CN212654361U - Chassis for track inspection robot and track inspection robot - Google Patents
Chassis for track inspection robot and track inspection robot Download PDFInfo
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- CN212654361U CN212654361U CN202020758882.9U CN202020758882U CN212654361U CN 212654361 U CN212654361 U CN 212654361U CN 202020758882 U CN202020758882 U CN 202020758882U CN 212654361 U CN212654361 U CN 212654361U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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Abstract
The utility model relates to a technical field that the track detected, concretely relates to track is patrolled and examined robot with chassis and track and is patrolled and examined robot, include: the cross beams are vertically arranged between the two rails, and two ends of each cross beam are in contact with the rails; the two active limiting mechanisms are arranged on the same side of the cross beam in a reverse direction along a direction perpendicular to the inner wall surface of the track; the initiative stop gear includes: the track measuring device comprises a driving part and a track measuring wheel connected with the driving part, wherein the driving part drives the track measuring wheel to move towards the direction close to or away from the inner wall surface of a track, and during detection, the driving part drives the track measuring wheel to move towards the direction close to the inner wall surface of the track until the track measuring wheel is in contact with the inner wall surface of the track, and the driving part detects the motion displacement value of the track measuring wheel and sums the motion displacement value with the vertical distance value of two active limiting mechanisms in an initial state, so that the track distance of the position can be quickly obtained.
Description
Technical Field
The utility model relates to a technical field that the track detected, concretely relates to track is patrolled and examined robot and is patrolled and examined robot with chassis and track.
Background
The rail detection is an important component for guaranteeing the safe operation of rail transit, and the rail is seriously worn due to the characteristics that the operation density of a rail locomotive is high, the time interval is short, and the passenger density is high, particularly, the rail gauge is changed, various hidden dangers are easy to appear when the rail locomotive is operated for a long time, so the detection of the rails of subways and urban railways also becomes the central importance of the safe link of rail transit transportation.
The current track gauge detection mode is as follows: after finishing the operation night, by measurement personnel along track extending direction, the manual gauging rule that utilizes detects the track to reacing the orbital gauge along the way, when the gauge value changes, judge this point promptly and for treating the improvement point, but owing to adopt artifical mode that detects, degree of automation is poor, detection efficiency is low, extravagant manpower and materials.
SUMMERY OF THE UTILITY MODEL
An object of this application provides a robot is patrolled and examined to track chassis and track for robot is patrolled and examined to solve the problem that the mode degree of automation of current artifical detection gauge is poor and detection efficiency is low.
Technical scheme (I)
In order to achieve the above object, the utility model discloses an aspect provides a track patrols and examines chassis for robot, include:
the number of the cross beams is at least one, the at least one cross beam is vertically arranged between the two rails, and two ends of the at least one cross beam are in contact with the rails;
the two active limiting mechanisms are arranged on the same side of the cross beam in a reverse direction along a direction perpendicular to the inner wall surface of the track; the initiative stop gear includes: the track measuring device comprises a driving part for measuring displacement and a track measuring wheel connected with the driving part, wherein the driving part drives the track measuring wheel to move towards a direction close to or far away from the inner wall surface of a track.
Optionally, a driving wheel assembly is arranged at each of two ends of at least one of the cross beams, which are in contact with the track.
Optionally, the driving wheel assembly includes: the driving wheel is in contact with the upper surface of the rail, an auxiliary limiting wheel is vertically arranged below the driving wheel and is in contact with the inner side wall surface of the rail, and a speed reducer and a servo motor are sequentially arranged on the outer side of the driving wheel.
Optionally, the driving part is an electric push rod with a mileage sensor, and an execution end of the electric push rod is connected with the track measuring wheel.
Optionally, the actuating ends of the two electric push rods are arranged oppositely and are perpendicular to the inner wall surface of the track.
Optionally, the number of the cross beams is two, and the two cross beams are connected through the longitudinal beam and are parallel to each other.
Optionally, the two active limiting mechanisms are arranged on an bisector between the two cross beams.
Optionally, the connection between the cross beam and the longitudinal beam is further rotationally connected through a rotating mechanism.
Optionally, the rotating mechanism includes: the rotating shaft is vertically arranged on the longitudinal beam, and the cross beam is movably arranged on the rotating shaft of the longitudinal beam through the bearing.
Optionally, a control box and a gyroscope electrically connected with the control box are installed in the installation cavity of the cross beam.
In order to achieve the above object, the utility model discloses the second aspect provides a track inspection robot, a serial communication port, include: a chassis for a rail inspection robot according to any preceding claim.
(II) beneficial effect:
compared with the prior art, the utility model, following beneficial effect has:
the utility model provides a track is patrolled and examined chassis for robot, include: the number of the cross beams is at least one, the at least one cross beam is vertically arranged between the two rails, and two ends of the at least one cross beam are in contact with the rails; the two active limiting mechanisms are arranged on the same side of the cross beam in a reverse direction along a direction perpendicular to the inner wall surface of the track; the initiative stop gear includes: the track measuring device comprises a driving part for measuring displacement and a track measuring wheel connected with the driving part, wherein the driving part drives the track measuring wheel to move towards a direction close to or far away from the inner wall surface of a track.
This scheme design a track inspection robot, examines time measuring to the gauge as needs, and the track inspection robot is in quiescent condition, and concrete testing process is as follows: during the initial state, one of the active limiting mechanisms is set to be in contact with the inner wall surface of the track, and the other active limiting mechanism is set to have a certain distance from the corresponding inner wall surface of the track.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained without inventive exercise, wherein:
fig. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a driving wheel assembly of the present invention;
fig. 3 is a schematic structural view of the active limiting mechanism of the present invention;
fig. 4 is a schematic structural diagram of the rotating mechanism of the present invention.
In the figure: 1. a cross beam; 2. a drive section; 3. a track measuring wheel; 4. an active drive wheel; 5. an auxiliary limiting wheel; 6. a speed reducer; 7. a servo motor; 8. a stringer; 9. a rotation mechanism; 10. a rotating shaft; 11. a bearing; 12. a control box; 13. a drive wheel assembly; 14. initiative stop gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The invention will be described in further detail with reference to the following drawings and embodiments:
example one
As shown in fig. 1, 2, 3 and 4, a first aspect of the present application discloses a chassis for a track inspection robot, including:
the number of the cross beams 1 is at least one, the at least one cross beam 1 is vertically arranged between the two rails, and two ends of the at least one cross beam 1 are in contact with the rails;
the two active limiting mechanisms 14 are arranged in pairs, and the two active limiting mechanisms 14 are arranged on the same side of the cross beam 1 in the opposite direction along the direction perpendicular to the inner wall surface of the track, namely the actuating ends of the two active limiting mechanisms 14 face the inner wall surface of the track; preferably, the centers of the two active limiting mechanisms 14 are all located on the same straight line; the active limit mechanism 14 includes: the device comprises a driving part 2 for measuring displacement and a track measuring wheel 3 connected with the driving part 2, wherein the driving part 2 drives the track measuring wheel 3 to move towards or away from the inner wall surface of the track.
When the track gauge needs to be detected, the track inspection robot is in a static state, and the specific detection process is as follows: during the initial state, one of them initiative stop gear 14 sets up to be contacted with the track internal wall, another then sets up to have certain interval between the track internal wall rather than corresponding, during the detection, through the direction motion of drive division 2 drive track measuring wheel 3 near track internal wall, until track measuring wheel 3 and track internal wall contact, this in-process drive division 2 detects track measuring wheel 3 motion displacement numerical value, and with the vertical distance numerical value summation of two initiative stop gear 14 under the initial state, wherein, the vertical distance numerical value of two initiative stop gear 14 under the initial state means: the vertical distance from the active end of one of the driving parts 2 to the active end of the other driving part 2; the gauge of the position can be obtained quickly, so that the detection efficiency is improved, the automation is realized, and the manpower and material resources are saved.
According to an embodiment of the present invention, referring to fig. 3, the driving portion 2 is configured as an electric push rod with a mileage sensor, the actuating ends of the electric push rods are connected with the track measuring wheel 3, preferably, the actuating ends of the two electric push rods are oppositely configured and are perpendicular to the inner wall surface of the track; specifically, under the action of the electric push rods, the execution end drives the track measuring wheel 3 to move towards the direction close to or away from the inner wall surface of the track, and the moving distance of the track measuring wheel 3 is recorded through the mileage sensor, when the device is used, the execution end of one electric push rod is driven to extend out in the initial state, so that the track measuring wheel 3 connected with the electric push rod is pushed to move towards the direction close to the inner wall surface of the track until the track measuring wheel 3 is contacted with the inner wall surface of the track, and a certain distance exists between the other electric push rod and the corresponding inner wall surface of the track, when in detection, the execution end of the other electric push rod is driven to extend out, so that the track measuring wheel 3 connected with the electric push rod is pushed to move towards the direction close to the inner wall surface of the track until the track measuring wheel 3 is contacted with the inner wall surface, and the track gauge at the position can be quickly obtained by adding the vertical distance value of the two electric push rods in the initial state, wherein the vertical distance value of the two electric push rods in the initial state refers to the vertical distance from the execution end of one electric push rod to the execution end of the other electric push rod.
According to the utility model discloses an embodiment, in order to guarantee the track and patrol and examine the mobility on chassis for the robot, refer to fig. 1 and show, at least one crossbeam 1 all is equipped with drive wheel assembly 13 with the both ends of track contact, and in this embodiment, the concrete structure of drive wheel assembly 13 does not specifically limit, as long as can drive crossbeam 1 and all be applicable to this scheme along orbital length direction structure of moving to belong to the protection scope of this scheme.
In order to avoid the extended track measuring wheel 3 from blocking the movement of the robot, after the detection is finished, the two electric push rods drive the track measuring wheel 3 to move in the direction away from the inner wall surface of the track through the execution end until the track measuring wheel 3 returns to the initial state (namely, the state that the execution end retracts);
in order to ensure that the robot is attached to a track on one side to stably run, the gesture of the robot can be adjusted through the electric push rod, specifically, the electric push rod execution end matched with the track to be attached extends out, so that the track measuring wheel 3 connected with the electric push rod moves towards the direction close to the inner wall surface of the track, the gesture of the chassis of the robot is changed towards the track direction, and meanwhile, the electric push rod on the other side drives the track measuring wheel 3 to be in a retraction state.
According to an embodiment of the present invention, as shown in fig. 1 and 2, the driving wheel assembly 13 includes: the driving wheel 4 is in contact with the upper surface of the track, and preferably, the driving wheel 4 is arranged into a grooved wheel, and the shape of the grooved wheel is matched with that of the track; in order to further limit the horizontal movement of the track robot, an auxiliary limiting wheel 5 is vertically arranged below the active driving wheel 4, preferably, the auxiliary limiting wheel 5 is in contact with the inner side wall surface of the track, but the track gauge can change along with the use of the track, and in order to ensure that the robot can stably move on the track, preferably, a certain distance exists between the auxiliary limiting wheel 5 and the inner side wall surface of the track, the specific numerical value of the distance can be designed in advance according to requirements, and the exemplary design is 3 mm; a speed reducer 6 and a servo motor 7 are sequentially arranged on the outer side of the driving wheel 4; preferably, the right angle formed by the driving wheel 4 and the auxiliary limiting wheel 5 is matched with the shape of the track; during the use, under servo motor 7's drive, initiative drive wheel 4 will carry out high-speed rotation along the track upper wall, meanwhile, supplementary spacing wheel 5 will be under initiative drive wheel 4's effect, carry out high-speed rotation along orbital internal face in step, this embodiment is through initiative drive wheel 4 and supplementary spacing wheel 5 combined action, thereby guarantee that initiative drive wheel 4 carries out smooth pivoted along orbital length direction in the time, restrict the motion of robot horizontal direction under supplementary spacing wheel 5's effect, and then avoid initiative drive wheel 4 to break away from on the track.
According to an embodiment of the utility model, as shown with reference to fig. 1, the installation cavity has been seted up to the last wall of crossbeam 1, installs control box 12 in the installation cavity to and provide devices such as the battery of electric energy for control box 12.
According to the utility model discloses an embodiment, it is shown with reference to figure 1, for measuring the track inclination change, with 12 electric connection of control box have a high accuracy gyroscope, during the use, through the gesture of measuring crossbeam 1, can measure the change at track inclination, specific high accuracy gyroscope measurement process is prior art, so do not do here too much to be repeated.
Example two
The difference with the first embodiment lies in, as shown in fig. 1, the two cross beams 1 are arranged, the two cross beams 1 are connected through the longitudinal beam 8 and are parallel to each other, the chassis is designed into a four-wheel drive structure through the design, and the four-wheel drive is controlled differently through the electric cabinet, so that the chassis can run more smoothly on the curved track.
According to the utility model discloses an embodiment, referring to fig. 1 and showing, in order to provide the measurement datum line for initiative stop gear 14, guarantee measured data's accuracy, two initiative stop gear 14 set up on the bisector between two crossbeams 1.
When the device is used, in an initial state, the execution end of one electric push rod is driven to extend out, so that the track measuring wheel 3 connected with the electric push rod is pushed to move towards the direction close to the inner wall surface of the track until the track measuring wheel 3 is contacted with the inner wall surface of the track, and a certain distance exists between the other electric push rod and the corresponding inner wall surface of the track;
at this time, the second electric push rod and the two auxiliary limiting wheels 5 form an isosceles triangle, the altitude of the isosceles triangle is the track distance (the distance between the inner wall surfaces of the two tracks), the distance between the second electric push rod and the two auxiliary limiting wheels 5 is known, so the numerical value of the initial altitude is also known, only the numerical value of the distance between the second electric push rod and the inner wall surface of the track needs to be calculated, and the sum of the numerical value and the numerical value of the initial altitude is the track distance; during detection, the execution end of the second electric push rod is driven to extend out, so that the track measuring wheel 3 connected with the second electric push rod is pushed to move towards the direction close to the inner wall surface of the track until the track measuring wheel 3 is contacted with the inner wall surface of the track, the mileage sensor arranged on the second electric push rod detects the movement displacement value of the track measuring wheel 3 in the process, namely the movement displacement value is the distance value from the second electric push rod to the inner wall surface of the track, and at the moment, the displacement value is added with the initial altitude value, so that the track distance value can be obtained.
EXAMPLE III
The difference from the first embodiment is that, referring to fig. 1 and 4, when the flatness of the track is poor, in order to ensure that the ends of the two cross beams 1 are both attached to the track and reduce the vibration of the robot during the movement process, the connection between the cross beams 1 and the longitudinal beams 8 is further rotatably connected through the rotating mechanism 9, in the first embodiment, the specific structure of the rotating mechanism 9 is not specifically limited, and the structure that the cross beams 1 can be driven to adjust along the longitudinal beams 8 is suitable for the first embodiment and belongs to the protection range of the first embodiment.
Preferably, the rotation mechanism 9 includes: the transverse beam comprises a rotating shaft 10 and a bearing 11, wherein the rotating shaft 10 is vertically arranged on the longitudinal beam 8, specifically, the rotating shaft is vertical to the upper wall surface or the side wall surface of the longitudinal beam 8 and can be preset according to requirements, the transverse beam 1 is movably arranged on the rotating shaft 10 of the longitudinal beam 8 through the bearing 11, and when the transverse beam is used, when the end part of one transverse beam 1 is separated from the upper wall surface of a track, the transverse beam 1 only needs to be manually driven to rotate around the rotating shaft 10 arranged on the longitudinal beam 8 until the two end parts are attached to the upper wall surface of.
Example four
The application second aspect discloses a robot is patrolled and examined to track includes: a chassis for a rail inspection robot according to any one of the preceding claims.
The embodiments in the present description are all described in a progressive manner, and some of the embodiments are mainly described as different from other embodiments, and the same and similar parts among the embodiments can be referred to each other.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying importance; the words "bottom" and "top", "inner" and "outer" refer to directions toward and away from, respectively, a particular component geometry.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the communication may be direct, indirect via an intermediate medium, or internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only for the preferred embodiment of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (11)
1. The utility model provides a track is patrolled and examined chassis for robot which characterized in that includes:
the device comprises at least one cross beam (1), wherein the at least one cross beam (1) is vertically arranged between two tracks, and two ends of the cross beam are in contact with the tracks;
the two active limiting mechanisms (14) are arranged on the same side of the cross beam (1) in a reverse manner along the direction perpendicular to the inner wall surface of the track; the active limit mechanism (14) comprises: the displacement measuring device comprises a driving part (2) used for measuring displacement and a track measuring wheel (3) connected with the driving part (2), wherein the driving part (2) drives the track measuring wheel (3) to move towards a direction close to or far away from the inner wall surface of a track.
2. The chassis for the track inspection robot according to claim 1, wherein at least one of the cross beams (1) is provided with a driving wheel assembly (13) at both ends contacting the track.
3. The chassis for a track inspection robot according to claim 2, wherein the drive wheel assembly (13) includes: initiative drive wheel (4) that contact with the track upper surface, the below of initiative drive wheel (4) is provided with supplementary spacing wheel (5) perpendicularly, supplementary spacing wheel (5) contact with orbital inside wall surface, the outside of initiative drive wheel (4) still is equipped with reduction gear (6) and servo motor (7) in proper order.
4. The chassis for the track inspection robot according to claim 1, wherein the driving part (2) is provided as an electric push rod with a mileage sensor, and an execution end of the electric push rod is connected with the track measuring wheel (3).
5. The chassis for the track inspection robot according to claim 4, wherein the actuating ends of the two electric push rods are arranged oppositely and are perpendicular to the inner wall surface of the track.
6. The chassis for the track inspection robot according to claim 2, wherein the number of the cross beams (1) is two, and the two cross beams (1) are connected through the longitudinal beam (8) and are parallel to each other.
7. The chassis for a track inspection robot according to claim 6, wherein two active limiting mechanisms (14) are arranged on an equal dividing line between the two cross beams (1).
8. The chassis for the track inspection robot according to claim 7, wherein the connection between the cross beam (1) and the longitudinal beam (8) is also rotationally connected through a rotating mechanism (9).
9. The chassis for a track inspection robot according to claim 8, wherein the rotating mechanism (9) comprises: the transverse beam comprises a rotating shaft (10) and a bearing (11), wherein the rotating shaft (10) is vertically arranged on the longitudinal beam (8), and the transverse beam (1) is movably arranged on the rotating shaft (10) of the longitudinal beam (8) through the bearing (11).
10. The chassis for the track inspection robot according to claim 1, wherein a control box (12) and a gyroscope electrically connected with the control box (12) are installed in the installation cavity of the cross beam (1).
11. A track inspection robot, comprising: the chassis for a track inspection robot according to any one of claims 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020758882.9U CN212654361U (en) | 2020-05-09 | 2020-05-09 | Chassis for track inspection robot and track inspection robot |
| PCT/CN2021/090652 WO2021227878A1 (en) | 2020-05-09 | 2021-04-28 | Chassis for track inspection robot and track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020758882.9U CN212654361U (en) | 2020-05-09 | 2020-05-09 | Chassis for track inspection robot and track inspection robot |
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| Publication Number | Publication Date |
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| CN212654361U true CN212654361U (en) | 2021-03-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202020758882.9U Active CN212654361U (en) | 2020-05-09 | 2020-05-09 | Chassis for track inspection robot and track inspection robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN212654361U (en) |
| WO (1) | WO2021227878A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227878A1 (en) * | 2020-05-09 | 2021-11-18 | 京东数科海益信息科技有限公司 | Chassis for track inspection robot and track inspection robot |
| CN113894824A (en) * | 2021-12-09 | 2022-01-07 | 浙江高信技术股份有限公司 | Track inspection robot |
| CN115183095A (en) * | 2022-07-08 | 2022-10-14 | 深圳市能智工业信息技术有限公司 | Monitoring device suitable for rail transit |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346991B (en) * | 2021-12-09 | 2023-10-27 | 浙江高信技术股份有限公司 | Track cleaning system based on track inspection robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4236847B2 (en) * | 2002-02-12 | 2009-03-11 | 株式会社日立ハイテクノロジーズ | Towed track inspection vehicle |
| CN102390405B (en) * | 2011-09-16 | 2013-11-06 | 成都四方瑞邦测控科技有限责任公司 | Detection method for restrictedly measuring track parameters and track checking instrument |
| CN202329599U (en) * | 2011-11-08 | 2012-07-11 | 中铁第一勘察设计院集团有限公司 | Track gauge measuring device of railway track detecting instrument |
| CN104652194B (en) * | 2015-02-13 | 2016-08-24 | 中铁第一勘察设计院集团有限公司 | The high speed railway track spatial position measuring instrument of ruler suspended structure |
| CN204509904U (en) * | 2015-02-13 | 2015-07-29 | 中铁第一勘察设计院集团有限公司 | The rail measuring apparatus beam structure that a kind of gauge and rail are measured to vector distance |
| KR101590157B1 (en) * | 2015-04-30 | 2016-02-01 | 한국철도기술연구원 | Trolley apparatus for measuring track irregularity of versine-type |
| CN212654361U (en) * | 2020-05-09 | 2021-03-05 | 北京海益同展信息科技有限公司 | Chassis for track inspection robot and track inspection robot |
-
2020
- 2020-05-09 CN CN202020758882.9U patent/CN212654361U/en active Active
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2021
- 2021-04-28 WO PCT/CN2021/090652 patent/WO2021227878A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227878A1 (en) * | 2020-05-09 | 2021-11-18 | 京东数科海益信息科技有限公司 | Chassis for track inspection robot and track inspection robot |
| CN113894824A (en) * | 2021-12-09 | 2022-01-07 | 浙江高信技术股份有限公司 | Track inspection robot |
| CN113894824B (en) * | 2021-12-09 | 2022-03-08 | 浙江高信技术股份有限公司 | Track inspection robot |
| CN115183095A (en) * | 2022-07-08 | 2022-10-14 | 深圳市能智工业信息技术有限公司 | Monitoring device suitable for rail transit |
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| Publication number | Publication date |
|---|---|
| WO2021227878A1 (en) | 2021-11-18 |
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Address after: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Patentee after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 601, 6 / F, building 2, No. 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Beijing 100176 Patentee before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |