CN102673676A - AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot - Google Patents
AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot Download PDFInfo
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Abstract
The invention relates to an AGV (Automatic Guided Vehicle) for a multiple-wheel train heavy load mobile robot. The AGV comprises a frame, wheels, an electric control device, a floating spring structure frame, a driving device and a steering device; the electric control device is electrically connected with the driving device and the steering device; the wheels are divided into driving wheels and supporting wheels; the driving wheels are coaxially connected with the driving device and are horizontally and lengthwise connected with the steering device; the floating spring structure frame is arranged between the wheels and the frame and is connected with a wheel assembly support; and the wheels are arranged on the wheel assembly support and have the effect of buffering and uniform loading. The AGV adopts a multi-wheel train full floating multi-drive chassis structure so that the generality of the driving wheels is increased; the structure size of the driving wheels is reduced, thereby reducing the production cost; and the AGV has good stability and meets the using requirements of heavy loading and multiple road surfaces.
Description
Technical field
The invention belongs to intelligent logistics carrying, transport vehicles technical field, relate generally to a kind of improvement of many train heavy duty mobile robot AGV vehicles.
Background technology
The AGV car is just brought into use at developed country's six the seventies, and fields such as factory's material flows automation, automated assembly line are used quite extensive now.China also begins to have the market demand gradually after the nineties, and is progressively developed faster.Particularly recent years, because the minimizing of labour power and increasing of cost, the demand of AGV has had tangible increase, and the work that particularly heavily loaded AGV accomplished is that manual work can not be accomplished or be difficult to accomplish, therefore there is the bigger market space in the demand of heavily loaded AGV.The technology of AGV mainly was to the underloading demand in the past, and all below 3 tons, AGV car wheel all is 4 or 3, wherein is to have 1 buffering wheel or do not have buffering wheel in general load.The kinds of processes requirement of vehicle maintenance maintenance is difficult to adapt to the restriction of all kinds of work-yards to operating needs.
Existing AGV chassis train is " three-wheel " or " four-wheel "; 3 determine a plane, because ground is uneven, if train is " four-wheel "; At least take turns by one and possess the function of fluctuating; The four-wheel that could guarantee the chassis can both contact with ground, and it is even more important to guarantee that especially drive wheel contacts with ground, guarantees the walking power of drive wheel.This chassis train technology can satisfy operating needs for underloading AGV (below 10 tons), and for heavy duty (especially more than 30 tons) AGV, three-wheel or four-wheel technology have just had following significant disadvantages.
1. because wheel is few, and each wheel load is big, high to the requirement and the ground requirement of wheel;
Since wheel to bear load big, the wheel footpath needs to strengthen, and causes the car body chassis to be increased, and uses inconvenience, stability reduces, material increases car body and increases the weight of cost up;
3. because wheel is few, wheelspan (wheelbase) strengthens, and in order to keep the rigidity of car body, the section bar that car body is formed strengthens, and causes car body heavy, and power strengthens, and effect reduces, and has increased manufacturing cost and operating cost.The present invention is directed to the deficiency described in the above-mentioned background technology and improve, high, the big load of a kind of degree of freedom is provided and can adapts to many trains heavy duty mobile robot AGV of different size workpiece.
Summary of the invention
Many train heavy duty mobile robot AGV of the present invention comprise vehicle frame, wheel system, electrical controller, the floating spring structure-steel framing; It is characterized in that: wheel system comprises drive wheel and the support wheel that is installed on the wheel set support; Actuating device, steering hardware and floating spring structure-steel framing, actuating device and steering hardware are electrically connected with electrical controller, and the floating spring structure-steel framing is installed between wheel system and the vehicle frame, and the floating spring structure-steel framing is made up of last leaf spring and following leaf spring; Bolt is passed through at the leaf spring both ends up and down; Last leaf spring connects to ground through bolt, and following leaf spring is connected with rebound through bolt, and rebound is connected with the wheel set support.
Further, the floating spring structure-steel framing of said many trains heavy duty mobile robot AGV can horizontal cross through N of connecting panel serial connection, also can be vertically vertically through bolt and connect N, N >=1.The outside, the middle part of leaf spring is provided with the subplate spring respectively up and down, and the subplate spring can be a width of cloth or several stack captive joints.
The actuating device of said many train heavy duty mobile robot AGV is a drive motor.Steering hardware comprises horizontal rotation supporting, steer motor, turns to miniature gears, fixedly big gear wheel, support, rotary encoder and corner miniature gears; Drive wheel is rack-mount; With the same axle mounting of drive motor; The horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel; The lower surface of inner ring is connected with support, is equipped with on the output shaft of steer motor with fixing big gear wheel ingear and turns to miniature gears; Fixedly big gear wheel one side and corner pinion, the corner miniature gears is installed in the rotary encoder rotating shaft, and rotary encoder links to each other with support.
Further, wheel quantity＞4 of many trains heavy duty mobile robot AGV of the present invention, drive wheel quantity＞2, wherein drive wheel is divided into the band steering hardware and rotary support is not to two kinds, and support wheel is a cardan wheel, and bolt also can be a connecting pin.
The present invention is directed to the deficiency described in the above-mentioned background technology and improve, adopt the above many wheel train structures of four-wheel, reduced the carrying of single-wheel, in many trains, drive wheel and support wheel (the unpowered wheel) are arranged respectively.The concrete structure of floating spring structure-steel framing wherein makes drive wheel and support wheel all have the function of fluctuating, and has reduced the AGV car to wheel and ground-surface requirement; Also adopt many drive wheels (more than 2, can reach 16) to drive simultaneously, thereby reduce the power of each drive wheel; Can the drive wheel that be used for underloading AGV be used for heavily loaded AGV, increase the commonality that drive wheel uses, reduce the scantling of structure of drive wheel; Reduce AGV bassinet structure size, reduced productive costs.
Description of drawings
The many train heavy duties of Fig. 1 mobile robot AGV car birds-eye view
The many train heavy duties of Fig. 2 mobile robot AGV chassis constructional drawing
The constructional drawing of Fig. 3 floating spring structure-steel framing
The many train heavy duties of Fig. 4 mobile robot AGV car driving device structure figure
The many train heavy duties of Fig. 5 mobile robot AGV car steering hardware constructional drawing
Wherein: 1 vehicle frame, 2 drive wheels, 3 support wheels, 4 floating spring structure-steel framings, 5 electrical controllers, 6 assembly brackets, 7 rebounds, 8 actuating devices, 9 steering hardwares
42 times leaf springs of leaf spring, 43 subplate springs, 44 connecting panels, 45 bolts on 41
81 drive motor
90 horizontal rotations support 91 steer motor 92 and turn to fixedly big gear wheel 94 rotary encoders 95 corner miniature gearss 96 supports of miniature gears 93
The specific embodiment
The present invention implements through following mode: heavily loaded AGV bassinet structure is as illustrated in fig. 1 and 2, and the floating spring of installation structure-steel framing 4 is all arranged between vehicle frame 1 and each wheel, and wheel is divided into drive wheel and support wheel; The driving of drive wheel and turning to is to be realized by electrical controller 5 accessory drives and steering hardware, comprises that speed synchronization and direction are synchronous; Support wheel is a cardan wheel; Unpowered, only rise and support and equilibrium activity following walking; Can drop into the drive wheel 2 and support wheel 3 of varying number according to dead-weight capacity.Actuating device drives AGV garage and walks; Drive wheel can be with steering hardware, also can not be with, and the drive wheel that band turns to is called " steering wheel "; Only need walking that 1 steering wheel just can realize car body and turn to, just can realize (comprising 2) more than 2 steering wheels car body craspedodrome, walk crosswise and diagonal; Do not adopt and be not with the drive wheel that turns to if do not adopt steering wheel, 2 drive wheels will be arranged at least, the walking that realizes car body through 2 drive wheel differential motions with turn to.The wheel minimum number of many train heavy duty mobile robot AGV cars has 4, the difference according to carrying tonnage.
Many train heavy duty mobile robot AGV of the present invention can satisfy the operating needs of multiple dead-weight capacity, are example with 30 tonnages, can adopt 4 5Kw to carry 5 tons of drive wheels, 4 support cardan wheels that carry 6 tons.
Floating spring structure-steel framing structure as shown in Figure 3: the floating spring structure-steel framing is made up of with following leaf spring 42 last leaf spring 41 the floating spring structure-steel framing; Bolt is passed through at the leaf spring both ends up and down; Leaf spring becomes one about making, and last leaf spring is connected with vehicle frame 1 through bolt 45, and following leaf spring is connected with rebound 7 through bolt; Rebound is connected with wheel set support 6, and wheel is installed on the wheel set support.The leaf spring both ends are referred to as single group leaf spring through fixing through bolt 45 or connecting pin up and down, are the elementary cells of forming the damping, buffering system.When vehicle frame bore load, the floating spring structure-steel framing played buffering and all carries effect.For pressure and the torsion that adapts to different operating modes; Can two groups of leaf springs be transversely linked through two ends connecting panel 44; Single group leaf spring laterally is connected with connecting panel 45 through bolt 44, and connecting panel is further strengthened the globality of two groups of leaf springs, strengthens the bearing capacity of floating spring structure-steel framing.In order to increase deformability; Increase the torsion of AGV vehicle; Also can through bolt 44 or connecting pin will or two groups of leaf springs vertically couple together, further, can also be according to the needs of operating mode; Three secondary or many secondary single group leaf springs through connecting panel 45 horizontal cross serial connection, also can vertically vertically be serially connected in through bolt.Leaf spring is an elastic deformation spare up and down, and plate spring sheet is processed into arc or half elliptic structure, is processed by spring steel, and through corresponding Technology for Heating Processing, is system's important composition part.Subplate spring 43 can be 1 pair, also can be by 2,3 secondary or many secondary stack captive joints, and look stressing conditions and decide.
The drive motor 81 of the actuating device of many train heavy duty mobile robot AGV is connected control vehicle speed with drive wheel wheel hub 82; The steering hardware of many trains heavy duty mobile robot AGV comprises horizontal rotation supporting 90, steer motor 91, turn to that little tooth 92 is taken turns, fixedly big gear wheel 93, support 96, rotary encoder 94 and corner miniature gears 95; The horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel; The lower surface of inner ring is connected with support 96, and drive wheel is rack-mount, with drive motor 81 same axle mountings, is equipped with on the output shaft of steer motor 91 with fixing big gear wheel ingear and turns to miniature gears; Fixedly big gear wheel 93 1 sides and 95 engagements of corner miniature gears, corner miniature gears 95 is installed in the rotary encoder rotating shaft, and rotary encoder 94 links to each other with support 96.Have simultaneously to turn to and be called steering wheel with wheel driven; Send the predetermined angle instruction by vehicle control syetem and drive steer motor 91 work; Turn to miniature gears 92 around fixedly big gear wheel 93 rotations, make support 96 change at a certain angle, the coder record is feedback steering wheel institute gyration also; When the angle of obtaining when coder reaches consistent with the control system predetermined angle; The drive wheel direction is locked, and vehicle control syetem is according to the real work set angle, realizes heavily loaded mobile robot's craspedodrome, the Eight characters, walks crosswise, action such as diagonal, translation and cast.
The present invention adopts many trains, full floating, the chassis structure that drives more, through electrical controller many wheel train structures are carried out automatic guidance, and all wheels all has the floating spring structure-steel framing of pooling feature; Thereby increased the commonality that drive wheel uses; Reduced the scantling of structure of drive wheel, reduced productive costs, and vehicle stability is good; Satisfy the design of heavy duty and multiple ground-surface operating needs floating spring structure-steel framing, play and overcome the uneven effect of carrying of the uneven wheel load in ground; Thereby many trains, full floating, intelligent logistics carrying and the conveying that drives have been realized more; Particularly satisfied heavily loaded AGV vehicle to wheel load, many-sided high request such as ground, a plurality of drive wheels and support wheel are installed in bottom of frame; A plurality of drive wheels turn to by electrical controller control synchronously; Comprise that speed synchronization and direction are synchronous, support wheel is a cardan wheel, following walking.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can carry out multiple variation, modification, replacement and modification that scope of the present invention is accompanying claims and be equal to and limit to these embodiment.
Claims (10)
1. train more than kind heavy duty mobile robot AGV; Comprise vehicle frame (1), wheel system, electrical controller (5); Floating spring structure-steel framing (4) is characterized in that: wheel system comprises drive wheel (2) and the support wheel (3) that is installed on the wheel set support (6), and actuating device (8), steering hardware (9) and floating spring structure-steel framing (4), actuating device and steering hardware are electrically connected with electrical controller (5); Floating spring structure-steel framing (4) is installed between wheel system and the vehicle frame (1); The floating spring structure-steel framing is made up of last leaf spring (41) and following leaf spring (42), and the leaf spring both ends are fixing through bolt (44) up and down, and last leaf spring is connected with vehicle frame (1) through bolt; Following leaf spring is connected with rebound (7) through bolt, and rebound is connected with wheel set support (6).
2. many trains heavy duty mobile robot AGV according to claim 1 is characterized in that: floating spring structure-steel framing (4) can horizontal cross through N of connecting panel (45) serial connection, also can be vertically vertically through bolt (45) and to meet N individual, N >=1.
3. many train heavy duty mobile robot AGV according to claim 1, it is characterized in that: the outside, the middle part of leaf spring is provided with subplate spring (43) respectively up and down, and the subplate spring can be a width of cloth or several stack captive joints.
4. according to each described many train heavy duty mobile robot AGV of claim 1-3, it is characterized in that: actuating device is drive motor (81).
5. according to each described many train heavy duty mobile robot AGV of claim 1-3; It is characterized in that: steering hardware comprises horizontal rotation supporting (90), steer motor (91), turns to miniature gears (92), fixedly big gear wheel (93), support (96), rotary encoder (94) and corner miniature gears (95); Drive wheel (2) is installed on the support (96); With the same axle mounting of drive motor (81); The horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is equipped with fixedly big gear wheel (93); The lower surface of inner ring is connected with support (96), is equipped with on the output shaft of steer motor (91) with fixing big gear wheel ingear and turns to miniature gears (92); Fixedly big gear wheel (93) one sides and corner miniature gears (95) engagement, corner miniature gears (95) is installed in rotary encoder (94) rotating shaft, and rotary encoder (94) links to each other with support (96).
6. according to each described many train heavy duty mobile robot AGV of claim 1-5, it is characterized in that: wheel quantity＞4.
7. according to each described many train heavy duty mobile robot AGV of claim 1-5, it is characterized in that: drive wheel quantity＞2.
8. many train heavy duty mobile robot AGV according to claim 7, it is characterized in that: drive wheel is divided into the band steering hardware and is not with two kinds of steering hardwares.
9. many train heavy duty mobile robot AGV according to claim 7, it is characterized in that: support wheel is a cardan wheel.
10. many train heavy duty mobile robot AGV according to claim 7, it is characterized in that: bolt also can be a connecting pin.
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| CN201210107633.3A CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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| CN201210107633.3A CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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| CN102673676B CN102673676B (en) | 2015-11-25 |
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| CN201210107633.3A Expired - Fee Related CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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| CN102963454A (en) * | 2012-10-31 | 2013-03-13 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
| CN103895495A (en) * | 2014-04-23 | 2014-07-02 | 上海同普电力技术有限公司 | Motor driving wheel assembly for automated guided vehicle |
| CN103895695A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Helm driving device |
| CN104111657A (en) * | 2014-08-13 | 2014-10-22 | 成都四威高科技产业园有限公司 | Automatic guided vehicle capable of driving in all directions |
| CN105082979A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Automatic guide part conveying device |
| CN105347265A (en) * | 2015-11-20 | 2016-02-24 | 安徽依诺玛智能科技有限公司 | Horizontal driving mechanism for laser guide AVG forklift |
| CN105366593A (en) * | 2015-11-20 | 2016-03-02 | 安徽依诺玛智能科技有限公司 | Intelligent type laser guidance average voltage gain (AVG) forklift |
| CN105882783A (en) * | 2016-06-07 | 2016-08-24 | 广州普华灵动机器人技术有限公司 | Elastic floating structure of submerged omni-directional mobile AGV |
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| CN106143676A (en) * | 2015-04-09 | 2016-11-23 | 大连光洋科技集团有限公司 | With the programmable A GV mover supporting commutation |
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| CN106585764A (en) * | 2017-02-07 | 2017-04-26 | 河南森源电气股份有限公司 | AGV (Automated Guided Vehicle) |
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN106672114A (en) * | 2017-02-28 | 2017-05-17 | 武汉慧能机器人科技有限公司 | Omni-directional driving wheel device and AGV (automatic guided vehicle) |
| CN107351940A (en) * | 2017-07-05 | 2017-11-17 | 广东嘉腾机器人自动化有限公司 | Automatical pilot transportation vehicle chassis and automatical pilot transportation vehicle |
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| CN108790589A (en) * | 2018-05-21 | 2018-11-13 | 徐州德坤电气科技有限公司 | A kind of control method of omnidirectional driving wheel system assembly |
| CN109760765A (en) * | 2019-03-08 | 2019-05-17 | 江苏驰众智能装备制造有限公司 | Heavily loaded AGV balance mechanism |
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|---|---|---|---|---|
| CN102963454A (en) * | 2012-10-31 | 2013-03-13 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
| CN102963454B (en) * | 2012-10-31 | 2015-05-20 | 上海交通大学 | Dual-sliding shaft floatation supporting mechanism of omnibearing movable AGV (Automatic Guided Vehicle) |
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| CN106143676A (en) * | 2015-04-09 | 2016-11-23 | 大连光洋科技集团有限公司 | With the programmable A GV mover supporting commutation |
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| CN105366593A (en) * | 2015-11-20 | 2016-03-02 | 安徽依诺玛智能科技有限公司 | Intelligent type laser guidance average voltage gain (AVG) forklift |
| CN105347265A (en) * | 2015-11-20 | 2016-02-24 | 安徽依诺玛智能科技有限公司 | Horizontal driving mechanism for laser guide AVG forklift |
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| CN105882783B (en) * | 2016-06-07 | 2018-10-19 | 广州普华灵动机器人技术有限公司 | A kind of elastic floating structure slipping into Omni-mobile formula AGV |
| CN106006466B (en) * | 2016-06-07 | 2018-10-19 | 广州普华灵动机器人技术有限公司 | Omni-mobile formula AGV is slipped into the ultra-thin heavy duty lifting of one kind |
| CN105882783A (en) * | 2016-06-07 | 2016-08-24 | 广州普华灵动机器人技术有限公司 | Elastic floating structure of submerged omni-directional mobile AGV |
| CN107662465A (en) * | 2016-07-27 | 2018-02-06 | 沈阳新松机器人自动化股份有限公司 | The hanging heavily loaded AGV of hydraulic suspension |
| CN107662465B (en) * | 2016-07-27 | 2019-08-27 | 沈阳新松机器人自动化股份有限公司 | The hanging heavy duty AGV of hydraulic suspension |
| CN106044640A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-directional moving and high-low lifting carrying AGV car with comb teeth |
| WO2018064808A1 (en) * | 2016-10-08 | 2018-04-12 | 浙江国自机器人技术有限公司 | Unmanned transfer robot and chassis thereof |
| US10611405B2 (en) | 2016-10-08 | 2020-04-07 | Zhejiang Guozi Robot Technology Co., Ltd. | Unmanned transporting robots and the chassis thereof |
| CN106598050A (en) * | 2016-12-09 | 2017-04-26 | 南京晨光集团有限责任公司 | High-integration-level driving and steering integrated steering wheel system |
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| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
| CN107696817B (en) * | 2017-06-19 | 2024-02-06 | 库卡机器人(广东)有限公司 | Driving device for unmanned carrier and unmanned carrier with driving device |
| CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
| CN107351940A (en) * | 2017-07-05 | 2017-11-17 | 广东嘉腾机器人自动化有限公司 | Automatical pilot transportation vehicle chassis and automatical pilot transportation vehicle |
| CN107351940B (en) * | 2017-07-05 | 2023-10-03 | 广东嘉腾机器人自动化有限公司 | Automatic guided vehicle chassis and automatic guided vehicle |
| CN107472786B (en) * | 2017-08-08 | 2019-01-18 | 深圳普智联科机器人技术有限公司 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
| CN107472786A (en) * | 2017-08-08 | 2017-12-15 | 深圳普智联科机器人技术有限公司 | A kind of double-deck AGV cars and its driving method and robot transportation system |
| CN108501688A (en) * | 2018-02-01 | 2018-09-07 | 上海明匠智能系统有限公司 | It is single to drive two-way AGV driving devices, AGV and AGV system |
| CN108790589A (en) * | 2018-05-21 | 2018-11-13 | 徐州德坤电气科技有限公司 | A kind of control method of omnidirectional driving wheel system assembly |
| CN108622193A (en) * | 2018-06-19 | 2018-10-09 | 河南森源电气股份有限公司 | AGV transport vehicles |
| CN109760765A (en) * | 2019-03-08 | 2019-05-17 | 江苏驰众智能装备制造有限公司 | Heavily loaded AGV balance mechanism |
| CN109823444A (en) * | 2019-03-08 | 2019-05-31 | 江苏驰众智能装备制造有限公司 | A kind of heavy duty AGV |
| CN109911012A (en) * | 2019-03-27 | 2019-06-21 | 嘉兴市中欣自动化设备有限公司 | Mixed-power tractor |
| CN109911012B (en) * | 2019-03-27 | 2024-01-09 | 嘉兴市中欣自动化设备有限公司 | Hybrid power tractor |
| CN110053914A (en) * | 2019-04-23 | 2019-07-26 | 四川轻化工大学 | A kind of warehouse logistics transfer robot |
| CN111331573A (en) * | 2020-04-09 | 2020-06-26 | 浦江宿立机械科技有限公司 | Manipulator mobile device |
| CN112590990B (en) * | 2020-12-15 | 2022-04-12 | 航天科工智能机器人有限责任公司 | Reconfigurable modular robot system |
| CN112590990A (en) * | 2020-12-15 | 2021-04-02 | 航天科工智能机器人有限责任公司 | Reconfigurable modular robot system |
| CN112606211B (en) * | 2020-12-17 | 2022-09-30 | 湖南机电职业技术学院 | Stirring and transporting robot |
| CN112606211A (en) * | 2020-12-17 | 2021-04-06 | 湖南机电职业技术学院 | Stirring and transporting robot |
| CN112694033A (en) * | 2020-12-24 | 2021-04-23 | 天津迦自机器人科技有限公司 | Heavy load AGV transfer car (buggy) |
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
| CN113602381A (en) * | 2021-07-30 | 2021-11-05 | 中国人民解放军32181部队 | Carrying vehicle chassis with narrow space pivot steering function and carrying vehicle |
| CN113501022A (en) * | 2021-08-19 | 2021-10-15 | 南京工业大学 | Integral structure composite material plate spring for train bogie |
| CN113501021A (en) * | 2021-08-19 | 2021-10-15 | 南京工业大学 | Fiber reinforced composite plate spring assembly applied to train bogie |
| CN113501023A (en) * | 2021-08-19 | 2021-10-15 | 南京工业大学 | Be applied to butt-buckling formula pin junction combined material leaf spring assembly of train bogie |
| CN114312186A (en) * | 2021-12-30 | 2022-04-12 | 南京晨光集团有限责任公司 | Single fork arm type damping driving wheel system |
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