CN203753136U - Streetcar based on rubber wheels and virtual rail technology - Google Patents
Streetcar based on rubber wheels and virtual rail technology Download PDFInfo
- Publication number
- CN203753136U CN203753136U CN201420117773.3U CN201420117773U CN203753136U CN 203753136 U CN203753136 U CN 203753136U CN 201420117773 U CN201420117773 U CN 201420117773U CN 203753136 U CN203753136 U CN 203753136U
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- virtual rail
- control system
- car body
- streetcar
- wheel
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Abstract
The utility model discloses a streetcar based on rubber wheels and a virtual rail technology. The streetcar based on rubber wheels and the virtual rail technology comprises a streetcar body (1), a control system (6) and wheel assemblies and is characterized in that each wheel assembly is a rubber wheel with a driving motor and a brake, and the driving motors and the brakes of the wheel assemblies are all connected with the control system (6); sensors (4) for detecting virtual rail identifiers (3) on the ground are further arranged at the bottom of the streetcar body (1), and the output ends of the sensors (4) are connected with the control system (6); or a global positioning system connected with the control system (6) is installed on the streetcar body (1). Steel rails do not need to be laid for the streetcar, and the streetcar is low in running noise and has little influence on urban environment. The streets for the streetcar to run through can be kept flat, complete and attractive, and are also convenient for other vehicles and pedestrians to pass through.
Description
Technical field
The utility model relates to a kind of urban public transport vehicle, relates in particular to a kind of tramway train based on rubber wheel and virtual rail technology.
Background technology
Tramway train is one of main public transport means in city, and existing tramway train all adopts the metallic wheel of tape guide wheel rim, on the rail of laying, moves at surface of the street.The problem of its existence is: metallic wheel moves on rail, can compared with large noise, worsen city environment because the friction between wheel track produces.Steel rail laying Xu Dui carries out a large amount of civil engineerings in street, construction period, not only affects city traffic, brings working-noise and dust pollution.The rail of laying makes unfairness in the street, has both affected integraty and the aesthetic property in street, also the current of the operation of other vehicle and pedestrian is also brought inconvenience.
Utility model content
The purpose of this utility model is to provide a kind of tramway train based on rubber wheel and virtual rail technology, and this kind of tramway train do not need steel rail laying, and operation noise is little, little on the impact of city environment; Integraty and aesthetic property smooth, street in the street that operation is passed through are kept, and are also convenient to the operation of other vehicle and passing through of pedestrian.
The utility model solves its technical matters, and the technical scheme adopting is that a kind of tramway train based on rubber wheel and virtual rail technology, comprises car body, control system, vehicle wheel component, it is characterized in that:
Described vehicle wheel component is the rubber wheel with drive motor and drg, and its drive motor is all connected with control system with drg;
The bottom of described car body is also provided with the sensor that detects ground virtual rail sign, and the mouth of sensor is connected with control system; Or the satellite locator being connected with control system is installed on described car body.
Working process and the principle of tramway train of the present utility model are:
The drive motor that control system is controlled each vehicle wheel component rotates, and to drive rubber wheel rotation, and then drives electric car operation;
In electric car operation, sensor detects ground virtual rail sign in real time, and the sensor detecting is passed to control system apart from distance or the angle signal of sign, by control system, the sign coherent signal or the satellite positioning signal that receive are analyzed, processed.As showing the virtual rail (track) that current electric car running orbit and ground virtual rail sign form, result has deviation, control system is exported corrective control signal and is controlled the drive motor of corresponding wheel assembly and the rotation speed change of wheel thereof, make electric car revert to operation on the virtual rail that virtual rail sign in ground sets (wheel of controlling left side as electric car running orbit left avertence accelerates or the wheel decelerates on right side, and electric car is turned right to revert on the virtual rail of setting and moved).
Or satellite locator is passed to control system by the satellite positioning signal of car body in electric car operation; By control system, the satellite positioning signal receiving is analyzed, processed.As showing running orbit (virtual rail) default in current electric car running orbit and control system, result has deviation, control system is exported corrective control signal and is controlled the drive motor of corresponding wheel assembly and the rotation speed change of wheel thereof, electric car is revert on the virtual rail of setting and move.
By above method, the utility model has been realized the ground rail guiding operation of electric car at incorporeity rail track.
Compared with prior art, the beneficial effects of the utility model are:
Location or the sensor detection to ground virtual rail sign via satellite, measure the real-world operation track of electric car, and control the drive motor rotating speed of the vehicle wheel component of individual drive separately by control system, realize the controlled reset of control system to electric car running orbit, realized cleverly electric car and by the rail of existing virtual rail guiding, moved on ground, incorporeity Rail road.
The wheel that it contacts with ground is rubber wheel, and operation noise is little, little on the impact of city environment.
It does not need steel rail laying, the ground virtual rail sign of setting, and volume is little and thin, can embed, fit or apply on the ground, and satellite positioning mode does not need ground to make any change especially; It is smooth in the street that its operation is passed through, and integraty and the aesthetic property in street are kept, and is also convenient to the operation of other vehicle and passing through of pedestrian.
The concrete formation of above-mentioned vehicle wheel component is: inflation or solid rubber tire are fixed on and on metal wheel hub, form rubber wheel; Drive motor is disc type wheel hub motor, and the rotor of disc type wheel hub motor is fixedly connected with metal wheel hub; The rotor of disc type wheel hub motor is arranged in the axle of pivoted arm by bearing simultaneously, and the stator of disc type wheel hub motor is fixed on pivoted arm; One end of pivoted arm is hinged on by hinge on the hanging frame of car body lower side, and the other end of pivoted arm is connected with the top of hanging frame by suspension gear; The damper brake of drg is connected on pivoted arm, and the brake disc of drg is fixedly connected with the stator of disc type wheel hub motor; The driver train of damper brake is all connected with control system with disc type wheel hub motor.
Like this, each vehicle wheel component is individual drive, independent control, both facilitated the operation of electric car is accurately controlled; The wheel shaft that has simultaneously saved the vehicle wheel component of connection body both sides, can reduce the position of vehicle bottom greatly, and body gravity reduces, and operation is more steady, safety, also makes interior space larger, takes advantage of seat more comfortable.
The hanging frame of vehicle wheel component is directly fixed on the sidepiece of car body, and hanging frame is connected with the pivoted arm longitudinally of vehicle wheel component by suspension gear, realizes suspension, vibration isolation.Bottom beyond vehicle body side no longer includes any suspension, vibration isolating mechanism, also makes the position of vehicle bottom reduce, and body gravity reduces, and interior space is larger, and operation is more steady, safety, takes advantage of seat more comfortable.
Above-mentioned suspension gear is air bellow, steel spring, high-temperature superconductor levitation device, electromagnetic suspension apparatus or permanent-magnet suspender.
These suspension gears all can well be realized support, suspension and the vibration isolation effect to car body.
Above-mentioned ground virtual rail is designated optical, electrical or magnetic signal producer continuous on ground or that gap arranges; The sensor arranging on car body is the plural sensor that detects corresponding optical, electrical or magnetic signal, and has at least the horizontal position of two sensors different.
Optical, electrical or magnetic signal producer, volume is little and thin, be convenient to embed, laminating on the ground, and its technology maturation, the signal stabilization that sends, the respective sensor that is easy to be arranged on car body receives and detects; By at least two different sensors in horizontal position, detect ground virtual rail id signal, make control system can analyze rapidly, accurately deviation oscillation and the direction of the virtual rail that obtains current vehicle operating track and the formation of ground virtual rail sign, can realize well the rail-guided effect of virtual rail to electric car.
Above-mentioned ground virtual rail is designated the railway line of continuous on ground or the setpoint color that gap applies, and the sensor arranging on car body is camera.
On ground, apply setpoint color and form railway line, its easy construction, with low cost; And camera on car body also can photograph this railway line reliably, and can calculate, judge by graphical analysis, the process software of control system car body and whether depart from this railway line and the direction departing from thereof, amplitude.
On above-mentioned car body, be provided with and turn to control handle, turn to the rotary angle transmitter of control handle to be connected with control system.
Like this, chaufeur can operate where necessary and turn to control handle to carry out manual intervention, and the corner that control system is measured according to rotary angle transmitter parses the instruction according to chaufeur, thereby turns to accordingly, dodges, the operation such as lane change.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the utility model embodiment mono-.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is the B-B cutaway view Amplified image of Fig. 1.
The specific embodiment
Embodiment mono-
Fig. 1-3 illustrate, and a kind of specific embodiment of the present utility model is: a kind of tramway train based on rubber wheel and virtual rail technology, comprises car body 1, control system 6, vehicle wheel component.
Described vehicle wheel component is the rubber wheel with drive motor and drg, and its drive motor is all connected with control system 6 with drg;
The bottom of described car body 1 is also provided with the sensor 4 that detects ground virtual rail sign 3, and the mouth of sensor 4 is connected with control system 6.
Fig. 1, Fig. 3 illustrate, and the concrete formation of the vehicle wheel component that this is routine is: inflation or solid rubber tire 8a are fixed on the upper rubber wheel that forms of metal wheel hub 8b; Drive motor is disc type wheel hub motor, and the rotor 9b of disc type wheel hub motor is fixedly connected with metal wheel hub 8b; The rotor 9b of disc type wheel hub motor is arranged in the axle 14 of pivoted arm 13 by bearing 14a simultaneously, and the stator 9a of disc type wheel hub motor is fixed on pivoted arm 13; One end of pivoted arm 13 is hinged on by hinge 15 on the hanging frame 12 of car body 1 lower side, and the other end of pivoted arm 13 is connected with the top of hanging frame 12 by suspension gear; The damper brake 11a of drg is connected on pivoted arm 13, and the brake disc 11b of drg is fixedly connected with the stator 9a of disc type wheel hub motor; The driver train of damper brake 11a is all connected with control system 6 with disc type wheel hub motor.
This routine suspension gear is air bellow 10.During concrete enforcement, suspension gear also can be steel spring, high-temperature superconductor levitation device, electromagnetic suspension apparatus or permanent-magnet suspender.
Fig. 2 illustrates, and this routine ground virtual rail sign 3 is optical, electrical or magnetic signal producer continuous on ground or that gap arranges; 4 of sensors that arrange on car body 1 are the plural sensor 4 that detects corresponding optical, electrical or magnetic signal, and have at least the horizontal position of two sensors 4 different.
On this routine car body 1, be provided with and turn to control handle 10, turn to the rotary angle transmitter of control handle 10 to be connected with control system 6.
Embodiment bis-
The structure that this is routine and embodiment mono-are basic identical, different only: the sensor 4 that detects ground virtual rail sign 3 is not put in the bottom of car body 1, and changes into: the satellite locator being connected with control system 6 is installed on car body 1.
Embodiment tri-
The structure that this is routine and embodiment mono-are basic identical, different only: this routine ground virtual rail sign 3 be on ground continuously or the railway line of the setpoint color that applies of gap, on car body 1,4 of the sensors of setting are camera.
Claims (6)
1. the tramway train based on rubber wheel and virtual rail technology, comprises car body (1), control system (6), vehicle wheel component, it is characterized in that:
Described vehicle wheel component is the rubber wheel with drive motor and drg, and its drive motor is all connected with control system (6) with drg;
The bottom of described car body (1) is also provided with the sensor (4) that detects ground virtual rail sign (3), and the mouth of sensor (4) is connected with control system (6); Or the satellite locator being connected with control system (6) is installed on described car body (1).
2. a kind of tramway train based on rubber wheel and virtual rail technology according to claim 1, it is characterized in that, the concrete formation of described vehicle wheel component is: inflation or solid rubber tire (8a) are fixed on the upper rubber wheel that forms of metal wheel hub (8b); Drive motor is disc type wheel hub motor, and the rotor of disc type wheel hub motor (9b) is fixedly connected with metal wheel hub (8b); The rotor of disc type wheel hub motor (9b) is arranged in the axle (14) of pivoted arm (13) by bearing (14a) simultaneously, and the stator of disc type wheel hub motor (9a) is fixed on pivoted arm (13); The hanging frame (12) that one end of pivoted arm (13) is hinged on car body (1) lower side by hinge (15) is upper, and the other end of pivoted arm (13) is connected with the top of hanging frame (12) by suspension gear; It is upper that the damper brake of drg (11a) is connected to pivoted arm (13), and the brake disc of drg (11b) is fixedly connected with the stator (9a) of disc type wheel hub motor; The driver train of damper brake (11a) is all connected with control system (6) with disc type wheel hub motor.
3. a kind of tramway train based on rubber wheel and virtual rail technology according to claim 2, is characterized in that, described suspension gear is air bellow (10), steel spring, high-temperature superconductor levitation device, electromagnetic suspension apparatus or permanent-magnet suspender.
4. a kind of tramway train based on rubber wheel and virtual rail technology according to claim 1, is characterized in that, described ground virtual rail sign (3) is optical, electrical or magnetic signal producer continuous on ground or that gap arranges; The upper sensor (4) arranging of car body (1) is the plural sensor (4) that detects corresponding optical, electrical or magnetic signal, and has at least the horizontal position of two sensors (4) different.
5. a kind of tramway train based on rubber wheel and virtual rail technology according to claim 1, it is characterized in that, described ground virtual rail sign (3) is the railway line of continuous on ground or the setpoint color that gap applies, and the upper sensor (4) arranging of car body (1) is camera.
6. a kind of tramway train based on rubber wheel and virtual rail technology according to claim 1, it is characterized in that, on described car body (1), be provided with and turn to control handle (10), turn to the rotary angle transmitter of control handle (10) to be connected with control system (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420117773.3U CN203753136U (en) | 2014-03-15 | 2014-03-15 | Streetcar based on rubber wheels and virtual rail technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420117773.3U CN203753136U (en) | 2014-03-15 | 2014-03-15 | Streetcar based on rubber wheels and virtual rail technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203753136U true CN203753136U (en) | 2014-08-06 |
Family
ID=51248440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420117773.3U Withdrawn - After Issue CN203753136U (en) | 2014-03-15 | 2014-03-15 | Streetcar based on rubber wheels and virtual rail technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203753136U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863334A (en) * | 2014-03-15 | 2014-06-18 | 西南交通大学 | Tramcar based on rubber wheel and virtual track technology |
| CN109166328A (en) * | 2018-08-28 | 2019-01-08 | 中铁第四勘察设计院集团有限公司 | A kind of operation control system and method based on rubber tire virtual rail train |
-
2014
- 2014-03-15 CN CN201420117773.3U patent/CN203753136U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863334A (en) * | 2014-03-15 | 2014-06-18 | 西南交通大学 | Tramcar based on rubber wheel and virtual track technology |
| CN103863334B (en) * | 2014-03-15 | 2016-06-29 | 西南交通大学 | A kind of tramcar based on rubber wheel and virtual rail technology |
| CN109166328A (en) * | 2018-08-28 | 2019-01-08 | 中铁第四勘察设计院集团有限公司 | A kind of operation control system and method based on rubber tire virtual rail train |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140806 Effective date of abandoning: 20160629 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |