CN105253149B - Conduit running vehicle, wabbler mechanism, transportation system and wheel - Google Patents

Abstract

The present invention provides a kind of conduit running vehicle, wabbler mechanism, transportation system and wheel, belongs to facilities for transport and communication field.Conduit running vehicle includes carriage, and carriage constitutes the loading space of vehicle, and the outer profile body shape of conduit running vehicle is spherical, spherical or spherical segment.Carriage possessed by conduit running vehicle of the invention, under the same conditions, surface area is minimum in space in the car, thus saves material, and can realize minor radius tempo turn and heavy grade lifting.Object to be waved is installed on transport facility by ring support and axis by the wabbler mechanism, which can be used for other transport facilitys, for example be used for the seat of vehicle, aircraft, steamer, can increase comfort level when passenger rides.The transportation system includes above-mentioned conduit running vehicle and pipeline, and the both sides gap of conduit running vehicle and pipeline is small, the air damping anticollision effect in pipeline easy to use and the safety for significantly improving vehicle.Wheel can be used for the monorail vehicles, will not derail easily.

Description

Conduit running vehicle, wabbler mechanism, transportation system and wheel

Technical field

The present invention relates to a kind of transport facility and system, in particular to it is a kind of conduit running vehicle, wabbler mechanism and Transportation system and wheel including the conduit running vehicle, the conduit running vehicle is either by idler wheel in pipeline The wheeled vehicle run on the track of laying is also possible to magnetic levitation vehicle or gas suspension vehicle.

Background technique

The rail vehicle and various electric cars, bus run in such as subway carriage and tunnel, traditional vehicle design more At cuboid.As shown in Figure 1, prior art discloses a kind of vehicles run in pipeline, it is also referred to as railcar below.Referring to this The carriage 51 of railcar, cross-sectional outer profile and pipeline section Internal periphery shape are coincide, and are arch；Along Chinese herbaceous peony into reversed The shape of longitudinal section is about rectangle.In the present invention, the cross section refers to the section of the traffic direction perpendicular to vehicle； The longitudinal section refers to the vertical section for being parallel to vehicle traffic direction.In vehicle high-speed operation, before rectangle carriage Suffered air drag is obviously very big.In order to reduce air drag, people headstock or driver's cabin are modified to it is streamlined, such as high-speed iron The driver's cabin of road vehicles and various cars.But airflow design will increase material consumption, and be to sacrifice interior space Cost.Nonetheless, the reduction amplitude of air drag is also extremely limited.

Also, railcar shown in FIG. 1 is to the turning of realization minor radius, it is necessary to the track for increasing railcar and being exercised Between gap.

Summary of the invention

In order to overcome above-mentioned disadvantage of the existing technology, the present invention proposes one kind in conduit running vehicle, wabbler mechanism, packet Include the transportation system and wheel of the conduit running vehicle.The conduit running vehicle can cooperate with seal for pipe joints, realize Air in pipeline between two vehicles reduces the resistance of suffered air in vehicle operation with vehicle movement.

Another goal of the invention of the invention is that conduit running vehicle can be in the pipeline inside turn of minor radius, without occurring " stuck " phenomenon that vehicle and pipeline scratch.

It includes carriage that inventive pipeline, which runs vehicle, and the carriage constitutes the loading space of the vehicle, conduit running vehicle it is outer Profile main body is then spherical, spherical or spherical segment.Wherein, it is described it is spherical can be, for example, elliposoidal, egg type, capsule Shape, olive shape etc. are irregular but the spheroidal orbicule of entirety, the spherical segment refer to above-mentioned sphere, globoid plane Remaining part sphere after a part is clipped, such as dolioform (alternatively referred to as fat shape).

Above-mentioned conduit running vehicle of the invention can also have wheel and guiding device, and the wheel is fixed on the carriage Pedestal, the track being laid in the wheel and the pipeline cooperates, and carrier vehicle moves ahead；The guiding device is fixed on the vehicle Be laid in top or bottom, with the pipeline guided way cooperation, guiding Chinese herbaceous peony into direction.

It specifically, further include the more than two wheels to form a line；Each wheel is equipped with fin, two sides among wheel face Equipped with tyre tread, operation has on two tracks of crack in the duct；Wherein, the fin is in the crack；Or Person, each wheel are equipped with fin at wheel face edge, and centre is equipped with tyre tread, runs on a track in the duct.

Alternatively, the wheel be it is multiple, line up two column, run on two tracks in the duct；Operate in a track On wheel axis with operate in the axis of wheel on another track in 80~120 ° of angles.

In order to reduce the rigid collision between wheel and track reduce vibration, the wheel wheel face outer cladding elastic layer.

It further includes balance mechanism that inventive pipeline, which runs vehicle, and the balance mechanism includes stabilizer, telescopic unit and moves Power unit, stabilizer are fixed on conduit running vehicle by the telescopic unit；Under the driving of power unit, the flexible list Member is stretched out, and the stabilizer is driven to ride over or be stuck on the equilibrium orbit being arranged in pipeline；Alternatively, the telescopic unit retracts, The stabilizer is driven to separate with equilibrium orbit.

Specifically, the telescopic unit includes wheel shaft, telescopic arm, flexible sliding rail；The wheel shaft consolidates the stabilizer Due to one end of the telescopic arm, the other end of the telescopic arm connects the power unit, and the flexible sliding rail is fixed on institute Carriage is stated, the stabilizer slides in the flexible sliding rail；The power unit drives the telescopic arm along the flexible cunning Rail is stretched out or is retracted.

In order to adapt to the radian requirement of spherical or spherical carriage, conduit running vehicle further comprises control door contact interrupter Door motivation structure, the door motivation structure include: that driving rack, transmission gear and door move motor；The driving rack be arc, one The car door is fixed at end；The transmission gear is engaged with the driving rack, is fixed on the carriage or the door moves motor On；The door moves motor and is fixed in the carriage, and the transmission gear is driven to rotate, the transmission gear by with the biography The engagement of carry-over bar drives the opening/closing door of vehicle.

In addition, being provided with seat in the carriage, the seat is in a ring or opposite is set in order to which passenger's seating is more comfortable It sets.

Conduit running vehicle further includes wabbler mechanism, and the wabbler mechanism includes ring support and axis, and the ring support is solid It is scheduled on the pedestal of the vehicle, the ring support outer shape is fitted the carriage shape, covers in the carriage；Pass through institute Axis is stated to be rockably mounted to the carriage on the pedestal of the conduit running vehicle.

Specifically, the inner wall of the ring support offers hole, and the carriage is fixed in described axis one end, and the other end can It is rotatably mounted in the hole of the ring support；Alternatively, the outer wall of the carriage offers hole, institute is fixed in described axis one end It states on ring support, the other end is rotatably installed in the hole of the carriage；Wherein, the carriage can be opposite around the axis It swings in the ring support.

As better embodiment, the ring support inner wall opens up fluted；The carriage is fixed in described axis one end On, the other end is slidably mounted in the groove of the ring support inner wall；Alternatively, the outer wall of the carriage opens up fluted, institute It states axis one end and is fixed on the ring support, the other end is slidably mounted in the groove of the carriage outer wall；Existed by the axis Sliding in groove, the carriage can be swung relative to the ring support；Alternatively, the axis can be slided in the groove It is dynamic to be able to rotate again.

The wabbler mechanism further comprises outer tube, and the outer tube is fixed on the carriage/ring support, the axis sliding It is installed in the groove；The outer tube rotationally covers outside the axis；The outer tube is slidably mounted in the groove.

The composition of the carriage circumferential direction wall are as follows: use metal, alloy or PVC material as keel, form multiple windows separated Frame assembles transparent or opaque material on window frame.

Invention additionally discloses a kind of wabbler mechanisms, object to be waved are installed on transport facility, the wabbler mechanism Including ring support and axis；The ring support is fixed on the transport facility, and ring support is covered in the object to be waved On；The ring support is flexibly connected with the object to be waved by the axis.

Specifically, described axis one end is free end, and the other end is fixing end, and aperture, institute are arranged on the ring support The free end for stating axis rotates in the opening, and the fixing end is fixed on described wait wave on object；Alternatively, the object to be waved Upper setting aperture, the free end of the axis rotate in the opening, and the fixing end is fixed on the ring support.

Alternatively, replacing the aperture with groove, the axis free end is slidably mounted in the groove；Existed by the axis Sliding in groove, the object to be waved can be relative to the ring support scroll forward and backwards.

The wabbler mechanism further comprises outer tube, the outer tube rotationally covers outside the axis, is slidably mounted on institute It states in groove.

Invention additionally discloses a kind of transportation systems, including above-mentioned vehicle and pipeline, the section of the pipeline and institute The cross-sectional shape for stating vehicle is adapted, and there are gap between the vehicle and the pipeline, which is the 0.5- of pipe diameter 2%.

Invention additionally discloses a kind of wheels, including wheel face, which is characterized in that fin is equipped among the wheel face, it is described convex The two sides of rib are equipped with tyre tread；Alternatively, being equipped with tyre tread among the wheel face, the two sides of the tyre tread are equipped with fin.

As above, the car side wall of vehicle of the present invention is cambered surface, and outer profile body shape is sphere or globoid, in the car space Under the same conditions, the carriage surface area of vehicle disclosed by the invention is minimum, thus most saves material；In other words, in equivalent table Under area material, interior available space is maximum.In addition, because the appearance profile of conduit running vehicle of the invention is sphere or class Sphere, so, it is the compartment of conduit running vehicle compared with the vehicle of rectangle with compartment longitudinal section when vehicle is run in pipeline Minor radius tempo turn can be achieved, can also realize that the carriage run in the lifting route of heavy grade (being greater than 20 degree) is steady Property, so that passenger is reduced the acceleration bring sense of discomfort because of carriage position suddenly change, and rectangle carriage can be overcome in smaller part Vehicle shell is easy the shortcomings that mutually scratching with duct wall when diameter is turned；When the air pressure in pipeline changes, in same material, phase In the case where surface area, the carriage of spherical shapes, compression strength maximum；Meanwhile the cambered surface vehicle being arranged in carriage of the present invention Door is easiest to realize air seal；Carriage cross section and cross-section of pipeline shape are coincide, and are easiest to hinder using the air in pipeline Buddhist nun's anticollision acts on and significantly improves the safety of vehicle.

Illustrate the embodiment of the present invention with reference to the accompanying drawing, it is more comprehensively and deep to allow those skilled in the art to have the present invention The understanding entered.

Detailed description of the invention

Fig. 1 is the carriage schematic shapes of existing conduit running vehicle；

Fig. 2 is the structural schematic diagram of one conduit running vehicle of the embodiment of the present invention；

Fig. 3 is a motivation structure structural schematic diagram；

The structural schematic diagram of two conduit running vehicle of Fig. 4 embodiment of the present invention；

Fig. 5 is two conduit running vehicle door opening state schematic diagram of the embodiment of the present invention；

Fig. 6 be equipped with fish head pier, fish tail pier conduit running vehicle schematic top plan view；

Fig. 7 is the structural schematic diagram of three conduit running vehicle of the embodiment of the present invention；

Fig. 8 a, Fig. 8 b are the spherical conduit running vehicle turning posture schematic diagrames of the embodiment of the present invention two；

Fig. 9 a, Fig. 9 b are the spherical conduit running vehicle uphill, downhill posture schematic diagrames of the embodiment of the present invention two；

Figure 10 a and Figure 10 b are the comparison schematic diagrams that the present invention is run in pipeline with existing vehicle；

Figure 11 a is the schematic diagram of inventive pipeline operation vehicle cross-sectional shape, and Figure 11 b to Figure 11 d is inventive pipeline fortune The schematic diagram of driving vertical sectional shape；

Figure 12 a and Figure 12 b are the wheel face structural schematic diagrams of wheel of the present invention.

Specific embodiment

Below by several specific embodiments, the structure of track operation vehicle of the invention is specifically described.

Embodiment one

Fig. 2 is the structural schematic diagram of one conduit running vehicle of the embodiment of the present invention.

As shown in Fig. 2, conduit running vehicle 10 includes: carriage 11, guiding device 12, wheel 13 and seat 14.11 structure of carriage At the loading space of the vehicle, taken for passenger.The outer profile body shape of the conduit running vehicle is sphere or globoid.

Guiding device 12 is located at the top of carriage 11 or the bottom of vehicle, for being connected with the guide rail in pipeline, guides The direction of conduit running vehicle 10；Wheel 13 is loaded on the bottom of carriage, for (also referred to as holding along the track below conduit running vehicle Heavy rail or track) B2 traveling；Seat 14 is set to cab interior, takes for passenger.

As shown in Fig. 2, in the present embodiment, the carriage 11 of conduit running vehicle 10 is in spherical segment, that is, be equivalent to spherical or It is spherical clip a part with plane after Part-spherical, or say hemispherical.Described is spherical, refers to ellipsoid, egg type, olive Shape etc. is irregular but whole spheroidal three-dimensional orbicule.

In Fig. 2, the composition of the circumferential wall of hemispherical carriage 11 are as follows: use metal such as aluminium alloy, steel etc. or PVC material as dragon Bone forms multiple frames separated, and the thin layer of transparent material such as transparent glass are assembled on frame.The surrounding of carriage 11 can not also It is transparent, such as an entirety is entirely formed with metal or plastics.Again alternatively, carriage circumferential direction wall can be entirely made of transparent material, Such as the same transparent jar.

As shown in Fig. 2, being similar to car door 112 is provided on upward car walls in spherical shape in carriage 11 with track Car walls upper opening after load onto car door.When the conduit running vehicle 10 of design or manufacture the present embodiment, car door opening should be made to be located at Carriage facilitates the position that passenger gets on and off, and preferably utilize interior space, in the present embodiment, when garage into when, vehicle Door 112 is located at the front of car；Car rotates under the action of platform pallet after parking, and car door 112 is directed at running track side Platform.Since the pallet of platform setting may make conduit running vehicle to rotate, position of the car door on carriage circumferential direction wall can be selected Select any appropriate position；The position of short transverse should facilitate passenger getting on/off.

As above, car door 112 is arc-shaped curved surface, is arranged on car side wall, for convenience of the open and close of car door, also in the arc Be provided with interior sliding rail (not shown) on the inside of car door door leaf, be provided on the outside of the carriage 11 by car door matched with interior sliding rail it is outer Sliding rail 113.When conduit running vehicle 10 arrives at a station/it is outbound or when needing to open/close car door because of failure midway, car door 112 relies on door The promotion of motivation structure realizes the open/close of car door inside, the cooperation lower slider of external slide rail.At car door and car side wall after closure In the sealing and beauty of in same cambered surface, realizing carriage.

Alternatively, replacing interior sliding rail with idler wheel.Idler wheel is fixed on car door, is embedded in external slide rail 113, in door motivation structure Under driving, idler wheel slides in external slide rail, and car door 112 is driven to be opened and closed.

Below by taking the structure that idler wheel is matched with external slide rail as an example, to illustrate a structure for motivation structure and driving door contact interrupter Process.

Fig. 3 is a motivation structure structural schematic diagram, as shown in figure 3, door motivation structure of the invention includes: driving rack 114, passes Moving gear 115, door move motor 116.Driving rack 114 is arc, and radian is consistent with the radian of car door at its fixed car door. One end of driving rack 114 is fixed on car door side, and idler wheel is installed in the other side of car door.Transmission gear 115 is fixed on carriage 11 Or door moves on motor 116, engages with driving rack 114.The dynamic motor 116 of door is fixed in carriage 11, and driving transmission gear 115 revolves Turn.

When enabling, door moves motor 116 and starts, and band nutating gear 115 rotates, and the rotation of transmission gear 115 makes driving cog Item 114 is displaced sideways along the arc curve path of car door, and to car door 112 1 thrusts tangential along carriage spherical surface, car door is another The idler wheel 117 of side slides in external slide rail 113 under the thrust, and car door 112 is horizontal under the collective effect of rack gear and pulley To movement, until car door fully opens, stopping door moving motor rotation.

At closing time, door moves motor and reversely rotates, and band nutating gear reversely rotates, and the reverse rotation of transmission gear makes rack gear Reverse movement, gives car door one reversed pulling force, and the idler wheel of the car door other side is pulled to slide in sliding rail, until closing of the door, Stop door and moves motor rotation.

In order to enable the stable action of door contact interrupter, the service life is longer long, and it is dynamic that a set of door is respectively arranged in car door upper and lower part Mechanism；The car door guide mechanism that inner orbit or idler wheel 117 and outside track 113 form can be arranged three sets in car door upper, middle and lower position Or upper and lower position is arranged two sets.

As shown in Fig. 2, guiding device 12 is fixed on the top or bottom of conduit running vehicle 10, below chassis.The guiding Device 12 may be stuck at the top of pipeline or in the guided way B1 of bottom, as a result, under control of the control system, lead for conduit running vehicle To.The structure of existing bridge crane structure or embedding wheeled guiding rail changing device can be used in guiding device.

In Fig. 2, the top of the carriage 11 of the guiding device 12 is installed to intercept ball and is mounted with a spherical crown later.In addition, Top surface at the top of this can retain spherical surface, and top dome can also be whittled into plane to facilitate the setting of guiding device 12.

The bottom surface of carriage 11 is mounted in the chassis (not shown) of conduit running vehicle 10, and two groups of wheels are fixed with below chassis 13, two groups of wheels 13 are arranged in two straight lines, operate on two in pipeline bearing rail B2.Here, if desired, chassis and sedan-chair Removable assembling structure can be used in connection between the other parts of compartment, or may be integral structure.Wheel is loaded on chassis Mode can use a variety of prior arts, if train wheel is loaded on the technology on train.

Wheel 13 includes the rubber layer 132 of metal/alloy wheel hub 131 and wheel hub external sheath, and wheel hub 131 is across rubber layer 132 roll on the bearing rail B2 of pipeline.Preferably, the material selection aluminium alloy of wheel hub 131.In aluminium alloy wheel hub and bearing rail Between the elastic layer that rubber layer or other materials are constituted is set, can avoid it is between aluminium alloy wheel hub and bearing rail, direct just Property collision, reduce noise and slow down the vibration of carriage.The wheel hub such as train wheel for adhering to rubber layer, with the flange card on the inside of wheel On the inside of rail, make its can only scroll forward and backward and be unable to left and right deviation track.

As shown in Fig. 2, being equipped with seat 14 in conduit running vehicle carriage 11.Seat 14 is arranged in a ring, i.e., seat is for people The seat of seating is sector.When only one passenger takes conduit running vehicle, it can cosily lie on one's side and stop on annular seat Breath；The outer ring arc length of fan-shaped seat is greater than inner ring arc length, the narrow anthroposomatology principle in the leg that has broad shoulders when more meeting in seat；? Under the premise of meeting riding comfort, the space in spherical carriage is farthest utilized in annular seat；When conduit running vehicle When acceleration-deceleration is run, the direction of travel of passenger and conduit running vehicle that side is sat have angle, which can decompose acceleration, subtract Small acceleration bring inertia keeps seating environment more comfortable.

The present embodiment conduit running vehicle can be suitable for the height that passenger looks around outward in the middle part of carriage, including on car door 112, open Equipped with transparent vehicle window 118, when passenger it is transparent or be provided with run in the circular pipe A of transparency window when, the pipeline fortune of the present embodiment Driving just can be used as vista car use.As shown in Fig. 2, annular transparent vehicle window 118 provides 360 degree of sightseeing visual angles, facilitate car The ornamental landscape on the way of passenger.

Embodiment two

Fig. 4 is the structural schematic diagram of two conduit running vehicle of the embodiment of the present invention.As shown in figure 4, different from embodiment one It is that the carriage 21 of the conduit running vehicle in this implementation is complete spherical or spherical, the carrying space of carriage formation sealing, Floor, the stationary annular seat on floor are equipped in the carriage 21.

And the car door 212 of the present embodiment pushes and pulls car door also different from the arc of embodiment one.Fig. 5 is the embodiment of the present invention two Conduit running vehicle door opening state schematic diagram, as shown in figure 5, the two sides of conduit running vehicle 20 are arranged in the car door 212 of the present embodiment, For arc-shaped curved surface, when a vehicle door is closed, carriage and car door constitute a complete spherical shape or spherical.Sedan-chair is hinged at the top of car door On compartment 21, the unlatching of car door is by HYDRAULIC CONTROL SYSTEM: one group of arc hydraulic tube connection car door and carriage, by hydraulic pump control car door Switch can open up outward.After car door 212 fully opens, such as the wing of beetle expansion.When station is located at pipeline one When side, car door also can only open side.The benefit being arranged in this way is that simple for structure, secured, air-tightness is good.With the cunning of embodiment one Motor-car door compares, and car door is arranged in two sides, and passenger can get on or off the bus simultaneously from two sides；Platform can be saved when station is in side The time that conduit running vehicle is stopped in station is shortened in pallet spinning movement, improves running efficiency of system.Because conduit running vehicle is quick The needs of traveling, the car door of the present embodiment require stringent air-tightness, can refer to the airtight requirement of submarine hatch door.

The present embodiment is also additionally arranged wabbler mechanism, and carriage can be swung around wabbler mechanism.

As shown in figure 4, wabbler mechanism includes ring support 26 and axis 27.The outer shape of ring support 26 is fitted carriage 21 Shape, covered on the outer wall of carriage 21 along cage vertical direction, i.e., the ring support 26 is internal diameter slightly larger than carriage diameter Cylinder can be a part of spherical shell.Ring support 26 is fixed on the pedestal of the vehicle, such as chassis or wheel.

The inner wall of the ring support 26 offers hole, and the carriage 21 is fixed in described 27 one end of axis, and the other end can turn It is installed in the hole of the ring support 26 dynamicly.

Alternatively, in turn, the outer wall of the carriage 21 offers hole, the ring support 26 is fixed in described 27 one end of axis On, the other end is rotatably installed in the hole of the carriage 21.

In said structure, carriage 21 can be swung around the axis 27 relative to ring support 26, it may also be said to, relative to The pedestal of vehicle is swung.

The front and back of vehicle is arranged in shaft hole matching in Fig. 4, so that carriage can swing relative to ring support.When above-mentioned Wabbler mechanism is arranged along the transverse direction of vehicle, then carriage can be relative to ring support swing.

Wabbler mechanism there are also another embodiment, i.e., hole, axis fit structure in above-mentioned wabbler mechanism can with groove, The structure of multiple axis cooperation substitutes.Specific structure are as follows: annular groove is set in carriage, fixes at least two on ring support A axis, the free end of at least two axis are contained in groove and can slide in groove, and therefore, carriage can be relative to ring Shape bracket is swung.

When axis can only slide in groove, carriage can be swung relative to ring support 26；When only there are two axis connections Ring support and carriage, and when axis 27 can be slided in groove and is able to rotate, then carriage can be relative to ring support 26 both Energy scroll forward and backward, and can swing.

Axis can also be set in carriage, groove is set on ring support, using the cooperation of axis and groove, can equally be made Carriage is obtained to swing relative to ring support.

Described wave can further include outer tube, and outer tube rotationally covers on axis.Carriage is fixed in above-mentioned axis Structure in, outer tube is fixed in the hole of ring support or the groove being slidably mounted on ring support.It is fixed in above-mentioned axis In the structure of ring support, outer tube is fixed in the hole of carriage or the groove being slidably mounted in carriage.

Preferably, the center of the annulus where the groove of ring support inner wall is overlapped with the centre of sphere of carriage 21, and axis shares two It is a, it is individually fixed in the front and back of spherical carriage, the line between two axis passes through the centre of sphere of carriage 21, to ensure that carriage is suitable It is freely swung left and right around two axis and is unlikely to be stuck.

When axis is fixed on ring support, spindle nose can both be exposed to 6 outer surface of ring support, hidden can also prop up in annular Within frame outer surface.

The conduit running vehicle 20 of the present embodiment is additionally provided with fish head pier 28 and fish tail pier 29.

As shown in fig. 6, the shape of the fish head pier 28 is in fish head shape；The shape of the fish tail pier 29 is in fish tail shape, subsequent to slit The shape of mouth matches with fish head pier；Fish head pier and fish tail pier have certain thickness.Fish head pier is fixed on before carriage 21, fish Tail pier is fixed on behind carriage 21.Or in turn, fish head pier is fixed on behind carriage 21, and fish tail pier is fixed on carriage 21 Before.The material of fish head pier and fish tail pier all contains foam sponge.Certainly, the shape of fish head pier is also possible to other shapes, As long as the gap shape with fish tail pier is coincide, and can be caught in collision, it is not limited to fish head shape.

When two conduit running vehicles collide, the fish head pier of a vehicle is embedded in the gap of fish tail pier of another vehicle, hair Bubble sponge can absorb a part of collision impact, to reduce the impact force acted in carriage.Fish head pier and fish tail pier are mutual The thickness that the state and the two of insertion have, so that preventing conduit running vehicle from occurring to a certain extent after collision occurs Rollover.

In the present embodiment, conduit running vehicle is monorail operation.Monorail refers to an only I-shaped track, or intermediate Two with a wide crack parallel I-shaped tracks.

As shown in figure 4, one group of wheel 23 is respectively fixed with before and after 26 lower part of ring support, in each wheel wheel face Centre setting fin, two sides are equipped with tyre tread, and fin is among the crack of two bearing rail B2 of duct bottom, the left and right of wheel 23 Two tyre treads are run on two bearing rail B2.The shape of wheel wheel face is as shown in fig. 11a.

As shown in figure 11b, tyre tread can also be arranged in the intermediate of wheel face by wheel of the invention, and the two sides setting of tyre tread is convex Rib.It operates on an individual I-shaped track, and is unlikely to derail.

Alternatively, in order to by existing wheel face one side flanged pin, after being coaxially bonded for the train wheel of tyre tread on one side, as one Stitching wheel uses.Using the stitching wheel that wheel rim side is obtained as binding face, the fin that two wheel rims are formed is embedded in pipeline in centre Among the crack of two bearing rail B2 of bottom；Using the stitching wheel that tyre tread is obtained as binding face, tyre tread is among wheel face, wheel rim In two sides, may operate on the I-shaped track widened.

Particularly, in the present embodiment, in order to keep the balance of conduit running vehicle car body, at 11 liang of conduit running vehicle carriage Side is each provided with balanced structure.The balanced structure includes telescopic mechanical arm 251 (as shown in Figure 8 a), the end of mechanical arm 251 Head is fixed with stabilizer 252, and after which stretches out, which rides over or be stuck on the balance track B3 of pipeline.Pipe Road runs the carriage 21 of vehicle under the support of two stabilizers 252 of two sides and the wheel 23 of following load-bearing, held stationary fortune Row.

Specifically, balanced structure includes: stabilizer, wheel shaft, telescopic arm, flexible sliding rail and stepper motor.Stabilizer It is mounted on wheel shaft, wheel shaft is fixed on telescopic arm, and stepper motor drives telescopic arm along the sliding rail moving telescopic that stretches.When telescopic arm is stretched When out, stabilizer is exposed, rides over or is stuck on the balance track of pipeline.When telescopic arm retracts, stabilizer leaves the balance of pipeline Rail, it is built-in enter carriage.

Embodiment three

Fig. 7 is the structural schematic diagram of three conduit running vehicle of the embodiment of the present invention.As shown in fig. 7, the present embodiment and embodiment Two main difference is that, the shape of the ring support of conduit running vehicle 30 is different.In the present embodiment, the shape of ring support 26 Shape is a part of spherical shell.Specifically, the substantially side wall of ring support 36 is the cylinder of spherical surface, in the lower half of cylinder Part extends to form spherical calotte as bracket to the track of spherical surface where two lateral edge cylinders respectively, and the bracket to extend out is fixed On wheel.The other structures of wabbler mechanism are identical as embodiment two, and details are not described herein.

In the present embodiment, conduit running vehicle has two groups of wheels 33, acts on two bearing rail B2 and guarantees vehicle Stabilization, without be arranged stabilizer.In order to reduce the height of carriage, more effectively using the confined space in pipeline, can will run The axis of wheel on a track is arranged at an angle with the axis of the wheel operated on another track.It operates in Slope inwardly each other, on two bearing rails with opposed, inwardly directed corner.Two groups of wheel setting angular ranges depend on vehicle weight The height of the heart.When center of gravity is located at 31 centre of sphere of compartment or less, the angle is 80~120 ° desirable.It in this way can be in turning to outside In the smallest situation of rail pressure, guarantee the preferable stability of vehicle, improve the durability of track and wheel, while reducing track switch Waste of place due to rail junction needs to raise compartment to pipeline lower space.

Certainly, which can be as shown in Fig. 2, the setting being parallel to each other, operates in two Horizontal load-bearings in pipeline On rail.

Above three embodiments can be arranged wabbler mechanism, wabbler mechanism make carriage can relative to pedestal to it is forward and backward and/ Or it waves to left and right, and then eliminate pitch acceleration or the centrifugal force discomfort caused by the passenger in carriage and feel.Below with reality For applying example two, for open conduit operation vehicle in pipeline when minor radius tempo turn, the course of work of wabbler mechanism.

When vehicle high-speed passes through minor radius curved line, conduit running vehicle is integrally acted on by lateral centrifugal force.Due to sedan-chair Compartment and ring support can be rotated left and right around axis, be disappeared under self gravitation effect by axis connection, carriage and internal passenger Except centrifugal force discomfort caused by passenger is felt.Fig. 8 a, Fig. 8 b are the spherical conduit running vehicle turning postures of the embodiment of the present invention two Schematic diagram.As shown in Figure 8 a, when conduit running vehicle is run at a low speed, mechanical arm 251 stretches out, and stabilizer 252 rides over or be stuck in pipe On the balance track B3 in road, it is ensured that the stabilization of carriage 21.When conduit running overall height speed when driving, mechanical arm 251 withdraw, stabilizer 252 are detached from balance track B3, and conduit running vehicle keeps stablizing by motional inertia.As shown in Figure 8 b, when vehicle high-speed passes through smaller part When diameter curved line, carriage 21 is deflected around axis 27 under the action of the centrifugal force.The resultant force of gravity suffered by carriage after deflection and centrifugal force It is downward perpendicular to chassis, it eliminates centrifugal force acceleration discomfort caused by passenger and feels.

Still by taking embodiment two as an example, for open conduit operation vehicle go up a slope, descending during, rotation before and after wabbler mechanism, The process for overcoming carriage pitching to change.

Fig. 9 a, Fig. 9 b are the spherical conduit running vehicle uphill, downhill posture schematic diagrames of the embodiment of the present invention two.When conduit running vehicle When upward slope or descending, axis slides in the groove of ring support, carriage swing under self gravitation effect, conduit running vehicle Interior passenger can remain horizontal sitting posture, will not the pitching with the ascents and descents of track, increase the comfort level of seating. As illustrated in fig. 9, when conduit running vehicle up-hill journey, carriage relies on self gravitation effect, groove of the axis 27 in ring support 26 Interior sliding, 21 back rotation of carriage, keeps the horizontality of carriage.As shown in figure 9b, when conduit running vehicle descent run, sedan-chair Compartment relies on self gravitation effect, and axis slides in the groove of ring support, and carriage 21 rotates forward, keeps the horizontal of carriage State.

In the present invention, by driving device driving wheel rotation, conduit running vehicle is driven to move on bearing rail.In this reality It applies in example, driving device can be included motor, powered by storage battery, provide power for conduit running vehicle；It may be brush, electricity Brush takes electricity on band electric rail, provides power for conduit running vehicle.

In the present invention, the wheel group number of above three embodiments can be modified according to actual needs, is such as implemented Conduit running vehicle described in example one can also lean on one group of wheel to travel on a Load-bearing rail, and those skilled in the art can refer to The car wheel structure of embodiment two is voluntarily improved according to actual needs.When only one group of carrying roller, balance wheel construction can be increased It ensures steady when carriage low speed is run.

A Train Wheel of the present invention refers to all wheels run on same bearing rail, can be 1, It can be multiple.

In the present invention, fish head pier and fish tail pier is arranged in the needs of visual pipeline operation vehicle running environment in carriage, such as Before and after ring support between the carriage front-back of embodiment one, two groups of rail wheels of embodiment three, fish head pier is respectively set With fish tail pier.

Spherical shape is that volume is maximum in same surface area solid, in other words, volume under the same conditions, spherical surface area It is minimum.The present invention is by the sidewall design of conduit running vehicle at cambered surface, then the global approximation of carriage, can be sharp to the greatest extent in spherical shape With space, most saving material.Also, when the air pressure in pipeline changes, in same material, the situation of similar face product Under, the carriage of curved surfaces, compression strength maximum.It, can be by carriage on spherical basis in order to increase the loading space in carriage On, front-rear direction elongates, and forms egg type or dolioform similar round.In other words, the carriage of similar round has round carriage Advantage also increases loading space, keeps carrying environment more comfortable.

The conduit running vehicle run in pipeline of the present invention, diameter are between 1.5-2 meters, and circumferential wall is solid using keel Determine the structure of thin layer material, reduce the weight of vehicle itself, self weight is decreased to 150 kilograms or so, and annular seat can take 1-3 People, 250 kilograms of load-bearing or so.Vehicle is run relative to existing line pipe road, volume is smaller, and weight is lighter, runs more flexible；Rotation Swivel carriage can realize that high speed minor diameter is turned, such as the half-turn that radius is 20 meters, carriage can be turned at 80 kilometers/hour Lateral oscillation is completely counterbalanced by influence of the centrifugal acceleration to passenger up to 68.35 degree.

Figure 10 a and Figure 10 b show inventive pipeline operation vehicle and existing longitudinal section is the conduit running Che Guan of rectangle Corresponding state when road is turned.If pipe diameter is W, when the width that existing compartment is the vehicle that longitudinal section is rectangle is also W When, as shown in Figure 10 a, in pipeline inside turn, the interference of X can occur between width of the carbody W and pipe diameter W, lead to vehicle Block and can not be along conduit running.The phenomenon that in order to solve " stuck ", then needs to reduce the width for the vehicle that longitudinal section is rectangle, It causes the gap between compartment and tube wall to increase, increases the gap between compartment and tube wall, then the front and back two run in pipeline The effect that vehicle forms " air spring " will be substantially reduced；Alternatively, in order to guarantee the gap in compartment and tube wall in the reasonable scope, just Need to increase the turning radius of pipeline, the occupied area of such pipeline certainly will increase.And as shown in fig. lob, inventive pipeline fortune The width of the carbody of driving is W, salable in any position of pipeline between car body and pipeline and smoothly realize minor-circle turn, vehicle " stuck " phenomenon will not occur in gap very little between compartment and tube wall.

In conclusion the shape of carriage section of the present invention and pipeline section is adapted, carriage and duct wall gap are sufficiently small, Anticollision can be acted on using the air damping in pipeline, significantly improve the safety of vehicle, meanwhile, spherical or spherical carriage Can minor-circle turn in the reasonable scope take up an area smaller so that place transportation system is more flexible.

Held stationary when wabbler mechanism can make conduit running vehicle do tempo turn or upward slope, descending increases riding comfort. Conduit running vehicle is integrally embedded between bearing rail and guided way, can effectively prevent conduit running vehicle play up and down, pipeline is avoided to transport The generation of the serious accident of driving rollover derailing；The structure of fish head pier and fish tail pier, so that when crashing, effect It is effectively reduced in the impact force of carriage, further decreases a possibility that conduit running vehicle is turned on one's side.

Certainly, conduit running vehicle provided by the invention can also be used on magnetic suspension or gas suspension track.It is needed at this time with electricity The guiding device that magnet or air door are constituted, and no longer need wheel.Specific structure refers to the guiding knot of magnetic suspension train Structure.

It should be noted that being fitted close to form " air spring " and the wiggly basis of energy with pipeline meeting compartment On, in order to increase the space in compartment, the outer contour shape of inventive pipeline operation vehicle can also have other deformations: remove above-mentioned reality It applies except the spherical outer profile in example, is extended to the various global shapes such as elliposoidal, egg type, olive shape, capsule shape similar to ball Shape it is spherical, or for this it is spherical use the remaining spherical segment of plane truncated part.Such as keeping as shown in fig. 11a transversal Face is in the case of round (or be oval) is constant, and each spherical or spherical segment vertical sectional shape is as shown in figure 11b Ellipse shown in capsule shape (i.e. both ends are the spherical surface of evagination, centre is cylindric container), Figure 11 c, waist shown in Figure 11 d Cydariform (or fat shape).

The present invention also provides a kind of transportation system, which includes above-mentioned conduit running vehicle, Yi Jiche The cross sectional shape of the pipeline run, the section of pipeline and the vehicle is adapted, and there are gap between vehicle and pipeline, which is The 0.5-2% of pipe diameter, tests surface, the unilateral gap between conduit running vehicle and pipeline in the range when, in pipeline Air column between front truck and rear car is easiest to form " air spring ", which can effectively slow down vehicle when traffic accident occurs Collide caused by impact force.

The present invention also provides a kind of wabbler mechanisms as referred in embodiment two, can also be applied to other transport facilitys In, object to be waved can be row device like flying, steamer, seat of vehicle etc..

Wabbler mechanism includes ring support and axis；Ring support is fixed on the transport facility, and outer shape is ball A part of shape or spherical shell is covered described wait wave on object, or is a bracket, is supported object to be waved, is passed through institute It states axis and is flexibly connected the ring support with the object to be waved.

Specifically, axis one end is free end, and the other end is fixing end, and aperture, the free end of axis are arranged on ring support It is rotated in aperture, fixing end is fixed on wait wave on object；Alternatively, aperture is arranged on object wait wave, the free end of axis is in aperture Interior rotation, fixing end are fixed on a toroidal support.

Alternatively, replacing above-mentioned aperture with groove, the free end of axis is slidably mounted in groove；Pass through cunning of the axis in groove Dynamic, object to be waved can be relative to ring support scroll forward and backward.

Preferably, on the basis of above-mentioned " groove " structure, wabbler mechanism further comprises outer tube, outer tube It rotationally covers outside axis, outer tube is slidably mounted in groove, and object to be waved can swing around axis；Existed simultaneously by axis Sliding in groove, object to be waved can rock back and forth relative to ring support.

Invention additionally discloses a kind of wheel, in the traffic system applied to monorail operation, it is equipped among the wheel face of wheel The two sides of fin, fin are equipped with tyre tread, as figure 12 a shows.Intermediate fin is embedded in intermediate two with a wide crack In parallel I-shaped track.

As another embodiment, tyre tread is set among wheel face, and fin is arranged in the two sides of tyre tread, as shown in Figure 12b.Fortune Row is unlikely to derail easily on an individual I-shaped track.

What present disclosure referred to is exemplary embodiment, in the protection scope for not departing from claims and defining In the case where, each embodiment of the application can be made various changes and modifications.Therefore, described embodiment is intended to contain Lid falls in all such changes, modifications and deformation in the protection scope of the appended claims.In addition, institute unless the context Outside referring to, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any embodiment All or part of in combination with any other embodiment all or part of use.

Claims (9)

1. a kind of conduit running vehicle, including carriage, balance mechanism and the wabbler mechanism that the carriage two sides are arranged in, the carriage Constitute the loading space of the vehicle, which is characterized in that the outer profile body shape of the carriage of the conduit running vehicle is spherical, class Spherical or spherical segment；

The wabbler mechanism includes ring support and axis, and the ring support is fixed on the pedestal of the vehicle, the annular branch Frame outer shape is fitted the carriage shape, covers in the carriage；The carriage is rockably mounted to by the axis On the pedestal of the conduit running vehicle；

The balance mechanism includes stabilizer, telescopic unit and power unit, and the stabilizer is solid by the telescopic unit Due on conduit running vehicle；Under the driving of the power unit: the telescopic unit stretches out, and the stabilizer stretching is driven to take Or be stuck on the equilibrium orbit being arranged in pipeline, the telescopic unit retracts, and the stabilizer is driven to separate with equilibrium orbit.

2. conduit running vehicle as described in claim 1, which is characterized in that further include the more than two wheels to form a line；Often A wheel is equipped with fin among wheel face, and two sides are tyre tread, operates in on two tracks of crack；Wherein, described Fin is in the crack；

Alternatively, each wheel is equipped with fin at wheel face edge, centre is equipped with tyre tread, runs on a track in the duct；

Alternatively, the wheel be it is multiple, line up two column, operate on two tracks；Operate in the axis of the wheel on a track The axis of line and the wheel operated on another track is in 80~120 ° of angles.

3. such as the described in any item conduit running vehicles of claim 2, which is characterized in that the wheel wheel face is coated with elasticity Layer.

4. conduit running vehicle as described in claim 1, which is characterized in that the telescopic unit includes wheel shaft, telescopic arm, stretches Sliding rail；The stabilizer is fixed on one end of the telescopic arm by the wheel shaft, and the other end connection of the telescopic arm is described dynamic Power unit, the flexible sliding rail are fixed in the carriage, and the stabilizer slides in the flexible sliding rail；The power list Member drives the telescopic arm to stretch out or retract along the flexible sliding rail.

5. conduit running vehicle as described in claim 1, which is characterized in that further comprise the door motivation for controlling door contact interrupter Structure, the door motivation structure include: that driving rack, transmission gear and door move motor；

The driving rack is arc, and the car door is fixed in one end；The transmission gear is engaged with the driving rack, fixed It is moved on motor in the carriage or the door；The door moves motor and is fixed in the carriage, and the transmission gear is driven to rotate, The transmission gear is by driving the opening/closing door of vehicle with the engagement of the driving rack.

6. conduit running vehicle as described in claim 1, which is characterized in that the inner wall of the ring support offers hole, described The carriage is fixed in axis one end, and the other end is rotatably installed in the hole of the ring support；

Alternatively, the outer wall of the carriage offers hole, described axis one end is fixed on the ring support, and the other end is rotationally It is installed in the hole of the carriage；

Wherein, the carriage can swing around the axis relative to the ring support.

7. conduit running vehicle as described in claim 1, which is characterized in that the ring support inner wall opens up fluted；It is described Axis one end is fixed in the carriage, and the other end is slidably mounted in the groove of the ring support inner wall；

Alternatively, the outer wall of the carriage opens up fluted, the ring support is fixed in described axis one end, and the other end is slidably installed In in the groove of the carriage outer wall；

By sliding or rotation of the axis in groove, the carriage can be swung relative to the ring support.

8. conduit running vehicle as claimed in claim 7, which is characterized in that the wabbler mechanism further comprises outer tube, described Outer tube rotationally covers outside the axis；The outer tube is slidably mounted in the groove.

9. a kind of transportation system, which is characterized in that described including such as described in any item vehicles of claim 1-8 and pipeline The cross sectional shape of the section of pipeline and the vehicle is adapted, and there are gap between the vehicle and the pipeline, which is pipeline The 0.5-2% of diameter.