CN109130870A - The pipe rail driven based on pull-type by stream linear motor transports traction drive system - Google Patents
The pipe rail driven based on pull-type by stream linear motor transports traction drive system Download PDFInfo
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- CN109130870A CN109130870A CN201811213533.2A CN201811213533A CN109130870A CN 109130870 A CN109130870 A CN 109130870A CN 201811213533 A CN201811213533 A CN 201811213533A CN 109130870 A CN109130870 A CN 109130870A
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- Prior art keywords
- vehicle
- traction drive
- traction
- control module
- drive system
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/20—Details of contact bow
- B60L5/205—Details of contact bow with carbon contact members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M3/00—Feeding power to supply lines in contact with collector on vehicles; Arrangements for consuming regenerative power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The present invention relates to the pipe rails driven based on pull-type by stream linear motor to transport traction drive system, it include: transport vehicle, the transport vehicle includes head vehicle, multiple compartments, traction electric machine, vehicle-mounted traction drive, pull-type current collecting system and monitoring system, and the headstock, multiple compartments are sequentially connected；The present invention uses pull-type by stream for train power supply, by with using the gravity of pantagraph current collector itself as the pressure between pantagraph current collector and contact net, preferably realize that bow net combines, guarantee the contact between carbon brush and the cable that flows back, to guarantee the transmission of good supply current and back flow current, suitable for tube-rail transportation system small-sized in city, transportation cost is reduced, logistics distribution speed and operational efficiency can also be greatly improved.
Description
Technical field
The invention belongs to technical field of traffic transportation, and in particular to a kind of pipe driven based on pull-type by stream linear motor
Rail transports traction drive system.
Background technique
Communications and transportation is the lifeblood of Chinese national economy.Currently, China's prevailing traffic equipment and core technology level and generation
Boundary's advanced level has larger gap, there is insufficient transport supply capacity, integrated transportation system construction lag, various modes of transportation and lacks
The problems such as weary comprehensive coordination, transportation and energy's consumption and environmental pollution.
In the related technology, the power supply mode that transport vehicle uses is generally power transmission line at the top of pipeline and is flowed, but conventional slip
Contact will appear abrasion, carbon deposit, contact sparking and dangerous bare exposed conductor problem, security of system, reliability and use the longevity
It orders lower.Existing conveying track uses overhead contact system as the major way for taking stream, not according to its hang
Together, overhead contact line can be divided into rigid suspension OCS and rigid contact net again, wherein both contact nets require pantograph with
External cylinder or motor match bow net with spring, and there are some potential safety problemss.
Summary of the invention
In view of this, it is an object of the invention to overcome the deficiencies of the prior art and provide be based on pull-type by stream straight-line electric
The pipe rail of machine driving transports traction drive system, to solve the problems, such as security risk in existing sliding contact technology.
In order to achieve the above object, the present invention adopts the following technical scheme: a kind of driven based on pull-type by stream linear motor
Pipe rail transport traction drive system, comprising: include: transport vehicle, the transport vehicle include head vehicle, multiple compartments, traction electric machine,
Vehicle-mounted traction drive, pull-type current collecting system and monitoring system, the headstock, multiple compartments are sequentially connected；
The pull-type current collecting system includes: pantagraph current collector, contact net and vehicle-mounted energy-storage module, and the pantagraph current collector setting exists
Above the contact net, the pantagraph current collector is equipped with carbon brush, and the pantagraph current collector passes through sliding contact between carbon brush and the contact net
It carries out being flowed to the vehicle-mounted traction drive power supply, and by extra power storage to the vehicle-mounted energy-storage module, it is described
Vehicle-mounted energy-storage module is for being powered the vehicle-mounted traction drive when there is power supply trouble；
The vehicle-mounted traction drive includes: the main traction control module that head vehicle is arranged in, each compartment is arranged in
Sub- traction control module, vehicle-mounted running control module and wireless communication module, the vehicle-mounted running control module, sub- traction control module,
Wireless communication module is connect with the main traction control module respectively；
The traction electric machine is used to provide power to the transport vehicle；
The monitoring system includes: remote monitoring platform, local monitor platform；The remote monitoring platform is for monitoring institute
The fault message and real time status information of drive system are stated, the local monitor platform is for providing communication interface and extraneous terminal
Carry out data interaction.
Further, the traction electric machine uses linear motor.
Further, the main traction control module of the head vehicle is led by two-way CAN bus with the son set in each compartment
Draw control module, vehicle-mounted running control module, radio communication mold connection.
Further, the vehicle-mounted energy-storage module uses the mixing module of capacitor, battery or capacitor and battery, for going out
The vehicle-mounted traction drive is powered when existing power supply trouble.
Further, the vehicle-mounted traction drive further include:
Pantagraph current collector, high speed d-c circuit breaker and inverter, when vehicle-mounted traction drive works, DC power supply is subjected to flowing
Device, high speed d-c circuit breaker introduce inverter, and the inverter is for generating voltage and the adjustable symmetrical three-phase alternating current of frequency
It powers to the traction electric machine.
Further, the main traction control module includes:
DSP control panel, CAN communication unit, FPU Float Point Unit, brake monitor and velocity location sensor, it is described
CAN communication unit, FPU Float Point Unit, brake monitor and velocity location sensor are connect with the DSP control panel respectively.
Further, the transport vehicle is equipped with wheel；
The wheel of the velocity location sensor and the transport vehicle is co-axially mounted.
Further, the main pull-in control system further include:
The velocity location sensor uses fork type photoelectric coding type.
Further, the ground traction drive system further include:
Communication interface, the communication interface are connect with the main traction control module；
The communication interface uses RS232 interface or USB interface.
Further, the cable of the width of the carbon brush and the contact net matches the word of synthesis.
The invention adopts the above technical scheme, and the beneficial effect that can reach includes:
The application proposes that a kind of pipe rail that pull-type is driven by stream linear motor transports traction drive system, using pull-type
It is flowed, increases towing gear, be train power supply, abrasion, carbon deposit, contact sparking and the uneasiness for reducing conventional slip contact are naked
Reveal conductor problem, the application is flowed using pull-type, preferably realizes bow net combination, guarantees connecing between carbon brush and the cable that flows back
Touching is suitable for small-sized tube-rail transportation system in city, reduces to guarantee the transmission of good supply current and back flow current
Transportation cost can also greatly improve logistics distribution speed and operational efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that master provided by the invention leads control system architecture schematic diagram；
Fig. 2 is the fit structure schematic diagram of pantagraph current collector provided by the invention and contact net；
Fig. 3 is that pantagraph current collector provided by the invention is located at the structural schematic diagram by vehicle；
Fig. 4 is remote comprehensive testing and control platform structure block diagram provided by the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
The specific traction drive system provided in the embodiment of the present application is provided with reference to the accompanying drawing.
As shown in Figure 1, the traction drive system provided in the embodiment of the present application includes, comprising: transport vehicle, the transport vehicle
Including head vehicle, multiple compartments, traction electric machine, vehicle-mounted traction drive, pull-type current collecting system and monitoring system, the vehicle
Head, multiple compartments are sequentially connected；
The pull-type current collecting system includes: pantagraph current collector, contact net and vehicle-mounted energy-storage module, and the pantagraph current collector setting exists
Above the contact net, the pantagraph current collector is equipped with carbon brush, and the pantagraph current collector passes through sliding contact between carbon brush and the contact net
It carries out being flowed to the vehicle-mounted traction drive power supply, and by extra power storage to the vehicle-mounted energy-storage module, it is described
Vehicle-mounted energy-storage module is for being powered the vehicle-mounted traction drive when there is power supply trouble；
The vehicle-mounted traction drive includes: the main traction control module that head vehicle is arranged in, each compartment is arranged in
Sub- traction control module, vehicle-mounted running control module and wireless communication module, the vehicle-mounted running control module, sub- traction control module,
Wireless communication module is connect with the main traction control module respectively；
The traction electric machine is used to provide power to the transport vehicle；
The monitoring system includes: remote monitoring platform, local monitor platform；The remote monitoring platform is for monitoring institute
The fault message and real time status information of drive system are stated, the local monitor platform is for providing communication interface and extraneous terminal
Carry out data interaction.
It include main traction controller in main traction control module.
As shown in Fig. 2, the cable of the width of the carbon brush and the contact net matches the word of synthesis
The working principle of traction drive system are as follows: the power supply mode that the application uses is flowed for pull-type, specifically, as schemed
Shown in 3, the pantagraph current collector is in wheel side, and the application is arranged by pantagraph current collector upper, contact net be arranged under mechanical peace
Die-filling formula, has adjusted the spatial position of pantagraph current collector and contact net, and the weight that pantagraph current collector itself is cleverly utilized goes adjustment to be flowed
The pressure of device carbon brush and contact net guarantees that the appropriateness of pantagraph current collector and contact net merges, thus guarantee pantagraph current collector by stream continuity,
Achieve the effect that bow net combines.Meanwhile as shown in Fig. 2, the carbon brush of pantagraph current collector width and contact net lines zigzag cooperate,
The adjustment of guarantee carbon brush and pantagraph current collector is in a plane, rather than point contact prevents so as to extend the carbon brush service life to carbon brush
Certain point consumed excessively.The application is powered, together by contact of the carbon brush with contact net to the vehicle-mounted traction drive
When by extra power storage to the vehicle-mounted energy-storage module, train is slowly driven out to.The application is flowed by pull-type, is mentioned
The transport that tube-rail transportation system carries out cargo is supplied, is suitable for various adverse circumstances, fully-automatic intelligent is unmanned, the departure interval
It is small, city environmental pollution can be greatly reduced, the cost of transport is reduced, logistics distribution speed and operation can also be greatly improved
Efficiency improves people's lives quality, generates huge social and economic significance.Main traction control module controls the transport vehicle
Tractive force, speed, position and runing time, traction electric machine are used to provide power to the transport vehicle.
In addition to this, can be by using different material and manufacture craft for pantagraph current collector itself, it can be to line
Road surface generates corresponding normal pressure, rationally adjust normal pressure can make pantagraph current collector resist completely route be unlikely to generate again it is biggish
Friction.The application is arranged by pantagraph current collector upper, contact net be arranged under mechanical erection mode, have adjusted pantagraph current collector with contact
The spatial position of net, the weight that pantagraph current collector itself is cleverly utilized are gone the pressure of adjustment pantagraph current collector carbon brush and contact net, are guaranteed
The appropriateness of pantagraph current collector and contact net merges, thus guarantee pantagraph current collector by stream continuity.
Wherein, the traction electric machine in the application uses linear motor.
Specifically, the application monitoring system is mainly made of remote monitoring platform, local monitor platform.Remote monitoring platform
It is mainly used in the remote comprehensive testing and control of pull-in control system, remote monitoring platform can realize remote collection and real-time display
The real time status information of vehicle-mounted traction and correlation subsystem, such as motor traction force, electric current, vehicle location and each system communication status
Deng.And vehicle operation control instruction and the vehicle-mounted trailer system control of real-time update are remotely sent by analyzing travel condition of vehicle
Parameter is provided simultaneously with vehicle pulling figure simulation calculation function.Monitor supervision platform provided by the present application transports comprehensive as New pipe rail
A component part for closing monitoring system, provides external interface abundant.
The application can complete the monitoring and calculating of car speed and relative position, after receiving operation setting order,
The switch state of inverter is controlled according to corresponding control algolithm, and then completes the closed loop control of the position, speed and tractive force of vehicle
System realizes the unmanned running under power of vehicle；According to fortune group system setting time plan, train running speed curve is carried out
Line calculates in real time, deadline closed-loop control on the basis of position closed loop, completes vehicle grade function of safety protection, such as surpassing for train
Speed, excess temperature protection of motor etc., and also there is the application different brackets failure to be oriented to processing function, in other subsystem faults
In the case of, guarantee the operational safety of train, infomation detection, fault diagnosis and the information for completing traction drive upload, and complete
With data communication, management and the storage of other subsystems.
In some embodiments, the main traction control module of the head vehicle by two-way CAN bus and is set in each compartment
Sub- traction control module, vehicle-mounted running control module, radio communication mold connection.
Preferably, the vehicle-mounted energy-storage module uses the mixing module of capacitor, battery or capacitor and battery, for occurring
The vehicle-mounted traction drive is powered when power supply trouble.
In some embodiments, the vehicle-mounted traction drive further include:
Pantagraph current collector, high speed d-c circuit breaker and inverter, when vehicle-mounted traction drive works, DC power supply is subjected to flowing
Device, high speed d-c circuit breaker introduce inverter, and the inverter is for generating voltage and the adjustable symmetrical three-phase alternating current of frequency
It powers to the traction electric machine.
Specifically, main pull-in control system is by vehicle CAN bus, other subsystems are connected with train, complete leading for vehicle
Gravitation, speed, position-force control and the tasks such as trailer system error protection and diagnosis.Traction convertor needs the function realized
It can are as follows: the command signal for receiving main traction controller realizes the closed-loop current control of linear motor；Receive lading door and Dump gate
Limit switch signal, and feed back to master lead；The work of two-way brake is controlled, and on-position is fed back into master and is led.
Wherein vehicle-mounted energy-storage module can be using capacitor, battery or mixed type capacitor batteries etc..
In some embodiments, the main traction control module includes:
DSP control panel, CAN communication unit, FPU Float Point Unit, brake monitor and velocity location sensor, it is described
CAN communication unit, FPU Float Point Unit, brake monitor and velocity location sensor are connect with the DSP control panel respectively.
Specifically, the application is realized using RS232 or USB interface and the data interaction of ground pull-in control system, and ground
Face control system and the data interaction of main traction control module are then completed by wireless transfer channel.
In some embodiments, the transport vehicle is equipped with wheel；
The velocity location sensor uses fork type photoelectric coding type；
The wheel of the velocity location sensor and the transport vehicle is co-axially mounted.
Preferably, as shown in figure 4, the ground traction drive system further include:
Communication interface, the communication interface are connect with the traction control module；
The communication interface uses RS232 interface or USB interface.
The end PC can be used in monitoring system, and the end PC is connect by RS232 interface or USB interface with ground traction control module,
It is wirelessly connected between ground traction control module and vehicle-mounted traction control module.
In conclusion the present invention provides a kind of pipe rail transport traction drive system driven based on pull-type by stream linear motor
System, is flowed using pull-type, increases towing gear, is train power supply, reduces abrasion, the carbon deposit, contact fire of conventional slip contact
Colored and dangerous bare exposed conductor problem, by with using the gravity of pantagraph current collector itself as the pressure between pantagraph current collector and contact net
Power preferably realizes that bow net combines, guarantees the contact between carbon brush and the cable that flows back, to guarantee good supply current and return
The transmission of galvanic electricity stream is suitable for small-sized tube-rail transportation system in city, reduces transportation cost, can also greatly improve logistics and match
Send speed and operational efficiency.
It is understood that the embodiment of the method for above-mentioned offer is corresponding with above-mentioned traction drive system embodiment, accordingly
Particular content can mutually refer to, details are not described herein.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The traction for the function of specifying in present one or more flows of the flowchart and/or one or more blocks of the block diagram is driven
Dynamic system.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of traction drive system, the instruction traction drive system realize in one or more flows of the flowchart and/or
The function of being specified in one or more blocks of the block diagram.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. transporting traction drive system based on the pipe rail that pull-type is driven by stream linear motor characterized by comprising transport
Vehicle, the transport vehicle include head vehicle, multiple compartments, traction electric machine, vehicle-mounted traction drive, pull-type current collecting system and prison
Control system, the headstock, multiple compartments are sequentially connected；
The pull-type current collecting system includes: pantagraph current collector, contact net and vehicle-mounted energy-storage module, and the pantagraph current collector is arranged described
Above contact net, the pantagraph current collector is equipped with carbon brush, and the pantagraph current collector, which passes through sliding contact between carbon brush and the contact net, to carry out
The vehicle-mounted traction drive power supply is flowed to, and by extra power storage to the vehicle-mounted energy-storage module, it is described vehicle-mounted
Energy-storage module is for being powered the vehicle-mounted traction drive when there is power supply trouble；
The vehicle-mounted traction drive includes: that the main traction control module that head vehicle is arranged in, the son for being arranged in each compartment are led
Draw control module, vehicle-mounted running control module and wireless communication module, it is the vehicle-mounted running control module, sub- traction control module, wireless
Communication module is connect with the main traction control module respectively；
The traction electric machine is used to provide power to the transport vehicle；
The monitoring system includes: remote monitoring platform, local monitor platform；The remote monitoring platform is for monitoring the drive
The fault message and real time status information of dynamic system, the local monitor platform are carried out for providing communication interface and extraneous terminal
Data interaction.
2. traction drive system according to claim 1, which is characterized in that
The traction electric machine uses linear motor.
3. traction drive system according to claim 1, which is characterized in that
The main traction control module of the head vehicle by two-way CAN bus with set sub- traction control module in each compartment, vehicle
Carrying control module, radio communication mold connection.
4. traction drive system according to claim 1, which is characterized in that
The vehicle-mounted energy-storage module uses the mixing module of capacitor, battery or capacitor and battery, for when there is power supply trouble
The vehicle-mounted traction drive is powered.
5. traction drive system according to claim 1, which is characterized in that the vehicle-mounted traction drive further include:
Pantagraph current collector, high speed d-c circuit breaker and inverter, vehicle-mounted traction drive work when, DC power supply through pantagraph current collector,
High speed d-c circuit breaker introduces inverter, and the inverter is for generating voltage and the adjustable symmetrical three-phase alternating current of frequency to institute
State traction electric machine power supply.
6. traction drive system according to claim 1, which is characterized in that the main traction control module includes:
DSP control panel, CAN communication unit, FPU Float Point Unit, brake monitor and velocity location sensor, the CAN are logical
Letter unit, FPU Float Point Unit, brake monitor and velocity location sensor are connect with the DSP control panel respectively.
7. traction drive system according to claim 6, which is characterized in that
The transport vehicle is equipped with wheel；
The wheel of the velocity location sensor and the transport vehicle is co-axially mounted.
8. traction drive system according to claim 6, which is characterized in that the main pull-in control system further include:
The velocity location sensor uses fork type photoelectric coding type.
9. traction drive system according to any one of claims 1 to 8, which is characterized in that ground traction drive system
System further include:
Communication interface, the communication interface are connect with the main traction control module；
The communication interface uses RS232 interface or USB interface.
10. traction drive system according to claim 9, which is characterized in that
The cable of the width of the carbon brush and the contact net matches the word of synthesis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213533.2A CN109130870A (en) | 2018-10-17 | 2018-10-17 | The pipe rail driven based on pull-type by stream linear motor transports traction drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213533.2A CN109130870A (en) | 2018-10-17 | 2018-10-17 | The pipe rail driven based on pull-type by stream linear motor transports traction drive system |
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|---|---|
| CN109130870A true CN109130870A (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811213533.2A Pending CN109130870A (en) | 2018-10-17 | 2018-10-17 | The pipe rail driven based on pull-type by stream linear motor transports traction drive system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261382A (en) * | 2022-01-26 | 2022-04-01 | 南京中车浦镇海泰制动设备有限公司 | High-safety brake control unit based on motor drive |
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