CN108407829A - A kind of railway intelligent measurement rescue aid - Google Patents
A kind of railway intelligent measurement rescue aid Download PDFInfo
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- CN108407829A CN108407829A CN201810118307.XA CN201810118307A CN108407829A CN 108407829 A CN108407829 A CN 108407829A CN 201810118307 A CN201810118307 A CN 201810118307A CN 108407829 A CN108407829 A CN 108407829A
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- drive system
- platform
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- railway intelligent
- piston
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to railway equipment technical fields, and in particular to a kind of railway intelligent measurement rescue aid comprising the track detecting equipment that railway intelligent multifunctional travels platform and is arranged on railway intelligent multifunctional traveling platform.The railway intelligent measurement rescue aid is equipped by travelling setting track detecting on platform in railway intelligent multifunctional, to realize the unmanned detection for carrying out size and disease to the rail traffics infrastructure device such as track, tunnel, contact net, roadbed, rail level, bridge, to reduce labor intensity.
Description
Technical field
The present invention relates to railway equipment technical fields, and in particular to a kind of railway intelligent measurement rescue aid.
Background technology
Track detecting includes mainly the detection of Rail inspection, the inspection of rail level (to track, roadbed, sleeper, fastener
Carry out Defect inspection), the detection of bridge (bridge surface is detected with the presence or absence of diseases such as cracks) and Tunnel testing
(being detected with the presence or absence of diseases such as crack, infiltrations to tunnel surface), current detection method is typically artificial detection or leads to
Hand push track checking car is crossed to be detected, thus working efficiency is relatively low.
Invention content
(1) technical problems to be solved
The object of the present invention is to provide a kind of railway intelligent measurement rescue aids, it is intended at least solve the prior art or phase
One of technical problem present in the technology of pass.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of railway intelligent measurement rescue aids comprising railway
The track detecting equipment that intelligent multifunctional travels platform and is arranged on railway intelligent multifunctional traveling platform.
Wherein, further include the rescue aid being arranged on railway intelligent multifunctional traveling platform.
Wherein, the rescue aid includes unmanned plane, charging unit, extinguishing device.
Wherein, the railway intelligent multifunctional traveling platform includes traveling main platform body and is put down respectively with the traveling
The bottom of the track wheel drive system and caterpillar drive system of platform main body connection, the traveling main platform body is provided with lifting rotation
Rotation mechanism, the caterpillar drive system can track wheel drive system lifting relatively so that the caterpillar drive system
Bottom be higher or lower than the track wheel drive system bottom, to realize the crawler belt wheel drive system and the rail
The switching of road wheel drive system.
Wherein, the lifting rotation mechanism includes rotary cylinder-block and the lifting piston that is arranged in the rotary cylinder-block
Cylinder is provided with the annular recess projected radially outward, the annular recess and the lifting piston in the middle part of the rotary cylinder-block
Closed cavity is formed between the lifting cylinder body side wall of cylinder, and is provided with and is extended radially inwardly on the side wall of the annular recess
Piston portion, the piston portion and the lifting cylinder body side wall form dynamic sealing, diameter are provided on the lifting cylinder body side wall
To the retainer for extending outwardly and can be with piston portion cooperation for being limited to the piston portion, the retainer
Dynamic sealing is formed with the annular recess, the lifting rotation mechanism further includes that setting is used to stop to described in the retainer
The both sides injection hydraulic oil in dynamic portion or the first import and the second import of high pressure gas.
Wherein, the caterpillar drive system includes the crawler driving whell, multiple for being connect with the traveling main platform body
Carrying roller, inducer, carrier wheel and crawler belt, the crawler belt be set around successively the crawler driving whell, multiple carrying rollers,
The inducer and the carrier wheel, multiple carrying rollers are connected by first piston cylinder and the traveling main platform body respectively
It connects, is moved up and down with the relatively described traveling main platform body；The first piston cylinder includes cylinder body, the work in the cylinder body
Plug and the piston rod being connect with the piston, the lower end of the piston rod are connect with the carrying roller, and the piston will be described
Cylinder interior is divided into upper cavity and lower chamber, and the compressed gas of preset pressure value, at least one institute are filled in the upper cavity
The upper cavity and the upper cavity of another First piston bar adjacent thereto for stating first piston cylinder pass through pipe
Road is connected to.
Wherein, the carrying roller is divided into M groups, and every group includes N number of carrying roller, and with N number of load-bearing in every group
The upper cavity for taking turns the first piston cylinder of connection communicates with each other, and wherein M, N are greater than 1 integer.
Wherein, the track wheel drive system is connect by rotating mechanism with the traveling main platform body rotary type, so that
It obtains the relatively described traveling main platform body of the track wheel drive system between the first position and the second position to switch, when described
When track wheel drive system is rotated to first position, the bottom of the track wheel drive system is higher than the caterpillar drive system
Bottom；When the track wheel drive system is rotated to the second position, the bottom bottom institute of the track wheel drive system
State the bottom of caterpillar drive system.
Wherein, it is provided with Center of Gravity Control System in the traveling main platform body, the Center of Gravity Control System includes for pacifying
It is used to measure the railway intelligence mounted in the instrumented wheelset travelled in main platform body, in the traveling main platform body
Angular velocity measurement unit, gravity's center control unit and the centre of gravity adjustment unit of the angular speed of the multi-functional traveling platform of energy are described heavy
Heart adjustment unit includes clump weight and is connect with the clump weight for adjusting the clump weight in the traveling platform master
The clump weight adjustment mechanism of position on body, the instrumented wheelset for obtaining the wheel of vehicle to vertical force, the center of gravity in real time
Control unit obtains the railway intelligent multifunctional from the instrumented wheelset and travels the wheel of platform to vertical force, and from the angle
Velocity measuring unit obtains the angular speed of the railway intelligent multifunctional traveling platform, and is calculated according to the data obtained
The position of centre of gravity of the railway intelligent multifunctional traveling platform；And matched described in the clump weight adjustment mechanism adjustment by controlling
The position of pouring weight, the position of centre of gravity that the railway intelligent multifunctional is travelled to platform are adjusted to safety zone.
Wherein, the railway intelligent multifunctional traveling platform includes autonomous driving intelligent mode and remote control pattern.
(3) advantageous effect
Railway intelligent measurement rescue aid provided by the invention includes that railway intelligent multifunctional traveling platform and setting exist
Track detecting equipment on the railway intelligent multifunctional traveling platform.The railway intelligent measurement rescue aid passes through in railway
Intelligent multifunctional travels setting track detecting on platform and equips, to realize to track, tunnel, contact net, roadbed, rail level, bridge
Equal rail traffics infrastructure device carries out the unmanned detection of size and disease, to reduce labor intensity.
Description of the drawings
Fig. 1 is the structural schematic diagram according to a kind of railway intelligent measurement rescue aid of the present invention；
Fig. 2 is that the structure for a preferred embodiment for travelling platform according to a kind of railway intelligent multifunctional of the present invention is shown
It is intended to；
Fig. 3 is that the railway intelligent multifunctional traveling platform in Fig. 2 drives to the structural schematic diagram on track；
Fig. 4 is that the railway intelligent multifunctional in Fig. 3 travels the structural schematic diagram that the claw of platform is contacted with rail；
Fig. 5 is that the railway intelligent multifunctional in Fig. 4 travels the structural schematic diagram after platform is jacked；
Fig. 6 is the leftschematic diagram of the railway intelligent multifunctional traveling platform in Fig. 5；
Fig. 7 is that the structure of track wheel drive system and rail contact that the railway intelligent multifunctional in Fig. 6 travels platform is shown
It is intended to.
Fig. 8 is the partial schematic sectional view of the lifting rotation mechanism of Fig. 2；
Fig. 9 is the A-A sectional views of the lifting rotation mechanism in Fig. 8；
Figure 10 is that the piston portion of the lifting rotation mechanism in Fig. 9 is in the structural schematic diagram of left stop；
Figure 11 is structural schematic diagram of the piston of the lifting piston cylinder of the lifting rotation mechanism in Fig. 8 under downstream state；
Figure 12 is the structural schematic diagram of another preferred embodiment of the jaw components of the lifting rotation mechanism in Fig. 8；
Figure 13 is the leftschematic diagram of jaw components in the operating condition in Figure 12.
Figure 14 is the structural schematic diagram of the caterpillar drive system of the railway intelligent multifunctional traveling platform in Fig. 2；
Figure 15 is the partial schematic sectional view of the caterpillar drive system in Figure 12；
Figure 16 is the connection diagram of the first piston cylinder of the caterpillar drive system in Figure 12；
Figure 17 is the part for another preferred embodiment that platform is travelled according to a kind of railway intelligent multifunctional of the present invention
Sectional view；
Figure 18 is the structural schematic diagram of the Center of Gravity Control System of the railway intelligent multifunctional traveling platform in Fig. 2；
Figure 19 is structural schematic diagram of the Center of Gravity Control System after centre of gravity adjustment in Figure 18；
Figure 20 is that the railway intelligent multifunctional in Fig. 2 travels stress diagram of platform when by bend；
Figure 21 is the structure for another preferred embodiment that platform is travelled according to a kind of railway intelligent multifunctional of the present invention
Schematic diagram；
Figure 22 is the knot under the caterpillar drive system of the railway intelligent multifunctional traveling platform in Figure 21 is in running order
Structure schematic diagram；
Figure 23 is under the track wheel drive system of the railway intelligent multifunctional traveling platform in Figure 21 is in running order
Structural schematic diagram.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated device
Or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.
Embodiment 1
Fig. 1 shows an a kind of preferred embodiment of railway intelligent measurement rescue aid according to the present invention.As schemed
Show, which includes railway intelligent multifunctional traveling platform and be arranged in railway intelligent multifunctional
Travel platform on track detecting equipment 11, such as detecting the detection device of Rail inspection, for detecting bridge table
Detection device, the detection device etc. for detecting tunnel surface crack and infiltration of facial cleft seam.Railway provided by the present invention
Intelligent measurement rescue aid by railway intelligent multifunctional travel platform on setting track detecting equip, with realize to track,
The rail traffics infrastructure device such as tunnel, contact net, roadbed, rail level, bridge carries out the unmanned detection of size and disease, to drop
Low labor intensity.
It is travelled on platform in the railway intelligent multifunctional in addition, the railway intelligent measurement rescue aid further includes setting
Rescue aid.The rescue aid includes unmanned plane, charging unit, extinguishing device etc., and the railway intelligent measurement rescue aid is logical
It crosses and carries unmanned plane on railway intelligent multifunctional traveling platform, wherein the control system railway intelligent multifunctional of the unmanned plane
It travels on platform, the prospecting of land is rescued in high-altitude to realize, avoids the problem that unmanned aerial vehicle (UAV) control stroke limiting.
The railway intelligent measurement rescue aid carries charging unit by being travelled in railway intelligent multifunctional on platform, is treated with realizing
The problem of rescue outfit is charged.In addition, the railway intelligent measurement rescue aid is flat by being travelled in railway intelligent multifunctional
Fire suppression module is carried on platform, to realize the fire rescue to rail tunnel and circuit.
Preferably, which further includes the setting on railway intelligent multifunctional traveling platform
Manipulator 10, which can be used five axis robots, six axis robot, seven axis robots.Wherein, rescue aid can
Platform is travelled by the manipulator 10 with railway intelligent multifunctional to connect, it can also be directly flat with railway intelligent multifunctional traveling
Platform connects.
Fig. 2 to Fig. 7 shows an a kind of preferred implementation of railway intelligent multifunctional traveling platform according to the present invention
Example.As shown, railway intelligent multifunctional traveling platform includes travelling main platform body 1 and positioned at traveling main platform body 1
Bottom and the lifting rotation mechanism 4 being connect with traveling main platform body 1.Railway intelligent multifunctional traveling platform further includes difference
The track wheel drive system 3 and caterpillar drive system 2 being connect with traveling main platform body 1, wherein track wheel drive system 3 is used
It is travelled on track 6, caterpillar drive system 2 on the road surfaces such as highway, wet soil road for travelling.
In use, railway intelligent multifunctional traveling platform is indulged perpendicular to track 6 by caterpillar drive system 2 first
To on direction running to track 6, then lifting rotation mechanism 4 is extended downwardly and the railway intelligent multifunctional is travelled into platform
Certain altitude is jacked, so that the minimum point of railway intelligent multifunctional traveling platform is higher than track 6, then drives the railway
Intelligent multifunctional traveling platform is rotated by 90 ° in the horizontal plane, and makes the rail and track wheel drive system 3 of 6 both sides of track
Rail wheel alignment, then by 2 uplink of caterpillar drive system, so that the bottom of caterpillar drive system 2 is higher than track wheel drive
The bottom of system 3 transfers railway intelligent multifunctional traveling platform so that rail wheel drives finally by lifting rotation mechanism 4
The rail wheel of dynamic system 3 is fallen on rail, to complete switching of the caterpillar drive system 2 to track wheel drive system 3, finally
Lifting rotation mechanism 4 is retracted.When needing track wheel drive system 3 being switched to caterpillar drive system 2, first will
Lifting rotation mechanism 4 extends downwardly and railway intelligent multifunctional traveling platform is jacked certain altitude, so that the railway intelligence
The minimum point of the multi-functional traveling platform of energy is higher than track 6, and railway intelligent multifunctional traveling platform is driven to reversely rotate
90 °, then by 2 downlink of caterpillar drive system so that the bottom of caterpillar drive system 2 is less than the bottom of track wheel drive system 3
Finally switching of the track wheel drive system 3 to caterpillar drive system 2 can be realized in the retraction of lifting rotation mechanism 4 by portion.This hair
Bright provided railway intelligent multifunctional traveling platform can independently realize track wheel drive system 3 and caterpillar drive system 2
Automatically switch, switched with completing quick rail-road under the conditions of a variety of roadbeds, realizes the quick upper lower railway under intelligent control.Its
In, upper and lower rail conditions can be level crossing, Ballast track, basic not high non-fragment orbit.
Specifically, as shown in Figs. 8 to 11, lifting rotation mechanism 4 includes rotary cylinder-block 4-1 and is arranged in rotating cylinder
Lifting piston cylinder 4-2 inside body 4-1, wherein the annular recess projected radially outward is provided in the middle part of rotary cylinder-block 4-1
4-1-1 forms closed cavity, and annular recess 4-1-1 between annular recess 4-1-1 and the side wall of lifting cylinder body 4-2-1
Side wall on be provided with the piston portion 4-1-2 that extends radially inwardly and can rotate in the cavity, piston portion 4-1-2 with rise
The side wall for dropping cylinder body 4-2-1 forms dynamic sealing, is provided with and extends radially outwardly and can be on the side wall of lifting cylinder body 4-2-1
The retainer 4-2-5 of piston portion 4-1-2 cooperations, for being limited to piston portion 4-1-2, and retainer 4-2-5 and ring-type
Groove 4-1-1 forms dynamic sealing.The lifting rotation mechanism 4 further includes that setting is used in retainer 4-2-5 to retainer 4-2-5
Both sides injection hydraulic oil the first import 4-2-7 and the second import 4-2-8.
In use, complete to move up and down by lifting piston cylinder 4-2, when needing, to when anticlockwise, to pass through the first import 4-
2-7 injects hydraulic oil into the left side cavity body of retainer 4-2-5 and by the hydraulic oil in retainer 4-2-5 right-side cavity bodies through
Two import 4-2-8 discharges, oil pressure acts on piston portion 4-1-2, to drive rotary cylinder-block 4-1 rotary motions to the left.It is similar
Ground inject hydraulic oil and general by the second import 4-2-8 when needing to when right rotation into retainer 4-2-5 right-side cavity bodies
The hydraulic oil of cavity is through the first import 4-2-7 discharges on the left of retainer 4-2-5, and oil pressure acts on piston portion 4-1-2, with band
Dynamic rotary cylinder-block 4-1 rotary motions to the left.The lifting rotation mechanism 4 is simple in structure and easy to operate.
Preferably, the step with annular recess 4-1-1 cooperations is provided on the side wall of lifting cylinder body 4-2-1, in order to pacify
Dress, and it is easy to process.In addition, the hydraulic oil leakage in annular recess 4-1-1 in order to prevent, is preferably provided at the step
Sealing ring 4-3.
In addition, in order to ensure that the end face of piston portion 4-1-2 can stick on the end face of the retainer 4-2-5 coordinated with it
On, the both sides of the face of preferably piston portion 4-1-2 are both provided with the first recess portion 4-1-3, and first recess portion 4-1-3 is located at where it
End face and rotary cylinder-block 4-1 link position at；And the both sides of the face of retainer 4-2-5 are both provided with the second recess portion 4-2-
6, second recess portion 4-2-6 be located at the end face where it at the link position of lifting cylinder body 4-2-1.
Preferably, it is additionally provided with end cap 4-7 on the top of rotary cylinder-block 4-1, to prevent dust etc. from falling into the lifting rotation
In mechanism 4.
In this embodiment, the maximum rotation angle of piston portion 4-1-2 is 90 °.I.e. when the piston portion of rotary cylinder-block 4-1
The left side (as shown in Figure 6) that 4-1-2 is resisted against retainer 4-2-5 is resisted against the right side of retainer 4-2-5 to piston portion 4-1-2
The angle that end face piston portion 4-1-2 is rotated is 90 °.It should be noted that it will be understood by those of skill in the art that at this
In some other embodiment of invention, the size of piston portion 4-1-2 and retainer 4-2-5 can also be adjusted so as to adjust piston
The maximum rotation angle of portion 4-1-2, such as maximum rotation angle are 320 °, 180 °, 45 °, 60 ° etc..
Preferably, lifting piston cylinder 4-2 is using the double rod hydraulic cylinders of single-piston formula, in addition to lifting cylinder body 4-2-1 it
Outer further includes the piston 4-2-2 being located in lifting cylinder body 4-2-1, and the upper piston rod 4- being connect respectively with piston 4-2-2
2-3 and lower piston rod 4-2-4, when needing to fall, by injecting hydraulic oil simultaneously into the upper cylinder of lifting cylinder body 4-2-1
The hydraulic oil of lifting cylinder body 4-2-1 lower cavities is discharged, oil pressure acts on piston 4-2-2, to drive upper piston rod 4-
2-3's and lower piston rod 4-2-4 moves downward；Similarly, when needing to rise, pass through the lower part cylinder to lifting cylinder body 4-2-1
Hydraulic oil is injected in vivo and the hydraulic oil of lifting cylinder body 4-2-1 upper chambers is discharged, oil pressure acts on piston 4-2-2, with
Drive moving upwards for upper piston rod 4-2-3 and lower piston rod 4-2-4.
In addition, in order to ensure that railway intelligent multifunctional traveling platform can successfully switch, preferably in elevating and rotating machine
Range sensor (not shown) is additionally provided on structure 4, the range sensor is for detecting the lifting rotation mechanism 4 apart from track 6
The distance between rail of both sides, if range sensor detects the rail of the lifting rotation mechanism 4 apart from 6 both sides of track
The distance between it is equal, then lifting rotation mechanism 4 carry out 90 degree rotation so that the railway intelligent multifunctional traveling platform
The rail wheel of both sides can just be fallen on rail.
Further, which further includes the jaw components for being held on the rail of 6 both sides of track,
The jaw components are connect with the lower piston rod 4-2-4 of lifting piston cylinder 4-2, in order to further be accurately positioned, avoid repeatedly weight
Double counterpoint, position aligning time is long, less efficient problem.By injecting hydraulic oil simultaneously into the upper cylinder of lifting cylinder body 4-2-1
The hydraulic oil of lifting cylinder body 4-2-1 lower cavities is discharged, so that the lower piston rod 4-2-4 of lifting cylinder declines, to band
The dynamic jaw components being connect with lower piston rod 4-2-4 decline to be connected on the inside of rail, are travelled by railway intelligent multifunctional
Before platform vehicle jacks up, it is connected on the inside of rail by jaw components, more accurately to be positioned, then by railway
Intelligent multifunctional travels platform and jacks up, and when reaching jack-up height, rotary cylinder-block 4-1 is rotated by 90 ° to drive railway intelligent
Multi-functional traveling platform vehicle rotates 90 °, then by injecting hydraulic oil into the lower cylinders of lifting cylinder body 4-2-1 and inciting somebody to action
The hydraulic oil of lifting cylinder body 4-2-1 upper chambers is discharged, and railway intelligent multifunctional traveling platform vehicle is put down so that should
The rail wheel of railway intelligent multifunctional traveling platform both sides is accurately fallen on rail.
Specifically, jaw components include the claw connector 4-4 that is connect with piston rod 4-2-4 (such as in the embodiment
In, it is branch sleeve) and the claw arm 4-5 that is connect with claw connector 4-4, in claw arm 4-5 far from claw connector 4-
4 one end is provided with the claw 4-6 for being connected on the inside of rail.
Preferably, as shown in Figure 12 and Figure 13, claw arm 4-5 is connect with claw connector 4-4 by rotary piston cylinder,
So that claw arm 4-5 is unfolded by rotary piston cylinder when in use, by rotary piston cylinder by left side after the completion of use
Two claw arm 4-5 are packed up around rotation axis 4-8 rotations, and two claw arm 4-5 on right side are packed up around rotation axis 4-9 rotations,
To reduce occupied space, the traveling for influencing railway intelligent multifunctional traveling platform is avoided.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, it is somebody's turn to do
Lifting rotation mechanism 4 can also use other structures, such as lifting rotation composite oil cylinder comprising lifting cylinder and rotation
Oil cylinder, the cylinder body of the lifting cylinder and the cylinder body of rotary oil cylinder connect, and the rotor of rotary oil cylinder is used for and traveling main platform body 1
Connection.In addition, in this embodiment, the hydraulic oil that lifting rotation mechanism 4 uses, however, those skilled in the art should
Understand, in some other embodiment of the present invention, high pressure gas can also be used.
As shown in Figure 14 to Figure 16, caterpillar drive system 2 includes the track drive for being connect with traveling main platform body 1
Wheel 2-2,6 carrying roller 2-1, inducer 2-6, carrier wheel 2-4 and crawler belt 2-3, crawler belt 2-3 are set around crawler driving whell successively
2-2,6 carrying roller 2-1, inducer 2-6 and carrier wheel 2-4, inducer 2-6 are located at the rear end of traveling main platform body 1, entrust
The upper end that 2-4 is located at traveling main platform body 1 is taken turns, crawler driving whell 2-2 is located at the front end of traveling main platform body 1；6 carrying rollers
2-1 is located at the lower end of traveling main platform body 1, and is connect respectively with traveling main platform body 1 by first piston cylinder 2-5, with opposite
Main platform body 1 is travelled to move up and down.Wherein, first piston cylinder 2-5 include cylinder body, the piston 2-5-1 in cylinder body and
The lower end of the piston rod being connect with piston 2-5-1, piston rod is connect with carrying roller 2-1, and cylinder interior is divided by piston 2-5-1
The compressed gas of preset pressure value is filled in upper cavity 2-5-2 and lower chamber 2-5-3, upper cavity 2-5-2.In addition, respectively with
The upper cavity 2-5-2 of the First piston bar 2-5 of preceding 3 carrying rollers 2-1 connections is connected to by pipeline 2-5-4, respectively with latter 3
The upper cavity 2-5-2 of the First piston bar 2-5 of carrying roller 2-1 connections is by another pipeline connection, as shown in figure 16.The crawler belt
Drive system 2 by first 3 in 6 carrying roller 2-1 and latter 3 by being all made of the design that communication type is hung, in face of higher
When railway roadbed and rail, the carrying roller 2-1 that is contacted with railway roadbed or rail is under pressure and causes first piston cylinder connected to it
The pressure of the piston upwards of 2-5A, the upper cavity 2-5-2 of first piston cylinder 2-5A increases, since communication type designs, thus
The pressure of the upper cavity of other first piston the cylinder 2-5B and 2-5C that are connected to first piston cylinder 2-5A increases, to make
The piston rod of first piston cylinder 2-5B and 2-5C move downward, effectively to enhance the passability of creeper truck, when crossing rail
Body vibrations are effectively reduced, vehicle-mounted instrument is protected, while it is more uniform so that the pressure of internal track surfaces is distributed, and extends crawler belt
Service life.
In this embodiment, the quantity of carrying roller 2-1 is 6, wherein however it should be noted that the technology of this field
Personnel should be appreciated that in some other embodiment of the present invention, the quantity of carrying roller 2-1 can also be other numerical value, such as
8, respectively with the upper cavity of preceding 2 carrying roller 2-1 First piston bar 2-5 connecting by pipeline connection, respectively with centre 4
The upper cavity of the First piston bar 2-5 of a carrying roller 2-1 connections is connect with rear 2 carrying roller 2-1 respectively by pipeline connection
The upper cavity of First piston bar 2-5 pass through another pipeline connection.That is, the epicoele of at least one first piston cylinder 2-5
The upper cavity of body and another First piston bar 2-5 adjacent thereto passes through pipeline connection.
Preferably, carrying roller 2-1 is divided into M groups, and every group includes N number of carrying roller 2-1, and with N number of carrying roller 2- in every group
The upper cavity of the first piston cylinder 2-5 of 1 connection is connected to by pipeline 2-5-4, and wherein M, N are greater than 1 integer.It is preferred that M is 2-
4；N is 2-4.
It is preferred that first piston cylinder 2-5 lower chambers 2-5-3 is provided with import, the import of each first piston cylinder 2-5 lower chambers
It is connect with one hydraulic oil source/air supply source, to simplify structure, reduces manufacturing cost.
Preferably, as shown in figure 15, carrying roller 2-1 includes carrying roller right half 2-1-1 and carrying roller left half 2-1-2,
And the U-shaped connector 2-8 for being connect with the piston rod of first piston cylinder 2-5, two end parts of U-shaped connector 2-8
It is not connect with carrying roller right half 2-1-1 and carrying roller left half 2-1-2 rotary types.Specifically, carrying roller right half 2-1-1
It is connect respectively with the both ends of U-shaped connector 2-8 by bearing 2-9 with carrying roller left half 2-1-2, U-shaped connector 2-8
Bottom connect with the piston rod of first piston cylinder 2-5 by bolt.
Further, inducer 2-6 is connect by second piston cylinder 2-7 with traveling main platform body 1, flat with opposite traveling
Platform main body 1 moves in the horizontal direction, to be moved by the opposite traveling main platform bodies 1 of first piston cylinder 2-5 as carrying roller 2-1
When the distance between top and the lower parts crawler belt 2-3 of crawler belt 2-3 being caused to shorten, can adjust crawler belt 2-3 left ends and right end it
Between distance, so that crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and carrier wheel 2-4 is driven by crawler belt 2-3.
However it should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention
In, the direction of motion of inducer 2-6 can not also in the horizontal direction, such as angle between vertical line is α, such as α=
45 °, 130 °, as long as α ≠ 0 °.
In addition, the caterpillar drive system 2 further includes caterpillar drive system control unit, wherein first piston cylinder 2-5 and
Two piston cylinder 2-7 are connect with caterpillar drive system control unit respectively, so as under the control of caterpillar drive system control unit
It is correspondingly moved, to ensure that crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and carrier wheel 2-4 pass through crawler belt
2-3 is driven.For example, when first piston cylinder 2-5 drives carrying roller 2-1 to move upwards, second piston cylinder 2-7 drives lure simultaneously
Guide wheel 2-6 is moved out, so that caterpillar drive system 2 works normally.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, carry out
Band drive system 2 can also include track drive rack, which passes through elevating mechanism such as lifting piston cylinder 7
It is connect with traveling main platform body 1, so that 2 relative orbit wheel drive system 3 of caterpillar drive system moves up and down, such as Figure 17 institutes
Show.
In addition, as shown in figure 18, it further includes Center of Gravity Control System 9 which, which travels platform, the center of gravity control
System 9 processed includes instrumented wheelset, angular velocity measurement unit, gravity's center control unit and centre of gravity adjustment unit, centre of gravity adjustment unit
It is connect including clump weight 9-1 and with clump weight 9-1 for adjusting matching for positions of the clump weight 9-1 in traveling main platform body 1
Pouring weight adjustment mechanism, instrumented wheelset are mounted in traveling main platform body 1 flat for obtaining railway intelligent multifunctional traveling in real time
The wheel of platform is to vertical force, and angular velocity measurement unit is mounted in traveling main platform body 1, for measuring the railway intelligent multifunctional
Angular speed of the platform in turning is travelled, gravity's center control unit connect with instrumented wheelset and angular velocity measurement unit, is used for respectively
The wheel measured by instrumented wheelset is acquired to the angular speed measured by vertical force and angular velocity measurement unit and according to wheel to vertical force
With the real-time position of centre of gravity for calculating railway intelligent multifunctional and travelling platform such as angular speed；And adjust machine by controlling clump weight
Structure adjusts the position of clump weight 9-1, and the position of centre of gravity that railway intelligent multifunctional is travelled to platform is adjusted to safety zone.It should
Center of Gravity Control System detects the wheel of railway intelligent multifunctional traveling platform by instrumented wheelset to vertical force and angular speed simultaneously in real time
It is uploaded to gravity's center control unit, to realize the real time monitoring to vehicle's center of gravity, the case where vehicle's center of gravity deviates safety zone
Under, gravity's center control unit is moved on to clump weight to designated position by controlling the clump weight adjustment mechanism of centre of gravity adjustment unit, with
The center of gravity for adjusting vehicle, makes center of gravity rest on safety zone.The Center of Gravity Control System can realize centre of gravity adjustment, it is ensured that vehicle
Operational safety avoids the occurrence of the case where toppling over or turning on one's side, and improves the safety of its own, to ensure vehicle in uneven road conditions
Under the conditions of even running, improve the adaptivity and reliability of vehicle.
Specifically, centre of gravity adjustment unit includes laterally adjusting unit, and the clump weight adjustment mechanism for laterally adjusting unit includes
The first leading screw 9-2 being connect with traveling 1 rotary type of main platform body, and the first servo for driving the first leading screw 9-2 rotations
Motor 9-3, first servo motor 9-3 are connect with gravity's center control unit, the first leading screw 9-2 and clump weight 9-1 screw-thread fits, the
Longitudinal centre line of the axis of one leading screw 9-2 perpendicular to vehicle.This laterally adjusts unit and is installed in traveling main platform body 1
Between and apart from ground be approximately more than equal to 0.3m distance, in use, first servo motor 9- is under the control of gravity's center control unit
The position for adjusting the clump weight 9-1 on the first leading screw 9-2, to realize that the railway intelligent multifunctional travels the center of gravity tune of platform
It is whole.
Gravity's center control unit obtains the railway intelligent multifunctional from instrumented wheelset and travels the wheel of platform to vertical force P and P',
And the angular velocity omega that the railway intelligent multifunctional travels platform is obtained from angular velocity measurement unit, and combine railway intelligence more
Function travels the appearance and size of platform, calculates the position of centre of gravity of railway intelligent multifunctional traveling platform, and clear railway intelligence
The center of gravity safety zone of multi-functional traveling platform.
As illustrated in figures 19 and 20, after clump weight 9-1 adjustment, position of centre of gravity variation travels railway intelligent multifunctional flat
The improvement of platform Overturning Coefficient D.Specifically, after clump weight 9-1 adjustment, railway intelligent multifunctional is caused to travel platform center of gravity from O points
Change to O'；Shown in train Overturning Coefficient such as formula (1).
In formula：D-Overturning Coefficient；
M-train weight；
The angle of line and horizontal plane between the rail upper surface of φ-track both sides；
d3The height of-barycenter；
d4The width of-Railway wheelset；
ω-train crosses the angular speed of bend
R-train crosses the radius of bend
S-position of centre of gravity needs the distance adjusted, if it is positive value, the higher rail into the rail of track both sides
Direction is moved, if it is negative value, the lower rail direction movement into the rail of track both sides.
By formula (1) it is found that it is critical point that train topples that Overturning Coefficient, which is equal to 1, D is smaller, and train possibility of toppling is got over
It is small；When centre of gravity adjustment unit by adjusting breed block 9-1 change in location, the position of centre of gravity of train is changed into O' points by O points
Afterwards, S can be changed with both forward and reverse directions, be less than 0.8 to control D values, calculated position of centre of gravity by formula (2) and need to adjust
Distance.
In this embodiment, the quantity for laterally adjusting unit is 6, and 6 laterally adjust unit along railway intelligent multifunctional
The longitudinal centre line of traveling platform is arranged at equal intervals.However it should be noted that it will be understood by those of skill in the art that
In some other embodiment of the present invention, the quantity that laterally adjusts unit may be 1 or 2,4 etc. it is multiple.
For ease of calculation, it is equal preferably each to laterally adjust the quality m of the clump weight 9-1 of unit.Further
Ground, the quantity for laterally adjusting unit are n, and preferably n laterally adjust movements of the clump weight 9-1 of unit on the first leading screw 9-2
Distance k is consistent.Then it is calculate by the following formula the distance k for obtaining each clump weight 9-1 movements：
However it should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention
In, it can also be inconsistent each to laterally adjust the quality of the clump weight of unit and displacement distance.
Further, clump weight adjustment unit further includes being located at the longitudinally adjusted unit laterally adjusted below unit, longitudinal
The clump weight adjustment mechanism of adjustment unit includes the second leading screw being connect with traveling 1 rotary type of main platform body, and for driving
Second servo motor of the second leading screw rotation, the second servo motor are connect with gravity's center control unit, the second leading screw and clump weight spiral shell
Line coordinates, and the axis of the second leading screw is parallel to the longitudinal centre line of railway intelligent multifunctional traveling platform.
Preferably longitudinally the quantity of adjustment unit is multiple, and multiple longitudinally adjusted units edges are parallel to railway intelligent multifunctional
The direction of traveling platform longitudinal centre line is arranged at equal intervals.
For ease of calculation, preferably the quality m' of the clump weight of adjustment unit is equal longitudinally in each.Further,
It is preferred that displacement distance k' of multiple clump weights on the second leading screw is consistent.However the it should be noted that technology of this field
Personnel should be appreciated that the present invention some other embodiment in, longitudinally in each adjustment unit connection clump weight quality and
Displacement distance can also be inconsistent.
In this embodiment, the instrumented wheelset of vehicle's center of gravity control system is mounted on railway intelligent multifunctional and travels platform
Rail wheel on.However it should be noted that vehicle's center of gravity control system provided by the present invention be also adapted to it is other types of
Vehicle.
In addition, railway intelligent multifunctional traveling platform includes autonomous driving intelligent mode and remote control pattern, certainly
Main traveling can take over control when meeting difficulty with remote handle.Railway intelligent multifunctional traveling platform further includes that setting is expert at
The context aware systems 5 in main platform body 1 are sailed, the autonomous row of the context aware systems 5 and railway intelligent multifunctional traveling platform
Sail system connection.The context aware systems 5 are led including laser radar, global positioning system (GPS), millimetre-wave radar, inertia
Boat, camera etc..The railway intelligent multifunctional travels platform and obtains map and surrounding enviroment information by the context aware systems 5,
Position to influence intact stability on bend, track switch etc. is accurately positioned, and speed is set in advance by autonomous driving system
It spends in speed limit requirement, to ensure fast and safely traveling of the railway intelligent multifunctional traveling platform on track 6.This
Outside, railway intelligent multifunctional traveling platform can perceive remote prominent obstacle by context aware systems 5, make the traveling
Platform can safe operation in the case of unmanned.On track 6 when driving, railway intelligent multifunctional traveling platform passes through
Context aware systems 5 perceive whether there are obstacles on ambient enviroment and track, when finding to have barrier on track, independently
It stops and rail wheel traveling is switched to Athey wheel and travel, after the track section for crossing obstacle, then travel and switch from Athey wheel
It is travelled to rail wheel, continues to execute inter-related task.
In addition, railway intelligent multifunctional traveling platform has good brake system, ensure steady in the case where running at high speed
It is fixed reliable.Brake system has high sensitive sensor, can perceive speed, wheel condition, axis weight state, have anti-tipping pre-
Control system ensures that brake system is safe and reliable.The railway intelligent multifunctional, which travels platform, has Precise Position System, passes through volume
The complex navigations systems such as code wheel alignment, GPS positioning, map match, inertial navigation, Beidou navigation, make traveling platform have
Grade positioning accuracy.The railway intelligent multifunctional, which travels platform, has visualization tasks administration interface and in due course comprehensive letter
Management system is ceased, on the one hand man-machine task can be made smoothly to interact, another aspect guarantee task communicates in due course under order grade,
Each functional component on traveling platform is set effectively to receive task rapidly and make fast reaction.
Preferably, traveling main platform body 1 is using titanium alloy, aluminium alloy, carbon fiber structural, to ensure strength of parts and again
In the case of heart stability, vehicle weight is rationally controlled, reduces energy consumption.
It is preferred that railway intelligent multifunctional traveling platform is powered using lithium battery such as ferric phosphate, super capacitor in parallel, and
With energy management system, so that science distributes supply of electric power, ensure the safe power supply of each functional component of traveling platform, and
There is vehicle health to manage system, by detecting Vehicular vibration, stress, driving electrical parameter etc., the report of health status is provided for vehicle
It accuses, carries out vehicle maintenance, ensure the safety traffic of each functional component of traveling platform.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, brief for description, during the description of the present embodiment, no longer
Technical characteristic same as Example 1 is described, only illustrates the present embodiment difference from Example 1：
As shown in Figure 21 to Figure 23, in this embodiment, track wheel drive system 3 passes through rotating mechanism 8 and traveling platform
1 rotary type of main body connects, and the opposite traveling main platform body 1 of caterpillar drive system 2 remains stationary as, so that caterpillar drive system 2
Bottom is higher or lower than the bottom of track wheel drive system 3, to realize caterpillar drive system 2 and track wheel drive system 3
Switching.
Specifically, track wheel drive system 3 includes the front rail wheel driving list for being located at 1 front end of traveling main platform body
The rear rail wheel driving unit of member and rear end, and front rail wheel driving unit and rear rail wheel driving unit include two rails
Road wheel 3-1 and the rail wheel connecting shaft 3-2, each rail wheel connecting shaft 3-2 that are connect respectively with two rail wheel 3-1 with
One rotating mechanism 8 connects, to be rotated under the drive of rotating mechanism 8, to drive track wheel drive system 3 from first
Position rotation (as shown in figure 22) is to the second position (as shown in figure 23) or is reversely rotated from the second position to first position.
When track wheel drive system 3 is rotated to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2
Portion, at this point, railway intelligent multifunctional traveling platform can be in the driving downward driving of caterpillar drive system 2；When track wheel drive
When the rotation of system 3 is to the second position, the bottom of track wheel drive system 3 is less than the bottom of caterpillar drive system 2, at this point, railway
Intelligent multifunctional travels platform can be in the driving downward driving of track wheel drive system 3；The railway intelligent multifunctional travels platform
By the rotation of rotating mechanism 8 to drive track wheel drive system 3 to be switched in first position and the second position, to real
The mutual conversion of existing track wheel drive system 3 and caterpillar drive system 2.
It should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in,
Caterpillar drive system 2 can be connect by rotating mechanism 8 with traveling 1 rotary type of main platform body, 3 phase of track wheel drive system
Traveling main platform body 1 is remained stationary as, so that the bottom of caterpillar drive system 2 is higher or lower than track wheel drive system 3
Bottom, to realize the switching of caterpillar drive system 2 and track wheel drive system 3.
In this embodiment, rotating mechanism 8 is rotary piston cylinder, such as rotary oil cylinder or rotary cylinder.The rotary-piston
Cylinder include with traveling main platform body 1 connect cylinder body, the shaft in cylinder body, the scotch being connect with cylinder body, and with turn
The blade of axis connection, wherein blade also with connect axis connection, which changes angle of oscillation using internal scotch
Degree drives shaft rotation when air pressure or oil pressure act on blade, and rail wheel connecting shaft is connected with the rotating shaft to drive
The axis rotations of 3-2 around the shaft, and then the opposite traveling main platform bodies 1 of the rail wheel 3-1 of 1 both sides of traveling main platform body is driven to revolve
Turn, when rotation is to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2；When rotation extremely
When the second position, the bottom of track wheel drive system 3 is less than the bottom of caterpillar drive system 2.
Preferably, first position is located at the surface of the second position, that is to say, that track wheel drive system 3 is from first
It is 180 ° to set rotation to the angle rotated required for the second position, therefore the maximum rotation angle of preferably rotary piston cylinder is
180 °, when rotary piston cylinder is located at maximum rotation angle, the bottom of caterpillar drive system 2 is higher than track wheel drive system 3
Bottom, when the rotation angle of rotary piston cylinder is 0 °, the bottom of caterpillar drive system 2 is less than the bottom of track wheel system.
However it should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, crawler belt drives
The rotation angle of dynamic system 2 may be other numerical value, such as 120 °.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, revolve
Rotation mechanism 8 can also use other structures, such as spider gear structure, which includes sun gear and gear
Circle, and the planetary gear with sun gear and gear ring cooperation respectively, wherein sun gear connect with traveling 1 rotary type of main platform body
It connects, and is driven by servo motor, planetary gear is connect with rail wheel connecting shaft 3-2, so that sun gear is in servo motor
Driving under left-right rotation when, drive with sun gear cooperation rail wheel connecting shaft 3-2 around sun gear rotate, to drive row
The rail wheel 3-1 for sailing 1 both sides of main platform body is rotated relative to traveling main platform body 1, when rotation is to first position, track drive
The bottom of system 2 is less than the bottom of track wheel drive system 3, at this point, railway intelligent multifunctional traveling platform can be in crawler belt
The driving downward driving of drive system 2；When rotation is to the second position, the bottom of caterpillar drive system 2 is higher than track wheel drive system
The bottom of system 3.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of railway intelligent measurement rescue aid, which is characterized in that travel platform and setting including railway intelligent multifunctional
Track detecting equipment on railway intelligent multifunctional traveling platform.
2. railway intelligent measurement rescue aid as described in claim 1, which is characterized in that further include being arranged in the railway intelligence
It can the multi-functional rescue aid travelled on platform.
3. railway intelligent measurement rescue aid as claimed in claim 2, which is characterized in that the rescue aid includes for nobody
Machine, charging unit, extinguishing device.
4. railway intelligent measurement rescue aid as claimed in any one of claims 1-3, which is characterized in that the railway intelligence
Multi-functional traveling platform includes the track wheel drive system for travelling main platform body and being connect respectively with the traveling main platform body
And caterpillar drive system, the bottom of the traveling main platform body are provided with lifting rotation mechanism, the caterpillar drive system can
The relatively described track wheel drive system lifting, so that the bottom of the caterpillar drive system is driven higher or lower than the rail wheel
The bottom of dynamic system, to realize the switching of the crawler belt wheel drive system and the track wheel drive system.
5. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the lifting rotation mechanism includes rotation
The lifting piston cylinder for turning cylinder body and being arranged in the rotary cylinder-block is provided in the middle part of the rotary cylinder-block radially outward convex
The annular recess gone out forms closed cavity between the annular recess and the lifting cylinder body side wall of the lifting piston cylinder, and
The piston portion extended radially inwardly, the piston portion and the lifting cylinder body side wall shape are provided on the side wall of the annular recess
At dynamic sealing, it is provided on the lifting cylinder body side wall and extends radially outwardly and can coordinate for described with the piston portion
The retainer that piston portion is limited, the retainer form dynamic sealing with the annular recess, and the lifting rotation mechanism is also
It is used to inject the first import and the of hydraulic oil or high pressure gas to the both sides of the retainer in the retainer including being arranged
Two imports.
6. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the caterpillar drive system includes using
In the crawler driving whell, multiple carrying rollers, inducer, carrier wheel and the crawler belt that are connect with the traveling main platform body, the crawler belt
It is set around the crawler driving whell, multiple carrying rollers, the inducer and the carrier wheel, multiple carrying rollers successively
It is connect with the traveling main platform body by first piston cylinder, is moved up and down with the relatively described traveling main platform body respectively；It is described
First piston cylinder includes cylinder body, the piston in the cylinder body and the piston rod being connect with the piston, the piston rod
Lower end connect with the carrying roller, the cylinder interior is divided into upper cavity and lower chamber by the piston, in the upper cavity
Compressed gas filled with preset pressure value, the upper cavity of at least one first piston cylinder with it is adjacent thereto another
The upper cavity of a First piston bar passes through pipeline connection.
7. railway intelligent measurement rescue aid as claimed in claim 6, which is characterized in that the carrying roller is divided into M groups, every group
Including N number of carrying roller, and the upper cavity for the first piston cylinder being connect with N number of carrying roller in every group connects each other
Logical, wherein M, N are greater than 1 integer.
8. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the track wheel drive system passes through
Rotating mechanism is connect with the traveling main platform body rotary type, so that the relatively described traveling platform of the track wheel drive system
Main body switches between the first position and the second position, when the track wheel drive system is rotated to first position, the rail
The bottom of road wheel drive system is higher than the bottom of the caterpillar drive system；When the track wheel drive system is rotated to second
When setting, the bottom of caterpillar drive system described in the bottom bottom of the track wheel drive system.
9. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that be arranged in the traveling main platform body
It includes for the instrumented wheelset in the traveling main platform body, peace to have Center of Gravity Control System, the Center of Gravity Control System
The angular velocity measurement for travelling the angular speed of platform for measuring the railway intelligent multifunctional in the traveling main platform body
Unit, gravity's center control unit and centre of gravity adjustment unit, the centre of gravity adjustment unit include clump weight and with the clump weight
Connect the clump weight adjustment mechanism for adjusting position of the clump weight in the traveling main platform body, the instrumented wheelset
The wheel of platform is travelled for obtaining the railway intelligent multifunctional in real time to vertical force, and the gravity's center control unit is from the dynamometry
It takes turns to the wheel for obtaining the railway intelligent multifunctional traveling platform to vertical force, and from described in angular velocity measurement unit acquisition
Railway intelligent multifunctional travels the angular speed of platform, and calculates the railway intelligent multifunctional according to the data obtained and travel
The position of centre of gravity of platform；And the position of the clump weight is adjusted by controlling the clump weight adjustment mechanism, by the railway
The position of centre of gravity of intelligent multifunctional traveling platform is adjusted to safety zone.
10. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the railway intelligent multifunctional row
It includes autonomous driving intelligent mode and remote control pattern to sail platform.
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| CN109649421A (en) * | 2018-12-21 | 2019-04-19 | 上海隧道工程质量检测有限公司 | A kind of tunnel quality testing detection vehicle |
| CN110562288A (en) * | 2019-09-27 | 2019-12-13 | 中车工业研究院有限公司 | Emergency track-disengaging device of travelling mechanism and mobile detection platform |
| CN111114508A (en) * | 2020-02-12 | 2020-05-08 | 应急管理部上海消防研究所 | Intelligent road vehicle-moving obstacle-removing robot for fire rescue and vehicle-moving obstacle-removing method |
| CN111152182A (en) * | 2019-10-09 | 2020-05-15 | 山东大学 | Multi-arm robot for tunnel lining detection and disease diagnosis in operation period |
| CN111297575A (en) * | 2019-12-30 | 2020-06-19 | 南京晨光集团有限责任公司 | Multifunctional unmanned rescue device |
| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
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Effective date of registration: 20210108 Address after: Room 229, science and Technology Museum, EMU Town, Jihongtan street, Chengyang District, Qingdao City, Shandong Province, 266311 Patentee after: CRRC Industrial Research Institute (Qingdao) Co.,Ltd. Address before: 100067 building 6, District 11, 188 South 4th Ring Road West, Fengtai District, Beijing Patentee before: CRRC INDUSTRY RESEARCH INSTITUTE Co.,Ltd. |