CN217319947U - Multifunctional rail dual-purpose maneuvering platform - Google Patents

Abstract

The utility model relates to a dual-purpose motor-driven platform of multi-functional rail belongs to rail dual-purpose vehicle and hinders the robotechnology field more, has solved and has been used for solving among the prior art that the dual-purpose motor-driven platform of current rail is difficult, go up the complicated and long-time problem of rail operation more. The utility model discloses a automobile body, tire drive assembly, track wheel drive assembly and automobile body hinge assembly, tire drive assembly track wheel drive assembly locates the bottom of automobile body, automobile body hinge assembly locates the both ends of automobile body. The utility model discloses when carrying out the rescue task of speedily carrying out rescue work, can select the mode of marcing of preferred according to the different conditions to practice thrift the time cost of arriving at the accident scene, improved rescue efficiency.

Description

Multifunctional rail dual-purpose maneuvering platform

Technical Field

The utility model relates to a rail dual-purpose vehicle reaches obstacle crossing robotechnology field especially relates to a multi-functional rail dual-purpose motor-driven platform.

Background

In the field of rail-track dual-purpose vehicles, with the rapid development of rail traffic, the coverage range of the rail-track dual-purpose vehicles is wider and wider, but only special vehicles such as trains and subways can run on the rails, and the rail resources are not fully utilized. On the other hand, due to the lack of professional equipment, the high cost of professional equipment and the like, the construction, detection, maintenance and other work of the rail infrastructure is inconvenient, a lot of work results are half, and even the life safety of workers is affected in severe cases. Meanwhile, the development of rail transit also causes people to bear more risks. Due to the space particularity of the subway tunnel, emergency treatment work is difficult to be rapidly carried out when sudden accidents such as earthquake, fire, piping and the like are met, and the safety of lives and properties of people and the structure of buildings in the tunnel are seriously influenced.

The rail and road dual-purpose technology is mainly applied to a rail and road dual-purpose tractor to realize the quick switching among different lines of a railway, but the vehicles often cannot meet the requirement of emergency rescue on rapidity and cannot be used for executing emergency rescue work. The existing rail dual-purpose motor-driven platform for rescue is a rail dual-purpose fire rescue platform. However, when the product performs a rescue task in a tunnel, due to its poor driving performance (dynamic performance, maneuverability, etc.), it needs to be transported to the incident place by using a loading and transporting vehicle, and a track vehicle kit needs to be added on the basis of a tracked vehicle to perform track operation, which consumes time and is not beneficial to the next rescue work. The product can not realize the work of orbit ascending from a main platform and a slave platform, and the obstacle crossing performance is poor.

In the field of obstacle-crossing robots, the obstacle-crossing robots are mostly applied to scenes such as field searching, post-disaster rescue, celestial sphere exploration and the like, and the passing performance of the robots is improved by using different obstacle-crossing schemes, so that the tasks executed by the robots are completed. The existing obstacle crossing schemes can be classified into wheel type, foot type, crawler type and composite type. However, the composite structure has no steering system, and the vehicle can only be steered by using a speed difference steering method between wheels, so that the tire is seriously worn, the steering efficiency is low, and the long-term use of the product is not facilitated. And the four-bar mechanism in the crawler-type structure module with the composite structure can only ensure that the crawler is in line contact with the ground, so that the stability of a crawler-type running mode is influenced. Due to the limitation of the composite structure, the oblique translation motion cannot be realized, and the maneuverability of the obstacle crossing robot is limited.

In summary, the existing rail dual-purpose mobile platform has the following disadvantages: (1) the process of rail conversion is slow, the emergency rescue work with requirements on rapidity is difficult to execute, the operation process is complex, and the requirements on the technical level of workers are high; (2) the self running performance (dynamic performance and maneuverability) is poor, and the obstacle crossing capability is poor. The existing wheel-foot crawler-type obstacle crossing robot has the following defects: (1) the reliability of the product is poor, and because a steering system does not exist, the steering can be realized only through the speed difference of the left and right side wheels of the vehicle, the steering efficiency is low, and the rapid abrasion of the tires is easy to cause; (2) in a track running mode, the track keeps line contact with the ground, and the stability is poor; (3) the mobility of the product is poor, and the oblique translation action can not be realized.

SUMMERY OF THE UTILITY MODEL

In view of the foregoing analysis, an embodiment of the present invention is directed to providing a multifunctional rail dual-purpose mobile platform, so as to solve the problems of poor obstacle crossing capability, complex rail-loading operation and long time of the existing rail dual-purpose mobile platform.

The purpose of the utility model is mainly realized through the following technical scheme:

the utility model provides a dual-purpose motor-driven platform of multi-functional rail, includes automobile body, tire drive assembly, track wheel drive assembly and automobile body articulated subassembly, tire drive assembly the track wheel drive assembly is located the bottom of automobile body, automobile body articulated subassembly is located the both ends of automobile body.

Further, the vehicle body hinge assembly comprises a hinge disk unit, a pitch angle adjusting unit and a yaw angle adjusting unit, wherein the hinge disk unit is respectively connected with the pitch angle adjusting unit and the yaw angle adjusting unit, and the pitch angle adjusting unit and the yaw angle adjusting unit are respectively arranged at two ends of the vehicle body.

Further, the pitch angle adjusting unit and the yaw angle adjusting unit are used to control the pitch and yaw angles of the vehicle body.

Further, the hinge disk unit includes a first claw disk connected to the pitch angle adjusting unit and a second claw disk connected to the yaw angle adjusting unit.

Further, the pitching angle adjusting unit comprises a first half hinge and a second half hinge which are hinged to each other, the first half hinge is connected with the first claw-shaped disc, and the second half hinge is connected with the vehicle body.

Further, the yaw angle adjusting unit comprises a third half hinge and a fourth half hinge which are hinged to each other, the third half hinge is connected with the vehicle body, and the fourth half hinge is connected with the second claw-shaped disc.

Furthermore, the first half hinge and the fourth half hinge are connected with a hydraulic mechanism, and the change of relative angles between the first half hinge and the second half hinge and between the third half hinge and the fourth half hinge is realized through the hydraulic mechanism.

Further, the automobile body includes base and drive support, drive support locates the bottom both ends of base.

Further, the tire driving assembly comprises a tire and a mounting frame, the mounting frame is connected with the driving support, and the tire is connected with the mounting frame through a tire input shaft.

Further, track wheel drive assembly includes rail wheel, lift slide and slider, the lift slide is located in the base, the one end of slider is connected the rail wheel, the other end is in slide slides in the lift slide.

Compared with the prior art, the utility model discloses can realize one of following beneficial effect at least:

(1) the rail-road dual-purpose maneuvering platform utilizes tires to adapt to a flat road surface, utilizes a multi-body cooperation driving mode to cross vertical obstacles, utilizes track wheels to adapt to a railway track, and can select a better traveling mode according to different conditions when an emergency rescue task is executed, so that the time cost of arriving at an accident site is saved, and the rescue efficiency is improved;

(2) when the vehicle is in a tire running mode, the driving state is four-wheel drive, and road wheels are driven by a tire driving motor through a tire transmission device, so that the quality of a power system is reduced, the transmission efficiency is improved, and the defect of insufficient power of the conventional rail dual-purpose vehicle is overcome;

(3) the four-wheel drive steering is adopted, so that the maneuverability of the rail dual-purpose motorized platform is improved, the abrasion of tires can be reduced, and the steering operation of the rail dual-purpose motorized platform is facilitated;

(4) when large obstacles are encountered, the multi-body cooperative driving mode can realize pitching and yawing motions among the single bodies, change the relative spatial positions among the single bodies, adjust the spatial postures of the single bodies and improve the obstacle crossing capability of the rail maneuvering platform;

(5) the worm and gear structure is used for controlling the lifting of the track wheel, the stability of the lifted track wheel can be ensured by utilizing the self-locking function of the worm and gear, and the sliding block is prevented from sliding in the lifting slideway when the track mode is adopted;

(6) when the tire runs and the track runs, the single running mode is more flexible and the adaptability is strong; the multi-body cooperation driving mode can realize the integral motion of the platform, save more energy and achieve higher driving speed and working efficiency;

(7) the equipment carrying platform is arranged, namely the modularized equipment mounting frame is arranged, and different types of equipment can be carried according to scenes of vehicle application, such as different application scenes of rescue, transportation, obstacle breaking and the like, so that a multifunctional application scene is achieved, and the application efficiency of the vehicle is improved.

The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings, in which like reference numerals refer to like parts throughout, are for the purpose of illustrating particular embodiments only and are not to be considered limiting of the invention.

FIG. 1 is a schematic structural diagram of a multifunctional rail-track dual-purpose mobile platform according to an embodiment;

fig. 2 is a schematic structural diagram of a multifunctional rail-road dual-purpose mobile platform according to an embodiment (ii);

FIG. 3 is an enlarged view of a portion of the multi-function dual purpose motorized platform of an embodiment;

FIG. 4 is a schematic view of a multi-function rail dual-purpose motor vehicle multiple connection of an exemplary embodiment;

FIG. 5 is a diagram illustrating the oblique translation of the dual-purpose motorized platform for multi-function rails according to an exemplary embodiment;

fig. 6 is a diagram illustrating a pivot steering state of the dual-purpose motorized platform for a multi-function track according to an embodiment.

Reference numerals:

1-a vehicle body; 11-a base; 111-a limiting part; 12-a top cover; 121-a threaded hole; 13-a drive carriage; 2-a tire drive assembly; 21-a tire; 22-a mounting frame; 23-a tyre drive motor; 24-a tyre transmission; 3-a rail wheel drive assembly; 31-a rail wheel; 32-a lifting slide; 33-a slide block; 4-a body hinge assembly; 41-a hinged disk unit; 42-a pitch angle adjustment unit; 43-yaw angle adjusting means.

Detailed Description

The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of the invention, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the term "connected" should be interpreted broadly, and may include, for example, a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, and an indirect connection through an intermediate medium. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative to the position of components of the device, such as the relative position of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.

Example 1

The utility model discloses a concrete embodiment, as shown in fig. 1-6, discloses a dual-purpose motor-driven platform of multi-functional rail, including automobile body 1, tire drive assembly 2, track wheel drive assembly 3 and automobile body articulated subassemblies 4 all locate on automobile body 1.

The tire driving assembly 2 is used for driving on a flat road, the track wheel driving assembly 3 is used for driving on a railway track, and the vehicle body hinging assembly 4 is used for connecting a plurality of single bodies (multifunctional rail dual-purpose motorized platforms) to realize multi-body cooperation driving and obstacle crossing.

Compared with the prior art, the multifunctional rail dual-purpose mobile platform provided by the embodiment utilizes tires to adapt to a flat road surface, utilizes a multi-body cooperation driving mode to cross vertical obstacles, utilizes the rail wheels to adapt to a railway rail, and can select an optimal traveling mode according to different conditions when executing emergency rescue tasks, so that the time cost for arriving at an accident site is saved, and the rescue efficiency is improved; compared with a dual-purpose rail rescue vehicle which does not have strong obstacle crossing capability and can only carry out rail-climbing operation from places without height difference between a platform and a rail, such as a level crossing or a subway master station, the dual-purpose rail rescue vehicle can cross large obstacles by utilizing a multi-body cooperation driving mode, cross the height difference between the platform and the rail at any subway station, complete the rail-climbing operation and greatly save the rescue time.

The vehicle body 1 comprises a base 11, a top cover 12 and a driving support 13, wherein the top cover 12 is arranged at the upper part of the base 11, and the driving support 13 is arranged at two ends of the bottom of the base 11.

The base 11 is a frame structure, and a four-wheel steering system and a rail wheel lifting system are arranged inside the base. Four driving support 13 are articulated with the four corners of base 11, and four-wheel steering system is including establishing four steering wheel and the supporting drive mechanism of steering wheel in base 11, and at the in-process that the dual-purpose motor-driven platform of rail was marchd, it will control four driving support 13 rotations respectively to turn to the steering wheel, through the cooperation of four driving support 13 rotary motion, can realize the dual-purpose motor-driven platform of rail's rotation, original place turn to, motions such as slant translation.

The base 11 is provided with a lifting slide way of the rail wheel inside, a lifting driving motor and a lifting transmission device are fixedly arranged outside the lifting slide way, and a limiting part 111 is arranged at the bottom end of the base 11 in order to prevent the rail wheel 31 from excessively lifting.

The top cover 12 is a two-stage step shell structure, and threaded holes are connected with the base 11 through bolts uniformly distributed on the periphery. The top of the top cover 12 is provided with a threaded hole 121, so that the motor-driven platform can be rapidly assembled with different upper mechanisms, multiple functions can be realized, and the utilization rate of the rail dual-purpose motor-driven platform can be improved. Meanwhile, the hollow design of the two-stage step shell of the top cover 12 also reserves a lifting space for the lifting type track wheel driving assembly 3, ensures that the lifting slideway 32 is not worn by dirt such as external dust and the like in the driving process, and prolongs the service life of the lifting slideway 32.

The tire driving assembly 2 comprises a tire 21, a mounting frame 22, a tire driving motor 23 and a tire transmission device 24, wherein the mounting frame 22 is connected with the driving support 13, the tire driving motor 23 is arranged on the mounting frame 22, and the tire transmission device 24 is connected with the tire driving motor 23.

The mounting frame 22 is provided with a tire driving motor mounting hole, and the tire driving motor 23 is arranged in the mounting hole. The mounting rack 22 is arranged on the inner side of the two driving brackets 13, one mounting rack 22 is correspondingly arranged on each driving bracket 13, and the mounting rack 22 is connected with the driving brackets 13 through a screw.

The tire driving motor 23 is fixed on the mounting frame 22 through a compression ring and bolts, a tire transmission device 24 composed of multiple gears is fixed on the mounting frame 22 through a bearing and a retainer ring, an input gear of the tire transmission device 24 is meshed with an output shaft of the tire driving motor 23, a final output gear of the tire transmission device 24 is fixed with a tire input shaft and transmits power, the outer side of the crawler input shaft is kept in a coaxial relation with a hole site of the driving support 13 through opposite tapered roller bearings, on the premise that the crawler input shaft can rotate relatively, in order to prevent the tire input shaft from shifting left and right when being acted by lateral force, the outer side of the tire input shaft is connected with a tire 21 with the diameter of 920mm through six bolts, and the surface of the tire 21 is provided with off-road patterns to enhance the off-road performance of the tire in a driving mode.

In this embodiment, each tire driving assembly 2 is connected to the base 11 only by the driving bracket 13, and on the premise that no structural interference occurs, each driving bracket 13 can rotate by ± 40 °, and the rotation, in-situ steering, oblique translation and other motions of the dual-purpose rail mobile platform are realized by the cooperation of the rotation motions of the four driving brackets 13.

The rail wheel driving component 3 comprises a rail wheel 31 and a rail wheel lifting system, the rail wheel lifting system is used for controlling the lifting of the rail wheel 31, the rail wheel lifting system comprises a lifting slideway 32, a slide block 33, a lifting transmission device, a lifting driving motor and a worm gear, the lifting slideway 32 is fixedly arranged inside the base 11 through bolts, the lifting driving motor is arranged outside the lifting slideway 32, an output gear of the lifting driving motor is meshed with an input gear of the lifting transmission device formed by multi-stage gears, the output gear of the lifting transmission device is coaxially and fixedly connected with a worm wheel, so that the rotation of the output gear can drive the worm wheel to rotate, the worm wheel is fixedly arranged on a supporting shaft outside the lifting slideway 32 through a bearing, the slide block 33 capable of being matched with the lifting slideway 32 is fixedly arranged at two ends of the worm wheel, the slide block 33 can lift in the lifting slideway 32, and a through hole is arranged on the side wall of the lifting slideway 32, so as to realize the meshing of the worm gear and the worm at the through hole, the worm is driven by the worm gear, and the sliding block 33 moves up and down under the constraint of the lifting slide way 32. The slide block 33 provided at the lower portion of the worm is connected to the rail wheel 31, and the rail wheel with a stroke of 450mm can reciprocate up and down.

Specifically, the two rail wheels 31 are coaxially arranged, the rail wheel shaft is rotatably connected with the sliding block 33, a rail wheel driving motor and a rail wheel transmission device are arranged inside the sliding block 33 and used for driving the rail wheels 31 to rotate, exemplarily, an output shaft of the rail wheel driving motor is provided with a gear meshed with an input gear of the rail wheel transmission device, and an output gear of the rail wheel transmission device is meshed with a gear arranged on the rail wheel shaft, so that the power transmission of the rail wheel driving motor is realized.

In this embodiment, a worm and gear structure is used to control the lifting of the rail wheel 31, and the self-locking function of the worm and gear can ensure the stability of the lifted rail wheel 31, so as to avoid the sliding of the sliding block 33 in the lifting slideway 32 when the rail mode is adopted.

The vehicle body hinge assembly 4 includes a hinge disk unit 41, a pitch angle adjusting unit 42, and a yaw angle adjusting unit 43, the hinge disk unit 41 effecting connection of the front and rear vehicle bodies 1 by engagement of hydraulically driven pawl-type structures provided thereon, the pitch angle adjusting unit 42 and the yaw angle adjusting unit 43 controlling pitch and yaw angles between the front and rear vehicle bodies 1 through hydraulic cylinders (not shown).

Specifically, the hinge disk unit 41 includes a pair of claw-shaped disks having the same structure, which are referred to as a first claw-shaped disk and a second claw-shaped disk for convenience of description, the first claw-shaped disk being connected to the pitch angle adjusting unit 42, and the second claw-shaped disk being connected to the yaw angle adjusting unit 43. The first claw-shaped disc and the second claw-shaped disc are connected and separated through a claw-shaped meshing mechanism driven by a hydraulic mechanism. The claw-shaped meshing mechanism can be opened and closed under the driving of the hydraulic mechanism so as to realize the switching between the connection state and the disconnection state, and further realize the functions of connecting and disconnecting the front vehicle body 1 and the rear vehicle body 1.

Referring to fig. 1 and 4, the pitch angle adjusting unit 42 includes a first half hinge and a second half hinge hinged to each other, the first half hinge is connected to the first claw-shaped plate, the second half hinge is horizontally connected to the rear end of the car body 1, and the hydraulic cylinder extends and retracts to provide driving power, so that the change of the relative angle between the first half hinge and the second half hinge is realized, and the function of adjusting the pitch angle between the two car bodies 1 connected in front and back is realized.

Referring to fig. 1 and 4, the yaw angle adjusting unit 43 includes a third half hinge and a fourth half hinge hinged to each other, the third half hinge is vertically connected to the front end of the vehicle body 1, the fourth half hinge is connected to the second claw disk, and the hydraulic cylinder extends and retracts to provide driving power, so that the change of the relative angle between the third half hinge and the fourth half hinge is realized, and the function of adjusting the yaw angle between the two vehicle bodies 1 connected in front and at back is realized.

The dual-purpose mobile platform of rail of this embodiment, including tire function of traveling, track function of traveling and obstacle-crossing function of traveling, the tire function of traveling is realized through tire drive assembly 2, and the track function of traveling is realized through track wheel drive assembly 3, and obstacle-crossing function of traveling is connected a plurality of monomers through automobile body articulated subassembly 4 and is switched into many bodies and travel the mode realization in coordination.

When the dual-purpose motor-driven platform for the rails runs on a flat road surface in a tire running mode, the tires 21 are selected to drive the dual-purpose motor-driven platform for the rails, and the rail wheels 31 are separated from the ground. The sliding block 33 ascends under the action of the lifting driving motor, the lifting transmission device and the worm gear, so that the rail wheel 31 is driven to move in an ascending stroke, finally contacts with the limiting part 111, reaches the upper limit position and is separated from the ground, and only the tire 21 contacts the ground to drive the rail-road dual-purpose motorized platform to run.

The tire driving motor 23 starts to work under the control of the electric control system, the movement of the tire driving motor 23 is immediately transmitted to the tire transmission device 24, the movement and the moment of the final-stage output gear are finally transmitted to the tire input shaft through the speed reduction and torque increase in the transmission process of the multi-stage gear, the tire input shaft is coaxially and fixedly connected with the tire 21 by virtue of the tire fixing screw, namely the final movement and the moment are transmitted to the tire 21, and the moment overcomes the resistance moment borne by the tire, so that the road-rail dual-purpose mobile platform can be driven to move.

It is worth noting that the dual-purpose driving mode of the rail and rail motor platform is a 'transfer type', that is, the rail wheel driving system and the tire driving system in the dual-purpose motor platform are completely separated and do not affect each other. Namely, a motor and a transmission device for driving the rail wheel and a motor and a transmission device for driving the tire are mutually independent.

In this embodiment, the driving bracket 13 can rotate ± 40 ° around the upright post on the vehicle underframe 1 under the driving of the steering engine, the tire driving assembly 2 is installed on the driving bracket 13, that is, the rotation of the driving bracket 13 can drive the rotation of the tire 21, and the combination of the four tires 21 with different rotation angles can make the dual-purpose mobile platform for the rail move with different tracks.

The oblique translation movement of the rail dual-purpose mobile platform. The four driving brackets 13 are controlled by the steering engine to rotate in the same direction by the same angle, so that the tires 21 are driven to rotate. The pivot steering movement of the rail-road dual-purpose mobile platform is realized. The driving brackets 13 at the left front and the right rear simultaneously rotate clockwise by 40 degrees, the driving brackets at the right front and the left rear simultaneously rotate anticlockwise by 40 degrees, and the tires 21 are driven to rotate by the tire driving motors 23, so that the pivot steering movement of the rail dual-purpose motorized platform can be realized.

Example 2

The utility model discloses another embodiment discloses a multi-functional rail dual-purpose motor-driven platform hinders method more, adopts embodiment 1's multi-functional rail dual-purpose motor-driven platform to three platform monomer relies on automobile body articulated subassembly 4 to link to each other and constitutes the multibody as an example, introduces it and hinders the method more, and the step includes:

step 1: with the monomer mode of traveling, rely on the tire to travel to the platform edge, three platform monomers pass through automobile body articulated subassembly 4 end to end, switch to many bodies mode of traveling in coordination.

The three monomers are divided into a head monomer, a middle monomer and a tail monomer according to the advancing direction of the rail dual-purpose maneuvering platform. Each platform single body is 2200mm in length, and the rail dual-purpose motor-driven platform can span obstacles below 1600mm by comprehensively considering the maximum bending angle of the vehicle body hinge assembly 4 and actual specific conditions. For example, when the mobile platform for both rail and road needs to perform emergency rescue tasks in a tunnel, the vertical drop height from a platform to a rail surface needs to be spanned by about 1.3 m.

Step 2: the rail dual-purpose mobile platform continues to move forwards, when the front tire 21 with the single head moves to the edge of the platform, the rear tire 21 with the single head and the vehicle body hinge assembly 4 connected with the single middle body are adopted to support the single head, so that the front tire 21 with the single head is suspended, meanwhile, the front tire driving motor with the single head does not work any more, and the forward power is provided by the rear tire 21 with the single head, the single middle body and the single tail body. With the continuous forward movement of the follow-up rail dual-purpose maneuvering platform, the vehicle body hinging component 4 connecting the head single body and the middle single body acts to actively adjust the pitching angle between the head single body and the middle single body, so that the space posture of the head single body is changed, and the front end of the head single body is downward extended to be close to the plane of the rail.

The dual-purpose maneuvering platform for the subsequent track continues to move forwards, if the rear tire 21 of the front single body moves to the edge of the platform and occurs before the front tire 21 of the front single body contacts the track plane, the vehicle body hinge assembly 4 connecting the front single body and the middle single body is only adopted to support the front single body, so that the whole single body is suspended, and meanwhile, the rear tire driving motor does not work any more; if the free back tire 21 of prelude moves to the platform edge and takes place behind the anterior monomer front tire 21 contact track plane, then adopt the anterior monomer front tire and the automobile body articulated subassembly 4 that the prelude monomer links to each other with the middle part monomer to support the prelude monomer jointly, make the free back tire 21 of prelude suspend, preceding tire driving motor resumes work, and back tire driving motor is no longer worked simultaneously.

And 3, step 3: the rail dual-purpose maneuvering platform continues to move forwards, meanwhile, the space posture of the head single body is continuously changed, the front end gradually extends downwards until the front tire 21 of the head single body contacts the plane of the rail, the vehicle body hinge assembly 4 connecting the head monomer and the middle monomer does not act any more, the rail dual-purpose mobile platform continues to move forwards until the front tire 21 of the middle vehicle body moves to leave the edge of the platform, the car body hinge assembly 4 connecting the head monomer and the middle monomer and the car body hinge assembly 4 connecting the middle monomer and the tail monomer jointly act to adjust the space posture of the middle monomer to ensure that the front end of the middle monomer is downward-detected, meanwhile, due to rigid connection among the single bodies, the front tire 21 of the tail single body is also suspended away from the platform ground, the whole dual-purpose mobile platform for the track and the road is supported by the front single body tire, the middle single body rear tire and the tail single body rear tire, and the tire driving motor corresponding to the ungrounded tire stops working at the moment.

With the continuous forward movement of the follow-up rail-track dual-purpose mobile platform, the vehicle body hinge assembly 4 connecting the head monomer and the middle monomer and the vehicle body hinge assembly 4 connecting the middle monomer and the tail monomer continuously act in a combined manner, and the space postures of the head vehicle body and the middle vehicle body are continuously changed. If the rear tire 21 of the middle single body moves to the edge of the platform and occurs before the front tire 21 of the middle single body contacts with the plane of the track, the whole dual-purpose mobile platform for the rail and the road depends on the front tire of the front single body and the front and rear tires of the tail vehicle body to support, the whole middle single body is suspended, and meanwhile, the tire driving motor of the ungrounded tire does not work any more; if the rear tire 21 of the middle single body moves to the edge of the platform and occurs after the front tire 21 of the middle single body contacts the plane of the track, the whole dual-purpose mobile platform for the track depends on the front single body rear tire, the middle single body front tire and the tail single body rear tire to support due to the rigidity of the connection among the single bodies, the middle single body front tire is grounded, the tire driving motor recovers to work, and meanwhile, the driving motor of the ungrounded tire does not work any more.

And 4, step 4: the rail-road dual-purpose motorized platform continues to move forwards, the vehicle body hinge assembly 4 connected with the head monomer and the middle monomer and the vehicle body hinge assembly 4 connected with the middle monomer and the tail monomer jointly act to adjust the space postures of the three platform monomers, so that front tires of the head monomer and rear tires of the middle monomer are grounded again, and the corresponding tire driving motors are restored to work; the tail single body is supported only by the vehicle body hinge assembly 4 connected with the middle single body, the front tire and the rear tire are not grounded, and the corresponding tire driving motor stops working.

And the rail dual-purpose motorized platform continues to move forwards, the vehicle body hinge assembly 4 connecting the middle single body and the tail single body acts, the front tires and the rear tires of the tail single body are grounded, the tire driving motor starts to work, and the obstacle crossing process is completed.

In the embodiment, the head of the multifunctional rail dual-purpose maneuvering platform enters the track leftwards, the front end of the head is inclined to be close to the edge of the platform, all the components cooperate with each other according to the steps to complete obstacle crossing, compared with the situation that the head of the rail dual-purpose maneuvering platform directly crosses the edge of the platform and the track, the scheme can better save space, and the rail dual-purpose maneuvering platform can complete more complex actions in the limited space of the subway platform.

It should be noted that, in order to avoid the interference between the dual-purpose mobile platform for track and rail and the boundary of the space below the platform during the movement process, the single bodies of the dual-purpose mobile platform for track and rail need to be steered in time by the four-wheel steering system of the tire driving motor, and meanwhile, the vehicle body hinge assembly 4 connecting the front single body and the middle single body and the vehicle body hinge assembly 4 connecting the middle single body and the tail single body continuously act to adjust the yaw angle between the two adjacent single bodies of the platform, so that the overall 'snake-shaped' progress of the dual-purpose mobile platform for track and rail is realized to complete the obstacle crossing process.

And 5: the rail-road dual-purpose motorized platform is steered to adjust the posture of the vehicle body, so that the rail wheels 31 are aligned with the rail, the rail wheels 31 are prepared to be in contact with the rail, and the vehicle runs in a rail mode.

When the dual-purpose motor-driven platform for the rail moves to the rail, the vehicle runs in a rail mode, the dual-purpose motor-driven platform for the rail extends out of the rail wheels 31 to lift the vehicle body 1, so that the tires 21 are completely separated from the rail, the rail wheels 31 play a role in driving, guiding and braking, and the whole vehicle mass is completely borne. As shown in fig. 3, in a track running state, the electric control system controls the operation of the lifting drive motor inside the base 11, the rotation of the lifting drive motor is transmitted to the worm gear through the lifting transmission device, the worm gear transmits the motion to the worm gear with a larger transmission ratio, and the sliders 33 on both sides of the worm gear are constrained by the lifting slide rail 32, so that the sliders 33 can move downwards along the lifting slide rail 32 fixed on the base 11 under the driving of the worm gear, when the motion stroke of the sliders 33 reaches 450mm, the track wheel 31 reaches a lower limit position, at this time, the tire 21 has been separated from the track, and the state of the dual-purpose motor platform for track and road meets the requirement of a "transfer type" driving mode.

After the lifting of the vehicle body 1 is completed, the track wheels 31 are matched with the rails, the electric control system can send signals to the track wheel driving motor, and the track wheel driving motor works and is transmitted to the track wheels 31 through the transmission device, so that the rail and road dual-purpose mobile platform is driven to move forward.

The process of climbing vertical height obstacle is exactly opposite to the above process, and is not described in detail herein.

Compared with the rescue platforms of the type, the dual-purpose motor platform for the rails can span large obstacles by utilizing a multi-body cooperation driving mode, the height difference between the platforms and the rails is spanned at any subway station, the rail climbing operation is completed, and the rescue time is greatly saved.

When the multifunctional road and rail dual-purpose motor platform is in a tire running mode, the driving state is four-wheel drive, road wheels are driven by a tire driving motor through a tire transmission device, the quality of a power system is reduced, the transmission efficiency is improved, the defect of insufficient power performance of the conventional road and rail dual-purpose vehicle is overcome, and the tire driving motor system is simple to operate, higher in control precision and low in transmission noise, and is beneficial to the overall optimal arrangement and dynamic matching of the vehicle; the four-wheel drive steering is adopted, so that the maneuverability of the rail dual-purpose motorized platform is improved, the abrasion of tires can be reduced, and the steering operation of the rail dual-purpose motorized platform is facilitated.

The multifunctional motor-driven platform for both the rail and the road has the advantages that when the motor-driven platform for both the rail and the road runs on tires, the single running mode is more flexible, and the adaptability is strong; the multi-body cooperation running mode can realize the integral motion of the platform, save more energy and achieve higher running speed and working efficiency. When large obstacles are encountered, the multi-body cooperative driving mode can realize pitching and yawing motions among the single bodies, change the relative spatial positions among the single bodies, adjust the spatial postures of the single bodies and improve the obstacle crossing capability of the rail maneuvering platform.

The multifunctional rail-road dual-purpose maneuvering platform is adaptive to a flat road surface by tires, crosses vertical obstacles by a multi-body cooperative driving mode, is adaptive to a railway rail by a rail wheel pair, and can select an optimal traveling mode according to different conditions when an emergency rescue task is executed, so that the time cost for arriving at an accident site is saved, and the rescue efficiency is improved.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims (10)

1. The utility model provides a dual-purpose motor-driven platform of multi-functional rail, its characterized in that, includes automobile body (1), tire drive assembly (2), track wheel drive assembly (3) and automobile body articulated subassembly (4), tire drive assembly (2) track wheel drive assembly (3) are located the bottom of automobile body (1), automobile body articulated subassembly (4) are located the both ends of automobile body (1).

2. The multi-functional track-and-rail mobile platform according to claim 1, wherein the vehicle body hinge assembly (4) comprises a hinge disk unit (41), a pitch angle adjusting unit (42), and a yaw angle adjusting unit (43), the hinge disk unit (41) is connected to the pitch angle adjusting unit (42) and the yaw angle adjusting unit (43), respectively, and the pitch angle adjusting unit (42) and the yaw angle adjusting unit (43) are provided at both ends of the vehicle body (1), respectively.

3. The multi-functional both-rail and motor-driven platform according to claim 2, wherein the pitch angle adjusting unit (42) and the yaw angle adjusting unit (43) are used to control the pitch and yaw angles of the vehicle body (1).

4. The dual-purpose motorized platform of claim 2, characterized in that said articulated disk unit (41) comprises a first and a second claw disk, said first claw disk being connected to said pitch angle adjustment unit (42) and said second claw disk being connected to said yaw angle adjustment unit (43).

5. The dual-purpose motorized platform according to claim 4, characterized in that said pitch angle adjustment unit (42) comprises a first half-hinge and a second half-hinge hinged to each other, said first half-hinge being connected to said first claw disk and said second half-hinge being connected to said vehicle body (1).

6. The dual-purpose motorized platform according to claim 5, characterized in that said yaw angle adjustment unit (43) comprises a third half-hinge and a fourth half-hinge hinged to each other, said third half-hinge being connected to said vehicle body (1) and said fourth half-hinge being connected to said second claw disc.

7. The dual-purpose motorized platform of claim 6, wherein the first half hinge, the fourth half hinge and the hydraulic mechanism are connected, and the change of the relative angle between the first half hinge and the second half hinge and between the third half hinge and the fourth half hinge is realized through the hydraulic mechanism.

8. The dual-purpose motorized platform according to any one of claims 1 to 7, characterized in that the vehicle body (1) comprises a base (11) and a driving bracket (13), the driving bracket (13) being provided at both ends of the bottom of the base (11).

9. The dual-purpose motorized platform of claim 8, characterized in that said tire drive assembly (2) comprises a tire (21) and a mounting bracket (22), said mounting bracket (22) being connected to said drive support (13), said tire (21) being connected to said mounting bracket (22) through a tire input shaft.

10. The dual-purpose motorized platform according to claim 8, characterized in that the rail wheel driving assembly (3) comprises a rail wheel (31), a lifting slideway (32) and a sliding block (33), the lifting slideway (32) is arranged in the base (11), one end of the sliding block (33) is connected with the rail wheel (31), and the other end slides in the lifting slideway (32).

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