CN115610235A

CN115610235A - Magnetic type rail walking device and rail transit system

Info

Publication number: CN115610235A
Application number: CN202211098324.4A
Authority: CN
Inventors: 李胜善
Original assignee: Beijing Hengyunsheng Technology Co ltd
Current assignee: Beijing Hengyunsheng Technology Co ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2023-01-17

Abstract

The invention discloses a magnetic attraction type track walking device and a track traffic system, wherein the magnetic attraction type track walking device comprises two walking modules, each walking module comprises a walking frame, a lead screw reciprocating mechanism and a magnetic attraction mechanism, the walking frame is provided with an upper walking wheel and a lower walking wheel, and the upper walking wheel and the lower walking wheel are respectively positioned at the top and the bottom of a track; the magnetic attraction mechanism comprises a driving mechanism and at least two controllable magnets, rotatable permanent magnets for controlling the magnetic force of the controllable magnets are rotatably arranged in the controllable magnets, and a transmission mechanism is connected between the driving mechanism and the rotatable permanent magnets. The driving mechanism drives the rotatable permanent magnets of the controllable magnets to rotate simultaneously through the transmission mechanism, the controllable magnets can work synchronously, the motion state of the walking device can be controlled reliably and efficiently, and the safety performance of the walking device is effectively improved.

Description

Magnetic type rail walking device and rail transit system

Technical Field

The invention belongs to the technical field of rail transit, and particularly relates to a magnetic type rail travelling device and a rail transit system.

Background

The traditional rail transit systems, such as ordinary railways, high-speed railways, subways, straddle-type monorail and suspension-type PRT, realize the forward and continuous running of vehicles through the rotation of wheels, and are characterized in that the forward motion of the systems depends on the rolling friction between the wheel flange tread and the rail surface. Accordingly, braking is also achieved by frictional resistance between the tread of the rim and the rail surface. The advantages are that the wheel-rail technology has simple structure, mature technology and smaller rolling resistance, so that the running efficiency of the vehicle is higher. The rail transit vehicle has the disadvantages that the climbing capability of the rail transit vehicle is smaller due to smaller friction resistance between the wheel rails, and the line gradient of the rail transit cannot be larger than 30 per thousand in general; when the weather of rain and snow is met, the wheels are easy to slip, and the driving safety is influenced.

Meanwhile, the braking of the rail transit based on the wheel-rail mode also depends on the frictional resistance between the wheels and the rail surface, and the braking distance of the rail transit is generally large due to the small frictional resistance, so that short-distance emergency braking cannot be realized. The wheel brake of the traditional rail transit is to directly brake the wheel, and the wheel stops rotating by means of the friction force between the wheel and the rail, so that the purpose of braking is achieved. However, in rainy days or emergency braking, wheels are easy to be locked, so that the wheels do not slide on the rail in a rolling way to cause the abrasion of the wheels, and the braking mode is easy to cause the abrasion and the damage of the rail surface, so that the railway wheels and the steel rails have to be overhauled and replaced regularly. The brake shoe and wheel holding braking mode of some rail transit also causes the wheel and the brake shoe to be worn simultaneously, so that the brake shoe needs to be replaced regularly, and the wheel needs to be repaired regularly.

The wheels of the conventional rail transit vehicle have three functions, namely, bearing, driving and braking. The bearing function requires the structural material of the wheel to have high strength, so most of the rail transit wheels are made of steel, and the wheels inevitably generate considerable noise when running on a steel rail, which becomes another defect of the traditional rail transit vehicle. The driving function requires that a larger friction coefficient exists between the wheels and the track, and the friction coefficient between the steel wheels and the steel rails is only 0.15, so that the vehicle can climb a ramp less than 30 per thousand. If the rubber wheels are used for running on the steel rails, the steel rails can climb only 10% of the slopes at most, and the requirements of mountainous areas cannot be met. Because the vehicle climbing capacity of the traditional rail transit is small, the traditional rail transit cannot be more flexibly and widely applied to the steep terrain. Therefore, the wheel of the existing rail transit integrates three functions, and as a result, breakthrough cannot be made in the aspect of further improving the performance.

In order to overcome the defects of the traditional wheel-track mode rail transit, some magnetic absorption type rail transit system technologies appear on the market, for example, chinese patent CN111634294A discloses a bearing, driving and braking three-separation rail transit system, a module I and a module II respectively comprise a screw reciprocating mechanism, a magnet capable of switching a magnetic field, a variable-pitch and fixed-distance roller and a mechanism connecting frame, wheels only bear the bearing function, the screw reciprocating mechanism bears the driving function, and the magnet capable of switching the magnetic field bears the stepping positioning and braking functions, so that the bearing, driving and braking functions of the rail transit system are separated. The permanent magnet brake of the track directly absorbs the track to brake, so that the accident of scratching the wheels is avoided, and the damage of rain and snow is avoided. The tread of the polytetrafluoroethylene wheel has no noise, and the walking resistance is lower than that of a steel wheel. The upward magnetic force can balance 90% of the weight of the vehicle pressing on the wheel, so that the running resistance is further reduced. The one-to-three rail transit system has the advantages of low noise, small running resistance, strong climbing capability and low power consumption, greatly improves the performance of rail vehicles, and also makes great breakthrough in the development of rail transit traveling mechanisms.

The above-mentioned chinese patent is a permanent magnet brake composed of a permanent magnet switch mechanism stepping motor, a central rotating permanent magnet, and a permanent magnet connecting block, and essentially constitutes a permanent magnet brake for a rail, which directly attracts a rail to brake, and does not lock a wheel during emergency braking, thereby avoiding the occurrence of an accident of scratching the wheel. This patent technology is when using, but each switch magnetic field magnet adopts the mode of individual drive, and it causes the asynchronous problem of each switch magnetic field magnet easily, influences the safety of traveling.

Disclosure of Invention

The invention aims to provide a magnetic-type rail travelling device and a rail transit system, which are used for solving the problems in the prior art.

In order to achieve the above object, in one aspect, the present invention adopts the following technical solutions: a magnetic type track walking device comprises two walking modules, wherein each walking module comprises a walking frame, a lead screw reciprocating mechanism and a magnetic absorption mechanism, the walking frame is provided with an upper walking wheel and a lower walking wheel, and the upper walking wheel and the lower walking wheel are respectively positioned at the top and the bottom of a track; the lead screw reciprocating mechanism comprises a lead screw and a slide block, the lead screw is rotatably arranged at the bottom of the walking frame and arranged along the length direction of the track, the lead screw is connected with a power mechanism, the slide block is sleeved on the lead screw and is in threaded connection with the lead screw, and the slide block is connected with the magnetic attraction mechanism; the walking frames of the two walking modules are connected, when the magnetic attraction mechanism of one walking module is in a magnetic state, the magnetic attraction mechanism of the other walking module is in a non-magnetic state, the screw rod reciprocating mechanism of one walking module drives the screw rod of the walking module to rotate forwards, and the screw rod reciprocating mechanism of the other walking module drives the screw rod of the walking module to rotate backwards, so that the moving function of the walking module on the track is realized; the magnetic attraction mechanism comprises a driving mechanism and at least two controllable magnets, rotatable permanent magnets used for controlling the magnetic force of the controllable magnets are rotatably arranged in the controllable magnets, and a transmission mechanism is connected between the driving mechanism and the rotatable permanent magnets.

As an optional design structure of the technical scheme, the power mechanism comprises a power motor, the power motor is connected with a gear box, the lead screws of the two walking modules are connected with the gear box, and the thread turning directions of the two lead screws are opposite.

As an optional design structure of the above technical solution, the transmission mechanism includes an intermediate transmission gear, a first transmission gear and a second transmission gear, the intermediate transmission gear is connected with an output shaft of the driving mechanism, the first transmission gear and the second transmission gear are both meshed with the intermediate transmission gear, a rotatable permanent magnet of one of the controllable magnets is connected with the first transmission gear, and a rotatable permanent magnet of the other controllable magnet is connected with the second transmission gear.

As an optional design structure of the above technical solution, the lower traveling wheel is connected with a telescopic mechanism, and the telescopic mechanism is used for driving the lower traveling wheel to approach or depart from the guide rail; the telescopic mechanism comprises a push rod motor, the push rod motor is installed on the walking frame, and the movable end of the push rod motor is connected with the lower walking wheel.

As an optional design structure of the above technical scheme, the magnetic attraction mechanism includes four controllable magnets, the transmission mechanism further includes a third transmission gear and a fourth transmission gear, the third transmission gear is meshed with the first transmission gear, the fourth transmission gear is meshed with the second transmission gear, and the rotatable permanent magnets of the four controllable magnets are respectively connected with the first transmission gear, the second transmission gear, the third transmission gear and the fourth transmission gear in a one-to-one correspondence manner.

As an optional design structure of the technical scheme, the driving mechanism comprises a driving motor, an output shaft of the driving motor is connected with the intermediate transmission gear, and a lower traveling wheel is rotatably arranged on the output shaft of the driving motor.

As an optional design structure of the technical scheme, the transmission device further comprises a left transmission gear and a right transmission gear, the left transmission gear is meshed with the third transmission gear, the right transmission gear is meshed with the fourth transmission gear, and lower traveling wheels are arranged on mounting shafts of the left transmission gear and the right transmission gear.

As an optional design structure of the above technical solution, the controllable magnet includes a magnetic iron core block, the magnetic iron core block is disposed on a bearing plate, the bearing plate is connected with a slide block of the screw reciprocating mechanism, a central slot adapted to the rotatable permanent magnet block is disposed inside the magnetic iron core block, one end of the magnetic iron core block is provided with an installation slot communicated with the central slot, and a fixed permanent magnet block is disposed inside the installation slot; the driving mechanism drives the rotatable permanent magnet inside the magnetic iron core block to rotate through the transmission mechanism so as to adjust the magnetic force of the magnetic iron core block.

As an optional design structure of the technical scheme, the outer surfaces of the upper travelling wheel and the lower travelling wheel are both provided with a protective layer made of polytetrafluoroethylene materials.

As an optional design structure of the technical scheme, the cross section of the track is L-shaped or U-shaped.

On the other hand, the invention adopts the following technical scheme: the rail transit system comprises the magnetic type rail travelling device, a lifting mechanism and a ground-air dual-purpose vehicle, wherein the top of the lifting mechanism is connected with a travelling frame, and the bottom of the lifting mechanism is connected with the ground-air dual-purpose vehicle.

As an optional design structure of the above technical scheme, the rail transit system further comprises an aerial truss, wherein a suspension bracket is arranged on the aerial truss, and the rail is mounted on the suspension bracket; the ground-air dual-purpose vehicle comprises a vehicle body, wherein the bottom of the vehicle body is provided with a driving wheel capable of lifting and contracting, the tail of the head of the vehicle body is provided with an air bag, and the side surface of the vehicle body is provided with an upturned vehicle door.

The beneficial effects of the invention are as follows:

the invention provides a magnetic suction type track traveling device and a track traffic system, wherein a magnetic suction mechanism comprises a driving mechanism and at least two controllable magnets, rotatable permanent magnets for controlling the magnetic force of the controllable magnets are rotatably arranged in the controllable magnets, and a transmission mechanism is connected between the driving mechanism and the rotatable permanent magnets. The driving mechanism drives the rotatable permanent magnets of the controllable magnets to rotate simultaneously through the transmission mechanism, the controllable magnets can work synchronously, the motion state of the walking device can be controlled reliably and efficiently, and the safety performance of the walking device is effectively improved.

Drawings

FIG. 1 is a schematic view of a traveling apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a walking module in one embodiment of the present invention;

FIG. 3 is a schematic view showing the construction of a walking device in accordance with another embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a walking module in another embodiment of the present invention;

FIG. 5 is a schematic structural view of a transmission mechanism in one embodiment of the present invention;

FIG. 6 is a schematic diagram of the structure of a controllable magnet according to one embodiment of the present invention;

FIG. 7 is a schematic side view of a rail transit system in accordance with one embodiment of the present invention;

FIG. 8 is a schematic front view of a rail transit system in accordance with an embodiment of the present invention;

FIG. 9 is an enlarged view of portion A of FIG. 8;

FIG. 10 is a schematic side view of a rail transit system according to another embodiment of the present invention;

fig. 11 is a schematic front view of a rail transit system according to another embodiment of the present invention;

fig. 12 is a schematic structural view of an air-ground dual-purpose vehicle in an embodiment of the invention.

In the figure: 1-a walking module; 2-a walking frame; 3-an upper travelling wheel; 4-lower traveling wheels; 5-orbit; 6-a lead screw; 7-a slide block; 8-a controllable magnet; 9-a rotatable permanent magnet; 10-a gearbox; 11-intermediate transmission gear; 12-a first drive gear; 13-a second transmission gear; 14-a push rod motor; 15-a third transmission gear; 16-a fourth drive gear; 17-left drive gear; 18-right drive gear; 19-a magnetically conductive iron core block; 20-a carrier plate; 21-fixing permanent magnets; 22-a lifting mechanism; 23-ground and air dual-purpose vehicle; 24-air truss; 25-a suspension bracket; 26-a vehicle body; 27-a drive wheel; 28-air bag; 29-upturning the door; 30-intermediate link.

Detailed Description

Examples

As shown in fig. 1-6, this embodiment provides a magnetic type rail traveling device, including two walking modules 1, walking module 1 includes walking frame 2, lead screw reciprocating mechanism and magnetic attraction mechanism, walking frame 2 is equipped with upper traveling wheel 3 and lower traveling wheel 4, upper traveling wheel 3 and lower traveling wheel 4 are located the top and the bottom of track 5 respectively. And protective layers made of polytetrafluoroethylene materials are arranged on the outer surfaces of the upper travelling wheel 3 and the lower travelling wheel 4. The lower traveling wheels 4 are arranged below the track 5, and the top of the lower traveling wheels 4 is higher than the top of the magnetic attraction mechanism, so that a certain gap, such as 1-2mm, is kept between the magnetic attraction mechanism and the bottom surface of the track 5 in the process of moving relative to the track 5, and the magnetic attraction mechanism is prevented from contacting with the bottom surface of the track 5 to generate friction. It should be noted that the number of the walking modules 1 in the walking device may be set according to the requirement, and the invention is not limited to this.

The walking frame 2 comprises two side supports which are symmetrically arranged and a supporting plate which is connected with the two side supports, and the supporting plate is fixed at the bottom ends of the two side supports. The two parallel tracks 5 are positioned between two symmetrically arranged side brackets, the upward traveling wheels 3 are rotatably arranged on the side brackets through wheel shafts, the upward traveling wheels 3 are positioned in the tracks 5, the tracks 5 adopt groove-shaped tracks, and particularly, the sections of the tracks 5 are L-shaped or U-shaped.

As shown in fig. 2 and 4, the screw reciprocating mechanism includes a screw 6 and a slider 7, the screw 6 is rotatably installed at the bottom of the walking frame 2 and is arranged along the length direction of the track 5, the screw 6 is connected with a power mechanism, the slider 7 is sleeved on the screw 6 and is in threaded connection with the screw 6, and the slider 7 is connected with the magnetic attraction mechanism. The lead screw 6 and the slide block 7 are positioned below the track 5, two ends of the side support are respectively provided with a resisting part, and two ends of the lead screw 6 are respectively connected with the two resisting parts in a rotating way. The power mechanism can drive the lead screw 6 to rotate, so that the slide block 7 and the magnetic attraction mechanism move together along the lead screw 6. Wherein, the screw reciprocating mechanisms of the two walking modules 1 can be respectively provided with a power mechanism, or can be independently provided with a power mechanism.

The magnetic suction mechanism comprises a driving mechanism and at least two controllable magnets 8, rotatable permanent magnets 9 used for controlling the magnetic force of the controllable magnets 8 are arranged in the controllable magnets 8 in a rotating mode, and a transmission mechanism is connected between the driving mechanism and the rotatable permanent magnets 9. The driving mechanism drives the rotatable permanent magnets 9 of the controllable magnets 8 to rotate simultaneously through the transmission mechanism, the controllable magnets 8 can work synchronously, the motion state of the walking device can be controlled reliably and efficiently, and the safety performance of the walking device is effectively improved.

As shown in fig. 6, the controllable magnet 8 includes a magnetic iron core block 19, the magnetic iron core block 19 is disposed on a bearing plate 20, the bottom of the bearing plate 20 is connected to the slide block 7 of the screw reciprocating mechanism, a central slot adapted to the rotatable permanent magnet 9 is disposed inside the magnetic iron core block 19, one end of the magnetic iron core block 19 is provided with an installation slot communicated with the central slot, and a fixed permanent magnet 21 is disposed inside the installation slot; the driving mechanism drives the rotatable permanent magnet 9 inside the magnetic core block 19 to rotate through the transmission mechanism so as to adjust the magnetic force of the magnetic core block 19. The driving mechanism adopts a stepping motor, the magnetic conducting iron core block 19 comprises two oppositely arranged permanent magnet connecting blocks, a gap exists between the two permanent magnet connecting blocks, the rotatable permanent magnet block 9 is positioned between the two oppositely arranged permanent magnet connecting blocks, the bottoms of the two permanent magnet connecting blocks are fixed through a bearing plate 20, and the sliding block 7 is arranged at the bottom of the bearing plate 20. The top surface of the permanent magnet connecting block is opposite to the bottom surface of the track 5, and the rotatable permanent magnet block 9 is driven to rotate by the stepping motor, so that the magnetic field on the top surface of the permanent magnet connecting block can be opened or closed, and the suction force between the permanent magnet connecting block and the track 5 is adjusted.

The walking frames 2 of the two walking modules 1 are connected through the middle connecting rod 30, when the magnetic attraction mechanism of one walking module 1 is in a magnetic state, the magnetic attraction mechanism of the other walking module 1 is in a non-magnetic state, the screw reciprocating mechanism of one walking module 1 drives the screw 6 to rotate positively, and the screw reciprocating mechanism of the other walking module 1 drives the screw 6 to rotate negatively, so that the moving function of the walking modules 1 on the track 5 is realized.

The specific operation process is as follows:

step 1: a magnetic suction mechanism of one walking module 1 (walking module I) is opened and sucks the track 5, the magnetic suction mechanism is suspended in the air, the slide block 7 is still relative to the track 5, the lead screw 6 rotates forwards, the lead screw 6 moves forwards relative to the slide block 7 until the slide block 7 tightly abuts against a resisting part at the rear end of the lead screw 6, and the slide block 7 cannot move continuously; meanwhile, the magnetic suction mechanism of the other walking module 1 (walking module II) is closed, no suction force exists between the magnetic suction mechanism and the track 5, the lead screw 6 rotates reversely, and the sliding block 7 moves forwards on the lead screw 6 until the sliding block 7 abuts against the abutting part at the front end of the lead screw 6, so that the sliding block 7 cannot slide continuously; under the driving of the forward movement of the lead screw 6 of the walking module I, the moving unit (except the magnetic attraction mechanism and the sliding block 7 of the walking module I) formed by the walking module I and the walking module II travels forwards along the track 5.

Step 2: the magnetic suction mechanism of one walking module 1 (walking module I) is closed, no suction force exists between the magnetic suction mechanism and the track 5, the lead screw 6 rotates reversely, and the slide block 7 moves forwards on the lead screw 6 until the slide block 7 tightly abuts against the abutting part at the front end of the lead screw 6, so that the slide block 7 cannot slide continuously; meanwhile, the magnetic suction mechanism of the other walking module 1 (walking module II) is opened and sucks the track 5, the magnetic suction mechanism is suspended in the air, the slide block 7 is still relative to the track 5, the lead screw 6 rotates forwards, the lead screw 6 advances forwards relative to the slide block 7 until the slide block 7 abuts against a resisting part at the rear end of the lead screw 6, and the slide block 7 cannot continue to advance; under the driving of the forward movement of the screw 6 of the walking module II, the walking module II and the moving unit (except the magnetic attraction mechanism and the slider 7 of the walking module II) formed by the walking module I travel forward along the track 5.

And (3) continuously and alternately operating the step (1) and the step (2), so that the traveling device can travel forwards along the track 5. When the vehicle needs to be parked or braked, the power mechanism stops working, the screw rods 6 of the walking module I and the walking module II stop rotating, and the magnetic suction mechanisms of the walking module I and the walking module II are opened and are sucked with the track 5, so that the walking device can be parked or braked. When the traveling apparatus needs to travel backward, the reverse operations of the

above steps

1 and 2 may be performed.

In this embodiment, the power mechanism includes a power motor, the power motor is connected with a gear box 10, the lead screws 6 of the two walking modules 1 are both connected with the gear box 10, and the thread turning directions of the two lead screws 6 are opposite. The gear box 10 is located between the two walking modules 1, the output shaft of the power motor is connected with the input end of the gear box 10, the gear box 10 is provided with two output ends, and the screw rods 6 of the two walking modules 1 are respectively connected with the two output ends of the gear box 10. When the power motor runs, the lead screws 6 of the two walking modules 1 can be driven to rotate at the same time, and the screw threads of the two lead screws 6 rotate in opposite directions, so that the sliding blocks 7 of the two walking modules 1 can move towards different directions. After the slider 7 of the walking module I finishes the stroke, the slider 7 of the walking module II can continue to finish the stroke, so that the walking device can continuously run forwards.

As shown in fig. 2, in one embodiment, the transmission mechanism includes an intermediate transmission gear 11, a first transmission gear 12 and a second transmission gear 13, the intermediate transmission gear 11 is located between the first transmission gear 12 and the second transmission gear 13, the intermediate transmission gear 11 is connected with an output shaft of the driving mechanism, the first transmission gear 12 and the second transmission gear 13 are both meshed with the intermediate transmission gear 11, the permanent magnet 9 of one controllable magnet 8 is connected with the first transmission gear 12, and the permanent magnet 9 of the other controllable magnet 8 is connected with the second transmission gear 13. The driving mechanism comprises a driving motor, an output shaft of the driving motor is connected with the intermediate transmission gear 11, the driving mechanism drives the intermediate transmission gear 11 to rotate, and the intermediate transmission gear 11 drives the first transmission gear 12 and the second transmission gear 13 to rotate, so that the rotatable permanent magnets 9 of the two controllable magnets 8 synchronously rotate. The driving mechanism comprises a driving motor, an output shaft of the driving motor is connected with the intermediate transmission gear 11, and a lower traveling wheel 4 is rotatably arranged on the output shaft of the driving motor.

As an alternative, a telescopic mechanism is connected to the lower running wheels 4 for driving the lower running wheels 4 closer to or further away from the guide rail. The telescopic mechanism comprises a push rod motor 14, the push rod motor 14 is installed on the walking frame 2, and the movable end of the push rod motor 14 is connected with the lower walking wheel 4. The push rod motor 14 drives the lower traveling wheel 4 close to the guide rail, and the controllable magnet 8 is prevented from contacting the bottom of the guide rail.

As shown in fig. 4 and 5, in one embodiment, the magnetic attraction mechanism includes four controllable magnets 8, the transmission mechanism further includes a third transmission gear 15 and a fourth transmission gear 16, the third transmission gear 15 is meshed with the first transmission gear 12, the fourth transmission gear 16 is meshed with the second transmission gear 13, and the rotatable permanent magnets 9 of the four controllable magnets 8 are respectively connected with the first transmission gear 12, the second transmission gear 13, the third transmission gear 15 and the fourth transmission gear 16 in a one-to-one correspondence manner. It should be noted that the number of the controllable magnets 8 can be set according to specific requirements, and the driving mechanism can drive the rotatable permanent magnets 9 of each controllable magnet 8 to rotate synchronously through the transmission mechanism, so that the magnetic force of the controllable magnets 8 can be controlled conveniently.

As an alternative, the driving mechanism comprises a driving motor, an output shaft of the driving motor is connected with the intermediate transmission gear 11, and the lower traveling wheel 4 is rotatably arranged on the output shaft of the driving motor. The left transmission gear 17 is meshed with the third transmission gear 15, the right transmission gear 18 is meshed with the fourth transmission gear 16, the lower travelling wheels 4 are arranged on the mounting shafts of the left transmission gear 17 and the right transmission gear 18, and the lower travelling wheels 4 can prevent the controllable magnet 8 from contacting with the track 5. Two controllable magnets 8 are as a set of, through gear drive between two sets of controllable magnets 8, and two controllable magnets 8 are through gear drive, adopt this structural design, and each controllable magnet 8 can synchronous motion, realizes adjusting each controllable magnet 8's magnetic force.

As shown in fig. 7 to 12, this embodiment further provides a rail transit system, which includes the above-mentioned magnetic-type rail traveling device, and further includes a lifting mechanism 22 and an empty-ground dual-purpose vehicle 23, where a top of the lifting mechanism 22 is connected with the traveling frame 2, and a bottom of the lifting mechanism 22 is connected with the empty-ground dual-purpose vehicle 23. The rail transit system further comprises an aerial truss 24, wherein a suspension bracket 25 is arranged on the aerial truss 24, and the rail 5 is installed on the suspension bracket 25; the ground-air dual-purpose vehicle 23 comprises a vehicle body 26, driving wheels 27 capable of lifting and contracting are arranged at the bottom of the vehicle body 26, air bags 28 are arranged at the tail of the head of the vehicle body 26, and upturned doors 29 are arranged on the side faces of the vehicle body 26.

The aerial truss 24 comprises a support and a truss, the support is arranged on the ground, the truss is arranged on the top of the support, the top of the truss is connected with a suspension bracket 25, and the bottom of the suspension bracket 25 is connected with the track 5. The upper traveling wheels 3 of the traveling device are positioned in the track 5, and the traveling device can travel along the track 5, so that the ground-air dual-purpose vehicle 23 can move in the air.

The lifting mechanism 22 can adopt a winch, and the lifting mechanism 22 can drive the ground-air dual-purpose vehicle 23 to move up and down, so that the ground-air dual-purpose function is realized. The bottom of the ground-air dual-purpose vehicle 23 is provided with a driving wheel 27 capable of lifting and contracting, the driving wheel 27 is driven by a hub motor, so that the ground-air dual-purpose vehicle 23 can run on the ground, the power supply is arranged in the ground-air dual-purpose vehicle 23, and the hub motor is electrically connected with the power supply. In order to facilitate passengers to get on or off the ground-air dual-purpose vehicle 23, the left side and the right side of the ground-air dual-purpose vehicle 23 are respectively provided with an upturned door 29, and the upturned doors 29 are connected with the ground-air dual-purpose vehicle 23 through hinges.

In order to enable passengers to have a rest in the vehicle, a seat is arranged in the ground-air dual-purpose vehicle 23, and the seat can be adjusted forwards and backwards for convenient use. In order to increase the visual range of the vehicle, the upper side and the top surface of the side surface of the convertible vehicle for ground and air 23 are light-transmitting plates, and the lower side of the side surface of the convertible vehicle for ground and air 23 is a light-non-transmitting plate.

In the description of the present invention, the terms "mounted," "connected," "fixed," and the like are to be understood broadly and may be fixedly connected, detachably connected, or integrated; may be a mechanical or electrical connection; they may be directly connected or indirectly connected through an intermediate, or they may be connected through the inside of two elements or through the interaction of two elements, and those skilled in the art will understand that the above terms have the specific meanings given herein. Furthermore, the particular features, structures, etc. described in the examples can be included in at least one implementation and can be combined by one skilled in the art without conflicting therewith. The protection scope of the present invention is not limited to the above-mentioned embodiments, and those embodiments that can be imagined by those skilled in the art without creative efforts based on the basic technical concept of the present invention belong to the protection scope of the present invention.

Claims

1. A magnetic type track walking device comprises two walking modules (1), wherein each walking module (1) comprises a walking frame (2), a screw rod reciprocating mechanism and a magnetic absorption mechanism, the walking frame (2) is provided with an upper walking wheel (3) and a lower walking wheel (4), and the upper walking wheel (3) and the lower walking wheel (4) are respectively positioned at the top and the bottom of a track (5); the screw reciprocating mechanism comprises a screw (6) and a sliding block (7), the screw (6) is rotatably installed at the bottom of the walking frame (2) and arranged along the length direction of the track (5), the screw (6) is connected with a power mechanism, the sliding block (7) is sleeved on the screw (6) and is in threaded connection with the screw (6), and the sliding block (7) is connected with a magnetic suction mechanism; the walking frames (2) of the two walking modules (1) are connected, when the magnetic attraction mechanism of one walking module (1) is in a magnetic state, the magnetic attraction mechanism of the other walking module (1) is in a non-magnetic state, the screw reciprocating mechanism of one walking module (1) drives the screw (6) to rotate forwards, and the screw reciprocating mechanism of the other walking module (1) drives the screw (6) to rotate backwards, so that the moving function of the walking modules (1) on the track (5) is realized; the magnetic attraction mechanism is characterized by comprising a driving mechanism and at least two controllable magnets (8), rotatable permanent magnets (9) used for controlling the magnetic force of the controllable magnets (8) are rotatably arranged in the controllable magnets (8), and a transmission mechanism is connected between the driving mechanism and the rotatable permanent magnets (9).

2. A magnetic attraction type rail walking device according to claim 1, characterized in that the power mechanism comprises a power motor, the power motor is connected with a gear box (10), the lead screws (6) of the two walking modules (1) are connected with the gear box (10), and the thread turning directions of the two lead screws (6) are opposite.

3. A magnetic-type orbital motion device as claimed in claim 1 wherein said transmission mechanism comprises an intermediate transmission gear (11), a first transmission gear (12) and a second transmission gear (13), said intermediate transmission gear (11) being connected to an output shaft of said drive mechanism, said first transmission gear (12) and said second transmission gear (13) being engaged with said intermediate transmission gear (11), wherein the permanent magnet (9) of one of the controllable magnets (8) is connected to said first transmission gear (12) and the permanent magnet (9) of the other controllable magnet (8) is connected to said second transmission gear (13).

4. A magnetic-type rail walking device according to claim 3, characterized in that the lower traveling wheel (4) is connected with a telescopic mechanism for driving the lower traveling wheel (4) to approach or depart from the guide rail; the telescopic mechanism comprises a push rod motor (14), the push rod motor (14) is installed on the walking frame (2), and the movable end of the push rod motor (14) is connected with the lower walking wheel (4).

5. A magnetic type orbital motion device according to claim 3 characterized in that the magnetic type mechanism comprises four controllable magnets (8), the transmission mechanism further comprises a third transmission gear (15) and a fourth transmission gear (16), the third transmission gear (15) is meshed with the first transmission gear (12), the fourth transmission gear (16) is meshed with the second transmission gear (13), and the rotatable permanent magnets (9) of the four controllable magnets (8) are respectively connected with the first transmission gear (12), the second transmission gear (13), the third transmission gear (15) and the fourth transmission gear (16) in a one-to-one correspondence manner.

6. A magnetic attraction type rail walking device according to claim 5, characterized in that the driving mechanism comprises a driving motor, the output shaft of the driving motor is connected with an intermediate transmission gear (11), and a lower walking wheel (4) is rotatably arranged on the output shaft of the driving motor.

7. The magnetic attraction type rail walking device according to claim 6, further comprising a left transmission gear (17) and a right transmission gear (18), wherein the left transmission gear (17) is meshed with the third transmission gear (15), the right transmission gear (18) is meshed with the fourth transmission gear (16), and lower traveling wheels (4) are arranged on the mounting shafts of the left transmission gear (17) and the right transmission gear (18).

8. The magnetic type rail walking device according to claim 1, wherein the controllable magnet (8) comprises a magnetic iron core block (19), the magnetic iron core block (19) is arranged on a bearing plate (20), the bearing plate (20) is connected with the slide block (7) of the screw reciprocating mechanism, a central groove matched with the rotatable permanent magnet (9) is arranged inside the magnetic iron core block (19), one end of the magnetic iron core block (19) is provided with a mounting groove communicated with the central groove, and a fixed permanent magnet (21) is arranged in the mounting groove; the driving mechanism drives the rotatable permanent magnet (9) inside the magnetic iron core block (19) to rotate through the transmission mechanism so as to adjust the magnetic force of the magnetic iron core block (19).

9. The magnetic attraction type rail walking device according to claim 1, wherein the outer surfaces of the upper traveling wheel (3) and the lower traveling wheel (4) are provided with a protective layer made of polytetrafluoroethylene material; the section of the track (5) is L-shaped or U-shaped.

10. A rail transit system, characterized in that, the magnetic rail transit device comprises the magnetic rail transit device as claimed in any one of claims 1 to 9, and further comprises a lifting mechanism (22) and an air-ground vehicle (23), wherein the top of the lifting mechanism (22) is connected with the walking frame (2), and the bottom of the lifting mechanism (22) is connected with the air-ground vehicle (23); the rail transit system further comprises an aerial truss (24), a suspension bracket (25) is arranged on the aerial truss (24), and the rail (5) is installed on the suspension bracket (25); the ground-air dual-purpose vehicle (23) comprises a vehicle body (26), a driving wheel (27) capable of lifting and contracting is arranged at the bottom of the vehicle body (26), air bags (28) are arranged at the tail of the head of the vehicle body (26), and upturned doors (29) are arranged on the side faces of the vehicle body (26).