CN110155113B - Monorail running gear and monorail vehicle - Google Patents
Monorail running gear and monorail vehicle Download PDFInfo
- Publication number
- CN110155113B CN110155113B CN201910456199.1A CN201910456199A CN110155113B CN 110155113 B CN110155113 B CN 110155113B CN 201910456199 A CN201910456199 A CN 201910456199A CN 110155113 B CN110155113 B CN 110155113B
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- monorail
- driving
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- wheel
- running gear
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- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/04—Monorail systems
- B61B13/06—Saddle or like balanced type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F13/00—Rail vehicles characterised by wheel arrangements, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Motor Power Transmission Devices (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a monorail running gear and monorail vehicle, the monorail running gear includes: a body; the rotating seat is rotatably arranged on the body, and one side of the rotating seat is provided with a driving wheel; the steering device is arranged on the body, the output end of the steering device is connected with the other side of the rotating seat, and the steering device is used for driving the rotating seat; and the controller is arranged on the body, is connected with the steering device and is used for receiving the route data and controlling the steering device according to the route data. By applying the technical scheme provided by the invention, the active steering of the driving wheel is realized, the passive steering is realized without setting the guiding results such as the guiding wheels, and the transverse pressure from the guiding wheels is not received when the monorail vehicle steers, so that the steering performance of the monorail vehicle is improved, and meanwhile, the service life of the monorail running device can be greatly prolonged because the guiding wheel structure easy to wear is not required to be arranged.
Description
Technical Field
The invention relates to the technical field of monorail vehicle guiding, in particular to a monorail running device and a monorail vehicle.
Background
Generally, the steering modes of a walking system of a bogie of a straddle type monorail vehicle comprise two types, wherein the first type is that the walking system is integrally connected with the bogie, and the steering of the bogie forces the walking wheels to steer; the second type is a follow-up running system, and the steering of the running wheels drives the steering of the running wheels through the steering of the guide wheels.
The steering of the two types of vehicles is realized through the guide wheels, so that the guide wheels are stressed greatly in the guiding process, the resistance in the running process of the vehicles is increased, the abrasion of the guide wheels is increased, the steering performance of the monorail vehicle is poor, and the service life of the running device is short.
Thus, there is a need for a running gear with a longer life that improves the steering performance of a monorail vehicle.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the invention proposes a monorail running gear.
A second aspect of the invention proposes a monorail vehicle.
In view of this, a first aspect of the present invention provides a monorail running gear for a monorail vehicle, the monorail running gear comprising: a body; the rotating seat is rotatably arranged on the body, and one side of the rotating seat is provided with a driving wheel; the steering device is arranged on the body, the output end of the steering device is connected with the other side of the rotating seat, and the steering device is used for driving the rotating seat; and the controller is arranged on the body, is connected with the steering device and is used for receiving the route data and controlling the steering device according to the route data.
In this technical scheme, the monorail running gear of monorail vehicle includes the body, is provided with the roating seat on the body, and the roating seat can be rotatory for the body. One end of the rotating seat is provided with a travelling wheel, the other end of the rotating seat is provided with a steering device, the output end of the steering device is connected with the rotating seat, the rotating seat is driven to rotate under the control of the controller, and then the driving wheel is driven to change direction, so that active steering is realized.
By adopting the technical scheme provided by the invention, the rotating seat which can be opposite to the body is arranged on the monorail running device body, the driving wheel rotates along with the rotating seat under the driving of the driving device, so that the driving wheel can actively steer without arranging guide mechanisms such as guide wheels and the like, and the passive steering is realized, and when the monorail vehicle steers, the transverse pressure from the guide wheels is not received any more, so that the steering performance of the monorail vehicle is improved, and meanwhile, the service life of the monorail running device can be greatly prolonged because a guide wheel structure which is easy to wear is not required to be arranged.
In addition, the monorail running device in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, further, the body includes: the end beams and the side beams are connected end to end in sequence to form a frame structure, and the driving wheels are located in the frame structure.
In this technical scheme, the body includes relative end beam and the boundary beam of setting relatively, encloses into a hollow frame construction after end beam and boundary beam end to end, and the drive wheel is located frame construction.
Optionally, the end beam and the side beam are integrally formed as a metal structure.
Optionally, the side beam and the end beam are connected by welding.
In any of the above technical solutions, further, a guide mounting seat is provided on the side beam, and the monorail running device further includes: the emergency guide wheel is arranged on the boundary beam and is connected with the guide mounting seat.
In the technical scheme, a guide mounting seat is arranged on the side beam and used for mounting an emergency guide wheel. When the steering device works normally, the emergency guide wheels are not in contact with the steering surface of the rail, and when the steering device breaks down and other emergency conditions occur, the emergency guide wheels clamp the steering surface of the rail, so that the monorail running device turns along with the bending of the rail, and passive steering is realized.
In any of the above embodiments, further, the monorail running device further comprises: the driving device is arranged on the rotating seat, is connected with the driving wheel and is used for driving the driving wheel.
In this technical scheme, single track running gear still includes drive arrangement, and drive arrangement is connected with the drive wheel, and drive arrangement and drive wheel are located the both sides of roating seat respectively. The driving device is connected with the driving wheels and is used for driving one or more driving wheels to rotate so as to provide power for the monorail vehicle.
Alternatively, the drive is a drive with a greater torque and greater power.
In any of the above embodiments, further, the monorail running device further comprises: the transmission is arranged on the rotating seat, and the input end of the transmission is connected with the output end of the driving device.
In this technical scheme, single track running gear still includes the derailleur, and the derailleur sets up on the roating seat, is located drive arrangement and drive wheel intermediate, and the input of derailleur is connected with drive arrangement, and the output of derailleur is connected with the drive wheel. Alternatively, the transmission is a tooth set gearbox or reduction gearbox, and the driving mode of the driving device is converted by changing the gear ratio. When the monorail vehicle needs higher running speed, the input end of the speed changer is connected with a gear with larger radius, and the output end of the speed changer is connected with a gear with smaller radius; when the monorail vehicle needs to output higher torque, the input end of the speed changer is connected with a gear with smaller radius, and the output end of the speed changer is connected with a gear with larger radius.
In any of the above embodiments, further, the monorail running device further comprises: the driving shaft is arranged on the rotating seat, one end of the driving shaft is connected with the driving wheel, and the other end of the driving shaft is connected with the output end of the speed changer.
In this technical scheme, single track running gear still includes the drive shaft, and the drive shaft sets up in the roating seat, and one end is connected with the drive wheel, and the other end is connected with the output of derailleur for with the output power of drive arrangement pass through the derailleur and transmit the drive wheel after the speed change to make the drive wheel rotate according to the mode of settlement, in order to provide the power of traveling for single track vehicle. Wherein, the drive shaft rotates along with the rotation of swivel mount synchronous.
In any of the above embodiments, further, the monorail running device further comprises: the brake disc is arranged on one side of the driving wheel facing the rotating seat and is connected with the driving wheel; and the brake is arranged on the rotating seat, is coaxial with the brake disc and is matched with the brake disc to brake the driving wheel.
In the technical scheme, the monorail running device further comprises a braking disc and a brake which are matched with each other, the braking disc is connected to one side of the driving wheel facing the rotating seat, the braking disc and the braking wheel are concentric and coaxial, and the braking disc and the braking wheel synchronously rotate. The brake is arranged on the rotary seat, in particular a circular arc brake, which is concentric and coaxial with the brake disc. Optionally, the brake comprises at least two brake pads, the brake pads being separated from the brake disc during normal running of the monorail vehicle, no friction being generated between the brake pads and the brake disc. After the monorail vehicle starts to brake, the brake drives the brake plate to be attached to the brake disc, sliding friction is generated between the brake plate and the brake disc at the moment, kinetic energy of the monorail vehicle is converted into internal energy, the speed of the monorail vehicle is reduced at the moment until the monorail vehicle is static relative to a track, static friction is generated between the brake plate and the brake plate, and the monorail vehicle is braked.
Optionally, the brake device is provided integrally with the drive device and the transmission.
Alternatively, the drive means is provided separately from the drive means and the transmission.
In any of the above embodiments, further, a plurality of driving wheels are provided, and the plurality of driving wheels are coaxially provided.
In the technical scheme, a plurality of driving wheels are arranged, so that the bearing capacity of each driving wheel tire is reduced, and the service life and the safety of the driving wheels are improved. The plurality of driving wheels have the same radius and are coaxially arranged, and the plurality of driving wheels are driven by the same driving shaft.
Alternatively, the driving wheels are provided in two.
In any of the above aspects, further, the steering device and the driving device include: an electric motor and/or a hydraulic motor.
In the technical scheme, the driving device requires larger torque and larger output power, so that the driving device adopts a compact motor or a hydraulic motor, and the driving device and the hydraulic motor can be used in combination. The driving device can be a motor and/or a hydraulic motor with smaller volume.
A second aspect of the invention provides a monorail vehicle comprising a monorail running gear as provided in any of the above-mentioned claims, whereby the monorail vehicle comprises all the advantageous effects of a monorail running gear as provided in any of the above-mentioned claims, which are not described in detail herein.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows a schematic structural view of a monorail running gear in accordance with an embodiment of the present invention;
FIG. 2 shows another schematic structural view of a monorail running gear in accordance with an embodiment of the present invention;
fig. 3 shows a further schematic structural view of a monorail running gear according to an embodiment of the invention.
Wherein, the correspondence between the reference numerals and the component names in fig. 1 to 3 is:
the emergency steering device comprises a body 2, an end beam 202, a side beam 204, a guide mounting seat 206, a rotary seat 4, a driving wheel 6, a steering device 8, a controller 10 and an emergency guide wheel 12.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A monorail running gear and a monorail vehicle according to some embodiments of the invention are described below with reference to fig. 1 to 3.
In an embodiment of a first aspect of the invention, as shown in figures 1 to 3, there is provided a monorail running gear for a monorail vehicle, the monorail running gear comprising: a body 2; the rotating seat 4 is rotatably arranged on the body 2, and one side of the rotating seat 4 is provided with a driving wheel 6; the steering device 8 is arranged on the body 2, the output end of the steering device 8 is connected with the other side of the rotating seat 4, and the steering device 8 is used for driving the rotating seat 4; the controller 10 is arranged on the body 2, the controller 10 is connected with the steering device 8, and the controller 10 is used for receiving route data and controlling the steering device 8 according to the route data.
In this embodiment, the monorail running gear of the monorail vehicle comprises a body 2, on which body 2 a swivel seat 4 is provided, the swivel seat 4 being rotatable relative to the body 2. One end of the rotating seat 4 is provided with a travelling wheel, the other end of the rotating seat 4 is provided with a steering device 8, the output end of the steering device 8 is connected with the rotating seat 4, the rotating seat 4 is driven to rotate under the control of the controller 10, and then the driving wheel 6 is driven to change direction, so that active steering is realized.
According to the embodiment provided by the invention, the rotating seat 4 which can be opposite to the body 2 is arranged on the monorail running device body 2, and the driving wheel 6 rotates along with the rotating seat 4 under the driving of the driving device, so that the driving steering of the driving wheel 6 is realized, the passive steering is realized without arranging guide mechanisms such as guide wheels, and the transverse pressure from the guide wheels is not received when the monorail vehicle steers, so that the steering performance of the monorail vehicle is improved, and meanwhile, the service life of the monorail running device can be greatly prolonged because the guide wheel structure which is easy to wear is not arranged.
Alternatively, the body 2 has a smaller vertical dimension to accommodate a monorail car with a smaller underbody space.
In one embodiment of the present invention, further, as shown in fig. 1 to 3, the body 2 includes: the end beams 202 and the side beams 204 are arranged oppositely, the end beams 202 and the side beams 204 are connected end to end in sequence to form a frame structure, and the driving wheel 6 is positioned in the frame structure.
In this embodiment, the body 2 includes opposite end beams 202 and opposite side beams 204, and the end beams 202 and the side beams 204 are connected end to form a hollow frame structure, and the driving wheel 6 is located in the frame structure.
Optionally, the end beam 202 and the side beam 204 are integrally formed as a metal structure.
Optionally, the side rail 204 and the end rail 202 are connected by welding.
In one embodiment of the present invention, further, as shown in fig. 1 to 3, the side beam 204 is provided with a guide mounting seat 206, and the monorail running device further includes: the emergency guide wheel 12 is arranged on the side beam 204, and the emergency guide wheel 12 is connected with the guide mounting seat 206.
In this embodiment, a guide mount 206 is provided on the edge beam 204 for mounting the emergency guide wheel 12. When the steering device 8 works normally, the emergency guide wheels 12 are not in contact with the steering surface of the rail, and when the steering device 8 breaks down and other emergency conditions occur, the emergency guide wheels 12 clamp the steering surface of the rail, so that the monorail running device steers along with the bending of the rail, and passive steering is realized.
Optionally, an adjusting mechanism is disposed on the guide mounting seat 206, and the adjusting mechanism is disposed in the guide mounting seat 206 and is used for adjusting the emergency guide wheel 12, and when the steering device 8 fails, the emergency guide wheel 12 is adjusted by the adjusting mechanism so that the emergency guide wheel 12 is attached to the guide surface of the rail.
In one embodiment of the present invention, further as shown in fig. 1 to 3, the monorail running gear further comprises: the driving device is arranged on the rotating seat 4, is connected with the driving wheel 6 and is used for driving the driving wheel 6.
In this embodiment the monorail running gear further comprises a drive means, which is connected to the drive wheel 6, which drive means and drive wheel 6 are located on both sides of the swivel seat 4, respectively. The drive means are connected to the drive wheels 6 for driving one or more of the drive wheels 6 in rotation to power the monorail vehicle.
Alternatively, the drive is a drive with a greater torque and greater power.
Alternatively, the output of the drive means is connected to the axle of the drive wheel 6 for providing travelling power to the monorail vehicle in such a way that the drive wheel 6 rotates about its axis.
In one embodiment of the present invention, further as shown in fig. 1 to 3, the monorail running gear further comprises: the transmission is arranged on the rotating seat 4, and the input end of the transmission is connected with the output end of the driving device.
In this embodiment the monorail running gear further comprises a transmission arranged on the swivel 4 intermediate the drive means and the drive wheels 6, the input of the transmission being connected to the drive means and the output of the transmission being connected to the drive wheels 6. Alternatively, the transmission is a tooth set gearbox or reduction gearbox, and the driving mode of the driving device is converted by changing the gear ratio. When the monorail vehicle needs higher running speed, the input end of the speed changer is connected with a gear with larger radius, and the output end of the speed changer is connected with a gear with smaller radius; when the monorail vehicle needs to output higher torque, the input end of the speed changer is connected with a gear with smaller radius, and the output end of the speed changer is connected with a gear with larger radius.
In one embodiment of the present invention, further as shown in fig. 1 to 3, the monorail running gear further comprises: the driving shaft is arranged on the rotating seat 4, one end of the driving shaft is connected with the driving wheel 6, and the other end of the driving shaft is connected with the output end of the speed changer.
In this embodiment, the monorail running device further comprises a driving shaft, which is disposed on the rotating base 4, one end of the driving shaft is connected with the driving wheel 6, and the other end of the driving shaft is connected with the output end of the transmission, and is used for transmitting the output power of the driving device to the driving wheel 6 after the transmission is changed in speed, so that the driving wheel 6 rotates according to a set mode to provide running power for the monorail vehicle. Wherein the driving shaft rotates synchronously with the rotation of the rotating seat 4.
In one embodiment of the present invention, further as shown in fig. 1 to 3, the monorail running gear further comprises: the brake disc is arranged on one side of the driving wheel 6 facing the rotating seat 4 and is connected with the driving wheel 6; and a brake provided on the rotary seat 4, coaxial with the brake disc, and cooperating with the brake disc to brake the drive wheel 6.
In this embodiment, the monorail running gear further comprises a brake disc and a brake, which are mutually cooperating, the brake disc being arranged in connection with the side of the driving wheel 6 facing the rotating seat 4, the brake disc being concentric with the brake wheel and the brake disc rotating in synchronization with the brake wheel. The brake is arranged on the swivel seat 4, in particular a circular arc brake, which is concentric and coaxial with the brake disc. Optionally, the brake comprises at least two brake pads, the brake pads being separated from the brake disc during normal running of the monorail vehicle, no friction being generated between the brake pads and the brake disc. After the monorail vehicle starts to brake, the brake drives the brake plate to be attached to the brake disc, sliding friction is generated between the brake plate and the brake disc at the moment, kinetic energy of the monorail vehicle is converted into internal energy, the speed of the monorail vehicle is reduced at the moment until the monorail vehicle is static relative to a track, static friction is generated between the brake plate and the brake plate, and the monorail vehicle is braked.
Optionally, the brake device is provided integrally with the drive device and the transmission.
Alternatively, the drive means is provided separately from the drive means and the transmission.
In one embodiment of the present invention, further, as shown in fig. 1 to 3, the driving wheels 6 are provided in plural, and the plurality of driving wheels 6 are coaxially provided.
In this embodiment, the driving wheels 6 are provided in plural numbers to reduce the bearing capacity of each driving wheel 6 tire and improve the service life and safety of the driving wheels 6. The plurality of driving wheels 6 have the same radius and are coaxially disposed, and the plurality of driving wheels 6 are driven by the same driving shaft.
Alternatively, the driving wheels 6 are provided in two.
In one embodiment of the invention, further, the steering device 8 and the driving device comprise: an electric motor and/or a hydraulic motor.
In this embodiment, the driving device requires a larger torque and a larger output power, so that the driving device is a compact motor or a hydraulic motor, or both of them can be used in combination. The driving device can be a motor and/or a hydraulic motor with smaller volume.
In an embodiment of the second aspect of the present invention, a monorail vehicle is provided, which comprises a monorail running gear as provided in any of the above-mentioned claims, whereby the monorail vehicle comprises all the advantageous effects of a monorail running gear as provided in any of the above-mentioned claims, which are not described in detail herein.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A monorail running gear for a monorail vehicle, comprising:
a body;
the rotating seat is rotatably arranged on the body, and one side of the rotating seat is provided with a driving wheel;
the steering device is arranged on the body, the output end of the steering device is connected with the other side of the rotating seat, and the steering device is used for driving the rotating seat;
the controller is arranged on the body, is connected with the steering device and is used for receiving route data and controlling the steering device according to the route data;
the end beams and the side beams are connected end to end in sequence to form a frame structure, and the driving wheels are positioned in the frame structure;
the side beam is provided with a guide mounting seat, the monorail running device further comprises an emergency guide wheel, the emergency guide wheel is arranged on the side beam, and the emergency guide wheel is connected with the guide mounting seat;
the driving device is arranged on the rotating seat and connected with the driving wheel, and the driving device is used for driving the driving wheel;
the emergency guide wheel is arranged on the guide mounting seat, the emergency guide wheel is arranged in the guide mounting seat and used for adjusting the emergency guide wheel, the emergency guide wheel is not contacted with the track steering surface when the steering device works normally, and the emergency guide wheel is adjusted through the adjusting mechanism when the steering device breaks down so that the emergency guide wheel is attached to the track guiding surface.
2. The monorail running gear of claim 1, further comprising:
the transmission is arranged on the rotating seat, and the input end of the transmission is connected with the output end of the driving device.
3. The monorail running gear of claim 2, further comprising:
the driving shaft is arranged on the rotating seat, one end of the driving shaft is connected with the driving wheel, and the other end of the driving shaft is connected with the output end of the speed changer.
4. The monorail running gear of claim 1, further comprising:
the brake disc is arranged on one side of the driving wheel facing the rotating seat, and the brake disc is connected with the driving wheel;
and the brake is arranged on the rotating seat, is coaxial with the brake disc and is matched with the brake disc to brake the driving wheel.
5. A monorail running gear according to any one of claims 1 to 4, wherein the drive wheels are provided in a plurality, a plurality of said drive wheels being coaxially arranged.
6. A monorail running gear according to any one of claims 1 to 4, wherein the turning gear and the drive means comprise:
an electric motor and/or a hydraulic motor.
7. A monorail vehicle, characterized in that it comprises a monorail running gear as defined in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456199.1A CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456199.1A CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN110155113A CN110155113A (en) | 2019-08-23 |
| CN110155113B true CN110155113B (en) | 2024-03-08 |
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| CN201910456199.1A Active CN110155113B (en) | 2019-05-29 | 2019-05-29 | Monorail running gear and monorail vehicle |
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| CN112092836A (en) * | 2020-10-16 | 2020-12-18 | 成都聚合智创科技有限公司 | Single-track robot walking device and walking method |
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