CN112859068A - Tunnel vault detects dolly - Google Patents
Tunnel vault detects dolly Download PDFInfo
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- CN112859068A CN112859068A CN202110029666.XA CN202110029666A CN112859068A CN 112859068 A CN112859068 A CN 112859068A CN 202110029666 A CN202110029666 A CN 202110029666A CN 112859068 A CN112859068 A CN 112859068A
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- 238000001514 detection method Methods 0.000 claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000017105 transposition Effects 0.000 description 2
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Life Sciences & Earth Sciences (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Environmental & Geological Engineering (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a tunnel vault detection trolley, which comprises a trolley body, wherein the trolley body is arranged on a track and is connected with the track in a sliding manner, the trolley body comprises a frame and a cross beam, the cross beam is detachably arranged on the frame, one end of the cross beam, which is far away from the trolley body, is provided with a telescopic rod, one end of the telescopic rod is hinged on the cross beam through a fixed seat, the frame is provided with a self-walking driving control module and an obstacle avoidance driving control module, through the mutual matching of the back and forth movement of the trolley body, the left and right expansion of the cross beam, the up and down height adjustment of the telescopic rod and the angle adjustment of the telescopic rod, the multidirectional adjustment of a radar mounting seat can be realized, the detection requirement of the tunnel vault can be met, the stability of the trolley body moving on the track can, through the design of locating piece and guide block, can guarantee the stability of crossbeam location and removal on the dolly body.
Description
Technical Field
The invention relates to the technical field of tunnel detection equipment, in particular to a tunnel vault detection trolley.
Background
With the development of society, the excavation of tunnels to construct highways and railways becomes a means for realizing traffic convenience, but in the construction and maintenance of railways and highway tunnels, cracks, holes, seepage, virtual blocks and the like may exist on the inner wall of the tunnel, and a series of problems of cracking, seepage, insufficient lining thickness, lining hollowing, dislocation of the distribution of reinforcing steel bars and steel arches, tunnel bottom damage, slurry stirring, mud pumping and the like frequently occur on tunnel lining and tunnel bottoms in the congenital or use process, so that the service life and driving safety of the tunnel are directly influenced, and tunnel lining detection is one of important measures for ensuring driving safety.
The inventor of the application finds that the current domestic tunnel lining nondestructive testing mainstream technology is to utilize a geological radar method for detection, the geological radar detection mainly comprises manual and vehicle-mounted detection modes, the manual operation mode has huge manpower consumption, the operation mode is simple and crude, the efficiency and the personal safety during vault detection are low, when the vault is detected by a vehicle-mounted mechanical detection mode, the obstacle avoidance is very frequent and the effective working time and the efficiency are low when the vault is detected by facing an electric tunnel, especially a high-speed railway tunnel, China develops a corresponding general speed and high-speed railway tunnel state inspection vehicle, compared with the traditional detection means, the two vehicles have obvious improvement on detection automation, after five mechanical arms are utilized to bear a geological radar and extend to a target position, the detection is carried out along with the running of the vehicle, the tunnel lining state detection of the existing line and the newly-built line is realized, but the vehicle-mounted detection loss resources are large, and traction detection is adaptively limited.
Disclosure of Invention
The invention aims to provide a tunnel vault detection trolley, aiming at improving the problems that the traditional domestic tunnel lining nondestructive detection mainstream technology is to detect by using a geological radar method, the geological radar detection mainly comprises manual and vehicle-mounted detection modes, the manual operation mode has huge manpower consumption and crude operation mode, the efficiency and the personal safety are low when the vault is detected, and when the vault is detected by a vehicle-mounted mechanical detection mode, the obstacle avoidance is very frequent and the effective working time and efficiency are low when an electrified tunnel, particularly a high-speed rail tunnel, is faced, and meanwhile, the existing vehicle-mounted detection has large consumed resources and the traction detection adaptability is limited.
The invention is realized by the following steps:
the utility model provides a tunnel vault detection dolly, includes the dolly body, the dolly body is installed on the track, and dolly body and track sliding connection, the dolly body includes frame and crossbeam, crossbeam detachable sets up on the frame, the one end that the dolly body was kept away from to the crossbeam is provided with the telescopic link, telescopic link one end articulates on the crossbeam through the fixing base, install on the frame from walking drive control module group and keep away barrier drive control module group.
Further, from walking drive control module group including driving motor, slope detection module and control module, driving motor, slope detection module and control module all with frame fixed connection.
Further, keep away barrier drive control module group and include barrier detection module and lift drive module, barrier detection module fixed mounting is at the front end of frame, lift drive module fixed mounting is on the lateral surface of telescopic link.
Further, still install the self-adaptation on the frame and adjust the module, the self-adaptation adjusts the module and includes angle calculator, adjusting seat and angle drive module, adjusting seat includes base and deflection seat, base fixed mounting is at the tip of telescopic link, the deflection seat rotates with the base and is connected.
Furthermore, install the radar mount pad on the transposition base, radar mount pad and transposition base fixed connection, be equipped with angle adjustment mechanism between telescopic link and the crossbeam, angle adjustment mechanism and telescopic link and crossbeam all rotate to be connected.
Further, the trolley body is symmetrically provided with idler wheels, the idler wheels are fixedly connected with the trolley body through buffer springs, and one side of the trolley body is hinged with clamp wheels matched with grooves on the outer side of the track through spring pins.
Furthermore, the trolley body is provided with at least two positioning blocks matched with the cross beam, the positioning blocks are provided with positioning screws, the cross beam is provided with a plurality of positioning holes matched with the positioning screws along the length direction of the cross beam, the trolley body extends outwards to form a supporting frame for supporting the cross beam, and two sides of one end, far away from the trolley body, of the supporting frame are provided with guide blocks matched with two sides of the cross beam.
Furthermore, a generator and a radar operation box are further arranged on the frame, the generator is movably assembled on the frame, and the radar operation box is detachably mounted on the frame.
Furthermore, be equipped with the stand on the fixing base, and be connected through the staple bolt between stand and the telescopic link, angle adjusting mechanism's both ends are articulated with crossbeam and stand respectively, the top of stand still fixedly sets up and is equipped with lighting components.
Furthermore, be equipped with the radar safety cover in the middle of the radar mount pad, both ends symmetry is equipped with the air spring, the top of air spring is equipped with the rubber tyer.
Compared with the prior art, the invention has the beneficial effects that: the tunnel vault detection trolley has the characteristics of reasonable design and simplicity in operation, and can realize multidirectional adjustment of a radar mounting seat and meet the detection requirement of the tunnel vault through the mutual matching of the forward and backward movement of the trolley body, the left and right stretching of the cross beam, the up and down height adjustment of the telescopic rod and the angle adjustment of the telescopic rod; through the design of the clamp wheels, the stability of the trolley body moving on the rail can be ensured, and the rollover problem of the trolley body is avoided; through the design of locating piece and guide block, can guarantee the stability of crossbeam location and removal on the dolly body, the difficult operation that traditional tunnel detection tradition original scaffold formula operation exists has been solved, the security performance is poor, the inefficiency scheduling problem, can dexterously and effectively realize the survey line arrangement and the continuous detection that the tunnel detected, the resource consumption is minimum, and can self-adaptation adjustment, the operation is convenient, can the on-the-spot fast assembly operation, simple structure has, and is stable and reliable, not only safe light, but also improve detection efficiency, practice thrift advantages such as manpower and materials, be favorable to the wide application of each way office station section maintenance unit.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a perspective view of the device of the present invention;
FIG. 2 is a schematic structural view of the radar mount of FIG. 1;
FIG. 3 is a block diagram of a self-walking drive control module of the present invention;
fig. 4 is a block diagram of an obstacle avoidance driving control module according to the present invention;
fig. 5 is a block diagram of the adaptive adjustment module of the present invention.
In the figure: 1. a track; 2. a trolley body; 3. a cross beam; 4. a telescopic rod; 5. a radar mount; 6. an angle adjusting mechanism; 7. a roller; 8. a spring pin; 9. a clamp wheel; 10. Positioning blocks; 11. a set screw; 12. positioning holes; 13. a support frame; 14. a guide block; 15. a fixed seat; 16. a column; 17. hooping; 18. a lighting assembly; 19. a radar protection cover; 20. a gas spring; 21. a rubber wheel; 22. a generator; 23. a radar operation box.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, 2, 3, 4 and 5, the tunnel vault detection trolley comprises a trolley body 2, wherein the trolley body 2 is mounted on a track 1, the trolley body 2 is connected with the track 1 in a sliding mode, the trolley body 2 comprises a frame and a cross beam 3, the cross beam 3 is detachably arranged on the frame, an expansion link 4 is arranged at one end, far away from the trolley body 2, of the cross beam 3, one end of the expansion link 4 is hinged to the cross beam 3 through a fixing seat 15, and a self-walking drive control module and an obstacle avoidance drive control module are mounted on the frame;
the invention provides a tunnel vault detection trolley, which comprises a trolley body 2 arranged on a track 1 in a sliding manner, wherein two sides of the trolley body 2 are arranged on the track 1 in a sliding manner through four rollers 7, the distance of the trolley body can be 1435 +/-20 mm, two rollers 7 are made of insulating materials, the trolley body 2 can slide back and forth along the track 1 under the action of a driving mechanism of the trolley body, in order to ensure the stability of the trolley body 2 in moving on the track 1, a rollover prevention assembly is arranged on the trolley body 2, specifically, one side of the trolley body 2 is hinged with a clamp wheel 9 matched with a groove on the outer side of the track 1 through a spring pin 8, a cross beam 3 which can be adjusted in a telescopic manner is arranged on the trolley body 2, specifically, the telescopic adjustment direction of the cross beam 3 is vertical to the sliding direction of the trolley body 2 along the track 1, namely, the cross beam 3 can move left, at least two positioning blocks 10 matched with the cross beam 3 are arranged on the trolley body 2, positioning screws 11 are arranged on the positioning blocks 10, a plurality of positioning holes 12 matched with the positioning screws 11 are arranged on the cross beam 3 along the length direction of the cross beam, the cross beam 3 can be positioned in different positioning holes 12 through the positioning screws 11, the telescopic movement and the positioning of the cross beam 3 can be realized, further, a supporting frame 13 for supporting the cross beam 3 extends outwards from the trolley body 2, two sides of one end, far away from the trolley body 2, of the supporting frame 13 are provided with guide blocks 14 matched with two sides of the cross beam 3, the stability of the cross beam 3 during left-right movement adjustment can be ensured through the arrangement of the guide blocks 14, one end, far away from the trolley body 2, of the cross beam 3 is provided with a telescopic rod 4, one end of the telescopic rod 4 is rotatably connected, specifically, one end of a telescopic rod 4 is hinged on a cross beam 3 through a fixing seat 15, a stand column 16 is arranged on the fixing seat 15, the stand column 16 is connected with the telescopic rod 4 through a hoop 17, two ends of an angle adjusting mechanism 6 are respectively hinged with the cross beam 3 and the stand column 16, a lighting assembly 18 for illuminating the interior of the tunnel is further arranged at the top of the stand column 16, the angle adjusting mechanism 6 is an adjusting mechanism with telescopic pieces at two ends, angle adjustment of the telescopic rod 4 can be realized through opposite or reverse movement of the telescopic pieces at two ends, a radar protection cover 19 is arranged in the middle of a radar mounting seat 5, air springs 20 are symmetrically arranged at two ends, rubber wheels 21 are arranged at the top of the air springs 20, driving equipment for driving the telescopic rod 4 is arranged on a trolley body 2, the telescopic rod 4 can select executing pieces such as pneumatic, hydraulic oil cylinders, electric power, steel wire ropes and, the generator 22 and the radar operation box 23 are further arranged on the trolley body 2, the detection range of the tunnel vault detection trolley is 2000-2500mm, and through the mutual matching of the back-and-forth movement of the trolley body 2, the left-and-right stretching of the cross beam 3, the up-and-down height adjustment of the telescopic rod 4 and the angle adjustment of the telescopic rod 4, the multidirectional adjustment of the radar mounting seat 5 can be realized, and the detection requirement of the tunnel vault is met; through the design of the clamp wheels 9, the stability of the trolley body 2 moving on the track 1 can be ensured, and the problem of side turning of the trolley body 2 is avoided; through the design of the positioning block 10 and the guide block 14, the stability of positioning and moving of the cross beam 3 on the trolley body 2 can be ensured, the problems of difficult operation, poor safety performance, low efficiency and the like existing in the traditional original scaffold type operation of tunnel detection are solved, the line measurement arrangement and continuous detection of tunnel detection can be flexibly and effectively realized, the resource consumption is extremely low, the self-adaptive adjustment can be realized, the operation is convenient, the on-site rapid assembly operation can be realized, the device has the advantages of simple structure, stability and reliability, safety and portability, the detection efficiency is improved, the manpower and material resources are saved, the market value is very high, and the device is worthy of wide popularization and application;
the self-walking drive control module comprises a drive motor, a gradient detection module and a control module, the drive motor, the gradient detection module and the control module are all fixedly connected with a frame, the drive motor is used for driving the trolley body 2 to walk, the gradient detection module is used for detecting the gradient of a walking path of the trolley body 2, the control module can control the linear speed of the drive motor according to the gradient of the walking path of the trolley body 2, the obstacle avoidance drive control module comprises an obstacle detection module and a lifting drive module, the obstacle detection module is fixedly arranged at the front end of the frame, the lifting drive module is fixedly arranged on the outer side surface of the telescopic rod 4, the obstacle detection module is used for detecting obstacles on the walking path of the detection module, the lifting drive module is used for driving the telescopic rod 4 to lift, and the self-adaptive adjustment module is also arranged on the frame, the self-adaptive adjusting module comprises an angle calculator, an adjusting seat and an angle driving module, the adjusting seat comprises a base and a deflection seat, the base is fixedly installed at the end part of a telescopic rod 4, the deflection seat is rotatably connected with the base, the angle calculator can calculate the deflection angle of the adjusting seat according to the tunnel face, the driving module adjusts the angle of the deflection seat according to the deflection angle, a radar installing seat 5 is installed on the deflection seat, the radar installing seat 5 is fixedly connected with the deflection seat, an angle adjusting mechanism 6 is arranged between the telescopic rod 4 and a cross beam 3, the angle adjusting mechanism 6 is rotatably connected with the telescopic rod 4 and the cross beam 3, the radar installing seat 5 is used for assembling a detection module, rollers 7 are symmetrically arranged on a trolley body 2, the rollers 7 are fixedly connected with the trolley body 2 through buffer springs, one side of the trolley body 2 is hinged with clamping wheels 9 matched with grooves on the outer side of a, the trolley body 2 is provided with at least two positioning blocks 10 matched with the cross beam 3, the positioning blocks 10 are provided with positioning screws 11, the cross beam 3 is provided with a plurality of positioning holes 12 matched with the positioning screws 11 along the length direction, the trolley body 2 extends outwards to form a supporting frame 13 for supporting the cross beam 3, two sides of one end, far away from the trolley body 2, of the supporting frame 13 are provided with guide blocks 14 matched with two sides of the cross beam 3, the frame is also provided with a generator 22 and a radar operation box 23, the generator 22 is movably assembled on the frame, the radar operation box 23 is detachably arranged on the frame, a fixed seat 15 is provided with an upright post 16, the upright post 16 is connected with a telescopic rod 4 through a hoop 17, two ends of an angle adjusting mechanism 6 are respectively hinged with the cross beam 3 and the upright post 16, the top of the upright post 16 is also fixedly provided with an, the two ends of the gas spring 20 are symmetrically provided with a rubber wheel 21 at the top of the gas spring 20.
The device obtained by the design can basically meet the use requirement of the tunnel vault detection trolley, but the designer further improves the device with the aim of further improving the function of the tunnel vault detection trolley.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement 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 tunnel vault detection dolly, includes dolly body (2), install on track (1) dolly body (2), and dolly body (2) and track (1) sliding connection, its characterized in that: dolly body (2) include frame and crossbeam (3), crossbeam (3) detachable sets up on the frame, the one end that dolly body (2) were kept away from in crossbeam (3) is provided with telescopic link (4), telescopic link (4) one end is passed through fixing base (15) and is articulated on crossbeam (3), install on the frame from walking drive control module group and keep away barrier drive control module group.
2. The tunnel vault detection trolley according to claim 1, wherein the self-walking drive control module includes a drive motor, a slope detection module and a control module, and the drive motor, the slope detection module and the control module are all fixedly connected with the frame.
3. The tunnel vault detection trolley according to claim 2, wherein the obstacle avoidance drive control module comprises an obstacle detection module and a lifting drive module, the obstacle detection module is fixedly installed at the front end of the frame, and the lifting drive module is fixedly installed on the outer side face of the telescopic rod (4).
4. The tunnel vault detection trolley according to claim 3, wherein the frame is further provided with a self-adaptive adjusting module, the self-adaptive adjusting module comprises an angle calculator, an adjusting seat and an angle driving module, the adjusting seat comprises a base and a deflection seat, the base is fixedly installed at the end of the telescopic rod (4), and the deflection seat is rotatably connected with the base.
5. The tunnel vault detection trolley according to claim 4, wherein a radar mounting seat (5) is mounted on the deflection seat, the radar mounting seat (5) is fixedly connected with the deflection seat, an angle adjusting mechanism (6) is arranged between the telescopic rod (4) and the cross beam (3), and the angle adjusting mechanism (6) is rotatably connected with the telescopic rod (4) and the cross beam (3).
6. The tunnel vault detection trolley according to claim 5, wherein the trolley body (2) is symmetrically provided with rollers (7), the rollers (7) are fixedly connected with the trolley body (2) through buffer springs, and one side of the trolley body (2) is hinged with clamp wheels (9) matched with grooves on the outer side of the track (1) through spring pins (8).
7. The tunnel vault detection trolley according to claim 6, wherein at least two positioning blocks (10) matched with the cross beam (3) are arranged on the trolley body (2), positioning screws (11) are arranged on the positioning blocks (10), a plurality of positioning holes (12) matched with the positioning screws (11) are arranged on the cross beam (3) along the length direction of the cross beam, a supporting frame (13) used for supporting the cross beam (3) extends outwards from the trolley body (2), and guide blocks (14) matched with two sides of the cross beam (3) are arranged on two sides of one end, far away from the trolley body (2), of the supporting frame (13).
8. The tunnel vault detection trolley according to claim 7, wherein said frame is further provided with a generator (22) and a radar operation box (23), said generator (22) is movably mounted on said frame, and said radar operation box (23) is detachably mounted on said frame.
9. The tunnel vault detection trolley according to claim 8, wherein an upright post (16) is arranged on the fixed seat (15), the upright post (16) is connected with the telescopic rod (4) through a hoop (17), two ends of the angle adjusting mechanism (6) are respectively hinged with the cross beam (3) and the upright post (16), and a lighting assembly (18) is fixedly arranged at the top of the upright post (16).
10. The tunnel vault detection trolley according to claim 9, wherein a radar protection cover (19) is arranged in the middle of the radar mounting seat (5), air springs (20) are symmetrically arranged at two ends of the radar mounting seat, and rubber wheels (21) are arranged at the tops of the air springs (20).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110029666.XA CN112859068B (en) | 2021-01-11 | 2021-01-11 | Tunnel vault detects dolly |
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| CN202110029666.XA CN112859068B (en) | 2021-01-11 | 2021-01-11 | Tunnel vault detects dolly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113997980A (en) * | 2021-09-16 | 2022-02-01 | 交控科技股份有限公司 | Rail obstacle detection device and rail vehicle |
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