CN204506894U - Flat truck assembly and system - Google Patents
Flat truck assembly and system Download PDFInfo
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- CN204506894U CN204506894U CN201520087710.2U CN201520087710U CN204506894U CN 204506894 U CN204506894 U CN 204506894U CN 201520087710 U CN201520087710 U CN 201520087710U CN 204506894 U CN204506894 U CN 204506894U
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- flat truck
- flat
- jack
- truck assembly
- braking
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Abstract
The utility model discloses a kind of flat truck assembly and system, comprise at least two the first flat trucks; Advancing jack, is arranged between two adjacent the first flat trucks, promotes described first flat truck and move when described advancing jack stretches; Brake equipment, is arranged on each described first flat truck, and described brake equipment is used for fixing described first flat truck.The flat truck assembly that the utility model provides and system, by the movement of flexible first flat truck controlled in flat truck assembly of advancing jack, thus drive the movement of the second flat truck be connected with flat truck assembly, to reach the object that can make the second flat truck movement without the need to electric locomotive or winch traction, can use manpower and material resources sparingly, increase work efficiency.
Description
Technical field
The utility model embodiment relates to mine car technical field, particularly relates to a kind of flat truck assembly and system.
Background technology
Flat truck is a kind of common equipment of underground coal mine transport, can be used for transportation device, material etc.Flat truck can be organized into groups by many cars in use and be used, between adjacent flat wooden handcart, connect into an entirety with round-link chain or connecting panel.
Fig. 1 is classic flat-plate bassinet structure schematic diagram in prior art, and as shown in Figure 1, classic flat-plate car forms primarily of car body 101, vehicle wheel component 102, bearing pin 103, latch 107.Car body 101 is rivet welding part, is mainly carrying use, and vehicle wheel component 102 is assembled by axle, wheel etc., is mainly the rotatable parts of whole car, and car body 101 is mainly connected as a whole with vehicle wheel component 102 by bearing pin 103, and latch 104 is for connecting many flat trucks.
Classic flat-plate car does not possess propulsion source, usually needs with locomotive haulage or draw with winch thus classic flat-plate car is orbited in actual production.The flat truck transporting material at coal mine down-hole tunnel back and forth generally uses locomotive haulage, have the advantages that manoevreability is high, but electric locomotive cost is higher and need be equipped with a dedicated driver, the problem that winch needs the often movement along with the propelling of coal-face is there is again with winch traction, waste time and energy very much, therefore no matter be with locomotive haulage or with winch traction classic flat-plate car, in use all there is inconvenience, take time and effort.
Utility model content
The utility model provides a kind of flat truck assembly and system, in order to solve classic flat-plate car need with locomotive haulage or with winch traction, thus in use inconvenience and the problem taken time and effort.
The utility model provides a kind of flat truck assembly on the one hand, comprising:
At least two the first flat trucks;
Advancing jack, is arranged between two adjacent the first flat trucks, drives described first flat truck to move when described advancing jack is used for flexible;
Brake equipment, is arranged on each described first flat truck, and described brake equipment is used for fixing described first flat truck.
Further, described advancing jack comprises plunger shaft, rod end chamber, cylinder body and piston rod, described piston rod can stretch in described cylinder body, described plunger shaft promotes described piston rod and stretches out described cylinder body when being used for being filled with liquid, promote cylinder body described in described piston rod indentation when described rod end chamber is used for being filled with liquid.
Further, described brake equipment comprises:
Braking jack, moves for driving fork;
Slipper, for clamping the track at described first flat truck place, with fixing described first flat truck;
Described fork, is connected between described braking jack and described slipper, and described fork is used for departing from described track to the outer side oscillation of described track to make described slipper, and to described track wobble to make described slipper pressure on the track.
Further, described first flat truck comprises:
Car body;
Vehicle wheel component;
Bearing pin, described bearing pin interts on described car body and described vehicle wheel component, for fixing described car body and described vehicle wheel component.
Further, described brake equipment also comprises:
First emulsion power pack, is connected with described braking jack, and described first emulsion power pack stretches for controlling described braking jack.
Further, described brake equipment also comprises spring, and described spring is in compressive state.
Further, described brake equipment also comprises:
Second emulsion power pack, is connected with described advancing jack, for being filled with liquid to described plunger shaft or described rod end chamber.
The utility model provides a kind of flat truck system on the other hand, and comprise above-described flat truck assembly, also comprise at least one second flat truck, described second flat truck is connected with the first flat truck in described flat truck assembly.
The flat truck assembly that the utility model provides and system, by the movement of flexible first flat truck controlled in flat truck assembly of advancing jack, thus drive the movement of the second flat truck be connected with flat truck assembly, to reach the object that can make the second flat truck movement without the need to electric locomotive or winch traction, the flat truck assembly that the utility model provides and system are in use easily and effectively, can use manpower and material resources sparingly, increase work efficiency.
Accompanying drawing explanation
Fig. 1 is classic flat-plate bassinet structure schematic diagram in prior art;
The structural representation of the flat truck assembly that Fig. 2 provides for the utility model embodiment one;
The structural representation being provided with the first flat truck of brake equipment that Fig. 3 provides for the utility model embodiment one;
The structural representation of the advancing jack that Fig. 4 provides for the utility model embodiment two;
The structural representation of the brake equipment that Fig. 5 provides for the utility model embodiment two;
A kind of structural representation of the flat truck assembly that Fig. 6 provides for the utility model embodiment two;
The another kind of structural representation of the flat truck assembly that Fig. 7 provides for the utility model embodiment two;
The structural representation of the flat truck system that Fig. 8 provides for the utility model embodiment three.
Description of reference numerals:
1: the first flat truck; 2: advancing jack; 3: brake equipment;
4: the first emulsion power packs; 5: the second emulsion power packs; 6: the first maneuvering valves;
7: the second maneuvering valves; 8: the second flat trucks; 11: main first flat truck;
12: secondary first flat truck; 800: flat truck assembly; 101: car body;
102: vehicle wheel component; 103: bearing pin; 104: front-wheel;
105: trailing wheel; 106: latch; 201: plunger shaft;
202: cylinder body; 203: piston rod; 204: rod end chamber;
302: spring; 303: platen; 301: braking jack;
305: fork; 306: connecting rod; 304: bearing pin;
308: slipper; 309: brake equipment frame; 307: guide rod.
Detailed description of the invention
Embodiment one
The structural representation of the flat truck assembly that Fig. 2 provides for the utility model embodiment one, as shown in Figure 2, the flat truck assembly that the present embodiment provides comprises: at least two the first flat trucks 1, advancing jack 2 and brake equipments 3.
Wherein, advancing jack 2 is arranged between two adjacent the first flat trucks 1, and advancing jack 2 moves for driving the first flat truck 1; Brake equipment 3, be arranged on each first flat truck 1, brake equipment 3 is for fixing the first flat truck 1.
Concrete, the two ends of advancing jack 2 are all connected with the first flat truck 1, when advancing jack 1 extends shortening, connected first flat truck 1 can be driven to move.Brake equipment 3 is arranged on the first flat truck 1, the structural representation of the first flat truck that Fig. 3 provides for the utility model embodiment one, as shown in Figure 3, between the front-wheel 104 that brake equipment 3 specifically can be arranged on the first flat truck 1 and trailing wheel 105, for by fixing in orbit for the first flat truck 1, the first flat truck 1 cannot be moved.According to actual conditions, brake equipment 3 can certainly be arranged on other positions of the first flat truck 1, not limit at this.
The flat truck assembly that the present embodiment provides, by the movement of flexible first flat truck 1 controlled in flat truck assembly of advancing jack 2, to reach the object that can make the movement of flat truck assembly without the need to electric locomotive or winch traction, thus use manpower and material resources sparingly, increase work efficiency.
Embodiment two
The present embodiment does further supplemental instruction on the basis of above-described embodiment.The flat truck assembly that the present embodiment provides comprises: at least two the first flat trucks 1, advancing jack 2 and brake equipments 3.
Concrete, as shown in Figure 3, the first flat truck 1 comprises car body 101, vehicle wheel component 102 and bearing pin 103, and bearing pin 103 interts on car body 101 and vehicle wheel component 102, for fixing car body 101 and vehicle wheel component 102.
The structural representation of the advancing jack that Fig. 4 provides for the utility model embodiment two, as shown in Figure 4, advancing jack 2 comprises plunger shaft 201, rod end chamber 204, cylinder body 202 and piston rod 203, piston rod 203 can stretch in cylinder body 202, promoting piston rod 203 when plunger shaft 201 is for being filled with liquid and stretch out cylinder body 202, when rod end chamber 204 is for being filled with liquid, promoting piston rod 203 indentation cylinder body 202.
The structural representation of the brake equipment that Fig. 5 provides for the utility model embodiment two, as shown in Figure 5, brake equipment 3 comprises: braking jack 301, slipper 308 and fork 305.Wherein, brake jack 301 to move for driving fork 305; Slipper 308 for clamping the track at the first flat truck 1 place, to fix the first flat truck 1; Fork 305 is connected between braking jack 301 and slipper 308, and fork 305 de-orbits to make slipper 308 for the outer side oscillation to track, and presses in orbit to track wobble to make slipper 308.When slipper 308 de-orbits, the first flat truck 1 is in movable state, and when slipper 308 is pressed in orbit, the first flat truck 1 is in braking mode.
Further, as shown in Figure 5, brake equipment 3 also comprises spring 302, and spring 302 is in compressive state.Spring 302 can compress when braking jack 301 and compressing, and the elastic force that spring 302 produces when compressing need be less than the pressure to spring 302 when braking jack 301 shortens, and so just can enable braking jack 301 Compress Spring 302 when shortening.The maximum compressibility of spring 302 is more than or equal to 50 millimeters.
Concrete, as shown in Figure 5, brake equipment 3 also comprises platen 303, bearing pin 304, connecting rod 306, guide rod 307 and brake equipment frame 309.Platen 303 departs from braking jack 301 for stoping spring 302, and bearing pin 304 is for connecting braking jack 301 and fork 305, and connecting rod 306 is for connecting fork 305 and brake equipment frame 309, and guide rod 307 is for connecting fork 305 and slipper 308.
When the first flat truck is in non-mode of operation, because spring 302 is in compressive state, therefore its can have an outside thrust to platen 303, thus the piston rod 203 of braking jack 301 is extended, when braking jack 301 and extending, fork 305 can be promoted move with one end of being connected of braking jack 301, because fork 305 has connecting rod 306 to be connected with brake equipment frame 309 by fork 305 away from the one end of braking jack 301, limit the movement of fork 305 away from one end of braking jack 301, now, connecting rod 306 is as hinge-point, make the guide rod 307 be connected with fork 305 other end can promote slipper 308 and compress track, thus play brake action, the first flat truck 1 is made to be in braking mode.
In addition, when braking jack 301 and shortening, the one end that fork 305 can be pulled to be connected with braking jack 301 is moved, because connecting rod 306 limits the movement of fork 305 away from one end of braking jack 301, connecting rod 306 is as hinge-point, make guide rod 307 that slipper 308 can be pulled away from track, thus brake off effect, now the first flat truck 1 is in movable state.
Further, the structural representation of the flat truck assembly that Fig. 6 provides for the utility model embodiment two, as shown in Figure 6, the flat truck assembly that the present embodiment provides also comprises the first emulsion power pack 4.First emulsion power pack 4 is connected with braking jack 301, and the first emulsion power pack 4 stretches for controlling braking jack 301.
Concrete, the first emulsion power pack 4 is connected with the braking jack 301 in brake equipment 3 by the first maneuvering valve 6 as shown in Figure 7, brakes the flexible of jack 301 for controlling.The structure of braking jack 301 is identical with the structure of advancing jack 2, as shown in Figure 4, braking jack 301 comprises plunger shaft 201, rod end chamber 204, cylinder body 202 and piston rod 203, piston rod 203 can stretch in cylinder body 202, promote piston rod 203 when plunger shaft 201 is for being filled with liquid and stretch out cylinder body 202, thus braking jack 301 is extended; Promote piston rod 203 indentation cylinder body 202 when rod end chamber 204 is for being filled with liquid, thus braking jack 301 is shortened.
First emulsion power pack 4 controls the flexible of multiple braking jack 301 by the first maneuvering valve 6.
Further, as shown in Figure 6, the flat truck assembly that the present embodiment provides also comprises the second emulsion power pack 5.Second emulsion power pack 5 is connected with advancing jack 2, for being filled with liquid to plunger shaft 201 or rod end chamber 204.
Concrete, second emulsion power pack 5 is connected with advancing jack 2 by the second maneuvering valve 7 as shown in Figure 7, for being filled with liquid to plunger shaft 201 or rod end chamber 204, when being filled with liquid to plunger shaft 201, piston rod 203 can be promoted stretch out outside cylinder body 202, thus advancing jack 2 is extended; When being filled with liquid to rod end chamber 204, can promoting in piston rod 203 retraction cylinder body 202, thus advancing jack 2 is shortened.Second emulsion power pack 5 controls the flexible of multiple advancing jack 2 by the second maneuvering valve 7.Above-mentioned first emulsion power pack 4 and the second emulsion power pack 5 can be same emulsion power packs, also can be different emulsion power packs, first maneuvering valve 6 and the second maneuvering valve 7 can be same maneuvering valves, also can be different maneuvering valves, specifically in the light of actual conditions can select, not limit at this.
Now be described for the carrying out practically process of two the first flat trucks 1 to embodiment two middle plateform car assembly, certainly, the quantity of the first flat truck 1 specifically can in the light of actual conditions be arranged, and does not limit at this.The another kind of structural representation of the flat truck assembly that Fig. 7 provides for the utility model embodiment two, as shown in Figure 7, for convenience, two the first flat trucks 1 in flat truck assembly are called main first flat truck 11 and secondary first flat truck 12, the difference of two the first flat truck 1 titles is only used to better distinguish two the first flat trucks 1 when describing, and does not illustrate that main first flat truck 11 and secondary first flat truck 12 are different.
One end of advancing jack 2 connects main first flat truck 11, other end auxiliary connection first flat truck 12, advancing jack 2 is also connected with the second emulsion power pack 5 by the second maneuvering valve 7, main first flat truck 11 and secondary first flat truck 12 are provided with brake equipment 3, between the front-wheel 104 that brake equipment 3 specifically can be arranged on main first flat truck 11 and secondary first flat truck 12 and trailing wheel 105, the braking jack 301 in brake equipment 3 is connected with the first emulsion power pack 4 by the first maneuvering valve 6.In the present embodiment, main first flat truck 11 is all connected with the first maneuvering valve 6 with the brake equipment 3 that secondary first flat truck 12 is arranged, the plunger shaft 201 of the braking jack 301 of main first flat truck 11 connects together by sebific duct with the rod end chamber 204 of the braking jack 301 of secondary first flat truck 12, is then connected to the first maneuvering valve 6.The first maneuvering valve 6 can be made like this when the braking jack 301 controlling main first flat truck 11 extends, the braking jack 301 simultaneously controlling secondary first flat truck 12 shortens, or make the first maneuvering valve 6 when the braking jack 301 controlling main first flat truck 11 shortens, the braking jack 301 simultaneously controlling secondary first flat truck 12 extends, and is in braking mode or movable state when making main first flat truck 11 different with secondary first flat truck 12.
When flat truck assembly does not work, because the spring 302 on main first flat truck 11 and the respective brake equipment 3 of secondary first flat truck 12 is in compressive state, therefore its can have an outside thrust to platen 303, thus the piston rod 203 of braking jack 301 is extended, when braking jack 301 and extending, fork 305 can be promoted move with one end of being connected of braking jack 301, because fork 305 has connecting rod 306 to be connected with brake equipment frame 309 by fork 305 away from the one end of braking jack 301, limit the movement of fork 305 away from one end of braking jack 301, now, connecting rod 306 is as hinge-point, make the guide rod 307 be connected with fork 305 other end can promote slipper 308 and compress track, thus play brake action, main first flat truck 11 and secondary first flat truck 12 is made all to be in braking mode.
When flat truck assembly is started working, start the first emulsion power pack 4, start the second emulsion power pack 5.The first step, under the control of the first maneuvering valve 6, liquid in first emulsion power pack 4 is charged in the rod end chamber 204 in the braking jack 301 of main first flat truck 11, now brake jack 301 to shorten, the one end pulling fork 305 to be connected with braking jack 301 is moved, because connecting rod 306 limits the movement of fork 305 away from one end of braking jack 301, now, connecting rod 306 is as hinge-point, make the guide rod 307 be connected with fork 305 other end that slipper 308 can be pulled away from track, thus brake off effect, main first flat truck 11 is made to be in movable state.
Second step, under the control of the second maneuvering valve 7, liquid is filled with in the plunger shaft 201 of advancing jack 2, piston rod 203 is made to stretch out outside cylinder body 202, because now main first flat truck 11 is in movable state, secondary first flat truck 12 is in braking mode, therefore, the elongation of the piston rod 203 of advancing jack 2 can make main first flat truck 11 move towards the direction away from secondary first flat truck 12, and the distance of movement is the distance that piston rod 203 extends.
3rd step, under the control of the first maneuvering valve 6, liquid in first emulsion power pack 4 is filled with in the plunger shaft 201 of the braking jack 301 of main first flat truck 11, now the braking jack 301 of main first flat truck 11 extends, one end that promotion fork 305 is connected with braking jack 301 is moved, and connecting rod 306, as hinge-point, makes guide rod 307 can promote slipper 308 and compresses track, thus play brake action, make main first flat truck 11 be in braking mode.Simultaneously, under the control of the first maneuvering valve 6, liquid is filled with in rod end chamber 204 in the braking jack 301 of secondary first flat truck 12, braking jack 301 is shortened, the one end pulling fork 305 to be connected with braking jack 301 is moved, because connecting rod 306 limits the movement of fork 305 away from one end of braking jack 301, now, connecting rod 306 is as hinge-point, make guide rod 307 that slipper 308 can be pulled away from track, thus brake off effect, make secondary first flat truck 12 be in movable state.
4th step, under the control of the second maneuvering valve 7, liquid is filled with in the rod end chamber 204 of advancing jack 2, make in the piston rod 203 retraction cylinder body 202 of advancing jack 2, because now main first flat truck 11 is in braking mode, secondary first flat truck 12 is in movable state, therefore, the shortening of the piston rod 203 of advancing jack 2 can make secondary first flat truck 12 move towards the direction of main first flat truck 11, and the distance of movement is the distance that piston rod 203 shortens.
Repeat the above-mentioned first step to the 4th step, until flat truck assembly moves to assigned address.
The flat truck assembly that the present embodiment provides, operationally, first, movable state is in by making main first flat truck 11, secondary first flat truck 12 is in braking mode, the piston rod 203 controlling advancing jack 2 extends, and main first flat truck 11 is moved towards the direction away from secondary first flat truck 12; Secondly, braking mode is in by making main first flat truck 11, secondary first flat truck 12 is in movable state, the piston rod 203 controlling advancing jack 2 shortens, and secondary first flat truck 12 is moved towards the direction of main first flat truck 11, constantly repeats said process, until flat truck assembly moves to assigned address, flat truck assembly can be made to reach to move to the object of assigned address without the need to electric locomotive or winch traction, thus use manpower and material resources sparingly, increase work efficiency.
Embodiment three
The structural representation of the flat truck system that Fig. 8 provides for the utility model embodiment three, as shown in Figure 8, the present embodiment provides a kind of flat truck system, comprise the flat truck assembly in above-described embodiment, i.e. flat truck assembly 800, also comprise at least one second flat truck 2, second flat truck 2 to be connected with the first flat truck 1 in flat truck assembly 800.
Concrete, the second flat truck 2 can be multiple, both can be connected with master first flat truck 11 in flat truck assembly 800, also can be connected with pair first flat truck 12 in flat truck assembly 800.
The flat truck system that the present embodiment provides, by the movement of flexible first flat truck 1 controlled in flat truck assembly 800 of the advancing jack 2 in flat truck assembly 800, drive the movement of the second flat truck 2 be connected with flat truck assembly 800 thus, to reach the object that can make the second flat truck 2 movement without the need to electric locomotive or winch traction, thus can use manpower and material resources sparingly, increase work efficiency.
Last it is noted that above embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (8)
1. a flat truck assembly, is characterized in that, comprising:
At least two the first flat trucks;
Advancing jack, is arranged between two adjacent the first flat trucks, and described advancing jack moves for driving described first flat truck;
Brake equipment, is arranged on each described first flat truck, and described brake equipment is used for fixing described first flat truck.
2. flat truck assembly according to claim 1, it is characterized in that, described advancing jack comprises plunger shaft, rod end chamber, cylinder body and piston rod, described piston rod can stretch in described cylinder body, described plunger shaft promotes described piston rod and stretches out described cylinder body when being used for being filled with liquid, promote cylinder body described in described piston rod indentation when described rod end chamber is used for being filled with liquid.
3. flat truck assembly according to claim 1, is characterized in that, described brake equipment comprises:
Braking jack, moves for driving fork;
Slipper, for clamping the track at described first flat truck place, with fixing described first flat truck;
Described fork, is connected between described braking jack and described slipper, and described fork is used for departing from described track to the outer side oscillation of described track to make described slipper, and to described track wobble to make described slipper pressure on the track.
4. the flat truck assembly according to any one of claim 1-3, is characterized in that, described first flat truck comprises:
Car body;
Vehicle wheel component;
Bearing pin, described bearing pin interts on described car body and described vehicle wheel component, for fixing described car body and described vehicle wheel component.
5. flat truck assembly according to claim 3, is characterized in that, also comprise:
First emulsion power pack, is connected with described braking jack, and described first emulsion power pack stretches for controlling described braking jack.
6. flat truck assembly according to claim 5, is characterized in that, described brake equipment also comprises spring, and described spring is in compressive state.
7. flat truck assembly according to claim 2, is characterized in that, also comprise:
Second emulsion power pack, is connected with described advancing jack, for being filled with liquid to described plunger shaft or described rod end chamber.
8. a flat truck system, is characterized in that, comprises the flat truck assembly according to any one of claim 1-7, also comprises at least one second flat truck, and described second flat truck is connected with the first flat truck in described flat truck assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520087710.2U CN204506894U (en) | 2015-02-06 | 2015-02-06 | Flat truck assembly and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520087710.2U CN204506894U (en) | 2015-02-06 | 2015-02-06 | Flat truck assembly and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204506894U true CN204506894U (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520087710.2U Expired - Fee Related CN204506894U (en) | 2015-02-06 | 2015-02-06 | Flat truck assembly and system |
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| CN (1) | CN204506894U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627188A (en) * | 2015-02-06 | 2015-05-20 | 淮南郑煤机舜立机械有限公司 | Flat car assembly and system |
| CN110053647A (en) * | 2019-03-05 | 2019-07-26 | 中船第九设计研究院工程有限公司 | A kind of mechanical braking system for harrowing suction unit vehicle cart |
| CN114954555A (en) * | 2022-05-24 | 2022-08-30 | 华南理工大学 | Multi-connecting-rod brake device based on rail mobile robot |
-
2015
- 2015-02-06 CN CN201520087710.2U patent/CN204506894U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627188A (en) * | 2015-02-06 | 2015-05-20 | 淮南郑煤机舜立机械有限公司 | Flat car assembly and system |
| CN110053647A (en) * | 2019-03-05 | 2019-07-26 | 中船第九设计研究院工程有限公司 | A kind of mechanical braking system for harrowing suction unit vehicle cart |
| CN110053647B (en) * | 2019-03-05 | 2020-08-21 | 中船第九设计研究院工程有限公司 | Mechanical braking system of trailing suction trolley cart |
| CN114954555A (en) * | 2022-05-24 | 2022-08-30 | 华南理工大学 | Multi-connecting-rod brake device based on rail mobile robot |
| CN114954555B (en) * | 2022-05-24 | 2023-05-23 | 华南理工大学 | Multi-connecting-rod brake device based on track mobile robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150729 Termination date: 20190206 |