CN108515819A - A kind of method that railway intelligent multifunctional travels lower railway on platform - Google Patents
A kind of method that railway intelligent multifunctional travels lower railway on platform Download PDFInfo
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- CN108515819A CN108515819A CN201810118337.0A CN201810118337A CN108515819A CN 108515819 A CN108515819 A CN 108515819A CN 201810118337 A CN201810118337 A CN 201810118337A CN 108515819 A CN108515819 A CN 108515819A
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- drive system
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- railway
- main platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
- B60F1/04—Vehicles for use both on rail and on road; Conversions therefor with rail and road wheels on different axles
- B60F1/043—Vehicles comprising own propelling units
Abstract
The present invention relates to technical field of transportation, and in particular to a kind of method that railway intelligent multifunctional travels lower railway on platform, including upper rail pattern and lower railway pattern, upper rail pattern include step 11：By road running drive system orbit centre is driven to perpendicular to track longitudinal direction by main platform body is travelled；Step 12：It is extended downwardly by lifting rotation mechanism and jacks certain altitude so that main platform body will be travelled, be then rotated by 90 ° traveling main platform body, so that rail wheel is aligned with rail；Step 13：By road running drive system relative orbit wheel drive system uplink, so that road running drive system bottom is higher than rail wheel bottom, main platform body decentralization then will be travelled by lifting rotation mechanism, to complete to switch；Step 14：Lifting rotation mechanism is risen.Railway intelligent multifunctional traveling platform can independently realize the automatic switchover of track wheel drive system and caterpillar drive system, realize the quick upper lower railway under intelligent control.
Description
Technical field
The present invention relates to railway equipment technical fields, and in particular to lower railway on a kind of railway intelligent multifunctional traveling platform
Method.
Background technology
Domestic and international combined technology is mainly used for rail traction, can realize quickly cutting between railway difference circuit
It changes.Foreign countries using U.S.'s Teramo than the Unimog road rail vehicle of company and German Mercedes benz as representative, it is domestic with
The road rail vehicle of diesel machine factory of Harbin Railway Bureau and Tiefeng Unitech Co., Ltd. Dalian is representative.The above rail-road two
It is mainly used for artificial traction operation with traveling platform, there is certain mobility, railway travel speed is relatively low (20-30km/h), uncomfortable
Close Quick rescue and unmanned traveling platform application.It relies primarily on when rail-road switches manually, cannot such as be accurately positioned, also need repeatedly
It repeats to align, position aligning time is long, less efficient.Moreover, above-mentioned combined traveling platform is mainly switched in level crossing,
Cannot smoothly it switch substantially in the line environment of track other positions.In addition, its drive manner is all the side by pilot steering
Formula works, however when pilot steering, the environment speed limit condition such as different bends can not be accurately controlled, be easy to topple, it can
Very low by property, so this combined traveling platform is stringent speed limit when driving on railway, general speed limit is in 45km/h
Within, routine use is mostly within 30km/h.In addition, combined traveling platform is heavier, under highway tire driving conditions, no
Heavier equipment can be carried.
Invention content
(1) technical problems to be solved
The object of the present invention is to provide the methods of lower railway on a kind of railway intelligent multifunctional traveling platform, it is intended at least solve
Certainly one of technical problems existing in the prior art or related technologies.
(2) technical solution
In order to solve the above technical problem, the present invention provides lower railway on a kind of railway intelligent multifunctional traveling platform
Method comprising upper rail pattern and lower railway pattern, the upper rail pattern include：
Step 11：By road running drive system track is driven to perpendicular to track longitudinal direction by main platform body is travelled
Center；
Step 12：The lifting rotation mechanism being connect with the traveling main platform body bottom is extended downwardly with by the traveling
Main platform body jacks certain altitude, so that the minimum point of railway intelligent multifunctional traveling platform is higher than track, then will
The traveling main platform body is rotated by 90 ° in the horizontal plane, so that the rail of the rail wheel of track wheel drive system and track both sides
Alignment；
Step 13：By the relatively described track wheel drive system uplink of the road running drive system, so that the public affairs
The bottom of road running and driving system is higher than the bottom of the track wheel drive system, then by the lifting rotation mechanism by institute
Traveling main platform body decentralization is stated, to complete switching of the road running drive system to track wheel drive system；
Step 14：The lifting rotation mechanism is risen.
Wherein, the lower railway pattern includes：
Step 21：The lifting rotation mechanism is declined so that the traveling main platform body is jacked certain altitude, so that
The minimum point of the railway intelligent multifunctional traveling platform is higher than track, then that the traveling main platform body is anti-in the horizontal plane
To being rotated by 90 °；
Step 22：By the relatively described track wheel drive system downlink of the road running drive system, so that the public affairs
The bottom of road running and driving system is less than the bottom of the track wheel drive system, and will be described by the lifting rotation mechanism
Main platform body decentralization is travelled, to complete switching of the track wheel drive system to the road running drive system；
Step 23：The lifting rotation mechanism is risen；
Step 24：The traveling main platform body is sailed out of into the track by the road running wheel drive system.
Wherein, the upstream or downstream of the relatively described track wheel drive system of the road running drive system are to pass through difference
It is realized with the road running drive system and the elevating mechanism that connect of traveling main platform body.
Wherein, the upstream or downstream of the relatively described track wheel drive system of the road running drive system are to pass through difference
It is realized with the road running drive system and the rotating mechanism that connect of traveling main platform body.
Wherein, the upstream or downstream of the relatively described track wheel drive system of the road running drive system are to pass through difference
It is realized with the track wheel drive system and the elevating mechanism that connect of traveling main platform body.
Wherein, the upstream or downstream of the relatively described track wheel drive system of the road running drive system are to pass through difference
It is realized with the track wheel drive system and the rotating mechanism that connect of traveling main platform body.
Wherein, between step 11 and step 12 further include the jaw components clamping that will be connect with the lifting rotation mechanism
Step on rail.
Wherein, the jaw components are unfolded by rotating mechanism, so as to the step of with the rail clamping.
Wherein, between step 13 and step 14 further include the step for the jaw components being packed up by the rotating mechanism
Suddenly.
Wherein, the road running wheel drive system uses caterpillar drive system.
(3) advantageous effect
The method of lower railway on railway intelligent multifunctional traveling platform provided by the invention, including upper rail pattern and lower rail
Road pattern, the upper rail pattern include：Step 11：Main platform body will be travelled perpendicular to track by road running drive system
Longitudinal direction drives to the center of track；Step 12：By the lifting rotation mechanism being connect with the traveling main platform body bottom to
Lower stretching by the traveling main platform body to jack certain altitude, so that railway intelligent multifunctional traveling platform is minimum
Point is higher than track, is then rotated by 90 ° the traveling main platform body in the horizontal plane, so that the rail wheel of track wheel drive system
It is aligned with the rail of track both sides；Step 13：By the relatively described track wheel drive system uplink of the road running drive system,
So that the bottom of the road running drive system is higher than the bottom of the rail wheel, then pass through the lifting rotation mechanism
The traveling main platform body is transferred, to complete switching of the road running drive system to track wheel drive system；Step 14：It will
The lifting rotation mechanism rises.In the program, railway intelligent multifunctional traveling platform can realize track wheel drive system and
The automatic switchover of road running drive system is switched with completing quick rail-road under the conditions of a variety of roadbeds, is realized under intelligent control
Quick upper lower railway.
Description of the drawings
Fig. 1 is the structural representation for the preferred embodiment that platform is travelled according to a kind of railway intelligent multifunctional of the present invention
Figure；
Fig. 2 is that the railway intelligent multifunctional traveling platform in Fig. 1 drives to the structural schematic diagram on track；
Fig. 3 is that the railway intelligent multifunctional in Fig. 1 travels the structural schematic diagram that the claw of platform is contacted with rail；
Fig. 4 is that the railway intelligent multifunctional in Fig. 3 travels the structural schematic diagram after platform is jacked；
Fig. 5 is the leftschematic diagram of the railway intelligent multifunctional traveling platform in Fig. 4；
Fig. 6 is that the structure of track wheel drive system and rail contact that the railway intelligent multifunctional in Fig. 5 travels platform is shown
It is intended to.
Fig. 7 is the partial schematic sectional view of the lifting rotation mechanism of Fig. 1；
Fig. 8 is the A-A sectional views of the lifting rotation mechanism in Fig. 7；
Fig. 9 is that the piston portion of the lifting rotation mechanism in Fig. 8 is in the structural schematic diagram of left stop；
Figure 10 is structural schematic diagram of the piston of the lifting piston cylinder of the lifting rotation mechanism in Fig. 7 under downstream state；
Figure 11 is the structural schematic diagram of another preferred embodiment of the jaw components of the lifting rotation mechanism in Fig. 7；
Figure 12 is the leftschematic diagram of jaw components in the operating condition in Figure 11.
Figure 13 is the structural schematic diagram of the caterpillar drive system of the railway intelligent multifunctional traveling platform in Fig. 1；
Figure 14 is the partial schematic sectional view of the caterpillar drive system in Figure 11；
Figure 15 is the connection diagram of the first piston cylinder of the caterpillar drive system in Figure 11；
Figure 16 is the part for another preferred embodiment that platform is travelled according to a kind of railway intelligent multifunctional of the present invention
Sectional view；
Figure 17 is the structural schematic diagram of the Center of Gravity Control System of the railway intelligent multifunctional traveling platform in Fig. 1；
Figure 18 is structural schematic diagram of the Center of Gravity Control System after centre of gravity adjustment in Figure 17；
Figure 19 is that the railway intelligent multifunctional in Fig. 1 travels stress diagram of platform when by bend；
Figure 20 is the structure for another preferred embodiment that platform is travelled according to a kind of railway intelligent multifunctional of the present invention
Schematic diagram；
Figure 21 is the knot under the caterpillar drive system of the railway intelligent multifunctional traveling platform in Figure 20 is in running order
Structure schematic diagram；
Figure 22 is under the track wheel drive system of the railway intelligent multifunctional traveling platform in Figure 20 is in running order
Structural schematic diagram.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Embodiment 1
Fig. 1 to Fig. 6 shows an a kind of preferred embodiment of railway intelligent multifunctional traveling platform according to the present invention.
As shown, railway intelligent multifunctional traveling platform includes travelling main platform body 1 and positioned at the bottom of traveling main platform body 1
And the lifting rotation mechanism 4 being connect with traveling main platform body 1.The railway intelligent multifunctional traveling platform further include respectively with traveling
The track wheel drive system 3 and caterpillar drive system 2 that main platform body 1 connects, wherein track wheel drive system 3 is used in track 6
Upper traveling, caterpillar drive system 2 on the road surfaces such as highway, wet soil road for travelling.
In use, it is longitudinal perpendicular to track 6 that the railway intelligent multifunctional is travelled platform by caterpillar drive system 2 first
On direction running to track 6, then lifting rotation mechanism 4 is extended downwardly and jacks railway intelligent multifunctional traveling platform
Then certain altitude drives railway intelligence more so that the minimum point of railway intelligent multifunctional traveling platform is higher than track 6
Function traveling platform is rotated by 90 ° in the horizontal plane, and makes the rail wheel of the rail and track wheel drive system 3 of 6 both sides of track
Alignment, then by 2 uplink of caterpillar drive system, so that the bottom of caterpillar drive system 2 is higher than the bottom of track wheel drive system 3
Railway intelligent multifunctional traveling platform is transferred the rail so that track wheel drive system 3 by portion finally by lifting rotation mechanism 4
Road wheel is fallen on rail, to complete switching of the caterpillar drive system 2 to track wheel drive system 3, finally by elevating and rotating machine
Structure 4 is retracted.When needing track wheel drive system 3 being switched to caterpillar drive system 2, first by lifting rotation mechanism 4
It extends downwardly and railway intelligent multifunctional traveling platform is jacked into certain altitude, so that railway intelligent multifunctional traveling is flat
The minimum point of platform is higher than track 6, and railway intelligent multifunctional traveling platform is driven to reversely rotate 90 °, then by track drive
2 downlink of system so that the bottom of caterpillar drive system 2 is less than the bottom of track wheel drive system 3, finally by lifting rotation mechanism
4, which retract, can be realized switching of the track wheel drive system 3 to caterpillar drive system 2.The intelligent more work(of railway provided by the present invention
Platform, which can be travelled, can independently realize the automatic switchover of track wheel drive system 3 and caterpillar drive system 2, to complete on a variety of roads
The quick upper lower railway under intelligent control is realized in quick rail-road switching under the conditions of base.Wherein, upper and lower rail conditions can be usual friendship
The not high non-fragment orbit in crossing, Ballast track, basis.
Specifically, as shown in Figure 7 to 10, lifting rotation mechanism 4 includes rotary cylinder-block 4-1 and is arranged in rotary cylinder-block
Lifting piston cylinder 4-2 inside 4-1, wherein the annular recess 4-1- projected radially outward is provided in the middle part of rotary cylinder-block 4-1
1, closed cavity, and the side of annular recess 4-1-1 are formed between annular recess 4-1-1 and the side wall of lifting cylinder body 4-2-1
The piston portion 4-1-2 that extends radially inwardly and can rotate in the cavity, piston portion 4-1-2 and lifting cylinder body are provided on wall
The side wall of 4-2-1 forms dynamic sealing, is provided with and extends radially outwardly and can be with piston portion 4- on the side wall of lifting cylinder body 4-2-1
The retainer 4-2-5 of 1-2 cooperations, for being limited to piston portion 4-1-2, and retainer 4-2-5 and annular recess 4-1-1
Form dynamic sealing.The lifting rotation mechanism 4 further includes being arranged to be used to inject to the both sides of retainer 4-2-5 in retainer 4-2-5
The the first import 4-2-7 and the second import 4-2-8 of hydraulic oil.
In use, complete to move up and down by lifting piston cylinder 4-2, when needing, to when anticlockwise, to pass through the first import 4-
2-7 injects hydraulic oil into the left side cavity body of retainer 4-2-5 and by the hydraulic oil in retainer 4-2-5 right-side cavity bodies through second
Import 4-2-8 discharges, oil pressure acts on piston portion 4-1-2, to drive rotary cylinder-block 4-1 rotary motions to the left.Similarly, when
It needs to when right rotation, hydraulic oil is injected into retainer 4-2-5 right-side cavity bodies by the second import 4-2-8 and by retainer 4-
The hydraulic oil of cavity is through the first import 4-2-7 discharges on the left of 2-5, and oil pressure acts on piston portion 4-1-2, to drive rotary cylinder-block
4-1 rotary motions to the left.The lifting rotation mechanism 4 is simple in structure and easy to operate.
Preferably, the step with annular recess 4-1-1 cooperations is provided on the side wall of lifting cylinder body 4-2-1, in order to pacify
Dress, and it is easy to process.In addition, the hydraulic oil leakage in annular recess 4-1-1 in order to prevent, is preferably provided at the step close
Seal 4-3.
In addition, in order to ensure that the end face of piston portion 4-1-2 can stick on the end face of the retainer 4-2-5 coordinated with it
On, the both sides of the face of preferably piston portion 4-1-2 are both provided with the first recess portion 4-1-3, and first recess portion 4-1-3 is located at where it
At the link position of end face and rotary cylinder-block 4-1；And the both sides of the face of retainer 4-2-5 are both provided with the second recess portion 4-2-6, it should
Second recess portion 4-2-6 be located at the end face where it at the link position of lifting cylinder body 4-2-1.
Preferably, it is additionally provided with end cap 4-7 on the top of rotary cylinder-block 4-1, to prevent dust etc. from falling into the lifting rotation
In mechanism 4.
In this embodiment, the maximum rotation angle of piston portion 4-1-2 is 90 °.I.e. as the piston portion 4- of rotary cylinder-block 4-1
The left side (as shown in Figure 9) that 1-2 is resisted against retainer 4-2-5 is resisted against the right side of retainer 4-2-5 to piston portion 4-1-2
The angle that piston portion 4-1-2 is rotated is 90 °.It should be noted that it will be understood by those of skill in the art that the present invention's
In some other embodiment, the size of piston portion 4-1-2 and retainer 4-2-5 can also be adjusted so as to adjust piston portion 4-1-2
Maximum rotation angle, such as maximum rotation angle be 320 °, 180 °, 45 °, 60 ° etc..
Preferably, lifting piston cylinder 4-2 is using the double rod hydraulic cylinders of single-piston formula, in addition to lifting cylinder body 4-2-1 it
Outer further includes the piston 4-2-2 being located in lifting cylinder body 4-2-1, and the upper piston rod 4- being connect respectively with piston 4-2-2
2-3 and lower piston rod 4-2-4, when needing to fall, by injecting hydraulic oil into the upper cylinder of lifting cylinder body 4-2-1 and inciting somebody to action
The hydraulic oil of lifting cylinder body 4-2-1 lower cavities is discharged, and oil pressure acts on piston 4-2-2, with drive upper piston rod 4-2-3 and
Lower piston rod 4-2-4's moves downward；Similarly, when needing to rise, by being noted into the lower cylinders of lifting cylinder body 4-2-1
Enter hydraulic oil and the hydraulic oil of lifting cylinder body 4-2-1 upper chambers is discharged, oil pressure acts on piston 4-2-2, in drive
Piston rod 4-2-3's and lower piston rod 4-2-4 moves upwards.
In addition, in order to ensure that railway intelligent multifunctional traveling platform can successfully switch, preferably in elevating and rotating machine
Range sensor (not shown) is additionally provided on structure 4, the range sensor is for detecting the lifting rotation mechanism 4 apart from track 6
The distance between rail of both sides, if range sensor detect rail of the lifting rotation mechanism 4 apart from 6 both sides of track it
Between distance it is equal, then lifting rotation mechanism 4 carries out 90 degree rotations, so that the railway intelligent multifunctional travels platform both sides
Rail wheel can just fall on rail.
Further, which further includes the jaw components for being held on the rail of 6 both sides of track,
The jaw components are connect with the lower piston rod 4-2-4 of lifting piston cylinder 4-2, in order to further be accurately positioned, avoid repeatedly weight
Double counterpoint, position aligning time is long, less efficient problem.By injecting hydraulic oil simultaneously into the upper cylinder of lifting cylinder body 4-2-1
The hydraulic oil of lifting cylinder body 4-2-1 lower cavities is discharged, so that the lower piston rod 4-2-4 of lifting cylinder declines, to drive
The jaw components being connect with lower piston rod 4-2-4 decline to be connected on the inside of rail, flat travelling railway intelligent multifunctional
It before platform vehicle jacks up, is connected on the inside of rail by jaw components, more accurately to be positioned, then by railway intelligence
Multi-functional traveling platform jacks up, and when reaching jack-up height, rotary cylinder-block 4-1 is rotated by 90 ° to drive railway intelligent multifunctional
It travels platform vehicle and rotates 90 °, then by injecting hydraulic oil into the lower cylinders of lifting cylinder body 4-2-1 and by lifting cylinder body
The hydraulic oil of 4-2-1 upper chambers is discharged, and railway intelligent multifunctional traveling platform vehicle is put down so that railway intelligence is more
The rail wheel of function traveling platform both sides is accurately fallen on rail.
Specifically, jaw components include the claw connector 4-4 that is connect with piston rod 4-2-4 (such as in this embodiment,
For branch sleeve) and the claw arm 4-5 that is connect with claw connector 4-4, in claw arm 4-5 far from claw connector 4-4's
One end is provided with the claw 4-6 for being connected on the inside of rail.
Preferably, as is illustrated by figs. 11 and 12, claw arm 4-5 is connect with claw connector 4-4 by rotary piston cylinder, with
Just claw arm 4-5 is unfolded by rotary piston cylinder when in use, by rotary piston cylinder by the two of left side after the completion of use
A claw arm 4-5 is packed up around rotation axis 4-8 rotations, and two claw arm 4-5 on right side are packed up around rotation axis 4-9 rotations, with
Occupied space is reduced, the traveling for influencing railway intelligent multifunctional traveling platform is avoided.
It should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in, the liter
Other structures, such as lifting rotation composite oil cylinder can also be used by dropping rotating mechanism 4 comprising lifting cylinder and rotation oil
Cylinder, the cylinder body of the lifting cylinder and the cylinder body of rotary oil cylinder connect, and the rotor of rotary oil cylinder is used to connect with traveling main platform body 1
It connects.In addition, in this embodiment, the hydraulic oil that lifting rotation mechanism 4 uses, however, it will be understood by those of skill in the art that
In some other embodiment of the present invention, high pressure gas can also be used.
As shown in FIG. 13 to 15, caterpillar drive system 2 includes the crawler driving whell for being connect with traveling main platform body 1
2-2,6 carrying roller 2-1, inducer 2-6, moping pulley 2-4 and crawler belt 2-3, crawler belt 2-3 be set around successively crawler driving whell 2-2,
6 carrying roller 2-1, inducer 2-6 and moping pulley 2-4, inducer 2-6 are located at the rear end of traveling main platform body 1, moping pulley 2-4
Positioned at the upper end of traveling main platform body 1, crawler driving whell 2-2 is located at the front end of traveling main platform body 1；6 carrying roller 2-1 are located at
The lower end of main platform body 1 is travelled, and is connect respectively with traveling main platform body 1 by first piston cylinder 2-5, with opposite traveling platform
Main body 1 moves up and down.Wherein, first piston cylinder 2-5 include cylinder body, the piston 2-5-1 in cylinder body and with piston 2-5-1
The lower end of the piston rod of connection, piston rod is connect with carrying roller 2-1, piston 2-5-1 by cylinder interior be divided into upper cavity 2-5-2 and
The compressed gas of preset pressure value is filled in lower chamber 2-5-3, upper cavity 2-5-2.In addition, respectively with preceding 3 carrying roller 2-1
The upper cavity 2-5-2 of the First piston bar 2-5 of connection is connected to by pipeline 2-5-4, is connect respectively with rear 3 carrying roller 2-1
The upper cavity 2-5-2 of First piston bar 2-5 is by another pipeline connection, as shown in figure 15.The caterpillar drive system 2 is by by 6
First 3 and latter 3 designs for being all made of communication type suspension in a carrying roller 2-1, when in face of higher railway roadbed and rail, with
Railway roadbed or the carrying roller 2-1 of rail contact are under pressure and cause the piston upwards of first piston cylinder 2-5A connected to it,
The pressure of the upper cavity 2-5-2 of first piston cylinder 2-5A increases, and since communication type designs, thus connects with first piston cylinder 2-5A
The pressure of the upper cavity of logical other first piston cylinder 2-5B and 2-5C increases, to make first piston cylinder 2-5B and 2-5C
Piston rod moves downward, and effectively to enhance the passability of creeper truck, body vibrations is effectively reduced when crossing rail, protection is vehicle-mounted
Instrument, while it is more uniform so that the pressure of internal track surfaces is distributed, and extends the service life of crawler belt.
In this embodiment, the quantity of carrying roller 2-1 is 6, wherein however it should be noted that the technology of this field
Personnel should be appreciated that in some other embodiment of the present invention, and the quantity of carrying roller 2-1 can also be other numerical value, such as 8
It is a, respectively with the upper cavity of preceding 2 carrying roller 2-1 First piston bar 2-5 connecting by pipeline connection, respectively with intermediate 4
The upper cavity of the First piston bar 2-5 of carrying roller 2-1 connections by pipeline connection, connect respectively with rear 2 carrying roller 2-1
The upper cavity of one piston rod 2-5 passes through another pipeline connection.That is, the upper cavity of at least one first piston cylinder 2-5 with
The upper cavity of another First piston bar 2-5 adjacent thereto passes through pipeline connection.
Preferably, carrying roller 2-1 is divided into M groups, and every group includes N number of carrying roller 2-1, and with N number of carrying roller 2-1 in every group
The upper cavity of the first piston cylinder 2-5 of connection is connected to by pipeline 2-5-4, and wherein M, N are greater than 1 integer.It is preferred that M is 2-4；
N is 2-4.
It is preferred that first piston cylinder 2-5 lower chambers 2-5-3 is provided with import, the import of each first piston cylinder 2-5 lower chambers
It is connect with one hydraulic oil source/air supply source, to simplify structure, reduces manufacturing cost.
Preferably, as shown in figure 14, carrying roller 2-1 includes carrying roller right half 2-1-1 and carrying roller left half 2-1-2,
And the U-shaped connector 2-8 for being connect with the piston rod of first piston cylinder 2-5, two end parts of U-shaped connector 2-8
It is not connect with carrying roller right half 2-1-1 and carrying roller left half 2-1-2 rotary types.Specifically, carrying roller right half 2-1-1 and
Carrying roller left half 2-1-2 is connect by bearing 2-9 with the both ends of U-shaped connector 2-8 respectively, the bottom of U-shaped connector 2-8
Portion is connect by bolt with the piston rod of first piston cylinder 2-5.
Further, inducer 2-6 is connect by second piston cylinder 2-7 with traveling main platform body 1, with opposite traveling platform
Main body 1 moves in the horizontal direction, to be caused when carrying roller 2-1 is moved by the opposite traveling main platform bodies 1 of first piston cylinder 2-5
When the distance between top and lower parts crawler belt 2-3 of crawler belt 2-3 being made to shorten, it can adjust between crawler belt 2-3 left ends and right end
Distance makes crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and moping pulley 2-4 are driven by crawler belt 2-3.
However it should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in,
The direction of motion of inducer 2-6 can not also in the horizontal direction, such as angle between vertical line is α, such as α=45 °,
130 °, as long as α ≠ 0 °.
In addition, the caterpillar drive system 2 further includes caterpillar drive system control unit, wherein first piston cylinder 2-5 and
Two piston cylinder 2-7 are connect with caterpillar drive system control unit respectively, so as under the control of caterpillar drive system control unit
It is correspondingly moved, to ensure crawler driving whell 2-2, carrying roller 2-1, inducer 2-6 and moping pulley 2-4 by crawler belt 2-
3 transmissions.For example, when first piston cylinder 2-5 drives carrying roller 2-1 to move upwards, second piston cylinder 2-7 drives inducer simultaneously
2-6 is moved out, so that caterpillar drive system 2 works normally.
It should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in, crawler belt
Drive system 2 can also include track drive rack, which passes through elevating mechanism such as lifting piston cylinder 7 and row
The connection of main platform body 1 is sailed, so that 2 relative orbit wheel drive system 3 of caterpillar drive system moves up and down, as shown in figure 16.
In addition, as shown in figure 17, it further includes Center of Gravity Control System 9 which, which travels platform, the center of gravity control
System 9 processed includes instrumented wheelset, angular velocity measurement unit, gravity's center control unit and centre of gravity adjustment unit, centre of gravity adjustment unit
It is connect including clump weight 9-1 and with clump weight 9-1 for adjusting matching for positions of the clump weight 9-1 in traveling main platform body 1
Pouring weight adjustment mechanism, instrumented wheelset are mounted in traveling main platform body 1 and travel platform for obtaining railway intelligent multifunctional in real time
Wheel to vertical force, angular velocity measurement unit is mounted in traveling main platform body 1, for measuring railway intelligent multifunctional traveling
Angular speed of the platform in turning, gravity's center control unit is connect with instrumented wheelset and angular velocity measurement unit respectively, for acquiring
Wheel measured by instrumented wheelset is to the angular speed measured by vertical force and angular velocity measurement unit and according to wheel to vertical force and angle
Speed etc. calculates the position of centre of gravity of railway intelligent multifunctional traveling platform in real time；And by controlling the adjustment of clump weight adjustment mechanism
The position of clump weight 9-1, the position of centre of gravity that railway intelligent multifunctional is travelled to platform are adjusted to safety zone.The gravity's center control
System is detected the wheel of railway intelligent multifunctional traveling platform by instrumented wheelset to vertical force and angular speed and is uploaded to weight in real time
Heart control unit, to realize the real time monitoring to vehicle's center of gravity, in the case where vehicle's center of gravity deviates safety zone, gravity's center control
Unit is moved on to clump weight to designated position by controlling the clump weight adjustment mechanism of centre of gravity adjustment unit, to adjust the weight of vehicle
The heart makes center of gravity rest on safety zone.The Center of Gravity Control System can realize centre of gravity adjustment, it is ensured that vehicle operational safety avoids
The case where appearance is toppled over or turns on one's side, improves the safety of its own, to ensure vehicle even running under conditions of uneven road conditions,
Improve the adaptivity and reliability of vehicle.
Specifically, centre of gravity adjustment unit includes laterally adjusting unit, and the clump weight adjustment mechanism for laterally adjusting unit includes
The first leading screw 9-2 being connect with traveling 1 rotary type of main platform body, and the first servo for driving the first leading screw 9-2 rotations
Motor 9-3, first servo motor 9-3 are connect with gravity's center control unit, the first leading screw 9-2 and clump weight 9-1 screw-thread fits, and first
Longitudinal centre line of the axis of leading screw 9-2 perpendicular to vehicle.This laterally adjusts unit and is installed on the centre of traveling main platform body 1 simultaneously
It is approximately more than the distance equal to 0.3m apart from ground, in use, first servo motor 9- is adjusted under the control of gravity's center control unit
The position of clump weight 9-1 on first leading screw 9-2, to realize that the railway intelligent multifunctional travels the centre of gravity adjustment of platform.
Gravity's center control unit obtains the railway intelligent multifunctional from instrumented wheelset and travels the wheel of platform to vertical force P and P',
And the angular velocity omega that the railway intelligent multifunctional travels platform is obtained from angular velocity measurement unit, and combine railway intelligently more work(
The appearance and size that platform can be travelled calculates the position of centre of gravity of railway intelligent multifunctional traveling platform, and clear railway intelligence is more
Function travels the center of gravity safety zone of platform.
As shown in Figure 18 and Figure 19, after clump weight 9-1 adjustment, position of centre of gravity variation travels platform to railway intelligent multifunctional
The improvement of Overturning Coefficient D.Specifically, after clump weight 9-1 adjustment, cause railway intelligent multifunctional to travel platform center of gravity and become from O points
Change to O'；Shown in train Overturning Coefficient such as formula (1).
In formula：D-Overturning Coefficient；
M-train weight；
The angle of line and horizontal plane between the rail upper surface of φ-track both sides；
d3The height of-barycenter；
d4The width of-Railway wheelset；
ω-train crosses the angular speed of bend
R-train crosses the radius of bend
S-position of centre of gravity needs the distance adjusted, if it is positive value, the higher rail side into the rail of track both sides
To movement, if it is negative value, the lower rail direction movement into the rail of track both sides.
By formula (1) it is found that it is critical point that train topples that Overturning Coefficient, which is equal to 1, D is smaller, and train possibility of toppling is smaller；
When centre of gravity adjustment unit is by adjusting breeding block 9-1 change in location, after the position of centre of gravity of train is changed to O' points by O points, S can
Changed with both forward and reverse directions, be less than 0.8 to control D values, calculating position of centre of gravity by formula (2) needs the distance adjusted.
In this embodiment, the quantity for laterally adjusting unit is 6, and 6 laterally adjust unit along railway intelligent multifunctional
The longitudinal centre line of traveling platform is arranged at equal intervals.However it should be noted that it will be understood by those of skill in the art that at this
In some other embodiment of invention, the quantity that laterally adjusts unit may be 1 or 2,4 etc. it is multiple.
For ease of calculation, it is equal preferably each to laterally adjust the quality m of the clump weight 9-1 of unit.Further,
The quantity for laterally adjusting unit is n, and preferably n laterally adjust displacement distances of the clump weight 9-1 of unit on the first leading screw 9-2
K is consistent.Then it is calculate by the following formula the distance k for obtaining each clump weight 9-1 movements：
However it should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in,
The quality and displacement distance of each clump weight for laterally adjusting unit can also be inconsistent.
Further, clump weight adjustment unit further includes being located at the longitudinally adjusted unit laterally adjusted below unit, longitudinal
The clump weight adjustment mechanism of adjustment unit includes the second leading screw being connect with traveling 1 rotary type of main platform body, and for driving
Second servo motor of the second leading screw rotation, the second servo motor are connect with gravity's center control unit, the second leading screw and clump weight spiral shell
Line coordinates, and the axis of the second leading screw is parallel to the longitudinal centre line of railway intelligent multifunctional traveling platform.
Preferably longitudinally the quantity of adjustment unit is multiple, and multiple longitudinally adjusted units edges are parallel to railway intelligent multifunctional row
The direction for sailing platform longitudinal centre line is arranged at equal intervals.
For ease of calculation, preferably the quality m' of the clump weight of adjustment unit is equal longitudinally in each.Further, excellent
Displacement distance k' of multiple clump weights on the second leading screw is selected to be consistent.However it should be noted that those skilled in the art
Member it should be appreciated that the present invention some other embodiment in, longitudinally in each adjustment unit connection clump weight quality and shifting
Dynamic distance can also be inconsistent.
In this embodiment, the instrumented wheelset of vehicle's center of gravity control system is mounted on railway intelligent multifunctional traveling platform
On rail wheel.However it should be noted that vehicle's center of gravity control system provided by the present invention is also adapted to other types of vehicle
.
In addition, railway intelligent multifunctional traveling platform includes autonomous driving intelligent mode and remote control pattern, certainly
Main traveling can take over control when meeting difficulty with remote handle.Railway intelligent multifunctional traveling platform further includes that setting is travelling
Context aware systems 5 in main platform body 1, the autonomous traveling of the context aware systems 5 and railway intelligent multifunctional traveling platform
System connects.The context aware systems 5 include laser radar, global positioning system (GPS), millimetre-wave radar, inertial navigation, phase
Machine etc..The railway intelligent multifunctional travels platform and obtains map and surrounding enviroment information by the context aware systems 5, to right
The position that bend, track switch etc. influence intact stability is accurately positioned, and speed is set in advance to limit by autonomous driving system
In speed requires, to ensure fast and safely traveling of the railway intelligent multifunctional traveling platform on track 6.In addition, the railway
Intelligent multifunctional travels platform can perceive remote prominent obstacle by context aware systems 5, enable the traveling platform in nothing
Safe operation in the case that people drives.On track 6 when driving, railway intelligent multifunctional traveling platform passes through context aware systems
Whether there are obstacles on 5 perception ambient enviroments and track, when finding to have barrier on track, autonomous parking and by rail wheel
Traveling is switched to Athey wheel and travels, and after the track section for crossing obstacle, then is switched to rail wheel from Athey wheel traveling and travels, after
It is continuous to execute inter-related task.
In addition, railway intelligent multifunctional traveling platform has good brake system, ensure steady in the case where running at high speed
It is fixed reliable.Brake system has high sensitive sensor, can perceive speed, wheel condition, axis weight state, have anti-tipping pre-control
System ensures that brake system is safe and reliable.The railway intelligent multifunctional, which travels platform, has Precise Position System, by encoding vehicle
The complex navigations systems such as positioning, GPS positioning, map match, inertial navigation, Beidou navigation are taken turns, make traveling platform that there is grade
Positioning accuracy.The railway intelligent multifunctional, which travels platform, has visualization tasks administration interface and in due course generalized information management system
System, on the one hand can be such that man-machine task smoothly interacts, another aspect guarantee task communicates in due course under order grade, makes traveling platform
Upper each functional component effectively receives rapidly task and makes fast reaction.
Preferably, traveling main platform body 1 is using titanium alloy, aluminium alloy, carbon fiber structural, to ensure strength of parts and center of gravity
In the case of stability, vehicle weight is rationally controlled, reduces energy consumption.
It is preferred that railway intelligent multifunctional traveling platform is powered using lithium battery such as ferric phosphate, super capacitor in parallel, and
With energy management system, so that science distributes supply of electric power, ensure the safe power supply of each functional component of traveling platform, and have
Vehicle health manages system, and by detection Vehicular vibration, stress, driving electrical parameter etc., the report of health status is provided for vehicle,
Vehicle maintenance is carried out, ensures the safety traffic of each functional component of traveling platform.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, brief for description, during the description of the present embodiment, no longer
Technical characteristic same as Example 1 is described, only illustrates the present embodiment difference from Example 1：
As shown in Figure 20 to Figure 22, in this embodiment, track wheel drive system 3 passes through rotating mechanism 8 and traveling platform
1 rotary type of main body connects, and the opposite traveling main platform body 1 of caterpillar drive system 2 remains stationary as, so that caterpillar drive system 2
Bottom is higher or lower than the bottom of track wheel drive system 3, to realize caterpillar drive system 2 and track wheel drive system 3
Switching.
Specifically, track wheel drive system 3 includes the front rail wheel driving unit for being located at 1 front end of traveling main platform body
With the rear rail wheel driving unit of rear end, and front rail wheel driving unit and rear rail wheel driving unit include two rail wheels
3-1 and the rail wheel connecting shaft 3-2, each rail wheel connecting shaft 3-2 that are connect respectively with two rail wheel 3-1 are rotated with one
Mechanism 8 connect, to be rotated under the drive of rotating mechanism 8, to drive track wheel drive system 3 from first position (such as
Shown in Figure 21) it rotates to the second position (as shown in figure 22) or is reversely rotated from the second position to first position.Work as rail wheel
When the rotation of drive system 3 is to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2, at this point,
Railway intelligent multifunctional travels platform can be in the driving downward driving of caterpillar drive system 2；When track wheel drive system 3 rotates extremely
When the second position, the bottom of track wheel drive system 3 is less than the bottom of caterpillar drive system 2, at this point, railway intelligent multifunctional row
Sailing platform can be in the driving downward driving of track wheel drive system 3；Railway intelligent multifunctional traveling platform passes through rotating mechanism 8
Rotation to drive track wheel drive system 3 to be switched in first position and the second position, to realize track wheel drive system
The mutual conversion of system 3 and caterpillar drive system 2.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, also may be used
Caterpillar drive system 2 to be connect by rotating mechanism 8 with traveling 1 rotary type of main platform body, 3 opposing rows of track wheel drive system
Main platform body 1 is sailed to remain stationary as, so that the bottom of caterpillar drive system 2 is higher or lower than the bottom of track wheel drive system 3,
To realize the switching of caterpillar drive system 2 and track wheel drive system 3.
In this embodiment, rotating mechanism 8 is rotary piston cylinder, such as rotary oil cylinder or rotary cylinder.The rotary-piston
Cylinder include with traveling main platform body 1 connect cylinder body, the shaft in cylinder body, the scotch being connect with cylinder body, and with turn
The blade of axis connection, wherein blade also with connect axis connection, which changes swing angle using internal scotch,
When air pressure or oil pressure act on blade, drive shaft rotation, to drive be connected with the rotating shaft rail wheel connecting shaft 3-2 around
The axis of shaft rotates, and then the rail wheel 3-1 of 1 both sides of traveling main platform body is driven to be rotated relative to traveling main platform body 1, works as rotation
When going to first position, the bottom of track wheel drive system 3 is higher than the bottom of caterpillar drive system 2；When rotation to the second position
When, the bottom of track wheel drive system 3 is less than the bottom of caterpillar drive system 2.
Preferably, first position is located at the surface of the second position, that is to say, that track wheel drive system 3 is from first
It is 180 ° to set rotation to the angle rotated required for the second position, therefore the maximum rotation angle of preferably rotary piston cylinder is
180 °, when rotary piston cylinder is located at maximum rotation angle, the bottom of caterpillar drive system 2 is higher than track wheel drive system 3
Bottom, when the rotation angle of rotary piston cylinder is 0 °, the bottom of caterpillar drive system 2 is less than the bottom of track wheel system.So
And it should be noted that it will be understood by those of skill in the art that the present invention some other embodiment in, track drive system
The rotation angle of system 2 may be other numerical value, such as 120 °.
It should be noted that it will be understood by those of skill in the art that in some other embodiment of the present invention, rotate
Mechanism 8 can also use other structures, such as spider gear structure, which include sun gear and gear ring,
And the planetary gear coordinated respectively with sun gear and gear ring, wherein sun gear are connect with traveling 1 rotary type of main platform body, and
It is driven by servo motor, planetary gear is connect with rail wheel connecting shaft 3-2, so that sun gear is under the driving of servo motor
When left-right rotation, the rail wheel connecting shaft 3-2 with sun gear cooperation is driven to be rotated around sun gear, to drive traveling main platform body
The rail wheel 3-1 of 1 both sides is rotated relative to traveling main platform body 1, when rotation is to first position, the bottom of caterpillar drive system 2
Less than the bottom of track wheel drive system 3, at this point, railway intelligent multifunctional traveling platform can be in the drive of caterpillar drive system 2
Dynamic downward driving；When rotation is to the second position, the bottom of caterpillar drive system 2 is higher than the bottom of track wheel drive system 3.
In addition, the invention also discloses the method for lower railway on a kind of railway intelligent multifunctional traveling platform, including upper rail
Road pattern and lower railway pattern, wherein upper rail pattern includes：
Step 11：By road running drive system track is driven to perpendicular to track longitudinal direction by main platform body is travelled
Center；Wherein, the caterpillar drive system 2 in road running drive system preferred embodiment 1 or embodiment 1, however, this field
It will be appreciated by the skilled person that the present invention some other embodiment in, road running drive system can also use rubber
Wheel drive system.
Step 12：The lifting rotation mechanism 4 being connect with traveling main platform body bottom is extended downwardly will travel platform master
Body jacks certain altitude, so that the minimum point of railway intelligent multifunctional traveling platform is higher than track 6, then will travel platform
Main body is rotated by 90 ° in the horizontal plane, so that the rail wheel of track wheel drive system 3 is aligned with the rail of track both sides；
Step 13：By 3 uplink of road running drive system relative orbit wheel drive system, so that road running driving system
The bottom of system is higher than the bottom of rail wheel, then main platform body decentralization will be travelled by lifting rotation mechanism 4, to complete highway row
Sail switching of the drive system to track wheel drive system 3；
Step 14：Lifting rotation mechanism 4 is risen.
Lower railway pattern includes：
Step 21：Lifting rotation mechanism 4 is declined and jacks certain altitude so that main platform body will be travelled, so that the railway intelligence
The minimum point of the multi-functional traveling platform of energy is higher than track 6, and traveling main platform body is then reversely rotated 90 ° in the horizontal plane；
Step 22：By 3 downlink of road running drive system relative orbit wheel drive system, so that road running driving system
The bottom of system is less than the bottom of rail wheel, and will travel main platform body decentralization by lifting rotation mechanism 4, to complete rail wheel drive
Move switching of the system 3 to road running drive system；
Step 23：Lifting rotation mechanism 4 is risen；
Step 24：By road running wheel drive system track is sailed out of by main platform body is travelled.
Preferably, the upstream or downstream of road running drive system relative orbit wheel drive system 3 be by respectively with public affairs
What road running and driving system was realized with the elevating mechanism that main platform body connects is travelled.
The upstream or downstream of preferably road running drive system relative orbit wheel drive system 3 be by respectively with highway
What running and driving system was realized with the rotating mechanism that main platform body connects is travelled, as described in Example 1.
The upstream or downstream of preferably road running drive system relative orbit wheel drive system 3 be by respectively with track
What wheel drive system 3 was realized with the elevating mechanism that main platform body connects is travelled.
The upstream or downstream of preferably road running drive system relative orbit wheel drive system 3 be by respectively with track
What wheel drive system 3 was realized with the rotating mechanism that main platform body connects is travelled, as described in Example 2.
In order to further be accurately positioned, avoid that contraposition is repeated several times, position aligning time is long, and less efficient problem preferably exists
Further include the step being held in the jaw components being connect with lifting rotation mechanism 4 on rail between step 11 and step 12, with
So that when main platform body jacking certain altitude will be travelled, so that the minimum point of railway intelligent multifunctional traveling platform is higher than rail
Road 6 puts down railway intelligent multifunctional traveling platform vehicle after being then rotated by 90 ° it in the horizontal plane so that the railway intelligence
The rail wheel of the multi-functional traveling platform both sides of energy is accurately fallen on rail.
In this embodiment, jaw components are unfolded by rotating mechanism, so as to the step of with rail clamping, to make
With after the completion claw arm is packed up by rotary cylinder, to reduce occupied space.
Further include the steps that being packed up jaw components by rotating mechanism between step 13 and step 14, is occupied with reducing
Space.
In conclusion the method for lower railway can be independently real on railway intelligent multifunctional traveling platform provided by the present invention
The automatic switchover of existing track wheel drive system 3 and caterpillar drive system 2 is cut with completing quick rail-road under the conditions of a variety of roadbeds
It changes, realizes the quick upper lower railway under intelligent control.Wherein, upper and lower rail conditions can be level crossing, Ballast track, basis
Not high non-fragment orbit.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of method of lower railway on railway intelligent multifunctional traveling platform, which is characterized in that including upper rail pattern under
Track pattern, the upper rail pattern include：
Step 11：It is driven in track perpendicular to track longitudinal direction by road running drive system by main platform body is travelled
The heart；
Step 12：The lifting rotation mechanism being connect with the traveling main platform body bottom is extended downwardly with by the traveling platform
Main body jacks certain altitude, so that the minimum point of railway intelligent multifunctional traveling platform is higher than track, it then will be described
Traveling main platform body is rotated by 90 ° in the horizontal plane, so that the rail wheel of track wheel drive system is aligned with the rail of track both sides；
Step 13：By the relatively described track wheel drive system uplink of the road running drive system, so that the highway row
The bottom for sailing drive system is higher than the bottom of the track wheel drive system, then by the lifting rotation mechanism by the row
Main platform body decentralization is sailed, to complete switching of the road running drive system to track wheel drive system；
Step 14：The lifting rotation mechanism is risen.
2. the method for upper lower railway as described in claim 1, which is characterized in that the lower railway pattern includes：
Step 21：The lifting rotation mechanism is declined the traveling main platform body is jacked certain altitude, so that described
The minimum point that railway intelligent multifunctional travels platform is higher than track, then reversely revolves the traveling main platform body in the horizontal plane
Turn 90 °；
Step 22：By the relatively described track wheel drive system downlink of the road running drive system, so that the highway row
The bottom for sailing drive system is less than the bottom of the track wheel drive system, and by the lifting rotation mechanism by the traveling
Main platform body is transferred, to complete switching of the track wheel drive system to the road running drive system；
Step 23：The lifting rotation mechanism is risen；
Step 24：The traveling main platform body is sailed out of into the track by the road running wheel drive system.
3. the method for upper lower railway as claimed in claim 2, which is characterized in that the road running drive system is relatively described
The upstream or downstream of track wheel drive system be by respectively with the road running drive system and the traveling main platform body
The elevating mechanism of connection is realized.
4. the method for upper lower railway as claimed in claim 3, which is characterized in that the road running drive system is relatively described
The upstream or downstream of track wheel drive system be by respectively with the road running drive system and the traveling main platform body
The rotating mechanism of connection is realized.
5. the method for upper lower railway as claimed in claim 2, which is characterized in that the road running drive system is relatively described
The upstream or downstream of track wheel drive system are by connecting respectively with the track wheel drive system and the traveling main platform body
The elevating mechanism that connects is realized.
6. the method for upper lower railway as claimed in claim 3, which is characterized in that the road running drive system is relatively described
The upstream or downstream of track wheel drive system are by connecting respectively with the track wheel drive system and the traveling main platform body
The rotating mechanism that connects is realized.
7. the method for upper lower railway as claimed in claim 2, which is characterized in that between step 11 and step 12 further include by
The jaw components being connect with the lifting rotation mechanism are held in the step on rail.
8. the method for upper lower railway as claimed in claim 7, which is characterized in that the jaw components are by rotating mechanism exhibition
It opens, so as to the step of with the rail clamping.
9. the method for upper lower railway as claimed in claim 8, which is characterized in that between step 13 and step 14 further include leading to
Cross the step of rotating mechanism packs up the jaw components.
10. the method for the upper lower railway as described in any one of claim 1-8, which is characterized in that the road running wheel drives
Dynamic system uses caterpillar drive system.
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