CN214325108U - Integrated seam-separating detection vehicle - Google Patents

Abstract

The utility model relates to an integrated separating seam detection vehicle, which comprises a vehicle frame and a controller, wherein the bottom of the vehicle frame is provided with a walking mechanism suitable for walking on a train track, at least one transverse end of the vehicle frame is provided with a separating seam detection device used for collecting profile information of a junction of a track plate and a supporting layer, an accommodating cavity is formed in the vehicle frame, and the controller is arranged in the accommodating cavity; the frame surface be equipped with the binding post that the controller electricity is connected, the crack detection device pass through the data line with binding post electricity is connected. The utility model discloses arrange the controller is integrated in the frame, make equipment integration higher, reduce the occupation space after detecting the car and disassembling, the controller can be generally packed, stored and transported along with the frame, can protect the controller better simultaneously, improves its life.

Description

Integrated seam-separating detection vehicle

Technical Field

The utility model belongs to the technical field of the rail transit engineering detects, concretely relates to separation seam that integrates detects car.

Background

One of the main defect types of the slab ballastless track is interlayer gap of a track structure. The generation of the gap can influence the smoothness and the dynamic response of the track on the one hand, and in addition, the contact state and the longitudinal temperature force transmission characteristic between the track plate and the supporting layer (mortar layer) are also inevitably changed, and the stability of the track structure is influenced.

Because interlayer separation seams generally exist in the lines, and the separation seams have different heights. Under the existing conditions, railway maintenance workers must carry out on-site measurement, and can formulate a maintenance scheme after preliminarily mastering the distribution condition of the gap between the track structural layers on the line, thereby realizing effective management.

Because the high-speed railway is operated in a totally-closed manner in daytime, the check of the interlayer separation seams of the track structure mainly depends on manual unfolding of a maintenance skylight at night, and a main tool for measuring the interlayer separation seams of the track structure is a feeler gauge. This way of checking has the following drawbacks: (1) visual conditions are poor at night, and the rail structure gap inspection is difficult to refine; (2) the manual detection is strong in subjectivity, and the detection efficiency is low due to the fact that the circuit detection is large in robustness; (3) in long-distance operation, the reliability of manually recording the line mileage corresponding to the gap and the track slab number is not high, and the omission and the mistake recording are inevitable. Therefore, automatic detection equipment for the rail plate gap needs to be developed.

At present, a small number of automatic rail plate seam separation detection vehicles are available in the market, and the seam separation detection vehicles are generally integrally constructed, stored and transported, so that the controllers are externally arranged on the top of a vehicle frame and are conveniently connected with other electrical equipment; however, these seam-separating detection vehicles are inconvenient to pack, store and transport in the using process, occupy relatively large space, correspondingly increase the cost, and increase the difficulty of packaging the vehicle body if the vehicle body is disassembled, and the external controller is easy to be damaged.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a seam detection car that integrates can solve prior art's partial defect at least.

The utility model relates to an integrated separating seam detection vehicle, which comprises a vehicle frame and a controller, wherein the bottom of the vehicle frame is provided with a walking mechanism suitable for walking on a train track, at least one transverse end of the vehicle frame is provided with a separating seam detection device used for collecting profile information of a junction of a track plate and a supporting layer, an accommodating cavity is formed in the vehicle frame, and the controller is arranged in the accommodating cavity; the frame surface be equipped with the binding post that the controller electricity is connected, the crack detection device pass through the data line with binding post electricity is connected.

As one of the implementation modes, the frame includes first support body and second support body, first support body with the second support body is rectangular shape support body, the length direction of first support body perpendicular to running gear's walking direction, the length direction of second support body is on a parallel with running gear's walking direction, first support body with the constitution is T type frame with the second support body is connected.

In one embodiment, the receiving cavity is formed in the first frame.

As an embodiment, the first frame body is detachably connected to the second frame body.

In one embodiment, the first frame and the second frame have the same length.

As one embodiment, the gap detection device is connected with an obstacle avoidance driving mechanism for driving the gap detection device to switch between a detection position and an avoidance position, the obstacle avoidance driving mechanism comprises a detection arm and an obstacle avoidance driving unit, the detection arm comprises two arm rods and two joint blocks, the two arm rods are arranged in parallel, and two ends of each arm rod are respectively hinged with the two joint blocks, so that the detection arm is constructed as a balanced four-bar mechanism; one of the joint blocks is mounted on the frame, the detection box is mounted on the other joint block, and the output end of the obstacle avoidance driving unit is hinged with one of the arm rods.

In one embodiment, the length of the detection arm is the same as the length of the first frame.

As one embodiment, the travelling mechanism comprises 3 travelling wheels, wherein 2 travelling wheels are arranged at the front end and the rear end of the second frame body, and the other 1 travelling wheel is arranged at one end of the first frame body far away from the second frame body.

In one embodiment, the travelling mechanism comprises a plurality of travelling wheels, and each travelling wheel is provided with an insulation control unit for controlling the on-off of the electric conduction between the wheel surface and the wheel axle.

In one embodiment, the road wheel comprises an axle and a hub, wherein the hub comprises an outer ring metal hub and an inner ring insulating hub which are coaxially fixed, and the inner ring insulating hub is mounted on the axle; the insulation control unit comprises a metal connecting piece which is detachably arranged on the wheel shaft, and the outer edge of the metal connecting piece is in contact with the outer ring metal hub.

The utility model discloses following beneficial effect has at least:

the utility model discloses arrange the controller is integrated in the frame, make equipment integration higher, reduce the occupation space after detecting the car and disassembling, the controller can be generally packed, stored and transported along with the frame, can protect the controller better simultaneously, improves its life.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a separation detection vehicle provided in an embodiment of the present invention at a viewing angle;

fig. 2 is a schematic structural view of the separation detection vehicle provided in the embodiment of the present invention at another viewing angle;

FIG. 3 is a schematic structural diagram of a testing cassette according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the traveling wheel provided by the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention are described below clearly and completely, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

As fig. 1 and fig. 2, the embodiment of the utility model provides an integrated separating seam detects car, including frame 1 and controller (not shown), the bottom of frame 1 is equipped with the running gear who is suitable for walking on the train track, at least one horizontal end of frame 1 is equipped with the separating seam detection device who is used for gathering track board and supporting layer juncture profile information. Preferably, two transverse ends of the frame 1 are provided with gap detection devices, so that the accuracy of detecting the gap condition of the track slab is improved; it will be understood that the so-called transverse direction is perpendicular to the direction of travel of the carriage 1, i.e. the transverse direction of the carriage 1 is parallel to the transverse direction of the rail when the carriage 1 is travelling on a rail of a train.

In this embodiment, preferably, the crack release detection device includes a laser profile sensor 202, a laser emission direction of the laser profile sensor 202 is parallel to a horizontal direction, the laser profile sensor 202 is adopted to collect a state of the crack release between layers, a laser beam can penetrate into the crack release, characteristics such as high sensitivity, high resolution, high accuracy and the like are provided, visualization can be realized, and a result is visual and reliable. The laser profile sensor 202 is preferably arranged on a detection box 201 and located on one side of the detection box 201 facing the vehicle frame 1, and when the vehicle frame 1 travels on a rail, the laser profile sensor 202 also faces the rail side and is horizontally opposite to the junction of the rail plate and the supporting layer. Wherein the laser profile sensor 202 is an integrated module; in one embodiment, the laser profile sensors 202 are implemented as a corresponding series of laser profile sensors 202 of kirschner. Obviously, the laser profile sensor 202 is preferably electrically or communicatively connected to the controller, and the controller is configured to acquire and analyze the profile data collected by the laser profile sensor 202 to determine whether a crack is generated. Of course, it is also possible to store the contour data by the controller and to manually determine whether a seam is generated.

In another embodiment, the above-mentioned crack detection device includes a crack camera 205, and the camera axis of the crack camera 205 is parallel to the horizontal direction, and is used for collecting the image information at the interface between the track slab and the supporting layer. Similarly, the seam allowance shooting camera 205 is electrically connected or communicatively connected to the controller, and the controller is configured to acquire and analyze image information collected by the seam allowance shooting camera 205, and determine whether a seam occurs. Of course, it is also possible to store the image information by the controller and to manually determine whether the seam is generated.

In a further preferred scheme, the gap detection device comprises a laser profile sensor 202 and a gap camera 205, so that the accuracy of a measurement result can be further improved, and the gap state of the track slab can be presented more intuitively by combining profile data acquired by the laser profile sensor 202 with image information acquired by the gap camera 205, thereby facilitating establishment of a maintenance scheme. For the above case including the inspection box 201, the laser profile sensor 202 and the relief camera 205 are both installed on the inspection box 201 and are both located on the side of the inspection box 201 facing the vehicle frame 1.

The structure of the gap detection vehicle is further optimized, as shown in fig. 1, an obstacle avoidance driving mechanism is arranged on the vehicle frame 1, and the gap detection device is connected with the obstacle avoidance driving mechanism so as to have a detection position horizontally right opposite to the junction of the track plate and the supporting layer and an avoidance position avoiding obstacles on a travelling path of the track plate. In one embodiment, as shown in fig. 1, the obstacle avoidance driving mechanism includes a detection arm 51 and an obstacle avoidance driving unit 52, the detection arm 51 includes two arm rods 511 and two joint blocks 512, the two arm rods 511 are arranged in parallel, and two ends of each arm rod 511 are respectively hinged with the two joint blocks 512, so that the detection arm 51 is configured as a balanced four-bar linkage; one of the joint blocks 512 is mounted on the frame 11, the gap detection device is mounted on the other joint block 512, and the output end of the obstacle avoidance driving unit 52 is hinged to one of the arm levers 511. The following defines a joint block 512 mounted on the frame 11 as a first joint block 512, and defines another joint block 512 as a second joint block 512; the two arms 511 are preferably arranged in parallel up and down, defining one arm 511 as a first arm 511, and the other arm 511 as a second arm 511, the first arm 511 being located above the second arm 511. It is understood that the hinge axis of each hinge structure is parallel to the horizontal direction.

In an alternative embodiment, as shown in fig. 1 and fig. 2, the two joint blocks 512 may adopt a channel steel type structure, the end of the arm 511 extends into the groove cavity of the joint block 512 and is hinged with the groove wall of the joint block 512, the structure is small and beautiful, and the groove wall of the joint block 512 can guide the swinging motion of the arm 511, which can improve the stability and reliability of the motion of the detection arm 51.

The obstacle avoidance driving unit 52 can drive the detection arm 51 to move, and further drive the gap detection device to lift; in one of the embodiments, as shown in fig. 1 and 2, the obstacle avoidance driving unit 52 comprises a linear electric cylinder, the housing of which is hinged to the frame 11, the output end of which is obviously hinged to one of the arms 511, for example to the first arm 511, and optionally to the first joint block 512. The obstacle avoidance driving unit 52 is matched with the balanced four-bar linkage mechanism type detection arm 51, so that the separation joint detection device can be driven to switch between a detection position and an avoidance position, the separation joint detection device is horizontally aligned to the junction of the track plate and the supporting layer when in the detection position, and for the track with lateral stop blocks arranged on two sides, the lateral stop blocks and other obstacles possibly existing on two sides of the track can interfere with the advancing motion of the separation joint detection device, and under the condition, the obstacle avoidance driving unit 52 is matched with the detection arm 51, so that the separation joint detection device can be in the avoidance position to avoid each obstacle.

The obstacle avoidance mechanism is arranged, so that the separation detection device can avoid various obstacles on the advancing path of the separation detection device, the obstacle avoidance mechanism adopts a balanced four-bar linkage mechanism type detection arm 51, the required lifting stroke of the separation detection device can be obtained under the condition of the small-size detection arm 51 by utilizing the proportional amplification characteristic and the random balance characteristic of the balanced four-bar linkage mechanism based on the proportional amplification characteristic, the obstacle avoidance response speed of the separation detection device can be obviously improved, and the separation detection device can be quickly returned after the obstacle avoidance; the stability of the lifting motion and the translational motion of the gap detection device can be ensured based on the random equilibrium characteristic, the shaking of the gap detection device is reduced, and the detection accuracy of the gap detection device can be improved.

Further preferably, as shown in fig. 1, the detection arm 51 further includes a telescopic guide rod 513, two ends of the telescopic guide rod 513 are respectively hinged to the two arm rods 511, and an axial direction of a hinge shaft connected to an end of the telescopic guide rod 513 is parallel to an axial direction of a hinge shaft connected to the joint block 512. Obviously, the telescopic guide 513 has a telescopic characteristic; by arranging the telescopic guide rod 513, the coordination and consistency of the movement of the two arm rods 511 can be further improved, namely the response speed and the stability of the lifting movement of the gap detection device are further improved. In one embodiment, as shown in fig. 1, one end of the telescopic guide 513 is connected to the hinge shaft of the joint block 512 mounted on the frame 11, that is, the hinge shaft of the first joint block 512, and further, the telescopic guide 513 is hinged to the hinge shaft of the corresponding end of the first arm 511.

Further optimizing the above embodiment, the above detection mechanism further includes an obstacle measuring unit 203, and the obstacle avoiding unit 203 and the obstacle avoiding driving unit 52 are in interlocking fit, so that the detection vehicle can automatically avoid the obstacle. The obstacle measuring unit 203 may adopt a sensor, that is, it includes an obstacle measuring sensor, an ultrasonic sensor, a laser sensor, an infrared sensor, a radar sensor, etc. all applied in the embodiment; in another embodiment, an obstacle measuring camera can be adopted, the obstacle measuring camera can be further adopted to be matched with the obstacle measuring sensor, the type and the height of the front obstacle can be known through the obstacle measuring camera, and therefore the obstacle can be avoided by the gap separating detection device more safely.

The barrier measuring units 203 are preferably integrally mounted with the above-described seam crossing detecting device, for example, as shown in fig. 3, both of which are mounted on the detecting box 201, and the barrier measuring units 203 are installed at the front end of the detecting box 201 in the advancing direction of the seam crossing detecting device, or two sets of barrier measuring units 203 are installed at the front end and the rear end of the detecting box 201 in the advancing direction of the seam crossing detecting device, respectively. In the case that the obstacle detecting units 203 are respectively installed at the front end and the rear end of the detecting box 201, the purpose of bidirectional detection of the detecting vehicle can be achieved, for example, the gap-separating condition of a certain track plate can be detected in a reciprocating manner, the detection accuracy is improved, and for example, when gap-separating detection data of a certain position is missing, the detecting vehicle can return to the position to perform supplementary detection and the like.

In order to further optimize the above embodiment, as shown in fig. 1 and fig. 2, the detection box 201 is provided with the collision avoidance mechanism 3, the collision avoidance mechanism 3 is used for preventing the detection box 201 from colliding with an obstacle and being damaged, and the collision avoidance mechanism 3 is preferably located at the front side of the detection box 201 along the traveling direction of the vehicle frame 11. In one embodiment, the anti-collision mechanism 3 may be an elastic member such as a rubber block or an anti-collision spring mounted at the front end of the detection box 201; in another embodiment, as shown in fig. 2, the collision avoidance mechanism 3 includes a collision avoidance wheel 31, the collision avoidance wheel 31 is mounted on the detection box 201 through a collision avoidance frame 32, the collision avoidance frame 32 can be mounted on the top of the detection box 201 or on the mounting rod 4 of the detection box 201, the collision avoidance wheel 31 is obviously rotatably mounted on the collision avoidance frame 32, the axle of the collision avoidance wheel 31 is axially parallel to the horizontal direction and perpendicular to the longitudinal direction of the rail (i.e. perpendicular to the traveling direction of the vehicle frame 11), and the collision avoidance wheel 31 can roll on the surface of an obstacle such as a lateral stopper while the detection box 201 is pre-hit by the collision avoidance wheel 31 to protect the detection box 201, so that the detection box 201 can still be raised synchronously to avoid the obstacle.

Further optimizing the above embodiment, since the gap detection device needs to be switched between the detection position and the avoidance position, and therefore needs to ensure the accuracy of positioning the gap detection device, preferably, a distance measurement unit 204 is further provided at the bottom end of the detection box 201, and the distance measurement unit 204 may adopt a distance measurement device such as a height measurement sensor, and similarly, the height measurement sensor may adopt an ultrasonic sensor, a laser distance measurement sensor, an infrared distance measurement sensor, and the like.

The embodiment is further optimized, the travelling mechanism comprises a plurality of travelling wheels 13, in one embodiment, as shown in fig. 1, the frame 1 is provided with three travelling wheels 13, and the three travelling wheels 13 are arranged in a triangular shape, so that on the premise of ensuring the operation stability and smoothness of the frame 1, the structure of the frame 1 is simplified, the number of components and the occupied space of the frame 1 are reduced, and the frame 1 is convenient to transport; specifically, 2 of the road wheels 13 are arranged at one transverse end of the frame 1, and the other 1 road wheel 13 is arranged at the other transverse end of the frame 1.

Further optionally, as shown in fig. 1 and 2, the frame 1 includes a first frame body 11 and a second frame body 12, the first frame body 11 and the second frame body 12 are both elongated frame bodies, a length direction of the first frame body 11 is perpendicular to a traveling direction of the traveling mechanism, a length direction of the second frame body 12 is parallel to the traveling direction of the traveling mechanism, and the first frame body 11 and the second frame body 12 are connected to form the T-shaped frame 1. Similarly, the T-shaped frame 1 can simplify the structure of the frame 1 while ensuring the stability and smoothness of the operation of the frame 1. The first frame body 11 and the second frame body 12 can be detachably assembled, so that the storage and transportation of the frame 1 are facilitated, and conventional detachable connection modes such as bolt connection and the like are all suitable for the embodiment; particularly, the first frame body 11 and the second frame body 12 have the same length, so that the frame 1 can be placed in a container after being disassembled into two frame bodies, thereby facilitating the packaging, storage and transportation of equipment components. Further, the length of the detection arm 51 may be the same as that of the first frame 11, and the detection arm 51 may also be placed in the same container together with the two frames, thereby further facilitating the packaging, storage and transportation of the equipment components.

For the above-mentioned scheme provided with 3 road wheels 13, correspondingly, 2 of the road wheels 13 are arranged on the second frame body 12 (for example, arranged at the front end and the rear end of the second frame body 12), and the other 1 road wheel 13 is arranged on the first frame body 11, for example, arranged at one end of the first frame body 11 far away from the second frame body 12.

As a preferable scheme, an accommodating cavity is formed in the frame 1, and the controller is arranged in the accommodating cavity; the surface of the frame 1 is provided with a wiring terminal 14 electrically connected with the controller, and the gap detection device is electrically connected with the wiring terminal 14 through a data line. Different from the conventional arrangement of arranging the controller on the frame 1, in the embodiment, the controller is integrated in the frame 1, so that the equipment integration level is higher, the occupied space of the disassembled detection vehicle is reduced, the controller can be generally packed, stored and transported along with the frame 1, the controller can be better protected, and the service life of the controller is prolonged.

The controller can adopt conventional equipment such as a computer, the specific structure of the controller, the circuit structure between the wiring terminal 14 and the controller and the circuit structure between the wiring terminal 14 and the crack detection device are conventional circuit structures, the design and the determination are easy for technicians in the field, and the related automatic control processes such as data acquisition and the like are conventional automatic control modes without additional programming.

In the structure that the frame 1 includes the first frame body 11 and the second frame body 12, preferably, the accommodating cavity is formed in the first frame body 11, so as to be connected with the separation detecting devices at the two ends of the frame 1 respectively.

The frame 1 can be manually pushed, for example, a manual push handle is arranged on the frame 1, so that the walking speed of the frame 1 can be conveniently controlled, and the condition of the track slab can be more accurately measured; automatic drive may also be used, for example, with at least some of the road wheels 13 being provided with a travel drive motor. Optionally, the frame 1 can bidirectionally travel on the rail, so that the purpose of bidirectional detection of the seam-separating detection vehicle can be realized, the operation is more flexible, and the operation efficiency and the detection accuracy can be effectively improved; the two-way traveling mode may be, for example, that the traveling driving motor is designed to be a motor capable of driving forward and backward rotation, and it is a conventional technology to drive the vehicle frame 1 to travel in two ways by the motor, which is not described herein again.

Further preferably, as shown in fig. 4, each traveling wheel 13 is provided with an insulation control unit for controlling on/off of electrical conduction between the wheel surface and the wheel axle 131, and the traveling wheels 13 can be switched between an insulation state and a non-insulation state by setting the insulation control unit to control on/off of electrical conduction between the wheel surface of the traveling wheel 13 and the wheel axle 131, so that the working requirement of rail plate detection of the train rail under different conditions is met, and the application range of the crack detection vehicle is correspondingly expanded; simple structure and easily operation avoid changing walking wheel 13 repeatedly and the work load that brings increases, detection efficiency reduces scheduling problem. In one embodiment, as shown in fig. 4, road wheel 13 includes an axle 131 and a hub (which may be assembled by ball bearings 135, etc.) including an outer annular metal hub 132 and an inner annular insulating hub 133 coaxially fixed, with inner annular insulating hub 133 mounted on axle 131; further, the insulation control unit includes a metal connector 134, the metal connector 134 is detachably mounted on the wheel shaft 131 and the outer edge is in contact with the outer ring metal hub 132 (optionally, the metal connector 134 is connected with the above-mentioned ball bearing 135). Therefore, the electric conduction between the wheel surface of the traveling wheel 13 and the wheel shaft 131 can be controlled by controlling whether the metal connecting piece 134 is installed on the wheel shaft 131, when the metal connecting piece 134 is installed on the wheel shaft 131, the outer ring metal hub 132 and the wheel shaft 131 can be communicated in an electric conduction relationship through the metal connecting piece 134, and the traveling wheel 13 is a non-insulating wheel; when the metal link 134 is removed from the axle 131, the electrical conduction between the outer ring metal hub 132 and the axle 131 is cut off, and the road wheel 13 is an insulated wheel.

Wherein, optionally, the metal connector 134 is a ring-shaped member and is fixed on the wheel axle 131 in a sleeving manner, for example, by an axial stop ring/stop pin or the like. Of course, it is also possible to fix the metal connecting member 134 to the inner ring insulating hub 133 or the like by screws or the like, which is not exemplified here.

Wherein, the inner ring insulation hub 133 is a plastic hub body, but other electric insulation materials can be adopted.

Of course, the insulation control method is not limited to the above-mentioned insulation control method, for example, a control circuit is provided in the inner ring insulation hub 133 to control the on/off of the electric conduction between the wheel surface of the road wheel 13 and the wheel axle 131, which is easy to design by those skilled in the art and will not be described in detail herein.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a separation joint detection car that integrates, includes frame and controller, the bottom of frame is equipped with the running gear who is suitable for walking on the train track, at least one horizontal end of frame is equipped with the separation joint detection device who is used for gathering track board and supporting layer juncture profile information, its characterized in that: an accommodating cavity is formed in the frame, and the controller is arranged in the accommodating cavity; the frame surface be equipped with the binding post that the controller electricity is connected, the crack detection device pass through the data line with binding post electricity is connected.

2. The integrated seam allowance detection vehicle of claim 1, wherein: the frame includes first support body and second support body, first support body with the second support body is rectangular shape support body, the length direction perpendicular to of first support body running gear's walking direction, the length direction of second support body is on a parallel with running gear's walking direction, first support body with the constitution is T type frame is connected to the second support body.

3. The integrated seam allowance detection vehicle of claim 2, wherein: the accommodating cavity is formed in the first frame body.

4. The integrated seam allowance detection vehicle of claim 2, wherein: the first frame body is detachably connected with the second frame body.

5. The integrated off-seam detection vehicle of claim 4, wherein: the first frame body is the same as the second frame body in length.

6. The integrated off-seam detection vehicle of claim 5, wherein: the gap detection device is connected with an obstacle avoidance driving mechanism for driving the gap detection device to switch between a detection position and an avoidance position, the obstacle avoidance driving mechanism comprises a detection arm and an obstacle avoidance driving unit, the detection arm comprises two arm rods and two joint blocks, the two arm rods are arranged in parallel, and two ends of each arm rod are respectively hinged with the two joint blocks, so that the detection arm is constructed into a balanced four-bar mechanism; one of the joint blocks is mounted on the frame, the gap detection device is mounted on the other joint block, and the output end of the obstacle avoidance driving unit is hinged to one of the arm rods.

7. The integrated seam allowance detection vehicle of claim 6, wherein: the length of the detection arm is the same as that of the first frame body.

8. The integrated seam allowance detection vehicle of claim 2, wherein: running gear includes 3 walking wheels, and wherein 2 walking wheels arrange in both ends around the second support body, 1 walking wheel arrange in the keeping away from of first support body the one end of second support body in addition.

9. The integrated seam allowance detection vehicle of claim 1, wherein: the traveling mechanism comprises a plurality of traveling wheels, and each traveling wheel is provided with an insulation control unit for controlling the on-off of electric conduction between the wheel surface and the wheel axle.

10. The integrated seam allowance detection vehicle of claim 9, wherein: the travelling wheel comprises a wheel shaft and a wheel hub, the wheel hub comprises an outer ring metal hub and an inner ring insulation hub which are coaxially fixed, and the inner ring insulation hub is arranged on the wheel shaft; the insulation control unit comprises a metal connecting piece which is detachably arranged on the wheel shaft, and the outer edge of the metal connecting piece is in contact with the outer ring metal hub.

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