CN208469823U - A kind of multipurpose tramcar unwheeling system of intelligent recognition - Google Patents
A kind of multipurpose tramcar unwheeling system of intelligent recognition Download PDFInfo
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- CN208469823U CN208469823U CN201820804314.0U CN201820804314U CN208469823U CN 208469823 U CN208469823 U CN 208469823U CN 201820804314 U CN201820804314 U CN 201820804314U CN 208469823 U CN208469823 U CN 208469823U
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- unwheeling
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Abstract
The utility model discloses a kind of multipurpose tramcar unwheeling systems of intelligent recognition, and the console (5) of rail (4), tramcar intelligence frame vehicle control is slided including rail electric trolley body (1), tramcar rail (2), movable vehicle supporting (3), movable vehicle supporting；Tramcar car body (1) uses the low-floor tramcar vehicle of different length difference marshalling, the car body module including multiple and different length, and each car body module lower section is both provided with unwheeling point；Movable vehicle supporting (3) be it is multiple, longitudinal sliding motion can be slided on rail (4) to unwheeling point in two movable vehicle supportings by the control of intelligence frame vehicle control；Intelligence frame vehicle control connection vehicle base control centre automatic identification enters the low-floor tramcar of maintenance library internal frame turner position.To solve the unwheeling problem of the low-floor tramcar vehicle of different length difference marshalling, the not scalability of existing single marshalling unwheeling technological design is breached.
Description
Technical field
The utility model belongs to tramcar maintenance field, and in particular to a kind of multipurpose tramcar frame of intelligent recognition
Vehicle system produces and repairs base suitable for tramcar vehicle base or vehicle, and which are mainly applied to tramcar vehicle base engineerings
Technological design in.
Background technique
In order to ensure the safety of rail traffic, tramcar is run after a certain period of time, need to the wheel in bogie to
The other component at vehicle bottom is overhauled or is replaced, and when maintenance needs the vehicle for organizing into groups permutation to be lifted to certain altitude to replace
The bogie and other component of vehicle bottom.
When maintenance, need by it is fixed start shipment equipment or overhead traveling crane its compartment sling it is separated from chassis, so as to vehicle into
Row maintenance, and position often is moved into the vehicle movement of maintenance, this, which just needs that more fixations are arranged in maintenance shop, starts shipment equipment or day
Vehicle reduces effective work usable floor area in workshop, and equipment increases, need to be by each section especially when multi-section vehicles need to overhaul
Compartment carries out movement and moves position, therefore the repair time of vehicle is long, and occupancy equipment is more, low efficiency, and easily causes vehicle because of handling
Collide with, outer surface is by undermining there are certain hidden danger, influences to keep the safety in production, increase the cost of overhaul, and using solid
When starting shipment equipment lifting surely or falling compartment, linkage cannot be truly realized with liter or with drop, accident easily occurs.
When tramcar carries out upkeep operation in vehicle base, by multinomial process flow, wherein comprising unwheeling etc., mesh
In the tramcar vehicle base technological design that the preceding country runs online, there is not the unwheeling device of mature and reliable also.Its exist with
The problem of lower several respects:
1. in the tramcar vehicle base that the country runs online at present, having for the low-floor of different length difference marshalling
The technological design of the unwheeling facility of rail electric car vehicle, without referential experience and device product, the prior art is insufficient.
2. when unwheeling, need by it is fixed start shipment equipment or overhead traveling crane its compartment sling it is separated from chassis, so as to vehicle
Overhauled, and position often moved into the movement of the vehicle of maintenance, this just need maintenance shop be arranged more fixations start shipment equipment or
Overhead traveling crane reduces effective work usable floor area in workshop, and equipment increases, and especially when multi-section vehicles need to overhaul, needing will be each
Section compartment carries out movement and moves position, therefore the repair time of vehicle is long, and occupancy equipment is more, low efficiency, and easily causes vehicle because of handling
Collide with, outer surface is by undermining there are certain hidden danger, influences to keep the safety in production, increase the cost of overhaul, and using
It is fixed when starting shipment equipment lifting or falling compartment, linkage cannot be truly realized with rising or with drop, accident easily occurs.
3. in view of the difference of domestic different tramcar manufacturer's vehicle marshalling connections and the arrangement form of bogie, unwheeling
Process is also different, for tramcar unwheeling demand made of the marshalling of different length difference, existing fixed frame
Vehicle process design method cannot be then applicable in completely when vehicle marshalling quantity changes according to passenger flow situation, unwheeling function
Scalability and compatibility it is poor, also cannot efficiently be utilized using the maintenance facility of fixed unwheeling equipment, according to shifting
Dynamic formula unwheeling unit carries out unwheeling, and each unwheeling requires manually to align, and unwheeling precision, the harmony of synchronization action are all opposite
It is unstable.
Utility model content
For at least one of prior art the above defects or improvement requirements, the utility model provides a kind of intelligence knowledge
Other multipurpose tramcar unwheeling system, the unwheeling for solving the low-floor tramcar vehicle of different length difference marshalling are difficult
Topic is breached the not scalability of existing single marshalling unwheeling technological design, is replaced using the unwheeling scheme of movable vehicle supporting group
For the unwheeling scheme of the fixed car lifting J-Horner in existing underground, design time and civil engineering cost have greatly been saved, has improved tramcar
Overhaul the efficiency and practicability of facility technological design.
To achieve the above object, according to the one aspect of the utility model, the multipurpose for providing a kind of intelligent recognition has
Rail electric car unwheeling system, the unwheeling system include rail electric trolley body, tramcar rail, movable vehicle supporting, mobile frame
Vehicle device slides the console of rail, tramcar intelligence frame vehicle control；
The tramcar car body uses the low-floor tramcar vehicle of different length difference marshalling, including multiple and different
The car body module of length, each car body module lower section are both provided with unwheeling point；
The movable vehicle supporting slides rail parallel arrangement in the outside of two tramcar rail；The movable type unwheeling
Machine be it is multiple, longitudinal sliding motion can be slided on rail extremely in two movable vehicle supportings by intelligence frame vehicle control control
The unwheeling point；The intelligence frame vehicle control connection vehicle base control centre automatic identification enters maintenance library internal frame turner
The low-floor tramcar of position.
Preferably, the tramcar car body includes multiple suspending modules of different length, multiple steerings with drivers' cab
Frame module, at least one without drivers' cab steering frame module；Marshalling is hinged and connected before and after each car body module.
Preferably, two sides are symmetrical arranged totally 4 unwheeling points, each turn with drivers' cab under each suspending module
Lower section two sides are symmetrical arranged totally 2 unwheeling points, each steering with drivers' cab among cab module into frame module
Frame module is symmetrical arranged totally 8 unwheeling points in bogie region two sides without in the steering frame module of drivers' cab with each described.
Preferably, the movable vehicle supporting include wire-hanging hook, sub-control box, helical speed reduction gear, rack, from travelling control
Unit and driving assembly, feed screw nut component, prop head clamping plate；The wire-hanging hook, sub-control box are located at the side of the rack, described
Helical speed reduction gear is located at the top of the rack and connects one end of the feed screw nut component, and the prop head clamping plate is connected to
One end of the feed screw nut component simultaneously moves up, the unwheeling of the prop head clamping plate and car body module in the rack upper and lower
Point can match connection.
Preferably, the intelligence frame vehicle control further includes database reservoir, for storing and updating vehicle marshalling
Parameter.
Preferably, the intelligence frame vehicle control further includes position feedback system, for the movable vehicle supporting
It is accurately positioned and effectively locks.
Preferably, the intelligence frame vehicle control further includes synchronous unwheeling system, for multiple mobile unwheelings
The Synchronous lifting of machine makes unwheeling point always in same plane, realize that car lifting J-Horner precisely aligns during the work time.
Preferably, described to include control unit, driving motor, running mechanism, determine from walking control unit and driving assembly
Position system, position locking mechanism；Described control unit receives vehicle cab recognition information, plans traveling path；The driving motor drives
Moving the running mechanism makes car lifting J-Horner traveling to designated position；The positioning system sends lock command after identifying situation in place,
The locking mechanism carries out position locking.
Above-mentioned preferred feature can be combined with each other as long as they do not conflict with each other.
In general, have the above technical solutions conceived by the present invention are compared with the prior art, with following
Beneficial effect:
1, the multipurpose tramcar unwheeling system of the intelligent recognition of the utility model solves the marshalling of different length difference
Low-floor tramcar vehicle unwheeling problem, breach it is existing it is single marshalling unwheeling technological design not scalability, adopt
The unwheeling scheme that the fixed car lifting J-Horner in existing underground is substituted with the unwheeling scheme of movable vehicle supporting group, has greatly saved design
Time and civil engineering cost improve the efficiency and practicability of tramcar maintenance facility technological design.
2, the tramcar vehicle and unwheeling craft cloth of the marshalling of different length difference are realized by intelligence frame vehicle control
Intelligence quickly identification a little is set, according to maintenance process demand Automatic-searching unwheeling point；Certainly using Multi-dimensional high-precision mobile car lifter
Walking technology realizes that movable vehicle supporting is accurate, quickly reaches specified unwheeling point；Using synchronizing frame driving skills art, car lifting J-Horner is realized
It precisely aligns, tramcar vehicle synchronous is promoted, and increases stability, and the unwheeling of synchronous coordination vehicle repairs work to meet vehicle large frame
Industry demand, while unwheeling control system organizes into groups the low of vehicle by updating vehicle marshalling parameter spread database, compatible diversification
Floor tramcar.
Detailed description of the invention
Fig. 1 is the unwheeling of the low-floor tramcar vehicle of the typically different length marshalling of adaptation of the utility model embodiment
System schematic；
Fig. 2 is the low-floor tramcar vehicle of the different length marshalling of a certain vehicle of adaptation of the utility model embodiment
Unwheeling point station schematic diagram；
Fig. 3 is the movable vehicle supporting structural schematic diagram of the utility model embodiment；
Fig. 4 is the unwheeling end view of the utility model embodiment.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.With reference to embodiment to this
Utility model is further described.
As a kind of better embodiment of the utility model, as shown in Figs 1-4, the utility model provides a kind of intelligence
The multipurpose tramcar unwheeling system that can be identified, the unwheeling system include rail electric trolley body 1, tramcar rail 2, movement
Formula car lifting J-Horner 3, movable vehicle supporting slide the console 5 of rail 4, tramcar intelligence frame vehicle control.
The tramcar car body 1 using the marshalling of different length difference low-floor tramcar vehicle, including it is multiple not
With the car body module of length, unwheeling point is both provided with below each car body module.
The movable vehicle supporting slides the parallel arrangement of rail 4 in the outside of two tramcar rail 2；The movable type frame
Vehicle device 3 be it is multiple, can be slided in two movable vehicle supportings and longitudinally slided on rail 4 by intelligence frame vehicle control control
It moves to the unwheeling point.
Tramcar train bogie is connected with car body by 4 vertical dampers, the tramcar maintenance for needing to overhaul
There are mainly two types of modes for library internal frame turner skill: one kind is that permutation vehicle frame rises；One kind compiling sub-module unwheeling for solution.Permutation unwheeling maintenance
When, body part is connect releasing with the vertical damper of bogie first, is played permutation vehicle frame using movable vehicle supporting, vehicle
Body bottom bogie needs to be lifted to other maintenance stations dismantlings along station track release according to maintenance and maintenance is used.Single module unwheeling inspection
When repairing, unwheeling maintenance module and permutation vehicle solution will be needed to compile first, suspending module is existed before solution is compiled using mobile unwheeling equipment
Unwheeling point is supported, and suspending module is then erected maintenance, when with drivers' cab bogie module rack vehicle overhauling, before solution is compiled
It need to be arranged at mobile unwheeling supporting point one in its front, then body part is connect releasing with the vertical damper of bogie, adopt
Permutation vehicle frame is risen with movable vehicle supporting, vehicle bottom bogie needs to release along station track according to maintenance is lifted to other maintenance
Station dismantling and maintenance are used.
Multiple suspending modules of the tramcar car body 1 including different length, multiple steering frame modules with drivers' cab,
At least one steering frame module without drivers' cab；Marshalling is hinged and connected before and after each car body module.
As shown in Fig. 2, the low-floor tramcar vehicle classification type of typically different length marshalling is 5 different lengths,
Wherein containing 2 suspending module SM2/6,2 band drivers' cabs turn to frame module BM1/7, and 1 turns to frame module BM3 without drivers' cab,
Whole vehicle design is divided into 34 unwheeling point interfaces of cloth for car inspection and repair unwheeling, vehicle derailing top vehicle rerail etc..Wherein CM1/7 department
Lower section two sides are symmetrical arranged totally 2 unwheeling points among machine room module, and it is symmetrical in bogie region two sides that BM1/3/7 turns to frame module
Totally 8 unwheeling points, SM2/6 suspending module two sides are symmetrical arranged totally 4 unwheeling points, connect for the unwheeling point of different location for setting
Mouthful, design has the unwheeling scheme of following 2 operating conditions in maintenance library:
A single module unwheeling uses unwheeling point scheme: single module unwheeling scheme is suitable for the inspection under train marshalling list solution volume operating condition
Unwheeling demand is repaired, the unwheeling that two sides are arranged symmetrically that totally 8 unwheeling points can be achieved to turn to frame module under each steering frame module needs
It asks, two sides, which are arranged symmetrically totally 4 unwheeling points, under each suspending module can be achieved the unwheeling demand of suspending module.
B permutation vehicle frame vehicle uses unwheeling point scheme: permutation vehicle frame vehicle scheme, which is suitable for permutation vehicle, which does not understand the synchronous unwheeling of volume, needs
It asks, the unwheeling demand that two sides under frame module are arranged symmetrically the achievable permutation vehicle of totally 12 unwheeling points is turned at three.
As shown in Figure 3-4, the movable vehicle supporting 3 includes wire-hanging hook 31, sub-control box 32, helical speed reduction gear 33, machine
Frame 34, certainly walking control unit and driving assembly 35, feed screw nut component 36, connecting lever 37, prop head clamping plate 38, connecting rod 39；It is described
Wire-hanging hook 31, sub-control box 32 are located at the side of the rack 34, and the helical speed reduction gear 33 is located at the top of the rack 34
And one end of the feed screw nut component 36 is connected, the prop head clamping plate 38 is connected to one end of the feed screw nut component 36 simultaneously
It is moved up in 34 upper and lower of rack, the prop head clamping plate 38 can be matched with the unwheeling of car body module point and be connect.
It is described to include control unit, driving motor, running mechanism, position system from walking control unit and driving assembly 35
System, position locking mechanism；Described control unit receives vehicle cab recognition information, plans traveling path；The driving motor drives institute
Stating running mechanism makes car lifting J-Horner traveling to designated position；The positioning system sends lock command after identifying situation in place, described
Locking mechanism carries out position locking.
The intelligence frame vehicle control includes database reservoir, for storing and updating vehicle marshalling parameter；Position
Feedback system, for the movable vehicle supporting 3 accurate positionin and effectively lock；Synchronous unwheeling system, for multiple described
The Synchronous lifting of movable vehicle supporting 3 makes unwheeling point always in same plane, realize that car lifting J-Horner is precisely right during the work time
Position.The intelligence frame vehicle control connection vehicle base control centre automatic identification enters the low land of maintenance library internal frame turner position
Plate tramcar, according to unwheeling process requirements, the marshalling of database combination vehicle difference matches different unwheeling modes, and automatic identification is low
Floor tramcar unwheeling point, automatic operation simultaneously position best unwheeling position.
The utility model application Multi-dimensional high-precision mobile car lifter is from walking technology, voluntarily using movable vehicle supporting installation
It walks control unit and driving assembly: two-dimentional running mechanism is set, realize plane coordinates without limitation traveling；It is anti-that high precision position is set
Feedback system is accurately positioned and effectively locks；Driving assembly is set, and movable vehicle supporting reduces manual labor from walking, realizes and move
Dynamic formula car lifting J-Horner is accurate, quickly reaches specified unwheeling point position.
Detailed description are as follows for the typically different length tramcar type frame vehicle system principle of the adaptation of the utility model embodiment:
Intelligence frame vehicle control is according to vehicle cab recognition and un-wheeling repair process requirements, the unwheeling point that intelligent recognition need to be promoted, by information
It feeds from walking control unit and driving assembly, planning movement is calculated according to recognition result from walking control unit and driving assembly
Path length is moved to corresponding position by mechanism out of shape, when positioning system identification movable vehicle supporting is mobile in place and correct
Operation is fed back after locking allows signal；After staff issues unwheeling job command, synchronous unwheeling system starting, each car lifting J-Horner
Synchronous operation, car body lock after being steadily promoted to operating position；Staff repairs operation；After the completion of maintenance, issue extensive
Multiple instruction, synchronous unwheeling system are again started up, and unwheeling operation is completed in synchronous decline.
The multipurpose tramcar unwheeling system of the intelligent recognition of the utility model, overcome the deficiencies in the prior art solve
The unwheeling problem of the low-floor tramcar vehicle of different length difference marshalling, breaches existing single marshalling unwheeling technique and sets
The not scalability of meter is replaced compared to the process design method of existing maintenance facility using the unwheeling scheme of movable vehicle supporting group
For the unwheeling scheme of the fixed car lifting J-Horner in existing underground, having for different length difference marshalling is realized by intelligence frame vehicle control
Rail electric car vehicle and the quickly identification of the intelligence of unwheeling technology arrangement point, according to maintenance process demand Automatic-searching unwheeling point；Using
Multi-dimensional high-precision mobile car lifter realizes that movable vehicle supporting is accurate, quickly reaches specified unwheeling point from walking technology；Using same
Unwheeling technology is walked, realizes what car lifting J-Horner precisely aligned, tramcar vehicle synchronous is promoted, and increases stability, synchronous coordination vehicle
Unwheeling repairs job requirements to meet vehicle large frame, while unwheeling control system passes through update vehicle marshalling parameter spread database,
The low-floor tramcar of compatible diversification marshalling vehicle.Compared to the process design method of existing fixed unwheeling facility, greatly
Saved design time and civil engineering cost, improve the efficiency and practicability of tramcar maintenance facility technological design.With compared with
Big society and economic benefit.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of multipurpose tramcar unwheeling system of intelligent recognition, it is characterised in that: the unwheeling system includes tramcar
Car body (1), tramcar rail (2), movable vehicle supporting (3), movable vehicle supporting slide rail (4), tramcar intelligence frame
The console (5) of vehicle control；
The tramcar car body (1) uses the low-floor tramcar vehicle of different length difference marshalling, including multiple and different
The car body module of length, each car body module lower section are both provided with unwheeling point；
The movable vehicle supporting slides rail (4) parallel arrangement in the outside of two tramcar rail (2)；The movable type frame
Vehicle device (3) be it is multiple, by the intelligence frame vehicle control control can two movable vehicle supportings slide on rail (4) indulge
To sliding into the unwheeling point；The intelligence frame vehicle control connection vehicle base control centre automatic identification enters maintenance library
The low-floor tramcar of internal frame turner position.
2. the multipurpose tramcar unwheeling system of intelligent recognition as described in claim 1, it is characterised in that: the rail electricity
Vehicle car body (1) includes multiple suspending modules of different length, multiple steering frame modules with drivers' cab, at least one is without driver
The steering frame module of room；Marshalling is hinged and connected before and after each car body module.
3. the multipurpose tramcar unwheeling system of intelligent recognition as claimed in claim 2, it is characterised in that: each described outstanding
Two sides are symmetrical arranged totally 4 unwheeling points under floating module, in each cab module turned in frame module with drivers' cab
Between lower section two sides be symmetrical arranged totally 2 unwheeling points, each steering frame module with drivers' cab and each described without driver
Totally 8 unwheeling points are symmetrical arranged in bogie region two sides in the steering frame module of room.
4. the multipurpose tramcar unwheeling system of intelligent recognition as described in any one of claims 1-3, it is characterised in that: institute
Stating movable vehicle supporting (3) includes wire-hanging hook (31), sub-control box (32), helical speed reduction gear (33), rack (34), certainly walking control
Unit and driving assembly (35) processed, feed screw nut component (36), prop head clamping plate (38)；The wire-hanging hook (31), sub-control box (32)
Positioned at the side of the rack (34), the helical speed reduction gear (33) is located at the top of the rack (34) and connects the silk
One end of thick stick nut assembly (36), the prop head clamping plate (38) are connected to one end of the feed screw nut component (36) and described
Rack (34) upper and lower moves up, and the prop head clamping plate (38) can match with the unwheeling of car body module point to be connect.
5. the multipurpose tramcar unwheeling system of intelligent recognition as described in claim 1, it is characterised in that: the intelligence frame
Vehicle control further includes database reservoir, for storing and updating vehicle marshalling parameter.
6. the multipurpose tramcar unwheeling system of intelligent recognition as claimed in claim 5, it is characterised in that: the intelligence frame
Vehicle control further includes position feedback system, is used for the accurate positionin of the movable vehicle supporting (3) and effectively locks.
7. the multipurpose tramcar unwheeling system of intelligent recognition as claimed in claim 6, it is characterised in that: the intelligence frame
Vehicle control further includes synchronous unwheeling system, is used for the Synchronous lifting of multiple movable vehicle supportings (3), unwheeling point is made to exist
Always it is in same plane in the course of work, realizes that car lifting J-Horner precisely aligns.
8. the multipurpose tramcar unwheeling system of intelligent recognition as claimed in claim 4, it is characterised in that: described from walking
Control unit and driving assembly (35) include control unit, driving motor, running mechanism, positioning system, position locking mechanism；Institute
It states control unit and receives vehicle cab recognition information, plan traveling path；The driving motor drives the running mechanism to make car lifting J-Horner
Traveling is to designated position；The positioning system sends lock command after identifying situation in place, and the locking mechanism carries out position lock
It is fixed.
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| CN201820804314.0U CN208469823U (en) | 2018-05-28 | 2018-05-28 | A kind of multipurpose tramcar unwheeling system of intelligent recognition |
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| CN201820804314.0U CN208469823U (en) | 2018-05-28 | 2018-05-28 | A kind of multipurpose tramcar unwheeling system of intelligent recognition |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706019A (en) * | 2018-05-28 | 2018-10-26 | 中铁第四勘察设计院集团有限公司 | A kind of multipurpose tramcar unwheeling system of intelligent recognition |
| RU200417U1 (en) * | 2020-04-03 | 2020-10-22 | Федеральное государственное бюджетное образовательное учреждение высшего образования Иркутский государственный университет путей сообщения (ФГБОУ ВО ИрГУПС) | Device for withdrawing a railway vehicle with damaged wheelset |
| CN112477925A (en) * | 2019-09-12 | 2021-03-12 | 株洲中车时代电气股份有限公司 | System and method for judging position of locomotive in train |
| RU214415U1 (en) * | 2022-07-22 | 2022-10-26 | Открытое Акционерное Общество "Российские Железные Дороги" | Emergency recovery trolley (TAV-40) |
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2018
- 2018-05-28 CN CN201820804314.0U patent/CN208469823U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706019A (en) * | 2018-05-28 | 2018-10-26 | 中铁第四勘察设计院集团有限公司 | A kind of multipurpose tramcar unwheeling system of intelligent recognition |
| CN108706019B (en) * | 2018-05-28 | 2024-01-05 | 中铁第四勘察设计院集团有限公司 | Intelligent identification's multipurpose tram car lifting system |
| CN112477925A (en) * | 2019-09-12 | 2021-03-12 | 株洲中车时代电气股份有限公司 | System and method for judging position of locomotive in train |
| CN112477925B (en) * | 2019-09-12 | 2022-01-21 | 株洲中车时代电气股份有限公司 | System and method for judging position of locomotive in train |
| RU200417U1 (en) * | 2020-04-03 | 2020-10-22 | Федеральное государственное бюджетное образовательное учреждение высшего образования Иркутский государственный университет путей сообщения (ФГБОУ ВО ИрГУПС) | Device for withdrawing a railway vehicle with damaged wheelset |
| RU214415U1 (en) * | 2022-07-22 | 2022-10-26 | Открытое Акционерное Общество "Российские Железные Дороги" | Emergency recovery trolley (TAV-40) |
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