CN110155113A - Single-track running device and single-track vehicle - Google Patents
Single-track running device and single-track vehicle Download PDFInfo
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- CN110155113A CN110155113A CN201910456199.1A CN201910456199A CN110155113A CN 110155113 A CN110155113 A CN 110155113A CN 201910456199 A CN201910456199 A CN 201910456199A CN 110155113 A CN110155113 A CN 110155113A
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- rotating seat
- track
- driving
- driving wheel
- running device
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- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003090 exacerbative effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
- B61B13/06—Saddle or like balanced type
-
- 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
- B61F13/00—Rail vehicles characterised by wheel arrangements, not otherwise provided for
Abstract
The present invention provides a kind of single-track running device and single-track vehicle, single-track running device includes: ontology；Rotating seat, rotating seat are rotatablely arranged at ontology, and the side of rotating seat is provided with driving wheel；Transfer, setting and ontology, the output end of transfer are connected with the other side of rotating seat, and transfer is for driving rotating seat；Controller is set to ontology, and controller is connected with transfer, and controller is used for receipt routing data, controls transfer according to route data.Apply technical solution provided by the invention, realize the active steering of driving wheel, it does not need to realize passive turn to by the guiding result such as setting directive wheel, when single-track vehicle turns to, no longer receive the transverse pressure from directive wheel, so that the steering behaviour of single-track vehicle is improved, simultaneously because not needing that wheel design easy to wear is arranged, the service life of single-track running device can be greatly improved.
Description
Technical field
The present invention relates to single-track vehicle guiding technique fields, in particular to a kind of single-track running device and a kind of list
Rail vehicle.
Background technique
In general, the steering mode of Car Bogie for Straddle Monorail Line walking system includes two classes, and the first kind is traveling
System and bogie are integrated connection, force travelling wheel to turn to by the steering of bogie；Second class is trailing type walking system,
The steering for being diverted through directive wheel of travelling wheel, drives the steering of travelling wheel.
The steering of the two classes vehicle be all the passive steering of travelling wheel is realized by directive wheel, therefore guiding process
In, directive wheel stress is larger, increases the resistance in vehicle operation, while exacerbating guiding foot wheel abrasion, leads to gyrocar
Steering behaviour it is poor, the service life of running gear is shorter.
Therefore, the running gear of a kind of steering behaviour for improving single-track vehicle having compared with the high life is needed at present.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, the first aspect of the present invention proposes a kind of single-track running device.
The second aspect of the present invention proposes a kind of single-track vehicle.
In view of this, the first aspect of the present invention provides a kind of single-track running device, it to be used for single-track vehicle, single-track running
Device includes: ontology；Rotating seat, rotating seat are rotatablely arranged at ontology, and the side of rotating seat is provided with driving wheel；Turn to dress
It sets, setting and ontology, the output end of transfer are connected with the other side of rotating seat, and transfer is for driving rotating seat；
Controller is set to ontology, and controller is connected with transfer, and controller is used for receipt routing data, according to route data
Control transfer.
In the technical scheme, the single-track running device of single-track vehicle includes ontology, and rotating seat is provided on ontology, rotation
Seat can be rotated relative to ontology.One end of rotating seat is provided with travelling wheel, and the other end of rotating seat is provided with transfer, turns to
The output end of device is connected with rotating seat, drives rotating seat rotation under the control of the controller, and then driving wheel is driven to change
Active steering is realized in direction.
Apply technical solution provided by the invention, by single-track running device noumenon be arranged can opposing body rotation
Swivel base, driving wheel are rotated with rotating seat under the drive of the drive, and then realize the active steering of driving wheel, do not need to lead to
It crosses the guiding mechanisms such as setting directive wheel and realizes passive steering, when single-track vehicle turns to, no longer receive the transverse direction from directive wheel
Pressure, so that the steering behaviour of single-track vehicle is improved, simultaneously because not needing that wheel design easy to wear, single track is arranged
The service life of running gear can greatly improve.
In addition, the single-track running device in above-mentioned technical proposal provided by the invention can also have following supplementary technology special
Sign:
In the above-mentioned technical solutions, further, ontology includes: the end carriage being oppositely arranged and the side bar being oppositely arranged, end
Beam and side bar are successively end to end to surround frame structure, and driving wheel is located in frame structure.
In the technical scheme, ontology includes the end carriage being oppositely arranged and the side bar being oppositely arranged, and end carriage and side bar are from beginning to end
Back wall connect into a hollow frame structure, driving wheel is located in frame structure.
Optionally, the metal structure that end carriage and side bar are integrally formed.
Optionally, side bar and end carriage connect by welding.
In any of the above-described technical solution, it further, on side bar is provided with guiding mounting base, single-track running device also wraps
Include: emergency directive wheel is set to side bar, and emergency directive wheel is connected with guiding mounting base.
In the technical scheme, guiding mounting base is provided on side bar, for installing emergency directive wheel.Transfer just
Often when work, emergency deflecting roller does not turn to face contact with track, when the emergencies such as transfer failure occur, emergency
The guide surface of directive wheel grip track turns to single-track running device with curved in tracks, realizes passive turn to.
In any of the above-described technical solution, further, single-track running device further include: driving device is set to rotation
Seat, driving device are connected with driving wheel, and driving device is for driving driving wheel.
In the technical scheme, single-track running device further includes driving device, and driving device is connected with driving wheel, driving
Device and driving wheel are located at the two sides of rotating seat.Driving device is connected with driving wheel, for driving one or more drives
Wheel rotation, to provide power for single-track vehicle.
Optionally, driving device is the driving device with high torque and relatively high power.
In any of the above-described technical solution, further, single-track running device further include: speed changer is set to rotating seat,
The input terminal of speed changer is connected with the output end of driving device.
In the technical scheme, single-track running device further includes speed changer, and speed changer is set on rotating seat, is located at driving
Among device and driving wheel, the input terminal of speed changer is connected with driving device, and the output end of speed changer is connected with driving wheel.
Optionally, speed changer is tooth group gearbox or reduction gearbox, and the driving method of driving device is converted by changing gear ratio.In single track
When vehicle needs higher travel speed, the input terminal of speed changer connects the biggish gear of radius, the output end connection of speed changer
The lesser gear of radius；When single-track vehicle needs to export higher torque, the input terminal of speed changer connects the lesser tooth of radius
The output end of wheel, speed changer connects the biggish gear of radius.
In any of the above-described technical solution, further, single-track running device further include: drive shaft is set to rotating seat,
One end of drive shaft is connected with driving wheel, and the other end of drive shaft is connected with the output end of speed changer.
In the technical scheme, single-track running device further includes drive shaft, and drive shaft is set to rotating seat, one end and driving
Wheel is connected, and the other end is connected with the output end of speed changer, for by the output power of driving device after speed changer
It is transferred to driving wheel, so that driving wheel is rotated according to the mode of setting, to provide driving dynamics for single-track vehicle.Wherein, it drives
Axis is rotated synchronously with the rotation of rotating seat.
In any of the above-described technical solution, further, single-track running device further include: brake disc is set to driving wheel
Towards the side of rotating seat, brake disc is connected with driving wheel；Brake is set to rotating seat, and brake is coaxial with brake disc,
Brake and brake disc cooperate with braked drive wheels.
In the technical scheme, single-track running device further includes mutually matched brake disc and brake, brake disc connection
It is set to side of the driving wheel towards rotating seat, brake disc and braked wheel concentric co-axial, and brake disc and braked wheel synchronous rotary.
Brake is arranged on rotating seat, in particular circular arc type brake, and brake and brake disc are concentrically and coaxially.Optionally, it makes
Dynamic device includes at least two brake(-holder) blocks, and in single-track vehicle normally travel, brake(-holder) block is mutually separated with brake disc, brake(-holder) block and braking
Frictional force is not generated between disk.After single-track vehicle starts braking, brake drives brake(-holder) block to be bonded brake disc, at this time brake(-holder) block
Sliding friction is generated between brake disc, converts interior energy for the kinetic energy of single-track vehicle, single-track vehicle speed reduces at this time, until
Single-track vehicle relative orbit is static, is at this time static friction between brake and brake(-holder) block, and single-track vehicle brake is stopped.
Optionally, brake apparatus and driving device and speed changer are integrally disposed.
Optionally, driving device is separately provided independently of driving device and speed changer.
In any of the above-described technical solution, further, driving wheel is set as multiple, multiple driving wheel coaxial arrangements.
In the technical scheme, driving wheel is set as multiple, to reduce the supporting power of each driving wheel tire, improves driving
The service life and safety of wheel.Multiple driving wheels have same radius, and are coaxially disposed, and multiple driving wheels pass through same driving
Axis driving.
Optionally, driving wheel is set as two.
In any of the above-described technical solution, further, transfer and driving device include: motor and/or hydraulic horse
It reaches.
In the technical scheme, the biggish torque of driving device demand and biggish output power, therefore driving device is selected
It, can also the two combined use with compact(ing) machine or hydraulic motor.The motor of small volume and/or hydraulic can be selected in driving device
Motor.
The second aspect of the present invention provides a kind of single-track vehicle, which includes as in any of the above-described technical solution
The single-track running device of offer, therefore, the single-track vehicle include the single-track running device as provided in any of the above-described technical solution
Whole beneficial effects, details are not described herein.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of single-track running device according to an embodiment of the invention；
Fig. 2 shows another structural schematic diagrams of single-track running device according to an embodiment of the invention；
Fig. 3 shows another structural schematic diagram of single-track running device according to an embodiment of the invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 3 are as follows:
2 ontologies, 202 end carriages, 204 side bars, 206 guiding mounting bases, 4 rotating seats, 6 driving wheels, 8 transfers, 10 controls
Device, 12 emergency directive wheels.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The single-track running device described according to some embodiments of the invention and single-track vehicle are described referring to Fig. 1 to Fig. 3.
As shown in Figure 1 to Figure 3, in the embodiment of first aspect present invention, a kind of single-track running device is provided, is used for
Single-track vehicle, single-track running device include: ontology 2；Rotating seat 4, rotating seat 4 are rotatablely arranged at ontology 2, rotating seat 4
Side is provided with driving wheel 6；Transfer 8, setting and ontology 2, the other side phase of the output end and rotating seat 4 of transfer 8
Connection, transfer 8 is for driving rotating seat 4；Controller 10 is set to ontology 2, and controller 10 is connected with transfer 8,
Controller 10 is used for receipt routing data, controls transfer 8 according to route data.
In this embodiment, the single-track running device of single-track vehicle includes ontology 2, and rotating seat 4 is provided on ontology 2, rotation
Swivel base 4 can be rotated relative to ontology 2.One end of rotating seat 4 is provided with travelling wheel, and the other end of rotating seat 4 is provided with steering dress
8 are set, the output end of transfer 8 is connected with rotating seat 4, drives rotating seat 4 to rotate under the control of controller 10, and then band
Dynamic driving wheel 6 changes direction, realizes active steering.
Above-described embodiment provided by the invention, by single-track running device noumenon 2 be arranged can opposing body 2 rotation
Seat 4, driving wheel 6 is rotated with rotating seat 4 under the drive of the drive, and then realizes the active steering of driving wheel 6, is not needed
Passive steering is realized by guiding mechanisms such as setting directive wheels, when single-track vehicle turns to, no longer receives the cross from directive wheel
To pressure, so that the steering behaviour of single-track vehicle is improved, simultaneously because do not need that wheel design easy to wear is arranged, it is single
The service life of rail running gear can greatly improve.
Optionally, ontology 2 has lesser vertical size, to adapt to the single track Operation Van compared with trolley base space.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, ontology 2 includes: the end being oppositely arranged
Beam 202 and the side bar 204 being oppositely arranged, end carriage 202 and side bar 204 are successively end to end to surround frame structure, and driving wheel 6
In in frame structure.
In this embodiment, ontology 2 includes the end carriage 202 being oppositely arranged and the side bar 204 being oppositely arranged, 202 He of end carriage
The end to end back wall of side bar 204 is located in frame structure at a hollow frame structure, driving wheel 6.
Optionally, the metal structure that end carriage 202 and side bar 204 are integrally formed.
Optionally, side bar 204 and end carriage 202 connect by welding.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, guiding peace is provided on side bar 204
Fill seat 206, single-track running device further include: emergency directive wheel 12 is set to side bar 204, and emergency directive wheel 12 and guiding are installed
Seat 206 is connected.
In this embodiment, guiding mounting base 206 is provided on side bar 204, for installing emergency directive wheel 12.It is turning to
The normal work of device 8 makes, and emergency deflecting roller does not turn to face contact with track, in the emergencies hair such as failure of transfer 8
When raw, the guide surface for 12 grip track of directive wheel of meeting an urgent need turns to single-track running device with curved in tracks, realizes by turn
To.
Optionally, it is oriented on mounting portion and is provided with regulating mechanism, regulating mechanism is set in guiding mounting portion, for adjusting
Directive wheel 12 of meeting an urgent need adjusts directive wheel so that directive wheel fits in track by regulating mechanism when transfer 8 breaks down
Guide surface.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, single-track running device further include: drive
Dynamic device, is set to rotating seat 4, and driving device is connected with driving wheel 6, and driving device is for driving driving wheel 6.
In this embodiment, single-track running device further includes driving device, and driving device is connected with driving wheel 6, driving
Device and driving wheel 6 are located at the two sides of rotating seat 4.Driving device is connected with driving wheel 6, for driving one or more
Driving wheel 6 rotates, to provide power for single-track vehicle.
Optionally, driving device is the driving device with high torque and relatively high power.
Optionally, the wheel shaft of the output end with driving wheel 6 of driving device is connected, and is in a manner of the rotation of 6 axis of driving wheel
Single-track vehicle provides driving power.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, single-track running device further include: become
Fast device, is set to rotating seat 4, and the input terminal of speed changer is connected with the output end of driving device.
In this embodiment, single-track running device further includes speed changer, and speed changer is set on rotating seat 4, is located at driving
Among device and driving wheel 6, the input terminal of speed changer is connected with driving device, and the output end of speed changer is connected with driving wheel 6
It connects.Optionally, speed changer is tooth group gearbox or reduction gearbox, and the driving method of driving device is converted by changing gear ratio.?
When single-track vehicle needs higher travel speed, the input terminal of speed changer connects the biggish gear of radius, the output end of speed changer
Connect the lesser gear of radius；When single-track vehicle needs to export higher torque, the input terminal connection radius of speed changer is smaller
Gear, the output end of speed changer connects the biggish gear of radius.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, single-track running device further include: drive
Moving axis is set to rotating seat 4, and one end of drive shaft is connected with driving wheel 6, the other end of drive shaft and the output end of speed changer
It is connected.
In this embodiment, single-track running device further includes drive shaft, and drive shaft is set to rotating seat 4, one end and driving
Wheel 6 is connected, and the other end is connected with the output end of speed changer, for by the output power of driving device after speed changer
It is transferred to driving wheel 6, so that driving wheel 6 is rotated according to the mode of setting, to provide driving dynamics for single-track vehicle.Wherein, it drives
Moving axis is rotated synchronously with the rotation of rotating seat 4.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, single-track running device further include: system
Moving plate is set to driving wheel 6 towards the side of rotating seat 4, and brake disc is connected with driving wheel 6；Brake is set to rotating seat
4, brake is coaxial with brake disc, and brake and brake disc cooperate with braked drive wheels 6.
In this embodiment, single-track running device further includes mutually matched brake disc and brake, and brake disc connection is set
Driving wheel 6 is placed in towards the side of rotating seat 4, brake disc and braked wheel concentric co-axial, and brake disc and braked wheel synchronous rotary.
Brake is arranged on rotating seat 4, in particular circular arc type brake, and brake and brake disc are concentrically and coaxially.Optionally, it makes
Dynamic device includes at least two brake(-holder) blocks, and in single-track vehicle normally travel, brake(-holder) block is mutually separated with brake disc, brake(-holder) block and braking
Frictional force is not generated between disk.After single-track vehicle starts braking, brake drives brake(-holder) block to be bonded brake disc, at this time brake(-holder) block
Sliding friction is generated between brake disc, converts interior energy for the kinetic energy of single-track vehicle, single-track vehicle speed reduces at this time, until
Single-track vehicle relative orbit is static, is at this time static friction between brake and brake(-holder) block, and single-track vehicle brake is stopped.
Optionally, brake apparatus and driving device and speed changer are integrally disposed.
Optionally, driving device is separately provided independently of driving device and speed changer.
In one embodiment of the invention, further, as shown in Figure 1 to Figure 3, driving wheel 6 is set as multiple, multiple
Driving wheel 6 is coaxially disposed.
In this embodiment, driving wheel 6 is set as multiple, to reduce the supporting power of each 6 tire of driving wheel, improves driving
The service life and safety of wheel 6.Multiple driving wheels 6 have same radius, and are coaxially disposed, and multiple driving wheels 6 pass through same
Drive shaft driving.
Optionally, driving wheel 6 is set as two.
In one embodiment of the invention, further, transfer 8 and driving device include: motor and/or hydraulic
Motor.
In this embodiment, the biggish torque of driving device demand and biggish output power, therefore driving device is selected
Compact(ing) machine or hydraulic motor, can also the two combined use.The motor of the optional small volume of driving device and/or hydraulic horse
It reaches.
In the embodiment of the second aspect of the present invention, a kind of single-track vehicle is provided, which includes as above-mentioned
The single-track running device provided in any technical solution, therefore, the single-track vehicle include as provided in any of the above-described technical solution
Single-track running device whole beneficial effects, details are not described herein.
In description of the invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term
The orientation or positional relationship of the instructions such as "upper", "lower" is to be merely for convenience of retouching based on orientation or positional relationship described in attached drawing
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer to that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical embodiment or example.And
And the particular features, structures, materials, or characteristics of description can be in any one or more of the embodiments or examples with suitable
Mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of single-track running device is used for single-track vehicle characterized by comprising
Ontology；
Rotating seat, the rotating seat are rotatablely arranged at the ontology, and the side of the rotating seat is provided with driving wheel；
Transfer, setting and the ontology, the output end of the transfer are connected with the other side of the rotating seat, institute
Transfer is stated for driving the rotating seat；
Controller is set to the ontology, and the controller is connected with the transfer, and the controller is for receiving road
Line number evidence controls the transfer according to the route data.
2. single-track running device according to claim 1, which is characterized in that the ontology includes:
The end carriage being oppositely arranged and the side bar being oppositely arranged, the end carriage and the side bar are successively end to end to surround frame knot
Structure, the driving wheel are located in the frame structure.
3. single-track running device according to claim 2, which is characterized in that guiding mounting base is provided on the side bar,
The single-track running device further include:
Emergency directive wheel, is set to the side bar, the emergency directive wheel is connected with the guiding mounting base.
4. single-track running device according to claim 1, which is characterized in that further include:
Driving device is set to the rotating seat, and the driving device is connected with the driving wheel, and the driving device is used for
Drive the driving wheel.
5. single-track running device according to claim 4, which is characterized in that further include:
Speed changer, is set to the rotating seat, and the input terminal of the speed changer is connected with the output end of the driving device.
6. single-track running device according to claim 5, which is characterized in that further include:
Drive shaft is set to the rotating seat, and one end of the drive shaft is connected with the driving wheel, the drive shaft it is another
One end is connected with the output end of the speed changer.
7. single-track running device according to claim 4, which is characterized in that further include:
Brake disc is set to the driving wheel towards the side of the rotating seat, and the brake disc is connected with the driving wheel；
Brake is set to the rotating seat, and the brake and the brake disc are coaxial, the brake and the brake disc
Cooperation is to brake the driving wheel.
8. single-track running device according to any one of claim 1 to 7, which is characterized in that the driving wheel is set as
It is multiple, multiple driving wheel coaxial arrangements.
9. single-track running device according to any one of claims 4 to 7, which is characterized in that the transfer and institute
Stating driving device includes:
Motor and/or hydraulic motor.
10. a kind of single-track vehicle, which is characterized in that the single-track vehicle includes single as claimed in any one of claims 1-9 wherein
Rail running gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456199.1A CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456199.1A CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
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| CN110155113A true CN110155113A (en) | 2019-08-23 |
| CN110155113B CN110155113B (en) | 2024-03-08 |
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| CN201910456199.1A Active CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
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