CN114608409B - Device and method for detecting common normal line of external teeth of coupling for track traffic - Google Patents
Device and method for detecting common normal line of external teeth of coupling for track traffic Download PDFInfo
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- CN114608409B CN114608409B CN202210267661.5A CN202210267661A CN114608409B CN 114608409 B CN114608409 B CN 114608409B CN 202210267661 A CN202210267661 A CN 202210267661A CN 114608409 B CN114608409 B CN 114608409B
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- 230000008878 coupling Effects 0.000 title claims abstract description 31
- 238000010168 coupling process Methods 0.000 title claims abstract description 31
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title description 9
- 238000001514 detection method Methods 0.000 claims abstract description 105
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 16
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The utility model provides a detection device and a detection method for the common normal line of the outer teeth of the coupling for track traffic, which are used for solving the problems of low detection efficiency and inaccurate detection result of the manual freehand measurement mode. The detection device comprises a base, a clamping seat, a clamping unit and a movement detection unit, wherein the clamping seat is fixed on the base, the clamping seat is internally provided with the clamping unit for clamping the external teeth of the coupler, the movement detection unit comprises a moving table, a detection mechanism and a position adjustment mechanism, the detection mechanism and the position adjustment mechanism are arranged on the moving table, the moving table and the clamping seat relatively move around the circumference taking the axis of the external teeth of the coupler as the center, the detection mechanism comprises a micrometer, and the position adjustment mechanism drives a micrometer screw rod of the micrometer to move to be in contact with the toothed surface of the external teeth of the coupler. The detection method comprises (1) external tooth fixation of the coupler: (2) micrometer positioning; (3) reading; (4) calculating an average value by a plurality of measurements. The invention can ensure the detection precision and the detection efficiency.
Description
Technical Field
The invention relates to the technical field of detection of external teeth of a coupling for rail transit, in particular to a device and a method for detecting a common normal line of external teeth of the coupling for rail transit.
Background
In the prior art, when detecting the common normal line of the external teeth of the coupler for rail transit, a common normal line length micrometer is used, and the common normal line length micrometer is moved so that two measuring surfaces of the common normal line length micrometer and an involute tooth profile surface are tangent to the vicinity of a reference circle of a gear, and then reading is performed. When in measurement, the measurement is required to be carried out at four positions uniformly distributed on the circumference of the gear, the average value of the four measurements is taken, and the gear is qualified within the tolerance range. Because the external teeth of the coupling for the rail transit are heavy, the external teeth of the coupling for the rail transit are required to be placed on a workbench by a manual freehand measurement method, then the common normal length micrometer is manually moved, and multiple measurements are required to be carried out on the external teeth of the coupling for the rail transit. In the above-mentioned operation mode, on the one hand, the manual operation efficiency is low, on the other hand, the operator is easy to fatigue and then the measurement error easily appears.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the common normal line of external teeth of a coupling for track traffic, which are used for solving the problems of low detection efficiency and inaccurate detection result of a manual freehand measurement mode.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a rail transit is with outer tooth common normal detection device of shaft coupling, includes base, grip slipper, clamping unit and removal detection unit, the grip slipper is fixed on the base, have the clamping unit just in the grip slipper the part that the clamping unit stretched out the grip slipper is with wait to detect the inner wall of shaft coupling outer tooth centre bore and carry out the centre gripping to the shaft coupling outer tooth, the removal detection unit includes the mobile station and sets up detection mechanism and position adjustment mechanism on the mobile station, around the circumference relative movement at shaft coupling outer tooth axis place around using the shaft coupling outer tooth axis between mobile station and the grip slipper, detection mechanism includes the micrometer, position adjustment mechanism orders about the micrometer's micrometer screw rod remove to with the outer tooth profile of tooth contact of shaft coupling.
Further, a circular guide rail is fixed at the top of the base, the mobile station is in sliding connection with the guide rail, and a travelling mechanism for driving the mobile station to move along the circumference of the guide rail is arranged on the side wall of the mobile station.
Further, the clamping unit comprises clamping rods which are slidably connected with the top of the clamping seat and a telescopic mechanism for driving the clamping rods to move, wherein the clamping rods are uniformly arranged along the circumferential direction, and the clamping rods radially move along the outer teeth of the coupler.
Further, the telescopic mechanism comprises a driving disc rotatably installed in the clamping seat, driving grooves corresponding to the clamping rods one by one are formed in the driving disc, the driving rods are arranged at the bottoms of the clamping rods, and extend into the driving grooves and the inner walls of the driving grooves extrude the driving rods to drive the clamping rods to move.
Further, the detection mechanism further comprises a main detection rod and an auxiliary detection rod, the main detection rod is rotationally connected with the mobile station, a torsion spring is arranged between the main detection rod and the mobile station, and a positioning mechanism for keeping the main detection rod and the auxiliary detection rod relatively parallel is arranged on the mobile station; the auxiliary detection rod is rotationally connected with the micrometer screw rod of the micrometer and is in relative sliding connection with the mobile station, and the measuring surfaces on the main detection rod and the auxiliary detection rod are used for being in contact with the tooth-shaped surface of the external tooth of the coupler to realize common normal length measurement.
Further, the positioning mechanism comprises an iron block fixed on the main detection rod and an electromagnet fixed on the mobile station and in contact with the iron block for attraction.
Further, the position adjusting mechanism comprises a first sliding table, a first cylinder, a second sliding table and a second cylinder, wherein the first sliding table is in sliding connection with the moving table, the first cylinder drives the first sliding table to move, the second sliding table is in sliding connection with the first sliding table, the second cylinder drives the second sliding table to move, the moving directions of the first sliding table and the second sliding table are mutually perpendicular, and the micrometer is fixed on the second sliding table.
Further, a driven gear is fixed on a knob of the micrometer, a driving motor is fixed on the second sliding table, and a driving gear meshed with the driven gear is fixed on an output shaft of the driving motor.
The invention also provides a method for detecting the common normal line of the external teeth of the coupling for track traffic, which comprises the following steps:
(1) Placing external teeth of a coupler to be detected and keeping the external teeth of the coupler in a horizontal state;
(2) The measuring surface of the micrometer is contacted with the tooth-shaped surface of the external tooth of the coupler by adjusting the relative position between the micrometer and the external tooth of the coupler;
(3) Reading a micrometer;
(4) And driving the micrometer to move relative to the outer teeth of the coupler, moving the micrometer to the next measuring position, performing measurement again until at least four measuring points along the circumference of the outer teeth of the coupler complete common normal measurement, and finally calculating the average value of the multiple measuring data.
The beneficial effects of the invention are as follows: the device and the method for detecting the common normal line of the outer teeth of the coupling for track traffic have the following advantages:
(1) The outer teeth of the coupler are arranged on the clamping seat and then coaxially arranged with the clamping seat under the action of the clamping unit, and the moving track of the detection mechanism for detecting the outer teeth of the coupler is coaxial with the clamping seat, so that when the detection mechanism moves to other detection positions after one-time detection, the consistency of contact points between the detection mechanism and the outer teeth of the coupler can be ensured, and further the detection precision is ensured;
(2) The micrometer gauge is used for detecting the length of the common normal line of the outer teeth of the coupler, and the distance between the micrometer screw rod of the micrometer gauge and the fixed side head can be automatically adjusted according to the requirement, so that the measurement surface of the detection mechanism is ensured to be in close contact with the common normal line of the outer teeth of the coupler, and the detection precision is ensured;
(3) When detecting the different positions of the outer teeth of the coupler, the detection mechanism and the outer teeth of the coupler are convenient to move, and compared with the mode of freehand operation of the prior art, the method is time-saving and labor-saving.
Drawings
FIG. 1 is a top view of a detection device of the present invention;
FIG. 2 is a schematic illustration of the placement of the external teeth of a coupling on a detection device of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the motion detection unit;
FIG. 4 is a schematic diagram of the detection of the external teeth of the coupling;
FIG. 5 is an assembled schematic view of the primary and secondary test bars and the position adjustment mechanism;
FIG. 6 is a schematic view of the direction of movement of the secondary detection lever;
FIG. 7 is a top view of the clamping unit;
FIG. 8 is a schematic view of the internal structure of the clamping unit;
FIG. 9 is a schematic view of the structure of the clamping lever;
in the figure: the device comprises a base, a guide rail, a clamping seat, a sliding groove 21, a clamping rod 22, a sliding rod 221, a driving rod 222, a middle column 23, a bearing 24, a driving disk 25, a driving groove 251, a movable table 3, a first mounting groove 31, a main detection rod 32, a mounting part 321, a positioning part 322, an iron block 323, a torsion spring 33, an electromagnet 34, a pair of detection rods 35, a guide rod 351, a second mounting groove 36, a micrometer 37, a micrometer 371, a micrometer screw rod 38, a supporting seat 39, a perspective window, a camera 4, a first sliding table 5, a first cylinder 51, a second sliding table 52, a second cylinder 53, a driving gear 54, a driving motor 55, a walking mechanism 6 and external teeth 7 of a coupler.
Detailed Description
As shown in fig. 1 to 9, the detection device of the present invention includes a base 1, a clamping unit, and a movement detection unit, and the present invention is described in detail with reference to the accompanying drawings.
As shown in fig. 1, the base 1 is a basic component of the present invention, and in this embodiment, the base 1 has a circular structure. The center of the base 1 is provided with a clamping seat 2, the clamping seat 2 is provided with a clamping unit, and the outer teeth of the coupler to be detected are clamped through the clamping unit. As shown in fig. 7 and 8, the clamping unit comprises a clamping rod 22 slidably connected with the top of the clamping seat 2, and a telescopic mechanism for driving the clamping rod 22 to move, the clamping seat 2 is also in a circular structure, a circular hole is formed in the center of the base 1, and the clamping seat 2 is located in the circular hole. A plurality of sliding grooves 21 are arranged at the top of the clamping seat 2, each sliding groove 21 is arranged along the radial direction of the clamping seat, and the sliding grooves are uniformly distributed along the same circumference. The lower part of the clamping rod 22 is slidably arranged in the sliding groove 21, and the part of the clamping rod higher than the clamping seat, namely the upper part of the clamping rod is used for clamping the inner wall of the external tooth of the coupler in a matching way. The bearing 24 is fixed on the inner side of the clamping seat 2, the telescopic mechanism comprises a driving disc 25 fixed on the inner ring of the bearing 24, driving grooves 251 corresponding to the clamping rods 22 one by one are formed in the driving disc 25, as shown in fig. 8, a sliding rod 221 is fixed on the lower portion of the clamping rods, a driving rod 222 is fixed on the bottom of the sliding rod, the upper portion of the driving rod is fixedly connected with the sliding rod, and the lower portion of the driving rod extends into the corresponding driving groove 251. The length direction of the driving groove 251 forms an acute angle with the sliding direction of the corresponding clamping rod 22, so that when the driving disc 25 rotates, the driving rod 222 moves relative to the driving groove, and further drives the clamping rod to move along the radial direction of the clamping seat (or the radial direction of the external teeth of the coupling coaxially arranged with the clamping seat).
During use, as shown in fig. 2, the external coupling teeth 7 are placed on the clamping seat, so that the clamping rods are located on the inner sides of the external coupling teeth, and then the clamping rods are driven to move outwards in the radial direction, so that the side walls of the clamping rods 22 are in contact with the inner walls of the external coupling teeth 7 to be tightly pressed, at this time, the clamping unit clamps the external coupling teeth, and at this time, the external coupling teeth are in contact with the upper surface of the clamping seat. As shown in fig. 7, a center post 23 is fixed to the upper surface of the holder 2, and is located on the holder axis. The arrangement of the middle column plays a role in guiding the outer teeth of the hoisted coupler when the outer teeth of the hoisted coupler are placed on the clamping seat.
The base 1 is provided with a mobile detection unit, as shown in fig. 3 to 6, the mobile detection unit comprises a mobile station 3, a position adjusting mechanism and a detection mechanism, wherein the detection mechanism comprises a main detection rod 32, an auxiliary detection rod 35 and a micrometer 37, the main detection rod and the auxiliary detection rod are metal rods, a micrometer 37 micrometer screw 371 is rotationally connected with the auxiliary detection rod 35, the auxiliary detection rod 35 is in sliding connection with the mobile station 3, and when the micrometer 37 micrometer screw 371 rotates, the auxiliary detection rod is pushed by the micrometer screw to linearly move relative to the mobile station. When the measuring surfaces of the main and auxiliary detecting rods are tangential to the involute tooth profile surface of the outer tooth of the coupler and are tangential to the indexing circle of the gear, the reading of the micrometer 37 is the detecting data. The mobile station 3 is provided with a first mounting groove 31, the middle part of the main detection rod 32 is an enlarged mounting part 321, the mounting part is rotationally connected with the mobile station, a torsion spring 33 is arranged between the mounting part 321 and the mobile station, and the main detection rod are kept parallel under the action of the torsion spring. The main detection rod is provided with a positioning part 322, and the positioning part 322 and the measuring surface of the main detection rod are respectively arranged on two sides of the mounting part. An iron piece 323 is embedded in the positioning portion 322. An electromagnet 34 is fixed in the first mounting groove 31, and contacts with the iron block 323 after the electromagnet is electrified, so that the main detection rod and the auxiliary detection rod are kept in a parallel state. The pressure sensors are arranged in the measuring surfaces of the main and auxiliary detecting rods and are used for sensing the pressure between the main and auxiliary detecting rods and the external teeth of the coupler, and the proper pressure between the main and auxiliary detecting rods and the external teeth of the coupler represents the close contact between the measuring surfaces of the main and auxiliary detecting rods and the external teeth of the coupler. The iron block and the electromagnet form a positioning mechanism for fixing the position of the main detection rod.
The second mounting groove 36 is provided in the moving table 3, and as shown in fig. 3 and 5, the position adjusting mechanism includes a first slide table 5 slidably provided in the second mounting groove 36, a first cylinder 51 provided in the second mounting groove to drive the first slide table 5 to move laterally, a second slide table 52 slidably provided on the first slide table 5, and a second cylinder 53 fixed on the first slide table 5 to drive the second slide table 52 to move longitudinally. As shown in fig. 6, the main detection bar can be moved in the lateral direction or/and in the longitudinal direction by the position adjusting mechanism.
As shown in fig. 5, a supporting seat 38 is fixed on the second sliding table, the micrometer 37 is fixed on the supporting seat, a driven gear is fixed on a knob of the micrometer 37, a driving motor 55 is fixed on the second sliding table, a driving gear 54 is fixed on an output shaft of the driving motor, the driving gear is meshed with the driven gear on the micrometer, and further the micrometer screw 371 is driven to rotate relative to the micrometer body through the driving motor. So far, the main detection rod is equivalent to a fixed measuring head of the micrometer. To guide the movement direction of the sub-detection lever, a pair of guide levers 351 are fixed to the sub-detection lever 35, and are slidably connected to the second slide table.
During detection, in order to facilitate the movement of the mobile station along the circumferential direction and further detect common normal lines of different positions of the external teeth of the coupler, as shown in fig. 1, a circular guide rail 11 is fixed at the top of the base 1, and the mobile station 3 is slidably arranged on the guide rail 11 and moves along the guide rail 11 in the circumferential direction. The side wall of the mobile station is fixed with a travelling mechanism 6, the travelling mechanism is provided with a travelling motor, a transmission and travelling wheels, and the travelling wheels rotate to drive the whole mobile station to move along the guide rail. The guide rail, the base and the clamping seat are all concentrically arranged.
In order to facilitate reading of the readings on the micrometer, as shown in fig. 1, a perspective window 39 is arranged at the top of the mobile station 3, and a camera 4 is fixed at the top of the mobile station 3 and is used for shooting the readings on the micrometer through the perspective window.
In this embodiment, the moving table moves along the guide rail, and moves the detection mechanism to different positions of the external teeth of the coupler, so as to perform data measurement on the different positions. As shown in fig. 4, the clamping seat and the base can be rotationally connected together, and when in detection, the outer teeth of the coupling to be detected are rotated by rotating the clamping seat, and then different positions of the outer teeth of the coupling are detected by the detection mechanism.
The working principle of the invention is described below:
(1) The external teeth of the coupler are lifted or hung and then placed on the clamping seat, the clamping unit is driven to act to clamp the external teeth of the coupler, and at the moment, the external teeth of the coupler, the base, the guide rail and the clamping seat are all concentrically arranged;
(2) The position adjusting mechanism of the detecting unit is adjusted to act, so that the main detecting rod and the auxiliary detecting rod extend into the tooth space of the outer tooth of the coupler, and the common normal line of the outer tooth is measured through the detecting mechanism;
(3) After detecting one position of the outer teeth of the coupler, moving the main detection rod and the auxiliary detection rod out of the teeth, and then driving the moving table to rotate relative to the outer teeth of the coupler so that the detection mechanism is positioned near the next detection position of the outer teeth of the coupler, and then detecting again until the measurement is completed to obtain the required quantity of data;
(4) Finally, the external teeth of the coupler are taken down.
The method for detecting the common normal line of the outer teeth of the coupling for track traffic comprises the following steps:
(1) The external teeth of the coupler are fixed; placing external teeth of a coupler to be detected and keeping the external teeth of the coupler in a horizontal state;
(2) Positioning a micrometer; the measuring surface of the micrometer is contacted with the tooth-shaped surface of the external tooth of the coupler by adjusting the relative position between the micrometer and the external tooth of the coupler;
(3) Reading; reading a micrometer;
(4) Replacing the measuring points to calculate a multi-time measuring average value; and driving the micrometer to move relative to the outer teeth of the coupler, moving the micrometer to the next measuring position, performing measurement again until at least four measuring points along the circumference of the outer teeth of the coupler complete common normal measurement, and finally calculating the average value of the multiple measuring data.
The beneficial effects of the present invention are described below:
(1) The outer teeth of the coupler are arranged on the clamping seat and then coaxially arranged with the clamping seat under the action of the clamping unit, and the moving track of the detection mechanism for detecting the outer teeth of the coupler is coaxial with the clamping seat, so that when the detection mechanism moves to other detection positions after one-time detection, the consistency of contact points between the detection mechanism and the outer teeth of the coupler can be ensured, and further the detection precision is ensured;
(2) The micrometer gauge is used for detecting the length of the common normal line of the outer teeth of the coupler, and the distance between the micrometer screw rod of the micrometer gauge and the fixed side head can be automatically adjusted according to the requirement, so that the measurement surface of the detection mechanism is ensured to be in close contact with the common normal line of the outer teeth of the coupler, and the detection precision is ensured;
(3) When detecting the different positions of the outer teeth of the coupler, the detection mechanism and the outer teeth of the coupler are convenient to move, and compared with the mode of freehand operation of the prior art, the method is time-saving and labor-saving.
Claims (4)
1. The device is characterized by comprising a base, a clamping seat, a clamping unit and a movement detection unit, wherein the clamping seat is fixed on the base, the clamping seat is internally provided with the clamping unit, the part, extending out of the clamping seat, of the clamping unit is contacted with the inner wall of a central hole of the outer tooth of the coupler to be detected to clamp the outer tooth of the coupler, the movement detection unit comprises a moving table, a detection mechanism and a position adjustment mechanism, the detection mechanism and the position adjustment mechanism are arranged on the moving table, the moving table and the clamping seat relatively move around the circumference with the axis of the outer tooth of the coupler as the center, the detection mechanism comprises a micrometer, and the position adjustment mechanism drives a micrometer screw rod of the micrometer to move to be contacted with the tooth surface of the outer tooth of the coupler; a circular guide rail is fixed at the top of the base, the movable table is in sliding connection with the guide rail, and a travelling mechanism for driving the movable table to move along the circumference of the guide rail is arranged on the side wall of the movable table; the clamping unit comprises clamping rods and a telescopic mechanism, wherein the clamping rods are slidably connected with the top of the clamping seat, the telescopic mechanism drives the clamping rods to move, the clamping rods are uniformly arranged along the circumferential direction, and the clamping rods radially move along the external teeth of the coupler; the telescopic mechanism comprises a driving disc rotatably installed in the clamping seat, driving grooves which are in one-to-one correspondence with the clamping rods are formed in the driving disc, the driving rods are arranged at the bottoms of the clamping rods, extend into the driving grooves, and the inner walls of the driving grooves extrude the driving rods to drive the clamping rods to move; the detection mechanism further comprises a main detection rod and an auxiliary detection rod, the main detection rod is rotationally connected with the mobile station, a torsion spring is arranged between the main detection rod and the mobile station, and a positioning mechanism for keeping the main detection rod and the auxiliary detection rod relatively parallel is arranged on the mobile station; the auxiliary detection rod is rotationally connected with the micrometer screw rod of the micrometer and is in relative sliding connection with the mobile station, and the measuring surfaces on the main detection rod and the auxiliary detection rod are used for being in contact with the tooth-shaped surface of the external tooth of the coupler to realize common normal length measurement.
2. The device for detecting the common normal line of the outer teeth of the coupling for railway traffic according to claim 1, wherein the positioning mechanism comprises an iron block fixed on the main detection rod and an electromagnet fixed on the mobile station and in contact with the iron block.
3. The device for detecting the common normal line of the external teeth of the coupling for railway traffic according to claim 1, wherein the position adjusting mechanism comprises a first sliding table, a first cylinder, a second sliding table and a second cylinder, wherein the first sliding table is in sliding connection with the moving table, the first cylinder is in sliding connection with the first sliding table, the second cylinder is in sliding connection with the first sliding table, the moving directions of the first sliding table and the second sliding table are mutually perpendicular, and the micrometer is fixed on the second sliding table.
4. The device for detecting the common normal line of the outer tooth of the coupling for track traffic according to claim 3, wherein a driven gear is fixed to a knob of the micrometer, a driving motor is fixed to the second slide table, and a driving gear engaged with the driven gear is fixed to an output shaft of the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210267661.5A CN114608409B (en) | 2022-03-18 | 2022-03-18 | Device and method for detecting common normal line of external teeth of coupling for track traffic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210267661.5A CN114608409B (en) | 2022-03-18 | 2022-03-18 | Device and method for detecting common normal line of external teeth of coupling for track traffic |
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| CN114608409B true CN114608409B (en) | 2024-06-04 |
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| CN202210267661.5A Active CN114608409B (en) | 2022-03-18 | 2022-03-18 | Device and method for detecting common normal line of external teeth of coupling for track traffic |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115326816B (en) * | 2022-10-11 | 2023-01-17 | 荣旗工业科技(苏州)股份有限公司 | Workpiece surface detection device |
| CN116989647B (en) * | 2023-06-28 | 2024-03-19 | 安徽瑞远管道有限公司 | Pipeline coaxiality detection robot and automatic production line |
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