CN114228773A - Shuttle car braking system, braking method and shuttle car with braking system - Google Patents
Shuttle car braking system, braking method and shuttle car with braking system Download PDFInfo
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- CN114228773A CN114228773A CN202111573641.2A CN202111573641A CN114228773A CN 114228773 A CN114228773 A CN 114228773A CN 202111573641 A CN202111573641 A CN 202111573641A CN 114228773 A CN114228773 A CN 114228773A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 abstract description 3
- 238000005065 mining Methods 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H7/00—Brakes with braking members co-operating with the track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H13/00—Actuating rail vehicle brakes
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Abstract
The invention provides a shuttle car braking system, a braking method and a shuttle car with the braking system, which relate to the technical field of mining endless rope winches and adopt the following scheme: including range finding sensor, controlling means and arresting gear, range finding sensor with arresting gear all with controlling means signal connection, range finding sensor can detect the actual distance of shuttle to the tailwheel, range finding sensor can give actual distance control device, controlling means can judge whether need brake, works as when controlling means judges need brake, controlling means control arresting gear accomplishes the braking to the shuttle in being less than the braking distance of settlement. The invention can automatically brake the shuttle car in time within a reasonable braking distance, and prevent traffic accidents caused by the fact that the shuttle car exceeds the tail wheel by over position.
Description
Technical Field
The invention relates to the technical field of endless rope winches for mines, in particular to a shuttle car braking system, a braking method and a shuttle car with the braking system.
Background
The underground endless rope winch of the coal mine is an important transportation tool for underground rail transportation, and the safe and efficient operation of the underground endless rope winch is directly related to the completion of various production indexes of the mine; the endless rope winch comprises a main machine, a tensioning device, a shuttle car, a tail pulley and the like, wherein the shuttle car is an important part of the endless rope winch and has the functions of towing a skip car, towing and fixing a steel wire rope and the like, the tail pulley is fixed at the tail part of a transportation stroke through concrete, the steel wire rope is fixed and is influenced by the installation condition of the tail pulley at the tail part of the endless rope winch, when the shuttle car runs to the position near the tail pulley, braking is needed, otherwise the shuttle car is out of position, and serious transportation accidents such as collision of the tail pulley and the shuttle car, breaking of the steel wire rope, overturning and the like are caused.
Therefore, in view of the current situation of the prior art, it is an urgent need to solve the problem of developing a braking system and a braking method for a shuttle car and a shuttle car with the braking system.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a shuttle car braking system, a braking method and a shuttle car with the braking system, which can enable the shuttle car to brake automatically in time within a reasonable braking distance and prevent traffic accidents caused by the fact that the shuttle car exceeds a tail wheel beyond a position.
The technical scheme adopted by the invention for solving the technical problems is as follows: the shuttle car braking system comprises a distance measuring sensor, a control device and a braking device, wherein the distance measuring sensor and the braking device are in signal connection with the control device, the distance measuring sensor can detect the actual distance from a shuttle car to a tail wheel, the distance measuring sensor can transmit the actual distance to the control device, the control device can judge whether braking is needed, and when the control device judges that braking is needed, the control device controls the braking device to complete braking of the shuttle car within the set braking distance. The shuttle car can be automatically braked and stopped in time within a set braking range, and traffic accidents caused by the fact that the shuttle car exceeds the tail wheel by over-riding are prevented.
Further, arresting gear includes the cylinder, the cylinder includes the cylinder body, be provided with the solenoid valve on the cylinder body, the solenoid valve with controlling means signal connection, the cylinder still includes the piston rod, the piston rod tip articulates there is the electro-magnet, the electro-magnet with controlling means signal connection, the electro-magnet can under the effect of cylinder with surface contact on the track, the electro-magnet can also be adsorbed under controlling means's control on the track. Thereby the strong adsorption affinity through producing between electro-magnet and the guide rail makes the shuttle car slow down and parks, can realize quick braking.
The control device comprises a control device, a speed sensor and a speed sensor, wherein the speed sensor can measure the actual speed of the shuttle car when the control device judges that braking is needed, the speed sensor can transmit the actual speed to the control device, the control device stores values of electromagnet currents corresponding to different decelerations, and the control device can control the electromagnet currents according to the actual speed, the actual distance and the set braking duration. The current of the electromagnet can be changed according to actual conditions so as to change the adsorption force and further change the deceleration, on one hand, the braking can be finished within a set braking distance under different efficiency requirements, the use reliability of the invention is increased, and on the other hand, the unnecessary abrasion of the electromagnet on a track is avoided.
Further, the electromagnetic brake device further comprises an emergency brake switch, wherein the emergency brake switch is electrically connected with the control device, and when the emergency brake switch is turned on, the control device can control the current of the electromagnet to reach the maximum value. Rapid braking under operator control can be used to address emergency situations.
The acceleration sensor is in signal connection with the control device, the acceleration sensor can detect deceleration during braking of the shuttle car under the control of the control device, the acceleration sensor can transmit actual deceleration to the control device, and the control device can adjust the current of the electromagnet according to the actual deceleration. The control device can form closed-loop control on braking, avoids deviation between the actual deceleration and the calculated deceleration caused by the influence of factors such as load, sloping fields and the like, and ensures the use reliability of the invention.
The invention also discloses a shuttle car braking method, which adopts a shuttle car braking system and comprises the following steps:
s1: opening the control device;
s2: when the control device receives the actual distance transmitted by the distance measuring sensor, the control device compares the actual distance with the set braking distance;
s3: when the control device judges that the actual distance is equal to and/or smaller than the set braking distance, the control device controls the speed measuring sensor to detect the actual speed of the shuttle car;
s4: when the control device receives the actual speed of the shuttle car, the required deceleration is calculated according to the set braking duration and the actual distance;
s5: the control device judges the magnitude of the electromagnet current according to the deceleration;
s6: the control device controls the electromagnetic valve to be opened, the piston rod of the air cylinder extends out, and the control device controls the current of the electromagnet according to the judged current.
Furthermore, the control device of step S5 judges the magnitude of the current of the corresponding electromagnet according to the magnitude of K times of the deceleration, wherein K is more than or equal to 1.1 and less than or equal to 1.5. The method can compensate the actual braking lag caused by data calculation and information transmission, shorten the actual braking distance and ensure that the shuttle car stops within the set braking distance to prevent the shuttle car from colliding with the tail wheel.
Further, in step S6, the control device controls the acceleration sensor to detect an actual deceleration of the shuttle vehicle, compares the actual deceleration with the calculated deceleration, and increases the electromagnet current when the actual deceleration is smaller than the calculated deceleration. The control device can form closed-loop control on braking, avoid the influence of factors such as load gradient and the like on deceleration, and ensure the use reliability of the invention.
The invention also provides a shuttle car, which comprises a shuttle car body and a shuttle car braking system. The automatic braking can be finished within the set braking distance, and the shuttle car is prevented from colliding with the tail wheel.
Further, the air cylinders are hinged with the shuttle car body, the air cylinders are symmetrically arranged on two sides of the shuttle car body and opposite to the rail, and the air cylinders are arranged between wheels of the shuttle car body at intervals. Compared with fixed connection, the hinged connection can prevent the brake device from being disconnected under the inertia effect of the shuttle car; the shuttle car body can be uniformly braked by the symmetrical arrangement, and accidents such as car overturning and the like caused by nonuniform stress are prevented.
According to the technical scheme, the invention has the following advantages:
the scheme provides a shuttle car braking system, a braking method and a shuttle car with the system, and by arranging a control device, a speed measuring sensor and a braking device, the braking can be automatically completed within a set braking distance, so that the shuttle car is prevented from impacting a tail wheel; the rapid braking can be realized through the matching of the electromagnet and the air cylinder, and the efficiency is improved; the shuttle car generates different deceleration under various road conditions through the speed measuring sensor, the electromagnet and the control device, and the brake is successfully carried out under various road conditions; the acceleration sensor and the control device can form closed-loop control on braking, so that the reliability of the invention is improved; the emergency brake switch and the control device are matched to realize rapid braking under emergency, so that the adaptability of the emergency brake device to complex environments is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a shuttle car braking system in accordance with an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a braking device according to an embodiment of the present invention.
Fig. 3 is a flow chart of a method for braking a shuttle car according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a shuttle car according to an embodiment of the present invention.
In the figure, the shuttle car body 1, the shuttle car body 2, the distance measuring sensor 3, the acceleration sensor 4, the speed measuring sensor 5, the control device 6, the brake device 61, the first hinge 62, the electromagnetic valve 63, the cylinder body 64, the piston rod 65, the second hinge 66, the electromagnet 7, the emergency brake switch 8 and the track.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the present embodiment, and it is apparent that the embodiments described below are only a part of embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of this patent.
As shown in fig. 1, the present invention provides a shuttle car braking system, which comprises a control device 5, a distance measuring sensor 2, a braking device 66, an acceleration sensor 3, an emergency braking switch 7 and a speed measuring sensor 4; the distance measuring sensor 2, the braking device 6, the speed measuring sensor 4, the acceleration sensor 3 and the emergency braking switch 7 are in signal connection with the control device 5; the distance measuring sensor 2 can detect the actual distance from the shuttle car to the tail wheel and transmit the distance to the control device 5; the braking device 6 adopts an electromagnet 66 to be adsorbed on the rail to generate friction force for braking; the acceleration sensor 3 and the speed measuring sensor 4 can be fixed on the shuttle car body when being installed, can measure the actual speed of the shuttle car and the deceleration during braking, and can transmit related data to the control device 5; the control device 5 stores the set braking distance and the set braking duration, and the two data are determined by the production rhythm and the transportation efficiency; the control device 5 comprises a deceleration calculation module which is capable of calculating deceleration according to the received actual speed v, the actual distance s and the set braking duration t, and the calculation formula is as follows:
note: a is the calculated deceleration in m/s2。
The control device 5 also stores corresponding values of different decelerations and electromagnet current magnitudes, when the control device 5 judges the electromagnet current magnitude, the calculated deceleration is multiplied by a coefficient K and then compared to judge the electromagnet current magnitude so as to deal with the situation that the actual braking distance is shortened by the braking delay caused by data transmission, data calculation and the like, K is more than or equal to 1.1 and less than or equal to 1.5, the control device can be set in advance according to the road condition of the braking road section, the control device can be set to be 1.1 when ascending, can be set to be 1.2 when leveling, can be set to be 1.3 when descending, and can be set to be 1.5 when the gradient of descending is larger; when the braking device 6 starts braking, the acceleration sensor 3 starts measuring the actual deceleration of the shuttle car and transmitting the actual deceleration to the control device 5, when the actual deceleration is smaller than the calculated deceleration a, the control device 5 increases the current of the electromagnet 66, when the actual deceleration is larger than the calculated deceleration a, the control device 5 reduces the current of the electromagnet 66, thereby reducing the influence of the load and the gradient on the deceleration, preventing the shuttle car from braking too long when the deceleration is smaller and the braking distance is too long, impacting the tail wheel, or avoiding the situation that the shuttle car stops when the braking distance is too short; when emergency needs to stop the vehicle quickly, the operator can press the emergency brake switch 7, and the control device 5 controls the brake device to brake quickly after receiving corresponding electric signals.
As shown in fig. 2, the braking device 6 may adopt the following specific structure: the braking device 6 comprises a cylinder, and the upper part of the cylinder is provided with a first hinge 61; the cylinder comprises a cylinder body 63, an electromagnetic valve 62 is arranged on the cylinder body 63, and the electromagnetic valve 62 is in signal connection with the control device 5; the cylinder further comprises a piston rod 64, the end of the piston rod 64 is connected with an electromagnet 66 through a second hinge 65, the electromagnet 66 is in signal connection with the control device 5, the electromagnet 66 can be in contact with the upper surface of the rail 8 under the action of the cylinder, and the electromagnet 66 can be adsorbed on the rail 8 under the control of the control device 5.
As shown in fig. 3, the present invention further provides a method for braking a shuttle car, comprising the following steps:
s1: opening the control device;
s2: when the control device receives the actual distance transmitted by the distance measuring sensor, the control device compares the actual distance with the set braking distance;
s3: when the control device judges that the actual distance is equal to and/or smaller than the set braking distance, the control device controls the speed measuring sensor to detect the actual speed of the shuttle car;
s4: when the control device receives the actual speed of the shuttle car, the required deceleration is calculated according to the set braking duration and the actual distance;
s5: the control device judges the magnitude of the current of the corresponding electromagnet according to the deceleration K times, wherein K is more than or equal to 1.1 and less than or equal to 1.5;
s6: the control device controls the electromagnetic valve to be opened, the piston rod of the air cylinder extends out, the control device controls the electromagnet to be electrified according to the current magnitude, the control device controls the acceleration sensor to detect the actual deceleration of the shuttle vehicle and compares the actual deceleration with the calculated deceleration, when the actual deceleration is smaller than the calculated deceleration, the control device increases the current of the electromagnet, when the actual deceleration is larger than the calculated deceleration, the control device reduces the current of the electromagnet, and when the current of the electromagnet needs to be changed, the current of the electromagnet is increased or reduced by 10% of the original current each time.
When the shuttle car is stopped, the control device still keeps the electromagnet to be adsorbed on the track to prevent the shuttle car from sliding, and when the shuttle car needs to be started, the control device is closed, the electromagnet and the electromagnetic valve are manually closed, the electromagnet is powered off to lose adsorption force, and the piston rod returns to avoid influencing transportation.
As shown in fig. 4, the invention also provides a shuttle car, which comprises a shuttle car body 1 and a shuttle car braking system. Wherein, the cylinder of the braking device 6 is hinged with the shuttle car body 1; the cylinders are symmetrically distributed at the positions, opposite to the track 8, of the two sides of the shuttle car body 1 and are arranged among the wheels of the shuttle car body 1 at intervals; when braking is not required, the piston rod 64 is in a recovery state, and the electromagnet 66 is far away from the guide rail; when braking is needed, the piston rod 64 is completely extended out, the electromagnet 66 is adsorbed on the guide rail after being electrified, the maximum length of the air cylinder cannot be too long, and the situation that when the shuttle vehicle moves forwards continuously due to inertia to cause the air cylinder to incline, wheels behind the air cylinder are pressed on the electromagnet 66 can be prevented; the distance measuring sensor 2 is positioned at the front part of the shuttle car body 1, and the acceleration sensor 3, the speed measuring sensor 4, the control device 5 and the emergency brake switch 7 are all positioned at one side of the shuttle car body 1.
From the above detailed description, it can be seen that the present invention has the following beneficial effects:
1. by arranging the control device 5, the speed measuring sensor 4 and the braking device 6, the braking can be finished within a set braking distance, and the shuttle car is prevented from colliding with a tail wheel;
2. the rapid braking can be realized through the matching of the electromagnet 66 and the air cylinder, and the efficiency is improved;
3. the shuttle car generates different deceleration under various road conditions through the speed measuring sensor 4, the electromagnet 66 and the control device 5, and the brake is successfully carried out under various road conditions;
4. the acceleration sensor 3 and the control device 5 can form closed-loop control on braking, so that the reliability of the invention is improved;
5. the emergency brake switch 7 and the control device 5 are matched to realize rapid braking in emergency, so that the adaptability of the emergency brake device to complex environments is improved.
The terms "upper", "lower", "outside", "inside", and the like in the description and claims of the present invention and the above-described drawings (if any) are used for distinguishing relative positions without necessarily being construed qualitatively. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The shuttle car braking system is characterized by comprising a distance measuring sensor (2), a control device (5) and a braking device (6), wherein the distance measuring sensor (2) and the braking device (6) are in signal connection with the control device (5), the distance measuring sensor (2) can detect the actual distance from a shuttle car to a tail wheel, the distance measuring sensor (2) can transmit the actual distance to the control device (5), the control device (5) can judge whether braking is needed, and when the control device (5) judges that braking is needed, the control device (5) controls the braking device (6) to brake the shuttle car within the braking distance smaller than the set braking distance.
2. A shuttle vehicle braking system as claimed in claim 1, characterised in that said braking means (6) comprises an air cylinder comprising a cylinder body (63), said cylinder body (63) being provided with a solenoid valve (62), said solenoid valve (62) being in signal connection with said control means (5), said air cylinder further comprising a piston rod (64), an electromagnet (66) being hinged to the end of said piston rod (64), said electromagnet (66) being in signal connection with said control means (5), said electromagnet (66) being capable of being in contact with the upper surface of said track (8) under the action of said air cylinder, said electromagnet (66) also being capable of being attracted to said track (8) under the control of said control means (5).
3. A shuttle vehicle braking system according to claim 2, further comprising a speed sensor (4), wherein when the control device (5) determines that braking is required, the speed sensor (4) can measure the actual speed of the shuttle vehicle, the speed sensor (4) can transmit the actual speed to the control device (5), the control device (5) stores therein values of electromagnet currents corresponding to different decelerations, and the control device (5) can control the magnitude of the electromagnet (66) current according to the actual speed, the actual distance and the set braking duration.
4. A shuttle vehicle braking system as claimed in claim 3, characterised in that it further comprises an emergency brake switch (7), said emergency brake switch (7) being electrically connected to said control means (5), said control means (5) being capable of controlling the current of said electromagnet (66) to a maximum value when said emergency brake switch (7) is open.
5. A shuttle vehicle braking system as claimed in claim 4, further comprising an acceleration sensor (3), said acceleration sensor (3) being in signal communication with said control means (5), said acceleration sensor (3) being capable of detecting deceleration during braking of said shuttle vehicle under the control of said control means (5), said acceleration sensor (3) being capable of communicating actual deceleration to said control means (5), said control means (5) being capable of adjusting the magnitude of current of said electromagnet (66) in accordance with the magnitude of actual deceleration.
6. A shuttle car braking method, characterized by using the shuttle car braking system according to claim 5, comprising the steps of:
s1: opening the control device;
s2: when the control device receives the actual distance transmitted by the distance measuring sensor, the control device compares the actual distance with the set braking distance;
s3: when the control device judges that the actual distance is equal to and/or smaller than the set braking distance, the control device controls the speed measuring sensor to detect the actual speed of the shuttle car;
s4: when the control device receives the actual speed of the shuttle car, the required deceleration is calculated according to the set braking duration and the actual distance;
s5: the control device judges the magnitude of the electromagnet current according to the deceleration;
s6: the control device controls the electromagnetic valve to be opened, the piston rod of the air cylinder extends out, and the control device controls the current of the electromagnet according to the judged current.
7. The shuttle car braking method according to claim 6, wherein the control means determines the magnitude of the corresponding electromagnet current according to the magnitude of K times the deceleration, and K is 1.1 ≦ K ≦ 1.5 in step S5.
8. A shuttle vehicle braking method as claimed in claim 7, wherein in said step S6, the control means controls the acceleration sensor to detect an actual deceleration of the shuttle vehicle and compare the actual deceleration with the calculated deceleration, and when the actual deceleration is less than the calculated deceleration, the control means increases the electromagnet current, and when the actual deceleration is greater than the calculated deceleration, the control means decreases the electromagnet current.
9. A shuttle vehicle, characterized by comprising a shuttle vehicle body (1) and further comprising a shuttle vehicle braking system according to claim 5.
10. A shuttle vehicle as claimed in claim 9, characterised in that said cylinders are hinged to the body (1) of the shuttle vehicle, said cylinders being symmetrically disposed on either side of said body (1) opposite the rails (8), said cylinders being spaced between the wheels of said body (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573641.2A CN114228773A (en) | 2021-12-21 | 2021-12-21 | Shuttle car braking system, braking method and shuttle car with braking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573641.2A CN114228773A (en) | 2021-12-21 | 2021-12-21 | Shuttle car braking system, braking method and shuttle car with braking system |
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| CN114228773A true CN114228773A (en) | 2022-03-25 |
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| CN202111573641.2A Pending CN114228773A (en) | 2021-12-21 | 2021-12-21 | Shuttle car braking system, braking method and shuttle car with braking system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010070943A (en) * | 1999-12-07 | 2001-07-28 | 안우희 | A trialrun efficiency test equipment for railroad carriage |
| CN101943023A (en) * | 2010-08-27 | 2011-01-12 | 常州市武进矿用设备厂 | Endless rope winch system for speed regulation machinery for mining |
| CN201741038U (en) * | 2010-05-24 | 2011-02-09 | 三一重型装备有限公司 | Shuttle car driving control system and shuttle car |
| CN207403717U (en) * | 2017-06-30 | 2018-05-25 | 淄博中聚磁电科技有限公司 | Bullet train emergency braking system |
| CN110329251A (en) * | 2019-07-24 | 2019-10-15 | 江西江铃集团新能源汽车有限公司 | Vehicle collision avoidance braking method and system |
| CN212313556U (en) * | 2020-04-14 | 2021-01-08 | 中铁五局集团电务工程有限责任公司 | Quick fixed ladder car |
-
2021
- 2021-12-21 CN CN202111573641.2A patent/CN114228773A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010070943A (en) * | 1999-12-07 | 2001-07-28 | 안우희 | A trialrun efficiency test equipment for railroad carriage |
| CN201741038U (en) * | 2010-05-24 | 2011-02-09 | 三一重型装备有限公司 | Shuttle car driving control system and shuttle car |
| CN101943023A (en) * | 2010-08-27 | 2011-01-12 | 常州市武进矿用设备厂 | Endless rope winch system for speed regulation machinery for mining |
| CN207403717U (en) * | 2017-06-30 | 2018-05-25 | 淄博中聚磁电科技有限公司 | Bullet train emergency braking system |
| CN110329251A (en) * | 2019-07-24 | 2019-10-15 | 江西江铃集团新能源汽车有限公司 | Vehicle collision avoidance braking method and system |
| CN212313556U (en) * | 2020-04-14 | 2021-01-08 | 中铁五局集团电务工程有限责任公司 | Quick fixed ladder car |
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