CN111115145A - AGV pulls framework and transports conveyor - Google Patents
AGV pulls framework and transports conveyor Download PDFInfo
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- CN111115145A CN111115145A CN202010114445.8A CN202010114445A CN111115145A CN 111115145 A CN111115145 A CN 111115145A CN 202010114445 A CN202010114445 A CN 202010114445A CN 111115145 A CN111115145 A CN 111115145A
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- 230000032258 transport Effects 0.000 title description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000003825 pressing Methods 0.000 claims abstract description 27
- 230000007704 transition Effects 0.000 claims abstract description 22
- 238000012546 transfer Methods 0.000 claims description 19
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 10
- 229910052757 nitrogen Inorganic materials 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides an AGV traction framework transferring and conveying device which comprises a support main body frame, a floor type locking assembly and a jacking mechanism, wherein the support main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel group, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped support main body structure; the floor locking assembly comprises a transition connecting plate and a floating leg single piece, and the floating leg single piece comprises a floating leg and an elastic pressing mechanism; the jacking mechanism comprises at least one jacking single piece. By applying the technical scheme of the invention, the effects are as follows: the whole structure is simple; through the combined design of the support main body frame and the floor type locking assembly, the state position of the conveying device is adjusted through the floor type locking assembly, the AGV is convenient to operate, the floor type locking assembly is suitable for AGV traction, the labor intensity of workers is greatly reduced, and the working efficiency is improved; the design of the jacking mechanism can facilitate the assembly of the traction connecting rod parts according to the requirements of assembling parts at each station, jack up the whole bogie and smoothly complete the assembly of the parts.
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle) moving equipment, in particular to an AGV traction framework transferring and conveying device.
Background
In China, the existing framework production line is simple in vehicle falling tooling, four supporting frames support and are fixed, a crown block is hung in the framework, the framework is fixed after falling, the operation height cannot be adjusted according to different frameworks, and the labor intensity of workers is high.
The overhead crane is required for moving among the stations, so that the production efficiency is low and the safety is not high.
Therefore, it is significant to design a device that the structure is simplified, be applicable to AGV and pull the transportation and carry and efficient.
Disclosure of Invention
The invention aims to provide an AGV traction framework transferring and conveying device which is simple in structure, suitable for AGV traction, transfer and conveying, high in production efficiency and capable of greatly reducing labor intensity of workers, and the specific technical scheme is as follows:
an AGV traction framework transferring and conveying device comprises a support main body frame, a floor type locking assembly and a jacking mechanism;
the supporting main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel set, wherein two ends of the connecting beam are respectively connected with the first longitudinal beam and the second longitudinal beam, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped supporting main body structure; the walking wheel set is arranged at the bottom of the H-shaped supporting main body structure and is used for driving the whole supporting main body frame to walk;
the floor locking assembly comprises a transition connecting plate and a floating leg single piece, the floating leg single piece comprises a floating leg and an elastic pressing mechanism, and the transition connecting plate is connected with the H-shaped support main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate, the lower end of the elastic pressing mechanism is connected with the floating supporting leg, and the floating supporting leg is contacted with the ground or separated from the ground through the action of the elastic pressing mechanism;
climbing mechanism includes at least one jacking list piece, the jacking list piece includes actuating mechanism, lead screw and joint support board, actuating mechanism sets up H font supports the major structure last, and actuating mechanism's output shaft establishes the second gear meshing on the lead screw through first gear and cover, and the lead screw is connected with joint support board, realizes through actuating mechanism action that the lead screw drives joint support board and carries out the action of going up and down.
Preferably among the above technical scheme, the walking wheelset includes two sets of walking wheel singlets corresponding with first longeron and second longeron, and the walking wheel singlet includes a plurality of walking wheels that set up along first longeron or second longeron length direction.
Preferably, among the above technical scheme, H font support major structure is the integrated structure that adopts steel welding to form.
Preferably, in the above technical solution, the transition connecting plate and the connecting beam are stacked; the number of the floating supporting leg single pieces is two, and the two groups of floating supporting leg single pieces are respectively arranged at two ends of the transition connecting plate.
Preferably, in the above technical scheme, the elastic pressing mechanism is a nitrogen spring pressing piece.
Preferably, in the above technical solution, the number of the jacking single pieces is four, and the four sets of jacking single pieces are located at four positions of the H-shaped supporting main body structure to form a four-point synchronous jacking structure.
Preferred among the above technical scheme, still including removing the slip table subassembly, it includes that at least a set of removal slip table is single to remove the slip table subassembly, it includes fixed connection board, slip backup pad and baffle to remove the slip table single, and fixed connection board sets up on H font supports the major structure, and the baffle passes through slip backup pad adjustable and sets up fixed connection board is last.
Preferably among the above technical scheme, the fixed connection board is equipped with the sliding chute, the first end of sliding support plate inserts adjustable setting in the sliding chute, the second end and the baffle of sliding support plate are connected.
Preferably among the above technical scheme, still be equipped with the fastener that is used for locking the sliding support board on the fixed connection board.
Preferably, in the above technical solution, the device further comprises a controller, and the traveling wheel set, the elastic pressing mechanism and the driving mechanism are all connected with the controller.
The technical scheme of the invention has the following beneficial effects:
(1) the AGV traction framework transferring and conveying device comprises a support main body frame, a landing locking assembly and a jacking mechanism, wherein the support main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel group, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped support main body structure; the floor locking assembly comprises a transition connecting plate and a floating leg single piece, and the floating leg single piece comprises a floating leg and an elastic pressing mechanism; the jacking mechanism comprises at least one jacking single piece, and the jacking single piece comprises a driving mechanism, a screw rod and a connecting support plate. The whole structure is simple; through the combined design of the support main body frame and the floor type locking assembly, the state position of the conveying device is adjusted through the floor type locking assembly, the AGV is convenient to operate, the floor type locking assembly is suitable for AGV traction, the labor intensity of workers is greatly reduced, and the working efficiency is improved; the design of the jacking mechanism can facilitate the assembly of the traction connecting rod parts according to the requirements of assembling parts at each station, jack up the whole bogie and smoothly complete the assembly of the parts.
(2) According to the invention, the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped supporting main body structure, preferably an integrated structure formed by welding steel materials, so that the interference between the bogie accessory and a conveying device during assembling can be effectively avoided while the bearing is satisfied; the walking wheelset includes and is single with the corresponding two sets of walking wheels of first longeron and second longeron, and the walking wheel is single including a plurality of walking wheels that set up along first longeron or second longeron length direction, and the universal wheel is preferred to the walking wheel, and it is convenient and stable good to walk.
(3) The floating support leg single piece comprises a floating support leg and an elastic pressing mechanism, preferably, the elastic pressing mechanism is a nitrogen spring pressing piece, when the AGV leaves the transfer conveying device, the floating support leg (the surface in contact with the ground is made of polyurethane and can provide large static friction force) is locked under the action of the nitrogen spring pressing piece, and the whole transfer conveying device is prevented from moving; below AGV gets into to transport conveyor, the AGV towing pin rises and holds up whole transport conveyor, and nitrogen spring compresses tightly a recovery and whole landing leg that floats and leaves ground, realizes locking mechanism's loosening, and AGV can pull whole transport conveyor and walk. According to the invention, the height of the floor type locking assembly from the ground is preferably higher than that of the AGV, so that the AGV can pass through the lower part of the transfer conveying device without obstacles.
(4) The jacking single piece comprises a driving mechanism, a screw rod and a connecting support plate, and jacking is realized by adopting the combination of the driving mechanism (preferably a motor) and the screw rod, so that the structure is simplified, the stability of the jacking process is good, and the precision is high.
(5) The transition connecting plate and the connecting beam are arranged in a stacked mode; the number of the floating support leg single pieces is two, and the two groups of floating support leg single pieces are respectively arranged at two ends of the transition connecting plate to form symmetrical point locking support, so that the stability is good; the number of the jacking single pieces is four, and the four groups of jacking single pieces are positioned at four positions of the H-shaped supporting main body structure to form a four-point synchronous jacking structure, so that the jacking structure is good in stability and convenient for component assembly.
(6) The H-shaped support main body structure is characterized by further comprising a movable sliding table assembly, wherein the movable sliding table assembly comprises at least one group of movable sliding table single pieces, each movable sliding table single piece comprises a fixed connecting plate, a sliding support plate and a baffle plate, the fixed connecting plate is arranged on the H-shaped support main body structure, and the baffle plate is arranged on the fixed connecting plate in an adjustable mode through the sliding support plate. Remove slip table singleton setting on first longeron and/or second longeron, the strong point of support among the transportation conveyor can carry out the adaptability adjustment along bogie axle distance direction and bogie gauge direction to adapt to the compatible production of different model parts, the practicality is strong. Still be equipped with the fastener, can effectively inject the position that removes slip table singleton, satisfy the equipment production demand.
(7) The invention also comprises a controller, preferably a PLC controller, wherein the traveling wheel set, the elastic pressing mechanism and the driving mechanism are all connected with the PLC controller, so that the requirement of automatic production is met.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view showing the overall structure of an AGV traction frame transfer conveyor according to embodiment 1;
FIG. 2 is a schematic structural view of the jacking-up unit of FIG. 1;
FIG. 3 is a schematic view of the structure of the single piece moving ramp of FIG. 1;
wherein, 1, support the main part frame, 1.1, first longeron, 1.2, the second longeron, 1.3, the tie-beam, 1.4, the walking wheel group, 2, fall to the ground locking Assembly, 2.1, the transition connecting plate, 2.2, the landing leg floats, 3, climbing mechanism, 3.1, actuating mechanism, 3.2, the lead screw, 3.3, joint support board, 3.4, first gear, 3.5, the second gear, 4, remove the slip table singleton, 4.1, fixed connection board, 4.2, the slip backup pad, 4.3, the baffle, 5, the controller.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example (b):
the utility model provides a AGV pulls framework and transports conveyor, includes support main part frame 1, falls to the ground locking Assembly 2, climbing mechanism 3 and removes the slip table subassembly, the detail is seen in figure 1, and the detail is as follows:
the supporting main body frame 1 comprises a first longitudinal beam 1.1, a second longitudinal beam 1.2, a connecting beam 1.3 and a traveling wheel set 1.4, two ends of the connecting beam 1.3 are respectively connected with the first longitudinal beam 1.1 and the second longitudinal beam 1.2, and the first longitudinal beam 1.1, the second longitudinal beam 1.2 and the connecting beam 1.3 form an H-shaped supporting main body structure; the walking wheel set 1.4 is arranged at the bottom of the H-shaped supporting main body structure and used for driving the whole supporting main body frame 1 to walk. Preferably, the H-shaped support main body structure is an integrated structure formed by welding steel materials; the walking wheel set 1.4 comprises two groups of walking wheel single pieces corresponding to the first longitudinal beam 1.1 and the second longitudinal beam 1.2, and each walking wheel single piece comprises a plurality of walking wheels (four are illustrated in fig. 1) arranged along the length direction of the first longitudinal beam 1.1 or the second longitudinal beam 1.2.
The floor locking assembly 2 comprises a transition connecting plate 2.1 and a floating leg single piece, the floating leg single piece comprises a floating leg 2.2 and an elastic pressing mechanism, and the transition connecting plate 2.1 is connected with the H-shaped support main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate 2.1, the lower end of the elastic pressing mechanism is connected with the floating supporting leg 2.2, and the floating supporting leg 2.2 is in contact with the ground or separated from the ground through the action of the elastic pressing mechanism. Preferably, the transition connecting plate 2.1 and the connecting beam 1.3 are stacked; the number of the floating support leg single pieces is two, the two groups of floating support leg single pieces are respectively arranged at two ends of the transition connecting plate 2.1 to form two-point locking, and the stability is good; the elastic pressing mechanism is a nitrogen spring pressing piece (refer to the prior art).
The movable sliding table assembly comprises at least one group of movable sliding table single pieces 4 (two are illustrated in figure 1), each movable sliding table single piece 4 comprises a fixed connecting plate 4.1, a sliding supporting plate 4.2 and a baffle 4.3, in detail, figure 3 shows that the fixed connecting plate 4.1 is arranged on an H-shaped supporting main body structure, and the baffle 4.3 is arranged on the fixed connecting plate 4.1 in an adjustable mode through the sliding supporting plate 4.2. Preferably, a sliding chute is arranged on the fixed connecting plate 4.1, a first end of the sliding support plate 4.2 is inserted into the sliding chute and is arranged in an adjustable manner, and a second end of the sliding support plate 4.2 is connected with the baffle 4.3; and a fastener for locking the sliding support plate 4.2 is further arranged on the fixed connecting plate 4.1.
The embodiment further comprises a controller 5, preferably a PLC controller, and the traveling wheel set 1.4, the elastic pressing mechanism and the driving mechanism 3.1 are all connected with the controller.
The scheme of the embodiment is specifically applied as follows:
assembling the AGV traction framework transferring and conveying device; the whole transfer conveying device walks through the walking wheel set 1.4.
Below the AGV got into the transfer conveyor, the AGV towing pin rose and got into transition connecting plate 2.1 and the butt joint interface of AGV towing pin to hold up the transition connecting plate, whole ground locking Assembly 2 that falls was held up and is left ground, and locking mechanism loosens, and the AGV can pull whole transfer conveyor walking.
When the AGV leaves the transfer conveying device, the elastic pressing mechanism in the floor type locking assembly 2 acts, so that the floating supporting legs 2.2 press the ground, the locking of the locking mechanism is realized, and the whole transfer conveying device is prevented from moving.
According to the specification of processing spare part, the relative position of adjustment slip backup pad 4.2 and slip spout to realize removing the position control of slip table singleton 4, satisfy the demand of processing spare part.
According to the needs of each station assembly part, adjust the jacking singleton, ensure that spare part can accomplish the assembly smoothly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An AGV traction framework transferring and conveying device is characterized by comprising a support main body frame (1), a floor type locking assembly (2) and a jacking mechanism (3);
the supporting main body frame (1) comprises a first longitudinal beam (1.1), a second longitudinal beam (1.2), a connecting beam (1.3) and a traveling wheel set (1.4), two ends of the connecting beam (1.3) are respectively connected with the first longitudinal beam (1.1) and the second longitudinal beam (1.2), and the first longitudinal beam (1.1), the second longitudinal beam (1.2) and the connecting beam (1.3) form an H-shaped supporting main body structure; the walking wheel set (1.4) is arranged at the bottom of the H-shaped supporting main body structure and is used for driving the whole supporting main body frame (1) to walk;
the floor locking assembly (2) comprises a transition connecting plate (2.1) and a floating leg single piece, the floating leg single piece comprises a floating leg (2.2) and an elastic pressing mechanism, and the transition connecting plate (2.1) is connected with the H-shaped support main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate (2.1), the lower end of the elastic pressing mechanism is connected with the floating supporting leg (2.2), and the floating supporting leg (2.2) is contacted with the ground or separated from the ground through the action of the elastic pressing mechanism;
climbing mechanism (3) include at least one jacking single, the jacking single includes actuating mechanism (3.1), lead screw (3.2) and joint support board (3.3), actuating mechanism (3.1) sets up on the H font supports the major structure, and the output shaft of actuating mechanism (3.1) through first gear (3.4) with establish second gear (3.5) meshing mutually on lead screw (3.2), lead screw (3.2) are connected with joint support board (3.3), realize lead screw (3.2) through actuating mechanism (3.1) action and drive joint support board (3.3) and carry out the action of going up and down.
2. AGV traction frame transfer conveyor according to claim 1, characterized in that the travelling wheel set (1.4) comprises two sets of travelling wheel singlets corresponding to the first longitudinal beam (1.1) and the second longitudinal beam (1.2), the travelling wheel singlets comprising a plurality of travelling wheels arranged in the length direction of the first longitudinal beam (1.1) or the second longitudinal beam (1.2).
3. The AGV traction framework transfer conveyor of claim 1, wherein the H-shaped support body structure is an integrated structure welded by steel.
4. AGV traction frame transfer conveyor according to claim 1, characterized in that the transition connection plate (2.1) is arranged on top of the connection beam (1.3); the number of the floating supporting leg single pieces is two, and the two groups of floating supporting leg single pieces are respectively arranged at two ends of the transition connecting plate (2.1).
5. The AGV traction frame transfer transport of claim 4, wherein said resilient hold down mechanism is a nitrogen spring hold down.
6. The AGV traction frame transfer conveyor of claim 1, wherein the number of the jacking single pieces is four, and the four sets of jacking single pieces are located at four positions of the H-shaped supporting main body structure to form a four-point synchronous jacking structure.
7. The AGV traction framework transfer conveying device according to any one of claims 1 to 6, further comprising a moving sliding table assembly, wherein the moving sliding table assembly comprises at least one group of moving sliding table single pieces (4), each moving sliding table single piece (4) comprises a fixed connecting plate (4.1), a sliding supporting plate (4.2) and a baffle (4.3), the fixed connecting plate (4.1) is arranged on the H-shaped supporting main body structure, and the baffle (4.3) is adjustably arranged on the fixed connecting plate (4.1) through the sliding supporting plate (4.2).
8. AGV traction frame transfer conveyor according to claim 7, characterized in that the fixed connection plate (4.1) is provided with a sliding chute, the first end of the sliding support plate (4.2) is inserted into the sliding chute and adjustably arranged, and the second end of the sliding support plate (4.2) is connected to the stop plate (4.3).
9. AGV traction frame transfer conveyor according to claim 8, characterized in that the fixed connection plate (4.1) is further provided with fasteners for locking the sliding support plate (4.2).
10. AGV traction frame transfer transport according to claim 7, characterized in that it further comprises a controller (5), to which the travelling wheel set (1.4), the resilient pressing mechanism and the driving mechanism (3.1) are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114445.8A CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114445.8A CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
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| Publication Number | Publication Date |
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| CN111115145A true CN111115145A (en) | 2020-05-08 |
| CN111115145B CN111115145B (en) | 2024-06-04 |
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| CN202010114445.8A Active CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
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| FR2793481A1 (en) * | 1999-05-14 | 2000-11-17 | Tsubakimoto Chain Co | Storage conveyor for hybrid transporter wagon comprises several modules, each comprising two rails in contact with wagon wheels, and driving roller in contact with wagon runners |
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| EP2500233A1 (en) * | 2011-03-16 | 2012-09-19 | Bombardier Transportation GmbH | Rail vehicle unit with a traction linkage |
| KR101328131B1 (en) * | 2013-03-28 | 2013-11-08 | (주)금강오토텍 | Flexible driving system |
| US20160068348A1 (en) * | 2011-08-31 | 2016-03-10 | Rhodes Systems International, Inc. | Systems, methods, and apparatus for improved conveyor system |
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| WO2018058996A1 (en) * | 2016-09-30 | 2018-04-05 | 中车南京浦镇车辆有限公司 | Permanent magnet direct drive subway train |
| CN109572862A (en) * | 2019-01-22 | 2019-04-05 | 诺力智能装备股份有限公司 | A kind of AGV vehicle, band stringer hold system and its application method |
| WO2019144961A1 (en) * | 2018-01-26 | 2019-08-01 | 同方威视技术股份有限公司 | Vehicle conveying device and scanning inspection system |
| CN110816564A (en) * | 2019-11-12 | 2020-02-21 | 广州电力机车有限公司 | Process bogie for transferring bogie frame |
| CN211687029U (en) * | 2020-02-25 | 2020-10-16 | 株洲中车特种装备科技有限公司 | AGV pulls framework and transports conveyor |
-
2020
- 2020-02-25 CN CN202010114445.8A patent/CN111115145B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2793481A1 (en) * | 1999-05-14 | 2000-11-17 | Tsubakimoto Chain Co | Storage conveyor for hybrid transporter wagon comprises several modules, each comprising two rails in contact with wagon wheels, and driving roller in contact with wagon runners |
| JP2007112552A (en) * | 2005-10-19 | 2007-05-10 | Nippon Sharyo Seizo Kaisha Ltd | Storage type supporting unit |
| WO2010066101A1 (en) * | 2008-12-08 | 2010-06-17 | 杭州西子石川岛停车设备有限公司 | Ultra thin car parking device with full-floating manipulators |
| EP2500233A1 (en) * | 2011-03-16 | 2012-09-19 | Bombardier Transportation GmbH | Rail vehicle unit with a traction linkage |
| US20160068348A1 (en) * | 2011-08-31 | 2016-03-10 | Rhodes Systems International, Inc. | Systems, methods, and apparatus for improved conveyor system |
| KR101328131B1 (en) * | 2013-03-28 | 2013-11-08 | (주)금강오토텍 | Flexible driving system |
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| WO2018058996A1 (en) * | 2016-09-30 | 2018-04-05 | 中车南京浦镇车辆有限公司 | Permanent magnet direct drive subway train |
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| Publication number | Publication date |
|---|---|
| CN111115145B (en) | 2024-06-04 |
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