CN104401334A - Novel device capable of realizing transportation and carrying comprehensive operation on mountain land slope - Google Patents
Novel device capable of realizing transportation and carrying comprehensive operation on mountain land slope Download PDFInfo
- Publication number
- CN104401334A CN104401334A CN201410578741.8A CN201410578741A CN104401334A CN 104401334 A CN104401334 A CN 104401334A CN 201410578741 A CN201410578741 A CN 201410578741A CN 104401334 A CN104401334 A CN 104401334A
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- track
- gear
- rack
- brushless motor
- safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/02—Rack railways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
- B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention relates to a novel device capable of realizing transportation and carrying comprehensive operation on a mountain land slope. The novel device capable of realizing transportation and carrying comprehensive operation on the mountain land slope comprises a mechanical portion feature and an electrical portion feature, wherein the mechanical portion feature consists of several parts of a frame, a gear-rack driving mechanism, a transmission mechanism consisting of sprocket-chain and worm-gear reducers, a walking part, a rollover and upward jumping preventing device, a mechanical brake mechanism and a track connecting structure, and a gear-rack engagement driving mode is adopted. The electrical portion feature consists of several parts of a direct-current brushless motor, a driving controller portion thereof, an electrical control portion and a power transmission and electricity getting device. A safer and simpler slide wire and collector structure is adopted for power transmission, a direct-current brushless control system consisting of the direct-current brushless motor and the driving controller thereof in combination with single-chip microcomputer control and wireless remote control is adopted for electrical control, a track transporter is enabled to be capable of realizing automatic obstacle avoiding and fixed point parking functions and intelligent running of equipment is realized.
Description
Technical field
The present invention relates to a kind of mountain region conveying arrangement of easy rail mounted, having particularly related to one can with a varied topography, realizes Material Transportation and carry the Simple rail type conveying arrangement that other automatically working machineries (such as automatic medicine spraying device etc.) work between the mountain region that the gradient is larger.
Background technology
At present, attempting solving in the problem of High angle abrupt slope, mountain region transport difficult, mainly contain crawler type, aerial rope way formula and rail mounted three kinds, crawler type can cause certain destruction to the vegetation in mountain region in operational process, is unfavorable for the protection of mountain environment.Aerial rope way formula and rail mounted all need the special cableway of laying or track to run for conveying arrangement, the erection cost of cableway-type is higher, stability in operational process and the bad guarantee of safety, the erection cost of rail mounted is lower relative to the cost of cableway-type, the stability in operational process and the relatively good guarantee of safety.
The orbital fashion main following three kinds: one of existing rail mounted mountain region transportation device utilizes gear and the intermeshing mode of tooth bar.Weld tooth bar in orbit, and gear is installed on transportation device, by constantly engagement advance (this form is mainly in the majority with single track) thus realization is climbed between device self power driven wheel and track upper rack; Two is utilize mutually to compress between roller and track and the form of the friction force of generation drives advance (this form is also in the majority with single track); Three is utilize the mode being mutually wound around between steel rope and head roll and producing friction.Arrange the steel rope for drawing between track in advance, conveying arrangement is by head roll lay winding wire ropes thus (this form is in the majority to require to report his or her problems within a prescribed time and in a prescribed place) is advanced in realization climbing.
The first type of drive is the most reliable, and propulsive effort is comparatively large, but will manufacture very long tooth bar, and manufacturing cost is higher.The second type of drive is the simplest, but propulsive effort is obviously on the low side, and load and ramp angle are all less; The third type of drive is simpler relative to the first structure, because what adopt is Steel rope drive, so cost is lower, but braking and speed-regulating function are not very well, simultaneously because the continuous winding of cylinder and steel rope all can cause larger wearing and tearing to steel rope and cylinder.The first is because what adopt is the mode of rack and pinion engagement, therefore the precision of its speed governing and location is the highest, but because need to install the tooth bar grown the same as track in orbit, therefore price is higher, if the disposable processing of method sectional type of cold forging can be adopted, then connected the expense greatly can saved processing in orbit and install by the mode of welding.
Domestic and international existing rail mounted mountain region transportation device is all that the combustion engine of employing is as power mostly simultaneously; noise is larger; be unfavorable for the protection of mountain environment; and regulate at positioning precision and speed the deficiency that in accuracy, existence is very large; substantially can only meet the requirement of Material Transportation, and the integrated operation with other automated machine (such as automatic medicine spraying device etc.) can not be realized.Be that the rail mounted mountain region transportation device of driving and control is also because the huge cost of electric wire erection on a small quantity with electric power, what substantially use is all the electric power of battery storage, need in use procedure frequently to change battery, also need to bear the risk that unexpected power-off brings in the driving process of slope simultaneously.Therefore in order to solve the problem of hill slope transport difficult better, following several new requirement is proposed to new mountain region transportation device:
(1) laying of track wants simple, convenient, can not be too high to the requirement of landform, can lay, do not need to destroy original ground on a large scale in process of deployment according to mountain shape.
(2) power resources will become electrical motor from internal combustion engine development, reduce vibration & noise when running, and increase running stability, modern electric machines control technology application are come in simultaneously, improve the speed adjusting performance of transportation device and the precision of parking.
(3) electricity getting device wants structure simple, and erection is convenient, under the prerequisite avoiding large-scale track laying, avoids using battery as main power supply as far as possible.
Summary of the invention
In order to overcome the difficult problem of hill slope transport better, the invention provides a kind of easy, the rail mounted multi-transportation device of the work such as Material Transportation, machinery lift-launch can be realized between with a varied topography, that the gradient is larger mountain region.This device is driven by the form of rack and pinion engagement, the form of powering by low voltage rail is powered, the electric machines control technology introducing existing maturation realizes the Electronic control of speed and parking, simultaneously by using wireless control chip, achieves the controlled in wireless of the longer distance of conveying arrangement.
The present invention is achieved by the following technical solutions.
The present invention is made up of mechanics characteristic sum electric part feature two parts.A few part composition of device, mechanical brake mechanism and track draw bail is jumped on mechanics feature mainly contains vehicle frame, gear-rack drive mechanism, sprocket wheel chain and worm type of reduction gearing are formed transmission device, EEF bogie and anti-rollover are anti-.Electric part feature is then carried by DC brushless motor and driving governor part, electrical control part and electric power and a few part of electricity getting device forms.
Described mechanics feature:
Vehicle frame [11] comprises DC brushless motor and worm type of reduction gearing erecting frame, electric control box erecting frames etc., mainly play and play support and fixation to whole service mechanism, realize each operating mechanism according to spatial structure ordered installation, ensure each work energy separate operaton, prevent from interfering.
Gear-rack drive mechanism comprises drive wheel [5], rack rail [10], axle drive shaft mount pad [13] and live axle [15].Column type tooth on drive wheel constantly engages each other with the tooth bar on track under the drive of axle drive shaft, drives dolly to move forward.
Transmission device comprises sprocket wheel link chain mechanism [2], turbine and worm drop-gear box [1] and attached installing component thereof.Turbine and worm drop-gear box mainly plays reduction of speed and increases the effect turned round, utilize simultaneously the reverse self-locking of turbine and worm transmission ensure further go up a slope time safety, the effect of sprocket chain bar is then that power is delivered on axle drive shaft by drop-gear box.
EEF bogie and anti-upper jumping, Anti-side-turning device are formed primarily of upper road wheel [16], side pinch wheels [19], lower pinch wheels [21] and its attached installing component (as side pinch wheels hold-down bolt [28], side pinch wheels installation shaft [30], upper road wheel installation shaft [31] etc.).Side pinch wheels is mainly in order to overcome the capsizing moment that equipment is operationally waited, and lower pinch wheels is mainly in order to overcome the upper jumping that equipment operationally produces, but its principle of work and structure are all similar with side pinch wheels.
Mechanical brake mechanism is made up of brake facing [23] and braking clamp [24], and during work, braking clamp can clamp brake facing under the effect of hydraulic coupling, utilizes friction force to realize the object of drag.
Described track draw bail is then have employed the mode of adding a gear drive rail [10] between two walking rails [22], and all tracks are fixed on rail supported frame by the mode of welding, and rail of wherein walking mainly plays the effect of load-bearing.
Described electric part feature:
DC brushless motor [12] and supporting motor drive controller thereof constitute the speed-adjusting and control system of the DC brushless motor of complete set, just can realize the open and close of motor, rotating, speed switches and the function such as brake in electric meaning by the opening and closing controlling respective switch circuit.
The core of electrical control equipment is by the corresponding relay group of Single-chip Controlling and digital regulation resistance, driver for brushless DC motor is controlled by the opening and closing of relay, thus realize the rotating of motor, stop the functions such as unlatching and electrical brake, and digital regulation resistance can export the potential value of different size under the control of micro controller system, realized the adjustment of motor speed by the magnitude of voltage of control inputs DC brushless motor controller corresponding port.The realization of function of wireless remote control is then on the circuit of electrical control, add a wireless remote control module, what adopt in design is the radio reception module of the FSK-2A radio transmission module based on PT2262 chip and the CZS-7 based on PT2272 chip, in work, wireless remote control module connects with micro controller system, when receiver module receives the control signal that transmitter module sends, pass to micro controller system, the resistance of the corresponding cut-off of Single-chip Controlling or digital regulation resistance changes, thus realizes the object controlling DC brushless motor.
The feedway of electric power is then utilize safety sliding contact line [9] and collecting electrode [6] to realize, power supply the principle have employed low voltage rail power supply mode, by ground voltage control cabinet, the 220V voltage of interchange was down to 36V safety voltage before this, avoid the safety problem in electric power transport process, wherein safety sliding contact line is connected by the safety sliding contact line suspension arm [36] on bolt of rear end plate and track.
The present invention, compared with existing hill slope transportation mode, has the advantage of following several respects:
(1) structure of equipment package is simple, and erection and the maintenance of track are all more convenient.
(2) by utilizing safety sliding contact line and this simple mode of collecting electrode to realize low-voltage power supply, solving the safety problem in electric power transport process, avoiding the erection of complicated electric wiring simultaneously.
(3) introduce DC brushless motor and the control technology thereof of modern comparative maturity, make the speed adjusting performance of package unit compare existing hill slope transportation device with control accuracy and be greatly improved.
(4) by introducing controlled in wireless and single-chip microcomputer control technology, the functions such as the wireless remote control of equipment, automatic obstacle-avoiding and stopping a train at a target point are achieved.
Accompanying drawing explanation
Fig. 1 is the integral right lateral plan of transportation device.
Fig. 2 is the running part schematic diagram of transportation device.
Fig. 3 is the connection schematic diagram between two tracks.
Fig. 4 is the overall schematic perspective view of transportation device.
Number in the figure is respectively: 1 is worm-gear speed reducer, 2 is sprocket wheel link chain mechanism, 3 is external support, 4 is control housing, 5 is drive wheel, 6 is collecting electrode, 7 is track ground connection bearing, 8 is track fastening, 9 is safety sliding contact line, 10 is gear rail, 11 is vehicle frame, 12 is DC brushless motor, 13 is axle drive shaft mount pad, 14 bearings 1, 15 is axle drive shaft, 16 is upper road wheel, 17 is upper road wheel mounting nuts 1, 18 is upper road wheel installation shaft, 19 is side pinch wheels, 20 is side pinch wheels mount pad, 21 is lower pinch wheels, 22 is bearing rail, 23 is friction type brake sheet, 24 is braking clamp, 25 is lower pinch wheels hold-down bolt, 26 is lower pinch wheels mount pad, 27 is side pinch wheels mounting spring 1, 28 is side pinch wheels hold-down bolt, 29 is side pinch wheels mounting spring 2, 30 is side pinch wheels installation shaft, 31 is upper road wheel installation shaft, 32 is bearing 2, 33 is upper road wheel end cover, 34 is upper road wheel mounting nuts 2, 35 is safety sliding contact line erecting frame, 36 is safety sliding contact line suspension arm, 37 is track connection square tube, 38 is track connecting rack, 39 is track attachment bolt.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Multi-transportation carrying equipment is in the process run, DC brushless motor [12] drives worm type of reduction gearing [1], after deceleration increasing is turned round again by sprocket wheel chain gear [2] by transmission of power to axle drive shaft [15], thus the drive wheel [5] on drive axle drive shaft, meanwhile, Cylinder Gear on drive wheel and the tooth bar on track [20] engage each other, thus drive whole dolly to run forward.
The left and right of rail-based conveyor system and below have side pinch wheels [19] and lower pinch wheels [21] respectively, it provides a little initial clamping force by the distortion of spring [27] and spring [29] to track, in the middle of the process run, spring [27] and spring [29] can ensure pinch wheels and track close contact all the time by being constantly out of shape, thus the vibration in the middle of minimizing operational process, increase the stability run, although spring can constantly can be out of shape in certain scope simultaneously, but owing to being subject to the impact of rigidity between mounting base and pinch wheels, the distortion of spring is limited in certain scope, the maxim of this scope is exactly that dolly can the ultimate range of deflection and upper jumping, the ultimate range of deflection determines the turning performance of transportation device, and the hill climbing ability of transportation device mainly determines by the power of DC machine and the efficiency of transmission device.
The advance of multi-transportation and carrying equipment, retrogressing, speed regulate, stopping is all launch corresponding signal to the single-chip computer control system on dolly by wireless remote controller, the unlatching controlling motor drive controller corresponding function must be changed by the resistance value of the corresponding relay opening and closing of Single-chip Controlling and digital regulation resistance, the rotating of motor is controlled again, the realization of the regulatory function of stopping and unlatching and speed by electric machine controller.
Power transmission system have employed low voltage rail power supply plan, consider that the operating voltage of DC brushless motor and controller thereof is DC48V, the 220V voltage of interchange was down to interchange 36V safety voltage by ground voltage control cabinet by its specific embodiment before this, avoided the safety problem in electric power transport process.During work, then rail vehicle is fed to through walking track (feed track trolley [9]), slide in trolley under the traction of transportation device particular by collecting electrode [6], simultaneously power delivery to the vehicle-mounted rectifier on transportation device, the alternating current of 36V is made into the direct current (DC) of 48V by vehicle-mounted rectifier, supply DC brushless motor and driving governor thereof use, and safety sliding contact line is connected by the safety sliding contact line suspension arm [36] on bolt of rear end plate and track.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the various transformations that method of the present invention is conceived and technical scheme is carried out; or directly apply to other occasion, all within protection scope of the present invention without improving.
Claims (2)
1. one kind can realize the new equipment transporting and carry complex operation between hill slope, the transmission device that its feature is mainly made up of frame, gear-rack drive mechanism, sprocket wheel chain and worm type of reduction gearing, EEF bogie and anti-upper jumping, a few part composition of Anti-side-turning device, fluid pressure type braking mechanism and track coupling mechanism; Described rack section, frame [11], in arc type, plays the effect carrying each working portion; Described gear-rack drive mechanism comprises drive wheel [5], rack rail [10], axle drive shaft mount pad [13] and live axle [15] and attached installation elements, utilizes the intermeshing mode driving arrangement of rack-and-gear to run forward; Described transmission device comprises sprocket wheel chain [2], turbine and worm drop-gear box [1] and accessory mount thereof; Turbine and worm drop-gear box mainly plays reduction of speed and increases the effect turned round and utilize the reverse self-locking of Worm Wheel System to ensure the safety that equipment goes up a slope when running; Described EEF bogie and anti-upper jumping, Anti-side-turning device are formed primarily of upper road wheel [16], side pinch wheels [19], lower pinch wheels [21] and its attached installation elements, attached installation elements comprises side pinch wheels hold-down bolt [28], side pinch wheels installation shaft [30], upper road wheel installation shaft [18], mainly play and ensure the safety traffic of conveying arrangement, the power of toppling when overcoming operation and the effect of upper jumping power; Described water brake mechanism mainly clamps [24] by friction type brake sheet [23] and water brake and accessory mount is formed; Described track coupling mechanism is then connect square tube [37], connecting rack [38] and attachment bolt [39] composition, if damaging appears in that section of track, can take off attachment bolt and realize changing rapidly.
2. can realize the new equipment transporting and carry complex operation between hill slope, its electric characteristic is made up of DC brushless motor and a few part of driving governor, electric control system and power transmission device thereof; Described DC brushless motor [12] and driving governor thereof constitute the DC brushless motor speed-adjusting and control system of complete set, just can realize the open and close of motor by the opening and closing controlling respective switch circuit, rotating, speed switch and electric on this series function of brake; Described electric control system is mainly in order to realize the automatic process of emergency case in the controlled in wireless of equipment and operational process; The core of electrical control equipment reaches by the corresponding relay group of Single-chip Controlling and digital regulation resistance the object controlling motor; The realization of function of wireless remote control is then on the circuit of electrical control, add a wireless remote control module, and what adopt in design is the radio reception module of the FSK-2A radio transmission module based on PT2262 chip and the CZS-7 based on PT2272 chip; The power supply the principle of the feedway of described electric power have employed low voltage rail power supply mode, by ground voltage control cabinet, the 220V voltage of interchange was down to 36V safety voltage before this, through as the safety sliding contact line [9] of feed track and current colector [6] electric current being fed to the vehicle-mounted rectifier on transportation device, the alternating current of 36V is made into the direct current (DC) of 48V by vehicle-mounted rectifier, supply DC brushless motor and driving governor thereof use, and safety sliding contact line is connected by the safety sliding contact line suspension arm [36] on bolt of rear end plate and track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410578741.8A CN104401334A (en) | 2014-10-27 | 2014-10-27 | Novel device capable of realizing transportation and carrying comprehensive operation on mountain land slope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410578741.8A CN104401334A (en) | 2014-10-27 | 2014-10-27 | Novel device capable of realizing transportation and carrying comprehensive operation on mountain land slope |
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| CN104401334A true CN104401334A (en) | 2015-03-11 |
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| CN201410578741.8A Pending CN104401334A (en) | 2014-10-27 | 2014-10-27 | Novel device capable of realizing transportation and carrying comprehensive operation on mountain land slope |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215630A (en) * | 2016-03-22 | 2017-09-29 | 兰州交通大学 | Railway car automatic transportation platform |
| CN107587393A (en) * | 2017-09-13 | 2018-01-16 | 秦皇岛鸿鼎轻工机械技术有限公司 | Monorail crane hanging rail car |
| CN108099923A (en) * | 2017-12-29 | 2018-06-01 | 三明学院 | A kind of traffic system for overhead track |
| CN108356792A (en) * | 2018-03-26 | 2018-08-03 | 安徽城市智慧停车科技有限公司 | Seven axis vision robots |
| CN108622112A (en) * | 2018-06-01 | 2018-10-09 | 罗升 | Logistics transportation mechanism |
| CN109794068A (en) * | 2019-03-06 | 2019-05-24 | 桂林市哲云电子科技有限公司 | One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system |
| CN112238872A (en) * | 2019-07-17 | 2021-01-19 | 株式会社Emtc | Rail vehicle system provided with three-line track unit |
| CN112456045A (en) * | 2020-11-10 | 2021-03-09 | 华中农业大学 | Rail-powered monorail transport plane |
| CN113147796A (en) * | 2021-06-04 | 2021-07-23 | 国网福建省电力有限公司 | Mountain heavy-load double-rail transport vehicle for overhead transmission line construction and construction method thereof |
| CN113715850A (en) * | 2021-09-16 | 2021-11-30 | 广东安元矿业勘察设计有限公司 | Part load type transportation method for pyramid terrace hillside |
| CN114370282A (en) * | 2021-12-07 | 2022-04-19 | 山东大学 | Three-dimensional detection equipment for shield tunnel wall rear synchronous grouting body based on elastic wave method |
| CN114481719A (en) * | 2022-04-01 | 2022-05-13 | 成都理工大学 | Gear tooth-entering buffer device |
| CN115899207A (en) * | 2023-02-28 | 2023-04-04 | 太原矿机电气股份有限公司 | Hydraulic traction gear drive device and speed-changing and speed-limiting control system thereof |
| CN116101676A (en) * | 2023-03-17 | 2023-05-12 | 深圳尚蓝柏科技有限公司 | Ground rail type rollover prevention stereoscopic warehouse stacker |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215630A (en) * | 2016-03-22 | 2017-09-29 | 兰州交通大学 | Railway car automatic transportation platform |
| CN107587393A (en) * | 2017-09-13 | 2018-01-16 | 秦皇岛鸿鼎轻工机械技术有限公司 | Monorail crane hanging rail car |
| CN108099923A (en) * | 2017-12-29 | 2018-06-01 | 三明学院 | A kind of traffic system for overhead track |
| CN108356792A (en) * | 2018-03-26 | 2018-08-03 | 安徽城市智慧停车科技有限公司 | Seven axis vision robots |
| CN108356792B (en) * | 2018-03-26 | 2023-12-26 | 安徽城市智慧停车科技有限公司 | Seven-axis vision robot |
| CN108622112A (en) * | 2018-06-01 | 2018-10-09 | 罗升 | Logistics transportation mechanism |
| CN109794068A (en) * | 2019-03-06 | 2019-05-24 | 桂林市哲云电子科技有限公司 | One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system |
| CN112238872B (en) * | 2019-07-17 | 2023-08-29 | 株式会社Emtc | Rail vehicle system provided with three-wire rail part |
| CN112238872A (en) * | 2019-07-17 | 2021-01-19 | 株式会社Emtc | Rail vehicle system provided with three-line track unit |
| CN112456045A (en) * | 2020-11-10 | 2021-03-09 | 华中农业大学 | Rail-powered monorail transport plane |
| CN113147796A (en) * | 2021-06-04 | 2021-07-23 | 国网福建省电力有限公司 | Mountain heavy-load double-rail transport vehicle for overhead transmission line construction and construction method thereof |
| CN113715850A (en) * | 2021-09-16 | 2021-11-30 | 广东安元矿业勘察设计有限公司 | Part load type transportation method for pyramid terrace hillside |
| CN114370282A (en) * | 2021-12-07 | 2022-04-19 | 山东大学 | Three-dimensional detection equipment for shield tunnel wall rear synchronous grouting body based on elastic wave method |
| CN114370282B (en) * | 2021-12-07 | 2023-09-05 | 山东大学 | Shield tunnel wall rear synchronous grouting body three-dimensional detection equipment based on elastic wave method |
| CN114481719B (en) * | 2022-04-01 | 2022-07-15 | 成都理工大学 | Gear entering buffer device |
| CN114481719A (en) * | 2022-04-01 | 2022-05-13 | 成都理工大学 | Gear tooth-entering buffer device |
| CN115899207A (en) * | 2023-02-28 | 2023-04-04 | 太原矿机电气股份有限公司 | Hydraulic traction gear drive device and speed-changing and speed-limiting control system thereof |
| CN115899207B (en) * | 2023-02-28 | 2023-05-09 | 太原矿机电气股份有限公司 | Hydraulic traction tooth driving device and speed-variable speed-limiting control system thereof |
| CN116101676A (en) * | 2023-03-17 | 2023-05-12 | 深圳尚蓝柏科技有限公司 | Ground rail type rollover prevention stereoscopic warehouse stacker |
| CN116101676B (en) * | 2023-03-17 | 2023-10-24 | 深圳尚蓝柏科技有限公司 | Ground rail type rollover prevention stereoscopic warehouse stacker |
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