CN211166417U - Split Mecanum wheel motor - Google Patents
Split Mecanum wheel motor Download PDFInfo
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- CN211166417U CN211166417U CN201921769675.7U CN201921769675U CN211166417U CN 211166417 U CN211166417 U CN 211166417U CN 201921769675 U CN201921769675 U CN 201921769675U CN 211166417 U CN211166417 U CN 211166417U
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- 239000003302 ferromagnetic material Substances 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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Abstract
An object of this application is to provide a split type mecanum wheel motor of convenient quick installation and dismantlement, can make the motor possess digital high accuracy control and advantage that the price is cheap again simultaneously again. The technical scheme adopted by the application is as follows: a split type Mecanum wheel motor comprises a Mecanum wheel and a motor arranged in the Mecanum wheel, wherein the motor is detachably and fixedly connected with the Mecanum wheel under the condition that the Mecanum wheel does not need to be disassembled, the motor is integrated into the Mecanum wheel through a hollow part of the Mecanum wheel, and the space ratio is reduced 1/2.
Description
Technical Field
The utility model belongs to the technical field of the all-round locomotive, especially, split type mecanum wheel motor.
Background
The Mecanum wheel is an all-directional moving wheel, can realize the movement modes of advancing, transverse moving, oblique moving, rotating, combination of the advancing, transverse moving, oblique moving, rotating and the like, and is used for various designs and uses only through the unique structure and function. At present, mecanum wheel motor is with the left and right sides support direct mount of mecanum wheel on the motor casing, need disassemble mecanum wheel earlier after damaging, difficult quick replacement, for example patent document CN108749482A discloses a mecanum wheel, it is connected to the motor casing between the first end cover of mecanum wheel and the second end cover, set up the motor inside mecanum wheel, although saved the space, when breaking down, must dismantle the back with roller, roller shaft, end cover in proper order, just can dismantle the motor, the loaded down with trivial details inconvenience of process.
In addition, the motors are generally outer rotor motors, and the existing integration degree of the components of the motors makes it difficult to install encoders on the motors, so that the motors have two extremes, one extreme is high in control precision and high in price, the other extreme is low in control precision, and the motors can complete few actions and have few application occasions, for example, the motors are different from common motors without encoders.
SUMMERY OF THE UTILITY MODEL
Based on the not enough of prior art, the utility model aims to provide a split type mecanum wheel motor of convenient quick installation and dismantlement, can make the motor possess digital high accuracy control and the advantage of price again cheap simultaneously again.
The technical scheme adopted by the application is as follows: a split type Mecanum wheel motor comprises a Mecanum wheel and a motor arranged inside the Mecanum wheel, wherein the motor is fixedly connected together relative to the Mecanum wheel in a detachable mode under the condition that the Mecanum wheel does not need to be disassembled.
The Mecanum wheel comprises a left end cover, a right end cover, a rubber roller, a rotating shaft and a sleeve, wherein the left end cover and the right end cover are both annular, the sleeve is limited between the left end cover and the right end cover, the inner diameter of the sleeve is the same as the diameter of an inner circle of the left end cover or the right end cover, and as another embodiment, the inner diameter of the sleeve is the same as the diameters of the inner circles of the left end cover and the right end cover; the rubber covered rollers are arranged on the periphery of the sleeve, the rotating shafts penetrate through the rubber covered rollers and fix the rubber covered rollers between the left end cover and the right end cover, specifically, each rotating shaft corresponds to one rubber covered roller, the rotating shafts are of double-headed bolt types, threads are arranged at two ends of each rotating shaft and penetrate through the left end cover and the right end cover respectively, and nuts are screwed at two ends of each rotating shaft, which extend out of the left end cover and the right end cover, so that the rotating shafts are. The rubber rollers are distributed on the outer periphery of the sleeve to form an annular shape, and the diameter of the excircle on the outermost side of the rubber roller ring is larger than the diameters of the excircles of the left end cover and the right end cover.
The motor comprises a main shaft, a shell, an inner gear ring, a rotor, a stator, a planet gear speed reducing assembly and a brake disc, wherein a bearing is arranged between the shell and the main shaft, the shell can rotate relative to the main shaft, the stator is fixedly sleeved on the main shaft, the stator is positioned in the rotor, the rotor can be sleeved on the main shaft relative to the rotation of the main shaft, the brake disc is sleeved on the main shaft close to the rotor, the planet gear speed reducing assembly is sleeved on the main shaft and is in transmission fit with the rotor, and the inner gear ring is installed in the shell and is in transmission fit with the planet gear assembly.
Specifically, the rotor comprises a transmission cover body and a side cover, a bearing is arranged between the transmission cover body and the main shaft, a stator is arranged inside the transmission cover body, a coil is arranged between the stator and the transmission cover body, the side cover is fixedly connected with the transmission cover body, the rotor side cover is made of a permanent magnetic material, an encoder is arranged on the stator, a magnetic ring is oppositely arranged on the transmission cover body, and a certain distance is reserved between the encoder and the magnetic ring.
The brake disc is made of ferromagnetic materials, the integrated coil is arranged in the brake disc, the brake disc and the main shaft are connected through keys, the main shaft is provided with strip-shaped grooves for accommodating the keys, the length of each strip-shaped groove is slightly larger than that of each key, and the brake disc can be displaced along the axial direction of each strip-shaped groove on the main shaft in a small amplitude mode through the keys.
Specifically, the brake disc is integrally made of two discs made of ferromagnetic materials with different outer diameters, and a coil is arranged on the outer periphery of the disc with the smaller outer diameter.
The planet wheel speed reduction assembly is located on one side of the rotor transmission cover body and comprises a sun wheel, a planet wheel retainer and a positioning pin, the sun wheel is rotatably sleeved on the main shaft, the planet wheel is distributed around the sun wheel and positioned through the positioning pin, the positioning pin is fixed on the planet wheel retainer, the sun wheel is respectively in meshing transmission with the rotor transmission cover body and the planet wheel gear, the planet wheel is in meshing transmission with the inner gear ring gear, so that the shell is driven to rotate relative to the main shaft, and the planet wheel retainer is in key connection with the main shaft, so that the rotation of the planet wheel retainer relative to.
And a hollow channel for connecting a circuit is arranged in the main shaft, and the circuit is respectively communicated with the brake disc and the coil of the stator through the hollow channel in the main shaft.
The main shaft is of a single-output-shaft type or a double-output-shaft type, only one side of the main shaft of the single-output-shaft type extends out of the shell, and two sides of the main shaft of the double-output-shaft type extend out of the shell.
The outer diameter of the motor shell is the same as the inner diameter of the sleeve, so that the motor can be directly installed in an inner space formed by the left end cover, the right end cover and the sleeve, the diameter of an inner circle of one end cover of the left end cover and the right end cover is the same as the outer diameter of the motor shell, the diameter of an inner circle of the other end cover is smaller than the outer diameter of the motor shell, or the diameters of the inner circles of the left end cover and the right end cover are the same as the outer diameter.
The motor is detachably and fixedly connected together relative to the Mecanum wheel, for example, when the inner diameter of the sleeve is the same as the diameters of the inner circles of the left end cover and the right end cover, threaded holes which are inclined to the central axis are circumferentially distributed on the left end cover and the right end cover of the Mecanum wheel close to the inner circles, the threaded holes penetrate through the outer annular surfaces of the left end cover and the right end cover and penetrate through the inner cylindrical surfaces of the left end cover and the right end cover, threaded holes which are inclined to the central axis are arranged on the outer cylindrical surface of the motor shell, when the motor is installed in the inner space of the Mecanum wheel, the threaded holes on the inner cylindrical surfaces of the left end cover and the right end cover of the Mecanum wheel correspond to the threaded holes on the outer cylindrical surface of the motor, when the Mecanum wheel is required to be disassembled, the screws which are obliquely screwed on the left end cover and the right end cover can be disassembled in sequence, so that the Mecanum wheel and the motor can be separated, and a single part can be maintained or replaced more conveniently and quickly.
When the inner diameter of the sleeve is the same as the inner diameter of the inner circle of the left end cover or the right end cover, for example, when the inner diameter of the sleeve is the same as the inner diameter of the inner circle of the left end cover, the inner diameter of the inner circle of the right end cover is smaller than the inner diameter of the sleeve, a bolt hole is formed in one side of the motor shell, a bolt hole is formed in the right end cover corresponding to the bolt hole of the motor shell, and therefore the motor can be directly detachably fixed on the right end cover through bolts.
The motor for mecanum wheel detachable fixed connection is in the same place, including but not limited to above-mentioned embodiment, for example still can set up axial bar groove in sleeve inside, the motor casing periphery sets up the axial rectangular, adopts bar groove and rectangular cooperation mode to realize the transmission cooperation of motor casing and mecanum wheel, sets up the limiting plate simultaneously in motor casing side, limiting plate one end bolted connection and motor casing side, other end bolted connection is covered in mecanum wheel left end lid or right-hand member.
The utility model has the advantages that:
1. the space occupation ratio is small, the common Mecanum wheel moving vehicle adopts the existing component serial connection type, the motor and the Mecanum wheel are connected together by the coupler, the thickness and the space occupation ratio are large, the existing scheme integrates the motor into the Mecanum wheel by utilizing the hollow part of the Mecanum wheel, and the space occupation ratio is reduced by 1/2;
2. the Mecanum wheel motor is modularized, a left bracket and a right bracket of a Mecanum wheel are directly arranged on a motor shell in the conventional Mecanum wheel motor, the Mecanum wheel needs to be disassembled firstly after being damaged, the Mecanum wheel is not easy to rapidly replace, the motor and the Mecanum wheel can be independently disassembled and assembled at present, and when one of the motor and the Mecanum wheel is damaged, the motor and the Mecanum wheel can be independently disassembled and maintained;
3. after modularization, the integrated Mecanum wheel motor can be directly used on any suitable all-directional moving vehicle and can be customized according to the size and the bearing capacity of different all-directional moving vehicles;
4. the brake component directly realizes friction braking with the rotor only by depending on a single brake disc, so that the friction braking device has the advantages of extremely small occupied space, simple structure and low failure rate; the brake disc does not need a spring to provide a reset force, so that the brake performance reduction caused by the fatigue failure of the spring is avoided, and the service life of the motor is relatively prolonged;
5. the encoder is integrated in the motor, so that the motor operation data can be timely exported and recorded, the main controller can analyze the operation of the motor, record the rotating speed and the position of the motor and make appropriate feedback, and the safety of the motor is improved;
6: the components are uniformly distributed, and the split rotor structure design ensures that the left rotor is connected with the speed reducer and the right rotor is connected with the electromagnetic brake, so that the stress is more uniform, the transmission is more accurate due to the matching of the left rotor and the right rotor with the motor, the service life of the motor is prolonged, and the noise is reduced;
7: high moment of torsion, integrated speed reducer in the motor has the rotor input directly, and the shell output has increased output torque promptly, has satisfied the speed reduction requirement again.
Drawings
Fig. 1 is a schematic view of the overall structure of the split mecanum wheel motor of the present invention;
FIG. 2 is an exploded view of a Mecanum wheel construction of the present invention;
fig. 3 is a cross-sectional view of the motor of the present invention;
FIG. 4 is an exploded view of the motor structure of the present invention;
in the figure, a motor 1, a Mecanum wheel 2, a left end cover 3, a sleeve 4, a rubber roller 5, a rotating shaft 6, a right end cover 7, a nut 8, a main shaft 9, a shell 10, an inner gear ring 11, a rotor cover body 12, a side cover 13, a sun wheel 14, planet wheels 15, a planet wheel holder 16, a stator 17, a brake disc 18, a bearing I19, a bearing II 20, a bearing III 21, an encoder 22 and a magnetic ring 23 are arranged.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses a preferred embodiment of the present invention.
Referring to the drawings, the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function and the achievable purpose of the present invention. Meanwhile, the position limitation terms cited in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and the changes or adjustments of the relative relationship thereof should be considered as the scope of the present invention without substantial changes in the technical content.
FIG. 1 is the utility model discloses split type mecanum wheel motor overall structure sketch map, as shown in the drawing, the utility model discloses a split type mecanum wheel motor includes mecanum wheel 2 and mountable in the inside motor 1 of mecanum wheel, and its difference with prior art lies in, under the condition that need not disassemble mecanum wheel 2, motor 1 for mecanum wheel detachable fixed connection is in the same place, for example, end cover about 2 is close to interior circle circumference and distributes and have the screw hole of slope to the axis, the screw hole passes the outside annular face of left and right sides end cover and wears out from the inside face of cylinder of left and right sides end cover, be provided with the screw hole of slope to the axis on the outside face of cylinder of motor 1 casing, when motor 1 installs in mecanum wheel 2 inner space, screw hole on the inside face of cylinder on the end cover about 2 and the corresponding screw hole position on the outside face of cylinder of motor 1 casing on screw hole The utility model discloses a screw is dismantled when needs are dismantled, can dismantle the screw that the slope was twisted soon about the end cover in proper order, alright completion mecanum wheel 2 and motor 1's separation, maintenance or change single part all more convenient and fast more on the screw hole can follow the annular face of end cover outside about mecanum wheel 2 on the screw hole pass left and right sides inside cylinder surface screw hole of end cover and the outside cylinder surface screw hole of motor casing in proper order, and twist soon in 1 casings of motor, thereby end cover and motor 1 casing fixed connection about with mecanum wheel 2.
Fig. 2 is the utility model discloses mecanum wheel structure explosion picture, as shown in the figure, mecanum wheel 2 includes left end lid 3, right-hand member lid 7, rubber roll 5, pivot 6, sleeve 4, it is the annular to control the end lid, sleeve 4 is injectd left end lid 3 with between the right-hand member lid 7, sleeve 4's internal diameter with circle diameter is the same in left end lid 3, the right-hand member lid 7, rubber roll 5 arranges in sleeve 4 periphery side, pivot 6 passes rubber roll 5 and is fixed in rubber roll 5 between the end lid about, specificly, every pivot 6 corresponds a rubber roll 5, pivot 6 is the double-end bolt type, and its both ends are equipped with the screw thread and wear out about respectively the end lid, the both ends that pivot 6 stretches out about the end lid all revolve and twist there is nut 8, be used for with pivot 6 is fixed for controlling the. The rubber rollers 5 are distributed on the outer periphery of the sleeve 4 to form an annular shape, and the diameter of the excircle of the outermost side of the rubber roller ring is larger than the diameters of the excircles of the left end cover and the right end cover.
The motor 1 is detachably and fixedly connected with the Mecanum wheel 2, for example, threaded holes inclined towards the central axis are circumferentially distributed on left and right end covers of the Mecanum wheel 2 close to an inner circle, the threaded holes penetrate through outer annular surfaces of the left and right end covers and penetrate out from inner cylindrical surfaces of the left and right end covers, threaded holes inclined towards the central axis are arranged on an outer cylindrical surface of the motor shell 10, when the motor is installed in an inner space of the Mecanum wheel, threaded holes on inner cylindrical surfaces of the left and right end covers of the Mecanum wheel correspond to threaded holes on an outer cylindrical surface of the motor shell 10 in position, so that screws can sequentially penetrate through the inner cylindrical surface threaded holes of the left and right end covers and the outer cylindrical surface threaded holes of the motor shell 10 from the threaded holes on the outer annular surfaces of the left and right end covers of the Mecanum wheel 2 and can be screwed into, can in proper order with about the end cover the spiral-wound screw dismantlement of slope, alright accomplish the separation of mecanum wheel and motor, maintenance or change single part all more convenient and fast the motor for mecanum wheel detachable fixed connection together, including but not limited to above-mentioned embodiment, for example still can set up axial bar groove in sleeve inside, the motor casing periphery sets up the axial rectangular, adopts bar groove and rectangular cooperation mode to realize the transmission cooperation of motor casing and mecanum wheel, sets up the limiting plate simultaneously in motor casing side, limiting plate one end bolted connection in motor casing side, other end bolted connection is covered in mecanum wheel left end lid or right-hand member.
Fig. 3 is the utility model discloses motor section view, fig. 4 is the utility model discloses motor structure explosion chart, as shown in the figure, including main shaft 9, casing 10, ring gear 11, rotor, stator 17, planet wheel speed reduction subassembly, brake disc 18, be equipped with the bearing between casing 10 and the main shaft 9, including bearing 19 and bearing three 21, make casing 10 rotate for main shaft 9, the fixed cover of stator 17 is located on main shaft 9, and stator 17 is located inside the rotor, and the rotor can be located on main shaft 9 for main shaft 9 pivoted cover, brake disc 18 closes on the rotor cover is located on main shaft 9, planet wheel speed reduction subassembly cover is located on main shaft 9 and with rotor drive cooperation, ring gear 11 interference fit installs inside casing 10 and with planet wheel subassembly drive cooperation. The rotor comprises a rotor cover body 12 and a side cover 13, a second bearing 20 is arranged between the rotor cover body 12 and the main shaft 9, a stator 17 is arranged inside the rotor cover body 12, a coil is arranged between the stator 17 and the rotor cover body 12, the side cover 13 is fixedly connected with the rotor cover body 12, the rotor side cover 13 is made of a permanent magnetic material, an encoder 22 is arranged on the stator, a magnetic ring 23 is arranged on the rotor cover body 12 in a matching mode with the encoder 22, and a certain distance is reserved between the encoder 22 and the magnetic ring 23.
The planet wheel speed reducing assembly is located on one side of the rotor cover body 12 and comprises a sun wheel 14, a planet wheel 15, a planet wheel retainer 16 and a positioning pin, the sun wheel 14 is rotatably sleeved on the spindle 9, the planet wheel 15 is distributed around the sun wheel 14 and positioned by the positioning pin, the positioning pin is fixed on the planet wheel retainer 16, the sun wheel 14 is in gear engagement transmission with the rotor cover body 12 and the planet wheel 15 respectively, the planet wheel 15 is in gear engagement transmission with the inner gear ring 11 so as to drive the shell 10 to rotate relative to the spindle 9, and the planet wheel retainer 16 is in key connection with the spindle 9 so as to prevent the planet wheel retainer 16 from rotating relative to the spindle 9. The first bearing 19, the second bearing 20 and the third bearing 21 can all adopt deep groove ball bearings.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A split Mecanum wheel motor comprising a Mecanum wheel and a motor mounted inside the Mecanum wheel, wherein the motor is removably fixedly coupled with respect to the Mecanum wheel without requiring disassembly of the Mecanum wheel.
2. The split-type mecanum wheel motor as claimed in claim 1, further characterized in that the mecanum wheel includes a left end cap, a right end cap, a rubber roller, a rotating shaft, and a sleeve, wherein the left and right end caps are both annular, the sleeve is defined between the left end cap and the right end cap, the rubber roller is arranged on the outer peripheral side of the sleeve, and the rotating shaft penetrates through the rubber roller and fixes the rubber roller between the left and right end caps.
3. The split mecanum wheel motor of claim 2 further characterized in that the motor housing outer diameter is the same as the sleeve inner diameter, the inner circle diameter of one of the left and right end caps is the same as the motor housing outer diameter, and the inner circle diameter of the other end cap is smaller than the motor housing outer diameter.
4. The split mecanum wheel motor of claim 2 further characterized in that the motor housing outside diameter is the same as the sleeve inside diameter and the left and right end cap inside diameter is the same as the motor housing outside diameter.
5. The split mecanum wheel motor of claim 1 further characterized in that the mecanum wheel and motor housing are directly fixedly attached together by screws.
6. The split mecanum wheel motor as claimed in claim 2, wherein the left and right end caps of the mecanum wheel have threaded holes with inclined central axis circumferentially distributed near the inner circle, the threaded holes pass through the outer annular surfaces of the left and right end caps and penetrate through the inner cylindrical surfaces of the left and right end caps, the outer cylindrical surface of the motor housing has threaded holes with inclined central axis, and when the motor is installed in the internal space of the mecanum wheel, the threaded holes on the inner cylindrical surfaces of the left and right end caps of the mecanum wheel correspond to the threaded holes on the outer cylindrical surface of the motor housing.
7. The split-type Mecanum wheel motor as claimed in claim 2, wherein an axial groove is formed in the sleeve, an axial strip is formed on the outer periphery of the motor housing, the motor housing is matched with the Mecanum wheel in a transmission mode through the axial groove and the strip, a limiting plate is arranged on the side face of the motor housing, one end of the limiting plate is connected to the side face of the motor housing in a bolt mode, and the other end of the limiting plate is connected to the left end cover or the right end cover of the Mecanum wheel in a bolt mode.
8. The split mecanum wheel motor as claimed in claim 1, wherein the motor includes a main shaft, a housing, an inner gear ring, a rotor, a stator, a planetary gear reduction assembly, and a brake disc, a bearing is disposed between the housing and the main shaft, the stator is fixedly sleeved on the main shaft, the stator is disposed inside the rotor, the rotor is rotatably sleeved on the main shaft, one side of the brake disc close to the rotor is sleeved on the main shaft, the other side of the planetary gear reduction assembly close to the rotor is sleeved on the main shaft and is in driving engagement with the rotor, the inner gear ring is mounted inside the housing and is in driving engagement with the planetary gear assembly, the stator is provided with an encoder, and the transmission cover body is provided with a magnetic ring in cooperation with the encoder.
9. The split mecanum wheel motor as claimed in claim 8, wherein the rotor includes a driving cover and a side cover, a bearing is disposed between the driving cover and the main shaft, a stator is disposed inside the driving cover, a coil is disposed between the stator and the driving cover, the side cover is fixedly connected to the driving cover, and the rotor side cover is made of permanent magnetic material.
10. The split mecanum wheel motor as claimed in claim 9, wherein the brake disc is made of ferromagnetic material, and the brake disc is internally integrated with a coil, the brake disc is connected with the spindle through a key, the spindle is provided with a bar-shaped groove for accommodating the key, the length of the bar-shaped groove is slightly greater than that of the key, so that the brake disc can be axially displaced along the bar-shaped groove on the spindle by the key with a small amplitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921769675.7U CN211166417U (en) | 2019-10-21 | 2019-10-21 | Split Mecanum wheel motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921769675.7U CN211166417U (en) | 2019-10-21 | 2019-10-21 | Split Mecanum wheel motor |
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| Publication Number | Publication Date |
|---|---|
| CN211166417U true CN211166417U (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921769675.7U Active CN211166417U (en) | 2019-10-21 | 2019-10-21 | Split Mecanum wheel motor |
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| CN (1) | CN211166417U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115684205A (en) * | 2022-11-09 | 2023-02-03 | 中车青岛四方机车车辆股份有限公司 | An intelligent detection device for the state of the inner wall of a profile |
-
2019
- 2019-10-21 CN CN201921769675.7U patent/CN211166417U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115684205A (en) * | 2022-11-09 | 2023-02-03 | 中车青岛四方机车车辆股份有限公司 | An intelligent detection device for the state of the inner wall of a profile |
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