CN114162166B - Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor - Google Patents
Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor Download PDFInfo
- Publication number
- CN114162166B CN114162166B CN202210037919.2A CN202210037919A CN114162166B CN 114162166 B CN114162166 B CN 114162166B CN 202210037919 A CN202210037919 A CN 202210037919A CN 114162166 B CN114162166 B CN 114162166B
- Authority
- CN
- China
- Prior art keywords
- hinging
- bogie
- axle box
- permanent magnet
- slewing bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 claims abstract description 25
- 230000007704 transition Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
- 238000004073 vulcanization Methods 0.000 claims 1
- 239000004636 vulcanized rubber Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 229910003460 diamond Inorganic materials 0.000 description 8
- 239000010432 diamond Substances 0.000 description 8
- 230000006978 adaptation Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- 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
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/50—Other details
- B61F5/52—Bogie frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
-
- 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
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
- B61F5/10—Bolster supports or mountings incorporating fluid springs
-
- 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
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
- B61F5/12—Bolster supports or mountings incorporating dampers
- B61F5/127—Bolster supports or mountings incorporating dampers with fluid as a damping medium
-
- 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
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/26—Mounting or securing axle-boxes in vehicle or bogie underframes
- B61F5/30—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes
- B61F5/305—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes incorporating rubber springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G9/00—Draw-gear
- B61G9/04—Draw-gear combined with buffing appliances
- B61G9/06—Draw-gear combined with buffing appliances with rubber springs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an inner axle box bogie adopting a novel flexible framework and a permanent magnet direct drive motor, wherein the framework is in an H shape, consists of two T-shaped beams and two sets of slewing bearings connected with each other, only releases the degree of freedom of rotation around the transverse direction, and simultaneously the two T-shaped beams are in nearly rigid connection in other directions, so that the bogie can adapt to line irregularity to the greatest extent. The driving device adopts a permanent magnet synchronous motor to directly drive, is arranged on the left and right inner axle boxes, adopts a motor shaft suspension and direct driving mode, can avoid adopting a gear box structure, has a simple structure, can obviously reduce the axle distance of the bogie, and is beneficial to reducing the dead weight of the bogie.
Description
Technical Field
The invention relates to the technical field of bogies, in particular to an inner axle box bogie adopting a novel flexible framework and a permanent magnet direct-drive motor.
Background
The existing bogie is mainly a three-piece type and integral frame type bogie, the three-piece type bogie has strong line twisting adaptation capability, but has loose structure, small diamond resistance rigidity and low running speed, the integral frame type bogie can eliminate diamond deformation, but has poor line twisting adaptation capability, and the requirement on primary suspension and rails is high because the primary suspension and rails are required to be adapted to line twisting by soft primary vertical deformation. The existing partially flexible unitary frame reduces torsional stiffness between the two side beams, which is achieved primarily by rubber knuckles or sheet steel beams. For the flexible framework adopting the rubber joint, the bearing torque of the rubber joint is larger, and the two side beams of the flexible framework adopting the rubber joint can only rotate for a certain angle, so that the free torsion between the two side beams can not be realized; the beam adopts a thin steel plate to realize a flexible framework, the rotation angle between the two side beams is limited, and free torsion cannot be realized. For a bogie in which the two side beams cannot twist freely, the line adaptation capability and the curve passing capability are limited.
The existing rail transit traction system mostly adopts an alternating current asynchronous motor traction system, and the traction system comprises a gear box.
The bogie is classified into an outer axle box bogie and an inner axle box bogie according to the type of structure in which axle boxes are mounted on wheel sets. Compared with an inner axle box bogie, the outer axle box bogie has the defects of long axle journal center distance, heavy structure, heavy weight, high unsprung mass, large wheel track acting force, high traction energy consumption and the like.
Disclosure of Invention
The invention mainly solves the technical problems of overcoming the defects of the prior art, and provides an integral hinged framework which has no diamond deformation, zero torsional rigidity, good curve trafficability and strong line twisting adaptability and a railway vehicle inner axle box bogie of a permanent magnet direct drive traction system matched with the integral hinged framework, wherein the technology is mainly realized by a hinged beam device and a permanent magnet direct drive motor.
In order to solve the technical problems, the invention relates to an inner axle box bogie adopting a novel flexible framework and a permanent magnet direct-drive motor, which comprises the following components:
a frame comprising two sets of longitudinally arranged box side beams and a set of transversely arranged hinge beam means, wherein: the two side beams are connected with the wheel set through a series of suspension devices, the middle parts of the two side beams are connected with a transversely arranged hinged cross beam device, the two side beams can freely twist by nodding around a transverse axis or a Y axis in a dynamic generalized coordinate of the vehicle through the hinged cross beam device, and the other directions keep high rigidity.
Preferably, the hinged beam device consists of an outer hinged beam, an inner hinged beam, a left slewing bearing, a right slewing bearing, a middle four traction rubber stacks, a traction seat, a transition piece and a fixing plate. The outer hinging beam is in a cylindrical design, a straight notch is formed in the upper portion of the outer hinging beam, a traction pin connecting device at the center of a vehicle body is convenient to extend down to be matched with the traction seat, and workers can conveniently extend hands into the hinging beam device for dismounting when dismounting; the inner side articulated beam is of a box structure, an upper cover plate is not arranged, the traction seat is connected with the inner side articulated beam through four traction rubber piles, central holes are formed in the bottoms of the lower end plate of the inner side articulated beam and the outer side articulated beam, so that the central traction device is prevented from moving up and down to collide with the lower end plate of the inner side articulated beam, accumulated water in the beam device in rainy and snowy days is conveniently discharged, and the traction seat is conveniently extended downwards to the transverse hydraulic shock absorber mounting seat; the left slewing bearing and the right slewing bearing in the hinged cross beam device are of the same size, the slewing bearing is adopted, the left slewing bearing and the right slewing bearing are respectively arranged between the inner side hinged beam end cover and the outer side hinged beam end cover, the outer ring of the slewing bearing is fixed with the outer side hinged beam end cover through screws, and the inner ring of the slewing bearing is fixed with the inner side hinged beam end cover plate through screws.
Further preferably, the outer side hinged beam end cover of the hinged beam device is directly welded with the side beam to form a T-shaped beam, the inner side hinged beam is connected with the side beam through a transition piece, one end of the transition piece is connected with the side beam through welding, the other end of the transition piece is columnar and penetrates through the outer side hinged beam end cover, the slewing bearing and the inner side hinged beam end cover, the outer side hinged beam end cover is fastened inside the inner side hinged beam end cover through a fixing plate to form a T-shaped beam, and the fixing plate is used for fixing the transition piece and the slewing bearing on the inner side hinged beam end plate. The two T-shaped beams are connected through a slewing bearing with a certain span left and right, so that the flexible framework still keeps the whole framework, diamond deformation is avoided, torsional rigidity between the beams at two sides is zero, and free nodding and twisting movement can be performed. The two rotary supports are bearings with the same inner diameter and outer diameter, and are fastened with the inner side hinge beam end plate and the outer side hinge beam end plate through screws, so that the two rotary supports are convenient to detach.
The wheel set comprises an axle, wheels and end covers, wherein the wheels and the end covers are arranged at two ends of the axle.
The first suspension device comprises an upper bearing saddle, a splayed rubber pile, a lower bearing saddle, an upper axle box, a bearing, a lower axle box and a rubber sealing ring.
The foundation braking device comprises four unit tread braking devices, and the unit tread braking devices are hung on the side beams of the framework through three points.
The secondary suspension device comprises a left air spring, a right air spring, a vertical hydraulic damper, a transverse stop and a transverse hydraulic damper which are symmetrically arranged.
The permanent magnet direct-drive driving system comprises a stator, a rotor, a motor shell and a torque balance rod, wherein the rotor is fixed on an axle through a connecting key, so that the rotor directly drives the axle to rotate, the motor shell is divided into an upper shell and a lower shell which are symmetrically arranged, and two ends of the motor shell are respectively fixed with the inner extending parts of axle boxes at two sides through bolts.
Preferably, the inner axle box bogie adopting the novel flexible framework and the permanent magnet direct drive motor is arranged in an inner axle box mode, the framework is supported on the inner side of the wheel set, the length of an axle can be effectively shortened, the unsprung mass of the bogie is reduced, the dead weight of the bogie is reduced, the abrasion of a curve wheel track is effectively reduced, and the curve passing performance is improved.
Preferably, the torque balance rod consists of a rod piece and spherical hinges at two sides, one end of the torque balance rod is connected with the traction motor shell, the other end of the torque balance rod is connected with the side beam, and the torque balance rod provides a supporting and countermoment for the traction motor and generates moment balance with the motor during working.
Preferably, an air spring mounting seat is arranged on the upper end face of the side beam extension beam, and a transverse hydraulic damper mounting seat is arranged on the lower end face of the side beam extension beam.
Preferably, the inner side of the hinged beam device is internally provided with a transverse stop.
Compared with the prior art, the invention has the following advantages:
1. the bogie frame belongs to an H-shaped integral frame, is of an integral stable structure, and can bear forces in three directions and torques in two directions by means of the hinged beam device, namely, the forces in three directions and torques in two directions can be balanced, and only the degree of freedom of rotation around the transverse direction is released, so that the bogie has good load balancing performance, high stability, high safety through curves and strong line twisting adaptability, and the running speed of the bogie can be improved on various lines. And the bogie has no diamond deformation and zero torsional rigidity, and can simultaneously have excellent running stability and curve passing property, so that the contradiction between the running stability and curve passing property of the traditional bogie is fundamentally solved.
2. The bogie frame of the invention is used, the two side beams of the bogie frame can easily generate relative torsion motion around the transverse shaft, so that the corresponding capability of the bogie to adapt to line irregularity is greatly enhanced, the flexible frame adopts a traction rubber pile, the setting of a traction pull rod is canceled, and the traction rubber pile has the advantages of light weight and good wear resistance. The traction motor is convenient to arrange on the bogie, and the bogie can be matched with bogies of different projects, so that the research and development cost of the bogie is reduced.
3. The bogie frame structure is innovative, adopts the slewing bearing, has small slewing angle, good bearing capacity in the axial direction and the radial direction, good economic performance and no maintenance in the use process.
4. The bogie frame adopts the permanent magnet direct drive motor to replace the traditional asynchronous motor driving system, so that the traditional gearbox is omitted, the efficiency of the whole bogie is greatly improved, and the overall reliability, noise maintenance cost and the like are greatly improved.
5. The bogie frame adopts a mode of internally arranging the axle box, so that the length of an axle is effectively shortened, the unsprung mass of the bogie is reduced, the dead weight of the bogie is reduced, the abrasion of a curve wheel rail is effectively reduced, and the curve passing performance is improved.
Drawings
FIG. 1 is a schematic diagram of an inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to embodiment 1;
FIG. 2 is a top view of an inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to example 1;
FIG. 3 is a cross-sectional view A-A of an inner axle housing bogie employing a novel flexible frame and permanent magnet direct drive motor according to embodiment 1;
fig. 4 and 5 are schematic structural views of the articulated beam device in embodiment 1;
fig. 6 is a schematic structural view of the framework in embodiment 1;
FIG. 7 is a schematic view of a structure of a primary suspension device in embodiment 1;
fig. 8 is a structural sectional view B-B of the permanent magnet direct-drive motor in embodiment 1;
the marks in the figure: 1-wheel set, 11-wheel, 12-axle, 2-frame, 21-left side beam, 211-extension beam, 22-hinged beam device, 221-outside hinged beam, 222-inside hinged beam, 223-left slewing bearing, 224-right slewing bearing, 225-traction seat, 226-laminated traction rubber stack, 227-fixed plate, 23-right side beam, 24-transition piece, 3-primary suspension device, 31-splayed rubber stack, 32-bearing, 33-upper axle box, 34-lower axle box, 35-splayed rubber stack upper cover plate, 36-splayed rubber stack lower cover plate, 37-inside block, 38-outside block, 39-rubber ring, 4-tread foundation brake device, 5-secondary suspension device, 51-lateral stop, 52-lateral hydraulic damper, 53-vertical hydraulic damper, 54-air spring, 6-permanent magnet direct drive device, 61-motor housing, 62-stator, 63-rotor, 64-torque balance bar.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and specific examples. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
As shown in fig. 1-8, the present invention provides an inner axle box bogie employing a novel flexible frame and a permanent magnet direct drive motor, comprising:
wheel sets 1, wherein each wheel set 1 comprises two wheels 11 and an axle 12;
the frame 2 is an H-shaped integral frame and comprises two longitudinally arranged left and right side beams 21, 23 and a set of transversely arranged hinge cross members 22, wherein: the hinged beam device 22 consists of an outer hinged beam 221, an inner hinged beam 222, a left slewing bearing 223, a right slewing bearing 224, a middle four traction rubber stacks 226 and a traction seat 225, two end parts of the left side beam 21 and the right side beam 23 are connected with the wheel set 1 through a series of suspension devices 3, the middle parts of the left side beam 21 and the right side beam 23 are connected with the hinged beam device 22 which is transversely arranged, and the left side beam 21 and the right side beam 23 can rotate around the mutual free point of the central line of the hinged beam device 22 by means of the hinged beam device 22.
The primary suspension device 3 is arranged on the inner side of the wheel set 1 and comprises a splayed rubber pile 31, a bearing 32, an upper shaft box 33, a lower shaft box 34, a splayed rubber pile upper cover plate 35, a splayed rubber pile lower cover plate 36, an inner baffle 37, an outer baffle 38 and a rubber ring 39.
The foundation braking device comprises four tread foundation braking devices 4 which are respectively arranged on the inner side of the bogie, and the mounting seats of the foundation braking devices are arranged on the side beam web plate and the bottom plate of the bogie.
The secondary suspension device 5 comprises two air springs 54, a vertical hydraulic damper 53 and two transverse stops 51 which are symmetrically arranged left and right, wherein the two transverse stops 51 are arranged inside the hinged beam device 22, one end of the transverse hydraulic damper 52 is connected with the lower end of the traction seat 225, and the other end is connected with the lower bottom plate of the side beam.
The permanent magnet direct drive device 6 includes a stator 62, a rotor 63, a motor housing 61, and a torque balance bar 64.
Specifically, a transition piece 24 is disposed between the outer hinge beam 221 of the hinge beam device 22 and the left side beam 21, one end of the transition piece 24 is connected with the left side beam 21 by welding, the other end is a column body, and the other end is fixed inside an end cover of the inner hinge beam 222 by a fixing plate 227, the inner hinge beam 222 extends into the outer hinge beam 221, the outer hinge beam 221 and the inner hinge beam 222 are connected by a slewing bearing with a certain span left and right, and the outer hinge beam 221 and the inner hinge beam 222 can be twisted freely by the left slewing bearing 223 and the right slewing bearing 224, i.e. the torsional rigidity between the left side beam and the right side beam is zero.
The outer side hinged beam 221 of the hinged beam device 22 adopts a cylindrical surface design, the upper part of the outer side hinged beam 221 is provided with a straight notch, so that a traction pin connecting device at the center of a vehicle body can conveniently extend to be matched with the traction seat 225, meanwhile, workers can conveniently extend hands into the hinged beam device 22 for assembly and disassembly during assembly and disassembly, the lower parts of the outer side hinged beam 221 and the inner side hinged beam 222 are provided with holes, so that the traction seat 225 can conveniently extend downwards to the mounting seat of the transverse hydraulic damper 52 and accumulated water in the hinged beam device 22 can be discharged in rainy and snowy days; the inner hinge beam 222 is in a box structure, no upper cover plate is arranged, the traction seat 225 is connected with the inner hinge beam 222 through four laminated traction rubber piles 226, and the center of the lower end plate of the inner hinge beam 222 is provided with a hole so as to prevent the central traction device from colliding with the lower end plate of the inner hinge beam 222 when being displaced up and down; the slewing bearing in the hinged beam device 22 adopts the same size, the slewing bearing is respectively arranged between the end plate of the inner hinged beam 222 and the end cover of the outer hinged beam 221, the outer ring of the slewing bearing is fixed with the end cover of the outer hinged beam through screws, and the inner ring is fixed with the end cover plate of the inner hinged beam 222 through screws. During assembly, the outer hinge beam 221 is welded with the right side beam 23 to form a T-shaped beam, the inner hinge beam 222 is connected with the left side beam 21 through a transition piece 24 to form another T-shaped beam, the two T-shaped beams are connected through slewing bearings with certain spans left and right, the inner hinge beam 222 penetrates into the outer hinge beam 221 after the laminated traction rubber pile 226 and the traction seat 225 are installed, the inner hinge beam 222 is connected through slewing bearings, an outer slewing bearing ring is fixed with the outer hinge beam 221 through a screw, an inner ring is fixed with the inner hinge beam 222 through a screw, after assembly, the outer hinge beam 221 is connected with the left side beam 21 through the transition piece 24, one end of the transition piece 24 is welded with the left side beam 21, and one end of the inner hinge beam 222 is fixed through a fixing plate 227. The framework has no diamond deformation, the torsional rigidity between the beams at the two sides is zero, and free nodding torsional movement can be performed.
In use, when the right side member 23 receives a rightward lateral force, the right side member 23 will have a rightward tensile force on the outer hinge member 221, and the force is transmitted to the outer ring of the slewing bearing through the end face of the outer hinge member 221, the slewing bearing transmits the force to the inner ring through its own structure, and the inner ring transmits the force to the end plate of the inner hinge member 222, and the force is transmitted to the transition member 24 through the end plate of the other end of the inner hinge member 222, and the transition member 24 finally transmits the force to the left side member 21. When the left side member 21 receives a leftward lateral force, the transmission path of the lateral force balance is opposite to the above-described path.
In use, when the two side beams are subjected to the vertical force of the vehicle body, the two forces can generate bending moment on the hinged beam device 22, and as the hinged beam device 22 is provided with the left slewing bearing 223 and the right slewing bearing 224 which are transversely provided with a certain transverse distance, corresponding forces and bending moment can be generated through the left slewing bearing and the right slewing bearing, and the forces and the bending moment are balanced. The side beams are also balanced by means of the articulated cross member arrangement 22 when subjected to longitudinal forces. Therefore, the flexible framework can bear forces in three directions and torques in two directions, only releases the rotation freedom degree of the flexible framework around the transverse shaft, has no diamond deformation, and has zero torsional rigidity between the two side beams, namely, the two side beams can do free reciprocal nodding torsion movement, so that the bogie adopting the flexible framework has excellent load balancing property, line adaptability, curve trafficability and running stability, and can fundamentally solve the contradiction between the running stability and the curve trafficability.
The primary suspension device 3 comprises a splayed rubber pile 31, a bearing 32, an upper shaft box 33, a lower shaft box 34, a splayed rubber pile upper cover plate 35, a splayed rubber pile lower cover plate 36, an inner baffle 37, an outer baffle 38 and a rubber ring 39, wherein an inner baffle 37 and an outer baffle 38 are arranged on two lateral sides of the bearing 32 and used for fixing the bearing 32, the inner baffle 37 and the outer baffle 38 are arranged on an axle 12, the splayed rubber pile 31 is connected with a side beam through the splayed rubber pile upper cover plate 35, is connected with the upper shaft box 33 through the splayed rubber pile lower cover plate 36, is connected with the lower shaft box 34 through bolts and nuts, and is connected with a motor shell 61 inwards through bolts and nuts, so as to fix the motor shell 61.
The secondary suspension device 5 comprises two air springs 54 which are symmetrically arranged left and right, vertical hydraulic shock absorbers 53 are arranged left and right on the end plates of the side beam extension beams 211, two transverse stops 51 are arranged inside the hinged cross beam device 22, one end of each transverse hydraulic shock absorber 52 is connected with the lower end of the traction seat 225, and the other end is connected with the lower bottom plate of the side beam.
The permanent magnet direct drive driving device 6 comprises a stator 62, a rotor 63, a motor housing 61 and a torque balance rod 64, wherein the rotor 63 is installed on an axle 12 through a connecting key, the rotor 63 directly drives the axle 12 to rotate, the motor housing 61 is divided into an upper shell and a lower shell which are symmetrically arranged, two ends of the motor housing are respectively extended out of two semicircular rings and the inner extending parts of axle boxes on two sides of the two semicircular rings are fixed through bolts, the torque balance rod 64 is used for balancing a motor, two ends of the torque balance rod 64 are elastic joints of rubber spherical hinges, one end of the torque balance rod is connected with an installation seat on the motor housing 61, and the other end of the torque balance rod is connected with an I-beam installation seat extending inwards from a side beam.
The bogie is arranged inside the framework 2 in an axle box built-in arrangement mode, so that the length of an axle 12 is effectively shortened, unsprung mass and dead weight of the bogie are reduced, and curve passing performance is improved; the adoption of the hinged beam device 22 can realize no diamond deformation of the bogie and zero torsional rigidity, and can simultaneously have excellent running stability and curve trafficability; by adopting the permanent magnet direct drive driving device 6, the traditional gear box can be omitted, the efficiency of the whole vehicle is greatly improved, and the overall reliability, noise maintenance cost and the like are greatly improved; the primary suspension device 3 can meet the horizontal positioning rigidity and the vertical suspension rigidity between the framework 2 and the wheel set 1; the secondary suspension device 5 can provide proper vertical suspension rigidity and horizontal shear rigidity for the vehicle body and the bogie, meets the vertical deflection requirement of the empty and heavy vehicle, and has the advantages of no need of installing an anti-side rolling torsion bar, simple structure and low cost.
The present invention also provides a non-power bogie, without the permanent magnet direct drive 6, which is still within the scope of the present invention.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. An inner axle box bogie adopting a novel flexible framework and a permanent magnet direct drive motor is characterized by comprising the following components:
wheel sets (1), each wheel set (1) comprises two wheels (11) and an axle (12);
the framework (2) consists of two T-shaped beams and two sets of slewing bearings for connecting the two T-shaped beams and the two sets of slewing bearings, and particularly comprises two longitudinally arranged left side beams (21), two longitudinally arranged right side beams (23) and a set of transversely arranged hinged beam devices (22), wherein: the hinged beam device (22) consists of an outer hinged beam (221), an inner hinged beam (222), a left slewing bearing (223), a right slewing bearing (224), four traction rubber stacks (226) in the middle and a traction seat (225), two end parts of the left side beam (21) and the right side beam (23) are connected with the wheel set (1) through a series of suspension devices (3), the middle parts of the left side beam (21) and the right side beam (23) are connected with the hinged beam device (22) which is transversely arranged, and the left side beam (21) and the right side beam (23) can do mutual free nodding rotation around the central line of the hinged beam device (22) by means of the hinged beam device (22); the outer side hinging beam (221) of the hinging beam device (22) adopts a cylindrical surface design, a straight notch is formed in the upper portion of the outer side hinging beam (221), a traction pin connecting device at the center of a vehicle body is convenient to stretch down to be matched with the traction seat (225), meanwhile, workers can conveniently disassemble and assemble the device, holes are formed in the lower portions of the outer side hinging beam (221) and the inner side hinging beam (222), and the traction seat (225) is convenient to downwards stretch out of a mounting seat of the transverse hydraulic shock absorber (52) and accumulated water in the hinging beam device (22) in rainy and snowy weather; the inner hinging beam (222) is of an upward opening box body structure, and the traction seat (225) is connected with the inner hinging beam (222) through four laminated traction rubber piles (226); the left slewing bearing and the right slewing bearing in the hinged beam device (22) are of the same size, are respectively arranged between the end plate of the inner hinging beam (222) and the end cover of the outer hinging beam (221), the outer ring of the left slewing bearing and the outer ring of the right slewing bearing are connected with the end cover of the outer hinging beam (221) through bolts, and the inner ring of the left slewing bearing and the inner hinging beam (222) are connected with the end cover plate of the inner hinging beam through bolts; during assembly, the outer side hinging beam (221) is fixedly connected with the right side beam (23) to form a T-shaped beam, the inner side hinging beam (222) forms another T-shaped beam through the transition piece (24) and the left side beam (21), the inner side hinging beam (222) penetrates into the outer side hinging beam (221) after the laminated traction rubber pile (226) and the traction seat (225) are installed, the two parts are connected through a slewing bearing, an outer side hinging beam end cover is installed at the end part of the outer side hinging beam (221) after the slewing bearing is installed, the outer side hinging beam (221) end cover is formed by two semicircular cover plates, and the outer side hinging beam (221) sleeve and the slewing bearing outer ring are fixedly connected through bolts;
the suspension device (3) is arranged on the inner side of the wheel set (1), and comprises a splayed rubber pile (31), a bearing (32), an upper axle box (33), a lower axle box (34), a splayed rubber pile upper cover plate (35), a splayed rubber pile lower cover plate (36), an inner side baffle (37), an outer side baffle (38) and a rubber ring (39);
the foundation braking device comprises four groups of tread foundation braking devices (4) which are respectively arranged on the inner side of the bogie, and mounting seats of the foundation braking devices are arranged on a side beam web plate and a bottom plate of the bogie;
the secondary suspension device (5) comprises two air springs (54), vertical hydraulic dampers (53), transverse stops (51) and transverse hydraulic dampers (52) which are symmetrically arranged left and right, wherein the two transverse stops (51) are arranged in the hinged cross beam device (22), one end of each transverse hydraulic damper (52) is connected with the lower end of the traction seat (225), and the other end of each transverse hydraulic damper (52) is connected with the lower bottom plate of the side beam;
the permanent magnet direct drive driving device (6) comprises a stator (62), a rotor (63), a motor shell (61) and a torque balance rod (64), wherein the torque balance rod (64) is used for providing torque for balancing the work of the motor.
2. An inner axlebox bogie employing a novel flexible frame and permanent magnet direct drive motor according to claim 1, characterized in that the frame (2) is generally H-shaped, in particular as follows: a transition piece (24) is arranged between an inner side hinging beam (222) of the hinging cross beam device (22) and the left side beam (21), one end of the transition piece (24) is fixedly connected with the left side beam (21), the other end of the transition piece is columnar and penetrates through an end cover of an outer side hinging beam (221), a left slewing bearing (223) and an end plate of the inner side hinging beam (222) to penetrate into the hinging device, the inner side hinging beam is fastened into the end cover of the inner side hinging beam (222) through a fixing plate (227), so that the left side beam (21) forms a T-shaped beam through the transition piece (24) and the inner side hinging beam, and the end plate of the outer side hinging beam (221) and the right side beam (23) form another T-shaped beam through fixedly connection; the inner hinging beam (222) stretches into the outer hinging beam (221), the outer hinging beam (221) and the inner hinging beam (222) are connected through slewing bearings with certain spans left and right, the outer hinging beam (221) and the inner hinging beam (222) can realize mutual free torsion through a left slewing bearing (223) and a right slewing bearing (224), and free nodding torsion movement can be realized.
3. An inner axle box bogie adopting a novel flexible framework and a permanent magnet direct drive motor as claimed in claim 1, wherein a rotor (63) mainly formed by permanent magnets of the permanent magnet direct drive device (6) is arranged on an axle (12) through a connecting key, so that the rotor (63) directly drives the axle (12) to rotate when in operation, the motor shell (61) is divided into an upper shell and a lower shell which are symmetrically arranged, the stator and the end parts of the installation foundation shell of the stator are arranged on the left inner axle box body and the right inner axle box body, and the end parts of the shell connect the two semicircular split shells through four bolts; the permanent magnet motor provides the counter moment of during operation through moment of torsion balancing pole (64), and moment of torsion balancing pole (64) one end carries out fastening connection with permanent magnet motor shell (61) moment of torsion balancing pole seat, and the other end is connected with framework curb girder moment of torsion balancing pole seat fastening, and wherein moment of torsion balancing pole (64) horizontal symmetry arranges about, and every moment of torsion balancing pole contains a pull rod body and two spherical hinges.
4. The inner axle box bogie adopting the novel flexible framework and the permanent magnet direct drive motor, according to claim 1, characterized in that the splayed rubber pile (31) is fixedly connected with a splayed rubber pile upper cover plate (35) and a splayed rubber pile lower cover plate (36) through vulcanization, the axle box body is of a split type structure and comprises an upper axle box body (33) and a lower axle box body (34), the upper axle box body (33) and the splayed rubber pile lower cover plate (36) are longitudinally and transversely positioned through grooves and check blocks, grooves are formed in the bottom of the lower axle box body (34), and the upper axle box body (33) and the lower axle box body (34) are fixedly connected through bolts and nuts.
5. An inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to claim 1, characterized in that a laminated traction rubber stack (226) is employed, the laminated traction rubber stack (226) being arranged inside the articulated beam arrangement.
6. An inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to claim 1, wherein the vertical suspension of the secondary suspension device (5) comprises two air springs (54) symmetrically arranged left and right, and the vertical hydraulic damper (53) is arranged left and right on the end plate of the side beam extension beam (211).
7. An inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to claim 1, characterized in that the two lateral stops (51) of the secondary suspension device (5) are metal plates of vulcanized rubber arranged on the inside of the end plates of the inner hinge beam (222) of the hinge beam device (22) for controlling the lateral displacement between the car body and the bogie.
8. An inner axle box bogie employing a novel flexible frame and permanent magnet direct drive motor according to claim 1, wherein one end of a transverse hydraulic damper (52) of the secondary suspension device (5) is connected with a transverse hydraulic damper mounting seat extending downwards from the traction seat (225), and one end is connected with a transverse hydraulic damper extending from the side sill floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210037919.2A CN114162166B (en) | 2022-01-13 | 2022-01-13 | Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210037919.2A CN114162166B (en) | 2022-01-13 | 2022-01-13 | Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114162166A CN114162166A (en) | 2022-03-11 |
| CN114162166B true CN114162166B (en) | 2024-02-27 |
Family
ID=80489341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210037919.2A Active CN114162166B (en) | 2022-01-13 | 2022-01-13 | Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114162166B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116654095B (en) * | 2023-07-28 | 2023-10-13 | 昆山美仑工业样机有限公司 | New energy automobile frame based on motor suspension structure and stability enhancement method thereof |
Citations (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB489073A (en) * | 1936-08-24 | 1938-07-19 | Ettore Bugatti | Improvements relating to frames for railway vehicle trucks |
| FR2634712A1 (en) * | 1988-07-27 | 1990-02-02 | Sambre & Meuse Usines | Rail unit, such as a wagon or bogie, with a chassis having selective deformability |
| DE4033171A1 (en) * | 1989-11-01 | 1991-05-08 | Rautaruukki Oy | Bogie for rail vehicles - has frame construction extending to below top wheel edge only |
| US5083513A (en) * | 1989-02-10 | 1992-01-28 | Kawasaki Jukogyo Kabushiki Kaisha | Railway car bogie with axle bearings centered on bogie axle |
| FR2713582A1 (en) * | 1993-12-14 | 1995-06-16 | Fischer Georg Verkehrstechnik | Orientation corner for a fifth wheel coupling. |
| CN2259335Y (en) * | 1996-03-20 | 1997-08-13 | 齐齐哈尔车辆厂 | Spring suspending device for axle housing of rail goods wagon |
| US6131972A (en) * | 1998-08-28 | 2000-10-17 | Suncast Corporation | Grip handle for shovel type implement |
| CN101011971A (en) * | 2006-10-25 | 2007-08-08 | 中国南车集团株洲车辆厂 | Truck bogie of low power action |
| CN201882095U (en) * | 2010-12-14 | 2011-06-29 | 南车南京浦镇车辆有限公司 | Integrated traction multiply rubber spring |
| CN102556097A (en) * | 2011-01-01 | 2012-07-11 | 齐齐哈尔轨道交通装备有限责任公司 | Central suspension device and high-speed truck bogie with same |
| CN103112457A (en) * | 2013-02-06 | 2013-05-22 | 西南交通大学 | Gearless-driving motor wheel pair unit with elastic supporting of motor |
| CN207875660U (en) * | 2018-02-07 | 2018-09-18 | 中车株洲电力机车有限公司 | A kind of secondary suspension device and bogie |
| CN207955654U (en) * | 2018-01-17 | 2018-10-12 | 中车长春轨道客车股份有限公司 | Small wheelbase Multiple disc brake motor car bogie |
| CN109436005A (en) * | 2018-11-23 | 2019-03-08 | 中车长春轨道客车股份有限公司 | Power truck built in high-speed EMUs axle box and the rail vehicle with the bogie |
| CN110641503A (en) * | 2019-10-17 | 2020-01-03 | 西南交通大学 | Novel bogie |
| WO2020053608A1 (en) * | 2018-09-12 | 2020-03-19 | Ganz Motor Kft. | Two-axle modular bogie assembly for railway vehicles |
| CN111301471A (en) * | 2020-03-02 | 2020-06-19 | 西南交通大学 | Railway vehicle bogie |
| CN111994114A (en) * | 2020-08-11 | 2020-11-27 | 中车唐山机车车辆有限公司 | Framework, bogie and rail vehicle |
| CN112026830A (en) * | 2020-09-10 | 2020-12-04 | 中车青岛四方机车车辆股份有限公司 | Railway vehicle bogie frame, bogie and railway vehicle |
| CN112026829A (en) * | 2020-09-10 | 2020-12-04 | 中车青岛四方机车车辆股份有限公司 | Railway vehicle bogie and railway vehicle |
| CN112298249A (en) * | 2019-08-02 | 2021-02-02 | 中车唐山机车车辆有限公司 | Bogie and rail vehicle |
| WO2021022902A1 (en) * | 2019-08-02 | 2021-02-11 | 中车唐山机车车辆有限公司 | Bogie |
| CN113415303A (en) * | 2021-08-12 | 2021-09-21 | 中车山东机车车辆有限公司 | Bogie with self-running wheel pair and self-guiding mechanism and railway wagon |
| CN113428181A (en) * | 2021-07-26 | 2021-09-24 | 北京首钢国际工程技术有限公司 | Vehicle bogie and heavy-load transport vehicle |
| CN214356035U (en) * | 2020-12-07 | 2021-10-08 | 西南交通大学 | Articulated frame bogie for railway wagon |
| CN113879351A (en) * | 2021-10-25 | 2022-01-04 | 中车南京浦镇车辆有限公司 | Single-bolt connection central traction device for railway vehicle bogie and installation method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102963388B (en) * | 2012-07-10 | 2015-06-24 | 南车南京浦镇车辆有限公司 | Flexible direct-drive type steering rack |
| CN106515750A (en) * | 2016-09-30 | 2017-03-22 | 中车南京浦镇车辆有限公司 | Permanent magnet direct drive subway train |
-
2022
- 2022-01-13 CN CN202210037919.2A patent/CN114162166B/en active Active
Patent Citations (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB489073A (en) * | 1936-08-24 | 1938-07-19 | Ettore Bugatti | Improvements relating to frames for railway vehicle trucks |
| FR2634712A1 (en) * | 1988-07-27 | 1990-02-02 | Sambre & Meuse Usines | Rail unit, such as a wagon or bogie, with a chassis having selective deformability |
| US5083513A (en) * | 1989-02-10 | 1992-01-28 | Kawasaki Jukogyo Kabushiki Kaisha | Railway car bogie with axle bearings centered on bogie axle |
| DE4033171A1 (en) * | 1989-11-01 | 1991-05-08 | Rautaruukki Oy | Bogie for rail vehicles - has frame construction extending to below top wheel edge only |
| FR2713582A1 (en) * | 1993-12-14 | 1995-06-16 | Fischer Georg Verkehrstechnik | Orientation corner for a fifth wheel coupling. |
| CN2259335Y (en) * | 1996-03-20 | 1997-08-13 | 齐齐哈尔车辆厂 | Spring suspending device for axle housing of rail goods wagon |
| US6131972A (en) * | 1998-08-28 | 2000-10-17 | Suncast Corporation | Grip handle for shovel type implement |
| CN101011971A (en) * | 2006-10-25 | 2007-08-08 | 中国南车集团株洲车辆厂 | Truck bogie of low power action |
| CN201882095U (en) * | 2010-12-14 | 2011-06-29 | 南车南京浦镇车辆有限公司 | Integrated traction multiply rubber spring |
| CN102556097A (en) * | 2011-01-01 | 2012-07-11 | 齐齐哈尔轨道交通装备有限责任公司 | Central suspension device and high-speed truck bogie with same |
| CN103112457A (en) * | 2013-02-06 | 2013-05-22 | 西南交通大学 | Gearless-driving motor wheel pair unit with elastic supporting of motor |
| CN207955654U (en) * | 2018-01-17 | 2018-10-12 | 中车长春轨道客车股份有限公司 | Small wheelbase Multiple disc brake motor car bogie |
| CN207875660U (en) * | 2018-02-07 | 2018-09-18 | 中车株洲电力机车有限公司 | A kind of secondary suspension device and bogie |
| WO2020053608A1 (en) * | 2018-09-12 | 2020-03-19 | Ganz Motor Kft. | Two-axle modular bogie assembly for railway vehicles |
| CN109436005A (en) * | 2018-11-23 | 2019-03-08 | 中车长春轨道客车股份有限公司 | Power truck built in high-speed EMUs axle box and the rail vehicle with the bogie |
| WO2021022902A1 (en) * | 2019-08-02 | 2021-02-11 | 中车唐山机车车辆有限公司 | Bogie |
| CN112298249A (en) * | 2019-08-02 | 2021-02-02 | 中车唐山机车车辆有限公司 | Bogie and rail vehicle |
| CN110641503A (en) * | 2019-10-17 | 2020-01-03 | 西南交通大学 | Novel bogie |
| CN111301471A (en) * | 2020-03-02 | 2020-06-19 | 西南交通大学 | Railway vehicle bogie |
| CN111994114A (en) * | 2020-08-11 | 2020-11-27 | 中车唐山机车车辆有限公司 | Framework, bogie and rail vehicle |
| CN112026830A (en) * | 2020-09-10 | 2020-12-04 | 中车青岛四方机车车辆股份有限公司 | Railway vehicle bogie frame, bogie and railway vehicle |
| CN112026829A (en) * | 2020-09-10 | 2020-12-04 | 中车青岛四方机车车辆股份有限公司 | Railway vehicle bogie and railway vehicle |
| CN214356035U (en) * | 2020-12-07 | 2021-10-08 | 西南交通大学 | Articulated frame bogie for railway wagon |
| CN113428181A (en) * | 2021-07-26 | 2021-09-24 | 北京首钢国际工程技术有限公司 | Vehicle bogie and heavy-load transport vehicle |
| CN113415303A (en) * | 2021-08-12 | 2021-09-21 | 中车山东机车车辆有限公司 | Bogie with self-running wheel pair and self-guiding mechanism and railway wagon |
| CN113879351A (en) * | 2021-10-25 | 2022-01-04 | 中车南京浦镇车辆有限公司 | Single-bolt connection central traction device for railway vehicle bogie and installation method thereof |
Non-Patent Citations (5)
| Title |
|---|
| 地铁车辆新型永磁直驱转向架的设计和分析;楚永萍;胡定祥;周亮;;城市轨道交通研究(第06期);全文 * |
| 楚永萍 ; 胡定祥 ; 周亮 ; .地铁车辆新型永磁直驱转向架的设计和分析.城市轨道交通研究.2016,(第06期),全文. * |
| 永磁同步电机直接驱动柔性转向架的动力学性能研究;冯遵委;胡定祥;楚永萍;;铁道机车车辆;20130625(第03期);全文 * |
| 直线电机地铁车辆转向架;罗曦春;罗世辉;;电力机车与城轨车辆(第05期);全文 * |
| 罗曦春 ; 罗世辉 ; .直线电机地铁车辆转向架.电力机车与城轨车辆.2008,(第05期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114162166A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202243514U (en) | Highs-speed motor train unit bogie | |
| CN102923153A (en) | Bogie of high-speed motor train unit | |
| CN105197021A (en) | Motor hold shaft installation type permanent-magnetic direct-drive bogie | |
| CN111469879B (en) | Hinge pin type bogie of suspension type monorail vehicle driven by permanent magnet motor | |
| CN103625493B (en) | Large-axle-load railway vehicle bogie | |
| WO2013091319A1 (en) | High speed railway vehicle bogie | |
| CN111547080B (en) | Independent wheel set and single-axle bogie directly driven by switched reluctance motor | |
| CN107697091B (en) | Compact bogie with built-in axle box for metro vehicle | |
| CN203372249U (en) | Large-axle-load railway vehicle bogie | |
| CN214356035U (en) | Articulated frame bogie for railway wagon | |
| CN114162166B (en) | Inner axle box bogie adopting novel flexible framework and permanent magnet direct drive motor | |
| CN216332046U (en) | Compact primary suspension bogie for track-bound engineering machinery | |
| CN113978505B (en) | Hinge pin type bogie for urban rail vehicle driven simultaneously by single permanent magnet direct drive motor double shafts | |
| CN113879353B (en) | Bogie for track engineering machinery with compact primary suspension | |
| CN110667635A (en) | Built-in bogie frame of axle box | |
| CN112356869A (en) | High-speed railway vehicle bogie | |
| CN112277968A (en) | Steering frame | |
| CN217623574U (en) | Electrically-driven bogie and railway engineering vehicle | |
| CN213008085U (en) | Permanent magnet direct drive motor and axle box integrated rubber wheel suspension hinge pin type bogie | |
| CN214356036U (en) | High-speed railway vehicle bogie | |
| CN112406910B (en) | Suspension type rail transit system | |
| CN115257825A (en) | Railway vehicle bogie and driving unit thereof | |
| CN114559976B (en) | Flexible framework for railway vehicle bogie by adopting slewing bearing | |
| CN111845790A (en) | Permanent magnet direct drive motor and axle box integrated rubber wheel suspension hinge pin type bogie | |
| CN218703251U (en) | U-shaped beam bogie for electric transmission steel rail flaw detection vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |