CN108248621A - A kind of rail mounted robot moving mechanism - Google Patents
A kind of rail mounted robot moving mechanism Download PDFInfo
- Publication number
- CN108248621A CN108248621A CN201611233631.3A CN201611233631A CN108248621A CN 108248621 A CN108248621 A CN 108248621A CN 201611233631 A CN201611233631 A CN 201611233631A CN 108248621 A CN108248621 A CN 108248621A
- Authority
- CN
- China
- Prior art keywords
- wheel
- moving body
- shaft
- body chassis
- directive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
Abstract
The present invention relates to high-tension distribution chamber of converting intelligent inspection robot mechanisms, specifically a kind of rail mounted robot moving mechanism, including moving body chassis and before being separately fixed on moving body chassis, universal wheel and before being rotatably installed in respectively on moving body chassis afterwards, trailing bogie, before, trailing bogie structure is identical, include fixed frame, traveling wheel, ground drive mechanism, first directive wheel and the second directive wheel, fixed frame is rotatablely connected with moving body chassis, the traveling wheel wheel shaft of traveling wheel is rotatably installed on fixed frame, and it is connected with the ground drive mechanism on fixed frame, it is driven and rotated by ground drive mechanism, and then drive traveling wheel rotation；First and second directive wheel is symmetrically disposed on the both sides of traveling wheel, and the first directive wheel wheel shaft of the first directive wheel and the second directive wheel wheel shaft of the second directive wheel are rotatablely connected respectively with fixed frame.The present invention has the characteristics that stable movement, simple in structure and load capacity are strong.
Description
Technical field
The present invention relates to high-tension distribution chamber of converting intelligent inspection robot mechanism, specifically a kind of rail mounted robot movement
Mechanism.
Background technology
High-tension distribution chamber of converting is production, conveying, one of the core for distributing three digest journals, and transformer substation system is it may be said that entire electric power
The safe and reliable of system all plays a crucial role.Traditional routine inspection mode is that acquisition is a large amount of daily by patrol officer
Operation data, due to the factors such as patrol officer's quality, technical merit can lead to the problem of it is very much；And this mode labor intensity
Greatly, it is dangerous high.Existing routine inspection mode and technology still have sizable gap compared with the security requirement of power generation.
In unattended high-tension distribution chamber of converting, equipment routing inspection and security protection work are only replaced by fixed video camera, are not only unable in measuring station complete
Portion's equipment and instrument, thermal defect that can not be inside discovering device, these can all leave potential faults.Robot replaces artificial complete
Advantage into high-tension distribution chamber of converting patrol task is more apparent.Robot needs are detected all switchgears in hyperbaric chamber
And operation, this task can not be completed using fixed robot at all.Therefore mobile mechanism must be designed, by robot sheet
Body is placed in mobile mechanism, so as to complete the detection to all switchgears and operation task.
Invention content
In order to meet the requirement of high-tension distribution chamber of converting patrol task, the purpose of the present invention is to provide a kind of rail mounted robots
Mobile mechanism.The rail mounted robot moving mechanism stable movement, simple in structure, load capacity is strong.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes moving body chassis and the preceding universal wheel, the rear universal wheel that are separately fixed on the moving body chassis
Forecarriage, the wherein trailing bogie, forecarriage and trailing bogie being rotatably installed in respectively on the moving body chassis
Structure is identical, including fixed frame, traveling wheel, ground drive mechanism, the first directive wheel and the second directive wheel, the fixed frame
Be rotatablely connected with moving body chassis, the traveling wheel wheel shaft of the traveling wheel is rotatably installed on fixed frame, and with mounted on solid
The ground drive mechanism determined on frame is connected, and is driven and rotated by the ground drive mechanism, and then drives the traveling wheel
Rotation；First directive wheel and the second directive wheel are symmetrically disposed on the both sides of traveling wheel, and the first of first directive wheel is oriented to
The the second directive wheel wheel shaft for taking turns wheel shaft and the second directive wheel is rotatablely connected respectively with the fixed frame；
Wherein：The fixed frame includes crossbeam, head rod, the second connecting rod, the first wheel carrier and the second wheel carrier, the horizontal stroke
Beam is rotatablely connected by cradle head C and the moving body chassis, the head rod and the second connecting rod respectively with horizontal stroke
The both ends of beam are connected, and the first wheel carrier is fixed on the head rod, the second wheel carrier is fixed in second connecting rod；Institute
It states the first directive wheel wheel shaft to be rotatablely connected by cradle head D and the first wheel carrier, first directive wheel and first directive wheel
Wheel shaft interlocks；The second directive wheel wheel shaft is rotatablely connected by cradle head D and the second wheel carrier, and second directive wheel is with being somebody's turn to do
Second directive wheel wheel shaft interlocks；
The ground drive mechanism includes motor, retarder and shaft coupling, and the motor and retarder are separately mounted to institute
It states on fixed frame, the traveling wheel wheel shaft is connected by shaft coupling with the output shaft of the retarder；The traveling wheel wheel shaft is
Multi-diameter shaft, both ends are rotatablely connected respectively by cradle head B and the fixed frame, and the traveling wheel passes through flat key and traveling wheel wheel
Axis interlocks；
The junction on the junction on the forecarriage and moving body chassis and trailing bogie and moving body chassis it
Between straight line and the preceding universal wheel and the junction on moving body chassis and rear universal wheel and the junction on moving body chassis
Between straight line it is parallel；
The preceding universal wheel is identical with rear Universal wheel structure, including the first connector, the second connector, wheel shaft and wheel
Son, first connector are connected with the moving body chassis, and second connector passes through cradle head A and the first connector
Rotation connection, wheel shaft are rotatablely connected by the cradle head A and second connector, and the wheel is interlocked with wheel shaft；
The preceding universal wheel and rear universal wheel are located at the same side of forecarriage and trailing bogie, the preceding universal wheel and movement
Straight line and the rear universal wheel and shifting between the junction on the junction of chassis of vehicle body and forecarriage and moving body chassis
Straight line between the junction on motor vehicles bodies chassis and rear universal wheel trailing bogie and the junction on moving body chassis is parallel.
Advantages of the present invention is with good effect：
1. the present invention can realize steering on the larger warp rail of radian, the first directive wheel and the second directive wheel are located at
The left and right sides of track direction of advance when mobile mechanism's offset track, generates pressure, this pressure between directive wheel and track
Mobile mechanism is forced to return to equilbrium position.
2. the configuration of the present invention is simple, stable movement are reliable, the design of forward and backward bogie and forward and backward universal wheel realizes at 4 points
Support, can prevent mobile mechanism from toppling.
3. movement velocity of the present invention is fast, forward and backward steering mechanism straddles in orbit, and traveling wheel is contacted with track upper surface,
Under the drive of ground drive mechanism, support mobile mechanism walks in orbit, due to using wheel type traveling mechanism, speed
Degree is very fast.
4. bearing capacity of the present invention is high, since mobile mechanism realizes four-point supporting, 4 points are born load, therefore held jointly
Loading capability is high and structure is more firm.
5. present invention combination easy to disassemble, fixed frame is designed to modular structure, convenient for fixed frame is straddled guide rail
On.
6. the present invention is compact-sized, directive wheel is placed in the centre position below i-beam track upper surface, due to I-steel
The upper surface coincidence parallel to the ground of track, therefore the design width of track groove is placed in compared to by directive wheel on i-beam track
The track well width of square side is small.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structure diagram of universal wheel of the present invention；
Fig. 3 is the structure diagram of bogie of the present invention；
Fig. 4 is the structure diagram of fixed frame in Fig. 3；
Fig. 5 rides working state figure in orbit for bogie of the present invention；
Fig. 6 is operation view of the present invention on warp rail；
Wherein：1 be moving body chassis, 2 be preceding universal wheel, 201 be the first connector, 202 be the second connector, 203
It is wheel for universal wheel wheel shaft, 204,205 be cradle head A, and 3 be rear universal wheel, and 4 be forecarriage, and 401 be fixed frame,
4011 be crossbeam, and 4012 be head rod, and 4013 be the second connecting rod, and 4014 be the first wheel carrier, and 4015 be the second wheel carrier,
402 be traveling wheel shaft, and 403 be traveling wheel, and 404 be motor, and 405 be retarder, and 406 be shaft coupling, and 407 be the first directive wheel
Wheel shaft, 408 be the second directive wheel wheel shaft, and 409 be the first directive wheel, and 410 be the second directive wheel, and 411 be cradle head B, and 412 are
Cradle head C, 413 be cradle head D, and 5 be trailing bogie, and 6 be ground, and 7 be track.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention includes moving body chassis 1, preceding universal wheel 2, rear universal wheel 3, forecarriage 4 and turns afterwards
To frame 5, wherein preceding universal wheel 2 and rear universal wheel 3 are connected respectively with moving body chassis 1, forecarriage 4 and trailing bogie 5 divide
It is not connect by cradle head with moving body chassis 1.Forecarriage 4 and trailing bogie 5 are straddled on track 7, for providing
Support force and ensure that moving body does not depart from track.Preceding universal wheel 2 and rear universal wheel 3 increase movement for providing support force
The stability of car body.
Moving body chassis 1 is square, and forward and backward universal wheel 2,3 is located at rectangular locomotive respectively with forward and backward bogie 4,5
The quadrangle on body chassis 1.Preceding universal wheel 2 and rear universal wheel 3 are located at the same side of forecarriage 4 and trailing bogie 5, the preceding universal wheel
Straight line between 2 and the junction on moving body chassis 1 and the junction on forecarriage 4 and moving body chassis 1 with it is rear universal
Between wheel 3 and the junction on moving body chassis 1 and 3 trailing bogie 5 of rear universal wheel and the junction on moving body chassis 1
Straight line is parallel.The junction on forecarriage 4 and moving body chassis 1 and trailing bogie 5 and the junction on moving body chassis 1
Between straight line and the preceding universal wheel 2 and junction and the rear universal wheel 3 on moving body chassis 1 and moving body chassis 1
Straight line between junction is parallel.
As shown in Fig. 2, preceding universal wheel 2 is identical with rear 3 structure of universal wheel, including the first connector 201, the second connector
202nd, wheel shaft 203 and wheel 204, first connector 201 are connected with moving body chassis 1, and the second connector 202 passes through rotation
Joint A205 is rotatablely connected with the first connector 201, and wheel shaft 203 is rotated by cradle head A205 and second connector 202
Connection, wheel 204 are interlocked with wheel shaft 203.
As shown in figure 3, forecarriage 4 is identical with 5 structure of trailing bogie, including fixed frame 401, traveling wheel wheel shaft 402,
Traveling wheel 403, ground drive mechanism, the first directive wheel wheel shaft 407, the second directive wheel wheel shaft 408, the first directive wheel 409 and
Second directive wheel 410, fixed frame 401 are rotatablely connected with moving body chassis 1, and the traveling wheel wheel shaft 402 of traveling wheel 403 is by turning
Movable joint B411 is rotatably installed on fixed frame 401, and is connected with the ground drive mechanism on fixed frame 401, by
Ground drive mechanism driving rotation, and then traveling wheel 403 is driven to rotate.First directive wheel 409 and the second directive wheel 410 are right
Claim to be set to the both sides of traveling wheel 403, the of the first directive wheel wheel shaft 407 of first directive wheel 409 and the second directive wheel 410
Two directive wheel wheel shafts 408 are rotatablely connected respectively by cradle head D413 and fixed frame 401.Traveling wheel wheel shaft 402 is multi-diameter shaft,
Both ends are connected respectively by cradle head B411 (cradle head B of the invention can be angular contact ball bearing) and the rotation of fixed frame 401
It connects, traveling wheel 403 is interlocked by flat key and traveling wheel wheel shaft 402.Ground drive mechanism include motor 404, retarder 405 and
Shaft coupling 406, the motor 404 and retarder 405 are separately mounted on fixed frame 401, and traveling wheel wheel shaft 402 passes through shaft coupling
406 are connected with the output shaft of retarder 405.
As shown in figure 4, fixed frame 401 includes crossbeam 4011, head rod 4012, the second connecting rod 4013, the first round
4014 and second wheel carrier 4015 of frame, by cradle head C412, (cradle head C of the invention can be centripetal thrust force to the crossbeam 4011
Combination bearing) be rotatablely connected with moving body chassis 1,4012 and second connecting rod 4013 of head rod respectively with crossbeam 4011
Both ends be connected, the first wheel carrier 4014 is fixed on head rod 4012, the second wheel carrier is fixed in the second connecting rod 4013
4015.First directive wheel wheel shaft 407 is rotatablely connected by cradle head D413 and the first wheel carrier 4014, the first directive wheel 409 with
The first directive wheel wheel shaft 407 interlocks；Second directive wheel wheel shaft 408 is connected by cradle head D413 and the rotation of the second wheel carrier 4015
It connects, the second directive wheel 410 is interlocked with the second directive wheel wheel shaft 408.
The present invention operation principle be：
As shown in figure 5, forecarriage 4 straddles on i-beam track 7 (i.e. the first directive wheel 409 and the second directive wheel 410
Abut respectively positioned at the left and right sides of 7 direction of advance of i-beam track and with the both sides of i-beam track 7), wherein bull headction
The upper surface in road 7 is overlapped with ground 6, and traveling wheel 403 is contacted with the upper surface of i-beam track 7；Traveling wheel 403 is in servo motor
Frictional force is generated between the upper surface of i-beam track 7 under 404 driving, so as to which mobile mechanism be driven to move.Trailing bogie 5
It is straddled on i-beam track 7 with as forecarriage 4, the traveling wheel 403 of trailing bogie 5 also can be upper with i-beam track 7
Frictional force is generated between surface, driving force is provided for mobile mechanism.Preceding universal wheel 2 and rear universal wheel 3 all there is passive rotation to close
It saves (i.e. cradle head A205), two universal wheels can be freely rotated relative to moving body chassis 1, so as to two universal wheels
Play Auxiliary support and the effect stablized.
As shown in fig. 6, when mobile mechanism runs to 7 knee of track, first and second directive wheel 409 of forecarriage 4,
Pressure is generated between 410 and track 7, forecarriage 4 rotates with track 7, and the direction of mobile mechanism changes, and drives
Mobile mechanism is along track travel；Meanwhile opposite turn occurs between forecarriage 4 and trailing bogie 5 and mobile mechanism chassis 1
It is dynamic.As mobile mechanism walks on along track 7, produced between first and second directive wheel 409,410 and track 7 of trailing bogie 5
Raw pressure, trailing bogie 5 rotate with track 7.No matter where be moved on track 7 for mobile mechanism, before can ensureing
Bogie 4 and the distance between 1 junction of mobile mechanism chassis and 1 junction of trailing bogie 5 and mobile mechanism chassis are kept not
Become, so as to avoid mobile mechanism that stuck phenomenon occurs in orbit.
Claims (8)
1. a kind of rail mounted robot moving mechanism, it is characterised in that：Including moving body chassis (1) and it is separately fixed at the shifting
It preceding universal wheel (2), rear universal wheel (3) on motor vehicles bodies chassis (1) and is rotatably installed in respectively on the moving body chassis (1)
Forecarriage (4), trailing bogie (5), wherein forecarriage (4) is identical with trailing bogie (5) structure, including fixed frame
(401), traveling wheel (403), ground drive mechanism, the first directive wheel (409) and the second directive wheel (410), the fixed frame
(401) it is rotatablely connected with moving body chassis (1), the traveling wheel wheel shaft (402) of the traveling wheel (403) is rotatably installed in fixation
On frame (401), and it is connected with the ground drive mechanism on fixed frame (401), by the ground drive mechanism
Driving rotation, and then drive traveling wheel (403) rotation；First directive wheel (409) is symmetrical with the second directive wheel (410)
The both sides of traveling wheel (403) are set to, the first directive wheel wheel shaft (407) of first directive wheel (409) and the second directive wheel
(410) the second directive wheel wheel shaft (408) is rotatablely connected respectively with the fixed frame (401).
2. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The fixed frame (401) includes
Crossbeam (4011), head rod (4012), the second connecting rod (4013), the first wheel carrier (4014) and the second wheel carrier (4015),
The crossbeam (4011) is rotatablely connected by cradle head C (412) and the moving body chassis (1), the head rod
(4012) and both ends of the second connecting rod (4013) respectively with crossbeam (4011) are connected, and are connected on the head rod (4012)
There is the first wheel carrier (4014), the second wheel carrier (4015) is fixed on second connecting rod (4013).
3. rail mounted robot moving mechanism according to claim 2, it is characterised in that：The first directive wheel wheel shaft
(407) it is rotatablely connected by cradle head D (413) and the first wheel carrier (4014), first directive wheel (409) first is led with this
It is interlocked to wheel wheel shaft (407)；The second directive wheel wheel shaft (408) is turned by cradle head D (413) and the second wheel carrier (4015)
Dynamic connection, second directive wheel (410) interlock with the second directive wheel wheel shaft (408).
4. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The ground drive mechanism packet
Motor (404), retarder (405) and shaft coupling (406) are included, the motor (404) and retarder (405) are separately mounted to described solid
Determine on frame (401), the traveling wheel wheel shaft (402) is connected by shaft coupling (406) with the output shaft of the retarder (405).
5. rail mounted robot moving mechanism according to claim 4, it is characterised in that：The traveling wheel wheel shaft (402)
For multi-diameter shaft, both ends are rotatablely connected respectively by cradle head B (411) and the fixed frame (401), the traveling wheel (403)
It is interlocked by flat key and traveling wheel wheel shaft (402).
6. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The forecarriage (4) and shifting
Straight line between the junction on motor vehicles bodies chassis (1) and the junction of trailing bogie (5) and moving body chassis (1) with it is described before
Between universal wheel (2) and the junction of moving body chassis (1) and the junction of rear universal wheel (3) and moving body chassis (1)
Straight line it is parallel.
7. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The preceding universal wheel (2) is with after
Universal wheel (3) structure is identical, including the first connector (201), the second connector (202), wheel shaft (203) and wheel (204),
First connector (201) is connected with the moving body chassis (1), and second connector (202) passes through cradle head A
(205) it is rotatablely connected with the first connector (201), wheel shaft (203) passes through the cradle head A (205) and second connector
(202) it is rotatablely connected, the wheel (204) interlocks with wheel shaft (203).
8. rail mounted robot moving mechanism according to claim 1, it is characterised in that：The preceding universal wheel (2) and after
Universal wheel (3) is positioned at the same side of forecarriage (4) and trailing bogie (5), the preceding universal wheel (2) and moving body chassis (1)
Junction and the junction of forecarriage (4) and moving body chassis (1) between straight line with it is described after universal wheel (3) and move
Between the junction on motor vehicles bodies chassis (1) and rear universal wheel (3) trailing bogie (5) and the junction of moving body chassis (1)
Straight line it is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611233631.3A CN108248621A (en) | 2016-12-28 | 2016-12-28 | A kind of rail mounted robot moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611233631.3A CN108248621A (en) | 2016-12-28 | 2016-12-28 | A kind of rail mounted robot moving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248621A true CN108248621A (en) | 2018-07-06 |
Family
ID=62719100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611233631.3A Pending CN108248621A (en) | 2016-12-28 | 2016-12-28 | A kind of rail mounted robot moving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248621A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791336A (en) * | 2018-08-22 | 2018-11-13 | 中国特种设备检测研究院 | A kind of track detection device actively walked along amusement facility track |
| CN109056431A (en) * | 2018-08-29 | 2018-12-21 | 江西理工大学 | Suspension type permanent magnetism magnetic floating rail traffic mechanical structure |
| CN110304413A (en) * | 2019-08-01 | 2019-10-08 | 长沙远大住宅工业安徽有限公司 | A kind of concrete stack pallet running gear and concrete stack pallet |
| CN110422184A (en) * | 2019-08-29 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of intelligent patrol equipment |
| CN110696177A (en) * | 2019-10-22 | 2020-01-17 | 浙江工业职业技术学院 | Table board cleaning equipment for flowing type prefabricated part mold table |
| CN111206784A (en) * | 2020-01-17 | 2020-05-29 | 中国十七冶集团有限公司 | Construction platform of unloading |
| CN113291728A (en) * | 2021-05-28 | 2021-08-24 | 华北科技学院(中国煤矿安全技术培训中心) | Support guide rail mechanism of embedded rail transit transportation device |
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| CN206475880U (en) * | 2016-12-28 | 2017-09-08 | 深圳供电局有限公司 | Rail mounted robot moving mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791336A (en) * | 2018-08-22 | 2018-11-13 | 中国特种设备检测研究院 | A kind of track detection device actively walked along amusement facility track |
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| CN109056431A (en) * | 2018-08-29 | 2018-12-21 | 江西理工大学 | Suspension type permanent magnetism magnetic floating rail traffic mechanical structure |
| CN109056431B (en) * | 2018-08-29 | 2020-12-25 | 江西理工大学 | Suspension type permanent magnetism magnetic levitation track traffic machinery structure |
| CN110304413A (en) * | 2019-08-01 | 2019-10-08 | 长沙远大住宅工业安徽有限公司 | A kind of concrete stack pallet running gear and concrete stack pallet |
| CN110422184A (en) * | 2019-08-29 | 2019-11-08 | 福建（泉州）哈工大工程技术研究院 | A kind of intelligent patrol equipment |
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| CN110696177A (en) * | 2019-10-22 | 2020-01-17 | 浙江工业职业技术学院 | Table board cleaning equipment for flowing type prefabricated part mold table |
| CN111206784A (en) * | 2020-01-17 | 2020-05-29 | 中国十七冶集团有限公司 | Construction platform of unloading |
| CN113291728A (en) * | 2021-05-28 | 2021-08-24 | 华北科技学院(中国煤矿安全技术培训中心) | Support guide rail mechanism of embedded rail transit transportation device |
| CN113291728B (en) * | 2021-05-28 | 2022-07-08 | 华北科技学院(中国煤矿安全技术培训中心) | Support guide rail mechanism of embedded rail transit transportation device |
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