JP6976104B2 - A fluid pressure actuator and a braking device for a track-traveling machine equipped with the fluid pressure actuator. - Google Patents

Description

The present invention relates to a fluid pressure actuator and a braking device for a track-traveling machine equipped with the fluid pressure actuator.

FIG. 3 shows an example of a container crane as a general track-traveling machine, where 1 is a container crane, 2 is a port where a container crane 1 is deployed, 3 is a quay in a port 2, and 4 is a quay 3. It is a rail laid so as to extend in a direction orthogonal to the paper surface of FIG. 3, and a traveling device 8 having traveling wheels 7 that can roll along the rail 4 on the support legs 6 of the crane body 5 of the container crane 1. Is attached.

If the container crane 1 is blown by a strong wind during cargo handling work, the traveling of the container crane 1 does not stop against the intention of the driver and runs away, which may cause a collision or collapse with an adjacent machine or a nearby structure. ..

Therefore, as a device for preventing the runaway of the track traveling type machine as described above, there is a clamp device as disclosed in, for example, Patent Document 1 in the past. The clamp device includes a pinching mechanism in which a pair of contacts having a pinching portion formed at the tip thereof are connected so that a substantially intermediate portion thereof is rotatable about an axis, and a base end of the contact in the pinching mechanism. A spring mechanism provided in the portion and narrowing between the base ends of the contacts so that the sandwich always rotates the contact in the closing direction in which the rail is sandwiched, and the base end of the pair of contacts. It is provided with a rotary cam for driving the cam receiving portion formed in the above in a direction of pushing open from the inside thereof and releasing the pinching of the rail by the sandwiching portion.

However, since the clamp device disclosed in Patent Document 1 employs a method of sandwiching the rail from both sides, jagged teeth may be provided on the contact surface on the clamp device side in order to increase the coefficient of friction with the rail surface. Or, if the contact surface is hardened to make it look like a file, there is a possibility that the side surface of the rail will be scratched. In addition, if the accuracy of the side surface of the rail is low and the dimensions from the center line to the side surface in the width direction vary from side to side, or if the rail is corroded, it is pinched by the pinching portion. However, the tightening force may be significantly reduced and a sufficient holding force may not be obtained.

In order to solve such a problem, a braking device equipped with a fluid pressure cylinder such as a hydraulic cylinder capable of pressing and separating the brake pad in a direction orthogonal to the rolling surface of the traveling wheel of the rail has been developed (for example, Patent Document). 2).

Japanese Unexamined Patent Publication No. 6-72690 Japanese Unexamined Patent Publication No. 2015-58805

By the way, in recent years, in an orbital traveling machine such as the container crane 1, there is an increasing demand for making the braking device thin so that a braking device can be provided under the traveling device 8.

However, in the braking device disclosed in Patent Document 2, since a cylinder having two oil chambers is adopted, it is difficult to reduce the thickness, and a braking device is provided in the middle portion of the lower frame of the crane body. I had no choice but to do so.

Further, in the case of a cylinder having two oil chambers, two hydraulic pipes must be connected, and such a point is also one of the obstacles to the provision of the braking device in the lower part of the traveling device 8.

The present invention has been made in view of the above-mentioned conventional problems, and includes a fluid pressure actuator and the fluid pressure actuator that can be made thinner and the connection piping system can be reduced to increase the degree of freedom of installation. It is intended to provide a braking device for an orbital traveling machine.

In order to achieve the above object, the fluid pressure actuator of the present invention is a fluid pressure actuator that pushes and pulls a member to be actuated.
By the fluid pressure cylinder body, the fluid pressure piston that is freely inserted into and retractably into the fluid pressure cylinder body and connected to the actuated member, the pressure receiving surface of the fluid pressure piston, and the inner wall of the fluid pressure cylinder body. A fluid pressure cylinder with a defined fluid pressure cylinder chamber and
A positive pressure / negative pressure generation mechanism that expands and contracts the fluid pressure cylinder by supplying and discharging the working fluid to the fluid pressure cylinder chamber of the fluid pressure cylinder and setting the internal pressure of the fluid pressure cylinder chamber to positive pressure or negative pressure. and a fluid pressure unit including,
The positive pressure / negative pressure generation mechanism is
A drive cylinder body, a drive piston that is reciprocally inserted inside the drive cylinder body, and a drive that is defined on one side of the drive piston inside the drive cylinder body and to which a working fluid is supplied / discharged. Through the cap side chamber, the drive rod side chamber defined on the other side of the drive piston inside the drive cylinder body, and the drive rod side chamber from which the working fluid is discharged / supplied, and the drive rod side chamber from the other side of the drive piston. A drive cylinder having a drive piston rod extending to the outside of the drive cylinder body,
The driven cylinder body, the driven piston that is reciprocally inserted into the driven cylinder body and interlocks with the drive piston rod, and the driven piston rod inside the driven cylinder body on the opposite side to the drive piston rod. A driven cylinder having a driven cap side chamber that is defined and communicates with the fluid pressure cylinder chamber.
Equipped with
The pressure receiving area in the driven cap side chamber of the driven piston of the driven cylinder can be set larger than the pressure receiving area in the drive cap side chamber of the drive piston of the drive cylinder.

Further, in the present invention, as a braking device for a track traveling machine equipped with the fluid pressure actuator, an intermediate portion is supported by a rocker pin extending in a horizontal direction perpendicular to the traveling direction at the lower portion of a support leg traveling on a rail. The middle part is supported by the upper equalizer beam and the rocker pins extending in the horizontal direction perpendicular to the traveling direction at both ends of the traveling direction of the upper equalizer beam. A traveling device having at least one stage of an equalizer device consisting of a pair of lower equalizer beams, and traveling wheels that can roll along a rail are arranged at both ends of the lower equalizer beam in the traveling direction in the lowermost equalizer device. Equipped with
The fluid pressure cylinder is attached to the lower equalizer beam in the lowermost equalizer device.
A brake pad as an actuated member can be connected to the fluid pressure piston of the fluid pressure cylinder so as to be freely pressed and separated from the traveling wheel rolling surface of the rail in a direction orthogonal to the rail.

According to the fluid pressure actuator of the present invention and the braking device of the orbital traveling machine provided with the fluid pressure actuator, it is possible to reduce the thickness and the connection piping system and increase the degree of freedom of installation. Can be effective.

It is a front view which shows the Example of the fluid pressure actuator of this invention, and the braking device of the track traveling type machine provided with the fluid pressure actuator. It is a schematic block diagram which shows the braking mechanism in the Example of the fluid pressure actuator of this invention, and the braking device of the track traveling type machine provided with the fluid pressure actuator. It is an overall side view which shows an example of a container crane as an orbital traveling machine.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 and 2 are examples of the fluid pressure actuator of the present invention and a braking device for a track-traveling machine provided with the fluid pressure actuator, and in the drawings, the parts having the same reference numerals as those in FIG. 3 are the same. Represents.

In the container crane 1 as a track traveling machine shown in FIG. 1, a lower frame 6a extending along a rail 4 so as to connect the support legs 6 is provided between the support legs 6 of the crane main body 5, and the lower frame 6a is provided with a lower frame 6a. A plurality of traveling devices 8 (two in the example of FIG. 1) are provided on the bottom surface side.

The traveling device 8 includes an upper equalizer beam 9a, an intermediate equalizer beam 9b, a lower equalizer beam 9c, and traveling wheels 7.

The upper equalizer beam 9a is swingably arranged on the bottom surface side of the lower frame 6a with an intermediate portion supported by a rocker pin 10a extending in a horizontal direction perpendicular to the traveling direction. The intermediate portion equalizer beam 9b is swingably arranged so that the intermediate portion is supported by rocker pins 10b extending in a horizontal direction perpendicular to the traveling direction at both ends of the upper equalizer beam 9a in the traveling direction. The lower equalizer beam 9c is swingably arranged so that the intermediate portion is supported by rocker pins 10c extending in the horizontal direction perpendicular to the traveling direction at both ends of the intermediate portion equalizer beam 9b in the traveling direction.

The traveling wheels 7 are arranged at both ends of the lower equalizer beam 9c in the traveling direction so as to be rollable along the rail 4.

In the example shown in FIG. 1, an equalizer device 9A composed of an upper equalizer beam 9a and an intermediate equalizer beam 9b, and an equalizer device 9B composed of an intermediate equalizer beam 9b and a lower equalizer beam 9c are formed in two upper and lower stages. Has been done. Incidentally, the upper equalizer beam 9a in the equalizer device 9A in the upper stage becomes the upper equalizer beam, and the intermediate equalizer beam 9b becomes the lower equalizer beam. Further, the intermediate portion equalizer beam 9b in the lower equalizer device 9B is a relatively upper equalizer beam, and the lower equalizer beam 9c is a lower equalizer beam. However, depending on the scale of the container crane 1 as the track traveling machine, the equalizer device 9A is formed in only one stage, and the traveling wheels 7 are arranged on the lower equalizer beam (in this case, the intermediate equalizer beam 9b). You may. Further, the equalizer device may be formed in three or more upper and lower stages, and traveling wheels 7 capable of rolling along the rail 4 may be arranged at both ends of the lower equalizer beam in the traveling direction in the lowermost equalizer device.

Then, in the case of this embodiment, the braking mechanism 40 is arranged in each of the traveling devices 8. However, it is not always necessary to arrange the braking mechanism 40 in each of the traveling devices 8, and the braking mechanism 40 may be one as long as a sufficient braking force can be obtained.

The braking mechanism 40 is attached to a lower equalizer beam 9c (lower equalizer beam) in which the traveling wheel 7 is arranged, and as shown in FIG. 2, a fluid pressure cylinder 13 constituting a fluid pressure actuator and a fluid pressure unit. It is equipped with 14.

The fluid pressure cylinder 13 of the fluid pressure actuator includes a fluid pressure cylinder body 13a, a fluid pressure piston 13b that is freely projected and retracted into the fluid pressure cylinder body 13a, a pressure receiving surface of the fluid pressure piston 13b, and the fluid. The fluid pressure cylinder body 13a has a fluid pressure cylinder chamber 13c defined by an inner wall of the pressure cylinder body 13a, and the fluid pressure cylinder body 13a is attached to the lower surface of a flat plate-shaped base plate 11 attached to the bottom surface side of the lower equalizer beam 9c. Has been done. A brake pad 12 as an actuated member is pressed against the fluid pressure piston 13b of the fluid pressure cylinder 13 against the traveling wheel rolling surface 4a of the rail 4 so as to be freely pressed and separated from the rail 4 in a direction orthogonal to the rail 4. It is connected.

The fluid pressure unit 14 supplies and discharges a working fluid such as oil to the fluid pressure cylinder chamber 13c of the fluid pressure cylinder 13, and sets the internal pressure of the fluid pressure cylinder chamber 13c to a positive pressure or a negative pressure. It has a positive pressure / negative pressure generation mechanism 50 that expands and contracts the cylinder 13.

The positive pressure / negative pressure generation mechanism 50 includes a drive cylinder 51 and a driven cylinder 52. The drive cylinder 51 is defined on one side of a drive cylinder body 51a, a drive piston 51b that is reciprocally inserted into the drive cylinder body 51a, and a drive piston 51b inside the drive cylinder body 51a. A drive cap side chamber 51c to which the working fluid is supplied and discharged, and a drive rod side chamber 51d defined on the other side of the drive piston 51b inside the drive cylinder body 51a and to which the working fluid is discharged and supplied. It has a drive piston rod 51e extending from the other side of the drive piston 51b to the outside of the drive cylinder body 51a through the drive rod side chamber 51d. The driven cylinder 52 is fitted into the driven cylinder main body 52a, reciprocally inserted into the driven cylinder main body 52a, and is interlocked with the drive piston rod 51e, and the driven piston 52b is driven inside the driven cylinder main body 52a. The piston 52b has a driven cap side chamber 52c defined on the opposite side of the drive piston rod 51e and communicating with the fluid pressure cylinder chamber 13c via the push-pull line 60. _{The pressure receiving area A 2} in the driven cap side chamber 52c of the driven piston 52b of the driven cylinder 52 is set to be larger than the _{pressure receiving area A 1} in the drive cap side chamber 51c of the drive piston 51b of the drive cylinder 51. In the example of FIG. 2, the drive piston rod 51e is provided so as to hang between the drive piston 51b and the driven piston 52b, but a driven piston rod extending from the driven piston 52b is separately provided. , The driven piston rod and the drive piston rod 51e may be connected to each other.

Further, the fluid pressure unit 14 includes a pressure feeding line 16 extending from a tank 15 in which the working fluid is stored, a drive cap side line 17 connected to the drive cap side chamber 51c of the drive cylinder 51, and the drive cylinder 51. A drive rod side line 18 connected to the drive rod side chamber 51d and a return line 19 leading to the tank 15 are provided. A pump 21 driven by the motor 20 and a check valve 22 for blocking the backflow of the working fluid pumped by the pump 21 are provided in the middle of the pressure feeding line 16. The pressure feed line 16 and the return line 19 and the drive cap side line 17 and the drive rod side line 18 are connected via a solenoid valve 23, and the pressure feed line 16 between the check valve 22 and the solenoid valve 23. An accumulator 25 is connected to the accumulator line 24 branched from the middle.

The solenoid valve 23 has a brake operating position 23A and a brake releasing position 23B. In the brake operating position 23A, the driving rod is introduced into the drive cap side chamber 51c of the drive cylinder 51 while the working fluid pumped by the pump 21 is introduced into the drive cap side chamber 51c by communicating the pressure feed line 16 and the drive cap side line 17. By communicating the side line 18 and the return line 19, the working fluid in the drive rod side chamber 51d of the drive cylinder 51 is discharged to the tank 15. The brake release position 23B drives the driving while introducing the working fluid pumped by the pump 21 into the drive rod side chamber 51d of the drive cylinder 51 by communicating the pressure feed line 16 and the drive rod side line 18. By communicating the cap side line 17 and the return line 19, the working fluid in the drive cap side chamber 51c of the drive cylinder 51 is discharged to the tank 15. The solenoid valve 23 is stopped from being energized to the solenoid during an emergency stop (during an urgent intentional power failure) and during a power failure, and is mechanically switched to the brake operating position 23A by a spring force. ing.

A relief line 26 leading to the tank 15 is branched and connected in the middle of the pressure feed line 16 between the pump 21 and the check valve 22, and the pressure of the working fluid in the pressure feed line 16 is connected in the middle of the relief line 26. A relief valve 27 that opens when the pressure exceeds the set pressure and returns the working fluid to the tank 15 is provided.

In the middle of the accumulator line 24, the high pressure switch 28H that operates when the pressure of the working fluid in the accumulator line 24 reaches the high set pressure and the pressure of the working fluid in the accumulator line 24 reach the low set pressure. A low pressure switch 28L that operates at the time and a shut-off valve 28V that is always open (normally open) and closes when the high pressure switch 28H operates are provided. As a result, when the pressure of the working fluid in the accumulator line 24 reaches the set pressure of the accumulator 25, the high pressure switch 28H is activated and the motor 20 of the pump 21 is stopped from a control device (not shown). While the shut-off valve 28V is closed when a command is output, when the pressure drops below the set pressure of the accumulator 25, the low pressure switch 28L is activated to control the motor 20 of the pump 21. A drive command is output from the device and the shut-off valve 28V is opened.

A drain line 29 for draining the working fluid of the accumulator 25 to the tank 15 is connected in the middle of the accumulator line 24, and a manual on-off valve opened and closed by an operator is connected to the drain line 29. 30 is provided.

Next, the operation of the above embodiment will be described.

As shown in FIG. 2, when the solenoid valve 23 of the fluid pressure unit 14 is switched to the brake operating position 23A, the hydraulic fluid fed by the pump 21 is pumped by the communication between the pumping line 16 and the drive cap side line 17. Is introduced into the drive cap side chamber 51c of the drive cylinder 51, and the drive rod side line 18 and the return line 19 communicate with each other, so that the working fluid of the drive rod side chamber 51d of the drive cylinder 51 is discharged to the tank 15. As a result, the drive piston 51b of the drive cylinder 51 moves in a protruding direction, the driven piston 52b of the driven cylinder 52 is pushed to the right in FIG. 2 via the drive piston rod 51e, and the working fluid of the driven cap side chamber 52c is pushed. It is press-fitted into the fluid pressure cylinder chamber 13c of the fluid pressure cylinder 13 of the braking mechanism 40 via the push-pull line 60. When the working fluid is press-fitted into the fluid pressure cylinder chamber 13c, the fluid pressure piston 13b moves in a direction protruding from the fluid pressure cylinder 13, and the brake pad 12 is pressed against the traveling wheel rolling surface 4a of the rail 4 to brake. Is done.

On the other hand, when the solenoid valve 23 of the fluid pressure unit 14 is switched to the brake release position 23B from the state shown in FIG. 2, the pressure feed line 16 and the drive rod side line 18 communicate with each other to be pumped by the pump 21. While the working fluid is introduced into the drive rod side chamber 51d of the drive cylinder 51, the drive cap side line 17 and the return line 19 communicate with each other, so that the working fluid of the drive cap side chamber 51c of the drive cylinder 51 is discharged to the tank 15. Cylinder. As a result, the drive piston 51b of the drive cylinder 51 moves in the pulling direction, the driven piston 52b of the driven cylinder 52 slides to the left in FIG. 2 via the drive piston rod 51e, and the inside of the driven cap side chamber 52c is negative. As a pressure, the working fluid is sucked from the fluid pressure cylinder chamber 13c of the fluid pressure cylinder 13 of the braking mechanism 40 to the driven cap side chamber 52c via the push-pull line 60. When the working fluid is sucked from the fluid pressure cylinder chamber 13c to the driven cap side chamber 52c, the fluid pressure piston 13b moves in a direction of contracting inside the fluid pressure cylinder 13, and the brake pad 12 rolls the traveling wheel of the rail 4. The braking is released by separating from the surface 4a, and the container crane 1 can be driven.

_{Here, the pressure receiving area A 2} in the driven cap side chamber 52c of the driven piston 52b of the driven cylinder 52 is set to be larger than the _{pressure receiving area A 1} in the drive cap side chamber 51c of the drive piston 51b of the drive cylinder 51. With this configuration, when the pressure of the drive cap side chamber 51c is P ₁ , the load acting on the drive piston rod 51e is F, and _{the pressure of the driven cap side chamber 52c is P 2.}
F = P ₁ x A ₁
= P ₂ x A ₂
And
P ₂ = P ₁ x A ₁ / A ₂
Will be. For this reason,
P ₂ <P ₁
In particular, when the driven cap side chamber 52c is set to a negative pressure, a sharp drop in pressure is suppressed, and it is possible to prevent the occurrence of cavitation.

Further, when the pressure of the working fluid in the accumulator line 24 reaches the high set pressure of the accumulator 25, the high pressure switch 28H is activated to operate the motor 20 of the pump 21 from a control device (not shown). A stop command is output and the shutoff valve 28V closes. On the other hand, when the pressure drops below the low set pressure of the accumulator 25, the low pressure switch 28L is activated, a drive command is output from the control device to the motor 20 of the pump 21, and the shut is shut. The off valve 28V opens. As a result, the accumulator 25 is constantly stored in a pressure between the high set pressure and the low set pressure. Moreover, the solenoid valve 23 is adapted to mechanically switch to the brake operating position 23A by a spring force by stopping the energization of the solenoid during an emergency stop or a power failure. Further, the shut-off valve 28V is always open (normally open) and is open at the time of emergency stop and power failure. Therefore, in the event of an emergency stop or a power failure, the working fluid accumulated in the accumulator 25 is guided from the accumulator line 24 to the drive cap side chamber 51c of the drive cylinder 51 via the drive cap side line 17, and the drive piston 51b protrudes. Moving in the direction, the driven piston 52b of the driven cylinder 52 is pushed to the right in FIG. 2 via the drive piston rod 51e, and the working fluid of the driven cap side chamber 52c is the fluid pressure of the braking mechanism 40 via the push-pull line 60. It is press-fitted into the fluid pressure cylinder chamber 13c of the cylinder 13. When the working fluid is press-fitted into the fluid pressure cylinder chamber 13c, the fluid pressure piston 13b moves in a direction protruding from the fluid pressure cylinder 13, and the brake pad 12 is pressed against the traveling wheel rolling surface 4a of the rail 4. As a result, even if the pump 21 is stopped during an emergency stop or a power failure, the brake can be operated.

As a result, in the case of the present embodiment, unlike the braking device disclosed in Patent Document 2, the fluid pressure cylinder 13 having the fluid pressure cylinder chamber 13c can be adopted as one oil chamber, so that the thickness can be reduced. Therefore, the fluid pressure cylinder 13 of the braking mechanism 40 can be provided in the lower part of the lower equalizer beam 9c as the lower equalizer beam.

Further, in the case of the fluid pressure cylinder 13 having the fluid pressure cylinder chamber 13c, it is only necessary to connect one system of push-pull line 60 for the hydraulic piping.

In this way, it is possible to increase the degree of freedom of installation by reducing the thickness and reducing the number of connecting piping systems.

The fluid pressure actuator of the present invention and the braking device of the orbital traveling machine provided with the fluid pressure actuator are not limited to the above-described embodiment, and the actuated member is not limited to the brake pad and is pushed and pulled. It goes without saying that various changes can be made within the range that does not deviate from the gist of the present invention, such as the fact that the gate may be opened and closed by.

1 Container crane (track traveling machine)
4 Rail 4a Traveling wheel rolling surface 6 Support leg 7 Traveling wheel 8 Traveling device 9A Equalizer device 9B Equalizer device 9a Upper equalizer beam (upper equalizer beam)
9b Middle equalizer beam (lower equalizer beam (upper equalizer beam))
9c Lower equalizer beam (lower equalizer beam)
10a Rocker pin 10b Rocker pin 10c Rocker pin 12 Brake pad (worked member)
13 Fluid pressure cylinder 13a Fluid pressure cylinder body 13b Fluid pressure piston 13c Fluid pressure cylinder chamber 14 Fluid pressure unit 50 Positive pressure / negative pressure generation mechanism 51 Drive cylinder 51a Drive cylinder body 51b Drive piston 51c Drive cap side chamber 51d Drive rod side chamber 51e Drive Piston rod 52 Driven cylinder 52a Driven cylinder body 52b Driven piston 52c Driven cap side chamber

Claims (2)

In a fluid pressure actuator that pushes and pulls a member to be actuated,
By the fluid pressure cylinder body, the fluid pressure piston that is freely inserted into and retractably into the fluid pressure cylinder body and connected to the actuated member, the pressure receiving surface of the fluid pressure piston, and the inner wall of the fluid pressure cylinder body. A fluid pressure cylinder with a defined fluid pressure cylinder chamber and
A positive pressure / negative pressure generation mechanism that expands and contracts the fluid pressure cylinder by supplying and discharging the working fluid to the fluid pressure cylinder chamber of the fluid pressure cylinder and setting the internal pressure of the fluid pressure cylinder chamber to positive pressure or negative pressure. and a fluid pressure unit including,
The positive pressure / negative pressure generation mechanism is
A drive cylinder body, a drive piston that is reciprocally inserted inside the drive cylinder body, and a drive that is defined on one side of the drive piston inside the drive cylinder body and to which a working fluid is supplied / discharged. Through the cap side chamber, the drive rod side chamber defined on the other side of the drive piston inside the drive cylinder body, and the drive rod side chamber from which the working fluid is discharged / supplied, and the drive rod side chamber from the other side of the drive piston. A drive cylinder having a drive piston rod extending to the outside of the drive cylinder body,
A driven cylinder body, a driven piston that is reciprocally inserted into the driven cylinder body and interlocked with the drive piston rod, and a driven piston rod inside the driven cylinder body opposite to the drive piston rod. A driven cylinder having a driven cap side chamber that is defined and communicates with the fluid pressure cylinder chamber.
Equipped with
A fluid pressure actuator in which the pressure receiving area in the driven cap side chamber of the driven piston of the driven cylinder is set larger than the pressure receiving area in the drive cap side chamber of the drive piston of the drive cylinder. An upper equalizer beam and both ends of the upper equalizer beam in the traveling direction are arranged swingably by supporting the intermediate portion by a rocker pin extending in the horizontal direction perpendicular to the traveling direction at the lower part of the support leg traveling on the rail. The unit has at least one equalizer device consisting of a pair of lower equalizer beams in which the intermediate portion is supported by a rocker pin extending in the horizontal direction perpendicular to the traveling direction and is swingably arranged, and the lowermost equalizer device. The lower equalizer beam in the above is equipped with a traveling device in which traveling wheels that can roll along the rail are arranged at both ends in the traveling direction.
The fluid pressure cylinder is attached to the lower equalizer beam in the lowermost equalizer device.
The brake pad as the object operating member in fluid pressure piston of the fluid pressure cylinder, vehicle wheel rotation surface of the rail with respect to the claim 1, wherein the concatenation so as to be freely pressed and away in a direction perpendicular to the rail Braking device for orbital traveling machines equipped with fluid pressure actuators.

Images