407results about "Rail derailment prevention" patented technology

The invention relates to the technical field of railway freight train technical inspection, in particular to a rail system for movement of a wagon bottom inspection robot, which comprises a robot and a robot rail, a groove is formed in the surface of the robot rail, a rail clamping device is arranged at the bottom of the robot, and a polyurethane outer ring bearing is mounted on one side of the rail clamping device. The polyurethane outer ring bearing is located in the groove, and the rail clamping device is connected to the surface of a robot rail in a clamped mode. When a robot inspects the bottom of a preset truck on the robot track, the polyurethane outer ring bearing is always located in a groove in the surface of the robot track, and the robot is prevented from derailing; the non-metal outer ring bearings of the rail clamping devices make contact with the side faces of the robot rails when the robot moves, so that the non-metal outer ring bearings of the rail clamping devices are located in the grooves in the side faces of the two robot rails all the time, the robot cannot be separated from the robot rails, the robot is prevented from being damaged due to derailing, and the working efficiency of the robot is improved.

The invention relates to a permanent magnet maglev train which comprises a train body, permanent magnet rails and sleepers, a linear motor primary is arranged in the middle of the bottom of a suspension frame, vehicle-mounted permanent magnets are arranged on the two sides of the bottom of the suspension frame respectively, and the vehicle-mounted permanent magnets on the two sides are located over the corresponding permanent magnet rails respectively; a linear motor secondary is laid in the middle of the line, and the linear motor secondary is located under the linear motor primary at the bottom of the suspension frame; steel rails are laid on the two sides of the line respectively, supporting wheels and guide wheels are arranged on the two sides of the bottom of the suspension frame respectively, the supporting wheels are connected to the top faces of the corresponding steel rails in a rolling mode, and the guide wheels are connected to the outer side faces of the corresponding steel rails in a rolling mode. The vehicle-mounted permanent magnets on the two sides and the corresponding lower permanent magnet rails are arranged in a staggered and offset mode. According to the invention, the vehicle-mounted permanent magnets on the vehicle body and the corresponding permanent magnet tracks below adopt a staggered bias design, so that the influence of the guiding force (transverse force) of the permanent magnet magnetic suspension system on the stability of the system can be reduced.

A system and method are disclosed enabling the use of electromagnetic engines to traverse a wheeled bogie assembly across a plurality of rails. The electromagnetic engines may be used within a rail assembly comprising four rails and a frog assembly. Further, the electromagnetic engines may be used to traverse between a straight path and a turnout path at a non-moving rail switch having a frog assembly. In one aspect, an algorithm for powering various coils is disclosed wherein the algorithm controls the power level to switch tracks connected to the frog assembly.

A turnout structure includes at least one turnout. The at least one turnout includes: a fixed beam set including a first side beam and a second side beam, and at least two movable beam sets disposed between the first side beam and the second side beam to define at least three switchable traveling pathways. Top surfaces of the at least two movable beam sets are configured to be a first traveling surfaces for traveling wheels of a rail vehicle to travel. Each of the at least two movable beam sets includes a rotating beam and a moving beam. A rotating center is located on a first end of the rotating beam, the rotating beam is configured to rotate around the rotating center, and the moving beam is connected to a second end of the rotating beam and configured to move along a path.

The invention relates to the technical field of air rail transportation, in particular to a power type bogie based on a box girder type base and an induction gap adjusting method. The power type bogie comprises a box girder type base, the box girder type base comprises a suspension gap located at the bottom and communicated with an inner cavity, first rails located on the two sides of the suspension gap are arranged at the bottom of the box girder type base, and an induction magnetic stator is fixedly arranged on the inner side of the top of the box girder type base. The bogie assembly comprises a bottom frame, a motor support arranged on the bottom frame and walking wheels arranged on the bottom frame; the top of the motor support is provided with a motor rotor having an induction gap with the induction magnetic stator, and the motor rotor is used for driving the bogie assembly to move under the action of magnetic force generated by the motor rotor and the induction magnetic stator. And the gap adjusting device is used for adjusting the size of the induction gap. A semi-closed base can be formed through the box girder type base, a bogie and other components are arranged in a box girder cavity, maintenance is convenient, the influence of weather is small, and the service life can be prolonged.

The invention relates to an amphibious four-way shuttle vehicle guiding system which comprises a goods shelf body and an amphibious four-way shuttle vehicle, a ground rail for the amphibious four-way shuttle vehicle to walk is arranged on the ground below the goods shelf body, and a plurality of layers of flat rails for the amphibious four-way shuttle vehicle to walk are arranged on the goods shelf body. A flat wheel traveling wheel set is arranged at the bottom of the amphibious four-way shuttle vehicle, and a guide wheel set is arranged on the peripheral side of the amphibious four-way shuttle vehicle. A ground main channel guide assembly and a ground sub-channel guide assembly are arranged on the two sides of the ground track, a goods shelf main channel guide assembly and a goods shelf sub-channel guide plate are arranged on the two sides of the track face of the flat track, and a driving wheel with a skirt edge is changed into a flat wheel structure. Guide wheel sets matched with the guide assemblies are installed on the side edges of the vehicle, so that the amphibious four-way shuttle vehicle can stably run on rails of a goods shelf or the ground, the running stability is improved, the cost is saved, the use efficiency is improved, the space can be saved, and machining and maintaining are convenient.

A track system may include a track assembly and a support assembly. A track assembly may include a toothed portion. The support assembly may include a support member removable from and adjustably connected to the track assembly. The toothed portion may include a plurality of track teeth. The support member may include an adjuster pinion. The adjuster pinion may include a plurality of pinion teeth configured to engage the plurality of track teeth. The adjuster pinion may be adjustable to an engaged position in which the adjuster pinion and the toothed portion are engaged with one another. The adjuster pinion may be adjustable to a disengaged position in which the adjuster pinion and the toothed portion are not engaged with one another.

The invention discloses an anti-derailment device for train collision. The anti-derailment device comprises a connecting frame, two sets of steel rail clamping and limiting mechanisms, an inner supporting type limiting mechanism, a detection assembly and a control assembly. The connecting frame is fixedly connected with the bottom of a train bogie; the two sets of steel rail clamping and limiting mechanisms are symmetrically arranged on the two sides of the bottom of the connecting frame. Each steel rail clamping and limiting mechanism comprises a lifting assembly, a connecting arm and a clamping jaw assembly. The inner supporting type limiting mechanism is arranged on the connecting frame and located between the two sets of steel rail clamping limiting mechanisms, and the inner supporting type limiting mechanism comprises two sets of guiding abutting rod pieces and an automatic folding assembly. The two sets of steel rail clamping limiting mechanisms and the inner supporting type limiting mechanisms are actively controlled to cooperatively restrain transverse movement and vertical displacement of the wheel set, the displacement of the wheels is indirectly restrained by limiting the track of the bogie, collision initial kinetic energy is efficiently converted into ground sliding friction work, the guide abutting rod piece abuts against the inner side of the steel rail, and therefore the sliding friction work is effectively converted into ground sliding friction work. And the bogie is ensured to run along a set route in the collision process.

The embodiment of the invention provides a steering control method of a rail vehicle and a related device, and relates to the technical field of vehicle control. The rail vehicle is provided with a detection mechanism and walking wheels, the detection mechanism is located in front of the walking wheels in the walking direction, and the method comprises the steps that in the process that the rail vehicle travels along a rail, the detection mechanism detects the trend change information of the rail; and performing steering control on the walking wheels according to the trend change information. According to the method, the trend change information of the track is detected by the detection mechanism in advance of the walking wheel by a section of distance, and then active steering control can be performed on the walking wheel according to the trend change information, so that the passive guiding effect of the guiding device can be reduced; the effects of reducing serious abrasion of the guide device of the rail vehicle and reducing abrasion and deformation of the rail are achieved.

The invention relates to the technical field of railway inspection vehicles, in particular to an automatic orbital transfer inspection vehicle and an orbital transfer method. The inspection vehicle comprises a vehicle frame, walking wheels are arranged on the vehicle frame, the extending direction of rails is defined as the front-back direction, the inspection vehicle further comprises a guide wheel set, the guide wheel set comprises guide wheels located on the left side and the right side of the vehicle frame, the guide wheels are used for abutting against the rails on the corresponding sides to guide the vehicle frame to move, and the guide wheels are installed on the vehicle frame through a longitudinal and transverse moving mechanism; the longitudinal and transverse moving mechanism comprises a transverse moving mechanism and a longitudinal moving mechanism, the guide wheels are driven by the longitudinal and transverse moving mechanism to transversely move and ascend and descend, when the vehicle frame moves to the turnout zone, the guide wheels abut against the target rail, then the vehicle frame is guided to the target rail, the walking wheels have the set wheel width, and the vehicle frame rolls to the target rail when the guide wheels abut against the target rail. The technical problems that in the prior art, manual intervention is needed for lane changing of an inspection vehicle in a turnout zone, the detection efficiency is low, and stability and precision cannot be considered at the same time are effectively solved.

The permanent magnet suspension monorail vehicle bogie comprises a bogie frame and a suspension device, a motor is installed at the top of the bogie frame, a brake device and a guide wheel are arranged at the two ends of the bottom of the bogie frame in the longitudinal direction of the bogie frame, and the number of the guide wheel located at any end of the bogie frame is one. Safety wheels are installed on the periphery of the bottom of the bogie frame, and the guide wheels and the brake device share a brake clamping rail. A current collection device and a permanent magnet suspension device are mounted at the bottom of the bogie frame; the suspension device comprises a suspension beam, and the suspension beam is connected with the bogie frame through a suspension pin and connected to a vehicle body through a suspension frame and a traction rod. According to the permanent magnet suspension monorail vehicle bogie, the internal structure of the bogie frame can be simplified, and the strength design of the bogie frame is reduced; the scheme that a single guide wheel is arranged on a single side is adopted, and the number of the guide wheels is reduced; the guide wheels and the brake device share the brake clamping rail, and the overall height of the bogie and the rail beam can be reduced.

The present invention relates to the technical field of straddle-type monorail engineering vehicles, specifically disclosing a bogie for a straddle-type monorail engineering vehicle, comprising a frame, a traction device mounted on the frame, independent drive devices symmetrically arranged and mounted on the frame, and guide and stabilizing wheel sets mounted on the frame and symmetrically arranged along the travel direction. The present invention effectively reduces the overall weight and length of the engineering vehicle, and can accommodate confined installation spaces within the vehicle with its smaller dimensions.

According to the method for automatically passing through the complex structure area of the track and the frame structure, the geometric condition of passing through the discontinuous area of rail pieces in the harmful space of a frog is met by limiting the displacement-wheel diameter combination relation of elastic wheels. The device has the characteristics of simple structure and automation. The invention further provides a double-elastic limiting device walking vehicle frame with spans in the front and the back, an effective working limiting device can be always guaranteed in a steel rail discontinuous area in a harmful space of a frog, and the posture of equipment is kept.

Disclosed are a guide module and a driving device provided with the same. A driving device according to an embodiment of the present inventive concept includes: a rack formed in at least any one combination of a straight rack portion of a straight type and a curved rack portion of a curved type; a pinion interacting with the rack and moving along a straight or curved trajectory of the rack; a moving unit connected to the pinion and moving along the trajectory of the rack with the pinion; and a guide module connected to the moving unit and guiding a movement of the moving unit that moves along the trajectory of the rack, wherein the guide module includes: a pair of module rails, each including a rail block and arranged on one side of the rack forming a same trajectory as the rack; and a pair of slipping prevention guide assemblies connected to the moving unit forming one body with the pinion, one of which being movably coupled to each of the pair of module rails, and moving along the trajectory of each of the pair of module rails and guiding the movement of the moving unit to prevent occurrence of slipping.

The invention relates to a method for detecting derailment, wherein a first sensor (1) is used to detect first flexural deformations of a first retaining element (3) and a second sensor (2) is used to detect second flexural deformations of a second retaining element (4), wherein the first retaining element (3) and the second retaining element (4) are connected to an obstacle contact beam (6), and wherein the first sensor (1) and the second sensor (2) are connected to an evaluation unit (11) in a signal-transmitting capacity. To safely detect derailment, it is proposed that, on the one hand, first absolute impulse values and second absolute impulse values, which are determined from the first flexural deformations and the second flexural deformations by means of the evaluation unit (11), or, on the other hand, sums of the first absolute impulse values and the second absolute impulse values are compared with an impulse threshold value, wherein a check is performed to determine whether the first absolute impulse values and / or the second absolute impulse values, on the one hand, or the sums, on the other hand, are equal to the impulse threshold value or greater than the impulse threshold value.

The invention discloses a suspension type maglev train, and relates to the technical field of maglev vehicles, and the suspension type maglev train comprises a train body, a suspension system and a walking system. The suspension system extends in the length direction of a train line and comprises a box girder, and a suspension rail, a motor secondary part and a first permanent magnet array are arranged in the box girder. The walking system comprises a suspension framework, the suspension framework is arranged in the box girder, the suspension framework is connected with the vehicle body, and a suspension electromagnet, a motor primary part and a second permanent magnet array are arranged on the suspension framework. The suspension electromagnet acts with the suspension rail after being electrified to generate suspension force so as to achieve vehicle body suspension, the motor primary part generates electromagnetic induction with the motor secondary part after being electrified to achieve vehicle body traction, and the second permanent magnet array and the first permanent magnet array repel in the same polarity so as to achieve guiding when the vehicle body runs. According to the suspension type maglev train, the problems of vibration noise and abrasion consumption caused by collision contact among the guide wheels, the walking wheels and the rails are solved.

The suspension type vehicle bogie comprises a framework, a suspension beam, a permanent magnet motor and walking wheels, a motor mounting seat is arranged in the framework, a stabilizing wheel mounting seat is arranged in the middle of the framework, and two stabilizing wheels are arranged on the stabilizing wheel mounting seat; the suspension beam is connected with the framework through a suspension pin, and the suspension beam is connected to a vehicle body through a vehicle body hanging bracket; the permanent magnet motor is mounted on the motor mounting seat, the permanent magnet motor is connected to the gear box through the coupler, the gear box is connected to the walking wheels, a guide wheel mounting seat is arranged on the gear box, and a guide wheel is arranged on the guide wheel mounting seat; the walking wheels are rubber tires. According to the suspension type vehicle bogie, the number of the stabilizing wheels is two, the stabilizing wheels are arranged in the middle of the framework, the weight of the framework can be reduced, and the lightweight design of the bogie is achieved; the guide wheel mounting seat is mounted on the gear box, so that the structure of the framework can be simplified; and the walking wheels adopt rubber tires, so that the climbing performance of the bogie can be improved.

The utility model discloses a rail type inspection robot driving device which comprises a chassis structure used for installing an inspection robot, the right side of the bottom of the chassis structure is fixedly connected with drooping plates, and one sides of every two drooping plates are provided with driving wheel mounting rods through bearings. A driving rod is mounted on the other side between every two drooping plates through a bearing, a driving wheel is mounted at the end of each driving wheel mounting rod, and a spring is mounted on the outer ring of each driving wheel mounting rod in a sleeving manner. According to the rail type inspection robot driving device, when the whole inspection robot works, especially turns, by means of the design and use of the flexible couplings and the springs, on one hand, the driving wheels can be pulled to be tightly pressed on the ground rail, and the friction force between the driving wheels and the ground rail is increased; therefore, the problem that the inspection robot is easy to derail during turning is effectively solved.

The utility model relates to a limiting device for guaranteeing the walking stability of railway inspection equipment and the inspection equipment. The limiting device comprises a first limiting assembly and a second limiting assembly. The first limiting assembly and the second limiting assembly are located on the two opposite sides of the axis direction of a walking wheel of the inspection equipment correspondingly and clamp a steel rail together so as to keep the relative position with the steel rail. The first limiting assembly can be movably installed on the inspection equipment close to or away from the steel rail and is used for abutting against the inner side of the steel rail. One side of the second limiting assembly is movably mounted on the first limiting assembly, so that the other side of the second limiting assembly can be close to or away from the first limiting assembly and abuts against the outer side face of the steel rail. The two sides of the steel rail are limited through the first limiting assembly and the second limiting assembly, the relative position of the walking wheel and the steel rail is kept stable, even if the walking wheel walks in the direction of the vertical line of the cross section of the steel rail, the situation that the walking wheel walks along an S-shaped or Z-shaped path does not occur, and walking stability is improved.

The invention relates to a high-speed rack rail injection mechanism which is applied to a rack rail vehicle walking on a rail, the rack rail vehicle comprises a rack rail wheel, a meshing rack for the rack rail wheel to walk is arranged on the rail, and the rack rail vehicle further comprises a synchronizing device and a correcting device which are arranged at the driving-in end of the meshing rack, and the correcting device is used for adjusting the tooth entering position of the rack rail wheel. The toothed rail wheel sequentially passes through the synchronizing device and the correcting device and is meshed with the meshing rack; the synchronizing device comprises a synchronizing frame arranged on the track, a passing channel for the toothed rail wheels to pass through is arranged on the synchronizing frame, and a plurality of guide wheel mounting grooves distributed in the moving direction of the toothed rail vehicle and telescopic guide wheels arranged in the guide wheel mounting grooves in a one-to-one correspondence mode are arranged on the two sides of the passing channel. The telescopic guide wheel can move in the direction perpendicular to the movement direction of the rack rail vehicle, and the telescopic guide wheel is horizontally arranged and has magnetism. Quick synchronous rotating speed of the toothed rail wheel can be achieved without adding a magnet on the toothed rail wheel, the requirement for the strength of the toothed rail wheel is effectively lowered, and the overall working stability is improved.

The invention relates to the technical field of robots, in particular to a railway line detection intelligent robot which comprises a main body, and the main body is provided with a walking mechanism used for driving the robot to walk; the image acquisition module is used for acquiring railroad sleepers, railroad sleeper spike bolt images, oil coating processes, steel rail surface profiles and the like; the intelligent sensing system is used for acquiring railway detection information; the detection information comprises identification and accurate positioning of railroad sleeper spikes and bolts, detection of positions and states of the railroad sleeper spikes and bolts, measurement of rail gauges and surface profiles and the like; the intelligent control technology management platform is used for receiving the detection information of the intelligent sensing system and the image data transmitted by the image acquisition module and carrying out statistical analysis; and the oil coating mechanism is used for synchronously carrying out oil coating operation on the railway sleeper spike bolt. According to the railway sleeper spike bolt oiling device, the railway sleeper spike bolt oiling efficiency and quality are improved, multi-directional detection and image acquisition of a steel rail are achieved, and the automation degree is high.

A turnout structure, which includes at least one turnout. The at least one turnout includes a fixed beam set. The fixed beam set includes a first side beam and a second side beam. The at least one turnout further includes a movable beam set. The movable beam set is disposed between the first side beam and the second side beam to define two switchable driving channels. A top surface of the movable beam set is configured as a first locomotion surface for locomotion wheels of a railway vehicle. The movable beam set includes a rotating beam and a moving beam. A first end of the rotating beam includes a rotating center. The rotating beam is configured to rotate around the rotating center, and the moving beam is connected to a second end of the rotating beam and configured to move along a path.

The application relates to the technical field of vehicles and provides a guide system of a rail vehicle, the rail vehicle and a rail transit system, which comprise a wheel structure, an identification structure and a control system, the wheel structure comprising a wheel frame, a wheel and a steering system connected to the wheel, the identification structure being connected to the wheel structure and being adapted to be arranged opposite to and spaced from a guide reference surface of a guide rail structure, the identification structure being configured to be capable of identifying the relative position relationship between the wheel structure and the guide reference surface, and the control system being connected to the identification structure and the steering system and being used for controlling the steering system to drive the wheel to steer according to the relative position relationship identified by the identification structure. The guide system can avoid the problems of complex structure, high cost, large transverse impact and easy reduction or failure of guide performance of a mechanical contact type guide system on the basis of ensuring safety.

The application provides a guide rail type rubber wheel system, which comprises a guide rail and a guide device; the guide rail comprises a straight guide rail and a transition guide rail; the guide rail is an H-shaped guide rail; the guide device comprises a guide frame, a guide arm, an extension rod and a guide wheel; the front end and the rear end of the guide frame are provided with a pair of guide arms; each guide arm is detachably assembled with an extension rod below; the guide wheel is rotatably assembled on the extension rod; the extension rod is a damping extension rod; the central vertical rail surface of the transition guide rail is provided with a lateral guide rail which is protruding; and each guide wheel is provided with a groove which can allow the radial embedding of the guide rail; the extension rod can be extended or retracted along with the guide rail; the RRT guide wheel can be guided on the rail platform of an elevated bridge; the RRT guide wheel can also be guided in the pre-buried track on the urban road surface; and the RRT laying line can be integrated with the existing road surface.

A maintenance vehicle for an attraction system includes a maintenance component configured to discharge material onto a path of a path system of the attraction system, a guide engagement device configured to capture a protrusion of the path system, the protrusion being off the path, and a wheel set configured to move the maintenance vehicle along the path system while the guide engagement device maintains capture of the protrusion and moves the maintenance component along the path.

The rail mobile lifting work platform rail clamp belongs to the lifting work platform technology, and the existing rail clamp is used for limiting the accidental movement of the equipment on the rail under the special conditions such as strong wind, and is not suitable for the rail clamping and stabilizing of the lifting work platform during movement. The threaded rod and the nut are matched through the transmission thread, the power machine lifts the nut through the threaded rod, the lifting of the nut is converted into the lifting of the clamping assembly and the approach or separation of the first rail clamp wheel and the second rail clamp wheel through the clamping assembly. When the first rail clamp wheel and the second rail clamp wheel approach each other to clamp the rail, the rail clamp wheel can roll along the rail, so that the lifting work platform is clamped and stabilized during movement.

This invention discloses a deflection device for a mining cart pusher, relating to the field of mining machinery and equipment technology. It includes a pusher frame, a pusher body, and a mine car. The pusher body is located inside the pusher frame, and the mine car is mounted on top of the pusher body. A mounting frame is fixedly installed on one side of the mine car, and a dual-shaft motor is fixedly installed inside the mounting frame. Screws are fixedly installed on the output ends of the dual-shaft motors, and fixing plates are threaded onto the surfaces of the two screws. Mounting plates are located on one side of each of the two fixing plates, and multiple mounting plates penetrate both sides of the mounting frame, with each mounting plate slidably connected to the sides of the mounting frame. This invention can deflect the mine car, preventing collisions or derailment between the mine car and the pusher frame, while also increasing the stability of the mine car, thus improving the practicality and safety of the mining cart pusher.

Provided is a ceiling traveling vehicle that travels on a track including a pair of travel rails and including an upper guide rail in a branching portion, the traveling vehicle including: a body portion; a pair of travel wheels each configured to roll on a corresponding one of the travel rails; an upper guide roller configured to roll in contact with the upper guide rail; and a cam configured to adjust a position of the upper guide roller in a right-and-left direction in the body portion, depending on the branching portion.

The invention relates to the technical field of railway vehicle type equipment, in particular to a positioning anti-skid structure for skid resistance of a sightseeing mini-train. A driving assembly comprises a driving motor fixedly connected to the side wall of a bearing beam, and a T-shaped connecting shaft is fixedly connected to the outer wall of a driving shaft of the driving motor; two connecting rods are rotationally connected to the inner walls of the top and the bottom of the end, away from the driving motor, of the T-shaped connecting shaft, and a plurality of U-shaped connecting rods are rotationally connected to the outer walls of the two connecting rods. During starting, a driving motor is powered on and started, at the moment, a driving shaft of the driving motor can drive a T-shaped connecting shaft to rotate by a certain angle, so that a plurality of U-shaped connecting rods rotationally connected to a connecting rod with the T-shaped connecting shaft move towards the two sides, and movable rods fixedly connected to the outer walls of the U-shaped connecting rods push a flywheel disc to move towards the inner side of an auxiliary wheel; the pressure between the protruding side wall of the outer edge of the auxiliary wheel and the train rail is increased, then the friction force between the auxiliary wheel and the train rail is increased, and the probability that the small train slips during starting is reduced.

The utility model discloses a guiding and anti-toppling structure which comprises a walking wheel, a guiding wheel and an anti-toppling wheel. The walking wheels comprise two driving wheels and one driven wheel, the driving wheels are driven by a motor, when the detector runs, the two driving wheels on the rear portion are located on the left side and the right side of the track, the driven wheel on the front portion is wide and occupies a large area in the middle of the track, and the front portion and the rear portion of the detector can be sufficiently supported through the three walking wheels; therefore, the detector is ensured to run stably and smoothly. The guide wheel assembly comprises a front guide wheel and a rear guide wheel, two pairs of guide wheels are provided with four vertical cylindrical shafts, and the guide wheel assembly is vertically mounted on the vehicle body frame, is used for controlling the detector to move along the direction of the track without shifting and has a certain anti-toppling effect; the anti-tilting wheel assembly comprises a front anti-tilting wheel and a rear anti-tilting wheel, two pairs of front anti-tilting wheels and rear anti-tilting wheels are provided with four inclined cylindrical shafts, and the front anti-tilting wheels and the rear anti-tilting wheels are installed below the two sides of the vehicle body frame and used for preventing the detector from tilting during driving.