on two sides of the track of the inspection warehouse and the bottom of the trench and inspecting the vehicle bottom and two sides of the vehicle body along the trench and two sides of the track; the automatic boarding ladder device is positioned on the side surface of the track, and is used for enabling drivers and passengers to normally get on and off the track when rising, and is flush with the ground and avoids passing through the patrol car device when falling; the lifting type trench platform devices are respectively arranged at two ends of a row of the trench, are flush with the ground when being lifted and are flush with the trench bottom when being descended, and are used for conveying the patrol vehicle device between the trench bottom and the ground. The utility model discloses can replace artifical the maintenance, not only effectively prevent to miss and examine, but also live working, the repair time shortens greatly, has effectively improved urban rail transit vehicle operation efficiency.
Description
Technical Field
The utility model belongs to urban rail transit vehicle base vehicle overhauls the field, concretely relates to automatic system of overhauing of urban rail transit vehicle can be applied to urban rail transit vehicle's automatic maintenance.
Background
The urban rail transit vehicle component structure complexity is high, and the maintenance scope is big, tiny part quantity is many, and only one bolt has 10000 more, easily causes the hourglass to examine. At present, the daily train inspection of the rail transit needs a large number of people and takes a long time. In the standard 8 marshalling inspection, more than 1 ten thousand parts are overhauled, and in the existing manual overhaul mode, an overhaul worker needs to bend over 300 times and knock over 5000 times for one time, so that the operation intensity is high. The maintenance operation time is more in the early morning, the body is easy to fatigue, the influence on the working spirit and the body state is large due to long-term heavy load, and the operation quality cannot be guaranteed. In addition, the high voltage is not immediately cut off after the vehicle enters the garage, and sometimes, the phenomena of vehicle discharge and the like exist, which are safety hazards which are not negligible for the personal safety of the maintainers. Therefore, in the vehicle maintenance regulation, the maintenance personnel are forbidden to enter the bottom of the vehicle for maintenance in a charged manner, and the problems of low vehicle maintenance efficiency and the like are caused.
SUMMERY OF THE UTILITY MODEL
At least one in defect or improvement demand more than prior art, for example but not limited to current urban rail transit vehicle overhauls the flow complicacy, maintenance efficiency is low, there is the potential safety hazard scheduling problem, the utility model provides an automatic system of overhauing of urban rail transit vehicle replaces artifical the maintenance with the automatic system of overhauing of machine, and the maintenance time shortens greatly, has effectively improved urban rail transit vehicle operation efficiency, thereby alleviates social traffic pressure, owing to be automatic the maintenance, still can avoid the condition of examining and examining of manual work, the emergence of prevention accident reduces maintenance and operation cost. Therefore, the urban rail transit vehicle warehousing maintenance scheme has good social and economic benefits.
In order to achieve the above object, according to the utility model discloses an aspect provides an automatic maintenance system of urban rail transit vehicle, wherein: comprises a patrol car device, an automatic boarding ladder device and a lifting trench platform device;
the inspection vehicle device comprises a mechanical arm with multiple degrees of freedom and imaging equipment on the mechanical arm, and is used for identifying guide lines on the ground on two sides of the track of the inspection warehouse and the bottom of the trench and inspecting the vehicle bottom and two sides of the vehicle body along the trench and two sides of the track;
the automatic boarding ladder device is positioned on the side surface of the track, and is used for enabling drivers and passengers to normally get on and off the track when rising, and is level with the ground and avoids passing the patrol car device when falling;
the lifting type trench platform device is respectively arranged at two ends of a row of a trench, is flush with the ground when rising, and is flush with the bottom of the trench when falling, and is used for conveying the patrol vehicle device between the bottom of the trench and the ground.
Preferably, the automatic boarding ladder device comprises a lifting platform and a telescopic stair;
a telescopic cylinder is arranged below the lifting platform, and the lifting platform is telescopically switched between a working height for getting on and off the train and a position hidden on the ground;
one end of the telescopic stair is connected to the ground, the other end of the telescopic stair is connected to the lifting platform, and the telescopic stair comprises a plurality of pedals and a plurality of sections of telescopic rods on two sides of the pedals; when the lifting platform is at the working height of getting on or off the train, the telescopic rod is extended and obliquely arranged, and all the pedals are horizontally arranged in a high-low mode; when the lifting platform is hidden on the ground, the telescopic rods are contracted and leveled, all the pedals are leveled and arranged in sequence front and back, and the telescopic stairs are also hidden on the ground.
Preferably, the lifting type trench platform device comprises four lifting type trench platforms which are respectively arranged at two ends of the row and at ground grooves at two transverse sides of the trench.
Preferably, the lifting type trench platform device comprises two lifting type trench platforms which are respectively arranged at two ends of the row position and in a trench bottom slot of the trench.
Preferably, the inspection vehicle device comprises an inspection vehicle main body component, and a walking structure, a sensor, a mechanical arm, a 3D camera with an illumination function, a linear array camera and a linear array laser which are arranged on the inspection vehicle main body component;
the vehicle-mounted sensor is used for detecting guide lines in a trench of a rail transit vehicle base overhaul warehouse and on the ground at two sides of the rail, and guiding the inspection vehicle to run in the trench and on two sides of the rail along the guide lines;
the linear array laser is used for comprehensively scanning the bottom and the side of the vehicle and imaging in the linear array camera;
the mechanical arm is configured at the top of the inspection vehicle main box body, and the end part of the mechanical arm is provided with the 3D camera for local key imaging of the vehicle bottom and the vehicle side.
Preferably, the sensor comprises a gray sensor and an infrared obstacle avoidance device, and is installed around the main body part of the inspection vehicle, wherein the gray sensor is used for identifying the guide line to control the inspection vehicle to automatically run along the existing inspection guide line; the infrared obstacle avoidance device is used for scanning the front and rear range of the inspection vehicle, and the inspection vehicle is braked emergently when encountering obstacles.
Preferably, the mechanical arm is configured as a six-degree-of-freedom mechanical arm, and all degrees of freedom adopt rotary joints, namely a first axis, a second axis, a third axis, a fourth axis, a fifth axis and a sixth axis.
Preferably, the walking structure comprises four universal wheels, and the four universal wheels do not have a common axle and respectively act independently.
Preferably the patrol and examine car still includes vehicle mounted power for to patrol and examine the car power supply, and have the function of charging.
Preferably, the inspection vehicle further comprises a wireless communication device, which is mounted on the top of the main body component of the inspection vehicle and used for outputting image information and inputting control instructions.
Preferably, the inspection vehicle further comprises a circuit control module, which is installed inside the main body part of the inspection vehicle and used for controlling the execution actions of the walking structure, the sensor, the mechanical arm, the 3D camera with the illumination function, the linear array camera and the linear array laser.
The single polling method of the polling car device comprises the following steps:
when a wireless communication module of the inspection vehicle receives an operation of starting inspection, a sensor senses a guide line, the inspection vehicle runs along the guide line, a linear array laser emits linear array laser to dynamically scan a vehicle bottom structure or a vehicle side, a linear array camera receives reflected light and images, and the reflected light is transmitted to wireless terminal equipment in the hands of an operator in real time through the wireless communication module so that the operator can judge the vehicle bottom state;
when the linear array camera scans the lower part or the side of the vehicle, an operator sends an instruction through the wireless communication module to control the mechanical arm to lift the 3D camera device with the illumination function, the 3D camera device enters a narrow space to image an inspection part which cannot be scanned by the linear array laser, and the result is transmitted to the operator in real time;
the inspection vehicle sequentially inspects from the head to the tail of the vehicle along the guide line, once a suspected fault is found through a returned image result, an instruction for parking and returning to a suspected fault area is given through the wireless communication module, the walking structure returns to the suspected fault area through in-situ rotation action or direct backward driving, an operator controls the mechanical arm to perform imaging again through the instruction, or the linear array laser rescans the suspected fault area for confirmation;
when the inspection vehicle inspects the complete train, the inspection vehicle drives to the tail end of the guide line, and sends a feedback signal to the terminal equipment of the operator through the wireless communication module, so that the end of the single inspection is indicated.
The above-described preferred features may be combined with each other as long as they do not conflict with each other.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, has following beneficial effect:
1. the utility model discloses an automatic system of overhauing of urban rail transit vehicle can replace artifical the maintenance, not only effectively prevents to miss to examine, but live working moreover adapts to the operational environment that intensity of labour is high at night to effectively prevent the artifical problem of examining that leaks that produces because of work fatigue at night. In addition, urban rail transit vehicle basement ground lid develops more and more, therefore overhauls the structure stand in the storehouse also more, causes artifical maintenance inconvenience, and this automatic overhaul system can avoid the artifical maintenance inconvenience that leads to because of the upper cover stand is too much, realizes quick automatic maintenance.
2. The utility model discloses an automatic maintenance system of urban rail transit vehicle, wherein from dynamic formula boarding ladder the state of falling can with the ground parallel and level, greatly reduced equipment occupation of land space, effectively prevent the occurence of failure and make things convenient for the interior work vehicle operation of storehouse.
3. The utility model discloses an automatic maintenance system of urban rail transit vehicle compares in current traditional operation mode, and reducible operation number is half, still can shorten the activity duration simultaneously to maintenance quality and maintenance security have been promoted. During full-manual maintenance, if the maintenance warehouse is counted according to 30 rows and the maintainers work in four shifts, 12 maintainers are needed in each shift, and 50 minutes are needed for detecting each train. Utilize the utility model discloses, under the same four classes system condition, every class of maintainer can be reduced to 6, detects every train and only needs 35 minutes, has improved the operating efficiency, produces great economic benefits.
4. The utility model discloses an automatic system of overhauing of urban rail transit vehicle, the car is patrolled and examined with the guide wire of track both sides in the trench in proper order to the car down structure and automobile body both sides to the tour inspection device accessible sensor control tour inspection car, the equipment can realize automatic traveling, function such as automatic tour inspection, it is efficient to patrol and examine, adapt to electrified and high strength operation, the cost of labor can be reduced to the automatic flow, reduce the emergence of the condition of louing examining, personnel and the colliding with of vehicle bottom structure when having avoided artifical the maintenance, and can live working, unmanned person's potential safety hazard.
5. The utility model discloses an automatic maintenance system of urban rail transit vehicle, the 3D camera of area illumination function is installed in the arm end, can adapt to the dim environment under the trench, and automatic light filling provides more clear formation of image effect, and high-quality formation of image can promote trouble and judge efficiency, and the 3D camera of area illumination function can effectively improve because of the not enough judgement to the spare part state of light in the trench.
6. The utility model discloses an automatic maintenance system of urban rail transit vehicle adopts linear array laser and linear array camera integrated configuration, installs in patrolling and examining the roof portion, and the scanning pixel of linear array laser at the direction of travel is unrestricted, can carry out dynamic scanning to spare part and the structure position of the large tracts of land within range under the car to form images in the linear array camera, can realize the direction of travel dynamic scanning, high efficiency, high accuracy formation of image effectively promote and patrol and examine speed.
Drawings
Fig. 1 is a schematic view of the automatic maintenance system of the urban rail transit vehicle in the lifting state of the automatic boarding ladder of the present invention;
FIG. 2 is a schematic perspective view of the automatic maintenance system of urban rail transit vehicles in a lowered state of the lifting trench platform;
FIG. 3 is a schematic front view of the automatic maintenance system of urban rail transit vehicles in a state of lowering the lifting trench platform;
FIG. 4 is a schematic top view of the automatic maintenance system of urban rail transit vehicles in a lowered state of the lifting trench platform;
FIG. 5 is a schematic cross-sectional view taken at B-B of FIG. 4;
FIG. 6 is a schematic perspective view of the automatic maintenance system of urban rail transit vehicles in the raised state of the lifting trench platform;
fig. 7 is a schematic view of the automatic maintenance system of the urban rail transit vehicle in a top view of the lifting type trench platform in a lifting state;
FIG. 8 is a schematic cross-sectional view taken at A-A in FIG. 7;
FIG. 9 is a schematic diagram of the automatic inspection overall route of the automatic maintenance system of the urban rail transit vehicle of the present invention;
fig. 10 is a schematic flow chart of the automatic inspection method of the automatic maintenance system of the urban rail transit vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to the following embodiments.
As a preferred embodiment of the present invention, as shown in fig. 1-8, the present invention provides an automatic maintenance system for urban rail transit vehicles, wherein: comprises a patrol car, an automatic boarding ladder 3 and a lifting trench platform 4;
the inspection vehicle comprises a mechanical arm with multiple degrees of freedom and imaging equipment on the mechanical arm, and is used for identifying guide lines on the ground on two sides of a track (see a steel rail 1 and an upright post in figure 1) of an inspection warehouse and the bottom of a trench and inspecting the vehicle bottom and two sides of a vehicle body along the trench 2 and two sides of the track. The inspection vehicle uses a mechanical arm to automatically detect the state of key parts of the train and the like through an image recognition technology, a mode recognition technology, a non-contact detection technology and the like.
The automatic boarding ladder 3 is positioned at the head and tail of the vehicle on the same side of the track, and is used for drivers and passengers to get on and off the vehicle normally when rising, and is level with the ground when falling to avoid passing through the inspection vehicle. The automatic boarding ladder is lifted up during working hours, so that drivers and passengers can normally get on and off the vehicle, and the automatic boarding ladder is automatically lowered to be flush with the ground when the inspection vehicle goes out of a ditch, so as to avoid the inspection vehicle which is used for inspecting the side of the vehicle after the vehicle goes out of the ditch.
The lifting type trench platform 4 is respectively arranged at two ends of a row of the trench, is flush with the ground when rising, and is flush with the bottom of the trench when falling, and is used for conveying the patrol vehicle between the bottom of the trench and the ground.
The automatic maintenance system further comprises a sensor device, wherein the sensor device is mainly used for detecting the maintenance state, the working state and the like of the vehicle and is responsible for triggering the actions of the inspection vehicle, the automatic boarding ladder and the lifting type trench platform.
As shown in fig. 1, the automatic boarding ladder 3 includes a lifting platform and a telescopic stairway; a telescopic cylinder is arranged below the lifting platform, and the lifting platform is telescopically switched between a working height for getting on and off the train and a position hidden on the ground; one end of the telescopic stair is connected to the ground, the other end of the telescopic stair is connected to the lifting platform, and the telescopic stair comprises a plurality of pedals and a plurality of sections of telescopic rods on two sides of the pedals; when the lifting platform is at the working height of getting on or off the train, the telescopic rod is extended and obliquely arranged, and all the pedals are horizontally arranged in a high-low mode; when the lifting platform is hidden on the ground, the telescopic rods are contracted and leveled, all the pedals are leveled and arranged in sequence front and back, and the telescopic stairs are also hidden on the ground.
As shown in fig. 2, 5 and 8, the lifting type trench platform 4 comprises four lifting type trench platforms, which are respectively arranged at two ends of the row and at ground grooves at two lateral sides of the trench. As another embodiment (not shown), the lifting type trench platform 4 comprises two lifting type trench platforms, which are respectively arranged at two ends of the row and in the trench bottom slot of the trench.
The inspection vehicle comprises an inspection vehicle main body part, and a walking structure, a sensor, a mechanical arm, a 3D camera with an illumination function, a linear array camera and a linear array laser which are arranged on the inspection vehicle main body part; the vehicle-mounted sensor is used for detecting guide lines in a trench of a rail transit vehicle base overhaul warehouse and on the ground at two sides of the rail, and guiding the inspection vehicle to run in the trench and on two sides of the rail along the guide lines; the linear array laser is used for comprehensively scanning the bottom and the side of the vehicle and imaging in the linear array camera; the mechanical arm is configured at the top of the inspection vehicle main box body, and the end part of the mechanical arm is provided with the 3D camera for local key imaging of the vehicle bottom and the vehicle side.
The automatic inspection method of the present invention will be described in further detail with reference to fig. 9-10 and the specific embodiments.
(1) And (5) parking and braking the vehicle in a warehouse. And when the urban rail transit vehicle enters the garage, braking and parking.
(2) The automatic boarding ladder is lifted. The vehicle parking triggers a sensor arranged at the head of the vehicle to control the automatic boarding ladder escalator to automatically rise to be flush with the door of the cab, and drivers and passengers get off. The state shown in fig. 1 is a boarding ladder lifted state.
(3) The inspection vehicle is arranged below the inspection vehicle. After the driver and the passengers get off the train, the inspection vehicle starts to inspect the position under the train, firstly inspects the equipment mounting seat, the brake disc, the equipment fixing parts and the like below the walking part, then inspects the suspension equipment and the fasteners in the middle of the train body, and then inspects the coupler connecting part of the train from the head train to the tail train in sequence.
(4) The automatic boarding ladder descends, and the lifting type trench platform descends. When the inspection vehicle travels to the tail vehicle, the sensor arranged at the tail vehicle is triggered to control the automatic boarding ladder of the tail vehicle and the head vehicle to descend, and the trench platform at the tail vehicle end descends to the same plane of the trench. Fig. 2-5 show the descending state of the automatic boarding ladder and the lifting type trench platform.
(5) The inspection vehicle is parked to the tail vehicle end lifting type trench platform. The inspection vehicle runs out of the trench from the trench to the side of the vehicle and is parked to the lifting platform at the tail vehicle end.
(6) And lifting the lifting type trench platform, and taking the inspection vehicle out of the trench to carry out 1-position vehicle side inspection. The lifting type trench platform rises, the patrol inspection vehicle is lifted to the ground level, the state of the patrol inspection vehicle after the trench is taken out is shown in figures 6-8, the patrol inspection vehicle after the trench is taken out runs in the direction parallel to the track at the side edge of the position 1 of the vehicle body and patrols the side edge of the position 1 of the vehicle body, the patrol inspection vehicle comprises primary suspension, secondary suspension, fasteners and the like of the side edge of the walking part, the side edge of equipment suspended under the vehicle in the middle of the vehicle body is patrolled, then the patrol inspection is carried out at the workshop connection part, and the patrol inspection is carried out from the tail vehicle to the head vehicle in sequence.
(7) The inspection vehicle is parked to the head vehicle end lifting type trench platform. The inspection vehicle runs from the tail vehicle at the 1 position side to the head vehicle direction and finishes inspection, and continues to run to the lifting type trench platform at the head vehicle end at the 1 position side.
(8) The trench platform descends, and the lifting type trench platform ascends after the inspection vehicle transversely penetrates through the trench. Triggering a sensor arranged at the end part of the head car when the inspection car is parked to the head car, controlling the lifting type trench platform at the 1 position side and the 2 position side of the car body to descend to the same plane with the trench, enabling the inspection car to transversely penetrate the trench to the 2 position side from the 1 position side of the car body, and enabling the lifting type trench platform at the 1 position side and the 2 position side to ascend to the same plane with the ground. The 1-bit side and the 2-bit side are referred to as two sides of the vehicle body, such as one is a left side and one is a right side, but not limited in particular.
(9) The inspection vehicle carries out 2-position vehicle side inspection. The inspection vehicle runs in parallel to the track direction at the 2-position vehicle side and inspects the 2-position side of the vehicle body, and comprises a primary suspension device, a secondary suspension device, a fastener and the like for inspecting the side edge of the walking part, a side edge of a suspension device under the vehicle body in the middle of the vehicle body is inspected, then the inspection is performed at the connection part of a workshop, and the inspection is performed from the head vehicle to the tail vehicle in sequence.
(10) And after the inspection is finished, inspecting the tail of the parking vehicle and charging for later use. The inspection vehicle is parked to the rear lifting type trench platform after the inspection vehicle inspects the side of the 2-position vehicle, the trench platform descends, the inspection vehicle enters the tail trench, the tail vehicle end distribution box is used for charging for standby, and the next inspection vehicle entering the warehouse is prepared.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an automatic system of overhauing of urban rail transit vehicle which characterized in that: comprises a patrol car device, an automatic boarding ladder device and a lifting trench platform device;
the inspection vehicle device comprises a mechanical arm with multiple degrees of freedom and imaging equipment on the mechanical arm, and is used for identifying guide lines on the ground on two sides of the track of the inspection warehouse and the bottom of the trench and inspecting the vehicle bottom and two sides of the vehicle body along the trench and two sides of the track;
the automatic boarding ladder device is positioned on the side surface of the track, and is used for enabling drivers and passengers to normally get on and off the track when rising, and is level with the ground and avoids passing the patrol car device when falling;
the lifting type trench platform device is respectively arranged at two ends of a row of a trench, is flush with the ground when rising, and is flush with the bottom of the trench when falling, and is used for conveying the patrol vehicle device between the bottom of the trench and the ground.
2. The automatic maintenance system of urban rail transit vehicles according to claim 1, characterized in that:
the automatic boarding ladder device comprises a lifting platform and a telescopic stair;
a telescopic cylinder is arranged below the lifting platform, and the lifting platform is telescopically switched between a working height for getting on and off the train and a position hidden on the ground;
one end of the telescopic stair is connected to the ground, the other end of the telescopic stair is connected to the lifting platform, and the telescopic stair comprises a plurality of pedals and a plurality of sections of telescopic rods on two sides of the pedals; when the lifting platform is at the working height of getting on or off the train, the telescopic rod is extended and obliquely arranged, and all the pedals are horizontally arranged in a high-low mode; when the lifting platform is hidden on the ground, the telescopic rods are contracted and leveled, all the pedals are leveled and arranged in sequence front and back, and the telescopic stairs are also hidden on the ground.
3. The automatic maintenance system of urban rail transit vehicles according to claim 1, characterized in that:
the lifting type trench platform device comprises four lifting type trench platforms which are respectively arranged at two ends of the row and at ground grooves on two transverse sides of the trench.
4. The automatic maintenance system of urban rail transit vehicles according to claim 1, characterized in that:
the lifting type trench platform device comprises two lifting type trench platforms which are respectively arranged at two ends of the row and in a trench bottom groove of the trench.
5. The automatic maintenance system of urban rail transit vehicles according to claim 1, characterized in that:
the inspection vehicle device comprises an inspection vehicle main body part, and a walking structure, a sensor, a mechanical arm, a 3D camera with an illumination function, a linear array camera and a linear array laser which are arranged on the inspection vehicle main body part;
the vehicle-mounted sensor is used for detecting guide lines in a trench of a rail transit vehicle base overhaul warehouse and on the ground at two sides of the rail, and guiding the inspection vehicle to run in the trench and on two sides of the rail along the guide lines;
the linear array laser is used for comprehensively scanning the bottom and the side of the vehicle and imaging in the linear array camera;
the mechanical arm is configured at the top of the inspection vehicle main box body, and the end part of the mechanical arm is provided with the 3D camera for local key imaging of the vehicle bottom and the vehicle side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920409697.6U CN209833649U (en) | 2019-03-28 | 2019-03-28 | Automatic maintenance system for urban rail transit vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920409697.6U CN209833649U (en) | 2019-03-28 | 2019-03-28 | Automatic maintenance system for urban rail transit vehicle |
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| CN209833649U true CN209833649U (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920409697.6U Withdrawn - After Issue CN209833649U (en) | 2019-03-28 | 2019-03-28 | Automatic maintenance system for urban rail transit vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941307A (en) * | 2019-03-28 | 2019-06-28 | 中铁第四勘察设计院集团有限公司 | A kind of automatic examination and repair system of urban rail transit vehicles and method |
| CN112829799A (en) * | 2021-02-02 | 2021-05-25 | 中铁第四勘察设计院集团有限公司 | Signal responder displacement system of automatic vehicle base and control method thereof |
-
2019
- 2019-03-28 CN CN201920409697.6U patent/CN209833649U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941307A (en) * | 2019-03-28 | 2019-06-28 | 中铁第四勘察设计院集团有限公司 | A kind of automatic examination and repair system of urban rail transit vehicles and method |
| CN109941307B (en) * | 2019-03-28 | 2023-07-25 | 中铁第四勘察设计院集团有限公司 | Automatic overhaul system and method for urban rail transit vehicle |
| CN112829799A (en) * | 2021-02-02 | 2021-05-25 | 中铁第四勘察设计院集团有限公司 | Signal responder displacement system of automatic vehicle base and control method thereof |
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