CN108407829B - A kind of railway intelligent measurement rescue aid - Google Patents
A kind of railway intelligent measurement rescue aid Download PDFInfo
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- CN108407829B CN108407829B CN201810118307.XA CN201810118307A CN108407829B CN 108407829 B CN108407829 B CN 108407829B CN 201810118307 A CN201810118307 A CN 201810118307A CN 108407829 B CN108407829 B CN 108407829B
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- traveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to railway equipment technical fields, and in particular to a kind of railway intelligent measurement rescue aid comprising railway intelligent multifunctional traveling platform and the track detecting equipment being arranged on the railway intelligent multifunctional traveling platform.The railway intelligent measurement rescue aid is equipped by travelling setting track detecting on platform in railway intelligent multifunctional, to realize the unmanned detection for carrying out size and disease to the rail traffics infrastructure device such as track, tunnel, contact net, roadbed, rail level, bridge, to reduce labor intensity.
Description
Technical field
The present invention relates to railway equipment technical fields, and in particular to a kind of railway intelligent measurement rescue aid.
Background technique
Track detecting mainly include the detection of Rail inspection, the inspection of rail level (to track, roadbed, sleeper, fastener into
Row Defect inspection), the detection of bridge (detecting to bridge surface with the presence or absence of diseases such as cracks) and Tunnel testing be (to tunnel
Detected with the presence or absence of the diseases such as crack, infiltration on road surface), current detection method is usually artificial detection or passes through hand push
Track checking car is detected, thus working efficiency is lower.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of railway intelligent measurement rescue aids, it is intended at least the solution prior art or correlation
One of technical problem present in technology.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of railway intelligent measurement rescue aids comprising railway
Intelligent multifunctional traveling platform and the track detecting equipment being arranged on the railway intelligent multifunctional traveling platform.
It wherein, further include the rescue aid being arranged on the railway intelligent multifunctional traveling platform.
Wherein, the rescue aid includes unmanned plane, charging unit, extinguishing device.
Wherein, railway intelligent multifunctional traveling platform include traveling main platform body and respectively with the traveling platform
The bottom of the track wheel drive system and caterpillar drive system of main body connection, the traveling main platform body is provided with elevating and rotating machine
Structure, the caterpillar drive system can track wheel drive system lifting relatively so that the bottom of the caterpillar drive system
Portion is higher or lower than the bottom of the track wheel drive system, to realize that the crawler belt wheel drive system and the rail wheel drive
The switching of dynamic system.
Wherein, the lifting rotation mechanism includes rotary cylinder-block and is arranged in the intracorporal lifting piston of the rotating cylinder
Cylinder is provided with the annular recess projected radially outward, the annular recess and the lifting piston in the middle part of the rotary cylinder-block
It forms closed cavity between the lifting cylinder body side wall of cylinder, and is provided with and extends radially inwardly on the side wall of the annular recess
Piston portion, the piston portion and the lifting cylinder body side wall form dynamic sealing, be provided on the lifting cylinder body side wall it is radial to
It is outer extend and can with retainer of the piston portion cooperation for being limited to the piston portion, the retainer with it is described
Annular recess forms dynamic sealing, and the lifting rotation mechanism further includes that the retainer is arranged in be used for the two of the retainer
The first import and the second import of hydraulic oil or high pressure gas are injected in side.
Wherein, the caterpillar drive system includes the crawler driving whell, multiple for connecting with the traveling main platform body
Carrying roller, inducer, carrier wheel and crawler belt, the crawler belt are successively set around the crawler driving whell, multiple carrying rollers, institute
Inducer and the carrier wheel are stated, multiple carrying rollers pass through first piston cylinder respectively and connect with the traveling main platform body,
It is moved up and down with the relatively described traveling main platform body；The first piston cylinder include cylinder body, be located at the intracorporal piston of the cylinder with
And the piston rod connecting with the piston, the lower end of the piston rod are connect with the carrying roller, the piston is by the cylinder body
Inside is divided into upper cavity and lower chamber, and the compressed gas of preset pressure value is filled in the upper cavity, at least one described the
The upper cavity of one piston cylinder and the upper cavity of another First piston bar adjacent thereto pass through pipeline connection.
Wherein, the carrying roller is divided into M group, and every group includes N number of carrying roller, and with every group in N number of load-bearing
The upper cavity for taking turns the first piston cylinder of connection communicates with each other, and wherein M, N are greater than 1 integer.
Wherein, the track wheel drive system is connect by rotating mechanism with the traveling main platform body rotary type, so that
It obtains the relatively described traveling main platform body of the track wheel drive system to switch between the first position and the second position, when the rail
When road wheel drive system is rotated to first position, the bottom of the track wheel drive system is higher than the bottom of the caterpillar drive system
Portion；When the track wheel drive system is rotated to the second position, crawler belt described in the bottom bottom of the track wheel drive system
The bottom of drive system.
Wherein, it is provided with Center of Gravity Control System in the traveling main platform body, the Center of Gravity Control System includes for pacifying
Mounted in the instrumented wheelset travelled in main platform body, it is mounted in the traveling main platform body for measuring the railway intelligence
Angular velocity measurement unit, gravity's center control unit and the centre of gravity adjustment unit of the angular speed of multi-functional traveling platform, the center of gravity
Adjustment unit includes clump weight and is connect with the clump weight for adjusting the clump weight in the traveling main platform body
Position clump weight adjustment mechanism, the instrumented wheelset in real time obtain vehicle wheel to vertical force, the gravity's center control
Unit is surveyed from the wheel that the instrumented wheelset obtains the railway intelligent multifunctional traveling platform to vertical force, and from the angular speed
Amount unit obtains the angular speed of the railway intelligent multifunctional traveling platform, and calculates the railway according to data obtained
The position of centre of gravity of intelligent multifunctional traveling platform；And the position of the clump weight is adjusted by controlling the clump weight adjustment mechanism
It sets, the position of centre of gravity of railway intelligent multifunctional traveling platform is adjusted to safety zone.
Wherein, the railway intelligent multifunctional traveling platform includes autonomous driving intelligent mode and remote control mode.
(3) beneficial effect
Railway intelligent measurement rescue aid provided by the invention includes that railway intelligent multifunctional traveling platform and setting exist
Track detecting equipment on the railway intelligent multifunctional traveling platform.The railway intelligent measurement rescue aid passes through in railway intelligence
Track detecting equipment can be set on multi-functional traveling platform, to realize to track, tunnel, contact net, roadbed, rail level, bridge etc.
Rail traffic infrastructure device carries out the unmanned detection of size and disease, to reduce labor intensity.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of railway intelligent measurement rescue aid according to the present invention；
Fig. 2 is the structural representation for the preferred embodiment that a kind of railway intelligent multifunctional according to the present invention travels platform
Figure；
Fig. 3 is that the railway intelligent multifunctional traveling platform in Fig. 2 drives to the structural schematic diagram on track；
Fig. 4 is that the railway intelligent multifunctional in Fig. 3 travels the structural schematic diagram that the claw of platform is contacted with rail；
Fig. 5 is that the railway intelligent multifunctional in Fig. 4 travels the structural schematic diagram after platform is jacked；
Fig. 6 is the leftschematic diagram of the railway intelligent multifunctional traveling platform in Fig. 5；
Fig. 7 is that the structure of track wheel drive system and rail contact that the railway intelligent multifunctional in Fig. 6 travels platform is shown
It is intended to.
Fig. 8 is the partial schematic sectional view of the lifting rotation mechanism of Fig. 2；
Fig. 9 is the A-A cross-sectional view of the lifting rotation mechanism in Fig. 8；
Figure 10 is that the piston portion of the lifting rotation mechanism in Fig. 9 is in the structural schematic diagram of left stop；
Figure 11 is structural schematic diagram of the piston of the lifting piston cylinder of the lifting rotation mechanism in Fig. 8 under downstream state；
Figure 12 is the structural schematic diagram of another preferred embodiment of the jaw components of the lifting rotation mechanism in Fig. 8；
Figure 13 is the leftschematic diagram of jaw components in the operating condition in Figure 12.
Figure 14 is the structural schematic diagram of the caterpillar drive system of the railway intelligent multifunctional traveling platform in Fig. 2；
Figure 15 is the partial schematic sectional view of the caterpillar drive system in Figure 12；
Figure 16 is the connection schematic diagram of the first piston cylinder of the caterpillar drive system in Figure 12；
Figure 17 is the part for another preferred embodiment that a kind of railway intelligent multifunctional according to the present invention travels platform
Cross-sectional view；
Figure 18 is the structural schematic diagram of the Center of Gravity Control System of the railway intelligent multifunctional traveling platform in Fig. 2；
Figure 19 is structural schematic diagram of the Center of Gravity Control System after centre of gravity adjustment in Figure 18；
Figure 20 is that the railway intelligent multifunctional in Fig. 2 travels stress diagram of platform when by bend；
Figure 21 is the structure for another preferred embodiment that a kind of railway intelligent multifunctional according to the present invention travels platform
Schematic diagram；
Figure 22 is the knot under the caterpillar drive system of the railway intelligent multifunctional traveling platform in Figure 21 is in running order
Structure schematic diagram；
Figure 23 is under the track wheel drive system of the railway intelligent multifunctional traveling platform in Figure 21 is in running order
Structural schematic diagram.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Embodiment 1
Fig. 1 shows an a kind of preferred embodiment of railway intelligent measurement rescue aid according to the present invention.As schemed
Show, which includes railway intelligent multifunctional traveling platform and be arranged in railway intelligent multifunctional row
Sail the track detecting equipment 11 on platform, for example, detection device for detecting Rail inspection, for detecting bridge surface
The detection device in crack, detection device for detecting tunnel surface crack and infiltration etc..Railway intelligence provided by the present invention
Detect rescue aid by railway intelligent multifunctional travel platform on setting track detecting equip, with realize to track, tunnel,
The rail traffics infrastructure device such as contact net, roadbed, rail level, bridge carries out the unmanned detection of size and disease, to reduce labour
Intensity.
In addition, the railway intelligent measurement rescue aid further includes being arranged on the railway intelligent multifunctional traveling platform
Rescue aid.The rescue aid includes unmanned plane, charging unit, extinguishing device etc., which passes through
Unmanned plane is carried on railway intelligent multifunctional traveling platform, wherein the control system railway intelligent multifunctional row of the unmanned plane
It sails on platform, the prospecting of land is rescued in high-altitude to realize, avoids the problem that unmanned aerial vehicle (UAV) control stroke limiting.The iron
Road intelligent measurement rescue aid carries charging unit on platform by travelling in railway intelligent multifunctional, treats rescue dress to realize
Standby the problem of being charged.In addition, the railway intelligent measurement rescue aid is taken on platform by travelling in railway intelligent multifunctional
Fire suppression module is carried, to realize the fire rescue to rail tunnel and route.
Preferably, which further includes that this is arranged on railway intelligent multifunctional traveling platform
Five axis robots, six axis robot, seven axis robots can be used in manipulator 10, the manipulator 10.Wherein, rescue aid can pass through
The manipulator 10 is connect with railway intelligent multifunctional traveling platform, can also directly be connected with railway intelligent multifunctional traveling platform
It connects.
Fig. 2 to Fig. 7 shows an a kind of preferred embodiment of railway intelligent multifunctional traveling platform according to the present invention.
As shown, railway intelligent multifunctional traveling platform includes travelling main platform body 1 and positioned at the bottom of traveling main platform body 1
And the lifting rotation mechanism 4 being connect with traveling main platform body 1.The railway intelligent multifunctional traveling platform further include respectively with traveling
The track wheel drive system 3 and caterpillar drive system 2 that main platform body 1 connects, wherein track wheel drive system 3 is used in track 6
Upper traveling, caterpillar drive system 2 on the road surfaces such as highway, wet soil road for travelling.
In use, it is longitudinal perpendicular to track 6 that the railway intelligent multifunctional is travelled platform by caterpillar drive system 2 first
On direction running to track 6, then lifting rotation mechanism 4 is extended downwardly and jacks railway intelligent multifunctional traveling platform
Then certain altitude drives railway intelligence more so that the minimum point of railway intelligent multifunctional traveling platform is higher than track 6
Function traveling platform is rotated by 90 ° in the horizontal plane, and makes the rail of 6 two sides of track and the rail wheel of track wheel drive system 3
Alignment, then by 2 uplink of caterpillar drive system, so that the bottom of caterpillar drive system 2 is higher than the bottom of track wheel drive system 3
Railway intelligent multifunctional traveling platform is transferred the rail so that track wheel drive system 3 finally by lifting rotation mechanism 4 by portion
Road wheel is fallen on rail, so that the switching of caterpillar drive system 2 to track wheel drive system 3 is completed, finally by elevating and rotating machine
Structure 4 retracts.When needing track wheel drive system 3 being switched to caterpillar drive system 2, first by lifting rotation mechanism 4
It extends downwardly and railway intelligent multifunctional traveling platform is jacked into certain altitude, so that railway intelligent multifunctional traveling is flat
The minimum point of platform is higher than track 6, and railway intelligent multifunctional traveling platform is driven to reversely rotate 90 °, then by track drive
2 downlink of system, so that the bottom of caterpillar drive system 2 is lower than the bottom of track wheel drive system 3, finally by lifting rotation mechanism
The switching of track wheel drive system 3 to caterpillar drive system 2 can be realized in 4 retractions.The intelligent more function of railway provided by the present invention
Platform, which can be travelled, can independently realize the automatic switchover of track wheel drive system 3 and caterpillar drive system 2, to complete on a variety of roads
The quick upper lower railway under intelligent control is realized in quick rail-road switching under the conditions of base.Wherein, upper and lower rail conditions can be usual friendship
The not high non-fragment orbit in crossing, Ballast track, basis.
Specifically, as shown in Figs. 8 to 11, lifting rotation mechanism 4 includes rotary cylinder-block 4-1 and is arranged in rotary cylinder-block
Lifting piston cylinder 4-2 inside 4-1, wherein the annular recess 4-1- projected radially outward is provided in the middle part of rotary cylinder-block 4-1
1, closed cavity, and the side of annular recess 4-1-1 are formed between annular recess 4-1-1 and the side wall of lifting cylinder body 4-2-1
The piston portion 4-1-2 that extends radially inwardly and can rotate in the cavity, piston portion 4-1-2 and lifting cylinder body are provided on wall
The side wall of 4-2-1 forms dynamic sealing, is provided with and extends radially outwardly and can be with piston portion 4- on the side wall of lifting cylinder body 4-2-1
The retainer 4-2-5 of 1-2 cooperation, for being limited to piston portion 4-1-2, and retainer 4-2-5 and annular recess 4-1-1
Form dynamic sealing.The lifting rotation mechanism 4 further includes that retainer 4-2-5 is arranged in for injecting to the two sides of retainer 4-2-5
The the first import 4-2-7 and the second import 4-2-8 of hydraulic oil.
In use, completing to move up and down by lifting piston cylinder 4-2, when needing to rotate to the left, pass through the first import 4-
2-7 injects hydraulic oil into the left side cavity body of retainer 4-2-5 and by the intracorporal hydraulic oil of retainer 4-2-5 right-side cavity through second
Import 4-2-8 discharge, oil pressure acts on piston portion 4-1-2, to drive rotary cylinder-block 4-1 to rotate to the left movement.Similarly, when
When needing to rotate to the right, hydraulic oil is injected into retainer 4-2-5 right-side cavity body by the second import 4-2-8 and by retainer 4-
The hydraulic oil of cavity is discharged through the first import 4-2-7 on the left of 2-5, and oil pressure acts on piston portion 4-1-2, to drive rotary cylinder-block
4-1 rotates to the left movement.4 structure of lifting rotation mechanism is simple and easy to operate.
Preferably, the step with annular recess 4-1-1 cooperation is provided on the side wall of lifting cylinder body 4-2-1, in order to pacify
Dress, and it is easy to process.In addition, the hydraulic oil leakage in annular recess 4-1-1 in order to prevent, is preferably provided at the step close
Seal 4-3.
In addition, in order to guarantee that the end face of piston portion 4-1-2 can stick on the end face of retainer 4-2-5 engaged therewith
On, the both sides of the face of preferably piston portion 4-1-2 are provided with the first recess portion 4-1-3, and first recess portion 4-1-3 is located at where it
At the link position of end face and rotary cylinder-block 4-1；And the both sides of the face of retainer 4-2-5 are provided with the second recess portion 4-2-6, it should
Second recess portion 4-2-6 is located at the link position of the end face where it and lifting cylinder body 4-2-1.
Preferably, it is additionally provided with end cap 4-7 on the top of rotary cylinder-block 4-1, to prevent dust etc. from falling into the lifting rotation
In mechanism 4.
In this embodiment, the maximum rotation angle of piston portion 4-1-2 is 90 °.I.e. as the piston portion 4- of rotary cylinder-block 4-1
The left side (as shown in Figure 6) that 1-2 is resisted against retainer 4-2-5 is resisted against the right side of retainer 4-2-5 to piston portion 4-1-2
The angle that piston portion 4-1-2 is rotated is 90 °.It should be noted that it will be understood by those of skill in the art that of the invention
In some other embodiment, also the size of adjustable piston portion 4-1-2 and retainer 4-2-5 is so as to adjust piston portion 4-1-2
Maximum rotation angle, such as maximum rotation angle be 320 °, 180 °, 45 °, 60 ° etc..
Preferably, lifting piston cylinder 4-2 is using the double rod hydraulic cylinders of single-piston formula, in addition to lifting cylinder body 4-2-1 it
It outside further include the piston 4-2-2 in lifting cylinder body 4-2-1, and the upper piston rod 4- being connect respectively with piston 4-2-2
2-3 and lower piston rod 4-2-4 passes through when needing to fall and injects hydraulic oil into the upper cylinder of lifting cylinder body 4-2-1 and incite somebody to action
The hydraulic oil of lifting cylinder body 4-2-1 lower cavity is discharged, and oil pressure acts on piston 4-2-2, with drive upper piston rod 4-2-3 and
Lower piston rod 4-2-4's moves downward；Similarly, when needing to rise, by being infused into the lower cylinders of lifting cylinder body 4-2-1
Enter hydraulic oil and the hydraulic oil of lifting cylinder body 4-2-1 upper chamber is discharged, oil pressure acts on piston 4-2-2, on driving
Piston rod 4-2-3's and lower piston rod 4-2-4 moves upwards.
In addition, in order to guarantee that railway intelligent multifunctional traveling platform can successfully switch, preferably in elevating and rotating machine
Range sensor (not shown) is additionally provided on structure 4, the range sensor is for detecting the lifting rotation mechanism 4 apart from track 6
The distance between rail of two sides, if range sensor detect rail of the lifting rotation mechanism 4 apart from 6 two sides of track it
Between be equidistant, then lifting rotation mechanism 4 carry out 90 degree rotation so that the railway intelligent multifunctional traveling platform two sides
Rail wheel can just fall on rail.
Further, which further includes the jaw components for being held on the rail of 6 two sides of track,
The jaw components are connect with the lower piston rod 4-2-4 of lifting piston cylinder 4-2, in order to further be accurately positioned, avoid repeatedly weight
Double counterpoint, position aligning time is long, the lower problem of efficiency.By injecting hydraulic oil simultaneously into the upper cylinder of lifting cylinder body 4-2-1
The hydraulic oil of lifting cylinder body 4-2-1 lower cavity is discharged, so that the lower piston rod 4-2-4 of lifting cylinder declines, to drive
The jaw components decline connecting with lower piston rod 4-2-4 is flat travelling railway intelligent multifunctional to be connected on the inside of rail
It before platform vehicle jacks up, is connected on the inside of rail by jaw components, more accurately to be positioned, then by railway intelligence
Multi-functional traveling platform jacks up, and when reaching jack-up height, rotary cylinder-block 4-1 is rotated by 90 ° to drive railway intelligent multifunctional
It travels platform vehicle and rotates 90 °, then by injecting hydraulic oil into the lower cylinders of lifting cylinder body 4-2-1 and by lifting cylinder body
The hydraulic oil of 4-2-1 upper chamber is discharged, and railway intelligent multifunctional traveling platform vehicle is put down, so that railway intelligence is more
The rail wheel of function traveling platform two sides is accurately fallen on rail.
Specifically, jaw components include the claw connector 4-4 that is connect with piston rod 4-2-4 (such as in this embodiment,
To connect sleeve) and the claw arm 4-5 that is connect with claw connector 4-4, in claw arm 4-5 far from claw connector 4-4's
One end is provided with the claw 4-6 for being connected on the inside of rail.
Preferably, as shown in Figure 12 and Figure 13, claw arm 4-5 is connect with claw connector 4-4 by rotary piston cylinder, with
Just claw arm 4-5 is unfolded when in use by rotary piston cylinder, passes through rotary piston cylinder after the completion of use for the two of left side
A claw arm 4-5 is packed up around rotation axis 4-8 rotation, and two claw arm 4-5 on right side are packed up around rotation axis 4-9 rotation, with
Occupied space is reduced, the traveling for influencing railway intelligent multifunctional traveling platform is avoided.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention, the liter
Dropping rotating mechanism 4 can also be using other structure, such as lifting rotation composite oil cylinder comprising lifting cylinder and rotation oil
Cylinder, the cylinder body of the lifting cylinder and the cylinder body of rotary oil cylinder connect, and the rotor of rotary oil cylinder is used to connect with traveling main platform body 1
It connects.In addition, in this embodiment, the hydraulic oil that lifting rotation mechanism 4 uses, however, it will be understood by those of skill in the art that
In some other embodiment of the invention, high pressure gas also can be used.
As shown in Figure 14 to Figure 16, caterpillar drive system 2 includes the crawler driving whell for connecting with traveling main platform body 1
2-2,6 carrying roller 2-1, inducer 2-6, carrier wheel 2-4 and crawler belt 2-3, crawler belt 2-3 be successively set around crawler driving whell 2-2,
6 carrying roller 2-1, inducer 2-6 and carrier wheel 2-4, inducer 2-6 are located at the rear end of traveling main platform body 1, carrier wheel 2-4
Positioned at the upper end of traveling main platform body 1, crawler driving whell 2-2 is located at the front end of traveling main platform body 1；6 carrying roller 2-1 are located at
The lower end of main platform body 1 is travelled, and is connect respectively by first piston cylinder 2-5 with traveling main platform body 1, with opposite traveling platform
Main body 1 moves up and down.Wherein, first piston cylinder 2-5 include cylinder body, be located at the intracorporal piston 2-5-1 of cylinder and with piston 2-5-1
The lower end of the piston rod of connection, piston rod is connect with carrying roller 2-1, piston 2-5-1 by cylinder interior be divided into upper cavity 2-5-2 and
The compressed gas of preset pressure value is filled in lower chamber 2-5-3, upper cavity 2-5-2.In addition, respectively with preceding 3 carrying roller 2-1
The upper cavity 2-5-2 of the First piston bar 2-5 of connection is connected to by pipeline 2-5-4, is connect respectively with rear 3 carrying roller 2-1
The upper cavity 2-5-2 of First piston bar 2-5 is by another pipeline connection, as shown in figure 16.The caterpillar drive system 2 is by by 6
First 3 and latter 3 are all made of the design of communication type suspension in a carrying roller 2-1, when facing higher railway roadbed and rail, with
Railway roadbed or the carrying roller 2-1 of rail contact are under pressure and cause the piston upwards of first piston cylinder 2-5A connected to it,
The pressure increase of the upper cavity 2-5-2 of first piston cylinder 2-5A since communication type designs, thus connects with the first piston cylinder 2-5A
The pressure increase of the upper cavity of logical other first piston cylinder 2-5B and 2-5C, to make first piston cylinder 2-5B and 2-5C
Piston rod moves downward, and effectively to enhance the passability of creeper truck, body vibrations are effectively reduced when crossing rail, are protected vehicle-mounted
Instrument, while it is more uniform to be distributed the pressure of internal track surfaces, extends the service life of crawler belt.
In this embodiment, the quantity of carrying roller 2-1 is 6, wherein however it should be noted that the technology of this field
Personnel should be appreciated that in some other embodiment of the invention, the quantity of carrying roller 2-1 is also possible to other numerical value, such as 8
It is a, respectively with the upper cavity of preceding 2 carrying roller 2-1 First piston bar 2-5 connecting by pipeline connection, respectively with it is 4 intermediate
The upper cavity of the First piston bar 2-5 of carrying roller 2-1 connection by pipeline connection, connect respectively with rear 2 carrying roller 2-1 the
The upper cavity of one piston rod 2-5 passes through another pipeline connection.That is, the upper cavity of at least one first piston cylinder 2-5 with
The upper cavity of another First piston bar 2-5 adjacent thereto passes through pipeline connection.
Preferably, carrying roller 2-1 is divided into M group, and every group includes N number of carrying roller 2-1, and with every group in N number of carrying roller 2-1
The upper cavity of the first piston cylinder 2-5 of connection is connected to by pipeline 2-5-4, and wherein M, N are greater than 1 integer.It is preferred that M is 2-4；
N is 2-4.
It is preferred that first piston cylinder 2-5 lower chamber 2-5-3 is provided with import, the import of each first piston cylinder 2-5 lower chamber
It is connect with one hydraulic oil source/air supply source, to simplify structure, reduces manufacturing cost.
Preferably, as shown in figure 15, carrying roller 2-1 includes carrying roller right half 2-1-1 and carrying roller left half 2-1-2,
And the U-shaped connector 2-8 for being connect with the piston rod of first piston cylinder 2-5, two end parts of U-shaped connector 2-8
It is not connect with carrying roller right half 2-1-1 and carrying roller left half 2-1-2 rotary type.Specifically, carrying roller right half 2-1-1 and
Carrying roller left half 2-1-2 passes through bearing 2-9 respectively and connect with the both ends of U-shaped connector 2-8, the bottom of U-shaped connector 2-8
Portion is connect by bolt with the piston rod of first piston cylinder 2-5.
Further, inducer 2-6 is connect by second piston cylinder 2-7 with traveling main platform body 1, with opposite traveling platform
Main body 1 moves in the horizontal direction, to cause when carrying roller 2-1 is moved by the opposite traveling main platform body 1 of first piston cylinder 2-5
When shortening the distance between top and lower part crawler belt 2-3 of crawler belt 2-3, it can adjust between the left end crawler belt 2-3 and right end
Distance makes crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and carrier wheel 2-4 pass through crawler belt 2-3 and is driven.
However it should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention,
The direction of motion of inducer 2-6 can not also in the horizontal direction, such as angle between vertical line is α, such as α=45 °,
130 °, as long as α ≠ 0 °.
In addition, the caterpillar drive system 2 further includes caterpillar drive system control unit, wherein first piston cylinder 2-5 and
Two piston cylinder 2-7 are connect with caterpillar drive system control unit respectively, so as under the control of caterpillar drive system control unit
It is correspondingly moved, to guarantee that crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and carrier wheel 2-4 pass through crawler belt 2-
3 transmissions.For example, second piston cylinder 2-7 drives inducer simultaneously when first piston cylinder 2-5 drives carrying roller 2-1 to move upwards
2-6 is moved out, so that caterpillar drive system 2 works normally.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention, crawler belt
Drive system 2 can also include track drive rack, which passes through elevating mechanism such as lifting piston cylinder 7 and row
The connection of main platform body 1 is sailed, so that 2 relative orbit wheel drive system 3 of caterpillar drive system moves up and down, as shown in figure 17.
In addition, as shown in figure 18, it further includes Center of Gravity Control System 9 which, which travels platform, the center of gravity control
System 9 processed includes instrumented wheelset, angular velocity measurement unit, gravity's center control unit and centre of gravity adjustment unit, centre of gravity adjustment unit
It is connect including clump weight 9-1 and with clump weight 9-1 for adjusting matching for position of the clump weight 9-1 in traveling main platform body 1
Pouring weight adjustment mechanism, instrumented wheelset are mounted in traveling main platform body 1 for obtaining railway intelligent multifunctional traveling platform in real time
Wheel to vertical force, angular velocity measurement unit be mounted on traveling main platform body 1 on, for measure the railway intelligent multifunctional traveling
Angular speed of the platform in turning, gravity's center control unit is connect with instrumented wheelset and angular velocity measurement unit respectively, for acquiring
Wheel measured by instrumented wheelset is to angular speed measured by vertical force and angular velocity measurement unit and according to wheel to vertical force and angle
Speed etc. calculates the position of centre of gravity of railway intelligent multifunctional traveling platform in real time；And pass through control clump weight adjustment mechanism adjustment
The position of clump weight 9-1 adjusts the position of centre of gravity of railway intelligent multifunctional traveling platform to safety zone.The gravity's center control
System travels the wheel of platform to vertical force and angular speed by instrumented wheelset real-time detection railway intelligent multifunctional and is uploaded to weight
Heart control unit, to realize the real time monitoring to vehicle's center of gravity, in the case where vehicle's center of gravity deviates safety zone, gravity's center control
Unit is moved on to clump weight to designated position by controlling the clump weight adjustment mechanism of centre of gravity adjustment unit, to adjust the weight of vehicle
The heart makes center of gravity rest on safety zone.The Center of Gravity Control System can be realized centre of gravity adjustment, it is ensured that vehicle operational safety avoids
The case where appearance is toppled over or turns on one's side, improves the safety of its own, to guarantee vehicle even running under conditions of uneven road conditions,
Improve the adaptivity and reliability of vehicle.
Specifically, centre of gravity adjustment unit includes laterally adjusting unit, and the clump weight adjustment mechanism for laterally adjusting unit includes
The first lead screw 9-2 being connect with traveling 1 rotary type of main platform body, and the first servo for driving the first lead screw 9-2 to rotate
Motor 9-3, first servo motor 9-3 are connect with gravity's center control unit, and the first lead screw 9-2 and clump weight 9-1 is threadedly engaged, and first
Longitudinal centre line of the axis of lead screw 9-2 perpendicular to vehicle.This laterally adjusts unit and is installed on the centre of traveling main platform body 1 simultaneously
The distance for being equal to 0.3m is approximately more than apart from ground, in use, first servo motor 9- is adjusted under the control of gravity's center control unit
The position of clump weight 9-1 on first lead screw 9-2, to realize the centre of gravity adjustment of railway intelligent multifunctional traveling platform.
Gravity's center control unit obtains the wheel of railway intelligent multifunctional traveling platform to vertical force P and P' from instrumented wheelset,
And the angular velocity omega of railway intelligent multifunctional traveling platform is obtained from angular velocity measurement unit, and combine railway intelligently more function
The outer dimension that platform can be travelled calculates the position of centre of gravity of railway intelligent multifunctional traveling platform, and clear railway intelligence is more
The center of gravity safety zone of function traveling platform.
As illustrated in figures 19 and 20, after clump weight 9-1 adjustment, position of centre of gravity variation travels platform to railway intelligent multifunctional
The improvement of Overturning Coefficient D.Specifically, after clump weight 9-1 adjustment, cause railway intelligent multifunctional to travel platform center of gravity and become from O point
Change to O'；Shown in train Overturning Coefficient such as formula (1).
In formula: D-Overturning Coefficient；
M-train weight；
The angle of line and horizontal plane between the rail upper surface of φ-track two sides；
d3The height of-mass center；
d4The width of-Railway wheelset；
ω-train crosses the angular speed of bend
R-train crosses the radius of bend
S-position of centre of gravity needs the distance adjusted, if it is positive value, the higher rail side into the rail of track two sides
To movement, if it is negative value, into the rail of track two sides, lower rail direction is mobile.
By formula (1) it is found that it is critical point that train topples that Overturning Coefficient, which is equal to 1, D is smaller, and train possibility of toppling is smaller；
When centre of gravity adjustment unit is by adjusting breeding block 9-1 change in location, after the position of centre of gravity of train is changed to O' point by O point, S can
Changed with both forward and reverse directions, to control D value less than 0.8, the distance that position of centre of gravity needs to adjust is calculated by formula (2).
In this embodiment, the quantity for laterally adjusting unit is 6, and 6 laterally adjust unit along railway intelligent multifunctional
The longitudinal centre line of traveling platform is arranged at equal intervals.However it should be noted that it will be understood by those of skill in the art that at this
In some other embodiment of invention, the quantity for laterally adjusting unit may be 1 or 2,4 etc. multiple.
For ease of calculation, it is equal for preferably each laterally adjusting the quality m of the clump weight 9-1 of unit.Further,
The quantity for laterally adjusting unit is n, and preferably n laterally adjust moving distance of the clump weight 9-1 of unit on the first lead screw 9-2
K is consistent.Then it is calculate by the following formula the distance k for showing that each clump weight 9-1 is mobile:
However it should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention,
The quality and moving distance for each laterally adjusting the clump weight of unit are also possible to inconsistent.
Further, clump weight adjustment unit further includes positioned at the longitudinally adjusted unit laterally adjusted below unit, longitudinal direction
The clump weight adjustment mechanism of adjustment unit includes the second lead screw connecting with traveling 1 rotary type of main platform body, and for driving
Second servo motor of the second lead screw rotation, the second servo motor are connect with gravity's center control unit, the second lead screw and clump weight spiral shell
Line cooperation, the axis of the second lead screw are parallel to the longitudinal centre line of railway intelligent multifunctional traveling platform.
Preferably longitudinally the quantity of adjustment unit is multiple, and multiple longitudinally adjusted units edges are parallel to railway intelligent multifunctional row
The direction for sailing platform longitudinal centre line is arranged at equal intervals.
For ease of calculation, preferably the quality m' of the clump weight of adjustment unit is equal longitudinally in each.Further, excellent
Moving distance k' of multiple clump weights on the second lead screw is selected to be consistent.However it should be noted that those skilled in the art
Member is it should be appreciated that in some other embodiment of the invention, the quality and shifting of the clump weight of adjustment unit connection longitudinally in each
Dynamic distance is also possible to inconsistent.
In this embodiment, the instrumented wheelset of vehicle's center of gravity control system is mounted on railway intelligent multifunctional traveling platform
On rail wheel.However it should be noted that vehicle's center of gravity control system provided by the present invention is also adapted to other types of vehicle
?.
In addition, railway intelligent multifunctional traveling platform includes autonomous driving intelligent mode and remote control mode, certainly
Main traveling can be taken over remote handle when meeting difficulty and be controlled.Railway intelligent multifunctional traveling platform further includes that setting is travelling
Context aware systems 5 in main platform body 1, the autonomous traveling of the context aware systems 5 and railway intelligent multifunctional traveling platform
System connection.The context aware systems 5 include laser radar, global positioning system (GPS), millimetre-wave radar, inertial navigation, phase
Machine etc..The railway intelligent multifunctional travels platform and obtains map and surrounding enviroment information by the context aware systems 5, thus right
The position that bend, track switch etc. influence intact stability is accurately positioned, and speed is set in advance to limit by autonomous driving system
In speed requires, to guarantee fast and safely traveling of the railway intelligent multifunctional traveling platform on track 6.In addition, the railway
Intelligent multifunctional traveling platform can perceive remote prominent obstacle by context aware systems 5, enable the traveling platform in nothing
People is safely operated in the case where driving.On track 6 when driving, railway intelligent multifunctional traveling platform passes through context aware systems
Whether there are obstacles on 5 perception ambient enviroments and track, when finding has barrier on track, autonomous parking and by rail wheel
Traveling is switched to Athey wheel and travels, and after the track section for crossing obstacle, then is switched to rail wheel from Athey wheel traveling and travels, after
It is continuous to execute inter-related task.
In addition, railway intelligent multifunctional traveling platform has good brake system, guarantee steady in the case where running at high speed
It is fixed reliable.Brake system has high sensitive sensor, can perceive speed, wheel condition, axis weight state, have anti-tipping pre-control
System guarantees that brake system is safe and reliable.The railway intelligent multifunctional, which travels platform, has Precise Position System, by encoding vehicle
The complex navigations systems such as positioning, GPS positioning, map match, inertial navigation, Beidou navigation are taken turns, make to travel platform with grade
Positioning accuracy.The railway intelligent multifunctional, which travels platform, has visualization tasks administration interface and in due course generalized information management system
System, on the one hand can be such that man-machine task smoothly interacts, and another aspect guarantee task communicates in due course under order grade, make to travel platform
Upper each functional component effectively receives rapidly task and makes fast reaction.
Preferably, traveling main platform body 1 uses titanium alloy, aluminium alloy, carbon fiber structural, to guarantee strength of parts and center of gravity
In the case where stability, vehicle weight is rationally controlled, reduces energy consumption.
It is preferred that railway intelligent multifunctional traveling platform is powered using lithium battery such as ferric phosphate, super capacitor in parallel, and
With energy management system, so that science distributes power supply, guarantee the safe power supply of each functional component of traveling platform, and have
Vehicle health management system provides the report of health status by detection Vehicular vibration, stress, driving electrical parameter etc. for vehicle,
Vehicle maintenance is carried out, guarantees the safety traffic of each functional component of traveling platform.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, brief for description, during the description of the present embodiment, no longer
Technical characteristic same as Example 1 is described, only illustrates the present embodiment difference from Example 1:
As shown in Figure 21 to Figure 23, in this embodiment, track wheel drive system 3 passes through rotating mechanism 8 and traveling platform
The connection of 1 rotary type of main body, the opposite traveling main platform body 1 of caterpillar drive system 2 remain stationary, so that caterpillar drive system 2
Bottom is higher or lower than the bottom of track wheel drive system 3, to realize caterpillar drive system 2 and track wheel drive system 3
Switching.
Specifically, track wheel drive system 3 includes the front rail wheel driving unit for being located at traveling 1 front end of main platform body
With the rear rail wheel driving unit of rear end, and front rail wheel driving unit and rear rail wheel driving unit include two rail wheels
3-1 and rail wheel the connecting shaft 3-2, each rail wheel connecting shaft 3-2 connecting respectively with two rail wheel 3-1 is rotated with one
Mechanism 8 connect, to be rotated under the drive of rotating mechanism 8, thus drive track wheel drive system 3 from first position (such as
Shown in Figure 22) it rotates to the second position (as shown in figure 23) or reversely rotates from the second position to first position.Work as rail wheel
When the rotation of drive system 3 to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2, at this point,
Railway intelligent multifunctional travels platform can be in the driving downward driving of caterpillar drive system 2；When track wheel drive system 3 rotates extremely
When the second position, the bottom of track wheel drive system 3 is lower than the bottom of caterpillar drive system 2, at this point, railway intelligent multifunctional row
Sailing platform can be in the driving downward driving of track wheel drive system 3；The railway intelligent multifunctional travels platform and passes through rotating mechanism 8
Rotation to drive track wheel drive system 3 to switch in first position and the second position, to realize track wheel drive system
The mutual conversion of system 3 and caterpillar drive system 2.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention, it can also
Caterpillar drive system 2 to be connect by rotating mechanism 8 with traveling 1 rotary type of main platform body, 3 opposing rows of track wheel drive system
Main platform body 1 is sailed to remain stationary, so that the bottom of caterpillar drive system 2 is higher or lower than the bottom of track wheel drive system 3,
To realize the switching of caterpillar drive system 2 and track wheel drive system 3.
In this embodiment, rotating mechanism 8 is rotary piston cylinder, such as rotary oil cylinder or rotary cylinder.The rotary-piston
Cylinder include cylinder body connect with traveling main platform body 1, positioned at cylinder intracorporal shaft, the scotch that is connect with cylinder body, and with turn
The blade of axis connection, wherein blade also with connect axis connection, which changes swing angle using internal scotch,
When air pressure or oil pressure act on blade, drive shaft rotation, thus drive be connected with the rotating shaft rail wheel connecting shaft 3-2 around
The axis of shaft rotates, and then the rail wheel 3-1 of traveling 1 two sides of main platform body is driven to rotate relative to traveling main platform body 1, works as rotation
When going to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2；When rotation to the second position
When, the bottom of track wheel drive system 3 is lower than the bottom of caterpillar drive system 2.
Preferably, first position is located at the surface of the second position, that is to say, that track wheel drive system 3 is from first
The angle for setting rotation to rotation required for the second position is 180 °, therefore the maximum rotation angle of preferably rotary piston cylinder is
180 °, when rotary piston cylinder is located at maximum rotation angle, the bottom of caterpillar drive system 2 is higher than track wheel drive system 3
Bottom, when the rotation angle of rotary piston cylinder is 0 °, the bottom of caterpillar drive system 2 is lower than the bottom of track wheel system.So
And it should be noted that it will be understood by those of skill in the art that in some other embodiment of the invention, track drive system
The rotation angle of system 2 may be other numerical value, such as 120 °.
It should be noted that it will be understood by those of skill in the art that being rotated in some other embodiment of the invention
Mechanism 8 can also include sun gear and gear ring using other structures, such as spider gear structure, the spider gear structure,
And the planetary gear cooperated respectively with sun gear and gear ring, wherein sun gear is connect with traveling 1 rotary type of main platform body, and
It is driven by servo motor, planetary gear is connect with rail wheel connecting shaft 3-2, so that sun gear is under the driving of servo motor
When left-right rotation, drives and rotated with the rail wheel connecting shaft 3-2 of sun gear cooperation around sun gear, to drive traveling main platform body
The rail wheel 3-1 of 1 two sides is rotated relative to traveling main platform body 1, when rotation to first position, the bottom of caterpillar drive system 2
Lower than the bottom of track wheel drive system 3, at this point, railway intelligent multifunctional traveling platform can be in the drive of caterpillar drive system 2
Dynamic downward driving；When rotation to the second position, the bottom of caterpillar drive system 2 is higher than the bottom of track wheel drive system 3.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of railway intelligent measurement rescue aid, which is characterized in that travel platform and setting including railway intelligent multifunctional
Track detecting equipment on railway intelligent multifunctional traveling platform；
The railway intelligent multifunctional traveling platform includes traveling main platform body and connect respectively with the traveling main platform body
Track wheel drive system and caterpillar drive system, it is described traveling main platform body bottom be provided with lifting rotation mechanism；
The lifting rotation mechanism includes rotary cylinder-block and is arranged in the intracorporal lifting piston cylinder of the rotating cylinder, the rotation
The annular recess projected radially outward, the lifting cylinder body of the annular recess and the lifting piston cylinder are provided in the middle part of cylinder body
Closed cavity is formed between side wall, and the piston portion extended radially inwardly is provided on the side wall of the annular recess, it is described
Piston portion and the lifting cylinder body side wall form dynamic sealing, are provided with and extend radially outwardly and can on the lifting cylinder body side wall
Cooperate the retainer for being limited to the piston portion with the piston portion, the retainer is formed with the annular recess
Dynamic sealing, the lifting rotation mechanism further include that the retainer is arranged in for injecting hydraulic oil to the two sides of the retainer
Or the first import and the second import of high pressure gas.
2. railway intelligent measurement rescue aid as described in claim 1, which is characterized in that further include being arranged in the railway intelligence
It can the multi-functional rescue aid travelled on platform.
3. railway intelligent measurement rescue aid as claimed in claim 2, which is characterized in that the rescue aid includes for nobody
Machine, charging unit, extinguishing device.
4. railway intelligent measurement rescue aid as claimed in any one of claims 1-3, which is characterized in that the track drive
System can track wheel drive system lifting relatively so that the bottom of the caterpillar drive system be higher or lower than it is described
The bottom of track wheel drive system, to realize the switching of the caterpillar drive system and the track wheel drive system.
5. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the caterpillar drive system includes using
In the crawler driving whell, multiple carrying rollers, inducer, carrier wheel and the crawler belt that are connect with the traveling main platform body, the crawler belt
Successively it is set around the crawler driving whell, multiple carrying rollers, the inducer and the carrier wheel, multiple carrying rollers
It is connect by first piston cylinder with the traveling main platform body, is moved up and down with the relatively described traveling main platform body respectively；It is described
First piston cylinder includes cylinder body, positioned at the piston rod cylinder intracorporal piston and connect with the piston, the piston rod
Lower end connect with the carrying roller, the cylinder interior is divided into upper cavity and lower chamber by the piston, in the upper cavity
Compressed gas filled with preset pressure value, adjacent thereto another of the upper cavity of at least one first piston cylinder
The upper cavity of the First piston bar passes through pipeline connection.
6. railway intelligent measurement rescue aid as claimed in claim 5, which is characterized in that the carrying roller is divided into M group, and every group
Including N number of carrying roller, and the upper cavity for the first piston cylinder connecting with N number of carrying roller in every group connects each other
Logical, wherein M, N are greater than 1 integer.
7. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the track wheel drive system passes through
Rotating mechanism is connect with the traveling main platform body rotary type, so that the relatively described traveling platform of the track wheel drive system
Main body switches between the first position and the second position, when the track wheel drive system is rotated to first position, the rail
The bottom of road wheel drive system is higher than the bottom of the caterpillar drive system；When the track wheel drive system is rotated to second
When setting, the bottom of caterpillar drive system described in the bottom bottom of the track wheel drive system.
8. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that be arranged in the traveling main platform body
There is Center of Gravity Control System, the Center of Gravity Control System includes for being mounted on the instrumented wheelset travelled in main platform body, peace
For measuring the angular velocity measurement of the angular speed of the railway intelligent multifunctional traveling platform in the traveling main platform body
Unit, gravity's center control unit and centre of gravity adjustment unit, the centre of gravity adjustment unit include clump weight and with the clump weight
Connect the clump weight adjustment mechanism for adjusting position of the clump weight in the traveling main platform body, the instrumented wheelset
For obtaining the wheel of railway intelligent multifunctional traveling platform in real time to vertical force, the gravity's center control unit is from the dynamometry
It takes turns to the wheel of acquisition railway intelligent multifunctional traveling platform to vertical force, and from described in angular velocity measurement unit acquisition
Railway intelligent multifunctional travels the angular speed of platform, and calculates the railway intelligent multifunctional according to data obtained and travel
The position of centre of gravity of platform；And the position of the clump weight is adjusted by controlling the clump weight adjustment mechanism, by the railway
The position of centre of gravity of intelligent multifunctional traveling platform is adjusted to safety zone.
9. railway intelligent measurement rescue aid as claimed in claim 4, which is characterized in that the railway intelligent multifunctional traveling
Platform includes autonomous driving intelligent mode and remote control mode.
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| CN109649421B (en) * | 2018-12-21 | 2021-02-05 | 上海隧道工程质量检测有限公司 | A testing vehicle for tunnel quality testing |
| CN110562288B (en) * | 2019-09-27 | 2024-09-03 | 中车工业研究院有限公司 | Emergency disengaging track device of travelling mechanism and mobile detection platform |
| CN111781576A (en) * | 2019-10-09 | 2020-10-16 | 山东大学 | An intelligent inversion method for ground penetrating radar based on deep learning |
| US12031922B2 (en) | 2019-10-09 | 2024-07-09 | Shandong University | Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period |
| CN111297575A (en) * | 2019-12-30 | 2020-06-19 | 南京晨光集团有限责任公司 | Multifunctional unmanned rescue device |
| CN111114508B (en) * | 2020-02-12 | 2024-09-03 | 应急管理部上海消防研究所 | Intelligent road vehicle moving obstacle-removing robot for fire rescue and vehicle moving obstacle-removing method |
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| JP3630856B2 (en) * | 1996-07-02 | 2005-03-23 | 富士重工業株式会社 | Railway work vehicle |
| US8720345B1 (en) * | 2008-10-20 | 2014-05-13 | Rail Pod Inc. | Personal transit vehicle using single rails |
| FR3025228B1 (en) * | 2014-09-03 | 2016-12-23 | Robert Pouget | AUTONOMOUS GRANULAR GRINDING MACHINE HAVING VERTICAL AND LATERAL CORRELATED WEAR DEFECTS |
| CN204368187U (en) * | 2014-12-05 | 2015-06-03 | 成都欧莱特自动化控制工程有限公司 | A kind of detection rail car being provided with automatic alarm on railway |
| CN104960532A (en) * | 2015-06-15 | 2015-10-07 | 宝鸡南车时代工程机械有限公司 | Tunnel detecting vehicle with three work platforms |
| CN205044739U (en) * | 2015-10-18 | 2016-02-24 | 兰州交通大学 | High -speed railway breakdown train of speedily carrying out rescue work |
| CN205273215U (en) * | 2016-01-04 | 2016-06-01 | 济南轨道交通装备有限责任公司 | Operation car is synthesized to multi -functional contact net of subway |
| CN106114533B (en) * | 2016-07-27 | 2018-06-22 | 株洲旭阳机电科技开发有限公司 | A kind of multifunctional access net-fault Mobile workbench and its operational method |
| CN206589903U (en) * | 2017-03-27 | 2017-10-27 | 姜中辉 | A kind of railcar carrying out flaw detection device |
| CN206721588U (en) * | 2017-05-22 | 2017-12-08 | 中铁四局集团有限公司 | An integrated long rail tractor for railway ballasted and ballastless track laying |
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Effective date of registration: 20210108 Address after: Room 229, science and Technology Museum, EMU Town, Jihongtan street, Chengyang District, Qingdao City, Shandong Province, 266311 Patentee after: CRRC Industrial Research Institute (Qingdao) Co.,Ltd. Address before: 100067 building 6, District 11, 188 South 4th Ring Road West, Fengtai District, Beijing Patentee before: CRRC INDUSTRY RESEARCH INSTITUTE Co.,Ltd. |