CN111746578A

CN111746578A - Bogie, monorail vehicle and monorail traffic system

Info

Publication number: CN111746578A
Application number: CN201910252335.5A
Authority: CN
Inventors: 刘维达; 李迪
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-10-09

Abstract

The invention discloses a bogie, a monorail vehicle and a monorail traffic system, wherein the bogie comprises a framework, and a walking wheel, a guide wheel, a stabilizing wheel and a walking wheel installation assembly which are arranged on the framework, wherein the walking wheel is installed on the framework through the walking wheel installation assembly, the walking wheel installation assembly comprises a walking wheel adapting device, and the walking wheel adapting device provides vertical adapting force for the walking wheel. According to the bogie for the monorail vehicle, the vibration transmitted by the running surface of the track beam can be attenuated through the running wheel adapting device, so that the adaptation condition of the running wheels to the running surface of the track beam can be improved, and the running stability and the riding comfort of a vehicle body are further improved.

Description

Bogie, monorail vehicle and monorail traffic system

Technical Field

The invention relates to the technical field of rail transit, in particular to a bogie, a monorail vehicle and a monorail transit system.

Background

Monorail vehicles typically include a track beam, a vehicle body, and a bogie connected between the vehicle body and the track beam to carry the vehicle body so that the vehicle body can travel along the track beam. The bogie is the main bearing part of the vehicle body, and the performance of the bogie determines the running quality and the driving safety of the vehicle body. However, the running surface of the rail beam transmits large vibration to the bogie, which affects the running quality and riding comfort of the vehicle body.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. To this end, the invention proposes a bogie for a monorail vehicle, which allows to improve the vibrations transmitted by the running surface of the rail beam to the bogie and thus to the vehicle body.

The invention also provides a monorail vehicle with the bogie.

The invention also provides a monorail traffic system with the monorail vehicle.

According to an embodiment of the first aspect of the present invention, the bogie for the monorail vehicle further comprises a vehicle body, the bogie is mounted on the vehicle body and comprises a framework, and running wheels, guide wheels and stabilizing wheels arranged on the framework, the bogie further comprises: walk the road wheel installation component, walk the road wheel pass through walk the road wheel installation component install in the framework, walk the road wheel installation component including walking road wheel adaptation device, walk the road wheel adaptation device to walk the road wheel and provide vertical adaptability.

According to the bogie for the monorail vehicle, the vibration transmitted by the running surface of the track beam can be attenuated through the running wheel adapting device, so that the adaptation condition of the running wheels to the running surface of the track beam can be improved, and the running stability and the riding comfort of a vehicle body are further improved.

According to a second aspect of the present invention, a monorail vehicle comprises: the monorail bogie comprises a vehicle body and a bogie, wherein the bogie is arranged on the vehicle body, and the bogie is used for the monorail vehicle according to the embodiment of the first aspect of the invention.

According to the monorail vehicle provided by the invention, the bogie for the monorail vehicle disclosed by the embodiment of the first aspect is arranged, so that the running stability and the riding comfort of the vehicle body are improved.

A monorail transportation system in accordance with an embodiment of the third aspect of the present invention comprises: a track beam and a monorail vehicle in accordance with an embodiment of the second aspect of the present invention, said bogie being located between said vehicle body and said track beam.

According to the monorail transportation system provided by the invention, the monorail vehicle provided with the embodiment of the second aspect is arranged, so that the running stability and the riding comfort of the vehicle body are improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic view of a monorail transportation system in accordance with one embodiment of the present invention;

FIG. 2 is a perspective view of a truck according to one embodiment of the present invention;

FIG. 3 is a perspective view of the road wheel mounting assembly shown in FIG. 2;

FIG. 4 is a perspective view of the frame shown in FIG. 2;

FIG. 5 is an enlarged view of portion A circled in FIG. 2;

FIG. 6 is a perspective view of the vehicle body suspension assembly shown in FIG. 2;

FIG. 7 is a perspective view of the guide wheel mounting assembly shown in FIG. 2;

FIG. 8 is a perspective view of the stabilizing wheel mounting assembly shown in FIG. 2;

FIG. 9 is a perspective view of a truck according to one embodiment of the present invention;

FIG. 10 is a perspective view of the road wheel mounting assembly shown in FIG. 9;

FIG. 11 is a perspective view of the frame shown in FIG. 9;

FIG. 12 is an enlarged view of portion B circled in FIG. 9;

FIG. 13 is a perspective view of the vehicle body suspension assembly illustrated in FIG. 9;

FIG. 14 is a perspective view of the guide wheel mounting assembly shown in FIG. 9;

FIG. 15 is a perspective view of the stabilizing wheel mounting assembly shown in FIG. 9.

Reference numerals:

a single-track transportation system 2000; a monorail vehicle 1000;

a track beam 100; a running surface 1001; a side 1002;

a vehicle body 200; a bogie 300;

a frame 1;

a frame 11; a frame hole 111; a via 112;

a frame leg 12; a frame ear 13; a frame detection device 14;

a running wheel 2; an axle 20;

a running wheel mounting assembly 3;

running wheel adaptation means 31;

the first support 321; a first link 322; first support holes 3220;

the mounting cylinder 323; a first support device 324;

a second holder 331; the second link 332; mounting posts 333; a second support hole 3330;

a second support arrangement 334;

a vehicle body suspension assembly 4;

a mount 41; the third supporting means 42; a vehicle body lateral direction adaptation device 43;

a vehicle body vertical adaptation device 44; a vehicle body detection device 45;

a guide wheel 5;

a guide wheel mounting assembly 6;

a fixed arm 61; a first end 611; a second end 612;

a pivot arm 62; a third end 621; a fourth end 622; a pin 623; a connection hole 620;

a guide wheel accommodating device 63; a guide wheel pretensioning device 64; a guide wheel detection device 65;

a stabilizer wheel 7;

a stabilizer wheel mounting assembly 8;

a fixed seat 81; end 811 of a 1; a2 end 812;

an extension 813; an upper plate portion 814; a lower plate portion 815;

a pivot seat 82; end 821 of A3; end 822 of A4;

a pivot 823; mounting holes 820;

a stabilizer wheel adaptation device 83; a stabilizer wheel pretensioning device 84; a stabilizer wheel detecting device 85;

and a braking device 9.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the applicability of other processes and/or the use of other materials.

Next, a monorail transportation system 2000, a monorail vehicle 1000 and a bogie 300 according to an embodiment of the present invention are described.

As shown in FIG. 1, the monorail transit system 2000 may include (but is not limited to): track beam 100 and monorail vehicle 1000, monorail vehicle 1000 may include (but is not limited to): a vehicle body 200 and a bogie 300, the bogie 300 being mounted on the vehicle body 200 with the bogie 300 being positioned between the vehicle body 200 and the track beam 100 to carry the vehicle body 200 such that the vehicle body 200 can run along the track beam 100. Among other things, the bogie 300 is the main load-bearing component of the vehicle body 200, and its performance determines the operational quality and driving safety of the vehicle body 200.

As shown in fig. 1 and 2, the bogie 300 may include: the device comprises a framework 1, and a traveling wheel 2, a guide wheel 5 and a stabilizing wheel 7 which are arranged on the framework 1. Wherein the frame 1 is directly or indirectly mounted to the vehicle body 200. The running wheels 2 are directly or indirectly mounted on the frame 1 and roll on the running surface 1001 of the track beam 100 to drive the vehicle body 200 to run on the track beam 100. The guide wheels 5 are directly or indirectly mounted on the frame 1 and clamped on both sides of the track beam 100 to perform a guiding function, so that the vehicle body 200 travels along the track beam 100. The stabilizing wheels 7 are directly or indirectly arranged on the framework 1 and clamped on two sides of the track beam 100, and the height difference between the stabilizing wheels 7 and the walking surface 1001 of the track beam 100 is larger than that between the guide wheels 5 and the walking surface 1001 of the track beam 100, so that the stabilizing wheels 7 can play a role in stabilizing the vehicle body 200 and avoiding the vehicle body 200 from inclining.

In the following, the way in which the running wheels 2 according to some embodiments of the invention are mounted is described.

As shown in fig. 2 and 3, in some embodiments of the invention, the bogie 300 may further comprise: a traveling wheel mounting assembly 3, and a traveling wheel 2 is mounted on the frame 1 through the traveling wheel mounting assembly 3. Furthermore, in some embodiments of the present invention, the bogie 300 may further comprise a brake device 9, and the brake device 9 may also be mounted to the frame 1 by the road wheel mounting assembly 3, thereby improving the compactness of the layout of the bogie 300.

As shown in fig. 3, the running wheel mounting assembly 3 comprises a running wheel adapter 31, and the running wheel adapter 31 provides vertical adaptability to the running wheels 2, i.e. the adaptability provided by the running wheel adapter 31 to the running wheels 2 is in a vertical or substantially vertical direction.

Accordingly, the vibration transmitted from the running surface 1001 of the rail beam 100 can be attenuated by the running wheel adaptation device 31, so that the adaptation of the running wheels 2 to the running surface 1001 of the rail beam 100 can be improved, and the running stability and riding comfort of the vehicle body 200 can be improved.

Specifically, the type of the running wheel accommodating device 31 according to the embodiment of the invention is not limited, and may be, for example, a damping non-adjustable type shock absorber, a damping adjustable type shock absorber, or the like.

For example, in some embodiments of the present invention, when the road wheel adaptive device 31 is a damping non-adjustable shock absorber, the damping of the road wheel adaptive device 31 can be reasonably matched according to the information such as the general working condition of the vehicle body 200 and the general road condition of the running surface 1001 of the track beam 100. Accordingly, in a normal state, the running wheel adaptation device 31 can effectively attenuate the vibration transmitted from the running surface 1001 of the track beam 100, and improve the running stability and riding comfort of the vehicle body 200.

For example, in other embodiments of the present invention, when the running wheel adaptive device 31 is a shock absorber with adjustable damping, the damping of the running wheel adaptive device 31 may be adjusted in real time according to the information such as the actual running condition of the vehicle body 200 and the actual road condition of the running surface 1001 of the track beam 100, so as to adjust the running wheel adaptive device 31 to provide vertical adaptive force to the running wheels 2. Therefore, the running wheel adaptive device 31 can effectively attenuate the vibration transmitted from the running surface 1001 of the track beam 100 according to the actual situation, and improve the running stability and riding comfort of the vehicle body 200.

As shown in fig. 11, when the running wheel accommodating device 31 is a damping adjustable type shock absorber, the bogie 300 may further include a frame detection device 14 provided on the frame 1, the frame detection device 14 being for detecting a vibration condition of the frame 1. Therefore, the damping of the walking wheel adapting device 31 can be adjusted according to the information detected by the framework detecting device 14, so that the different road conditions of the walking surface 1001 of the track beam 100 can be simply and effectively adapted, and the running stability and the riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that, when the frame 1 does not have the frame detection device 14, as the damping adjustable shock absorber of the running wheel adapting device 31, the damping can be adjusted in real time according to information fed back by other detection, monitoring, acquisition devices and the like of the vehicle body 200 itself, so as to improve the running stability and riding comfort of the vehicle body 200.

For example, in one embodiment of the present invention, as shown in fig. 10 and 11, the running wheel accommodating device 31 is a magnetorheological damper, and the frame detecting device 14 is a vibration acceleration sensor. When the vehicle body 200 runs along a straight section (i.e. a section where the running surface 1001 of the track beam 100 extends along a straight line), the framework detection device 14 feeds back the acquired signals to the central control unit of the vehicle body 200 in real time, and the central control unit analyzes the vibration condition of the running surface 1001 of the track beam 100 according to the vibration acceleration signals acquired by the framework detection device 14, actively controls the magnitude of the control current of the magnetorheological damper serving as the running wheel adapting device 31, so as to adjust the damping of the magnetorheological damper serving as the running wheel adapting device 31, and adapt to different conditions of the running surface 1001 of the track beam 100.

When the vehicle body 200 travels along a curve section (i.e., a section in which the running surface 1001 of the track beam 100 extends along a curve), the central control unit of the vehicle body 200 recognizes that the vehicle body 200 is in a curve traveling state, and at this time, the central control unit may change the magnitude of the current of the magnetorheological damper serving as the running wheel accommodating device 31 according to information such as the current traveling speed, the load condition, and the curvature radius of the curve of the vehicle body 200, thereby adjusting the damping of the magnetorheological damper serving as the running wheel accommodating device 31, for example, increasing the damping of the magnetorheological damper serving as the running wheel accommodating device 31 located on the outer side of the curve, decreasing the damping of the magnetorheological damper serving as the running wheel accommodating device 31 located on the inner side of the curve, and improving the stability of the vehicle body 200 while passing through.

Further, it is understood that the vehicle body 200 may have a GPS device, a vehicle speed detection device, an image pickup device, a weight detection device, etc. thereon, and the central control unit of the vehicle body 200 stores information of the track beam 100, so that the central control unit can recognize that the vehicle body 200 is in a curve traveling state, and can know a traveling speed of the vehicle body 200, a current curve radius of curvature, etc.

In the following, the frame 1 and the road wheel mounting assembly 3 according to two embodiments of the invention are described.

Example one

As shown in fig. 4 and 5, the frame 1 may include: the walking wheel device comprises a frame 11, a frame foot 12 and a frame lug 13, wherein the frame 11 defines a frame hole 111 which penetrates through the frame 11 along the vertical direction, the walking wheels 2 penetrate through the frame hole 111, namely, a part of the walking wheels 2 penetrates out of the frame 11 from the frame hole 111 to the lower side, and a part of the walking wheels 2 penetrates out of the frame 11 from the frame hole 111 to the upper side. The frame ears 13 are arranged on the top of the frame 11, the traveling wheel mounting assembly 3 is connected between the frame 11 and the frame ears 13, the axles 20 of the traveling wheels 2 are positioned above the frame 11 and supported by the traveling wheel mounting assembly 3, the frame feet 12 are arranged on the bottom of the frame 11, and the stabilizing wheels 7 are mounted on the frame feet 12.

Therefore, the frame 11 is simple in structure and convenient to process, the walking wheel mounting assembly 3 is convenient to mount, and the frame 11 can ensure that the stabilizing wheels 7 are mounted lower, so that the anti-roll effect of the bogie 300 is improved. In addition, the guide wheels 5 can be selectively mounted on the bottom of the frame 11 or on the frame ears 13 according to actual requirements.

With reference to fig. 3, the running wheel mounting assembly 3 may comprise: a first bracket 321, a first connecting rod 322, a mounting cylinder 323 and a first supporting device 324, wherein the first bracket 321 is mounted (including detachably mounted and non-detachably mounted) on the top of the frame 11 and is stationary relative to the frame 11, the first connecting rod 322 extends along the transverse direction (i.e. the axis of the first connecting rod 322 is horizontal or approximately horizontal) and is arranged on the top of the frame 11, the first connecting rod 322 is provided with a first supporting hole 3220 matched with the axle 20 of the running wheel 2, and the axle 20 of the running wheel 2 penetrates into the first supporting hole 3220 to obtain the support of the running wheel mounting assembly 3.

With reference to fig. 3 and 5, the mounting tube 323 is disposed on the top of the first link 322, the mounting tube 323 defines an accommodating space with an open top and an open bottom, the first supporting device 324 is disposed through the mounting tube 323, that is, a part of the first supporting device 324 is located in the mounting tube 323, and an upper end of the first supporting device 324 extends upward from the top of the mounting tube 323, the first supporting device 324 abuts between the top of the first link 322 and the bottom of the frame ear 13 to define a distance between the first link 322 and the frame ear 13, so as to define a relative position of the road wheel 2 and the bogie 300, and further support the bogie 300.

Therefore, the first supporting device 324 is not required to be fixedly connected with the first connecting rod 322 and the frame lug 13 through the limit of the mounting cylinder 323, so that the assembly is simplified, and the first supporting device 324 is not required to transversely shift through the limit of the mounting cylinder 323, so that the telescopic deformation can be reliably realized. In addition, the type of the first supporting means 324 is not limited, and may be a coil spring, a rubber spring, or the like.

As shown in fig. 3-5, the first link 322 has a first end 3221 and a second end 3222 at two ends, respectively, the first end 3221 of the first link 322 is hinged to the first support 321 to be rotatable relative to the frame 11, the second end 3222 of the first link 322 is connected to the frame lug 13 via a running wheel accommodating device 31, for example, in the example shown in fig. 5, the lower end of the running wheel accommodating device 31 is connected to the second end 3222 of the first link 322, and the upper end of the running wheel accommodating device 31 is connected to the frame lug 13. Thus, the running wheel adaptive device 31 can effectively attenuate the vibration of the running surface 1001 of the track beam 100, and improve the running stability and riding comfort of the vehicle body 200.

Example two

As shown in fig. 11 and 12, the frame 1 may include: the walking wheel device comprises a frame 11 and a stand 12, wherein the frame 11 defines a frame hole 111 and a through hole 112 which penetrate through the frame 11 along the vertical direction, the walking wheel 2 penetrates through the frame hole 111, namely, a part of the walking wheel 2 penetrates out of the frame 11 from the frame hole 111 to the lower side, and a part of the walking wheel 2 penetrates out of the frame 11 from the frame hole 111 to the upper side. The traveling wheel mounting assembly 3 is inserted into the through hole 112, that is, a part of the traveling wheel mounting assembly 3 is inserted into the upper portion of the frame 11 through the through hole 112, and a part of the traveling wheel mounting assembly 3 is inserted into the lower portion of the frame 11 through the through hole 112. Axles 20 of the running wheels 2 are located above the frame 11 and are supported by the portion of the running wheel mounting assembly 3 located above the frame 11, legs 12 extend downwardly from the sides of the frame 11, and stabilizing wheels 7 are mounted to the legs 12.

Therefore, the frame 11 is simple in structure and convenient to process, the walking wheel mounting assembly 3 is convenient to mount, the frame 11 can ensure that the mounting degree of the stabilizing wheels 7 is enough, and the anti-roll effect of the bogie 300 is improved. Furthermore, since a part of the running wheel mounting assembly 3 is located below the frame 11, it is possible to provide sufficient space above the frame 11 for arranging the brake devices 9 of the running wheels 2, etc., thereby facilitating assembly. In addition, the guide wheels 5 can be selectively mounted on the bottom of the frame 11 or on the frame ears 13 according to actual requirements.

With reference to fig. 10, the running wheel mounting assembly 3 may comprise: a second bracket 331, a second connecting rod 332, a mounting column 333 and a second supporting device 334, wherein the second bracket 331 is mounted (including detachable mounting and non-detachable mounting) at the bottom of the frame 11 and is relatively static with the frame 11, the second connecting rod 332 extends along the transverse direction (namely, the axis of the second connecting rod 332 is horizontal or approximately horizontal) and is arranged at the bottom of the frame 11, the lower end of the mounting column 333 is mounted at the second connecting rod 332 and is relatively static with the second connecting rod 332, the upper end of the mounting column 333 passes through the through hole 112, the upper end of the mounting column 333 is provided with a second supporting hole 3330 matched with the axle 20 of the running wheel 2, and the axle 20 of the running wheel 2 passes through the second supporting hole 3330 to obtain the supporting of the running wheel mounting assembly 3.

Referring to fig. 10 and 12, the second supporting device 334 is located at the bottom of the frame 11, and the second supporting device 334 is sleeved outside the mounting post 333 and is stopped between the top of the second connecting rod 332 and the bottom of the frame 11 to limit the distance between the second connecting rod 332 and the frame 11, so as to limit the relative position of the running wheels 2 and the bogie 300, and further play a role in supporting the bogie 300.

Therefore, the second supporting device 334 does not need to be fixedly connected with the second connecting rod 332 or the frame 11 through the limit of the mounting column 333, so that the assembly is simplified, and the second supporting device 334 does not generate transverse movement through the limit of the mounting column 333 and can reliably stretch and deform. In addition, the type of the second supporting means 334 is not limited, and may be a coil spring, a rubber spring, or the like.

As shown in fig. 10 to 12, the second link 332 has a third end 3321 and a fourth end 3322 at both ends of its length, the third end 3321 is hinged to the second support 331 so as to be rotatable with respect to the frame 11, and the fourth end 3322 is connected to the frame 11 via the running wheel accommodating unit 31. For example, in the example shown in fig. 12, the lower end of the running wheel adapter 31 is connected to the fourth end 3322 of the second link 332, and the upper end of the running wheel adapter 31 is connected to the frame 11. Thus, the running wheel adaptive device 31 can effectively attenuate the vibration of the running surface 1001 of the track beam 100, and improve the running stability and riding comfort of the vehicle body 200.

It should be noted that the structural forms of the frame 1 and the running wheel mounting assemblies 3 according to the embodiments of the present invention are not limited to the two embodiments, and for example, the frame may be processed into other similar or more complex structures according to different practical requirements, and the description thereof is omitted.

Next, a vehicle body suspension assembly 4 according to some embodiments of the present invention is described.

In some embodiments of the invention, the bogie 300 may further comprise a vehicle body suspension assembly 4, and the frame 1 may be indirectly mounted to the vehicle body 200 via the vehicle body suspension assembly 4, i.e. the vehicle body suspension assembly 4 is connected between the frame 1 and the vehicle body 200. Thus, the vibration transmitted from the bogie 300 to the vehicle body 200 can be damped by the vehicle body suspension assembly 4.

As shown in fig. 5 and 6, the vehicle body suspension assembly 4 may include: the vehicle body comprises a mounting seat 41, a third supporting device 42, a vehicle body transverse adapting device 43 and a vehicle body vertical adapting device 44, wherein the mounting seat 41 is mounted on the vehicle body 200 to connect the vehicle body suspension assembly 4 with the vehicle body 200, the third supporting device 42 is connected between the mounting seat 41 and the framework 1, so that the bogie 300 can support the vehicle body 200 through the third supporting device 42, the vehicle body transverse adapting device 43 is connected between the mounting seat 41 and the framework 1 to provide transverse adapting force for the framework 1, and the vehicle body vertical adapting device 44 is connected between the mounting seat 41 and the framework 1 to provide vertical adapting force for the framework 1. Therefore, the vibration transmitted from the bogie 300 to the vehicle body 200 can be attenuated by the vehicle body transverse adaptation device 43 and the vehicle body vertical adaptation device 44, thereby improving the running stability and riding comfort of the vehicle body 200.

In some specific examples of the present invention, as shown in fig. 12 and 13, the third supporting device 42 may be an air spring, and a height adjusting valve is integrated in the air spring. Therefore, the third supporting device 42 can be automatically inflated or deflated according to the load change of the vehicle body 200, and the floor height of the vehicle body 200 is ensured to be flush or approximately flush with the platform height, so that the convenience and the safety of passengers getting on or off the vehicle body 200 are improved. Of course, the type of the third supporting device 42 is not limited to this, for example, the third supporting device 42 may also be a common rubber spring (for example, as shown in fig. 6), and so on, which will not be described herein.

In some specific examples of the present invention, as shown in fig. 5 and fig. 6, both the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44 may be damping non-adjustable shock absorbers, so that the damping of the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44 can be reasonably matched according to the information such as the common working conditions of the vehicle body 200 and the normal road conditions of the running surface 1001 of the track beam 100. Therefore, under normal conditions, the vehicle body transverse adaptation device 43 and the vehicle body vertical adaptation device 44 can effectively attenuate the vibration transmitted to the vehicle body 200 by the bogie 300, and improve the running stability and the riding comfort of the vehicle body 200.

In other specific examples of the present invention, as shown in fig. 12 and 13, both the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44 may be damping adjustable shock absorbers, so that the damping of the lateral vehicle body adapting device 43 and the damping of the vertical vehicle body adapting device 44 may be adjusted in real time according to the information of the actual vibration condition, the load condition, and the like of the vehicle body 200. Therefore, the vehicle body suspension assembly 4 can effectively attenuate the vibration transmitted from the bogie 300 to the vehicle body 200 according to actual conditions, and improve the running stability and riding comfort of the vehicle body 200.

Of course, the present invention is not limited thereto, and the specific types of the vehicle body transverse direction adapting means 43 and the vehicle body vertical direction adapting means 44 may also be specifically set according to actual requirements, for example, one of the vehicle body transverse direction adapting means 43 and the vehicle body vertical direction adapting means 44 is a damping adjustable type shock absorber, the other is a damping non-adjustable type shock absorber, and the like.

As shown in fig. 12 and 13, when the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44 are damping adjustable shock absorbers, the vehicle body suspension assembly 4 may further include a vehicle body detecting device 45 disposed on the mounting base 41, and the vehicle body detecting device 45 is used for detecting the vibration condition of the vehicle body 200. Therefore, the damping of the transverse vehicle body adapting device 43 and the damping of the vertical vehicle body adapting device 44 can be adjusted in real time according to the information detected by the vehicle body detecting device 45, so that the real-time vibration condition of the vehicle body 200 can be simply and effectively adapted, and the running stability and the riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that when the vehicle body detection device 45 is not arranged on the mounting seat 41, as the damping adjustable shock absorbers of the vehicle body transverse adaptation device 43 and the vehicle body vertical adaptation device 44, the damping can be adjusted in real time according to information fed back by other detection, monitoring and acquisition devices and the like of the vehicle body 200, so that the driving stability and the riding comfort of the vehicle body 200 are improved.

For example, in a specific example of the present invention, as shown in fig. 12 and 13, the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44 are both magnetorheological dampers, the vehicle body detecting device 45 is a vibration acceleration sensor, the vehicle body detecting device 45 feeds back the acquired signal to the central control unit of the vehicle body 200 in real time, and the central control unit analyzes the current vibration condition of the vehicle body 200 according to the vibration acceleration signal acquired by the vehicle body detecting device 45, and changes the control current of the magnetorheological dampers serving as the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44, so as to adjust the damping of the magnetorheological dampers serving as the lateral vehicle body adapting device 43 and the vertical vehicle body adapting device 44, thereby better damping the vibration transmitted from the bogie 300 to the vehicle body 200.

Next, the manner of mounting the guide wheels 5 according to some embodiments of the present invention is described.

In some embodiments of the present invention, as shown in fig. 5 and 7, the bogie 300 may further include: a guide wheel mounting assembly 6, and a guide wheel 5 is mounted on the framework 1 through the guide wheel mounting assembly 6. The guide wheel mounting assembly 6 comprises a guide wheel adapting device 63, and the guide wheel adapting device 63 provides a lateral adapting force to the guide wheel 5, namely, the direction of the adapting force provided by the guide wheel adapting device 63 to the guide wheel 5 is a horizontal direction or a substantially horizontal direction.

Therefore, the guide wheel adapting device 63 can attenuate the vibration impact on the guide wheels 5 caused by factors such as the unevenness of the side surfaces 1002 of the track beam 100, so that the adaptation condition of the guide wheels 5 to the side surfaces 1002 of the track beam 100 can be improved, and the running stability and the riding comfort of the vehicle body 200 can be improved. In addition, by arranging the guide wheel adapting device 63, the good contact of the guide wheels 5 on the two sides of the track beam 100 to the corresponding side surfaces 1002 of the track beam 100 can be improved to a certain extent, so that the vehicle body 200 runs in the middle as much as possible, and the running deviation and side inclination problems of the vehicle body 200 are improved.

Specifically, the type of the guide wheel accommodating device 63 according to the embodiment of the present invention is not limited, and may be, for example, a damping non-adjustable type shock absorber, a damping adjustable type shock absorber, an actuator, or the like.

For example, in some embodiments of the present invention, when the guide wheel adaptive device 63 is a damping non-adjustable shock absorber, the damping of the guide wheel adaptive device 63 can be reasonably matched according to the information of the general working condition of the vehicle body 200, the general road condition of the side 1002 of the track beam 100, and the like. Therefore, under normal conditions, the guide wheel adapting device 63 can effectively attenuate the vibration impact of the unevenness of the side 1002 of the track beam 100 on the guide wheels 5, or can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100, thereby improving the running stability and riding comfort of the vehicle body 200.

For example, in some embodiments of the present invention, when the guide wheel adaptive device 63 is a shock absorber with adjustable damping, the damping of the guide wheel adaptive device 63 may be adjusted in real time according to information such as the actual running condition of the vehicle body 200 and the actual road condition of the side 1002 of the track beam 100, so as to adjust the lateral adaptive force provided by the guide wheel adaptive device 63 to the guide wheel 5. Therefore, the guide wheel adapting device 63 can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100 according to actual conditions, and improve the running stability and riding comfort of the vehicle body 200. In addition, the guide wheel adapting device 63 can enable the vehicle body 200 to pass through the curve road section more smoothly according to the actual driving condition of the vehicle body 200, and enable the vehicle body 200 to run in the middle, thereby improving the deviation and roll problems of the vehicle body 200.

When the guide wheel accommodating means 63 is a damping adjustable type shock absorber, the guide wheel mounting assembly 6 may further include a guide wheel detecting means 65 (refer to fig. 14) for detecting information of the side 1002 of the track beam 100. Therefore, the damping of the guide wheel adapting device 63 can be adjusted according to the information detected by the guide wheel detecting device 65, so that the device can be simply and effectively adapted to different road conditions of the side 1002 of the track beam 100, and the driving stability and riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that when the guide wheel mounting assembly 6 does not include the guide wheel detection device 65, as the damping adjustable type shock absorber of the guide wheel adaptation device 63, the damping can be adjusted in real time according to the feedback information of other detection, monitoring and acquisition devices and the like of the vehicle body 200, so as to improve the driving stability and riding comfort of the vehicle body 200.

For example, in one embodiment of the present invention, the guide wheel adapting device 63 is a magnetorheological damper, and the guide wheel detecting device 65 is an ultrasonic sensor, which can monitor the information of the side 1002 of the track beam 100 in front of the guide wheel 5 in real time. When the vehicle body 200 runs along a straight section (i.e. a section where the running surface 1001 of the track beam 100 extends along a straight line), the guide wheel detection device 65 feeds back the acquired information of the side 1002 of the track beam 100 to the central control unit of the vehicle body 200, and the central control unit analyzes the current conditions (such as distance condition and flatness condition) of the side 1002 of the track beam 100 according to the signals acquired by the guide wheel detection device 65, actively controls the magnitude of the control current of the magnetorheological damper serving as the guide wheel adaptation device 63, and adjusts the damping of the magnetorheological damper serving as the guide wheel adaptation device 63, so that the impact vibration of the unevenness of the side 1002 of the track beam 100 on the bogie 300 is quickly attenuated.

When the vehicle body 200 travels along a curve section (i.e., a section where the running surface 1001 of the track beam 100 extends along a curve), the central control unit of the vehicle body 200 recognizes that the vehicle body 200 is in a curve traveling state, and at this time, the central control unit may change the current magnitude of the magnetorheological damper serving as the guide wheel adaptation device 63 according to information such as the current traveling speed, the load condition, and the curvature radius of the curve of the vehicle body 200, so as to adjust the damping of the magnetorheological damper serving as the guide wheel adaptation device 63, and improve the contact yield between the guide wheels 5 on both sides of the track beam 100 and the side 1002 of the track beam 100, so that the vehicle body 200 can more smoothly pass through the curve section, and the roll problem of the vehicle body 200 is improved.

In addition, in the running process of the vehicle body 200, the central control unit of the vehicle body 200 can analyze the distance difference between the left and right guide wheel mounting assemblies 6 and the side 1002 of the track beam 100 in real time according to the information detected by the guide wheel detecting device 65, and when the analyzed distance difference exceeds a set threshold, the vehicle body 200 is judged to be in a deviation state, and at this time, the central control unit of the vehicle body 200 can change the current of the magnetorheological damper serving as the guide wheel adapting device 63, so as to adjust the damping of the magnetorheological damper serving as the guide wheel adapting device 63, and enable the vehicle body 200 to return to the central position and the central running of the running surface 1001 of the track beam 100.

For example, in some embodiments of the present invention, when the guide wheel adapting device 63 is an actuator, the lateral adaptive force provided by the guide wheel adapting device 63 to the guide wheel 5 can be adjusted by providing a suitable active actuating force to the guide wheel 5 through the actuator as the guide wheel adapting device 63 according to information such as the actual running condition of the vehicle body 200 and the actual road condition of the side 1002 of the track beam 100. Therefore, the guide wheel adapting device 63 can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100 according to actual conditions, and improve the running stability and riding comfort of the vehicle body 200. In addition, the guide wheel adapting device 63 can enable the vehicle body 200 to pass through the curve road section more smoothly according to the actual driving condition of the vehicle body 200, and enable the vehicle body 200 to run in the middle, thereby improving the deviation and roll problems of the vehicle body 200.

As shown in fig. 14, when the guide wheel accommodating means 63 is an actuator, the guide wheel mounting assembly 6 may further include a guide wheel detecting means 65 for detecting information on a side 1002 of the track beam 100. Therefore, the active actuating force provided by the guide wheel adapting device 63 for the guide wheels 5 can be changed according to the information detected by the guide wheel detecting device 65, so that the different road conditions of the side 1002 of the track beam 100 can be simply and effectively adapted, and the driving stability and the riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that when the guide wheel mounting assembly 6 does not include the guide wheel detecting device 65, as the actuator of the guide wheel adapting device 63, the main actuating force can be changed in real time according to the information fed back by other detecting, monitoring and collecting devices and the like of the vehicle body 200 itself, so as to improve the running stability and riding comfort of the vehicle body 200.

For example, in one embodiment of the present invention, the guide wheel adapting device 63 is a permanent magnetic direct current linear actuator, and the guide wheel detecting device 65 is an ultrasonic sensor, which can monitor the information of the side 1002 of the track beam 100 in front of the guide wheel 5 in real time. When the vehicle body 200 runs along a straight section (i.e. a section where the running surface 1001 of the track beam 100 extends along a straight line), the guide wheel detection device 65 feeds back the acquired information of the side surface 1002 of the track beam 100 to the central control unit of the vehicle body 200, the central control unit analyzes the current conditions (such as distance condition and leveling condition) of the side surface 1002 of the track beam 100 according to the signals acquired by the guide wheel detection device 65, actively adjusts the action of the permanent magnet direct current linear actuator serving as the guide wheel adaptation device 63, drives the guide wheel 5 to actively move, and actively reduces the impact vibration of the unevenness of the side surface 1002 of the track beam 100 on the bogie 300.

When the vehicle body 200 travels along a curve section (i.e. a section where the running surface 1001 of the track beam 100 extends along a curve), the central control unit of the vehicle body 200 recognizes that the vehicle body 200 is in a curve traveling state, and at this time, the central control unit can actively adjust the motion of the permanent magnet direct current linear actuator serving as the guide wheel adapting device 63 according to information such as the current traveling speed, the load condition, and the curvature radius of the curve of the vehicle body 200, so as to match reasonable actuation power, thereby ensuring that the guide wheels 5 on both sides of the track beam 100 can be in good contact with the side 1002 of the track beam 100 under the driving of the permanent magnet direct current linear actuator serving as the guide wheel adapting device 63, so that the vehicle body 200 can more smoothly pass through the curve section, and improving the roll problem of the vehicle body 200.

In addition, during the running of the vehicle body 200, the central control unit of the vehicle body 200 may further analyze a distance difference between the left and right guide wheel mounting assemblies 6 and the side 1002 of the track beam 100 in real time according to the information detected by the guide wheel detecting device 65, and when the analyzed distance difference exceeds a set threshold, determine that the vehicle body 200 is in a deviation state, at this time, the central control unit of the vehicle body 200 may timely adjust the position of the vehicle body 200 by controlling the actions of the actuators serving as the guide wheel adapting devices 63, so that the vehicle body 200 is restored to the central position and the centered running of the running surface 1001 of the track beam 100.

In some embodiments of the present invention, as shown in fig. 5 and 7, the guide wheel mounting assembly 6 may include: a fixed arm 61, a pivoting arm 62 and a guide wheel pre-tightening device 64, wherein the fixed arm 61 is mounted on the frame 1 and is stationary relative to the frame 1, the pivoting arm 62 is pivotally mounted on the frame 1 (or the fixed arm 61) and is pivotable relative to the frame 1, the guide wheel 5 is mounted on the pivoting arm 62 (for example, the guide wheel 5 can be mounted on the pivoting arm 62 through a connecting hole 620 on the pivoting arm 62) to be pivotable relative to the frame 1 following the pivoting arm 62, and the guide wheel adapting device 63 is connected between the fixed arm 61 and the pivoting arm 62 to adjust the adaptation condition of the guide wheel 5 to the side 1002 of the. A guide wheel pretensioning device 64 is connected between the fixed arm 61 and the pivot arm 62 to provide a lateral pretension to the guide wheel 5 so that the guide wheel 5 has a required clamping force so that the guide wheels 5 on both sides of the track beam 100 can make good contact with the side 1002 of the track beam 100 under normal conditions.

Therefore, the guide wheel mounting assembly 6 is simple in structure and convenient to process, the adaptability of the guide wheels 5 to the side 1002 of the track beam 100 can be improved through the guide wheel pre-tightening device 64 and the guide wheel adapting device 63, impact vibration caused by the side 1002 of the track beam 100 is attenuated, the running stability and riding comfort of the vehicle body 200 are improved, the contact yield of the guide wheels 5 on two sides to the side 1002 of the track beam 100 is improved, the vehicle body 200 runs in the middle as much as possible, and the vehicle body can pass through a curve road section more smoothly.

For example, in the specific example shown in fig. 7, the fixed arm 61 has a first end 611 and a second end 612 at both ends of its length, the pivot arm 62 has a third end 621 and a fourth end 622 at both ends of its length, the first end 611 is welded to the frame 1 so that the fixed arm 61 is stationary relative to the frame 1, the third end 621 is mounted to the frame 1 by a pin 623 extending through the third end 621 so that the pivot arm 62 is pivotable relative to the frame 1, and the guide wheel accommodating means 63 has its ends laterally spaced apart and connected to the second end 612 and the fourth end 622, respectively. Thereby, the guide wheel accommodating means 63 can provide lateral resilience to the guide wheel 5 to function more effectively.

As shown in fig. 5 and 7, the guide wheel pretensioning device 64 can be disposed proximate the second end 612 and the fourth end 622. That is, the distance between the guide wheel pretensioning device 64 and the first end 611 of the fixed arm 61 is greater than the distance between the guide wheel pretensioning device 64 and the second end 612 of the fixed arm 61, and the distance between the guide wheel pretensioning device 64 and the third end 621 of the pivot arm 62 is greater than the distance between the guide wheel pretensioning device 64 and the fourth end 622 of the pivot arm 62. The guide wheel pretensioning device 64 can thus exert a pretensioning effect on the guide wheel 5 more effectively.

As shown in fig. 5 and 7, the fitting surfaces of the first end 611 and the frame 1 and the fitting surfaces of the third end 621 and the frame 1 may have a common surface, that is, the mounting heights of the first end 611 and the third end 621 are the same. Thus, the pivot arm 62 and the fixed arm 61 can be connected to the same surface of the frame 1, so that firstly, the assembly efficiency can be improved, secondly, the structure and cost of the guide wheel mounting assembly 6 can be simplified, and thirdly, the transverse adaptability provided by the guide wheel adapting device 63 can be ensured.

As shown in fig. 14, the guide wheel detecting device 65 for detecting the information of the side 1002 of the track beam 100 may be mounted on the fixing arm 61, so that the installation of the guide wheel detecting device 65 is facilitated, and the guide wheel detecting device 65 may more stably and efficiently detect the information of the side 1002 of the track beam 100. Of course, the invention is not limited thereto, and in other embodiments of the invention, the guide wheel detecting means 65 may also be mounted on the pivot arm 62 or the like.

It should be noted that the structure of the guide wheel mounting assembly 6 according to the embodiment of the present invention is not limited to this, for example, the pivoting arm 62 may also be directly pivotally mounted to the fixed arm 61, and for example, the guide wheel mounting assembly 6 may also be manufactured into other similar or more complex structures according to different practical requirements, and will not be further described herein.

Next, the mounting of the stabilizing wheels 7 according to some embodiments of the present invention is described.

In some embodiments of the present invention, as shown in fig. 5 and 8, the bogie 300 may further include: a stabilizer wheel mounting assembly 8, the stabilizer wheels 7 being mounted to the frame 1 by the stabilizer wheel mounting assembly 8. The stabilizing wheel mounting assembly 8 comprises a stabilizing wheel adapting means 83, the stabilizing wheel adapting means 83 providing a lateral adapting force to the stabilizing wheels 7, i.e. the direction of the adapting force provided by the stabilizing wheel adapting means 83 to the stabilizing wheels 7 is a horizontal or substantially horizontal direction.

Therefore, the vibration impact on the stabilizing wheels 7 caused by factors such as unevenness of the side surfaces 1002 of the track beam 100 can be attenuated by the stabilizing wheel adapting device 83, so that the adaptation condition of the stabilizing wheels 7 to the side surfaces 1002 of the track beam 100 can be improved, and the running stability and the riding comfort of the vehicle body 200 can be improved. In addition, by arranging the stabilizing wheel adapting device 83, the good contact of the stabilizing wheels 7 on the two sides of the track beam 100 to the corresponding side surfaces 1002 of the track beam 100 can be improved to a certain extent, so that the vehicle body 200 runs in the middle as much as possible, and the running deviation and the rolling problem of the vehicle body 200 are improved.

Specifically, the type of the stabilizing wheel accommodating means 83 according to the embodiment of the present invention is not limited, and may be, for example, a damping non-adjustable type shock absorber, a damping adjustable type shock absorber, an actuator, or the like.

For example, in some embodiments of the present invention, when the stabilizing wheel adapting device 83 is a non-adjustable damping vibration absorber, the damping of the stabilizing wheel adapting device 83 can be properly matched according to the general operating conditions of the vehicle body 200 and the general road conditions of the side 1002 of the track beam 100. Therefore, under normal conditions, the stabilizing wheel adapting device 83 can effectively attenuate the vibration impact of the unevenness of the side 1002 of the track beam 100 on the stabilizing wheels 7, or can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100, thereby improving the running stability and riding comfort of the vehicle body 200.

For example, in some embodiments of the present invention, when the stabilizing wheel adapting device 83 is a shock absorber with adjustable damping, the damping of the stabilizing wheel adapting device 83 can be adjusted in real time according to the actual running condition of the vehicle body 200 and the actual road condition of the side 1002 of the track beam 100, so as to adjust the lateral adaptive force provided by the stabilizing wheel adapting device 83 to the stabilizing wheels 7. Therefore, the stabilizing wheel adapting device 83 can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100 according to actual conditions, and improve the running stability and riding comfort of the vehicle body 200. In addition, the stabilizing wheel adapting device 83 can enable the vehicle body 200 to pass through the curve road more smoothly according to the actual driving condition of the vehicle body 200, and enable the vehicle body 200 to run in the middle, thereby improving the deviation and roll problems of the vehicle body 200.

When the stabilizing wheel accommodating means 83 is a damping adjustable type shock absorber, the stabilizing wheel mounting assembly 8 may further include a stabilizing wheel detecting means 85 (refer to fig. 15) for detecting information of the side 1002 of the track beam 100. Therefore, the damping of the stabilizing wheel adapting device 83 can be adjusted according to the information detected by the stabilizing wheel detecting device 85, so that the different road conditions of the side 1002 of the track beam 100 can be simply and effectively adapted, and the running stability and the riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that, when the stabilizer wheel mounting assembly 8 does not include the stabilizer wheel detecting device 85, as the damping adjustable type shock absorber of the stabilizer wheel adapting device 83, the damping can be adjusted in real time according to the feedback information of other detecting, monitoring, collecting devices and the like of the vehicle body 200 itself, thereby improving the driving stability and riding comfort of the vehicle body 200.

For example, in one embodiment of the present invention, the stabilizing wheel adapting device 83 is a magnetorheological damper, and the stabilizing wheel detecting device 85 is an ultrasonic sensor, which can monitor the information of the side 1002 of the track beam 100 in front of the stabilizing wheel 7 in real time. When the vehicle body 200 runs along a straight section (i.e., a section where the running surface 1001 of the track beam 100 extends along a straight line), the stable wheel detection device 85 feeds back the acquired information of the side surface 1002 of the track beam 100 to the central control unit of the vehicle body 200, and the central control unit analyzes the current condition (e.g., distance condition and flatness condition) of the side surface 1002 of the track beam 100 according to the signal acquired by the stable wheel detection device 85, actively controls the magnitude of the control current of the magnetorheological damper serving as the stable wheel adaptation device 83, and adjusts the damping of the magnetorheological damper serving as the stable wheel adaptation device 83, so that the impact vibration from the unevenness of the side surface 1002 of the track beam 100 to the bogie 300 is quickly attenuated.

When the vehicle body 200 travels along a curve section (i.e., a section where the running surface 1001 of the track beam 100 extends along a curve), the central control unit of the vehicle body 200 recognizes that the vehicle body 200 is in a curve traveling state, and at this time, the central control unit may change the current magnitude of the magnetorheological damper serving as the stabilizing wheel adapting device 83 according to information such as the current traveling speed, the load condition, and the curvature radius of the curve of the vehicle body 200, so as to adjust the damping of the magnetorheological damper serving as the stabilizing wheel adapting device 83, and improve the contact yield between the stabilizing wheels 7 on both sides of the track beam 100 and the side 1002 of the track beam 100, so that the vehicle body 200 can more smoothly pass through the curve section, and the roll problem of the vehicle body 200 is improved.

In addition, in the running process of the vehicle body 200, the central control unit of the vehicle body 200 can analyze the distance difference between the left and right stabilizing wheel mounting assemblies 8 and the side 1002 of the track beam 100 in real time according to the information detected by the stabilizing wheel detecting device 85, and when the analyzed distance difference exceeds a set threshold, the vehicle body 200 is judged to be in a deviation state, and at this time, the central control unit of the vehicle body 200 can change the current of the magnetorheological damper serving as the stabilizing wheel adapting device 83, so as to adjust the damping of the magnetorheological damper serving as the stabilizing wheel adapting device 83, and enable the vehicle body 200 to return to the central position and the central running of the running surface 1001 of the track beam 100.

For example, in some embodiments of the present invention, when the stabilizing wheel adapting device 83 is an actuator, the lateral adaptive force provided by the stabilizing wheel adapting device 83 to the stabilizing wheels 7 can be adjusted by providing the actuator as the stabilizing wheel adapting device 83 with an appropriate main actuating force according to the information of the actual running condition of the vehicle body 200 and the actual road condition of the side 1002 of the track beam 100. Therefore, the stabilizing wheel adapting device 83 can effectively attenuate the vibration transmitted from the side 1002 of the track beam 100 according to actual conditions, and improve the running stability and riding comfort of the vehicle body 200. In addition, the stabilizing wheel adapting device 83 can enable the vehicle body 200 to pass through the curve road more smoothly according to the actual driving condition of the vehicle body 200, and enable the vehicle body 200 to run in the middle, thereby improving the deviation and roll problems of the vehicle body 200.

As shown in fig. 15, when the stabilizing wheel accommodating means 83 is an actuator, the stabilizing wheel mounting assembly 8 may further include a stabilizing wheel detecting means 85 for detecting information on a side 1002 of the track beam 100. Therefore, the active actuating force provided by the stabilizing wheel adapting device 83 for the stabilizing wheels 7 can be changed according to the information detected by the stabilizing wheel detecting device 85, so that the different road conditions of the side 1002 of the track beam 100 can be simply and effectively adapted, and the driving stability and the riding comfort of the vehicle body 200 are improved.

In addition, it can be understood that, when the stabilizer wheel mounting assembly 8 does not include the stabilizer wheel detecting device 85, as the actuator of the stabilizer wheel adapting device 83, the main actuating force can be changed in real time according to the information fed back by other detecting, monitoring, collecting devices and the like of the vehicle body 200 itself, so as to improve the driving stability and riding comfort of the vehicle body 200.

For example, in one embodiment of the present invention, the stabilizing wheel adapting device 83 is a permanent magnetic direct current linear actuator, and the stabilizing wheel detecting device 85 is an ultrasonic sensor, which can monitor the information of the side 1002 of the track beam 100 in front of the stabilizing wheels 7 in real time. When the vehicle body 200 travels along a straight section (i.e., a section where the running surface 1001 of the track beam 100 extends along a straight line), the stable wheel detection device 85 feeds back the acquired information of the side surface 1002 of the track beam 100 to the central control unit of the vehicle body 200, and the central control unit analyzes the current conditions (e.g., distance condition and leveling condition) of the side surface 1002 of the track beam 100 according to the signals acquired by the stable wheel detection device 85, actively adjusts the actions of the permanent magnet direct current linear actuators serving as the stable wheel adaptation devices 83, drives the stable wheels 7 to actively move, and actively reduces the impact vibration of the unevenness from the side surface 1002 of the track beam 100 to the bogie 300.

When the vehicle body 200 travels along a curve road section (i.e. a road section where the running surface 1001 of the track beam 100 extends along a curve), the central control unit of the vehicle body 200 recognizes that the vehicle body 200 is in a curve traveling state, and at this time, the central control unit can actively adjust the operation of the permanent magnet direct current linear actuator as the stabilizing wheel adapting device 83 according to information such as the current traveling speed, the load condition, and the curvature radius of the curve, so as to match reasonable actuation power, thereby ensuring that the stabilizing wheels 7 on both sides of the track beam 100 can be in good contact with the side 1002 of the track beam 100 under the driving of the permanent magnet direct current linear actuator as the stabilizing wheel adapting device 83, so that the vehicle body 200 can more smoothly pass through the curve road section, and the rolling problem of the vehicle body 200 is improved.

In addition, during the running of the vehicle body 200, the central control unit of the vehicle body 200 may further analyze a distance difference between the left and right stabilizer wheel mounting assemblies 8 and the side 1002 of the track beam 100 in real time according to the information detected by the stabilizer wheel detecting device 85, and when the analyzed distance difference exceeds a set threshold, determine that the vehicle body 200 is in a deviation state, at this time, the central control unit of the vehicle body 200 may adjust the position of the vehicle body 200 in time by controlling the actions of the actuators serving as the stabilizer wheel adapting devices 83, so that the vehicle body 200 is restored to the central position and the centered running of the running surface 1001 of the track beam 100.

In some embodiments of the present invention, as shown in fig. 5 and 8, the stabilizing wheel mounting assembly 8 may comprise: the track beam 100 comprises a fixed seat 81, a pivoting seat 82 and a stabilizing wheel pre-tightening device 84, wherein the fixed seat 81 is mounted on the frame 1 and is stationary relative to the frame 1, the pivoting seat 82 is mounted on the fixed seat 81 (or the frame 1) and is pivotable relative to the fixed seat 81, a stabilizing wheel 7 is mounted on the pivoting seat 82 (for example, the stabilizing wheel 7 can be mounted on the pivoting seat 82 through a mounting hole 820 on the pivoting seat 82) so as to be pivotable relative to the fixed seat 81 along with the pivoting seat 82, and a stabilizing wheel adapting device 83 is connected between the fixed seat 81 and the pivoting seat 82 so as to adjust the adapting condition of the stabilizing wheel 7 to the. A stabilizing wheel pretensioning device 84 is connected between the fixed seat 81 and the pivoting seat 82 to provide a lateral pretension to the stabilizing wheels 7, so that the stabilizing wheels 7 have a required clamping force, so that in normal conditions, the stabilizing wheels 7 on both sides of the track beam 100 are in good contact with the side faces 1002 of the track beam 100.

Therefore, the stabilizing wheel mounting assembly 8 is simple in structure and convenient to process, the adaptability of the stabilizing wheels 7 to the side surfaces 1002 of the track beam 100 can be improved through the stabilizing wheel pre-tightening device 84 and the stabilizing wheel adapting device 83, impact vibration caused by the side surfaces 1002 of the track beam 100 is attenuated, the running stability and riding comfort of the vehicle body 200 are improved, the contact yield of the stabilizing wheels 7 on two sides to the side surfaces 1002 of the track beam 100 is improved, the vehicle body 200 runs in the middle as much as possible, and the vehicle body can pass through a curve road section more smoothly.

For example, in the specific example shown in fig. 8, the fixed seat 81 has two ends of its length, an a1 end 811 and an a2 end 812, the pivoting seat 82 has two ends of its length, an A3 end 821 and an a4 end 822, the a1 end 811 is welded to the frame 1 to make the fixed seat 81 stationary relative to the frame 1, the A3 end 821 is mounted to the a2 end 812 by a pivot 823 vertically penetrating the A3 end 821 to make the pivoting seat 82 pivotable relative to the fixed seat 81, and the two ends of the stabilizer wheel accommodating device 83 are laterally spaced apart and connected to the a1 end 811 and the a4 end 822, respectively. Thereby, the stabilizing wheel accommodating means 83 can provide lateral resilience to the stabilizing wheels 7 to function more effectively.

As shown in fig. 5 and 8, the a1 end 811 of the fixing base 81 has an extending portion 813 extending upward, the upper end of the extending portion 813 is welded to the frame 1, the a2 end 812 of the fixing base 81 has an upper plate portion 814 and a lower plate portion 815 extending in the lateral direction, the upper plate portion 814 and the lower plate portion 815 are spaced apart up and down, and the A3 end 821 of the pivot base 82 is fitted between the upper plate portion 814 and the lower plate portion 815 and pivotally connected to the upper plate portion 814 and the lower plate portion 815, respectively, by a pivot 823. Therefore, the fixed seat 81 and the pivoting seat 82 can be simply and effectively pivoted, and the fixed seat 81 is provided with the extending part 813, so that the distance between the stabilizing wheels 7 mounted on the pivoting seat 82 and the running surface 1001 of the track beam 100 is enough, an effective stabilizing effect is achieved, the material consumption of the pivoting seat 82 is reduced, and the cost is reduced.

As shown in fig. 15, the stabilizing wheel detecting device 85 for detecting information on the side 1002 of the track beam 100 may be installed on the fixing base 81, so that the installation of the stabilizing wheel detecting device 85 is facilitated, and the stabilizing wheel detecting device 85 may more stably and effectively detect the information on the side 1002 of the track beam 100. Of course, the present invention is not limited thereto, and in other embodiments of the present invention, the stabilizing wheel detecting device 85 may also be mounted on the pivot seat 82 or the like.

It should be noted that the structural form of the stabilizing wheel mounting assembly 8 according to the embodiment of the present invention is not limited to this, for example, the pivot seat 82 may also be directly pivotally mounted to the frame 1, and for example, the stabilizing wheel mounting assembly 8 may also be manufactured into other similar or more complex structures according to different practical requirements, and will not be described herein again.

It is to be noted that in the description of the present specification, various embodiments or examples and features of various embodiments or examples described in the specification may be combined and combined by those skilled in the art without contradiction. For example, a bogie 300 according to one embodiment of the invention may include any of the embodiments described above: at least one of a running wheel mounting assembly 3, a vehicle body suspension assembly 4, a guide wheel mounting assembly 6, and a stabilizer wheel mounting assembly 8. For example, several specific embodiments of the bogie 300 will be given below, but the present invention is not limited thereto.

Example one

The bogie 300 of the first embodiment employs a passive suspension system, and as shown in fig. 2, the bogie 300 includes: the device comprises a framework 1, two walking wheels 2, a walking wheel mounting assembly 3, a vehicle body suspension assembly 4, four guide wheels 5, a guide wheel mounting assembly 6, two stabilizing wheels 7, a stabilizing wheel mounting assembly 8 and a braking device 9.

As shown in fig. 2 and 3, the running wheels 2 and the braking device 9 are connected to the frame 1 via a running wheel mounting assembly 3, the running wheel mounting assembly 3 comprising a shock absorber (as a running wheel adapter 31), a helical spring (as a first support 324), the running wheel mounting assembly 3 being mainly used for damping vibrations of the running surface 1001 of the track beam 100. The running wheels 2 play a role in supporting the vehicle body 200 and ensuring the stable running of the vehicle body 200. The braking device 9 provides the vehicle body 200 with necessary braking force to ensure the safe operation of the vehicle body 200.

Specifically, as shown in fig. 3, the running wheel mounting assembly 3 may include: a first bracket 321, a first connecting rod 322, a mounting tube 323, a running wheel adapting device 31 and a first supporting device 324. The running wheel accommodating device 31 is a damper with a non-adjustable damping, and the first support device 324 is a coil spring. Specifically, the first bracket 321 is welded to the frame 1, and the first link 322 is connected to the first bracket 321 through a rotating shaft, and the first link 322 can rotate relative to the first bracket 321 around the rotating shaft. As shown in fig. 5, the axle 20 of the running wheel 2 is fitted in the first support hole 3220 of the first link 322. The lower end of the first supporting device 324 is mounted in the mounting tube 323 and is abutted against the first connecting rod 322, and the upper end of the first supporting device 324 is abutted against the bottom surface of the frame 11 of the frame 1, so as to support the bogie 300. The lower end of the running wheel adapter 31 is connected to the first connecting rod 322 and the upper end of the running wheel adapter 31 is connected to the frame 1. The damping of the vibration damper serving as the running wheel adaptive device 31 is appropriately matched according to the usual working condition of the vehicle body 200 and the condition of the running surface 1001 of the track beam 100, so that the vibration transmitted from the running surface 1001 of the track beam 100 can be greatly attenuated.

As shown in fig. 5 and 6, the vehicle body suspension assembly 4 includes rubber springs (as the third supporting device 42), a transverse damper (as the vehicle body transverse adapting device 43), and a vertical damper (as the vehicle body vertical adapting device 44), and the vehicle body suspension assembly 4 is disposed between the frame 1 and the vehicle body 200, that is, between the bogie 300 and the vehicle body 200, and is connected through the vehicle body suspension assembly 4 for damping vibration transmitted from the bogie 300 to the vehicle body 200, and improving the riding comfort of the vehicle body 200.

Specifically, as shown in fig. 6, the vehicle body suspension assembly 4 may include a mounting seat 41, a third supporting device 42, a vehicle body lateral adaptation device 43, and a vehicle body vertical adaptation device 44. The third supporting device 42 is a rubber spring, and the horizontal vehicle body adapting device 43 and the vertical vehicle body adapting device 44 are damping non-adjustable shock absorbers. The upper end of the third supporting device 42 is connected to the mounting base 41, and the lower end of the third supporting device 42 is connected to the frame 1 (for example, the lower end of the third supporting device 42 is connected to the top surface of the frame foot 12), so as to support the vehicle body 200.

The lateral car body adapting device 43 and the vertical car body adapting device 44 are both installed between the mounting base 41 and the frame 1 (for example, the lateral car body adapting device 43 is installed between the mounting base 41 and the frame 11, and the vertical car body adapting device 44 is installed between the mounting base 41 and the frame foot 12) to damp the vibration transmitted from the bogie 300 to the car body 200. The damping of the shock absorber serving as the vehicle body lateral adaptive device 43 and the damping of the shock absorber serving as the vehicle body vertical adaptive device 44 are appropriately matched according to the usual working condition of the vehicle body 200 and the condition of the running surface 1001 of the track beam 100, so that the vibration transmitted from the bogie 300 to the vehicle body 200 can be greatly attenuated.

As shown in fig. 5 and 7, the guide wheel mounting assembly 6 is mounted on the frame 1 for mounting the guide wheel 5, i.e. the guide wheel 5 is connected with the frame 1 through the guide wheel mounting assembly 6, the guide wheel mounting assembly 6 includes a vibration damper (as a guide wheel adapting device 63) and a coil spring (as a guide wheel pre-tightening device 64) for damping vibration impact from the side 1002 of the track beam 100, and can ensure that all four guide wheels 5 can have good contact with the side 1002 of the track beam 100 when driving on a curve.

Specifically, as shown in fig. 7, the guide wheel mounting assembly 6 may include a fixed arm 61, a pivot arm 62, a guide wheel accommodating device 63, and a guide wheel pretensioning device 64. The guide wheel adapting device 63 is a transversely arranged damping non-adjustable shock absorber, and the guide wheel pre-tightening device 64 is a transversely arranged pre-tightening spring. Specifically, the function of the guide wheel pre-tightening device 64 is to provide the required clamping force for the guide wheels 5, and ensure that the four guide wheels 5 can all have good contact with the side 1002 of the track beam 100 when the car body 200 is running in a curve, so that the car body 200 can smoothly pass through the curve of the curve. The guide wheel accommodator 63 functions to attenuate the shock of vibration of the guide wheel 5 due to the unevenness of the side 1002 of the track beam 100. According to the common working condition of the vehicle body 200 and the condition of the side 1002 of the track beam 100, the damping of the vibration absorber serving as the guide wheel adapting device 63 is reasonably matched, so that the vibration transmitted from the side 1002 of the track beam 100 can be greatly attenuated.

As shown in fig. 5 and 8, a stabilizer wheel mounting assembly 8 is mounted on the frame 1 for mounting the stabilizer wheels 7, i.e., the stabilizer wheels 7 are connected with the frame 1 through the stabilizer wheel mounting assembly 8, and the stabilizer wheel mounting assembly 8 includes a damper (as a stabilizer wheel accommodating means 83) and a coil spring (a stabilizer wheel pre-tightening means 84) for attenuating vibration impact from the side 1002 of the track beam 100 and ensuring that both the stabilizer wheels 7 can be in good contact with the side 1002 of the track beam 100 when driving on a curve.

Specifically, as shown in fig. 8, the stabilizing wheel mounting assembly 8 may include a fixed seat 81, a pivoting seat 82, a stabilizing wheel accommodating means 83, and a stabilizing wheel pretensioning means 84. Wherein the stabilizing wheel adapting device 83 is a transversely arranged damping non-adjustable shock absorber, and the stabilizing wheel pre-tightening device 84 is a transversely arranged pre-tightening spring. Specifically, the stabilizing wheel pre-tightening device 84 is used for providing a required clamping force for the stabilizing wheels 7 and ensuring that the two stabilizing wheels 7 can be in good contact with the side 1002 of the track beam 100 when the vehicle body 200 is running in a curve, so that the vehicle body 200 can smoothly pass through the curve of the curve. The function of the stabilizing wheel accommodator 83 is to damp vibrational shocks to the stabilizing wheels 7 caused by unevennesses in the side 1002 of the track beam 100. The damping of the vibration damper serving as the stabilizer wheel accommodating means 83 is appropriately matched according to the usual operating conditions of the vehicle body 200 and the conditions of the side 1002 of the track beam 100, so that the vibration transmitted from the side 1002 of the track beam 100 can be greatly attenuated.

Thus, according to the bogie 300 of the first embodiment, the traveling wheel mounting assemblies 3, the vehicle body suspension assemblies 4, the guide wheel mounting assemblies 6, and the stabilizer wheel mounting assemblies 8 are provided, so that the traveling stability and the riding comfort of the vehicle body 200 can be greatly improved. In addition, the bogie 300 of the first embodiment may be a non-powered bogie 300, so as to provide more options for the arrangement of the bogie 300 of the vehicle body 200, so that a "one-drive-one-drag" arrangement is realized.

Example two

The bogie 300 of the second embodiment employs a semi-active suspension system. Specifically, the bogie 300 of the second embodiment has substantially the same structure as that of the first embodiment, and is mainly different in that the second embodiment is modified from the first embodiment in the selection of the running wheel adaptive device 31, the third support device 42, the vehicle body lateral adaptive device 43, the vehicle body vertical adaptive device 44, the guide wheel adaptive device 63, and the stabilizer wheel adaptive device 83, and is additionally provided with the frame detection device 14, the vehicle body detection device 45, the guide wheel detection device 65, and the stabilizer wheel detection device 85. The specific description is as follows:

the running wheel adapting device 31 is a magneto-rheological damper. The frame 1 is provided with a frame detection device 14, and the frame detection device 14 is a vibration acceleration sensor. When the vehicle body 200 runs on a straight road section, signals acquired by the vibration acceleration sensor are fed back to the central control unit of the vehicle body 200 in real time, the central control unit analyzes the vibration condition of the running surface 1001 of the current track beam 100 according to the acquired vibration acceleration signals, and the damping of the running wheel adapting device 31 is changed by changing the control current of the running wheel adapting device 31 so as to adapt to different conditions of the running surface 1001 of the track beam 100. When the vehicle body 200 is running on a curve, the central control unit recognizes that the vehicle body 200 is in a curve running state, and controls the current intensity of the running wheel adaptation device 31 on the outer side and/or the inner side of the curve according to the current vehicle speed and the curvature radius of the curve, so that an appropriate damping force is provided, the steering stability of the vehicle body 200 when passing through the curve is maintained, and the vehicle body 200 is prevented from rolling.

The third supporting device 42 is an air spring, the transverse vehicle body adapting device 43 is a transverse magneto-rheological shock absorber, the vertical vehicle body adapting device 44 is a vertical magneto-rheological shock absorber, a height adjusting valve is integrated in the air spring, can automatically charge and discharge air according to the load change of the vehicle body 200 to ensure that the height of the vehicle body is always consistent, the mounting seat 41 is provided with a vehicle body detection device 45, the vehicle body detection device 45 is a vibration acceleration sensor, by collecting vibration acceleration signals on the vehicle body 200, the control current intensities of the transverse vehicle body adapting device 43 and the vertical vehicle body adapting device 44 are respectively adjusted through the central control unit, and the damping magnitude of the transverse vehicle body adapting device 43 and the vertical vehicle body adapting device 44 is changed, so that the transverse vehicle body adapting device 43 and the vertical vehicle body adapting device 44 provide damping force with proper magnitude, and the effect of better damping vibration transmitted from the bogie 300 to the vehicle body 200 is achieved.

The guide wheel adapting device 63 is a magneto-rheological damper, the guide wheel detection device 65 is arranged on the fixed arm 61, and the guide wheel detection device 65 is an ultrasonic sensor and can monitor the information of the side 1002 of the track beam 100 in front of the guide wheel 5 in real time. When the vehicle body 200 runs on a straight road section, the information of the side 1002 of the track beam 100 collected by the guide wheel detection device 65 is fed back to the central control unit of the vehicle body 200, the central control unit actively controls the control current intensity of the guide wheel adaptation device 63, adjusts the damping of the guide wheel adaptation device 63, and quickly attenuates the impact vibration of the unevenness of the side 1002 of the track beam 100 to the bogie 300.

When the central control unit recognizes that the vehicle body 200 is running on a curve, the four guide wheels 5 can be ensured to be in good contact with the side 1002 of the track beam 100 under the driving of the guide wheel pre-tightening device 64, and the guide wheel adapting device 63 can be matched with reasonable damping force according to the current vehicle speed, the load condition and the curvature radius of the curve, so that the vehicle body 200 can more smoothly pass through the curve section. In addition, during the running process of the vehicle body 200, the central control unit also analyzes the distance difference between the fixed arms 61 of the left and right guide wheel mounting assemblies 6 and the side surfaces 1002 of the track beams 100 in real time, and when the difference exceeds a set reasonable threshold, it indicates that the vehicle body 200 is in a deviation state, and the damping of the guide wheel adapting device 63 needs to be adjusted, so that the vehicle body 200 is restored to the center of the track running surface 1001.

The stabilizing wheel adapting device 83 is a magnetorheological damper. The fixing seat 81 is provided with a stabilizing wheel detection device 85, and the stabilizing wheel detection device 85 is an ultrasonic sensor and can monitor the information of the side 1002 of the track beam 100 in front of the stabilizing wheel 7 in real time. When the vehicle body 200 runs on a straight road section, the information of the side 1002 of the track beam 100 collected by the stable wheel detection device 85 is fed back to the central control unit of the vehicle body 200, the central control unit actively controls the control current intensity of the stable wheel adaptation device 83, adjusts the damping of the stable wheel adaptation device 83, and quickly attenuates the impact vibration of the unevenness of the side 1002 of the track beam 100 to the bogie 300.

When the central control unit recognizes that the vehicle body 200 is running on a curve, the two stabilizing wheels 7 can be ensured to be in good contact with the side 1002 of the track beam 100 under the driving of the stabilizing wheel pre-tightening device 84, and the stabilizing wheel adapting device 83 can be matched with reasonable damping force according to the current vehicle speed, the load condition and the curvature radius of the curve, so that the vehicle body 200 can more smoothly pass through the curve section. In addition, in the running process of the vehicle body 200, the central control unit also analyzes the difference value between the distance between the fixed seats 81 of the left and right stabilizing wheel mounting assemblies 8 and the side surface 1002 of the track beam 100 in real time, and when the difference value exceeds a set reasonable threshold value, the vehicle body 200 is in a deviation state, and the damping of the stabilizing wheel adapting device 83 needs to be adjusted, so that the vehicle body 200 is restored to the center of the track running surface 1001.

Thus, according to the bogie 300 of the second embodiment, the running wheel mounting assemblies 3, the vehicle body suspension assemblies 4, the guide wheel mounting assemblies 6, and the stabilizer wheel mounting assemblies 8 are improved on the basis of the first embodiment, and the active control of the magnetorheological damper is combined, so that the riding comfort of the vehicle body 200 can be greatly improved. Specifically, when the vehicle body 200 travels on a straight road section, the control current of each magnetorheological damper is actively controlled by the central control unit of the vehicle body 200 according to the feedback result of the vibration acceleration signal, so that the damping of the magnetorheological damper is always kept in the optimal damping state. When the vehicle body 200 runs on a curve road section, the central control unit can actively control the damping of each magneto-rheological damper on two sides of the bogie 300 according to the form of the curve, thereby improving the anti-roll performance of the vehicle body 200, and improving the running maneuverability of the vehicle body 200 and the riding comfort of passengers. In addition, the bogie 300 of the second embodiment may be a non-powered bogie 300, so as to provide more options for the arrangement of the bogie 300 of the vehicle body 200, so that a "one-drive-one-drag" arrangement is realized.

In short, according to the bogie 300 of the second embodiment, the passive suspension system is improved to the semi-active suspension system by improving the running wheel mounting assemblies 3, the vehicle body suspension assembly 4, the guide wheel mounting assemblies 6 and the stabilizer wheel mounting assemblies 8 on the basis of the first embodiment, so that the riding comfort of the vehicle body 200 can be improved when traveling in straight lines and curves.

EXAMPLE III

The bogie 300 of the third embodiment employs a fully active suspension system. Specifically, the structure of the bogie 300 according to the third embodiment is substantially the same as that of the second embodiment, and the difference is mainly that the third embodiment is improved in the model selection of the guide wheel adaptive device 63 and the stabilizing wheel adaptive device 83 in addition to the second embodiment. The specific description is as follows:

in the third embodiment, the guide wheel adapting device 63 is a permanent magnetic direct current linear actuator, and the guide wheel adapting device 63 is used for providing an active actuation power for the guide wheel 5. When the vehicle body 200 runs on a straight road section, the information of the side 1002 of the track beam 100 collected by the guide wheel detection device 65 is fed back to the central control unit of the vehicle body 200, and the central control unit actively adjusts the action of the guide wheel adaptation device 63 to drive the guide wheel 5 to actively move, so that the impact vibration of the unevenness of the side 1002 of the track beam 100 on the bogie 300 is actively reduced. When the central control unit recognizes that the vehicle body 200 is running on a curve, the four guide wheels 5 are all ensured to be in good contact with the side 1002 of the track beam 100 under the driving of the guide wheel adapting device 63, and reasonable acting force is matched according to the current vehicle speed, the load condition and the curvature radius of the curve, so that the vehicle body 200 can more smoothly pass through the curve of the curve. In addition, during the running process of the vehicle body 200, the central control unit also analyzes the distance difference between the fixed arms 61 of the left and right guide wheel mounting assemblies 6 and the side surfaces 1002 of the track beams 100 in real time, and when the difference exceeds a set reasonable threshold, it indicates that the vehicle body 200 is in a deviation state, and the position of the vehicle body 200 needs to be adjusted in time by controlling the action of the guide wheel adapting device 63.

In the third embodiment, the stabilizing wheel adapting device 83 is a permanent magnetic direct current linear actuator, and the stabilizing wheel adapting device 83 is used for providing an active actuating force for the stabilizing wheel 7. When the vehicle body 200 runs on a straight road section, the information of the side 1002 of the track beam 100 collected by the stable wheel detection device 85 is fed back to the central control unit of the vehicle body 200, and the central control unit actively adjusts the action of the stable wheel adaptation device 83 to drive the stable wheels 7 to actively move, so that the impact vibration of the unevenness of the side 1002 of the track beam 100 on the bogie 300 is actively reduced. When the central control unit recognizes that the vehicle body 200 is running on a curve, the two stabilizing wheels 7 are ensured to be in good contact with the side 1002 of the track beam 100 under the driving of the stabilizing wheel adapting device 83, and reasonable acting force is matched according to the current vehicle speed, the load condition and the curvature radius of the curve, so that the vehicle body 200 can more smoothly pass through the curve of the curve. In addition, during the operation of the vehicle body 200, the central control unit also analyzes the difference between the distances between the fixed seats 81 of the left and right stabilizer wheel mounting assemblies 8 and the side 1002 of the track beam 100 in real time, and when the difference exceeds a set reasonable threshold, it indicates that the vehicle body 200 is in a deviation state, and the position of the vehicle body 200 needs to be adjusted in time by controlling the motion of the stabilizer wheel adapting device 83.

Therefore, according to the bogie 300 of the third embodiment, by improving the guide wheel mounting assemblies 6 and the stabilizing wheel mounting assemblies 8 on the basis of the second embodiment, since the guide wheel mounting assemblies 6 comprise permanent magnetic direct current linear actuators for actively controlling the actions of the guide wheels 5, the vibration impact of the side 1002 of the track beam 100 can be actively attenuated, and good contact between the four guide wheels 5 and the side 1002 of the track beam 100 can be ensured during the curve driving; since the stabilizing wheel mounting assemblies 8 comprise permanent magnet direct current linear actuators for actively controlling the motion of the stabilizing wheels 7, the vibration impact of the side 1002 of the track beam 100 can be actively attenuated, and good contact between both stabilizing wheels 7 and the side 1002 of the track beam 100 can be ensured when driving on a curve.

According to the bogie 300 of the third embodiment, when the vehicle body 200 travels on a straight road section, the vibration of the running surface 1001 of the track beam 100 and the vibration of the side surface 1002 of the track beam 100 can be absorbed by the control of the running wheel mounting assemblies 3, the vehicle body suspension assemblies 4, the guide wheel mounting assemblies 6, and the stabilizing wheel mounting assemblies 8; when the vehicle body 200 travels on a curve, the rolling rigidity of the vehicle body 200 can be improved by the operation of the road wheel mounting assemblies 3, the vehicle body suspension assemblies 4, the guide wheel mounting assemblies 6, and the stabilizer wheel mounting assemblies 8, the rolling of the vehicle body 200 can be reduced, and the riding comfort of the entire vehicle body 200 can be improved. In addition, the bogie 300 of the third embodiment may be a non-powered bogie 300, so as to provide more options for the arrangement of the bogie 300 of the vehicle body 200, so that a "one-drive-one-drag" arrangement is realized.

In short, according to the bogie 300 of the third embodiment, the semi-active suspension system is modified to the fully-active suspension system by modifying the guide wheel mounting assemblies 6 and the stabilizing wheel mounting assemblies 8 on the basis of the second embodiment, so that the ride comfort of the vehicle body 200 during traveling on straight lines and curves can be improved, and the ride comfort of the vehicle body 200 can be further improved by the fully-active suspension system of the third embodiment compared with the passive suspension system of the first embodiment.

Example four

The running wheel mounting assemblies 3 and the frame 1 of the first, second and third embodiments can be replaced by the running wheel mounting assemblies 3 and the frame 1 of the fourth embodiment.

As shown in fig. 10 to 12, in the fourth embodiment, the running wheel mounting assembly 3 includes: running wheel accommodating means 31, a second bracket 331, a second link 332, a mounting post 333 and a second support means 334. The mounting column 333 has a second supporting hole 3330 at its upper end, the axle 20 of the running wheel 2 is mounted in the second supporting hole 3330, the mounting column 333 is connected to the second connecting rod 332, the second connecting rod 332 is connected to the second bracket 331 via a rotating shaft, allowing a small amount of swing between the second connecting rod 332 and the second bracket 331, and the second bracket 331 is welded to the frame 1. The second supporting device 334 is sleeved outside the mounting column 333, the lower end of the second supporting device 334 abuts against the upper end of the second connecting rod 332, the upper end of the second supporting device 334 abuts against the lower surface of the frame 11 of the framework 1, and the second third supporting device 42 plays a role in supporting the bogie 300; the lower end of the running wheel accommodating device 31 is connected to the second connecting rod 332, and the upper end is connected to the frame 1, so that vibration transmitted from the running surface 1001 of the track beam 100 is damped.

In addition, it should be noted that the number of the stabilizing wheels 7 and the guide wheels 5 according to the embodiment of the present invention can be specifically set according to actual requirements, and is not required here. In addition, the specific selection of the "damping non-adjustable shock absorber" described herein can be various, such as a tube type shock absorber, an air-filled shock absorber, etc.; the specific selection of the "damping adjustable shock absorber" described herein can be various, such as a magnetorheological shock absorber, an electrorheological shock absorber, etc.; as used herein, an "actuator" such as a permanent magnet dc linear actuator, a servo actuator, a hydraulic actuator, a high speed actuator, or the like; the specific type of the "frame detection device 14" and the "vehicle body detection device 45" described herein may be various, such as a vibration acceleration sensor, an electric vibration sensor, an eddy current vibration sensor, an inductive vibration sensor, a capacitive vibration sensor, a piezoelectric acceleration sensor, a resistive strain gauge sensor, and the like. The specific selection of the "guide wheel detecting device 65" and the "stable wheel detecting device 85" described herein can be various, such as an ultrasonic sensor, an infrared sensor, an image collector, and the like.

In addition, it is worth mentioning that "lateral" as used herein refers to: the direction of the axis of the running wheels 2, vertical, means: a direction perpendicular to the lateral direction, i.e., a height direction of the rail beam 100. In addition, it should be noted that the bogie 300 according to the embodiment of the present invention may be used in a state of being upright as shown in fig. 2 when the vehicle body 200 straddles over the rail beam 100, and the bogie 300 according to the embodiment of the present invention may be used in a state of being inverted (i.e., the bogie 300 shown in fig. 2 is rotated 180 ° about the lateral axis) when the vehicle body 200 is suspended under the rail beam 100. In addition, the terms "connected," "connected," and the like are used herein to describe either a fixed connection or a movable connection (e.g., a pivotal connection) as desired, unless otherwise specified.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A bogie (300) for a monorail vehicle (1000), the monorail vehicle (1000) further comprising a vehicle body (200), said bogie (300) being mounted to said vehicle body (200) and comprising a frame (1) and running wheels (2), guide wheels (5), stabilizing wheels (7) provided on said frame (1), characterized in that said bogie (300) further comprises:

walk road wheel installation component (3), walk road wheel (2) and pass through walk road wheel installation component (3) install in framework (1), walk road wheel installation component (3) including walking road wheel adaptation device (31), walk road wheel adaptation device (31) to it provides vertical adaptability to walk road wheel (2).

2. The bogie (300) for the monorail vehicle (1000) of claim 1, characterized in that the running wheel adaptation means (31) is a damping non-adjustable shock absorber.

3. The bogie (300) for the monorail vehicle (1000) of claim 1, characterized in that the running wheel adaptation means (31) is a damping adjustable shock absorber.

4. The bogie (300) for the monorail vehicle (1000) of claim 3, characterized in that the bogie (300) further comprises a frame detection device (14) provided on the frame (1), the frame detection device (14) being configured to detect a vibration condition of the frame (1).

5. The bogie (300) for the monorail vehicle (1000) of claim 1, characterized in that the framework (1) comprises:

the walking wheel device comprises a frame (11), wherein the frame (11) defines a frame hole (111) which penetrates through the frame hole (111) along the vertical direction, and the walking wheel (2) penetrates through the frame hole (111);

the frame foot (12), the frame foot (12) is arranged at the bottom of the frame (11), and the stabilizing wheel (7) is mounted on the frame foot (12);

the frame ear (13), establish frame ear (13) the top of frame (11), walk wheel installation component (3) and connect frame (11) with between frame ear (13), the axletree (20) of walking wheel (2) are located the top of frame (11) and by it supports to walk wheel installation component (3).

6. The bogie (300) for the monorail vehicle (1000) of claim 5, characterized in that the running wheel mounting assembly (3) comprises:

a first bracket (321), the first bracket (321) being mounted on top of the frame (11) and stationary relative to the frame (11);

a first connecting rod (322), the first connecting rod (322) extends along the transverse direction and is arranged at the top of the frame (11), a first supporting hole (3220) matched with an axle (20) of the running wheel (2) is formed in the first connecting rod (322), the two ends of the length of the first connecting rod (322) are a first end (3221) and a second end (3222), the first end (3221) is hinged with the first bracket (321), and the second end (3222) is connected with the frame lug (13) through the running wheel adapting device (31);

the mounting cylinder (323), the said mounting cylinder (323) is set up in the top of the said first tie rod (322);

the first supporting device (324) penetrates through the mounting cylinder (323) and abuts between the top of the first connecting rod (322) and the bottom of the frame lug (13).

7. The bogie (300) for the monorail vehicle (1000) of claim 1, characterized in that the framework (1) comprises:

the frame (11) defines a frame hole (111) and a via hole (112) which are vertically through, the walking wheels (2) penetrate through the frame hole (111), the walking wheel mounting assembly (3) penetrates through the via hole (112), and axles (20) of the walking wheels (2) are positioned above the frame (11) and supported by the walking wheel mounting assembly (3); and

-a foot (12), said foot (12) extending downwards from the side of the frame (11), said stabilising wheel (7) being mounted to said foot (12).

8. The bogie (300) for the monorail vehicle (1000) of claim 7, characterized in that the running wheel mounting assembly (3) comprises:

a second bracket (331), the second bracket (331) being mounted at the bottom of the frame (11) and stationary relative to the frame (11);

a second connecting rod (332), the second connecting rod (332) extends along the transverse direction and is arranged at the bottom of the frame (11), the second connecting rod (332) has a third end (3321) and a fourth end (3322) at two ends of the length, the third end (3321) is hinged with the second bracket (331), and the fourth end (3322) is connected with the frame (11) through the running wheel adapting device (31);

a mounting post (333), the lower end of the mounting post (333) being mounted to the second link (332) and stationary relative to the second link (332), the upper end of the mounting post (333) passing through the through hole (112) and having a second support hole (3330) that engages with the axle (20) of the running wheel (2);

the second supporting device (334) is located at the bottom of the frame (11), and the second supporting device (334) is sleeved on the mounting column (333) and is stopped between the top of the second connecting rod (332) and the bottom of the frame (11).

9. The bogie (300) for the monorail vehicle (1000) of claim 1, wherein the bogie (300) further comprises a vehicle body suspension assembly (4), the vehicle body suspension assembly (4) comprising:

a mounting seat (41), the mounting seat (41) being mounted to the vehicle body (200);

-third support means (42), said third support means (42) being connected between said mounting seat (41) and said frame (1);

a lateral vehicle body adapting device (43), wherein the lateral vehicle body adapting device (43) is connected between the mounting seat (41) and the framework (1) to provide lateral adapting force for the framework (1);

the vertical adaptation device of automobile body (44), the vertical adaptation device of automobile body (44) connect mount pad (41) with between framework (1), in order to provide vertical adaptability to framework (1).

10. The bogie (300) for the monorail vehicle (1000) of claim 9, wherein the third support means (42) is an air spring and a height adjustment valve is integrated within the air spring.

11. The bogie (300) for the monorail vehicle (1000) of claim 9, characterized in that the transverse body adapting means (43) and the vertical body adapting means (44) are both damping adjustable shock absorbers.

12. The bogie (300) for the monorail vehicle (1000) of claim 11, wherein the vehicle body suspension assembly (4) further comprises a vehicle body detection device (45) provided on the mounting seat (41), the vehicle body detection device (45) being configured to detect a vibration condition of the vehicle body (200).

13. The bogie (300) for the monorail vehicle (1000) of claim 1, wherein the bogie (300) further comprises:

leading wheel installation component (6), leading wheel (5) pass through leading wheel installation component (6) install in framework (1), leading wheel installation component (6) are including leading wheel adaptation device (63), leading wheel adaptation device (63) to leading wheel (5) provide horizontal adaptability.

14. The bogie (300) for the monorail vehicle (1000) of any of claims 1-13, wherein the bogie (300) further comprises:

stabilizing wheel installation component (8), stabilizing wheel (7) pass through stabilizing wheel installation component (8) install in framework (1), stabilizing wheel installation component (8) are including stabilizing wheel adaptation device (83), stabilizing wheel adaptation device (83) to stabilizing wheel (7) provide horizontal adaptive force.

15. A monorail vehicle (1000) comprising: -a vehicle body (200) and-a bogie (300), said bogie (300) being mounted on said vehicle body (200), said bogie (300) being a bogie (300) for a monorail vehicle (1000) according to any one of claims 1-14.

16. A monorail transit system (2000), comprising: a track beam (100) and a monorail vehicle (1000) as defined in claim 15, said bogie (300) being located between said vehicle body (200) and said track beam (100).