EP2620546A1 - Dispositif robotique pour soudage sur des chemins de rails de grues - Google Patents

Dispositif robotique pour soudage sur des chemins de rails de grues Download PDF

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Publication number
EP2620546A1
EP2620546A1 EP12466002.8A EP12466002A EP2620546A1 EP 2620546 A1 EP2620546 A1 EP 2620546A1 EP 12466002 A EP12466002 A EP 12466002A EP 2620546 A1 EP2620546 A1 EP 2620546A1
Authority
EP
European Patent Office
Prior art keywords
carrying
supporting frame
robotic device
bracket
holder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12466002.8A
Other languages
German (de)
English (en)
Inventor
Bretislav Beranek
Jaromir Bogr
Petr Hajtmar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tirso AS
Original Assignee
Tirso AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tirso AS filed Critical Tirso AS
Priority to EP12466002.8A priority Critical patent/EP2620546A1/fr
Publication of EP2620546A1 publication Critical patent/EP2620546A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
    • E01B31/02—Working rail or other metal track components on the spot
    • E01B31/12—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails
    • E01B31/17—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails by grinding
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
    • E01B31/02—Working rail or other metal track components on the spot
    • E01B31/18—Reconditioning or repairing worn or damaged parts on the spot, e.g. applying inlays, building-up rails by welding; Heating or cooling of parts on the spot, e.g. for reducing joint gaps, for hardening rails

Definitions

  • the present invention relates to a robotic device for resurfacing of crane runway rails by build-up welding.
  • the truck has a gantry-type frame, which is arranged crosswise with respect to the centreline of the rails and carries a hydraulic cylinder attached to the frame with its one end, the other end of the cylinder being attached to a swivelling member holding a grinding wheel and the driving motor for the same.
  • the grinding wheel can grind the rail at various angles and in various positions.
  • the truck is provided with a measuring device, the latter being equipped with a computerized controller for evaluating the results of the respective measurements and issuing the commands regarding the parameters of the grinding process.
  • the above device can only be used for pairs of train rails.
  • the document CZ285480 B1 discloses a grinding device for rails comprising of a beam provided with rollers in its lower corners. By means of the latter, the beam can travel on either rail. At its ends, the beam is connected with the central frame in a swivelling manner, said frame carrying a grinding wheel including a driving unit.
  • the central frame is spanned with an overhead handle controlling the translational movement of the device.
  • Each roller of the traversing mechanism is complemented with a corresponding sensing roller arranged at the respective edge of the beam.
  • the beam carries an adjusting device for bringing the grinding wheel into the desired position.
  • the grinding machine can be brought into an inclined position but the guiding handle does not swing out of its upright position.
  • the device can only be used for ground-based railway trucks. All the functions of the devices are operated in a manual manner.
  • the document CZ 292 558 discloses a grinding device that is provided with a horizontal frame instead of the above mentioned beam, said frame being adapted for swinging around its longitudinal axis. However, the forces resulting from the swinging motion, are balanced by an interconnecting axle anchored in the traversing mechanism placed on the other rail.
  • guiding jigs e.g. those designed for repairing railway crossing frogs, consisting of a single-use frame with guiding rods arranged around a turnout, said guiding rods carrying a welding head sliding thereon.
  • a straight and equal weld deposit can be obtained.
  • the above solution is only suitable for short stretches where an ample surrounding area is available for handling the guiding rods incorporated in the frame.
  • the objective of the present invention is to provide a robotic device that will enable the renovation of the individual crane runway rails to be carried out, said device being capable to perform all the tasks, which are necessary for repairing the rails, without requiring an auxiliary track or working platform installed along the rail to be repaired.
  • the carrying structure is formed by a main beam arranged on web plates with traversing rollers, said main beam carrying a main slide movably embedded therein along the longitudinal axis X thereof and provided by a sliding guide on which a bracket is arranged, which is movable along the vertical axis Y and provided with a lower guide on its bottom side, said lower guide carrying a transverse supporting bracket arranged thereon, which is movable along the transversal axis Z, said transverse supporting bracket carrying a lower beam arranged in a fixed position thereon and carrying a supporting frame pivoted thereon by means of a load-bearing tube, said supporting frame integrating a measuring device, a grinding machine and a welding head, the latter being both translationally guided in a front guideway arranged on the face of the supporting frame and pivoted on a swivelling holder making it movable perpendicular
  • the web plates are provided with electromagnets for bringing the same in contact with the rail.
  • the main slide which is provided with the dedicated driving motor, is accommodated in the upper guide arranged on the top side of the beam and in the lower guide arranged in the bottom portion of the sidewall of the beam, said main slide being traversable along the rack.
  • the bracket is provided with the upper dedicated driving motor.
  • the lower guide arranged on the bottom wall of the upright supporting bracket carries the transverse supporting bracket that is traversable along the transversal axis Z and provided with the lower dedicated driving motor interconnected with the driving ball-screw spindle by means of a belt pulley.
  • the lower beam accommodates the load-bearing tube pivoted therein by means of a bearing, said load-bearing tube carrying the supporting frame and having its opposite end connected to the motor arranged inside the lower beam.
  • the supporting frame has its rear wall left open and carries all the working units of the device.
  • the device according to the invention comprises the grinding machine, which is provided with the grinding wheel and driven by the grinder motor, along with the measuring device provided with the probe, all the above components being arranged inside the supporting frame and adjacent to the lower beam, and the front guideway arranged on the outer side of the face of the supporting frame, said front guideway accommodating the extendable supporting rods, which are arranged thereon in a linearly traversable manner, the ends of said supporting rods being attached to the carrying superstructure having its bottom side connected to the one end of the servo-driven swivelling holder that is provided with the welding head mounted at the other end of the same.
  • the roller is arranged on the holder that is in turn connected to the roller control arm forming the L-shaped link along with the latter, the respective joining point accommodating a pin that is carried by the holder of the roller, which holder is arranged on the web plate in a fixed position, said control arm of the roller having its free end attached to the movable end of the piston, the fixed end of the latter being attached to web plate.
  • the supporting frame further carries the slag removing device arranged thereon, said device comprising the crushing roller provided with teeth on its face and being pressed into its working position by the compression holder through the spring, and that it comprises the suction tube having its orifice arranged behind the crushing roller.
  • Fig. 1 shows the overall view of the robotic device according to the present invention
  • Fig. 2 shows the detailed view of the arrangement of the slide and the units carried by the same on the main beam
  • Fig. 3 shows the view of the device finding itself at the stage when the measurement of the rail to be repaired is being performed
  • Fig. 4 shows the view of the device captured at the stage when the welding head is approaching the rail
  • Fig. 5 shows the view of the device finding itself at the stage when the welding head has reached its working position on one side of the rail
  • Fig. 6 shows the view of the device finding itself at the stage when the grinding wheel is approaching the rail from one side
  • Fig. 1 shows the overall view of the robotic device according to the present invention
  • Fig. 2 shows the detailed view of the arrangement of the slide and the units carried by the same on the main beam
  • Fig. 3 shows the view of the device finding itself at the stage when the measurement of the rail to be repaired is being performed
  • Fig. 4 shows the view of the device captured at the stage when the welding head is approaching
  • FIG. 7 shows the view of the device finding itself at the stage when the grinding wheel is machining the rail at a certain angle
  • Fig. 8 shows the view of the device finding itself at the stage when the grinding wheel has passed over the rail and reached its starting position on the opposite side of the same
  • Fig. 9 shows the view of the device finding itself at the stage when the grinding wheel is machining the upright side of the rail
  • Fig. 10 shows the arrangement of the guiding rollers and electromagnets
  • Fig. 11 shows the slag removing device in a schematical view.
  • the robotic device 1 As shown in Fig. 1 by means of the overall view, the robotic device 1 according to the present invention comprises the main beam 2 extending along the longitudinal axis X and constituting the principal structural member being critical with respect to the rigidity of the entire device.
  • the main web plates 3 arranged on either side of the main beam 2 are formed by pairs of columns provided with the electromagnets 28 in their lower portions. When the electromagnets 28 are energized, the desired level of stiffness can be obtained that is necessary during the renovation process.
  • the crane runway rails to be renovated are the objects of the process on the one hand and serve as guideways for the robotic device on the other hand.
  • Fig. 2 shows the detailed arrangement of all the important parts of the structure.
  • the desired accuracy of translational movement of the robotic device along the rail is achieved by means of the traversing rollers 4 mounted in the holder 5 that is affixed to the web plate 3.
  • the translational movement is realized by means of the rack-and-pinion gear and by means of pair of servomotors operating in the master-slave mode.
  • the main slide 6 is traversable along the longitudinal axis X. It is in rolling contact with the corresponding guides 7a and 7b respectively in order to ensure a minimum rolling resistance and backlash-free operation.
  • the translational movement is ensured by the rack-type rail 31 engaging with a pinion which is mounted on the slide 6.
  • the upper guide 7a enables the slide 6 to be moved and overhung while the lower guide 7b serves to lead the slide 6 and to support the same from below.
  • the slide 6 is further provided by the upright supporting bracket 8 which is slidably arranged on the guide 12 mounted on the sidewall 9 of the slide 6.
  • the supporting bracket 8 is movable in the direction of the vertical axis Y as indicated by the double arrow s1.
  • the motion of the upright supporting bracket 8 is realized by a driving screw which is in turn driven by the upper dedicated driving motor 10 arranged on the upright supporting bracket 8 itself.
  • the top wall 6 the dedicated motor 11 for driving the slide 6.
  • the transverse supporting bracket 13 is slidably arranged on the lower guide mounted on the bottom wall of the supporting bracket 8. Thus, the transverse supporting bracket 13 is movable in the direction indicated by the arrow s2.
  • the transverse supporting bracket 13 is driven by a screw which is in turn driven lower dedicated driving motor (15) through the belt pulley (16).
  • the rolling contact which is necessary for ensuring a minimum resistance in the translational guideway, is realized by means of a ball-screw spindle.
  • the ball-screw spindle comprises a highly efficient guiding screw provided with a ball which ensures the desired rolling contact between the centreline of the screw and the corresponding nut.
  • the torque produced by the above is one third or less which enables the power consumption of the driving motor to be reduced.
  • the lower beam 17 is affixed to the bottom side of the transverse supporting bracket 13.
  • the load-bearing tube 32 extending from the former along the longitudinal axis X is pivoted on the same by means of a bearing and accommodates the supporting frame 20 that, in turn, carries all the working units of the device 1.
  • This supporting frame 20 has its rear wall left open.
  • the swivelling movement if the supporting frame 20 is derived from the motor 34 arranged inside the lower beam 17.
  • the direction of the swivelling movement of the load-bearing tube 32 and the supporting frame 20 respectively is indicated by the arrow s3.
  • the grinding machine 18 is arranged in the closest vicinity to the lower beam 17, it is arranged. It is provided with the grinding wheel 33 and driven by the grinder motor 19.
  • the grinding machine 18 and the motor 19 are accommodated inside the common supporting frame 20. More specifically, the grinding unit comprises the asynchronous motor 19 and the grinding spindle 18. The power is transmitted by a belt drive. The latter is clearly visible in Fig. 7
  • the front portion as well as the interior of the supporting frame 20 accommodate the measuring device 21 with the probe 22 that will be discussed later in more detail.
  • the front guideway 23 arranged on the outer face of the supporting frame 20 accommodates the extendable supporting rods 24, which are linearly movable in the direction indicated by the arrow s4 shown in Fig. 5 , and a servomotor for driving the same.
  • the ends of the supporting rods 24 are attached to the carrying superstructure 25 having its bottom side connected to the one end of the servo-driven swivelling holder 26 that is provided with the welding head 27 mounted at the other end of the same.
  • the swivelling holder 26 is able to displace the welding head 27 in the directions indicated by the arrow s5, i.e.
  • the process of resurfacing by build-up welding is realized by means of the resurfacing module comprising an FCAW burner.
  • This welding method which is based on the use of continuously-fed consumable tubular electrodes, does not require the rail to be preheated which would be otherwise necessary with the MIG/MAG method. The latter process, however, would not be feasible due to the confined working area.
  • the measuring subsystem equipped with a contact probe enables the shape of the rail to be scanned and the build-up weld to be inspected.
  • the number of the points to measured along the profile of the rail needs to be determined experimentally and is expected to reach several tens.
  • the robot is designed as an orthogonal one using the Cartesian coordinate system and provided with one rotational axis for the end effector, namely for the supporting frame 20.
  • the resurfacing process is carried out in several stages:
  • FIG. 3 shows the view of the device finding itself at the first stage when the measurement of the rail 30 to be repaired is being performed.
  • the bracket 8 has been lowered along the sliding guide 12 in order to adjust the vertical level of the measuring device 21.
  • the latter enables the probe 22 to touch the rail 30 and to measure the same.
  • the initial measurement does not need to be carried out by the measuring device 21 itself. Instead, an independent measuring carriage of the robotic device 1 can be used. The data obtained by means of the latter may then be utilized for the further steps.
  • Fig. 4 shows the initial stage of the next technological operation to be carried out by the device 1, namely the initial welding stage.
  • the transverse supporting bracket 13 holds the welding head 27 over the rail 30.
  • the supporting rods 24 are extended from the guideway 23 and so is the carrying superstructure 25 having its bottom side connected to the one end of the servo-driven swivelling holder 26 that is provided with the welding head 27 mounted at the other end thereof.
  • Fig. 5 shows the next position the welding head 27 assumes during the process.
  • the swivelling holder 26 is displaced forcing the welding head 27 to move to one side of the rail.
  • the welding head 27 is brought into its working position by lowering the bracket 8.
  • Fig. 6 shows the initial stage of the next technological operation to be carried out by the device 1, namely the initial grinding stage. Following the corresponding movements of the bracket 8 and the transverse supporting bracket 13, the grinding wheel 33 reaches its working position at the edge of the rail 30 and can start grinding the same.
  • Fig. 7 shows the next stage during which the bracket 8 and the transverse supporting bracket 13 move farther to lower the grinding wheel 33 and the motor 34 arranged inside the lower beam 17 displaces the supporting frame 20 accommodating the grinding machine 18 in order to position the inclined grinding wheel 33 at an angle that is required for grinding another part of the head of the rail 30.
  • the supporting frame 20 has its rear wall left open a and that the transmission of the speed of the asynchronous motor 19 to the spindle of the grinding machine 18 is carried out via a belt drive.
  • Fig. 8 another position the grinding wheel 33 may assume.
  • the bracket 8 is raised to bring the entire supporting frame 20 along with the units mounted thereon high enough over the rail 30. Then, the frame is carried beyond the latter and, finally, the bracket 8 is lowered again and the transverse supporting bracket 13 is carried over to bring the grinding wheel 33 to the opposite side of the rail 30.
  • the opposite side of the rail can be ground in the same way.
  • Fig. 9 shows another possible position of the welding wheel 33.
  • the motor 34 arranged on the lower beam 17 displaces the supporting frame 20 accommodating the grinding machine 18 in order to position the inclined grinding wheel 33 at the angle of 90 °.
  • the bracket 8 is lowered and the supporting transverse guide 13 are carried over accordingly in order to bring the grinding wheel 33 in contact with the rail. Then, the respective side of the rail can be ground.
  • the last stage of the working cycle consists in re-measuring the repaired portion of the rail 30.
  • the robotic device 1 is brought into the position that is similar to that shown in Fig. 3 .
  • the bracket 8 has been lowered along the sliding guide 12 in order to enable the probe 22 to touch the repaired rail and to re-measure the same.
  • the electromagnets are de-energized and the robotic device 1 cam move into another position corresponding to a further portion of the rail to be repaired.
  • Fig. 10 shows the arrangement of the guiding rollers 4 and the electromagnets 28 that cooperate when the device 1 is handled, the latter being slightly different from the embodiment shown in Fig. 2 .
  • the tires 29 are mounted on the holder 35 that is in turn affixed to the web plate 3.
  • the roller 4 is arranged on the corresponding holder 36 that is in turn connected to the roller control arm 39 forming the L-shaped link along with the latter.
  • the respective joining point accommodates a pin that is carried by the holder 38 of the roller, which holder is arranged on the web plate 3 in a fixed position.
  • the control arm 39 of the roller 4 has its free end attached to the movable end of the piston 40.
  • the fixed end of the piston 40 is attached to web plate 3.
  • the electromagnet 28 When the device 1 is carried over into a new working position, the electromagnet 28 is de-energized and retracted and the piston 40 is extended enabling the roller 4 to freely move along the rail. When the device 1 is required to remain in a fixed position, the piston 40 retracts a causes the roller 4 to raise from the rail. At the same time, the electromagnet 28 moves to its lower position where it gets energized.
  • the translational movement of the entire device 1 may be also controlled in a manual manner.
  • Fig. 11 shows a schematical view of the last of the working units, namely of the slag removing device.
  • the device 1 is further equipped with the slag removing device 41 comprising the crushing roller 42 provided with teeth for breaking and removing slag from the surface of the weld treated thereby.
  • the toothed crushing roller 42 is pressed into its working position by the compression holder 43 operated by means of the spring 44.
  • the removed slag is then scavenged by the suction tube 45.
  • the slag removing device 41 is arranged on the supporting frame 20 and does not need to be driven by a separate motor because the crushing roller 42 is engaged through its frictional contact with the surface of the rail.
  • the entire device 1 is controlled remotely.
  • the device 1 may be equipped with a control unit mounted thereon, e.g. by means of the suspension rod 34.
  • the control unit is connected both with the individual technical nodes of the device 1 and with the overground controller.
  • the suspension rod 34 may also carry interlocking means secured to a suitable fixed point with their opposite ends, thus making the entire structure safeguarded from above.
  • the device 1 which has about 4 m in length, can be either assembled on the floor of the respective hall or brought into the latter in a pre-assembled state. Then it is loaded onto the platform(s) of one or more inclined hoists, transported to the close vicinity of the rail to be repaired and finally carried over onto the same by means of suitable mechanisms.
  • the main beam is situated in the height of about 1.2 m.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
EP12466002.8A 2012-01-26 2012-01-26 Dispositif robotique pour soudage sur des chemins de rails de grues Withdrawn EP2620546A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12466002.8A EP2620546A1 (fr) 2012-01-26 2012-01-26 Dispositif robotique pour soudage sur des chemins de rails de grues

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12466002.8A EP2620546A1 (fr) 2012-01-26 2012-01-26 Dispositif robotique pour soudage sur des chemins de rails de grues

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EP2620546A1 true EP2620546A1 (fr) 2013-07-31

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015014103A (ja) * 2013-07-03 2015-01-22 東日本旅客鉄道株式会社 レールの境界部分における段差解消方法及びレール切削装置
CN105035745A (zh) * 2015-07-31 2015-11-11 苏州速腾电子科技有限公司 一种搬运装置
CN106002546A (zh) * 2016-06-28 2016-10-12 徐香庭 一种用于高铁轨道的智能打磨设备
CN106120635A (zh) * 2016-06-28 2016-11-16 徐香庭 一种铁路轨道智能清洗机器人
CN106120492A (zh) * 2016-06-28 2016-11-16 徐香庭 一种基于并联机构的轨道智能清洗机械爪
CN106120494A (zh) * 2016-06-28 2016-11-16 徐香庭 一种动车轨道智能打磨一体机
CN106112735A (zh) * 2016-06-28 2016-11-16 徐香庭 一种可调式铁轨表面智能打磨装置
CN106120493A (zh) * 2016-06-28 2016-11-16 徐香庭 一种火车轨道智能打磨机
KR101848878B1 (ko) 2016-08-19 2018-05-28 케이티씨 주식회사 트러스 구조를 갖는 천정형 크레인
CN108118568A (zh) * 2017-12-22 2018-06-05 刘城 一种铁路基石移动装置
CN109403161A (zh) * 2018-02-01 2019-03-01 宝鸡中车时代工程机械有限公司 大吨位起重轨道车更换道岔施工工艺
CN110181225A (zh) * 2019-07-02 2019-08-30 天台云层自动化科技有限公司 一种具有轨道除锈和裂缝修复功能的轨道维护设备
CN112296822A (zh) * 2020-10-23 2021-02-02 宝鸡宇喆工业科技有限公司 钢管管端螺旋焊缝打磨机器人的打磨方法
CN115635229A (zh) * 2022-12-22 2023-01-24 河北华洋精工机械制造有限公司 一种智能焊接机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3783792A (en) 1972-01-20 1974-01-08 J Cullom Repair facility for overhead crane
WO1994004754A1 (fr) 1992-08-19 1994-03-03 Göteborgs Spårvägar Ab Vehicule de meulage de rails
EP0835712A1 (fr) * 1996-10-11 1998-04-15 Scheuchzer S.A. Procédé de soudage d'au moins une file de rails et machine pour la mise en oeuvre du procédé
CZ285480B6 (cs) 1995-05-19 1999-08-11 Georg Robel Gmbh & Co. Zařízení pro broušení kolejnic
CZ292558B6 (cs) 2000-02-16 2003-10-15 Robel Bahnbaumaschinen Gmbh Zařízení pro broušení kolejnic
EP1375749A2 (fr) 2002-06-28 2004-01-02 Robel Bahnbaumaschinen GmbH Meuleuse
EP1400629A2 (fr) * 2002-09-20 2004-03-24 Wilfried Scherf Machine de meulage pour rails, notamment pour des rails de grue pour conteneur

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3783792A (en) 1972-01-20 1974-01-08 J Cullom Repair facility for overhead crane
WO1994004754A1 (fr) 1992-08-19 1994-03-03 Göteborgs Spårvägar Ab Vehicule de meulage de rails
CZ285480B6 (cs) 1995-05-19 1999-08-11 Georg Robel Gmbh & Co. Zařízení pro broušení kolejnic
EP0835712A1 (fr) * 1996-10-11 1998-04-15 Scheuchzer S.A. Procédé de soudage d'au moins une file de rails et machine pour la mise en oeuvre du procédé
CZ292558B6 (cs) 2000-02-16 2003-10-15 Robel Bahnbaumaschinen Gmbh Zařízení pro broušení kolejnic
EP1375749A2 (fr) 2002-06-28 2004-01-02 Robel Bahnbaumaschinen GmbH Meuleuse
EP1400629A2 (fr) * 2002-09-20 2004-03-24 Wilfried Scherf Machine de meulage pour rails, notamment pour des rails de grue pour conteneur

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015014103A (ja) * 2013-07-03 2015-01-22 東日本旅客鉄道株式会社 レールの境界部分における段差解消方法及びレール切削装置
CN105035745A (zh) * 2015-07-31 2015-11-11 苏州速腾电子科技有限公司 一种搬运装置
CN106120492B (zh) * 2016-06-28 2017-11-10 胡妹芳 一种基于并联机构的轨道智能清洗机械爪
CN106112735B (zh) * 2016-06-28 2018-05-11 王兴民 一种可调式铁轨表面智能打磨装置
CN106120492A (zh) * 2016-06-28 2016-11-16 徐香庭 一种基于并联机构的轨道智能清洗机械爪
CN106120494A (zh) * 2016-06-28 2016-11-16 徐香庭 一种动车轨道智能打磨一体机
CN106112735A (zh) * 2016-06-28 2016-11-16 徐香庭 一种可调式铁轨表面智能打磨装置
CN106120493A (zh) * 2016-06-28 2016-11-16 徐香庭 一种火车轨道智能打磨机
CN106002546A (zh) * 2016-06-28 2016-10-12 徐香庭 一种用于高铁轨道的智能打磨设备
CN106120635A (zh) * 2016-06-28 2016-11-16 徐香庭 一种铁路轨道智能清洗机器人
KR101848878B1 (ko) 2016-08-19 2018-05-28 케이티씨 주식회사 트러스 구조를 갖는 천정형 크레인
CN108118568A (zh) * 2017-12-22 2018-06-05 刘城 一种铁路基石移动装置
CN108118568B (zh) * 2017-12-22 2019-08-02 殷立军 一种铁路基石移动装置
CN109403161A (zh) * 2018-02-01 2019-03-01 宝鸡中车时代工程机械有限公司 大吨位起重轨道车更换道岔施工工艺
CN109403161B (zh) * 2018-02-01 2020-12-04 宝鸡中车时代工程机械有限公司 大吨位起重轨道车更换道岔施工工艺
CN110181225A (zh) * 2019-07-02 2019-08-30 天台云层自动化科技有限公司 一种具有轨道除锈和裂缝修复功能的轨道维护设备
CN112296822A (zh) * 2020-10-23 2021-02-02 宝鸡宇喆工业科技有限公司 钢管管端螺旋焊缝打磨机器人的打磨方法
CN115635229A (zh) * 2022-12-22 2023-01-24 河北华洋精工机械制造有限公司 一种智能焊接机器人

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