CN111099160B - Packaging and transporting device of circular rail robot, connecting pipe and rail mounting and dismounting method - Google Patents
Packaging and transporting device of circular rail robot, connecting pipe and rail mounting and dismounting method Download PDFInfo
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- CN111099160B CN111099160B CN201911296389.8A CN201911296389A CN111099160B CN 111099160 B CN111099160 B CN 111099160B CN 201911296389 A CN201911296389 A CN 201911296389A CN 111099160 B CN111099160 B CN 111099160B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
- B65D81/02—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage
- B65D81/05—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents
- B65D81/07—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents specially adapted to protect contents from mechanical damage maintaining contents at spaced relation from package walls, or from other contents using resilient suspension means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/38—Devices for discharging contents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2585/00—Containers, packaging elements or packages specially adapted for particular articles or materials
- B65D2585/68—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form
- B65D2585/6802—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles
- B65D2585/686—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles vehicles
Abstract
The utility model provides a round rail robot packaging and transporting device, a connecting pipe and a rail mounting and dismounting method, belonging to the technical field of round rail robots, wherein the loading and unloading structure comprises a packaging frame, a packaging guide rail, a packaging limit frame, a frame body, a limit wheel, a limit ring, a shock absorber, a robot upper shell, a packaging frame rib plate and a packaging chassis, and also comprises a connecting pipe, a guide rail hoisting device, a guide rail, a fixed long bolt and a fastening bolt; the tunnel inspection robot overcomes the defect that the tunnel inspection robot damages internal equipment when bumping and vibrating in the packaging and transportation process, reduces the complexity of the track-feeding action when arriving at a working site and moving on the track, is reliable and stable, and avoids accidents.
Description
Technical Field
The disclosure relates to the technical field of circular rail robots, in particular to a packaging and transporting device of a circular rail robot, a connecting pipe and a rail mounting and dismounting method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The utility facilities in cities, such as power cable tunnels, are important utility facilities places arranged underground, the tunnel inspection robot can be competent for monitoring the tunnel facilities, video inspection, gas monitoring and other activities are carried out in the tunnel along guide rails, and the detection data are uploaded to a platform in real time for analysis and processing. Plays an indispensable role in intelligent tunnel monitoring. The tunnel inspection robot has the advantages that because the tunnel inspection robot has larger volume, heavier weight and more internal precise equipment, the tunnel inspection robot needs strict protection, transportation and transfer from factory to input operation, bumping impact needs to be avoided, and meanwhile, the transfer, loading and unloading also need to be safe and reliable, thereby preventing personnel and equipment from being accidentally damaged,
the traditional packaging of the tunnel inspection robot equipment adopts light foam, the light foam is supported at the part of the robot with more skin thickness as a force application point, and then the periphery of the light foam is covered with soft materials as a buffer device. The packaging is used for common robot transportation, logistics workers operate normally, and the problem is not great under the condition of light handling. However, if the robot is heavy or the robot cannot find a point of force that can be supported outside, the soft material may press the cables of the devices inside the robot even when the robot is outside, and the cables may be deformed and fall off.
In general logistics link, in precision equipment's transportation process, can generally follow the principle of lightly taking and putting, nevertheless in the operation of logistics personnel, it has the road to be difficult to avoid jolt, circumstances such as misoperation, for example the fork truck bracket falls, and uneven ground leads to inertia and the gravity impact to equipment in the packing box in the transportation. Due to the fact that the electronic component terminals are fragile in the robot internal cable equipment, the impact can cause disconnection, communication faults and the like. This requires that the robot needs an effective function of buffering the impact during the packaging and transportation.
The inventor of the present disclosure finds that the robot equipment needs to be disassembled from the package upper rail to operate after arriving at the site, and the traditional method is to directly lift the robot out of the package box, and manually carry the robot to plug the wheel part of the robot into the guide rail. The wheels of a common robot are elastic wheels with pressure springs, pressure needs to be applied to the guide rails in the running process, and friction force between the wheel rails is increased, so that the wheels are aligned to the guide rails, the positioning accuracy needs to be mastered, the position accuracy of the robot to the guide rails needs to be mastered when the wheels are plugged into the guide rails, and the direction of thrust needs to be mastered when the robot is pushed to enter the guide rails. When the robot is carried by a plurality of people, the precision and the force are not easy to master, and a plurality of people can not force to move to one place under the condition of loading, the direction often causes deviation, and the robot can not be inserted into the guide rail for a plurality of times during final results.
Disclosure of Invention
In order to solve the defects of the prior art, the package conveying device, the connecting pipe and the rail mounting and dismounting method of the circular rail robot are provided, the damage to internal equipment caused by bumping and shaking of the tunnel inspection robot in package conveying is overcome, the complexity of rail mounting actions is reduced when the tunnel inspection robot reaches a working site and runs on a rail, the tunnel inspection robot is reliable and stable, and accidents are avoided.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the present disclosure provides a packaging and transporting device of a circular rail robot.
A packaging and transporting device of a circular rail robot comprises the circular rail robot, a packaging limiting frame, a packaging guide rail and a packaging frame;
the circular rail robot comprises a robot body and a frame body arranged on the robot body, wherein two sides of the frame body are respectively provided with a driving wheel which is opposite in position, the two driving wheels are arranged at a certain angle and ride and press on a packaging guide rail, and two sides of the driving wheels along the direction of a circular rail are respectively provided with at least one pair of limiting wheels which ride and press on the packaging guide rail;
two sides of the driving wheel along the circular rail direction are respectively provided with a packaging limiting frame, two ends of the packaging limiting frame are respectively and fixedly connected with the frame body in a detachable mode, the middle of the packaging limiting frame is detachably fixed on the packaging guide rail, and the two limiting frames are used for limiting the driving wheel to move in the axial direction of the packaging guide rail;
the upper portions of two opposite sides of the packaging frame are provided with openings, the packaging guide rails are respectively detachably fixedly connected with the two openings, and the packaging guide rails can be kept horizontal when being fixed at the two openings.
As possible some implementation manners, a position on the packaging guide rail, which is close to one side of the limiting wheel away from the driving wheel, is provided with a limiting ring, the limiting ring is fixedly connected with the frame body in a detachable manner, the limiting ring is fixedly connected with the packaging guide rail in a detachable manner, and the limiting ring is used for limiting the axial movement of the limiting wheel on the packaging guide rail.
As some possible implementations, the removable fixed connection is a threaded connection.
As some possible implementations, an elastic member is detachably fixed to each of the two opening positions for supporting the package guide rail.
As some possible implementations, the packaging track is identical in shape and size to the robotic running track.
As some possible implementations, the circular track robot is located inside the packaging rack when the packaging rail is placed in two open positions.
As some possible realization modes, a packaging frame rib plate is fixed at the bottom of the packaging frame, and a fixing hole is formed in the packaging frame rib plate and used for being fixed on the packaging base plate through a fastening bolt.
A second aspect of the present disclosure provides a packaging transportation linking tube of a circular rail robot.
A gap is formed in one end of the connecting pipe, the other end of the connecting pipe is of a step tubular structure, one end of the gap is used for being sleeved into a rail connecting piece in guide rail hoisting, and one end of the step tubular structure is used for being inserted into an inner hole of a packaging guide rail according to the first aspect of the disclosure.
As some possible realization modes, when one end of the connecting pipe step tubular structure is inserted into the packaging guide rail and one end of the notch is used for being sleeved into the rail connecting piece in the guide rail hoisting, the packaging guide rail and the running rail are connected into a whole rail which is not obstructed by the robot in the walking process.
The third aspect of the disclosure provides a method for disassembling and assembling a circular rail robot.
A method for disassembling and assembling a circular rail robot, which utilizes a packaging and transporting device of the circular rail robot in the first aspect of the disclosure and a packaging and transporting connecting pipe of the circular rail robot in the second aspect of the disclosure, comprises the following specific steps:
taking down the upper shell of the robot, disassembling the packaging limiting frame and the limiting ring, disassembling the fixing bolt, horizontally lifting the robot out of the packaging frame, and inserting one end of the step structure of the connecting pipe into one end of the packaging guide rail;
lifting the packaging guide rail inserted into the robot to enable the packaging guide rail to be opposite to one end of the running guide rail, aligning one end of the gap of the connecting pipe to the track connecting piece of the running guide rail and inserting the connecting pipe into the track connecting piece, and enabling the packaging guide rail to be in a horizontal state all the time in the operation process and controlling the robot not to move;
after the whole track is formed, only one end of the packaging guide rail, which is not inserted into the connecting pipe, is lifted, the other end of the packaging guide rail is released, the robot is pushed into the running track, and then the upper cover of the robot is buckled, so that the upper track of the robot is completed.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the tunnel inspection robot overcomes the damage to internal equipment caused by bumping and shaking in the packaging and transportation process, reduces the complexity of rail-loading actions when arriving at a working site and runs on rails, is reliable and stable, and avoids accidents.
2. This openly adopts the wheel of robot as the strong point of support robot weight, simultaneously for preventing the roll of robot supporting wheel, spacing around applying at robot both sides limit, for preventing the rocking about the robot, spacing about applying on the robot support body, very big improvement the stability of robot.
3. In order to enable the robot to prevent impact in the transfer process, the shock absorber is additionally arranged at the stress point of the packaging frame, and when a road bumps, the shock absorber can buffer the vibration of the guide rail, so that equipment is protected.
4. The packing guide rail disclosed by the disclosure adopts the steel pipe with the same specification as the running rail, when a robot arrives at the on-site track, as long as the robot and the running rail are connected seamlessly through a connecting pipe to form a whole, the robot can directly roll onto the running rail from the packing guide rail through wheels, so that the operation difficulty is greatly reduced, and the positioning precision is improved.
Drawings
Fig. 1 is an overall schematic view of a packaging and transporting device of a circular rail robot provided in embodiment 1 of the present disclosure.
Fig. 2 is a schematic structural diagram of a packaging and transporting connecting pipe of a circular rail robot provided in embodiment 2 of the present disclosure.
Fig. 3 is a schematic diagram of a circular rail robot according to embodiment 3 of the present disclosure when detaching an upper rail.
1-a packaging frame; 2-packaging the guide rail; 3-packaging a limiting frame; 4-frame body; 5-a limiting wheel; 6-a limiting ring; 7-a shock absorber; 8-a circular orbit robot; 9-robot upper shell; 10-packaging frame rib plates; 11-a packaging chassis; 12-a linker tube; 13-guide rail hoisting mechanism; 14-a guide rail; 15-fixing the long bolt; 16-fastening bolts.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1, embodiment 1 of the present disclosure provides a packaging and transporting device of a circular rail robot, including a packaging guide rail 2, a packaging limiting frame 3, a frame body 4, a limiting wheel 5, a limiting ring 6, a spring damper 7, a circular rail robot 8, a robot upper shell 9, a packaging frame rib plate 10, a packaging chassis 11, a fixed long bolt 15, and a fastening bolt 16;
the whole robot 8 body penetrates into a packaging guide rail 2 which is identical to the running guide rail 14 in shape and specification, a driving wheel is mounted on a main frame of the robot 8 and is the strongest part of the rigid support of the robot, effective stress support is carried out by the strongest part of the rigid support, a pair of packaging limiting frames 3 are arranged on two sides of the driving wheel, two ends of each packaging limiting frame 3 are respectively fixed on a frame body 4 of the robot, a hole is formed in the middle of each packaging limiting frame 3 and fixed on the packaging guide rail 2 through a fastening bolt, at the moment, the packaging limiting frames 3 fix the left and right directions of the robot 8 body in the front and rear directions, the freedom degree of the circular rail robot 8 relative to the packaging guide rail 2 is also limited, and the robot 8 cannot swing left and right due to jolt on the packaging guide rail 2 as long as the packaging guide rail 2 is fixed.
Two pairs of limiting wheels 5 are further arranged on two sides of a driving wheel of the robot 8 and used for guiding the robot 8, and limiting rings 6 are respectively arranged on the outer sides of the limiting wheels 5 and fixed on the packaging guide rail 2 through fastening bolts 16 and used for reinforcing the front and back limiting of the limiting wheels 5 and can be used for supplementing the front and back limiting of the robot 8.
Meanwhile, after the limiting ring 6 is detached, the limiting ring can be fixed at two ends of the guide rail to serve as a limiting structure for preventing the robot from derailing.
The robot 8 and the packaging guide rail 2 are integrated by the packaging limiting frame 3 and the limiting ring 6, two ends of the packaging guide rail 2 are respectively provided with a spring damper 7 and fixed in a frame of the packaging frame 1 through a fixed long bolt 15, and the fixed long bolt 15 penetrates through the packaging guide rail 2, penetrates through the spring damper 7 and is screwed into threads in the frame of the packaging frame 1.
On the one hand, the fixed long bolt 15 penetrates through the packaging guide rail 2, and the degree of freedom of the left-right swinging of the packaging guide rail 2 is limited, so that the robot 8 cannot swing left-right. On the other hand, the fixed long bolt 15 plays a role of a sliding rod for the spring damper 7, and an upper cover of the spring damper 7 can move up and down along the fixed long bolt 15 along with the jolt in transportation, so that the robot 8 is buffered.
The periphery of packing frame 1 has formed the surrounding structure to circular rail robot 8 itself to provide robot 8's rigidity guard action, the welding of the bottom of packing frame 1 has packing frame gusset 10, has strengthened the intensity of packing frame 1 on the one hand, and on the other hand has the fixed orifices on the packing frame gusset 10, and accessible fastening bolt 16 fixes on packing chassis 11, and in the transportation like this, even packing frame 1 inclines, also can not take place the displacement on packing chassis 11.
Example 2:
as shown in fig. 2, in the packaging and transporting connection tube of the circular track robot according to embodiment 2 of the present disclosure, the connection tube 12 has a gap at one end and a stepped tubular structure at the other end, one end of the gap can be sleeved in the track connection frame in the guide rail hoist 13, the gap is used for abdicating the protruding part in the guide rail hoist 13, and the stepped tubular structure at the other end can be inserted into the inner hole of the packaging guide rail 2 according to embodiment 1.
When the adapter tube 12 is inserted into the packing rail 2, the packing rail 2 is connected to the running rail as a single track in which the robot 8 can travel without hindrance.
Example 3:
the embodiment 3 of the present disclosure provides a method for detaching and mounting a circular rail robot, which utilizes the packaging and transporting device of the circular rail robot described in embodiment 1 and the connecting tube described in embodiment 2, and at this time, the state of the robot 8 is a state when the robot enters a rail mounting action after the robot upper shell 9 is buckled.
The operation when going up the track is as follows: the robot upper shell 9 is taken down, the packaging limiting frame 3 and the limiting ring 6 are disassembled, the fixing long bolt 15 is disassembled, the robot 8 is lifted out of the packaging frame 1 in a horizontal state, the step structure of the connecting pipe 12 is inserted into one end of the packaging guide rail 2, the packaging guide rail 2 inserted into the robot 8 is lifted up to enable the packaging guide rail 2 to be opposite to one end of the running guide rail 14, one side of the notch of the connecting pipe 12 is aligned to the rail connecting piece of the running guide rail 14 to be inserted, the packaging guide rail 2 is always in a horizontal state in the operation process, the circular rail robot 8 is controlled not to move, after the whole rail is formed, only one end, not inserted into the connecting pipe 12, of the packaging guide rail 2 is lifted up, the other end of the packaging guide rail is released, the robot 8 can be easily pushed into the running rail, and then the robot upper shell 9 is buckled.
To sum up, this disclosure has realized the safety guarantee in the robot packing transportation, has effectively improved efficiency and security of patrolling and examining the last rail of robot and dismantling.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. A packaging and transporting device of a circular rail robot is characterized by comprising the circular rail robot, a packaging limiting frame, a packaging guide rail and a packaging frame; the device also comprises a packaging and transporting connection pipe of the circular rail robot, wherein one end of the connection pipe is provided with a notch, the other end of the connection pipe is of a step tubular structure, one end of the notch is sleeved in a rail connecting piece in the guide rail hoisting, and one end of the step tubular structure is inserted into an inner hole of the packaging guide rail;
the circular rail robot comprises a robot body and a frame body arranged on the robot body, wherein two sides of the frame body are respectively provided with a driving wheel, the two driving wheels are opposite in position, arranged at a certain angle and riding and pressing on a packaging guide rail, and two sides of the driving wheels along the direction of a circular rail are respectively provided with at least one pair of limiting wheels riding and pressing on the packaging guide rail;
two sides of the driving wheel along the circular rail direction are respectively provided with a packaging limiting frame, two ends of the packaging limiting frame are respectively and fixedly connected with the frame body in a detachable mode, the middle of the packaging limiting frame is detachably fixed on the packaging guide rail, and the two limiting frames are used for limiting the driving wheel to move in the axial direction of the packaging guide rail;
the upper portions of two opposite sides of the packaging frame are provided with openings, the packaging guide rails are respectively detachably fixedly connected with the two openings, and the packaging guide rails can be kept horizontal when being fixed at the two openings.
2. The packaging and transporting device of the circular rail robot as claimed in claim 1, wherein a position on the packaging guide rail near the side of the limiting wheel far away from the driving wheel is provided with a limiting ring, the limiting ring is detachably and fixedly connected with the frame body, the limiting ring is detachably and fixedly connected with the packaging guide rail, and the limiting ring is used for limiting the movement of the limiting wheel in the axial direction of the packaging guide rail.
3. The packaging and transporting device of a circular rail robot as claimed in claim 2, wherein the detachable fixed connection is a screw connection.
4. The packing conveyor of a circular rail robot as claimed in claim 1, wherein an elastic member is detachably fixed to each of the two opening positions for supporting the packing rail.
5. The packaging and transporting apparatus of a circular rail robot as claimed in claim 1, wherein the packaging rail is identical in shape and specification to the robot running rail.
6. The packaging transportation apparatus of a circular rail robot as claimed in claim 1, wherein the circular rail robot is located inside the packaging rack when the packaging rail is placed at two open positions.
7. The packaging and transporting device of the circular rail robot according to claim 1, wherein a packaging frame rib plate is fixed at the bottom of the packaging frame, and a fixing hole is formed in the packaging frame rib plate and used for being fixed on the packaging chassis through a fastening bolt.
8. The packing transportation device of a circular rail robot as claimed in claim 1, wherein when one end of the connection pipe step tubular structure is inserted into the packing guide rail and one end of the gap is used to be inserted into the rail connector in the guide rail hoisting, the packing guide rail and the running rail are connected to form a whole rail which is not obstructed by the robot.
9. A method for disassembling and assembling a circular rail robot, which is characterized in that the packaging and transporting device of the circular rail robot as claimed in any one of claims 1-8 is used, and comprises the following steps:
taking down the upper shell of the robot, disassembling the packaging limiting frame and the limiting ring, disassembling the fixing bolt, horizontally lifting the robot out of the packaging frame, and inserting one end of the step structure of the connecting pipe into one end of the packaging guide rail;
lifting the packaging guide rail inserted into the robot to enable the packaging guide rail to be opposite to one end of the running guide rail, aligning one end of the gap of the connecting pipe to the track connecting piece of the running guide rail and inserting the connecting pipe into the track connecting piece, and enabling the packaging guide rail to be in a horizontal state all the time in the operation process and controlling the robot not to move;
after the whole track is formed, only one end of the packaging guide rail, which is not inserted into the connecting pipe, is lifted, the other end of the packaging guide rail is released, the robot is pushed into the running track, and then the upper cover of the robot is buckled, so that the upper track of the robot is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911296389.8A CN111099160B (en) | 2019-12-16 | 2019-12-16 | Packaging and transporting device of circular rail robot, connecting pipe and rail mounting and dismounting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911296389.8A CN111099160B (en) | 2019-12-16 | 2019-12-16 | Packaging and transporting device of circular rail robot, connecting pipe and rail mounting and dismounting method |
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| CN111099160A CN111099160A (en) | 2020-05-05 |
| CN111099160B true CN111099160B (en) | 2021-08-03 |
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| CN113978883B (en) * | 2021-11-04 | 2022-12-13 | 南京中车物流服务有限公司 | Recyclable packaging equipment for equipment cabin under rail vehicle |
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| CN110466542A (en) * | 2019-07-22 | 2019-11-19 | 山东康威通信技术股份有限公司 | The walking mechanism of round tube track machine people a kind of and round tube track machine people |
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