CN206473796U - Electric supply installation on motor-trolley for amusement - Google Patents
Electric supply installation on motor-trolley for amusement Download PDFInfo
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- CN206473796U CN206473796U CN201720085883.XU CN201720085883U CN206473796U CN 206473796 U CN206473796 U CN 206473796U CN 201720085883 U CN201720085883 U CN 201720085883U CN 206473796 U CN206473796 U CN 206473796U
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- Prior art keywords
- chassis
- guide rail
- articulated elements
- motor
- wire
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Abstract
The utility model provides a kind of electric supply installation on motor-trolley for amusement, including the track supported by the support column of some different heights, track coordinates the chassis slided in orbit provided with several with track, track includes two parallel guide rails and the tie-beam being horizontally set between guide rail, it is provided with and parallel arrangement of two wires of guide rail positioned at the inner side of guide rail on track, the lower end on chassis, which is provided with to match somebody with somebody with wire, is combined into two guiding mechanisms that chassis provides power, two guiding mechanisms, which stagger, to be set and is corresponded respectively with two wires, guiding mechanism includes directive wheel, directive wheel includes the leading truck of U-shaped shape, the lower end inside of leading truck is provided with the roller that can be rolled on corresponding wire, the rotation circumference of roller is provided with the wire casing made electrical contact with corresponding wire, chassis is provided with the power supply interface in electrical contact with the wire casing of roller, the wire casing of roller coordinates with wire drives chassis operation so that electric energy is transported into power supply interface.
Description
Technical field:
The utility model is related to a kind of electric supply installation, more particularly to a kind of electric supply installation on motor-trolley for amusement.
Background technology:
At present the electric supply installation on common motor-trolley for amusement device typically using the conducting bracket in railcar with
The form of skyborne conductive contact is set up, the electric energy for vehicle track running is obtained from wire.Such power supply mode is not only
It is complicated, and underaction, the operation of railcar can be stopped when conducting bracket breaks down, the amusement body of visitor is influenceed
Test, even visitor's personal safety can be threatened when serious.
Utility model content:
In view of above-mentioned the deficiencies in the prior art, the utility model provides a kind of electric supply installation for motor-trolley for amusement, its
Simple in construction, operation is flexible, can provide electric energy for railcar constantly, be not in railcar situation out of service, improves trip
The recreation experience of visitor, effective guarantee visitor's personal safety.
The utility model solves the technical scheme that its technical problem used:
Electric supply installation on motor-trolley for amusement, including the track supported by the support column of some different heights, institute
State track and coordinate the chassis slided in orbit provided with several and track, the track includes two parallel guide rails and horizontal stroke
To the tie-beam being arranged between guide rail, led on the track positioned at the inner side of the guide rail provided with parallel arrangement of two with guide rail
Line, the lower end on the chassis, which is provided with to match somebody with somebody with the wire, is combined into two guiding mechanisms that chassis provides power, described two guiding
Mechanism, which staggers, to be set and is corresponded respectively with two wires, and the guiding mechanism includes directive wheel, the directive wheel bag
The leading truck of U-shaped shape is included, the lower end inside of the leading truck is provided with the roller that can be rolled on corresponding wire, the roller
Rotation circumference be provided with the wire casing made electrical contact with corresponding wire, the chassis is provided with to be electrically connected with the wire casing of the roller
Tactile power supply interface, the wire casing of the roller coordinates with the wire drives the chassis to transport so that electric energy is transported into power supply interface
OK.
The directive wheel is fixedly connected on the lower end on the chassis by an articulated elements, and the articulated elements includes cutting with scissors successively
Preceding articulated elements, middle articulated elements and the rear articulated elements connect, the upper end of the leading truck passes through a fixed column and the preceding articulated elements
Front end is connected, the longitudinally-hinged front end in the middle articulated elements in rear end of the preceding articulated elements, and the rear end of the middle articulated elements is horizontal
To the front end for being articulated with the rear articulated elements, the upper rear end of the rear articulated elements is fixedly connected with the chassis.
The hinged end of the preceding articulated elements and the middle articulated elements is transversely provided with the elastic component with a downward pressure, described
The wire casing of the roller is compressed and is posted by the wire by elastic component.
It is located on the track at up-hill position and is additionally provided with least one drive mechanism, the drive mechanism is included located at simultaneously
Underframe between capable guide rail lower end, the corner of upper surface four of the underframe is respectively equipped with one and fixed with the tie-beam
The supporting leg of connection, the underframe drives provided with driver element and by driver element to be rotated and is set along the setting direction of guide rail
Power wheel, the driver element is connected with drive shaft, and the one end of the drive shaft away from driver element passes through the power wheel
It is flexibly connected afterwards with the underframe, being vertically arranged with below the chassis can coordinate generation frictional force to promote with the power wheel
The friction plate that the chassis is moved toward upward slope direction.
The upper center on the chassis is connected with cockpit, the chassis by dismountable mode is located at the friction plate
Top provided with being connected with the cockpit and be used for the drive component for driving cockpit around the center rotation on chassis.
The drive component includes motor in the middle part of the chassis lower end, defeated with the power of the motor
Go out end connection and the output power of motor driven and the driving wheel that rotates and be meshed and with driving wheel with the driving wheel
The driven pulley for rotating and rotating, the driving wheel is located at the inner side of the driven pulley, and the driving wheel is respectively provided with driven pulley
Upper end in the chassis.
The lower end on the chassis is additionally provided with coasting mechanism, and the coasting mechanism includes removably being horizontally set at
It is socketed with to fix with the chassis lower surface in the middle part of connecting rod between the chassis and the friction plate, the connecting rod and connects
The connecting seat connect, the two ends of the connecting rod be equipped with the vertically disposed wheel carrier of connecting rod, the wheel carrier include upper wheel carrier and
Lower wheel carrier, is fixedly connected between upper wheel carrier and lower wheel carrier by a contiguous block, and the upper wheel carrier is in inverted triangle shape, and two jiaos of its bottom leads to
Cross the mode being flexibly connected and be equipped with two top sheaves fitted with the upper surface of the guide rail, the two ends of the lower wheel carrier pass through
The mode of flexible connection is equipped with two lower sheaves fitted with the lower surface of guide rail, and the top sheave and lower sheave are led with described
Rail is brought into close contact the drive chassis and slided along guide rail.
The bottom of the upper wheel carrier integrally formed with the upper extension extended laterally, the top one of the lower wheel carrier into
Type has the lower extension extended laterally, and the both sides of the contiguous block are located at passes through activity between the upper extension and lower extension
The mode of connection is equipped with two side rollers fitted with the lateral surface of the guide rail.
Compared with prior art, the beneficial effects of the utility model are, what the utility model was provided is used for track of travelling
Two and guide rail parallel arrangement of wire are set on the inside of the electric supply installation on car, guide rail, and guiding mechanism relative set two is oriented to
Mechanism can on wire smooth sliding so that control chassis steering;Meanwhile, the rotation circumference of the roller of guiding mechanism is provided with
The wire casing made electrical contact with wire, by the cooperation of wire casing and wire by electrical energy transportation to chassis, power is provided for the operation on chassis,
Simple in construction, operation is flexible, can provide electric energy for railcar constantly, safety and reliability is stronger, be not in that railcar is stopped
Situation about only running, improves the recreation experience of visitor, effective guarantee visitor's personal safety.
Brief description of the drawings:
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the overall structure diagram of motor-trolley for amusement device of the present utility model;
Fig. 2 is the part-structure schematic diagram of motor-trolley for amusement device of the present utility model;
Fig. 3 is the structural representation of drive mechanism of the present utility model;
Fig. 4 is the structural representation one on chassis of the present utility model;
Fig. 5 is the structural representation two on chassis of the present utility model;
Fig. 6 is the structural representation three on chassis of the present utility model;
Fig. 7 is the decomposing schematic representation of drive component of the present utility model;
Fig. 8 is the structural representation of coasting mechanism of the present utility model;
Fig. 9 is the structural representation of guiding mechanism of the present utility model.
Embodiment:
In order that technical problem, technical scheme and beneficial effect that the utility model is solved are more clearly understood, below
With reference to drawings and Examples, the utility model is further elaborated.It should be appreciated that specific implementation described herein
Example only to explain the utility model, is not used to limit the utility model.
Fig. 1 is refer to, the figure is the overall structure diagram of motor-trolley for amusement device of the present utility model, one kind is travelled rail
Road car device, including the track 1 supported by the support column of some different heights, the track are matched somebody with somebody provided with several with track
Merge the chassis 2 slided in orbit, the track includes two parallel guide rails 11 and the connection being horizontally set between guide rail
Beam 12.The tie-beam can strengthen the connection between guide rail between being horizontally set at guide rail, make track more firm, security is higher.
Further, Fig. 1 is refer to Fig. 3, is located on the track at up-hill position and is additionally provided with least one driving machine
Structure 3, the drive mechanism includes the underframe 31 being located between parallel guide rail lower end, the corner of upper surface four of the underframe
A supporting leg 32 being fixedly connected with the tie-beam is respectively equipped with, the underframe is single provided with driver element 4 and by driving
Member drives the power wheel 5 of the setting direction setting rotated and along guide rail, and the driver element is connected with drive shaft 6, the driving
The one end of axle away from driver element is flexibly connected after passing through the power wheel with the underframe 31.Preferably, the track is upper
Multiple drive mechanisms, and independent operating between drive mechanism are provided with up-hill position, is independent of each other.The lower section on the chassis is longitudinally set
It is equipped with the power wheel to coordinate and produces the friction plate 7 that frictional force promotes the chassis to be moved toward upward slope direction.It is simple in construction,
Power wheel promotes chassis to be moved toward upward slope direction, effectively kept away with coordinating with the friction plate below chassis using the frictional force of generation
Exempt from railcar downslide and cause security incident.
It is understood that driver element can use this area conventional meanses, such as servomotor or variable-frequency motor are watched
The drive shaft connection power wheel of motor or variable-frequency motor is taken, to drive power wheel to rotate;Simultaneously as servomotor or variable-frequency electric
Machine is easily controllable, preferably chassis can be promoted to go up a slope.
The utility model embodiment, preferably can be promoted in railcar by the drive mechanism at track up-hill position
Slope, is prevented effectively from railcar downslide and causes security incident, ensure visitor's personal safety;Further, slope in orbit position is passed through
Multiple drive mechanisms are installed, because drive mechanism uses independent control, the operation between drive mechanism and drive mechanism is mutual not
Influence, safety and reliability is stronger, further ensures tourist security, improves the recreation experience of visitor.
Further, the upper center on the chassis is connected with cockpit, the chassis by dismountable mode and is located at
The top of the friction plate is provided with and is connected with the cockpit and is used for the drive component 8 for driving cockpit around the center rotation on chassis.
Dismountable mode can be regarded as being bolted, and certainly, cockpit can also be connected by other means, the present embodiment is not limited
It is fixed.Cockpit is bolted, can be changed in time when cockpit is damaged, it is ensured that safety.It refer in Fig. 7, the present embodiment,
The drive component includes the motor 81 in the middle part of the chassis lower end, the clutch end company with the motor
Connect and the output power of motor driven and the driving wheel 82 that rotates and be meshed and rotated with driving wheel with the driving wheel
And the driven pulley 83 rotated, the driving wheel 82 is located at the inner side of the driven pulley 83, and the driving wheel is all provided with driven pulley
It is placed in the upper end on the chassis.Preferably, the center rotating of driven pulley and cockpit connect band moving-base cockpit around chassis.The present embodiment
In, the center of the center deviation driven pulley of driving wheel, and the diameter of driven pulley is big compared with the diameter of driving wheel, is easy to preferably driving
Cockpit is rotated, it is to avoid cockpit is connected with driving wheel and causes cockpit velocity of rotation too fast, causes danger, the effective guarantee visitor person
Safety.
Fig. 7 is refer to, further, bottom plate 85 is provided between the driven pulley and the chassis, the bottom plate is provided with
Several connecting poles 851 annular in shape set uniformly at intervals, the outside of the driven pulley is provided with what is contacted with the wheel face of driven pulley
Bearing 84, and the bearing is arranged concentrically with the driven pulley, the edge of the bearing provided with several with the bottom plate
The corresponding connecting hole 841 of connecting pole, the bearing inserts connecting hole to limit the driven pulley in bearing by connecting pole
Side is rotated.The bearing being fixed on bottom plate is set on bottom plate, bottom plate by being set between chassis and driven pulley, driven pulley is in bearing
Rotate, can effectively limit driven pulley and be rotated in bearing, further ensure visitor's personal safety.
Specifically, Fig. 4, Fig. 5 and Fig. 8 are refer to, the lower end on the chassis is provided with coasting mechanism 9, the coasting mechanism bag
Include in the connecting rod 91 being removably horizontally set between the chassis 2 and the friction plate 7, the connecting rod
Portion is socketed with the connecting seat 92 being fixedly connected with the chassis lower surface, and the two ends of the connecting rod are equipped with vertical with connecting rod
The wheel carrier 93 of setting, the wheel carrier includes upper wheel carrier 931 and lower wheel carrier 932, passes through a contiguous block 94 between upper wheel carrier and lower wheel carrier
Be fixedly connected, the upper wheel carrier 931 be in inverted triangle shape, two jiaos of its bottom be equipped with by way of flexible connection two with it is described
The top sheave 95 of the upper surface laminating of guide rail, the two ends of the lower wheel carrier 932 be equipped with by way of flexible connection two with
The lower sheave 96 of the lower surface laminating of guide rail, the top sheave and lower sheave are brought into close contact the drive chassis edge with the guide rail
Guide rail is slided.Simple in construction, top sheave and lower sheave are brought into close contact the drive chassis with the guide rail and slided along guide rail, it is to avoid
Chassis departs from guide rail to cause danger.
More specifically, refer to Fig. 8, the bottom of the upper wheel carrier is integrally formed with the upper extension extended laterally
9311, the top of the lower wheel carrier is integrally formed with the lower extension 9321 extended laterally, and the both sides of the contiguous block are located at
Two are equipped between the upper extension and lower extension by way of flexible connection to fit with the lateral surface of the guide rail
Side roller 97.Simple in construction, the steering on chassis is easy in the setting of side roller, improves the direction controlling ability on chassis, and then improve
The control performance of railcar.
Guide rail can use this area conventional meanses, it is preferable that guide rail can be using two parallel arrangement of pipes, coasting mechanism
Coordinating with pipe makes chassis be slided on guide rail.
Further, Fig. 5, Fig. 6 and Fig. 9 are refer to, the lower end on the chassis is located at the left side or right side of the friction plate
Provided with guiding mechanism, the guiding mechanism is used to rotate the steering for driving the chassis by the setting direction of the guide rail.This reality
Apply in example, the guiding mechanism includes directive wheel 10, the directive wheel is fixedly connected under the chassis by an articulated elements
End, and the articulated elements includes the preceding articulated elements 13, middle articulated elements 14 and the rear articulated elements 15 that are hinged successively, the preceding articulated elements 13
Front end be fixedly connected on the upper end of the directive wheel 10, the rear end of preceding articulated elements 13 is longitudinally-hinged in the middle articulated elements 14
Front end, the rear end of the middle articulated elements is laterally hinged with the front end of the rear articulated elements 15, the rear end of the rear articulated elements 15
Portion is fixedly connected with the chassis 2.Wherein, the connected mode of the longitudinally-hinged front end in middle articulated elements in the rear end of preceding articulated elements is just
The line of travel of car body is adjusted when chassis is in upward slope or descending, the direction controlling ability of railcar is improved;After middle articulated elements
Hold the connected mode being laterally hinged with the front end of rear articulated elements to be easy to chassis to adjust the direction of motion of car body in turning, improve rail
The safety and reliability of road car, it is rational in infrastructure, compact.
Further, the guiding mechanism is provided with the inner side for being located at the guide rail on two, the track provided with leading
Parallel arrangement of two wires 16 of rail, described two guiding mechanisms, which stagger, to be set and is corresponded respectively with two wires,
The directive wheel includes the leading truck 101 of U-shaped shape, and the lower end inside of the leading truck is provided with and can rolled on corresponding wire
Roller 102, the rotation circumference of the roller is provided with the wire casing 1021 made electrical contact with corresponding wire, and the chassis is provided with
The power supply interface in electrical contact with the wire casing of the roller, the wire casing of the roller coordinates electric energy transporting to confession with the wire
Electrical interface drives the chassis operation.In the present embodiment, two and the parallel arrangement of wire of guide rail, Guiding machine are set on the inside of guide rail
Structure relative set two, guiding mechanism can on wire smooth sliding so that control chassis steering;Meanwhile, the rolling of guiding mechanism
The rotation circumference of wheel is provided with the wire casing made electrical contact with wire, is to chassis by electrical energy transportation by the cooperation of wire casing and wire
The operation on chassis provides power, rational in infrastructure.
It is understood that wire can use this area conventional meanses, for example with two parallel arrangement of bare copper wires, copper
Line is made electrical contact with by the wire casing of roller and the power supply interface on chassis drives the chassis to run so that electric energy is transported into power supply interface.
Further, the hinged end of preceding articulated elements and middle articulated elements is transversely provided with the elastic component with a downward pressure, bullet
Property part the wire casing of roller compressed be posted by wire, the wire casing for being prevented effectively from roller departs from wire.Preferably, elastic component is horizontal stroke
To the torsion spring of setting, the wire casing of roller is pressed on wire by torsion spring by the pressure of itself, is easy to electrical energy transportation to chassis,
It is simple in construction.
It is to combine one or more embodiments that particular content is provided as described above, does not assert tool of the present utility model
Body is implemented to be confined to these explanations.It is all approximate with method of the present utility model, structure etc., identical or new for this practicality
Some technology deduction or replace are made under type concept thereof, should all be considered as protection domain of the present utility model.
Claims (8)
1. it is described for the electric supply installation on motor-trolley for amusement, including the track supported by the support column of some different heights
Track coordinates the chassis slided in orbit provided with several and track, and the track includes two parallel guide rails and transverse direction
It is arranged at the tie-beam between guide rail, it is characterised in that:It is provided with and is set parallel with guide rail positioned at the inner side of the guide rail on the track
Two wires put, the lower end on the chassis, which is provided with to match somebody with somebody with the wire, is combined into two guiding mechanisms that chassis provides power, institute
State two guiding mechanisms stagger setting and respectively with two wires correspond, the guiding mechanism include directive wheel, institute
Stating directive wheel includes the leading truck of U-shaped shape, and the lower end inside of the leading truck is provided with the rolling that can be rolled on corresponding wire
Wheel, the rotation circumference of the roller is provided with the wire casing made electrical contact with corresponding wire, and the chassis is provided with and the roller
Wire casing power supply interface in electrical contact, the wire casing of the roller coordinates with the wire to be driven so that electric energy is transported into power supply interface
The chassis operation.
2. the electric supply installation according to claim 1 on motor-trolley for amusement, it is characterised in that:The directive wheel passes through
One articulated elements is fixedly connected on the lower end on the chassis, and the articulated elements includes the preceding articulated elements, the middle articulated elements that are hinged successively
With rear articulated elements, the upper end of the leading truck is connected by a fixed column with the front end of the preceding articulated elements, the preceding articulated elements
The longitudinally-hinged front end in the middle articulated elements in rear end, the rear end of the middle articulated elements is laterally hinged with the rear articulated elements
Front end, the upper rear end of the rear articulated elements is fixedly connected with the chassis.
3. the electric supply installation according to claim 2 on motor-trolley for amusement, it is characterised in that:The preceding articulated elements with
The hinged end of the middle articulated elements is transversely provided with the elastic component with a downward pressure, and the elastic component is by the wire casing of the roller
Compression is posted by the wire.
4. the electric supply installation according to claim 1 on motor-trolley for amusement, it is characterised in that:It is located on the track
At least one drive mechanism is additionally provided with up-hill position, the drive mechanism includes the bottom being located between parallel guide rail lower end
Frame, the corner of upper surface four of the underframe is respectively equipped with a supporting leg being fixedly connected with the tie-beam, the underframe
The power wheel of the setting direction setting rotated and along guide rail, the driving list are driven provided with driver element and by driver element
Member is connected with drive shaft, and the one end of the drive shaft away from driver element passes through movable even with the underframe after the power wheel
Connect, being vertically arranged with below the chassis can coordinate generation frictional force to promote the chassis toward upward slope direction with the power wheel
The friction plate of motion.
5. the electric supply installation according to claim 4 on motor-trolley for amusement, it is characterised in that:The upper end on the chassis
Middle part is connected with cockpit, the chassis to be provided with positioned at the top of the friction plate by dismountable mode to be connected with the cockpit
Connect and be used for the drive component for driving cockpit around the center rotation on chassis.
6. the electric supply installation according to claim 5 on motor-trolley for amusement, it is characterised in that:The drive component bag
The motor in the middle part of the chassis lower end is included, it is connected with the clutch end of the motor and motor driven
The driving wheel for exporting power and rotating and the driven pulley for being meshed with the driving wheel and rotating and rotating with driving wheel, institute
The inner side that driving wheel is located at the driven pulley is stated, and the driving wheel may be contained within the upper end on the chassis with driven pulley.
7. the electric supply installation according to claim 4 on motor-trolley for amusement, it is characterised in that:The lower end on the chassis
Be additionally provided with coasting mechanism, the coasting mechanism include removably being horizontally set at the chassis and the friction plate it
Between connecting rod, be socketed with the connecting seat being fixedly connected with the chassis lower surface, the connecting rod in the middle part of the connecting rod
Two ends be equipped with and include upper wheel carrier and lower wheel carrier, upper wheel carrier and lower wheel carrier with the vertically disposed wheel carrier of connecting rod, the wheel carrier
Between be fixedly connected by a contiguous block, the upper wheel carrier be in inverted triangle shape, two jiaos of its bottom is assembled by way of flexible connection
There are two top sheaves fitted with the upper surface of the guide rail, the two ends of the lower wheel carrier are equipped with by way of flexible connection
Two lower sheaves for being fitted with the lower surface of guide rail, the top sheave and lower sheave are brought into close contact the drive bottom with the guide rail
Disk is slided along guide rail.
8. the electric supply installation according to claim 7 on motor-trolley for amusement, it is characterised in that:The bottom of the upper wheel carrier
Portion is integrally formed with the upper extension extended laterally, and the top of the lower wheel carrier is integrally formed with the lower extension extended laterally
Portion, the both sides of the contiguous block be located at be equipped between the upper extension and lower extension by way of flexible connection two with
The side roller of the lateral surface laminating of the guide rail.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201720085883.XU CN206473796U (en) | 2017-01-20 | 2017-01-20 | Electric supply installation on motor-trolley for amusement |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201720085883.XU CN206473796U (en) | 2017-01-20 | 2017-01-20 | Electric supply installation on motor-trolley for amusement |
Publications (1)
Publication Number | Publication Date |
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CN206473796U true CN206473796U (en) | 2017-09-08 |
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ID=59754666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201720085883.XU Expired - Fee Related CN206473796U (en) | 2017-01-20 | 2017-01-20 | Electric supply installation on motor-trolley for amusement |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107875636A (en) * | 2017-11-11 | 2018-04-06 | 华强方特(芜湖)文化科技有限公司 | A kind of urgent anti-off device of railcar |
CN111686452A (en) * | 2020-07-14 | 2020-09-22 | 王笠成 | Adjustable magnetic force uniform speed slide |
CN113525729A (en) * | 2021-07-28 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Friction wheel driven space moving platform |
-
2017
- 2017-01-20 CN CN201720085883.XU patent/CN206473796U/en not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107875636A (en) * | 2017-11-11 | 2018-04-06 | 华强方特(芜湖)文化科技有限公司 | A kind of urgent anti-off device of railcar |
CN107875636B (en) * | 2017-11-11 | 2023-08-18 | 华强方特(芜湖)文化科技有限公司 | Emergency breaking-proof device for railway vehicle |
CN111686452A (en) * | 2020-07-14 | 2020-09-22 | 王笠成 | Adjustable magnetic force uniform speed slide |
CN113525729A (en) * | 2021-07-28 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Friction wheel driven space moving platform |
CN113525729B (en) * | 2021-07-28 | 2024-06-21 | 中国科学院沈阳自动化研究所 | Friction wheel driven space moving platform |
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GR01 | Patent grant | ||
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: 20170908 Termination date: 20200120 |