CN115383720B - Acid mist-resistant track inspection robot - Google Patents
Acid mist-resistant track inspection robot Download PDFInfo
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- CN115383720B CN115383720B CN202211188367.1A CN202211188367A CN115383720B CN 115383720 B CN115383720 B CN 115383720B CN 202211188367 A CN202211188367 A CN 202211188367A CN 115383720 B CN115383720 B CN 115383720B
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- 238000007689 inspection Methods 0.000 title claims abstract description 26
- 239000002253 acid Substances 0.000 title claims abstract description 24
- 239000003595 mist Substances 0.000 title claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 10
- 241000209094 Oryza Species 0.000 claims description 7
- 235000007164 Oryza sativa Nutrition 0.000 claims description 7
- 235000009566 rice Nutrition 0.000 claims description 7
- 230000007797 corrosion Effects 0.000 abstract description 9
- 238000005260 corrosion Methods 0.000 abstract description 9
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001369 Brass Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001256 stainless steel alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of inspection equipment, and particularly relates to an acid mist-resistant track inspection robot, which comprises a driven assembly (3) and a driving assembly (4); the driven assembly (3) comprises a driven assembly bottom plate (5), a driven spring bracket (6), a driven tightening spring assembly (8 a), a driven guide wheel (9 a), a driven bearing wheel (11 a), a driven floating wheel seat (15 a) and a driven wheel seat connecting rod (16 a); the driving assembly (4) comprises a driving assembly bottom plate (18), a driving motor (19), a driving ejection spring assembly (8 b), a driving guide wheel (9 b), a driving bearing wheel (20), a driving wheel seat connecting rod (16 b), a driving floating wheel seat (15 b) and a driving spring bracket (6 b); the invention can be tightly attached to the track when the straight section and the bent section of the track run, thereby realizing high running precision and resisting acid gas corrosion.
Description
Technical Field
The invention belongs to the field of inspection equipment, and particularly relates to an acid mist-resistant track inspection robot.
Background
The track inspection robot can execute special inspection and custom inspection tasks in special environments. The automatic positioning and navigation can be realized, specific cameras such as panoramic cameras or double-light holder cameras and various environment monitoring module sensors can be carried, surrounding environments can be photographed and sensed in real time, and remote online monitoring and data analysis can be realized. The system can replace manual work to complete routine inspection, fault diagnosis and warning lamp task. The method helps enterprises effectively promote the content and frequency of operation and maintenance, breaks through the limit of traditional manual inspection, and achieves the intelligent operation and maintenance. The existing track type inspection robot has the following problems: (1) the fully-closed structure for coping with acid gas corrosion is too complex and cannot realize complete sealing; (2) the prior structure inevitably uses a bearing or a linear guide rail made of metal materials, and cannot resist acid gas corrosion; (3) the simple structure does not use metal bearings or guide rails, and has the problem of low operation precision. Based on the analysis, the existing track type inspection robot is difficult to achieve high operation precision and acid gas corrosion resistance at the same time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the acid mist-resistant track inspection robot which can be closely attached to a track when the track runs in a straight section and a curved section, not only can realize high running precision, but also can resist acid gas corrosion.
In order to solve the technical problems, the invention is realized as follows:
an acid mist resistant track inspection robot, comprising: the device comprises a machine body, a driven assembly and a driving assembly; the bottoms of the driven assembly and the driving assembly are respectively connected with the machine body through sliding plane bearings, so that the driven assembly and the driving assembly can rotate on the machine body around the sliding plane bearings at the bottoms of the driven assembly and the driving assembly;
the driven assembly comprises a driven assembly bottom plate, a driven spring bracket, a driven tightening spring, a driven guide wheel, a driven bearing wheel, a driven floating wheel seat and a driven wheel seat connecting rod;
the bottom of the driven spring bracket is fixedly connected with the bottom plate of the driven assembly; the upper end and the lower end of the driven wheel seat connecting rod are respectively hinged with the driven floating wheel seat and the driven assembly bottom plate;
the driven guide wheel and the driven bearing wheel are respectively arranged on the driven floating wheel seat in a way that the central axes of the driven guide wheel and the driven bearing wheel are mutually perpendicular; the driven bearing wheel is connected with the driven floating wheel seat through a driven bearing wheel bearing; the driven guide wheel and the driven bearing wheel are respectively connected with the track in a rolling way;
the two ends of the driven jacking spring are fixedly positioned between the driven floating wheel seat and the driven spring bracket;
the driving assembly comprises a driving assembly bottom plate, a driving motor, a driving ejection spring, a driving guide wheel, a driving bearing wheel, a driving wheel seat connecting rod, a driving floating wheel seat and a driving spring bracket;
the bottom of the driving spring bracket is fixedly connected with the driving assembly bottom plate; the upper end and the lower end of the driving wheel seat connecting rod are respectively hinged with the driving floating wheel seat and the driving assembly bottom plate;
the driving guide wheel and the driving bearing wheel are respectively arranged on the driving floating wheel seat in a way that the central axes of the driving guide wheel and the driving bearing wheel are mutually perpendicular; the driving motor is fixedly connected with the driving floating wheel seat, and the power output shaft of the driving motor is fixedly connected with the power input shaft of the driving bearing wheel; the driving guide wheel and the driving bearing wheel are respectively connected with the track in a rolling way;
and two ends of the driving ejection spring are fixedly positioned between the driving floating wheel seat and the driving spring bracket.
Further, the invention is provided with an encoder on the floating wheel seat; a rice recording wheel is fixedly arranged on the middle shaft of the encoder; the rice recording wheel is in rolling connection with the track.
Further, the invention is characterized in that the driving floating wheel seat and the driven floating wheel seat are respectively fixedly provided with a track brush; the working end of the track hairbrush is connected with the track in a sliding way.
Further, the number of the driven guide wheels and the driving guide wheels is four, and the driven guide wheels and the driving guide wheels are arranged on two sides of the track in a two-by-two mode; the number of the driven bearing wheels and the number of the driving bearing wheels are two, and the driven bearing wheels and the driving bearing wheels are respectively arranged on two sides of the track.
The acid mist resistant track inspection robot can be tightly attached to the track when the straight section and the bent section of the track run, the rolling directions of all wheels are tangential parallel to the track at the wheels, the wheels do not slide laterally, and the overall running accuracy is high. The structure of the acid mist resistant track inspection robot can enable all parts to use corrosion resistant materials, iron bearings and linear guide rails are not needed to be used, and the overall acid mist corrosion resistant effect is achieved.
Drawings
The invention is further described below with reference to the drawings and the detailed description. The scope of the present invention is not limited to the following description.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall assembly structure of the present invention;
FIG. 3 is a schematic view of the overall structure of the driven assembly of the present invention;
FIG. 4 is a schematic diagram of the overall structure of the active assembly of the present invention.
In the figure: 1. a robot body; 2. a body; 3. a driven assembly; 4. an active assembly; 5. a driven assembly floor; 6a, a driven spring bracket; 6b, an active spring support; 7. a rail brush; 8a, a driven jack spring assembly; 8b, actively propping against the spring assembly; 9a, driven guide wheels; 9b, driving a guide wheel; 10. driven bearing wheel bearings; 11a, driven bearing wheels; 12. a rice recording wheel; 13. an encoder; 14. a track; 15a, a driven floating wheel seat; 15b, an active floating wheel seat; 16a, a driven wheel seat connecting rod; 16b, a driving wheel seat connecting rod; 17. a plain bearing; 18. a driving assembly bottom plate; 19. a driving motor; 20. and driving the bearing wheel.
Detailed Description
As shown in fig. 1 and 2, the acid mist resistant track inspection robot includes: a machine body 2, a driven assembly 3 and a driving assembly 4; the bottoms of the driven assembly 3 and the driving assembly 4 are respectively connected with the machine body 2 through sliding plane bearings 17, so that the driven assembly 3 and the driving assembly 4 can rotate on the machine body 2 around the sliding plane bearings 17 at the bottoms of the driven assembly 3 and the driving assembly 4;
referring to fig. 3, the driven assembly 3 includes a driven assembly bottom plate 5, a driven spring bracket 6a, a driven tightening spring assembly 8a, a driven guide wheel 9a, a driven bearing wheel 11a, a driven floating wheel seat 15a and a driven wheel seat connecting rod 16a;
the bottom of the driven spring bracket 6a is fixedly connected with the driven assembly bottom plate 5; the upper end and the lower end of the driven wheel seat connecting rod 16a are respectively hinged with the driven floating wheel seat 15a and the driven assembly bottom plate 5;
the driven guide wheel 9a and the driven bearing wheel 11a are respectively arranged on the driven floating wheel seat 15a in a mode that central axes are mutually perpendicular; the driven bearing wheel 11a is connected with a driven floating wheel seat 15a through a driven bearing wheel bearing 10; the driven guide wheel 9a and the driven bearing wheel 11a are respectively in rolling connection with the track 14;
the two ends of the driven jacking spring assembly 8a are fixedly positioned between the driven floating wheel seat 15a and the driven spring bracket 6a;
referring to fig. 4, the driving assembly 4 includes a driving assembly bottom plate 18, a driving motor 19, a driving tightening spring assembly 8b, a driving guide wheel 9b, a driving bearing wheel 20, a driving wheel seat connecting rod 16b, a driving floating wheel seat 15b and a driving spring bracket 6b;
the bottom of the active spring bracket 6b is fixedly connected with the active assembly bottom plate 18; the upper end and the lower end of the driving wheel seat connecting rod 16b are respectively hinged with the driving floating wheel seat 15b and the driving assembly bottom plate 18;
the driving guide wheel 9b and the driving bearing wheel 20 are respectively arranged on the driving floating wheel seat 15b in a way that the central axes of the driving guide wheel and the driving bearing wheel are mutually perpendicular; the driving motor 19 is fixedly connected with the driving floating wheel seat 15b, and the power output shaft of the driving motor is fixedly connected with the power input shaft of the driving bearing wheel 20; the driving guide wheel 9b and the driving bearing wheel 20 are respectively in rolling connection with the track 14;
the two ends of the active jacking spring component 8b are fixedly arranged between the active floating wheel seat 15b and the active spring bracket 6 b.
The invention is provided with an encoder 13 on the driven floating wheel seat 15 a; a rice recording wheel 12 is fixedly arranged on the middle shaft of the encoder 13; the rice-recording wheel 12 is in rolling connection with the track 14.
The invention is characterized in that a track hairbrush 7 is respectively and fixedly arranged on a driving floating wheel seat 15b and a driven floating wheel seat 15 a; the working end of the track hairbrush 7 is slidably connected with the track 14.
The number of the driven guide wheels 9a and the driving guide wheels 9b is four, and the driven guide wheels and the driving guide wheels are arranged on two sides of the track 14 in a two-by-two mode; the number of the driven bearing wheels 11a and the driving bearing wheels 20 is two, and the driven bearing wheels and the driving bearing wheels are respectively arranged at two sides of the track 14.
In specific implementation, the acid mist resistant track inspection robot body 1 mainly comprises a machine body 2, a driven assembly 3 and a driving assembly 4, wherein the driven assembly 3 and the driving assembly 4 are connected with the machine body 2 through sliding plane bearings 17, so that the driven assembly 3 and the driving assembly 4 can rotate on the machine body 2 around the sliding plane bearings 17 at the bottoms of the driven assembly 3 and the driving assembly 4.
The invention discloses a driven assembly 3 in an acid mist resistant track inspection robot body 1, which mainly comprises a driven assembly bottom plate 5, a driven spring bracket 6a, a track hairbrush 7, a driven tightening spring assembly 8a, a driven guide wheel 9a, a driven bearing wheel bearing 10, a driven bearing wheel 11, a rice marking wheel 12, an encoder 13, a driven floating wheel seat 15a, a driven wheel seat connecting rod 16a and a sliding plane bearing 17, wherein the driven assembly bottom plate 5 and the driven spring bracket 6a are rigidly connected, the driven wheel seat connecting rod 16a is hinged with the driven floating wheel seat 15a and the driven assembly bottom plate 5 respectively, four driven guide wheels 9a and one driven bearing wheel 11 are arranged on the driven floating wheel seat 15a, and the driven tightening spring assembly 8a is propped between the driven floating wheel seat 15a and the driven assembly bottom plate 5.
The invention discloses an acid mist resistant track inspection robot body 1, wherein an active assembly 4 mainly comprises an active assembly bottom plate 18, a driving motor 19, an active jacking spring component 8b, an active guide wheel 9b, an active bearing wheel 20, a track hairbrush 7, an active wheel seat connecting rod 16b, a sliding plane bearing 17 and an active spring bracket 6b, wherein the active jacking spring component 8b is jacked between an active floating wheel seat 15b and the active assembly bottom plate 5.
All the above component materials can use corrosion-resistant stainless steel or aluminum alloy or ceramic material or plastic or brass material, and a corrosion-resistant steel bearing and a linear guide rail are not required to be used, so that the acid mist corrosion resistance effect of the whole vehicle is realized.
The contact part of the acid mist resistant track inspection robot and the track mainly comprises a driven assembly 3 and a driving assembly 4, and each part can swing independently in a horizontal plane to be attached to the direction of the track 14; the driven assembly 3 and the driving assembly 4 are provided with 8 guide wheels, wherein 4 guide wheels are arranged on one side of the track 14, and the other 4 guide wheels are arranged on the other side of the track 14; the driven assembly 3 comprises 4 driven guide wheels 9a and 1 driven bearing wheel 11 which are arranged on a driven floating wheel seat 15a, and the driven floating wheel seat 15a is hinged with a driven assembly bottom plate 5 up and down through a driven wheel seat connecting rod 16a; the driving assembly 4 comprises 4 driving guide wheels 9b and 1 driving bearing wheel 20 which are arranged on a driving floating wheel seat 15b, and the driving floating wheel seat 15b is hinged with a driving assembly bottom plate 18 up and down through a driving wheel seat connecting rod 16 b.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description and to simplify the description, and are not indicative or implying that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. Acid mist-resistant track inspection robot, characterized by comprising: a machine body (2), a driven assembly (3) and a driving assembly (4); the bottoms of the driven assembly (3) and the driving assembly (4) are respectively connected with the machine body (2) through sliding plane bearings (17), so that the driven assembly (3) and the driving assembly (4) can rotate on the machine body (2) around the sliding plane bearings (17) at the bottoms of the driven assembly and the driving assembly;
the driven assembly (3) comprises a driven assembly bottom plate (5), a driven spring bracket (6 a), a driven jacking spring assembly (8 a), a driven guide wheel (9 a), a driven bearing wheel (11 a), a driven floating wheel seat (15 a) and a driven wheel seat connecting rod (16 a);
the bottom of the driven spring bracket (6 a) is fixedly connected with the driven assembly bottom plate (5); the upper end and the lower end of the driven wheel seat connecting rod (16 a) are respectively hinged with the driven floating wheel seat (15 a) and the driven assembly bottom plate (5);
the driven guide wheel (9 a) and the driven bearing wheel (11 a) are respectively arranged on the driven floating wheel seat (15 a) in a mode that central axes are mutually perpendicular; the driven bearing wheel (11 a) is connected with the driven floating wheel seat (15 a) through a driven bearing wheel bearing (10); the driven guide wheel (9 a) and the driven bearing wheel (11 a) are respectively connected with the track (14) in a rolling way;
the two ends of the driven jacking spring assembly (8 a) are fixedly arranged between the driven floating wheel seat (15 a) and the driven spring bracket (6 a);
the driving assembly (4) comprises a driving assembly bottom plate (18), a driving motor (19), a driving ejection spring assembly (8 b), a driving guide wheel (9 b), a driving bearing wheel (20), a driving wheel seat connecting rod (16 b), a driving floating wheel seat (15 b) and a driving spring bracket (6 b);
the bottom of the driving spring bracket (6 b) is fixedly connected with the driving assembly bottom plate (18); the upper end and the lower end of the driving wheel seat connecting rod (16 b) are respectively hinged with the driving floating wheel seat (15 b) and the driving assembly bottom plate (18);
the driving guide wheel (9 b) and the driving bearing wheel (20) are respectively arranged on the driving floating wheel seat (15 b) in a mode that central axes are mutually perpendicular; the driving motor (19) is fixedly connected with the driving floating wheel seat (15 b), and the power output shaft of the driving motor is fixedly connected with the power input shaft of the driving bearing wheel (20); the driving guide wheel (9 b) and the driving bearing wheel (20) are respectively connected with the track (14) in a rolling way;
the two ends of the active jacking spring component (8 b) are fixedly arranged between the active floating wheel seat (15 b) and the active spring bracket (6 b).
2. The acid mist resistant track inspection robot of claim 1, wherein: an encoder (13) is arranged on the driven floating wheel seat (15 a); a rice recording wheel (12) is fixedly arranged on the middle shaft of the encoder (13); the rice recording wheel (12) is in rolling connection with the track (14).
3. The acid mist resistant track inspection robot of claim 2, wherein: the driving floating wheel seat (15 b) and the driven floating wheel seat (15 a) are respectively fixedly provided with a track hairbrush (7); the working end of the track hairbrush (7) is connected with the track (14) in a sliding way.
4. The acid mist resistant track inspection robot of claim 3, wherein: the number of the driven guide wheels (9 a) and the driving guide wheels (9 b) is four, and the driven guide wheels and the driving guide wheels are arranged on two sides of the track (14) in a two-by-two mode; the number of the driven bearing wheels (11 a) and the number of the driving bearing wheels (20) are two, and the driven bearing wheels and the driving bearing wheels are respectively arranged on two sides of the track (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211188367.1A CN115383720B (en) | 2022-09-28 | 2022-09-28 | Acid mist-resistant track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211188367.1A CN115383720B (en) | 2022-09-28 | 2022-09-28 | Acid mist-resistant track inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115383720A CN115383720A (en) | 2022-11-25 |
| CN115383720B true CN115383720B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211188367.1A Active CN115383720B (en) | 2022-09-28 | 2022-09-28 | Acid mist-resistant track inspection robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117961858B (en) * | 2024-04-02 | 2024-06-21 | 天津博宜特科技有限公司 | Self-adaptive walking device of inspection track robot |
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| EP2390155A1 (en) * | 2010-05-28 | 2011-11-30 | Construcciones Y Auxiliar de Ferrocarriles, S.A. | Displaceable rolling bogie for railway vehicles |
| CN110253536A (en) * | 2019-07-24 | 2019-09-20 | 杨小飞 | A kind of track machine people |
| CN112141134A (en) * | 2020-09-18 | 2020-12-29 | 北京天润海图科技有限公司 | Rail car running gear |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209887578U (en) * | 2019-03-21 | 2020-01-03 | 深圳昱拓智能有限公司 | Automatic robot and system of patrolling and examining of rail mounted coal conveying landing stage |
| CN109773746A (en) * | 2019-03-21 | 2019-05-21 | 深圳昱拓智能有限公司 | Rail mounted robot and its rail mounted running gear, system and flexible guiding mechanism |
| JP6744463B1 (en) * | 2019-08-06 | 2020-08-19 | 株式会社昭電 | Lifting inspection system |
| CN111071371B (en) * | 2019-12-06 | 2020-11-06 | 燕山大学 | Multi-degree-of-freedom walking posture adjusting leg unit based on rigid-flexible coupling and intelligent robot platform thereof |
| US11667309B2 (en) * | 2020-02-27 | 2023-06-06 | Nomadd Desert Solar Solutions Pte. Ltd. | System for stabilizing a track-wheel based device on a support track |
| CN214278009U (en) * | 2020-11-26 | 2021-09-24 | 广西壮族自治区特种设备检验研究院 | Electric rail car for detecting welding seam |
| CN113200450B (en) * | 2021-03-19 | 2022-06-07 | 厦门大学 | Gauge and wheel pressure self-adaptive rail gnawing prevention walking device |
| CN113696202B (en) * | 2021-10-29 | 2022-01-28 | 北京红山信息科技研究院有限公司 | Inspection robot clamping device and inspection robot |
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2022
- 2022-09-28 CN CN202211188367.1A patent/CN115383720B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2390155A1 (en) * | 2010-05-28 | 2011-11-30 | Construcciones Y Auxiliar de Ferrocarriles, S.A. | Displaceable rolling bogie for railway vehicles |
| CN110253536A (en) * | 2019-07-24 | 2019-09-20 | 杨小飞 | A kind of track machine people |
| CN112141134A (en) * | 2020-09-18 | 2020-12-29 | 北京天润海图科技有限公司 | Rail car running gear |
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| CN115383720A (en) | 2022-11-25 |
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