CN117537016A - Electromagnetic power-off braking mechanism for rail-mounted inspection robot - Google Patents
Electromagnetic power-off braking mechanism for rail-mounted inspection robot Download PDFInfo
- Publication number
- CN117537016A CN117537016A CN202311508076.0A CN202311508076A CN117537016A CN 117537016 A CN117537016 A CN 117537016A CN 202311508076 A CN202311508076 A CN 202311508076A CN 117537016 A CN117537016 A CN 117537016A
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- brake
- push rod
- mounting plate
- assembly
- sleeve
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 230000006835 compression Effects 0.000 claims abstract description 18
- 238000007906 compression Methods 0.000 claims abstract description 18
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 31
- 229910052802 copper Inorganic materials 0.000 claims description 31
- 239000010949 copper Substances 0.000 claims description 31
- 241000227287 Elliottia pyroliflora Species 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
- F16D63/008—Brakes acting on a linearly moving member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
- F16D2121/22—Electric or magnetic using electromagnets for releasing a normally applied brake
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/58—Mechanical mechanisms transmitting linear movement
- F16D2125/68—Lever-link mechanisms, e.g. toggles with change of force ratio
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an electromagnetic power-off braking mechanism for a rail-mounted inspection robot, which comprises an electromagnetic driving assembly, a braking execution assembly, a first guide rod, a second guide rod, a first base plate, a second base plate, a first compression spring and a second compression spring, wherein a first mounting plate and a second mounting plate are fixedly connected with the inspection robot, the electromagnetic power-off braking mechanism is arranged between a rail and the inspection robot, the braking execution assembly is arranged above the first mounting plate, and the electromagnetic driving assembly is arranged below the mounting plate.
Description
Technical Field
The invention mainly relates to the technical field of inspection robots, in particular to an electromagnetic power-off braking mechanism for a rail-mounted inspection robot.
Background
The rail hanging inspection robot is used for replacing a manual inspection robot, works along a fixed rail, is usually provided with a plurality of sensors such as a camera, smoke alarm, radar, ultrasonic wave and the like, can collect environmental data, and a rail line needs to avoid a pedestrian passageway, and the rail height is usually set to be 2-3 meters.
The driving moment of the inspection robot is provided by a motor, the driving force is converted by the driving moment, the driving force is finally provided by the friction force of wheels, and the pressure of the wheels to the track is provided by gravity or a compacting device. For a track with a gradient, if the inspection robot is out of control at a high point, potential energy of gravity can cause stall hidden trouble after the inspection robot slides downwards. Therefore, it is important to solve the above problems to design a highly reliable, high braking force brake mechanism.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electromagnetic power-off braking mechanism for a rail-mounted inspection robot, which can provide a rapid, sufficient and continuous braking force for the robot after the robot loses power or stalls and realize resetting after power-on.
An electromagnetic type outage braking mechanism for a rail hanging inspection robot comprises an electromagnetic driving assembly, a braking execution assembly, a guide rod I, a guide rod II, a base plate I, a base plate II, a compression spring I and a compression spring II, wherein the electromagnetic type outage braking mechanism is arranged between a rail and the inspection robot, the first mounting plate I and the second mounting plate II are fixedly connected with the inspection robot, the first mounting plate I is arranged above the second mounting plate II, the braking execution assembly is arranged above the first mounting plate I, a support of the braking execution assembly is fixedly connected with the first mounting plate I, a stopper screw of the braking execution assembly is connected with a push rod I of the electromagnetic driving assembly through a rotating pair, the guide rod I and the guide rod II are fixedly connected with the first mounting plate, the electromagnetic driving assembly is arranged below the mounting plate I and the guide rod II form a translation pair, the compression spring I and the compression spring II penetrate through the guide rod I and the guide rod II and are arranged between a magnet mounting plate of the electromagnetic driving assembly and the second mounting plate II, and the base plate I and the base plate II are fixedly connected.
The electromagnetic driving assembly comprises an electromagnet I, an electromagnet II, an electromagnet mounting plate, a push rod I, a copper sleeve I and a copper sleeve II, wherein the electromagnet I and the electromagnet II are symmetrically arranged on two sides of the electromagnet mounting plate, the copper sleeve I and the copper sleeve II are fixedly connected with the electromagnet mounting plate, the copper sleeve I and the copper sleeve II form a translation pair with a guide rod I and a guide rod II, one end of the push rod I is fixedly connected with the electromagnet mounting plate, the other end of the push rod I is connected with a stopper screw, the electromagnet provides main power, the electromagnetic driving assembly moves axially along the copper sleeve as a rigid body, and the push rod I drives the brake executing assembly.
The brake execution assembly comprises a first sleeve, a second push rod, a third push rod, a first brake block, a second brake block, a first support, a second support, a third support, a fourth support, a first connecting shaft, a second connecting shaft, a stopper screw, a third copper sleeve and a fourth copper sleeve, wherein the first support and the second support are fixedly connected with the first connecting shaft to form a first group of fixedly connected supports, the third support and the fourth support are fixedly connected with the second connecting shaft to form a second group of fixedly connected supports, the two groups of fixedly connected supports are symmetrical about the first push rod of the electromagnetic drive assembly, the first support, the second support, the third support and the fourth support are fixedly connected with the mounting plate, the first sleeve and the second sleeve respectively form a rotating pair with the first connecting shaft and the second connecting shaft, the second push rod and the third push rod respectively form a translation pair with the first sleeve and the second sleeve, the fifth copper sleeve and the sixth copper sleeve respectively fixedly connect with the second push rod and the third connecting shaft, the first brake block and the second brake block respectively fixedly connect with the second push rod and the third copper sleeve, and the stopper screw sequentially penetrates the third copper sleeve and the first copper sleeve and the fourth copper sleeve of the electromagnetic drive assembly, and is screwed by nuts.
An electromagnetic power-off braking mechanism for a rail-hanging inspection robot is arranged between the inspection robot and a track, a first mounting plate and a first push rod are matched with a hole to serve as the center of the braking mechanism, a first guide rod and a second guide rod are symmetrically arranged along the center, a first copper sleeve and a second copper sleeve of an electromagnetic driving assembly are matched with the first guide rod and the second guide rod to form a translation pair, a first support, a second support, a third support and a fourth support of a braking execution assembly are symmetrically arranged respectively, the first push rod is connected with a stopper screw, linear motion of the first push rod is converted into rotation of a first braking block and a second braking block around a first connecting shaft and a second connecting shaft and resultant motion of linear motion along a first sleeve and a second sleeve through the braking execution assembly, a connecting rod mechanism of the braking execution assembly increases the working stroke of the first braking block, a first cushion block and a second cushion block are fixedly connected with the second mounting plate, and two ends of a spring I and a second spring are pressed against the mounting plate and an electromagnet mounting plate.
An electromagnetic power-off braking mechanism for a rail-mounted inspection robot is characterized in that the initial position of an electromagnetic driving assembly is a lower working position, and a compression spring I and a compression spring II are pressed; in the process from power on to power off, the electromagnetic driving assembly and the brake executing assembly move upwards against self gravity under the combined action of spring force and magnetic force, the magnetic force is rapidly increased along with the decrease of the distance between the electromagnet and the first mounting plate, the electromagnet is tightly attached to the first mounting plate, the magnetic force is stabilized to be maximum, the electromagnetic driving assembly reaches an upper working position, and the first brake block and the second brake block are tightly pressed against the lower surface of the rail under the action of the brake executing assembly; in the process from power off to power on, the magnetic force of the electromagnet is zero, and the sum of the elastic force of the first compression spring and the elastic force of the second compression spring is far smaller than the gravity of the electromagnetic driving assembly and the brake executing assembly at the upper working position, so that the electromagnetic driving assembly and the brake executing assembly move downwards and finally reach the lower working position. The invention can realize the functions of quickly providing stable and continuous braking force after the electromagnetic power-off braking mechanism is powered off, automatically resetting and eliminating the braking force after the electromagnetic power-off braking mechanism is powered on.
Drawings
FIG. 1 is an overall appearance of the present invention;
FIG. 2 is a schematic structural view of an electromagnetic drive assembly according to the present invention;
FIG. 3 is a schematic illustration of the construction of a brake actuation assembly of the present invention;
FIG. 4 is a general schematic of the upper working position of the present invention;
fig. 5 is an overall schematic of the present invention in a lower operating position.
The reference numerals in the drawings are as follows:
the brake device comprises a brake block II (1), a push rod III (2), a sleeve I (3), a support I (4), a connecting shaft I (5), a support II (6), a mounting plate I (7), an electromagnet I (8), a copper bush I (9), a mounting plate II (10), a backing plate I (11), a compression spring I (12), a guide rod I (13), a compression spring II (14), a guide rod II (15), a backing plate II (16), an electromagnet mounting plate (17), a copper bush II (18), an electromagnet II (19), a support IV (20), a connecting shaft II (21), a sleeve II (22), a support III (23), a push rod II (24), a brake block I (25), a copper bush I (26), a push rod I (27), a copper bush II (28), a copper bush IV (29), a plug screw (30) and a copper bush III (31).
Detailed description of the preferred embodiments
The invention is further described with reference to fig. 1 to 5:
fig. 1 is an overall appearance diagram of the invention, a first mounting plate (7) and a second mounting plate (10) are arranged up and down and are fixedly connected with a patrol robot, a first guide rod (13) and a second guide rod (15) are fixedly connected with the first mounting plate (7) through threads, a copper sleeve I (9) and a copper sleeve II (18) of an electromagnetic driving assembly and the first guide rod (13) and the second guide rod (15) form a translation pair, the electromagnetic driving assembly can integrally move along the first guide rod (13) and the second guide rod (15), a first bracket (4), a second bracket (6), a third bracket (23) and a fourth bracket (20) of a brake executing assembly are fixedly connected above the first mounting plate (7), a first compression spring (12) and a second compression spring (14) penetrate through the first guide rod (13) and the second guide rod (15), two ends respectively press an electromagnet mounting plate (17) and the second mounting plate (10), and a backing plate I (11) and a backing plate II (16) are fixedly connected with the second mounting plate (10).
Fig. 2 is a schematic structural diagram of an electromagnetic driving assembly of the invention, wherein an electromagnet I (8), an electromagnet II (19), a copper sleeve I (26), a copper sleeve II (28) and a push rod I (27) are fixedly connected with an electromagnet mounting plate (17) and are symmetrically arranged.
FIG. 3 is a schematic structural view of a brake actuating assembly of the present invention, wherein a first bracket (4) and a second bracket (6) are fixedly connected with a first mounting plate (7) and a first connecting shaft (5), a first sleeve (3) and the first connecting shaft (5) form a rotating pair, a second push rod (24) and the first sleeve (3) form a translation pair, a first brake block (25) is fixedly connected with the second push rod (24), and a third copper sleeve (31) is fixedly connected with the second push rod (24); according to the design principle of symmetrical arrangement, the third bracket (23), the fourth bracket (20), the second connecting shaft (21), the second sleeve (22), the third push rod (2), the second brake block (1) and the fourth copper sleeve (29) are consistent with the connection modes of the similar parts; the stopper bolt (30) sequentially passes through the inner hole of the third copper bush (31), the first push rod (27) and the fourth copper bush (29) of the electromagnetic driving assembly, and the second push rod (24) and the third push rod (2) have rotational freedom degree with the stopper bolt.
Fig. 4 is an overall schematic diagram of the upper working position of the present invention, in which the electromagnetic power-off braking mechanism is located at the upper working position, the first electromagnet (8) and the second electromagnet (19) are tightly attached to the first mounting plate (7), and the first brake block (25) and the second brake block (1) are located at the highest position under the action of the link mechanism of the brake actuating assembly and press the lower surface of the rail.
Fig. 5 is an overall schematic diagram of the lower working position of the invention, in which the electromagnetic power-off braking mechanism is located at the lower working position, the electromagnet mounting plate (17) falls on the first backing plate (11) and the second backing plate (16), and the first braking block (25) and the second braking block (1) are located at the lowest position under the action of the link mechanism of the braking execution assembly.
According to the electromagnetic power-off braking mechanism for the rail-hanging inspection robot, the electromagnetic driving assembly integrally has a translational degree of freedom along the first guide rod (13) and the second guide rod (15), the stopper screw (30) of the braking execution assembly and the first push rod (27) of the electromagnetic braking assembly have a rotational degree of freedom, the movement of the first brake block (25) and the second brake block (1) is the rotation of the first sleeve (3) and the second sleeve (22), the combined movement of the second push rod (24) and the third push rod (2) along the linear movement of the first sleeve (3) and the second sleeve (22) is the driving piece of the braking execution assembly, the first push rod (27) has a one-to-one correspondence with the first brake block (25) and the second brake block (1), when the first push rod (27) is located at the highest point, namely the upper working position, the first brake block (25) and the second brake block (1) are located at the highest point, and the upper end surface of the rail is approximately horizontal, and when the first push rod (27) is located at the lowest point, namely the lower working position and the first brake block (25) and the second brake block (1) are located at the lowest.
The electromagnetic power-off braking mechanism for the rail-hanging inspection robot is characterized in that a working position is controlled by a power-on state, when the mechanism is electrified, a braking device does not provide braking force, at the moment, an electromagnetic driving assembly and a braking executing assembly are always located at a lower working position under the action of gravity, a first backing plate (11) and a second backing plate (16) bear the electromagnetic driving assembly and the braking executing assembly, when the power-on state is converted to the power-off state, the braking mechanism is initially located at the lower working position, an electromagnet I (8) and an electromagnet II (19) have magnetic force pointing to a mounting plate I (7), the electromagnetic driving assembly and the braking executing assembly move upwards against the gravity under the combined action of the magnetic force and the elastic force of a spring, the magnetic force is increased along with the reduction of the distance, the movement process is accelerated, and the electromagnetic driving assembly and the braking executing assembly move to an upper working position from the lower working position, a first push rod (27) pushes a connecting rod mechanism of the braking executing assembly, so that a first braking block (25) and a second braking block (1) are located at the highest point, the lower surface of a rail is pressed, and the braking mechanism provides braking force after power failure is realized. When the brake mechanism is switched from the power-off state to the power-on state, the brake mechanism is initially positioned at the upper working position, the electromagnet I (8) and the electromagnet II (19) lose magnetic force, the electromagnetic driving assembly and the brake executing assembly descend from the upper working position to the lower working position under the action of gravity, and the brake block I (25) and the brake block II (1) are separated from the surface of the track, so that the brake mechanism eliminates braking force.
Claims (5)
1. An electromagnetic type outage braking mechanism for hanging rail inspection robot, its characterized in that: the brake device comprises an electromagnetic driving assembly, a brake executing assembly, a first guide rod, a second guide rod, a first base plate, a second base plate, a first compression spring and a second compression spring; the electromagnetic power-off braking mechanism is arranged between the track and the robot, the inspection robot is provided with a first mounting plate and a second mounting plate for mounting the braking mechanism, the first mounting plate and the second mounting plate are fixedly connected with the inspection robot, and the first mounting plate is arranged above the second mounting plate; the brake execution assembly is arranged above the mounting plate I, a bracket of the brake execution assembly is fixedly connected with the mounting plate I, and a stopper screw of the brake execution assembly is connected with the push rod I of the electromagnetic driving assembly through a rotating pair; the first guide rod and the second guide rod are fixedly connected with the first mounting plate, the electromagnetic driving assembly is arranged below the mounting plate and forms a translation pair with the first guide rod and the second guide rod, the first compression spring and the second compression spring penetrate through the first guide rod and the second guide rod and are arranged between the magnet mounting plate and the second mounting plate of the electromagnetic driving assembly, and the first base plate is fixedly connected with the second base plate.
2. The electromagnetic power-off braking mechanism for a rail-mounted inspection robot according to claim 1, wherein: the electromagnetic driving assembly comprises an electromagnet I (8), an electromagnet II (19), an electromagnet mounting plate (17), a push rod I (27), a copper sleeve I (26) and a copper sleeve II (28), wherein the electromagnet I (8), the electromagnet II (19), the copper sleeve I (26), the copper sleeve II (28) and the push rod I (27) are fixedly connected with the electromagnet mounting plate (17) and symmetrically arranged.
3. The electromagnetic power-off braking mechanism for a rail-mounted inspection robot according to claim 1, wherein: the brake executing assembly comprises a first sleeve (3), a second sleeve (22), a second push rod (24), a third push rod (2), a first brake block (25), a second brake block (1), a first support (4), a second support (6), a third support (23), a fourth support (20), a first connecting shaft (5), a second connecting shaft (21), a plugging screw (30), a third copper sleeve (31) and a fourth copper sleeve (29); the first bracket (4) and the second bracket (6) are fixedly connected with the first mounting plate (10) and the first connecting shaft (5), the first sleeve (3) and the first connecting shaft (5) form a rotating pair, the second push rod (24) and the first sleeve (3) form a translation pair, the first brake block (25) is fixedly connected with the second push rod (24), and the third copper sleeve (31) is fixedly connected with the second push rod (24); according to the design principle of symmetrical arrangement, the third bracket (23), the fourth bracket (20), the second connecting shaft (21), the second sleeve (22), the third push rod (2), the second brake block (1) and the fourth copper sleeve (29) are consistent with the connection modes of the similar parts; the stopper bolt (30) sequentially passes through the inner hole of the third copper bush (31), the first push rod (27) of the electromagnetic driving assembly and the inner hole of the fourth copper bush (29), and the second push rod (24), the third push rod (2) and the stopper bolt have rotational freedom degrees.
4. An electromagnetic power-off braking mechanism for a rail-mounted inspection robot according to claims 1 to 3, characterized in that: the electromagnetic driving assembly integrally has a translational degree of freedom along the guide rod I (13) and the guide rod II (15), the stopper screw (30) of the brake actuating assembly has a rotational degree of freedom with the push rod I (27) of the electromagnetic brake assembly, the movement of the brake block I (25) and the brake block II (1) is the rotation of the sleeve I (3) and the sleeve II (22), the resultant movement of the linear movement of the push rod II (24) and the push rod III (2) along the sleeve I (3) and the sleeve II (22) is the driving piece of the brake actuating assembly, the position of the push rod I (27) has a one-to-one correspondence with the brake block I (25) and the brake block II (1), when the push rod I (27) is located at the highest point, namely the upper working position, the brake block I (25) and the brake block II (1) are located at the highest point, and when the push rod I (27) is located at the lowest point, namely the lower working position.
5. An electromagnetic power-off braking mechanism for a rail-mounted inspection robot according to claims 1 to 3, characterized in that: the electromagnetic power-off braking mechanism controls the working position by the power-on and power-off state, when the electromagnet is electrified, the braking device does not provide braking force, at the moment, the electromagnetic driving assembly and the braking execution assembly are always positioned at the lower working position under the action of gravity, and the first base plate (11) and the second base plate (16) bear the electromagnetic driving assembly and the braking execution assembly; when the electromagnet is powered off, the brake mechanism is initially positioned at a lower working position, the electromagnet I (8) and the electromagnet II (19) have magnetic force pointing to the mounting plate I (7), the electromagnetic driving assembly and the brake executing assembly move upwards against gravity under the combined action of the magnetic force and the spring force, the magnetic force increases along with the distance reduction, the movement process is accelerated movement, the electromagnetic driving assembly and the brake executing assembly move from the lower working position to an upper working position, the push rod I (27) pushes the connecting rod mechanism of the brake executing assembly to enable the brake block I (25) and the brake block II (1) to be positioned at the highest point and compress the lower surface of the track, and the brake mechanism provides braking force at the moment; when the brake mechanism is switched from the power-off state to the power-on state, the brake mechanism is initially positioned at the upper working position, the electromagnet I (8) and the electromagnet II (19) lose magnetic force, the electromagnetic driving assembly and the brake executing assembly move from the upper working position to the lower working position under the action of gravity, the brake block I (25) and the brake block II (1) are separated from the surface of the track, and the brake mechanism eliminates braking force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508076.0A CN117537016A (en) | 2023-11-13 | 2023-11-13 | Electromagnetic power-off braking mechanism for rail-mounted inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508076.0A CN117537016A (en) | 2023-11-13 | 2023-11-13 | Electromagnetic power-off braking mechanism for rail-mounted inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117537016A true CN117537016A (en) | 2024-02-09 |
Family
ID=89783564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311508076.0A Pending CN117537016A (en) | 2023-11-13 | 2023-11-13 | Electromagnetic power-off braking mechanism for rail-mounted inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117537016A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118030743A (en) * | 2024-04-12 | 2024-05-14 | 西安博深安全科技股份有限公司 | Mechanical transmission brake device of rail-mounted inspection robot |
| CN118030743B (en) * | 2024-04-12 | 2024-06-25 | 西安博深安全科技股份有限公司 | Mechanical transmission brake device of rail-mounted inspection robot |
-
2023
- 2023-11-13 CN CN202311508076.0A patent/CN117537016A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118030743A (en) * | 2024-04-12 | 2024-05-14 | 西安博深安全科技股份有限公司 | Mechanical transmission brake device of rail-mounted inspection robot |
| CN118030743B (en) * | 2024-04-12 | 2024-06-25 | 西安博深安全科技股份有限公司 | Mechanical transmission brake device of rail-mounted inspection robot |
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