CN115467203B - Self-propelled repairing and polishing robot for steel rail maintenance - Google Patents
Self-propelled repairing and polishing robot for steel rail maintenance Download PDFInfo
- Publication number
- CN115467203B CN115467203B CN202211126038.4A CN202211126038A CN115467203B CN 115467203 B CN115467203 B CN 115467203B CN 202211126038 A CN202211126038 A CN 202211126038A CN 115467203 B CN115467203 B CN 115467203B
- Authority
- CN
- China
- Prior art keywords
- rod
- fixedly connected
- frame
- transmission
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
- E01B31/02—Working rail or other metal track components on the spot
- E01B31/12—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails
- E01B31/17—Removing metal from rails, rail joints, or baseplates, e.g. for deburring welds, reconditioning worn rails by grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of steel rail grinding, in particular to a self-propelled repairing and grinding robot for steel rail maintenance, which comprises a travelling module and a supporting module, wherein the travelling module comprises a connecting plate and a connecting frame, the bottom surface of the connecting plate is fixedly connected with the supporting module, the bottom surface of the connecting frame and the supporting module are both fixedly connected with two grinding modules, the top surface of the connecting plate is provided with a connecting groove, and the bottom surface of the connecting frame is fixedly connected with a connecting rod in sliding connection with the inner side surface of the connecting groove. According to the invention, the positioning piece is fixedly connected to the bottom end of the sliding rod, and the sliding block can slide on the reciprocating lead screw, so that the connecting plate or the connecting frame can move, the polishing module is driven to move, the steel rail is polished, when polishing is carried out, the position of the connecting plate or the connecting frame can be fixed through the positioning piece, the stability of the connecting plate or the connecting frame during moving is favorably improved, the polishing of the polishing module has small influence on the movement of the polishing robot, and the smooth polishing is favorably carried out.
Description
Technical Field
The invention relates to the technical field of rail grinding, in particular to a self-propelled repairing and grinding robot for rail maintenance.
Background
Rail is polished and is an important content of rail maintenance work, can improve wheel rail contact relation through polishing, prevention and delay contact fatigue, wearing and tearing, wave form wearing and tearing scheduling problem produce, repair light rail surface, reduce the risk of rail rupture, extension track equipment life, when carrying out rail maintenance and polishing, can use sometimes to restore grinding equipment and walk on the rail and polish, but when grinding device polished, because the rotation of the relative rail of abrasive brick, make to polish and cause the influence easily to grinding device's removal, be unfavorable for going on smoothly of polishing.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide a self-propelled repairing and polishing robot for rail maintenance, a positioning piece is fixedly connected to the bottom end of a sliding rod, and a sliding block can slide on a reciprocating lead screw, so that a connecting plate or a connecting frame can move to drive a polishing module to move to polish a rail.
The purpose of the invention can be realized by the following technical scheme:
a self-propelled repairing and polishing robot for steel rail maintenance comprises a traveling module and a supporting module, wherein the traveling module comprises a connecting plate and a connecting frame, the bottom surface of the connecting plate is fixedly connected with the supporting module, the bottom surface of the connecting frame and the supporting module are both fixedly connected with two polishing modules, the top surface of the connecting plate is provided with a connecting groove, the bottom surface of the connecting frame is fixedly connected with a connecting rod which is slidably connected with the inner side surface of the connecting groove, the side surface of the connecting rod is fixedly connected with a sliding block which is slidably connected with the inner side surface of the connecting groove, the inner side surface of the connecting groove is fixedly connected with a motor I, the output end of the motor I is in transmission connection with a reciprocating lead screw which is in contact with the inner side surface of the connecting rod, the reciprocating lead screw is provided with a sliding block which is fixedly connected with the connecting rod, the bottom surface of the connecting plate and the bottom surface of the connecting frame are both fixedly connected with two fixing frames, the inner side surfaces of the fixing frames are slidably connected with a sliding rod, the bottom end of the sliding rod is fixedly connected with a positioning piece, the inner side surface of the fixing frame is rotatably connected with a screw rod which is rotatably connected with the sliding rod, the bottom surface of the connecting plate and the bottom surface of the connecting frame are rotatably connected with the top end of the adjacent screw rod, the steel rail can be polished through a polishing module, the screw rod can be rotated to enable the sliding rod to drive the positioning piece to move downwards to abut against the steel rail, so that the position of the connecting plate or the connecting frame is limited, the first motor can drive the reciprocating screw rod to rotate, the sliding block can slide on the reciprocating screw rod to enable the connecting plate and the connecting frame to be close to or far away from each other, the position of the connecting plate or the connecting frame can be limited through the positioning piece, so that the connecting plate can be close to the positioned connecting frame or the connecting frame can be far away from the positioned connecting plate, and the repairing polishing robot can move forward, and the connecting plate or the connecting frame can drive the polishing module at the bottom of the connecting plate or the connecting frame to move, the steel rail is polished, when polishing is carried out, the positioning piece enables the connecting plate to be fixed in position and the connecting frame to move, or the connecting plate moves and the connecting frame moves forward, so that the stability of the connecting plate or the connecting frame during moving is improved, the polishing module has small influence on the movement of the polishing robot, and the polishing is favorably and smoothly carried out.
Further, the method comprises the following steps: the two sides inside the connecting plate are rotatably connected with a first transmission rod, the two sides of the inner side surface of the connecting frame are rotatably connected with a second transmission rod, one end of the second transmission rod is fixedly connected with a rectangular rod which is in sliding connection with the inner side surface of the adjacent first transmission rod, the top end of the screw rod, one side surface of the transmission rod and the two side surfaces of the transmission rod are fixedly sleeved with a first bevel gear, the two adjacent first bevel gears are in meshing transmission, the top of the side surface of the screw rod is fixedly sleeved with a first belt pulley, two first belt pulleys on one side of the same short edge of the connecting plate are in transmission connection through a belt, the two screw rods at the bottom of the connecting plate or the connecting frame can synchronously rotate through the belt pulleys, the first transmission rod can drive a second transmission rod to rotate through the rectangular rod, the first transmission rod can drive the adjacent screw rods to rotate through the bevel gears, the second transmission rod can drive the adjacent screw rods to rotate through the bevel gears, the connecting plate and the screw rods at the bottom of the connecting frame synchronously rotate, and the rotating directions are opposite.
Further, the method comprises the following steps: the two sides of the inner side surface of the connecting groove are both rotationally connected with a first driving shaft, one side surface of the driving shaft is fixedly sleeved with a first driving gear, one side of the connecting groove, which is far away from the sliding block, is rotationally connected with a second driving shaft, the two sides of the driving shaft are fixedly sleeved with a second driving gear which is in meshing transmission with the adjacent first driving gear, the first driving shaft and the two sides of the driving shaft are both fixedly sleeved with a third belt pulley, the third gear and the fourth gear which are positioned on the same short edge of the connecting plate are in transmission connection through a belt, the inner side surface of the connecting rod is slidably connected with an inserting block which is in contact with the inner side surface of the connecting groove, the inner side surface of the inserting block is rotationally connected with a rotating shaft, and the side surface of the rotating shaft is fixedly sleeved with a transmission gear, and drive gear and adjacent drive gear meshing transmission, the second motor of plug-in connection piece side fixedly connected with, the second output of motor is connected with axis of rotation one end transmission, the equal fixedly connected with in plug-in connection piece both ends and connecting rod medial surface fixed connection's reset spring, the spacing rail of bottom surface fixedly connected with in the spread groove, inside the stopper that all is provided with spread groove medial surface fixed connection in spacing rail both sides, two the stopper is close to one end mutually and all rotates and is connected with the guide block, the guide block medial surface be provided with stopper medial surface fixed connection's spacing axle, be provided with torsion spring between spacing axle and the guide block medial surface, plug-in connection piece bottom surface fixedly connected with circle piece, and spacing rail all contacts with circle piece side with a stopper side.
The second motor can drive the transmission gear to rotate through the rotating shaft, the transmission gear can drive a first drive gear to rotate, the first drive gear can drive a first drive shaft to rotate, the first drive shaft can drive the first drive transmission rod to rotate through the third belt pulley and the fourth belt pulley, so that the screw rod rotates, the positioning piece at the bottom of the connecting plate is lowered to enable the positioning piece to abut against the steel rail, the position of the connecting plate is limited, the positioning piece at the bottom of the connecting frame moves upwards to be separated from the steel rail, after the round block is contacted with the inner side face at one end of the limiting rail, the inserting block and the round block can move towards the connecting rod under the action of the reset spring, the transmission gear is separated from the first drive gear, the screw rod cannot be driven to rotate, the sliding block moves reversely along the reciprocating screw rod to enable the connecting frame to move away from the connecting plate, and the connecting plate drives the polishing module below the connecting plate to advance to polish the steel rail, when the sliding block moves from one end of the reciprocating screw rod to the other end, the round block moves away from the connecting rod under the action of the guide block at the other end of the limiting rail and the inclined plane of the limiting block, the transmission gear is meshed with the other driving gear, so that the other driving shaft is driven to rotate, the other driving shaft can drive the driving shaft to rotate in the reverse direction through the driving gear I and the driving gear II, the driving shaft II can drive the transmission rod I to rotate through the belt pulley III and the belt pulley IV on the transmission rod I, so that the transmission rod I rotates in the reverse direction, the positioning piece on the connecting plate is lifted, the positioning piece of the connecting frame is lowered to be in contact with the steel rail, the position of the connecting frame is limited, under the action of the reset spring, after the transmission gear is separated from the other driving gear I, the reciprocating screw rod can enable the sliding block to move towards the other end of the multifilament rod, so that the connecting plate moves towards the connecting frame, thereby make the module of polishing under the connecting plate advance and polish the rail, the module of polishing under connecting plate and the link can carry out thin polishing and rough polishing to the rail respectively, and motor one drives reciprocal lead screw and lasts the rotation like this to make connecting plate and link advance in turn, carry out the restoration of polishing that lasts to the rail, easy operation, convenient to use.
Further, the method comprises the following steps: the support module comprises two fixing rods, an adjusting frame is arranged on the bottom surfaces of the fixing rods, an adjusting plate connected with the fixing rods in a rotating mode is connected to the inner side face of the adjusting frame in a sliding mode, a supporting seat fixedly connected with the top face of the adjusting plate and fixedly connected with the bottom face of a connecting plate is arranged on the inner side face of each of the two ends of each fixing rod, a positioning rod is connected to the inner side face of each fixing rod in a sliding mode, one end of each positioning rod located on the same short edge of the connecting plate is connected with a supporting mechanism in a rotating mode, the supporting mechanism can be in contact with a steel rail and supports the positioning rods, the positioning rods can support the adjusting plates, and the adjusting plates can support the advancing modules through the supporting seats.
Further, the method comprises the following steps: the adjusting frame bottom surface is fixedly connected with an electric telescopic rod II, the two output ends of the electric telescopic rod are connected with a supporting frame in a transmission mode, the inner side of the adjusting frame is provided with a motor III, the three output ends of the motor are connected with a furling rod which is connected with the inner side of the adjusting frame in a rotating mode, adjusting wires are fixedly connected to the two sides of the bottom surface of the adjusting plate, one end of each adjusting wire penetrates into the inside of the adjusting frame and is wound on the furling rod, the supporting frame can be lowered through the electric telescopic rod II, the supporting frame is enabled to downwards support the ground, the robot is supported and separated from a steel rail, a motor III can be selectively started, the furling rods are enabled to rotate, one adjusting wire of the furling rods is enabled to furl, another adjusting wire is emitted, the two ends of each adjusting wire are respectively located on the two sides of the adjusting frame, the adjusting wires can enable the adjusting plate to move, and the adjusting plate and the advancing module move to the outer side of the steel rail.
Further, the method comprises the following steps: the supporting mechanism comprises an ejector rod, the top surface of the ejector rod is rotatably connected with one end of each of two adjacent positioning rods, the bottom surface of the ejector rod is fixedly connected with a first electric telescopic rod, the output end of the first electric telescopic rod is in transmission connection with a lifting frame, two sides of the bottom surface of the lifting frame are provided with connecting seats, the side surfaces of the connecting seats are rotatably connected with idler wheels through shaft rods, and the idler wheels can roll on a steel rail to support an advancing module.
Further, the method comprises the following steps: the lifting frame top surface fixedly connected with four output ends of the motor are in transmission connection with the top end of a transmission shaft, one side of the inside of an ejector rod is provided with a fifth motor and a first adjusting shaft, the fifth motor is in transmission connection with a second adjusting shaft, the first adjusting shaft is in transmission connection with one end of an adjacent positioning rod, the first adjusting shaft and the two side surfaces of the adjusting shaft are fixedly sleeved with a second bevel gear, and the two bevel gears are in meshing transmission.
The support frame can be selectively lowered to support the robot, one positioning rod is rotated to enable two support mechanisms to be located on two sides of a rail, the support module stretches across the rail, the support frame is raised to move an adjusting frame to the outer side of the rail, the support frame is lowered to be supported on the ground, a roller of one support mechanism is raised through an electric telescopic rod, the positioning rod is rotated or an adjusting plate is moved to move into the adjusting frame, one support mechanism is moved to the position of the other support mechanism, the two support mechanisms are located on the same side of the rail, the robot is moved to one side of the rail to avoid a vehicle, the roller moving direction of one support mechanism can be adjusted from longitudinal direction to transverse direction through a motor, the positioning rod is rotated to enable one support mechanism to move along the transverse direction, the roller moving direction of one support mechanism is adjusted to the longitudinal direction through the motor, the roller moving direction of the other support mechanism is adjusted to the transverse direction, and the positioning rod is rotated reversely, so that the roller of the other support mechanism can move transversely to other rails to polish the rails.
Further, the method comprises the following steps: the polishing module includes three and the fixing base of electric telescopic handle, adjust the equal fixedly connected with installing frame in frame bottom surface both sides, installing frame bottom surface and three top fixed connection of adjacent electric telescopic handle, and the connecting frame bottom surface and three top fixed connection of two adjacent electric telescopic handle, the fixing base medial surface rotates and is connected with the sanding block, and the inside driving motor that is provided with of fixing base, the driving motor output is connected with sanding block side transmission, and driving motor can drive the sanding block and rotate, polishes the rail, can make three rising sanding blocks of electric telescopic handle, avoids when the position of adjustment robot, and the sanding block causes the influence.
The invention has the beneficial effects that:
1. the steel rail polishing machine is characterized in that a positioning piece is fixedly connected to the bottom end of a sliding rod, a polishing module can polish a steel rail, the positioning piece is abutted to the steel rail through the rotation of a screw rod, so that the position of a connecting plate or a connecting frame is limited, a first motor can drive a reciprocating screw rod to rotate, a sliding block can slide on the reciprocating screw rod to drive the connecting plate or the connecting frame to move, so that the polishing module at the bottom of the connecting plate or the connecting frame is driven to move, the steel rail is polished, the position of the connecting plate or the connecting frame can be fixed through the positioning piece during polishing, the stability of the connecting plate or the connecting frame during moving is improved, the influence of polishing of the polishing module on the movement of a polishing robot is small, and smooth polishing is facilitated;
2. be connected with the support frame through two output transmissions of electric telescopic handle, electric telescopic handle two can make the support frame move down, the module of will marcing props up, thereby make support module and rail break away from, at this moment can three drive roll-up levers rotations of motor, make regulating wire pulling regulating plate remove, thereby it keeps away from the rail removal to drive the module of marcing, the module of will marcing removes the rail scope with supporting mechanism, like this when having the train to pass through, can remove rail one side with repairing polishing robot in advance, avoid causing the influence to the driving a vehicle.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of a self-propelled repairing and polishing robot for rail maintenance according to the present invention;
FIG. 2 is a front view of the robot of the present invention;
FIG. 3 is a schematic view of the internal front structure of the connection plate of the present invention;
FIG. 4 is a schematic view of the inside elevation of the fixing frame of the present invention;
FIG. 5 is a schematic view of the internal top view of the connecting plate of the present invention;
FIG. 6 is a schematic bottom view of the spacing rail of the present invention;
FIG. 7 is a side view of the plug block of the present invention;
FIG. 8 is a schematic view of the support module of the present invention;
FIG. 9 is a front view of the supporting mechanism of the present invention;
FIG. 10 is a schematic view of the bottom structure of the adjustment frame in the present invention;
fig. 11 is a schematic view of the interior of the adjustment frame in front view.
In the figure: 100. a traveling module; 110. a connecting plate; 111. a first transmission rod; 112. connecting grooves; 113. a first motor; 114. a reciprocating screw; 115. a slider; 120. a connecting frame; 121. a second transmission rod; 122. a rectangular rod; 130. a fixing frame; 131. a slide bar; 132. positioning plates; 134. a screw rod; 135. a first belt pulley; 150. a first bevel gear; 160. a connecting rod; 162. an insertion block; 164. a transmission gear; 165. a second motor; 166. a round block; 167. a return spring; 170. a first driving shaft; 171. driving a gear I; 180. a second driving shaft; 181. driving a gear II; 190. a limit rail; 191. a limiting block; 192. a guide block; 200. a support module; 210. a fixing rod; 211. positioning a rod; 220. an adjusting frame; 221. an adjusting plate; 222. an adjustment line; 223. a third motor; 224. a winding rod; 240. a support mechanism; 241. a top rod; 242. a first electric telescopic rod; 243. a lifting frame; 244. a connecting seat; 245. a roller; 246. a fourth motor; 247. a drive shaft; 248. a second belt pulley; 250. a second electric telescopic rod; 251. a support frame; 270. a fifth motor; 300. polishing the module; 310. a third electric telescopic rod; 320. a fixed seat; 330. and (7) polishing blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-11, a self-propelled repairing and polishing robot for rail maintenance comprises a traveling module 100 and a supporting module 200, the traveling module 100 comprises a connecting plate 110 and a connecting frame 120, the bottom surface of the connecting plate 110 is fixedly connected with the supporting module 200, the bottom surface of the connecting frame 120 and the supporting module 200 are both fixedly connected with two polishing modules 300, the top surface of the connecting plate 110 is provided with a connecting groove 112, the bottom surface of the connecting frame 120 is fixedly connected with a connecting rod 160 slidably connected with the inner side surface of the connecting groove 112, the side surface of the connecting rod 160 is fixedly connected with a sliding block 115 slidably connected with the inner side surface of the connecting groove 112, the inner side surface of the connecting groove 112 is fixedly connected with a motor i 113, the output end of the motor i 113 is in transmission connection with a reciprocating screw 114 in contact with the inner side surface of the connecting rod 160, the reciprocating screw 114 is provided with the sliding block 115 fixedly connected with the connecting rod 160, the bottom surface of the connecting plate 110 and the bottom surface of the connecting frame 120 are both fixedly connected with two fixing frames 130, the inner side surface of the fixing frame 130 is connected with a sliding rod 131 in a sliding way, the bottom end of the sliding rod 131 is fixedly connected with a positioning plate 132, the inner side surface of the fixing frame 130 is connected with a screw rod 134 which is connected with the sliding rod 131 in a rotating way, the bottom surface of the connecting plate 110 and the bottom surface of the connecting frame 120 are both connected with the top end of the adjacent screw rod 134 in a rotating way, a steel rail can be polished by the polishing module 300, the screw rod 134 rotates to enable the sliding rod 131 to drive the positioning plate 132 to move downwards to abut against the steel rail, so as to limit the position of the connecting plate 110 or the connecting frame 120, the first motor 113 can drive the reciprocating screw rod 114 to rotate, the sliding block 115 can slide on the reciprocating screw rod 114 to enable the connecting plate 110 and the connecting frame 120 to be close to or far away from the connecting plate 110 which is positioned by the positioning plate 132, so that the connecting plate 110 can be close to the connecting plate 120 which is positioned, or the connecting frame 120 can be far away from the positioned connecting plate 110, thereby make repair polishing robot advance, connecting plate 110 or linking frame 120 can drive the module 300 of polishing of its bottom and remove, polish the rail, when polishing, make the rigidity of connecting plate 110, linking frame 120 remove through spacer 132, or connecting plate 110 removes, linking frame 120 advances, stability when being favorable to improving connecting plate 110 or linking frame 120 and removing, the polishing of module 300 is less to the influence that polishing robot removed, be favorable to going on smoothly of polishing.
The two sides of the inside of the connecting plate 110 are rotatably connected with first transmission rods 111, the two sides of the inner side of the connecting frame 120 are rotatably connected with second transmission rods 121, one end of each second transmission rod 121 is fixedly connected with a rectangular rod 122 in sliding connection with the inner side of the adjacent first transmission rod 111, the top end of each screw rod 134, the side of each first transmission rod 111 and the side of each second transmission rod 121 are fixedly sleeved with a first bevel gear 150, the adjacent first bevel gears 150 are in meshing transmission, the top of the side of each screw rod 134 is fixedly sleeved with a first belt pulley 135, the two first belt pulleys 135 on one side of the same short side of the connecting plate 110 are in transmission connection through belts, the two screw rods 134 at the bottom of the connecting plate 110 or the connecting frame 120 can synchronously rotate through the first belt pulleys 135, the first transmission rods 111 can drive the second transmission rods 121 to rotate through the rectangular rods 122, the first transmission rods 111 can drive the adjacent screw rods 134 to rotate through the first bevel gears 150, and the second transmission rods 121 can drive the adjacent screw rods 134 to rotate through the first bevel gears 150, so that the connecting plate 110 and the screw rods 134 at the bottom of the connecting frame 120 synchronously rotate in opposite directions.
The two sides of the inner side of the connecting groove 112 are rotatably connected with a first driving shaft 170, the side of the first driving shaft 170 is fixedly sleeved with a first driving gear 171, one side of the connecting groove 112, which is far away from the sliding block 115, is rotatably connected with a second driving shaft 180, the side of the second driving shaft 180 is fixedly sleeved with a second driving gear 181 which is in meshing transmission with the adjacent first driving gear 171, the sides of the first driving shaft 170 and the second driving shaft 180 are fixedly sleeved with a third belt pulley, the two sides of the side of a first driving rod 111 are fixedly sleeved with a fourth belt pulley, a third gear and a fourth gear which are positioned on the same short side of the connecting plate 110 are in belt transmission connection with a fourth gear, the inner side of the connecting rod 160 is slidably connected with an inserting block 162 which is in contact with the inner side of the connecting groove 112, the inner side of the inserting block 162 is rotatably connected with a rotating shaft, and the side of the rotating shaft is fixedly sleeved with a transmission gear 164, and the transmission gear 164 is in meshing transmission with the adjacent first driving gear 171, the side surface of the insertion block 162 is fixedly connected with a second motor 165, the output end of the second motor 165 is in transmission connection with one end of the rotating shaft, the two ends of the insertion block 162 are fixedly connected with a return spring 167 fixedly connected with the inner side surface of the connecting rod 160, the inner bottom surface of the connecting groove 112 is fixedly connected with a limiting rail 190, the two sides of the limiting rail 190 are internally provided with limiting blocks 191 fixedly connected with the inner side surface of the connecting groove 112, the two limiting blocks 191 are close to one end and are rotatably connected with a guide block 192, the inner side surface of the guide block 192 is provided with a limiting shaft fixedly connected with the inner side surface of the limiting block 191, a torsion spring is arranged between the limiting shaft and the inner side surface of the guide block 192, the bottom surface of the insertion block 162 is fixedly connected with a round block 166, and the side surfaces of the limiting rail 190 and one limiting block 191 are in side contact with the round block 166.
The second motor 165 can drive the transmission gear 164 to rotate through the rotating shaft, the transmission gear 164 can drive the first driving gear 171 to rotate, the first driving gear 171 can drive the first driving shaft 170 to rotate, the first driving shaft 170 can drive the first transmission rod 111 to rotate through the third belt pulley and the fourth belt pulley, so that the screw rod 134 rotates, the positioning sheet 132 at the bottom of the connecting plate 110 is lowered, the positioning sheet 132 is abutted against the steel rail, the position of the connecting plate 110 is limited, the positioning sheet 132 at the bottom of the connecting frame 120 moves upwards to be separated from the steel rail, after the round block 166 is contacted with the inner side face of one end of the limiting rail 190, the inserting block 162 and the round block 166 can move towards the connecting rod 160 under the action of the reset spring 167, the transmission gear 164 is separated from the first driving gear 171, at this time, the screw rod 134 cannot be driven to rotate, and the sliding block 115 reversely moves along the reciprocating screw rod 114, when the connecting frame 120 moves away from the connecting plate 110, the connecting plate 110 drives the polishing module 300 under the connecting plate 110 to advance to polish the steel rail, and the slider 115 moves from one end of the reciprocating screw 114 to the other end, the round block 166 moves away from the connecting rod 160 under the action of the guide block 192 and the inclined surface of the limit block 191 at the other end of the limit rail 190, so that the transmission gear 164 is meshed with the first driving gear 171 to drive the first driving gear 170 to rotate, the first driving gear 170 can drive the second driving gear 180 to rotate reversely through the first driving gear 171 and the second driving gear 181, the second driving gear 180 can drive the first transmission rod 111 to rotate through the third belt pulley and the fourth belt pulley on the first transmission rod 111, so that the first transmission rod 111 rotates reversely, the positioning piece 132 on the connecting plate 110 is lifted, and the positioning piece 132 of the connecting frame 120 is lowered to be in contact with the steel rail to limit the position of the connecting frame 120, under the action of the return spring 167, after the transmission gear 164 is separated from the other driving gear 171, the reciprocating lead screw 114 enables the sliding block 115 to move towards the other end of the multifilament bar 114, the connecting plate 110 moves towards the connecting frame 120, so that the polishing module 300 under the connecting plate 110 advances to polish the steel rail, the connecting plate 110 and the polishing module 300 under the connecting frame 120 can respectively polish the steel rail finely and coarsely, and the motor one 113 drives the reciprocating lead screw 114 to rotate continuously, so that the connecting plate 110 and the connecting frame 120 alternately advance to polish and repair the steel rail continuously, the operation is simple, and the use is convenient.
The bottom surface of the adjusting frame 220 is fixedly connected with a second electric telescopic rod 250, the output end of the second electric telescopic rod 250 is connected with a support frame 251 in a transmission manner, the inner side surface of the adjusting frame 220 is provided with a third motor 223, the output end of the third motor 223 is connected with a furling rod 224 which is rotatably connected with the inner side surface of the adjusting frame 220 in a transmission manner, both sides of the bottom surface of the adjusting plate 221 are fixedly connected with adjusting wires 222, one end of each adjusting wire 222 penetrates into the adjusting frame 220 and is wound on the furling rod 224, the support frame 251 can be lowered through the second electric telescopic rod 250 to enable the support frame 251 to be abutted to the ground downwards, so that the robot is supported and separated from a steel rail, the third motor 223 can be selectively started to enable the furling rod 224 to rotate, one adjusting wire 222 is furled by the furling rod 224, the other adjusting wire 222 is paid out, and the two ends of the adjusting wires 222 are respectively located on both sides of the adjusting frame 220, so that the adjusting wires 222 can enable the adjusting plate 221 to move, and the adjusting plate 221 and the advancing module 100 move to the outer side of the steel rail.
The supporting mechanism 240 comprises an ejector rod 241, the top surface of the ejector rod 241 is rotatably connected with one end of each of the two adjacent positioning rods 211, a first electric telescopic rod 242 is fixedly connected with the bottom surface of the ejector rod 241, an output end of the first electric telescopic rod 242 is in transmission connection with a lifting frame 243, connecting seats 244 are arranged on two sides of the bottom surface of the lifting frame 243, the side surfaces of the connecting seats 244 are rotatably connected with idler wheels 245 through shaft rods, and the idler wheels 245 can roll on steel rails to support the advancing module 100.
The inner side surfaces of two sides of the lifting frame 243 are rotatably connected with transmission shafts 247 fixedly connected with the top surfaces of the adjacent connecting seats 244, the side surfaces of the transmission shafts 247 are fixedly sleeved with belt pulleys II 248, the two belt pulleys II 248 are connected through belt transmission, the top surface of the lifting frame 243 is fixedly connected with a motor IV 246, the output ends of the motor IV 246 are in transmission connection with the top end of one transmission shaft 247, one side inside the ejector rod 241 is provided with a motor V270 and an adjusting shaft I, the output end of the motor V270 is in transmission connection with an adjusting shaft II, the adjusting shaft I is in transmission connection with one end of the adjacent positioning rod 211, the adjusting shaft I and the two side surfaces of the adjusting shaft are fixedly sleeved with bevel gears II, and the two bevel gears are in meshing transmission.
Optionally, the support frame 251 is lowered to support the robot, one positioning rod 211 is rotated to position two support mechanisms 240 on both sides of the rail, the support module 200 is stretched across the rail, the support frame 251 is raised to move the adjusting frame 220 to the outside of the rail, the support frame 251 is lowered to be supported on the ground, the roller 245 of one support mechanism 240 is raised by the electric telescopic rod one 242, the positioning rod 211 is rotated or the adjusting plate 221 is moved into the adjusting frame 220, one support mechanism 240 is moved to the position of the other support mechanism 240, the two support mechanisms 240 are positioned on the same side of the rail, the robot is moved to the rail side to avoid the vehicle, the roller 245 of one support mechanism 240 is adjusted from the longitudinal direction to the transverse direction by the motor four 246, the positioning rod 211 is rotated to move one support mechanism 240 in the transverse direction, the roller 245 of one support mechanism 240 is adjusted to the longitudinal direction by the motor four 246, the roller 245 of the other support mechanism 240 is adjusted to the transverse direction, and the positioning rod 211 is rotated in the reverse direction, so that the roller 245 of the other support mechanism 240 is moved in the transverse direction, and the rail is polished by the other support mechanism 240.
The working principle is as follows: when the steel rail grinding machine is used, the first motor 113, the second motor 165 and the driving motor are started, the driving motor can drive the grinding block 330 to rotate, the grinding block 330 is enabled to grind a steel rail, the first motor 113 can drive the reciprocating screw 114 to rotate, the reciprocating screw 114 can drive the connecting rod 160 to move along the reciprocating screw 114 by the sliding block 115, the connecting frame 120 is enabled to move towards the connecting plate 110, the second motor 165 can drive the transmission gear 164 to rotate through the rotating shaft, the transmission gear 164 can drive the first driving gear 171 to rotate, the first driving gear 171 can drive the first driving shaft 170 to rotate, the first driving shaft 170 can drive the first transmission rod 111 to rotate through the third belt pulley and the fourth belt pulley, the first transmission rod 111 can rotate through the rectangular rod 122, and the first transmission rod 111 and the second transmission rod 121 can drive the screw 134 to rotate through the first bevel gear 150, the two screw rods 134 positioned at the bottom of the connecting plate 110 or the connecting frame 120 can synchronously rotate through the first belt pulley 135, the screw rods 134 rotate to enable the sliding rods 131 to move, so that the positioning sheets 132 at the bottom of the connecting plate 110 downwards move to abut against the steel rails, and the positioning sheets 132 at the bottom of the connecting frame 120 upwards move to be separated from the steel rails, so that the position of the connecting plate 110 can be fixed through the positioning sheets 132, at this time, the round blocks 166 move to one end of the limiting rail 190, under the action of the return spring 167, the inserting blocks 162 and the round blocks 166 can move towards the connecting rod 160, so that the transmission gear 164 is separated from one driving gear I171, at this time, the screw rods 134 stop rotating, and at this time, the sliding blocks 115 reversely move along the reciprocating screw rods 114, so that the connecting frame 120 can move away from the connecting plate 110 due to the fixed position of the connecting plate 110, so that the connecting plate 110 drives the polishing module 300 below to advance to polish the steel rails;
when the sliding block 115 moves from one end to the other end of the reciprocating screw 114, the round block 166 moves away from the connecting rod 160 under the action of the guide block 192 and the inclined surface of the limit block 191 at the other end of the limit rail 190, drives the insertion block 162 to move away from the connecting rod 160, so that the transmission gear 164 is meshed with the first driving gear 171, and drives the first driving shaft 170 to rotate, the first driving shaft 170 can drive the second driving shaft 180 to rotate through the first driving gear 171 and the second driving gear 181, the second driving shaft 180 can drive the first driving rod 111 to rotate through the third belt pulley thereon and the fourth belt pulley on the first driving rod 111, so that the first driving rod 111 rotates reversely, the first driving rod 111 can rotate the screw 134 reversely, so that the positioning piece 132 on the connecting plate 110 moves upwards to be separated from the steel rail, and the positioning piece 132 under the connecting frame 120 moves downwards to be in contact with the steel rail, the connecting plate 110 can move towards the connecting frame 120 due to the fixed position of the connecting frame 120, so that the grinding module 300 under the connecting plate 110 advances to grind the steel rail, the connecting plate 110 and the grinding module 300 under the connecting frame 120 can respectively perform fine grinding and rough grinding on the steel rail, and the motor I113 can continue to drive the reciprocating screw rod 114 to rotate, so that the connecting plate 110 and the connecting frame 120 alternately advance to perform continuous grinding repair on the steel rail;
when the vehicle needs to be avoided, the first motor 113, the second motor 165 and the driving motor are stopped, the third electric telescopic rod 310 is started, the fixing seat 320 and the polishing block 330 move upwards, the polishing block 330 is separated from the steel rail, then the second electric telescopic rod 250 is driven, the supporting frame 251 moves downwards and is supported on the ground, so that the repairing and polishing robot is upwards supported, then the fifth motor 270 drives the second adjusting shaft to rotate, the second adjusting shaft can drive the first adjusting shaft to rotate through the second bevel gear, the first adjusting shaft can drive the first positioning rod 211 to rotate, the ejector rod 241, the first positioning rod 210 and the positioning rod 211 can form a parallelogram, the adjusting frame 220 is positioned in the middle of the fixing rod 210 and is parallel to the ejector rod 241, the two supporting mechanisms 240 are separated from the steel rail, so that the fixing rod 210 can rotate, the two supporting mechanisms 240 move out of the range of the steel rail and are respectively positioned on two sides of the steel rail, the second electric telescopic rod 250 can contract at this time, the supporting mechanisms 240 are contacted with the ground, and the supporting mechanisms 240 are moved to the steel rail, and the supporting frame 251 is supported above;
starting a motor III 223, enabling a winding rod 224 to rotate, enabling the winding rod 224 to wind one adjusting wire 222, and paying out the other adjusting wire 222, wherein two ends of the adjusting wire 222 are respectively positioned at two sides of an adjusting frame 220, so that the adjusting frame 220 can be moved by the adjusting wire 222, the adjusting frame 220 is moved to the outer side of a rail, then a motor II 250 is started, a supporting frame 251 is lowered to be abutted against the ground, then a motor I242 is started, a lifting frame 243 is moved upwards, a roller 245 of a supporting mechanism 240 is moved upwards to be separated from the ground, then a motor V270 can be started, a positioning rod 211 is rotated reversely, a motor III 223 is started, the adjusting plate 221 is moved towards the adjusting frame 220, so that the supporting mechanism 240 crosses the rail and is moved to one side of the rail, then the roller 245 of the supporting mechanism 240 can be lowered to be supported on the ground, then the supporting frame 251 is lifted to be separated from the ground, and the repairing and polishing robot is completely moved to one side of the rail;
the fourth motor 246 of one support mechanism 240 can be started, the fourth motor 246 can drive one transmission shaft 247 to rotate, the two transmission shafts 247 can synchronously rotate, the transmission shafts 247 can drive the connecting seats 244 to rotate by 90 degrees, the traveling direction of the roller 245 of one support mechanism 240 is adjusted from longitudinal direction to transverse direction, the fifth motor 270 is started to rotate the positioning rod 211, at this time, one support mechanism 240 moves along the transverse direction, then the fourth motor 246 can be started, the traveling direction of the roller 245 of one support mechanism 240 is adjusted to longitudinal direction, the traveling direction of the roller 245 of the other support mechanism 240 is adjusted to transverse direction, and the positioning rod 211 reversely rotates, so that the roller 245 of the other support mechanism 240 moves along the transverse direction, and thus the repairing and polishing robot can transversely move to other rails to polish the rails.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.
Claims (8)
1. The self-propelled repairing and polishing robot for steel rail maintenance is characterized by comprising a traveling module (100) and a supporting module (200), wherein the traveling module (100) comprises a connecting plate (110) and a connecting frame (120), the bottom surface of the connecting plate (110) is fixedly connected with the supporting module (200), the bottom surface of the connecting frame (120) is fixedly connected with two polishing modules (300) and the supporting module (200), the top surface of the connecting plate (110) is provided with a connecting groove (112), the bottom surface of the connecting frame (120) is fixedly connected with a connecting rod (160) in sliding connection with the inner side surface of the connecting groove (112), the side surface of the connecting rod (160) is fixedly connected with a sliding block (115) in sliding connection with the inner side surface of the connecting groove (112), the inner side surface of the connecting groove (112) is fixedly connected with a first motor (113), the output end of the first motor (113) is in transmission connection with a reciprocating lead screw (114) in contact with the inner side surface of the connecting rod (160), the reciprocating lead screw (114) is provided with a sliding block (115) fixedly connected with the connecting rod (160), the bottom surface of the connecting plate (110) and the connecting frame (120) are fixedly connected with two fixed frames (130), the inner side surface of the sliding block (131) and the sliding locating rod (131), the inner side surface of the fixed frame (130) is rotatably connected with a screw rod (134) which is rotatably connected with the sliding rod (131), and the bottom surface of the connecting plate (110) and the bottom surface of the connecting frame (120) are rotatably connected with the top end of the adjacent screw rod (134).
2. The self-propelled repairing and grinding robot for steel rail maintenance according to claim 1, wherein a first transmission rod (111) is rotatably connected to each of two inner sides of the connecting plate (110), a second transmission rod (121) is rotatably connected to each of two inner sides of the connecting frame (120), one end of each second transmission rod (121) is fixedly connected with a rectangular rod (122) which is slidably connected with the inner side of the adjacent first transmission rod (111), the top end of the screw rod (134), the side surface of each first transmission rod (111) and the side surface of each second transmission rod (121) are fixedly sleeved with a first bevel gear (150), the adjacent first bevel gears (150) are in meshing transmission, the top of the side surface of the screw rod (134) is fixedly sleeved with a first belt pulley (135), and the two first belt pulleys (135) located on one side of the same short side of the connecting plate (110) are in transmission connection through belts.
3. The self-propelled repairing and polishing robot for steel rail maintenance according to claim 2, wherein both sides of the inner side of the connecting groove (112) are rotatably connected with a first driving shaft (170), the first driving shaft (170) is fixedly sleeved with a first driving gear (171), one side of the connecting groove (112) departing from the slider (115) is rotatably connected with a second driving shaft (180), the second driving shaft (180) is fixedly sleeved with a second driving gear (181) in meshing transmission with the adjacent first driving gear (171), the first driving shaft (170) and the second driving shaft (180) are fixedly sleeved with a third belt pulley, both sides of the side of the first driving rod (111) are fixedly sleeved with a fourth belt pulley, the third gear and the fourth gear on the same short side of the connecting plate (110) are in belt transmission connection, the inner side of the connecting rod (160) is slidably connected with an inserting block (162) in contact with the inner side of the connecting groove (112), the inner side of the inserting block (162) is rotatably connected with a rotating shaft, the side of the rotating shaft is fixedly sleeved with a transmission gear (164), the transmission gear (164) is in meshing transmission with the adjacent first rotating shaft (171), the inserting block (162) is fixedly connected with a side of the connecting rod (162), the connecting block (165), the second driving rod (165) is fixedly connected with an output end of the motor, and the motor (165) is connected with an output end of the restoring spring (165), bottom surface fixedly connected with spacing rail (190) in spread groove (112), inside stopper (191) that all is provided with and spread groove (112) medial surface fixed connection, two of spacing rail (190) both sides stopper (191) are close to one end mutually and all rotate and be connected with guide block (192), guide block (192) medial surface is provided with the spacing axle with stopper (191) medial surface fixed connection, be provided with torsion spring between spacing axle and guide block (192) medial surface, plug-in block (162) bottom surface fixedly connected with circle piece (166), and spacing rail (190) and a stopper (191) side all contact with circle piece (166) side.
4. The self-propelled repairing and grinding robot for steel rail maintenance according to claim 1, wherein the supporting module (200) comprises two fixing rods (210), the bottom surfaces of the fixing rods (210) are provided with adjusting frames (220), adjusting plates (221) rotatably connected with the fixing rods (210) are slidably connected to the inner side surfaces of the adjusting frames (220), supporting seats fixedly connected with the bottom surfaces of the connecting plates (110) are fixedly connected to the top surfaces of the adjusting plates (221), positioning rods (211) are slidably connected to the inner side surfaces of both ends of the fixing rods (210), and one ends of the two positioning rods (211) located on the same short side of the connecting plates (110) are rotatably connected with supporting mechanisms (240).
5. The self-propelled repairing and grinding robot for steel rail maintenance according to claim 4, characterized in that a second electric telescopic rod (250) is fixedly connected to the bottom surface of the adjusting frame (220), a supporting frame (251) is connected to an output end of the second electric telescopic rod (250) in a transmission manner, a third motor (223) is arranged on an inner side surface of the adjusting frame (220), a winding rod (224) rotatably connected with the inner side surface of the adjusting frame (220) is connected to an output end of the third motor (223) in a transmission manner, adjusting wires (222) are fixedly connected to both sides of the bottom surface of the adjusting plate (221), and one end of each adjusting wire (222) penetrates through the inside of the adjusting frame (220) and is wound on the winding rod (224).
6. The self-propelled repairing and grinding robot for steel rail maintenance is characterized in that the supporting mechanism (240) comprises a top rod (241), the top surface of the top rod (241) is rotatably connected with one end of each of two adjacent positioning rods (211), a first electric telescopic rod (242) is fixedly connected with the bottom surface of the top rod (241), the output end of the first electric telescopic rod (242) is in transmission connection with a lifting frame (243), two sides of the bottom surface of the lifting frame (243) are respectively provided with a connecting seat (244), and the side surface of the connecting seat (244) is rotatably connected with a roller (245) through a shaft rod.
7. The self-propelled repairing and polishing robot for steel rail maintenance according to claim 6, wherein the inner side surfaces of two sides of the lifting frame (243) are rotatably connected with transmission shafts (247) fixedly connected with the top surfaces of the adjacent connecting seats (244), the side surfaces of the transmission shafts (247) are fixedly sleeved with second belt pulleys (248), the two second belt pulleys (248) are in transmission connection through belts, the top surface of the lifting frame (243) is fixedly connected with a fourth motor (246), the output end of the fourth motor (246) is in transmission connection with the top end of one transmission shaft (247), one side inside of one ejector rod (241) is provided with a fifth motor (270) and a first adjusting shaft, the output end of the fifth motor (270) is in transmission connection with a second adjusting shaft, the first adjusting shaft is in transmission connection with one end of the adjacent positioning rod (211), the first adjusting shaft and the two side surfaces of the adjusting shaft are fixedly sleeved with second bevel gears, and the two bevel gears are in meshing transmission.
8. The self-propelled repairing and grinding robot for steel rail maintenance according to claim 4, wherein the grinding module (300) comprises three electric telescopic rods (310) and a fixed seat (320), both sides of the bottom surface of the adjusting frame (220) are fixedly connected with mounting frames, the bottom surfaces of the mounting frames are fixedly connected with the top ends of the three adjacent electric telescopic rods (310), the bottom surface of the connecting frame (120) is fixedly connected with the top ends of the three adjacent electric telescopic rods (310), the inner side surface of the fixed seat (320) is rotatably connected with a grinding block (330), a driving motor is arranged inside the fixed seat (320), and the output end of the driving motor is in transmission connection with the side surface of the grinding block (330).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211126038.4A CN115467203B (en) | 2022-09-16 | 2022-09-16 | Self-propelled repairing and polishing robot for steel rail maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211126038.4A CN115467203B (en) | 2022-09-16 | 2022-09-16 | Self-propelled repairing and polishing robot for steel rail maintenance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115467203A CN115467203A (en) | 2022-12-13 |
| CN115467203B true CN115467203B (en) | 2023-04-04 |
Family
ID=84332574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211126038.4A Active CN115467203B (en) | 2022-09-16 | 2022-09-16 | Self-propelled repairing and polishing robot for steel rail maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115467203B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB817825A (en) * | 1957-09-30 | 1959-08-06 | Elektro Thermit Gmbh | Device for grinding the heads of rails |
| GB2016321A (en) * | 1978-03-03 | 1979-09-26 | Efsa | Machine for grinding rail joints |
| FR2744143A1 (en) * | 1996-01-25 | 1997-08-01 | Anciens Etablissements Lucien | Railway track profile grinder for tracks used for rail transport, mining tracks or rolling bridge track |
| CN103132553A (en) * | 2013-03-13 | 2013-06-05 | 中交第三航务工程局有限公司上海分公司 | Wireless remote control underwater walking-type bump-cutter machine |
| CN104179100A (en) * | 2014-07-22 | 2014-12-03 | 上海工程技术大学 | Equipment for automatically and accurately repairing wavy abrasions to subway corner rail |
| CN206706472U (en) * | 2017-05-08 | 2017-12-05 | 邯郸中铁桥梁机械有限公司 | Step mechanisms are crossed in a kind of track-laying machine stride traveling |
| CN110886270A (en) * | 2019-11-29 | 2020-03-17 | 济南轨道交通集团有限公司 | Railway track cleaning and maintaining device |
| CN214168602U (en) * | 2020-11-02 | 2021-09-10 | 耿志兵 | Rail grinding device |
| CN113605160A (en) * | 2021-07-08 | 2021-11-05 | 深圳技术大学 | Track grinding machine |
-
2022
- 2022-09-16 CN CN202211126038.4A patent/CN115467203B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB817825A (en) * | 1957-09-30 | 1959-08-06 | Elektro Thermit Gmbh | Device for grinding the heads of rails |
| GB2016321A (en) * | 1978-03-03 | 1979-09-26 | Efsa | Machine for grinding rail joints |
| FR2744143A1 (en) * | 1996-01-25 | 1997-08-01 | Anciens Etablissements Lucien | Railway track profile grinder for tracks used for rail transport, mining tracks or rolling bridge track |
| CN103132553A (en) * | 2013-03-13 | 2013-06-05 | 中交第三航务工程局有限公司上海分公司 | Wireless remote control underwater walking-type bump-cutter machine |
| CN104179100A (en) * | 2014-07-22 | 2014-12-03 | 上海工程技术大学 | Equipment for automatically and accurately repairing wavy abrasions to subway corner rail |
| CN206706472U (en) * | 2017-05-08 | 2017-12-05 | 邯郸中铁桥梁机械有限公司 | Step mechanisms are crossed in a kind of track-laying machine stride traveling |
| CN110886270A (en) * | 2019-11-29 | 2020-03-17 | 济南轨道交通集团有限公司 | Railway track cleaning and maintaining device |
| CN214168602U (en) * | 2020-11-02 | 2021-09-10 | 耿志兵 | Rail grinding device |
| CN113605160A (en) * | 2021-07-08 | 2021-11-05 | 深圳技术大学 | Track grinding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115467203A (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108238506A (en) | A kind of cable coiling device with clearing function | |
| CN113442032B (en) | Electric motor car frame dog-ear grinding tool | |
| CN113386028B (en) | Edge R angle grinding device | |
| CN111660153A (en) | Metal decking grinding device for machining | |
| CN115467203B (en) | Self-propelled repairing and polishing robot for steel rail maintenance | |
| CN108942521A (en) | A kind of pantograph pan double end grinding device and its polishing process | |
| CN113681083A (en) | Steel strip deburring machine | |
| CN115179113B (en) | Novel polishing device for glass polishing disc | |
| CN216127028U (en) | Burnishing device is used in coil of strip processing | |
| CN111230672B (en) | High-performance cathode roller off-line grinding machine | |
| CN114619365A (en) | Steel plate polishing and scribing integrated device | |
| CN209551415U (en) | A kind of automatic regrinding machine | |
| CN209062858U (en) | A kind of baffle device for water of Corrugated Roller Grinding Machine | |
| CN206795459U (en) | A kind of worm shaft automatic deburring machine | |
| CN111604766A (en) | Automatic feeding device for polishing abrasive paper | |
| CN219444546U (en) | Sheet metal edging machine | |
| CN219358957U (en) | Grinding device for steel plate production | |
| CN212471055U (en) | Online burnishing device of brazing filler metal strip | |
| CN215281337U (en) | Cotton picker pull rod burnishing device | |
| CN214869168U (en) | Gingival knife polishing device | |
| CN221337980U (en) | Polisher for wood working | |
| CN219293618U (en) | Two-shaft polishing machine with protection mechanism | |
| CN218518348U (en) | Linear track grinding device | |
| CN212886733U (en) | Bamboo strip grinding device | |
| CN212170000U (en) | Steel surface grinding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |