A bogie moving device

Abstract

The present application relates to bogie handling equipment technical field, provide a kind of moving device of bogie, including support framework, wheel train component and fixture structure, wheel train component includes respectively setting in the front support part and rear support part of support framework two ends, fixture structure connects support framework, front support part includes front bridge frame, setting in the hinge assembly of front bridge frame top surface middle and setting in the front support leg of front bridge frame bottom surface two sides, front bridge frame is hinged with support framework by hinge assembly, the rear support part includes two rear support legs bolted with support framework, two rear support legs and hinge assembly form three-point support structure on support framework. The bogie is transferred by lifting mode inside the moving device in the present application, lifting operation height is low, and safety is higher;Three-point stable adjustable support structure is formed by the cooperation of hinge assembly and two rear support legs, to ensure that the transfer structure is driven wheel ground under various complex road conditions, to realize the all-terrain self-adaptation of moving device under complex road conditions.

Description

Technical Field

[0001] This invention relates to the field of bogie handling equipment technology, and more specifically to a bogie moving device. Background Technology

[0002] The bogie is the running gear of a rail vehicle, serving functions such as supporting the car body, transmitting loads, mitigating wheel-rail impacts, and implementing braking. Its parameters directly affect the stability of vehicle operation and ride comfort. This component achieves wheel-rail force transmission and vibration attenuation through spring damping devices and suspension systems. EMU bogies are equipped with traction motors and gearboxes, while trailer bogies have no power unit.

[0003] Bogies require regular maintenance and repair, necessitating their transfer to maintenance stations via transport equipment. However, the transfer process may involve traversing complex road conditions (such as elevation differences, inclines, and bumpy surfaces), which can cause the transport equipment to become suspended or suffer ground impacts, damaging the chassis. Furthermore, bogies disassembled or awaiting reassembly may encounter impacts or detachment during transport due to these complex road conditions, severely affecting the stability and reliability of the transport equipment and transport mechanism.

[0004] Moving a bogie requires the combined use of various tools and lifting equipment. The bogie is moved by lifting, which consumes a lot of manpower and equipment. Furthermore, since the bogie is a high-load structure, there is a risk of it falling during the lifting and moving process, posing a safety hazard. Summary of the Invention

[0005] The first aspect of this invention aims to solve the technical problem of excessive weight of bogies and high wear and tear during bogie handling in existing equipment. It provides a bogie moving device that can transfer bogies by internal lifting. The moving device can be flexibly moved in any direction by controlling the wheel system assembly to move the moving device to the bogie position and place the bogie in the operating cavity of the moving device. The bogie can be gripped by activating the clamp.

[0006] To achieve the above objectives, the present invention provides a bogie moving device, comprising a transfer structure and a clamping structure. The transfer structure includes a support frame and a wheel train assembly. The wheel train assembly includes a front support and a rear support respectively disposed at both ends of the support frame. The support frame, the front support, and the rear support form a gantry-type frame structure. An operating cavity is formed below the frame structure, with both sides of the operating cavity for the bogie to enter and exit. The clamping structure is disposed inside the operating cavity and connected to the middle position of the support frame. The clamping structure includes a gripping mechanism and a lifting mechanism, which are convexly connected. The gripping mechanism is used to clamp and constrain the bogie, and the lifting mechanism is used to lift the bogie and then move it via the transfer mechanism. The front support includes a front axle frame, a hinge assembly, and two front support legs. The two front support legs are located on both sides of the bottom surface of the front axle frame, and the hinge assembly is located in the middle of the top surface of the front axle frame. The front axle frame is hinged to the support frame via the hinge assembly. The rear support includes two rear support legs, which are bolted to the support frame. The two rear support legs and the hinge assembly of the front support form a three-point support structure on the support frame. The front support also includes a stabilizing structure located on both sides of the hinge assembly. Each stabilizing structure is located between the front axle frame and the support frame. The stabilizing structure works in conjunction with the three-point support structure to maintain the stability of the three-point support structure. This solution utilizes an internal lifting mechanism to transport the bogies. This not only ensures efficient assembly and handling, but also, with its built-in lifting structure, allows the overall center of gravity of the heavy-load bogies to fall within the inner support area of ​​the two outriggers, ensuring the center of gravity does not exceed the support base distance. This results in good transport stability, a low lifting height, and enhanced safety. Furthermore, the hinged assembly connects the front support and the support frame, allowing the front axle system ±15° of pitch / roll freedom adjustment, ensuring the transport structure can operate smoothly in various complex road conditions. All drive wheels are grounded, enabling the mobile device to adapt to all terrains in complex road conditions. The rear support is rigidly integrated with the support frame and detachably connected by high-strength bolts, allowing the frame to support modular assembly and disassembly, reducing replacement time. The two rear support feet of the rear support, together with the hinge components of the front support, form a three-point stable and adjustable support structure. The mobile device can be moved flexibly in any direction through the wheel system components, moving the mobile device to the bogie position and placing the bogie in the operating cavity of the mobile device. The bogie can be gripped by activating the clamp.

[0007] Preferably, the wheel system assembly further includes four sets of drive wheels, which are respectively disposed on the front support and the rear support. Each set of drive wheels includes a steering wheel and a drive servo motor, which controls the steering wheel to achieve steering action. In this solution, the steering wheels installed in the front and rear supports are controlled by independent drive servos, enabling the mobile device to achieve lateral translation, longitudinal movement, and zero-turning-radius rotation in place, allowing for flexible path planning.

[0008] The second aspect of this invention aims to solve the technical problem of unstable transportation caused by the mobile device easily detaching from the ground under complex road conditions. Further, the stabilizing structure includes multiple shock absorbers, with two rows of shock absorbers on each side of the front axle frame. These shock absorbers are positioned between the front axle frame and the support frame for balance and vibration damping. By providing a stabilizing structure between the front axle frame and the support frame, excessive tilting angles of the front axle frame can be avoided during adjustments to the hinged components, and hard collisions between the front axle frame and the support frame during impacts can be prevented, reducing equipment vibration and making the transport structure operate more smoothly.

[0009] Preferably, the gripping mechanism includes a crossbeam frame, a connector, a transmission unit, and a first drive unit mounted on the crossbeam frame. The crossbeam frame is connected to the lower part of the support frame. The first drive unit drives the transmission unit to move. The connector and the transmission unit are connected by transmission, and the connector acts on the bogie through the transmission unit. The connector includes a hook for hooking the bogie to achieve suspension and support of the bogie. The transmission unit rotates the hook, causing its arc-shaped contact surface to act on the bogie, so that the hook engages with the lower end of the bogie's axle. The lifting mechanism then lifts the bogie upwards, achieving suspension of the bogie.

[0010] Preferably, the connecting member further includes a load-bearing part, and the hook and the load-bearing part are integrally formed. The top of the load-bearing part is provided with a positioning hole and a movable hole. The transmission unit includes a motion component, a connecting rod, and a positioning shaft. The first drive unit drives the motion component to perform linear motion. The motion component and the load-bearing part are movably connected through the connecting rod. The positioning shaft is installed on the crossbeam frame and is located below the first drive unit. The connecting member is hinged to the positioning shaft through the positioning hole and to the connecting rod through the movable hole. In this solution, the motion component, connecting rod, and positioning shaft together form a crank-slider transmission structure. One end of the connecting rod performs linear motion in a linear direction through the motion component, and the other end of the connecting rod pushes or pulls the load-bearing part. Under the constraint of the positioning shaft fixedly installed on the crossbeam frame, the load-bearing part rotates around the positioning shaft with the positioning shaft as the rotation axis. The hook acts on the lower end of the bogie and is lifted and transported by the lifting mechanism.

[0011] The third aspect of this invention aims to solve the technical problem of damage to the clamp structure caused by the excessive weight of railway bogies and the inability of the clamp structure to bear excessive loads after lifting. Further, the motion component includes a first lead screw transmission structure and a first heavy-duty guide structure arranged parallel to each other. The first lead screw transmission structure includes a first transmission screw and a first nut seat. The first transmission screw is connected to a first drive unit, and the first nut seat moves linearly on the first transmission screw. The first heavy-duty guide structure includes a first heavy-duty guide rail and a first load-bearing slider. The first nut seat and the first load-bearing slider are connected by a synchronous plate, which is hinged to a connecting rod. And / or, the motion component includes two sets of first heavy-duty guide structures, which are arranged parallel to each other on both sides of the first lead screw transmission structure. This design mounts the motion components on the crossbeam frame. When the connecting parts suspend and transport the bogie, the load is concentrated and transferred to the crossbeam frame through the first heavy-duty guide structure with high load-bearing capacity. The first screw drive structure does not bear gravity load after it stops working, which makes the gripping mechanism have a longer service life. In addition, the first heavy-duty guide structure can make the first screw drive structure only transmit axial driving force and not bear radial force or bending moment, which can avoid screw bending and wear of the first nut seat due to uneven load.

[0012] Preferably, the lifting mechanism includes a mounting body, a lifting unit, and a second drive unit. The mounting body includes a top plate and a bottom plate arranged horizontally opposite each other. The lifting unit and the second drive unit are installed between the top plate and the bottom plate. The top plate is connected to the bottom of the support frame. The lifting unit includes a lifting actuator connected to the crossbeam frame. Alternatively, the lifting mechanism includes two sets of lifting units symmetrically arranged on the mounting body. Or, a guide opening is provided in the middle of the crossbeam frame for the installation body to pass through.

[0013] The fourth aspect of this invention aims to solve the technical problem that insufficient load-bearing capacity and jamming due to tilting and offset are easily caused when the lifting mechanism lifts a bogie under heavy load. Further, the mounting body includes two mounting plates, which are vertically installed between a top plate and a bottom plate. Multiple second heavy-duty guide structures are evenly arranged on the outer walls of the two mounting plates. Each second heavy-duty guide structure includes a second heavy-duty guide rail and a second load-bearing slider. The second heavy-duty guide rail is disposed on the outer wall of the mounting plate, and the second load-bearing slider is installed on the inner wall of the guide opening of the crossbeam frame. The crossbeam frame is slidably connected to the mounting body through multiple second heavy-duty guide structures. The use of multiple sets of symmetrical second heavy-duty guide structures for coordinated driving ensures that the lifting mechanism can stably lift and lock the high-load bogie under the action of the gripping mechanism.

[0014] Preferably, the lifting unit further includes a worm gear, a worm, and a second lead screw transmission structure. The second lead screw transmission structure includes a threaded second screw and a second nut seat. The output shaft of the second drive unit is connected to the worm gear transmission. The worm gear is coaxially fixed with the second screw. The second nut seat moves axially along the second screw and is connected to the crossbeam frame through a lifting actuator. In this solution, the second drive unit drives the worm gear to rotate, thereby causing the second screw, which is coaxially connected to the worm gear, to rotate axially. The second screw converts the rotational motion into the linear lifting motion of the second nut seat along the screw. Since the bogie lifting needs to overcome a load of 4-30 tons, and the torque directly output by a traditional motor is usually small, this solution chooses to indirectly drive the second screw of the second lead screw transmission structure to rotate by driving the worm gear and worm wheel with a motor, thus lifting the bogie. The worm gear and worm have a large transmission ratio and a significant torque amplification effect, which can convert the small torque of the motor into a large torque to drive the screw, meeting the lifting requirements of the bogie.

[0015] Preferably, it also includes a scheduling module and an obstacle avoidance module. The scheduling module is used to control the transfer structure to accurately position the bogie, and the obstacle avoidance module is used to prevent collisions when the transfer structure moves.

[0016] The beneficial effects of this invention are as follows: By transferring the bogie through internal lifting of the mobile device, not only can efficient assembly and handling be achieved, but the built-in lifting structure also results in a lower lifting height and higher safety. The articulated assembly allows the front support and support frame to be articulated together, enabling the front axle system to achieve ±15° pitch / roll freedom adjustment. The two rear support feet of the rear support, together with the articulated assembly of the front support, form a three-point stable and adjustable support structure, ensuring that the drive wheels are grounded under various complex road conditions. This enables the mobile device to adapt to all terrains under complex road conditions. The rigid integration of the rear support and support frame, along with the detachable connection using high-strength bolts, allows the frame to support modular disassembly and assembly, shortening the time required for each replacement. The wheel system assembly controls the mobile device to move flexibly in any direction, moving the mobile device to the bogie position and placing the bogie in the operating cavity of the mobile device. The bogie can then be gripped by activating the clamps. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a side view of the structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the present invention without the shell.

[0020] Figure 4 This is a schematic diagram of the front support portion of the present invention.

[0021] Figure 5 This is a schematic diagram of the clamp structure of the present invention.

[0022] Figure 6 This is an internal structural diagram of the lifting mechanism of the present invention.

[0023] Figure 7 This is a schematic diagram of the gripping mechanism of the present invention.

[0024] Figure 8 This is a top view of the gripping mechanism of the present invention.

[0025] Figure 9 This is a partially enlarged cross-sectional view of the gripping mechanism of the present invention.

[0026] Figure 10 This is a diagram showing the use and cooperation of the gripping mechanism of the present invention with the bogie.

[0027] Figure 11 This is a schematic diagram illustrating the overall deformation analysis of the support frame of the present invention.

[0028] Figure 12 This is a schematic diagram illustrating the safety factor of the support frame of the present invention.

[0029] Figure 13 This is a schematic diagram illustrating the overall deformation analysis of the front bridge frame of the present invention.

[0030] Figure 14 This is a schematic diagram of the safety factor of the front bridge frame of the present invention.

[0031] Figure 15 This is a schematic diagram illustrating the overall deformation analysis of the crossbeam frame of the present invention.

[0032] Figure 16 This is a schematic diagram of the safety factor of the crossbeam frame of the present invention.

[0033] Figure 17 This is a schematic diagram illustrating the overall deformation analysis of the connector of the present invention.

[0034] Figure 18 This is a schematic diagram illustrating the safety factor of the connector of the present invention.

[0035] The reference numerals in the attached drawings include: 1. Support frame; 11. Operating cavity; 12. Outer shell; 2. Front support; 21. Front bridge; 22. Hinge assembly; 23. Stabilizing structure; 3. Rear support; 31. Rear bridge; 4. Drive wheel; 41. Steering wheel; 42. Drive servo; 43. Support foot; 44. Placement plate; 5. Grabbing mechanism; 51. Crossbeam; 511. Guide opening; 512. Mounting edge; 52. Connector; 521. Hook; 522. Load-bearing part; 523. Positioning hole; 524. Movable hole; 525. Synchronizing rod; 53. Transmission unit; 531. Connecting rod; 532. Positioning shaft; 533. First lead screw transmission structure; 534. First heavy-duty guide structure; 535. Synchronizing plate; 54. First drive unit; 6. Lifting mechanism; 61. Mounting body; 611. Top connecting plate; 612. Bottom connecting plate; 613. Mounting upright plate; 62. Lifting unit; 621. Lifting actuator; 622. Worm gear; 623. Worm; 624. Second lead screw transmission structure; 63. Second drive unit; 64. Second heavy-duty guide structure; 65. Connecting angle bracket; 66. Manual height adjuster; 7. Bogie. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0037] In this disclosure, unless otherwise stated, directional terms such as "inner" and "outer" are defined based on the contours of the corresponding components. Terms such as "first" and "second" used in this disclosure are for distinguishing one element from another and do not imply sequence or importance.

[0038] Example 1

[0039] like Figures 1-10 As shown, in order to achieve the above objectives, this embodiment provides a moving device for a bogie 7, including a transfer structure and a clamping structure. The transfer structure includes a support frame 1 and a wheel system assembly. The wheel system assembly includes a front support portion 2 and a rear support portion 3 respectively disposed at both ends of the support frame 1. The support frame 1, the front support portion 2, and the rear support portion 3 form a gantry-type frame structure. An operating cavity 11 is formed below the frame structure, and the two sides of the operating cavity 11 are used for the entry and exit of the bogie 7. The clamping structure is disposed inside the operating cavity 11 and is connected to the support frame 1. The clamping structure includes a gripping mechanism and a lifting mechanism 6, which are connected by a transmission.

[0040] This embodiment transfers the bogie 7 by lifting it inside the mobile device, which not only meets the requirements of efficient assembly and handling, but also adopts a built-in lifting structure, resulting in a low lifting height and higher safety. Furthermore, the mobile device can be flexibly moved in any direction by controlling the wheel system assembly, moving the mobile device to the position of the bogie 7, and placing the bogie 7 in the operating cavity 11 of the mobile device. The bogie 7 can be grasped by opening the clamping structure.

[0041] like Figures 1-2 As shown, to protect the internal structure of the transfer structure, a surrounding shell 12 (with a reserved position for the protruding steering wheel 41) is designed according to the contours of the supporting frame 1 and the wheel system assembly. The shell 12 can support and cover the frame 1 and the wheel system assembly. The shell 12 is made of high-strength galvanized steel plate (1.5mm thick). Through the design of multi-angled bending ribs and honeycomb stamped grooves, the bending stiffness is increased by 40%. It is quickly connected with 304 stainless steel screws, and a single module can be disassembled and replaced within 5 minutes. The surface is phosphated and coated with 60~80μm epoxy powder, which is resistant to salt spray corrosion for >1000 hours. At the same time, the middle and rear parts are reserved for sensor quick-connect interface and heat dissipation grille.

[0042] In this embodiment, the support frame is designed to withstand a load of 12T to ensure its safety. The results obtained using finite element analysis are as follows: Figure 11 and Figure 12 As shown,

[0043] according to Figure 11 It can be seen that when subjected to 12 tons of pressure, the maximum bending deformation of the support frame is 3.2mm. The length of the support frame in this embodiment is 3500mm. Therefore, the deformation of the support frame is less than 1 / 1000 of the total length, thus meeting the design requirements.

[0044] according to Figure 12 It can be seen that, ignoring certain sharp-angled grid areas in the support frame, the minimum safety factor of the support frame is 5, which fully meets the design requirements of the industry standard for steel structure design, which is ≥1.5~2.0.

[0045] In this embodiment, the front axle wheel assembly is hinged to the support frame 1, and the rear axle wheel assembly is rigidly integrated with the support frame 1. The connecting end face of the rear axle frame 31 is CNC milled, and the rectangular tube joint is reinforced by CO2 gas shielded welding. The weld is 100% flaw-tested.

[0046] The wheel system assembly is installed at the bottom of the front support and the rear support. The wheel system assembly is provided with four sets of drive wheels 4. The front support 2 includes a front axle 21 and drive wheels 4 respectively disposed on both sides of the front axle 21. The rear support 3 includes a rear axle 31 and drive wheels 4 respectively disposed on both sides of the rear axle. Each of the four sets of drive wheels 4 includes a steering wheel 41 and a drive servo motor 42. The drive servo motor 42 is used to control the steering wheel 41 to complete the steering action.

[0047] The steering wheels 41 installed in the front support 2 and the rear support 3 are controlled by independent drive servo motors 42, enabling the mobile device to achieve lateral translation, longitudinal movement and zero-turning-radius rotation in place, with flexible path planning.

[0048] Each of the four drive wheels is equipped with an independent steering wheel and drive servo, enabling longitudinal movement, lateral translation, and zero-radius turning on the spot, providing high mobility and adaptability to confined working spaces. Furthermore, drive wheels 4 support modular assembly and disassembly, with a single drive wheel 4 replacement time of ≤30 minutes.

[0049] The support frame 1, front axle tray 21, and rear axle tray 31 are all made of Q235B carbon structural steel rectangular tubing (tensile strength ≥375MPa, yield strength 235MPa), manufactured through modular topology optimization design and automated welding process. The support frame 1 is composed of laser-cut rectangular steel tubing (section size 160×80×10mm), and high-strength connections are achieved using CO2 gas shielded welding, with all welds inspected for flaws.

[0050] Both the front and rear outriggers are support feet 43. In order to reserve enough height for the operating cavity 11, the steering wheel 41 is connected to the front bridge 21 / rear bridge 31 through the support feet 43. A placement plate 44 is provided between the two support feet 43 on one side of the front bridge 21 / rear bridge 31. The placement plate 44 can be used to place batteries or other electrical components.

[0051] Example 2

[0052] like Figures 3-4 As shown, in order to solve the technical problem that the mobile device is prone to detaching from the ground under complex road conditions, resulting in unstable transportation, the front axle frame 21 of this embodiment is provided with a hinge assembly 22. The front axle frame 21 is hinged to the support frame 1 through the hinge assembly 22. The front support part 2 also includes a stabilizing structure 23, which is disposed between the front axle frame 21 and the support frame 1. The rear axle frame is connected to the support frame 1 by bolts.

[0053] The hinge assembly 22 connects the front support 2 and the support frame 1, allowing the front axle system to achieve ±15° pitch / roll freedom adjustment. This ensures that the drive wheels 4 remain grounded in various complex road conditions, enabling the mobile device to adapt to all terrains.

[0054] like Figure 3 As shown, the rear support 3 is rigidly integrated with the support frame 1. The bolt connection between the rear axle and the support frame 1 uses high-strength bolts. Through the detachable connection, the frame supports modular disassembly and assembly, and the replacement time is shorter. The two fixed points of the rear support 3 cooperate with the single-point hinge of the front support 2 to form a three-point support structure. The moving device of the bogie 7 is based on the three-point support structure. The triangular force distribution ensures that the moving device dynamically fits the ground.

[0055] Furthermore, by setting a stabilizing structure 23 between the front axle frame 21 and the support frame 1, combined with the independent suspension and shock absorption design of the front axle frame 21, operational stability can be maintained under complex road conditions. Specifically, during the adjustment of the articulated assembly 22, the front axle frame 21 can avoid excessive tilting angle, preventing a hard collision between the front axle frame 21 and the support frame 1 during impact, reducing equipment vibration, and avoiding secondary fluctuations, thus making the transfer structure operate more smoothly.

[0056] The front support is flexibly connected to the support frame via a hinged assembly, and combined with a stable structure, it achieves pitch and roll self-adaptation; the rear support is rigidly fixed with bolts. This embodiment uses a one-flexible-two-rigid installation structure to form a three-point support structure, ensuring that all wheels are always in contact with the ground under complex road conditions, eliminating any suspension.

[0057] In this embodiment, the front axle wheel assembly adopts a multi-degree-of-freedom articulated structure. The articulation component 22 adopts a high-precision pin hinge (material 42CrMo, surface hardening treatment HRC 50-55). The front axle frame 21 and the support frame 1 are flexibly connected through the high-precision pin hinge. In this embodiment, the front axle frame 21 and the support frame 1 are equipped with a bidirectional hydraulic shock absorber to achieve all-terrain adaptation under complex road conditions.

[0058] Therefore, the front axle frame achieves multi-directional deflection through hinged components, and multiple sets of bidirectional hydraulic shock absorbers serve as a stabilizing structure. This not only keeps the support frame level and stable under stable road conditions, but also absorbs vibrations when the road surface is uneven or impacted, limits excessive tilting of the axle frame, avoids rigid collision between the axle frame and the support frame, and ensures continuous ground contact for all four wheels.

[0059] Furthermore, the hinge mechanism of this embodiment includes a spindle and two hinge supports. The two hinge supports are respectively mounted on the front axle frame 21 and the support frame 1. The two hinge supports are rotatably connected by the spindle. The spindle material is 42CrMo. It connects the front axle wheel assembly to the support frame 1 and needs to withstand a gravity of 5T. The hinge mechanism has a built-in self-lubricating copper sleeve, which is sleeved on the outer wall of the spindle. This ensures that the hinge mechanism will not jam during rotation, allowing the front axle ±15° pitch / tilt freedom and ensuring 4100% ground contact rate of the drive wheels.

[0060] Since the front axle frame in this embodiment is integrally welded from 80*40*8mm rectangular tubing, and the material is carbon structural steel Q235B, its stress analysis is as follows: Figure 13 As shown.

[0061] like Figure 13 As shown, the maximum deformation of the front axle frame was measured to be 2.12 mm. In this embodiment, the overall length of the front axle frame is 2500 mm. After calculation, this maximum deformation is only 1 / 1226 of the overall length, which is far below the allowable range of 1 / 1000. Therefore, it fully meets the design requirements.

[0062] In addition, such as Figure 14 As shown, the safety factor of the front axle frame was tested. After removing the influence of sharp points (compensated by welding) in the structure, the minimum safety factor of the front axle frame as a whole was 5, which met the design requirements.

[0063] Example 3

[0064] like Figures 1-10 As shown, the gripping mechanism 5 in this embodiment includes a crossbeam frame 51, a connector 52, a transmission unit 53, and a first drive unit 54 disposed on the crossbeam frame 51. The crossbeam frame 51 is connected to the lower part of the support frame 1. The first drive unit drives the transmission unit 53 to move. The connector 52 and the transmission unit 53 are connected by transmission. The transmission unit 53 causes the connector 52 to act on the bogie 7. The connector 52 includes a hook 521, which is used to hook the bogie 7 to achieve the suspension and support of the bogie 7. The transmission unit 53 rotates the hook 521, causing the arc-shaped contact surface of the hook 521 to act on the bogie 7, so that the hook 521 engages with the lower end of the shaft of the bogie 7. Then, the lifting mechanism 6 lifts the bogie 7 upward by the hook 521, thereby achieving the suspension of the bogie 7.

[0065] like Figures 7-9 As shown, the connector 52 also includes a load-bearing part 522. The hook part 521 and the load-bearing part 522 are integrally formed. The top of the load-bearing part 522 is provided with a positioning hole 523 and a movable hole 524. The transmission unit 53 includes a motion component, a connecting rod 531 and a positioning shaft 532. The first drive unit 54 drives the motion component to perform linear motion. The motion component and the load-bearing part 522 are movably connected through the connecting rod 531. The positioning shaft 532 is installed on the crossbeam frame 51 and is located below the first drive unit 54. The connector 52 is hinged to the positioning shaft through the positioning hole 523 and to the connecting rod 531 through the movable hole 524.

[0066] The connector 52 is made of 45 steel and undergoes quenching and tempering treatment. In this embodiment, the connector will be subjected to a maximum downward pressure of 2.5 tons. A stress analysis was performed on the connector, along with an impact force of 0.5G acceleration in the horizontal direction. The results obtained through finite element analysis are as follows: Figures 17-18 As shown, the maximum deformation of the connector is 1.8 mm, and the minimum safety factor of the connector is 9.5, which meets the design requirements.

[0067] In this embodiment, the motion component, connecting rod 531, and positioning shaft 532 together form a crank-slider transmission structure. One end of the connecting rod 531 moves linearly in a linear direction through the motion component, and the other end of the connecting rod 531 pushes or pulls the load-bearing part 522. Under the constraint of the positioning shaft fixedly installed on the crossbeam frame 51, the load-bearing part 522 rotates around the positioning shaft with the positioning shaft as the rotation axis. The hook part 521 acts on the lower end of the bogie 7 and is lifted and transported by the lifting mechanism.

[0068] To address the technical problem of excessive weight of railway bogies leading to damage to the clamping structure due to its inability to withstand excessive loads after lifting, the motion component of this embodiment includes a first lead screw transmission structure 533 and a first heavy-duty guide structure 534 arranged in parallel. The first lead screw transmission structure 533 includes a first transmission screw and a first nut seat. The first transmission screw is connected to a first drive unit 54, and the first nut seat moves linearly on the first transmission screw. The first heavy-duty guide structure 534 includes a first heavy-duty guide rail and a first load-bearing slider. The first nut seat and the first load-bearing slider are connected by a synchronization plate 535, which is hinged to a connecting rod 531.

[0069] The motion component includes two sets of first heavy-duty guide structures 534, which are arranged in parallel on both sides of the first lead screw transmission structure 533.

[0070] When the motion components are installed on the crossbeam frame 51, the load is concentrated and transferred to the crossbeam frame 51 through the first heavy-duty guide structure 534 with high load-bearing capacity when the connecting piece 52 is hoisting and transporting the bogie 7. The first lead screw transmission structure 533 does not bear gravity load after it stops working, which makes the gripping mechanism 5 have a longer service life. In addition, the first heavy-duty guide structure 534 can make the first lead screw transmission structure 533 transmit only axial driving force and not bear radial force or bending moment, which can avoid lead screw bending and wear of the first nut seat due to uneven load.

[0071] The first heavy-duty guide structure (rated dynamic load 34kN) integrated on both sides is connected to the 45 steel heat-treated connectors via a precision hinge shaft (40mm in diameter, hard chrome plated). The distance between the two connectors is locked by a high-strength synchronizing rod (42CrMo).

[0072] The first drive unit 54 uses a 1.0kW servo motor in conjunction with a planetary reducer. The first lead screw transmission structure 533 uses a C5-grade ball screw (20mm in diameter and 10mm in lead). The first drive unit 54 drives the C5-grade ball screw (20mm in diameter and 10mm in lead) to drive the connecting rod 531, so as to achieve precise rotation of the connecting part from 0 to 90°. After rotation into position, a self-locking mechanism will be formed to prevent accidental loosening during operation.

[0073] like Figures 7-9 As shown, when the connecting rod 531 is perpendicular to the axis of the first transmission screw at 90°, the system enters a mechanical self-locking state. In this state, the external load is transmitted to the crossbeam frame 51 through the first heavy-duty guide structure 534, and the first transmission screw and the first nut seat are completely removed from the force path, avoiding the transmission system from bearing impact loads.

[0074] Example 4

[0075] like Figures 1-6 As shown, the lifting mechanism of this embodiment includes a mounting body 61, a lifting unit 62, and a second drive unit 63. The mounting body 61 includes a top plate 611 and a bottom plate 612 arranged horizontally opposite each other. The lifting unit 62 and the second drive unit 63 are installed between the top plate 611 and the bottom plate 612. The top plate 611 is connected to the bottom of the support frame 1. The lifting unit 62 includes a lifting actuator 621, which is connected to the crossbeam frame 51. And / or, the lifting mechanism includes two sets of lifting units 62, which are symmetrically arranged on the mounting body 61.

[0076] Mounting body 61 is welded from structural carbon steel Q235B and can bear a weight of 7 tons while maintaining structural stability.

[0077] like Figures 5-7 As shown, in order to solve the technical problem that the lifting mechanism is prone to insufficient load-bearing capacity and jamming due to tilting and deviation when lifting the bogie 7 under heavy load, the mounting body 61 in this embodiment also includes two mounting plates 613. The two mounting plates 613 are vertically installed between the top plate 611 and the bottom plate 612. The outer walls of the two mounting plates 613 are evenly provided with a plurality of second heavy-duty guide structures 64. The second heavy-duty guide structure 64 includes a second heavy-duty guide rail and a second load-bearing slider. The second heavy-duty guide rail is disposed on the outer wall of the mounting plate 613, and the second load-bearing slider is installed on the inner wall of the guide opening 511 of the crossbeam frame 51. The crossbeam frame 51 is slidably connected to the mounting body 61 through the plurality of second heavy-duty guide structures 64.

[0078] Multiple sets of symmetrical second heavy-duty guide structures 64 are used for coordinated drive to ensure that the lifting mechanism can stably lift and lock the high-load bogie 7 operated by the grabbing mechanism 5.

[0079] like Figures 6-8 As shown, a guide opening 511 is provided in the middle of the crossbeam frame in this embodiment. The guide opening 511 is used for the installation body 61 to pass through. In order to facilitate the stable connection between the second heavy-duty guide structure and the crossbeam frame, an installation edge 512 is provided on the inner side of the guide opening 511. The installation edge 512 and the inner wall of the guide opening 511 form a right angle, so that one side of the connecting angle bracket 65, which is also a right angle, can connect to the second load-bearing slider of multiple second heavy-duty guide structures. The other side of the connecting angle bracket 65 is connected to the installation edge 512.

[0080] The crossbeam frame in this embodiment is based on a topology optimization design for heavy-duty box girders. The crossbeam frame is constructed from Q235B carbon structural steel with a closed box section (dimensions 150×100×10mm). Finite element analysis has verified its performance under a 7-ton rated load. Figures 15-16 As shown, the overall deformation is ≤0.5mm / m, and the safety factor is 2.4.

[0081] Furthermore, the crossbeam frame achieves uniform stress distribution through a multi-chamber reinforcing rib layout, and key welds adopt double-sided bevel welding and local reinforcement plate design.

[0082] like Figure 6 As shown, the lifting unit 62 also includes a worm gear 622, a worm 623, and a second lead screw transmission structure 624. The second lead screw transmission structure 624 includes a threaded second screw and a second nut seat. The output shaft of the second drive unit 63 is connected to the worm 623. The worm gear 622 is coaxially fixed with the second screw. The second nut seat moves axially along the second screw. The second nut seat is connected to the crossbeam frame 51 through the lifting actuator 621.

[0083] The second drive unit 63 drives the worm gear 623 to rotate, which in turn causes the second screw, coaxially connected to the worm wheel 622, to rotate axially. The second screw converts the rotational motion into the linear lifting motion of the second nut seat along the screw. Since the bogie 7 needs to overcome a load of 4-30 tons when lifted, and the torque directly output by the traditional motor is usually small, this solution chooses to indirectly drive the second screw of the second lead screw transmission structure 624 to rotate by driving the worm wheel 622 and worm gear 623 with the motor, so that the bogie 7 can be lifted. The transmission ratio of the worm wheel 622 and worm gear 623 is large and the torque amplification effect is significant, which can convert the small torque of the motor into the large torque of the drive screw, thus meeting the lifting requirements of the bogie 7.

[0084] In this embodiment, the second lead screw drive structure 624 adopts a dual C5 grade ball screw (50mm in diameter, 38CrMoAlA material). The second lead screw drive structure 624 and the second heavy-duty guide structure 64 work together in a coordinated drive architecture. The second drive unit 63 adopts a 3kW servo motor.

[0085] The lifting mechanism 6 is equipped with two dual C5-grade ball screws synchronously driven by a 3kW servo motor (overload capacity 300%). Each screw can provide 10 tons of vertical lifting force. The dual-system redundancy design ensures stable output under extreme working conditions.

[0086] The second heavy-duty guide structure 64 adopts a four-row roller structure (rated dynamic load 45kN). A hardened positioning tapered hole with a 1:10 taper is integrated at the top to ensure a guiding fit with the bogie 7 spindle and prevent swaying during movement.

[0087] In addition, a manual height adjuster is provided. The top of the manual height adjuster 66 extends to the outside of the top plate 611, and a detachable baffle is provided at the corresponding position of the outer shell 12 of the support frame 1, so that the operator can open the baffle to manually adjust from the position of the support frame.

[0088] In actual production, if the lifting mechanism malfunctions, the bogie 7 can be lowered by manually rotating the lifting screw using the manual height adjuster 66.

[0089] Example 5

[0090] This embodiment also includes a scheduling module and an obstacle avoidance module. The scheduling module is used to control the transfer structure to accurately position the bogie 7. The obstacle avoidance module is used to avoid collisions when the transfer structure moves. The obstacle avoidance module detects the surrounding environment in real time to prevent collisions during equipment operation.

[0091] It also includes a control module, which uses a dual-core redundant industrial-grade industrial control computer. The control module communicates with the scheduling module and the obstacle avoidance module.

[0092] The scheduling module is located inside the transfer structure and is used to identify the positioning of the bogie 7 within the operating cavity 11. The scheduling module includes multiple 3D vision cameras and LiDAR, which work together to achieve high-precision positioning of the bogie. The LiDAR acquires 3D point cloud data of the overall external contour of the bogie through high-frequency scanning, achieving coarse positioning of ±5mm within a 3m recognition distance. The 3D vision cameras then capture the geometric features of the flange-rail junction at sub-pixel resolution (2448×2048), achieving relative position correction of ±1mm accuracy through a feature point cloud registration algorithm. After filtering and fusion of the 3D vision camera and LiDAR data, the system can generate the bogie's six-degree-of-freedom pose parameters in real time and drive the moving device through closed-loop control to achieve precise picking and placement of the bogie.

[0093] The obstacle avoidance module includes LiDAR sensors installed at both the front and rear ends of the transport structure. These LiDAR sensors emit high-frequency laser beams and receive reflected signals to generate 3D point cloud data of the environment. A scanning matching algorithm is used to register the real-time point cloud with an existing map or sub-map, thereby correcting accumulated errors in the odometer and achieving high-precision positioning. This enables the construction of a high-precision digital map of the maintenance area, allowing for real-time and accurate determination of the mobile device's location. The obstacle avoidance module also includes four high-precision 3D LiDAR sensors and two vision cameras. The four high-precision 3D LiDAR sensors are symmetrically deployed at the four corners of the vehicle body, and the two vision cameras are located at the front and rear ends of the transport structure. This allows for multi-dimensional prediction of collision risks and enables safe avoidance in complex environments.

[0094] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A bogie moving device, characterized in that: It includes a transfer structure and a clamping structure. The transfer structure includes a support frame (1) and a wheel assembly. The wheel assembly includes a front support (2) and a rear support (3) respectively located at both ends of the support frame (1). The support frame (1), the front support (2) and the rear support (3) form a gantry frame structure. An operating cavity (11) is formed below the frame structure. The two sides of the operating cavity (11) are used for the entry and exit of the bogie (7). The clamping structure is located inside the operating cavity (11). The clamping structure is connected to the middle position of the support frame (1). The clamping structure includes a gripping mechanism (5) and a lifting mechanism (6). The gripping mechanism (5) and the lifting mechanism (6) are connected by transmission. The gripping mechanism (5) is used to clamp and constrain the bogie (7). The lifting mechanism (6) is used to lift the bogie (7) and then transport the bogie (7) through the transfer mechanism. The front support (2) includes a front axle frame (21), a hinge assembly (22) and two front support legs. The two front support legs are located on both sides of the bottom surface of the front axle frame (21). The hinge assembly (22) is located in the middle of the top surface of the front axle frame (21). The front axle frame (21) is hinged to the support frame (1) through the hinge assembly (22). The rear support (3) includes two rear support legs. The two rear support legs are bolted to the support frame (1). The two rear support legs of the rear support (3) and the hinge assembly (22) of the front support (2) form a three-point support structure on the support frame (1). The front support (2) also includes a stabilizing structure (23), which is disposed on both sides of the hinge assembly (22). Each of the stabilizing structures (23) is disposed between the front axle frame (21) and the support frame (1). The stabilizing structure (23) works in coordination with the three-point support structure to maintain the stability of the three-point support structure.

2. The bogie moving device according to claim 1, characterized in that: The wheel system assembly also includes four sets of drive wheels (4), which are respectively located on the front support and the rear support. Each of the four sets of drive wheels (4) includes a steering wheel (41) and a drive servo (42). The drive servo (42) is used to control the steering wheel (41) to achieve steering action.

3. The bogie moving device according to claim 1, characterized in that: The stabilizing structure (23) includes multiple shock absorbers. Two rows of shock absorbers are provided on both sides of the front axle frame (21). The shock absorbers are arranged between the front axle frame (21) and the support frame (1) for balance and shock absorption.

4. The bogie moving device according to claim 1, characterized in that: The gripping mechanism (5) includes a crossbeam frame (51), a connector (52), a transmission unit (53), and a first drive unit (54) disposed on the crossbeam frame (51). The crossbeam frame (51) is connected to the support frame (1) below. The first drive unit (54) drives the transmission unit (53) to move. The connector (52) and the transmission unit (53) are connected by transmission. The connector (52) acts on the bogie (7) through the transmission unit (53). The connector (52) includes a hook (521) for hooking the bogie (7) to achieve suspension support for the bogie (7).

5. The bogie moving device according to claim 4, characterized in that: The connector (52) also includes a load-bearing part (522). The hook part (521) and the load-bearing part (522) are integrally formed. The top of the load-bearing part (522) is provided with a positioning hole (523) and a movable hole (524). The transmission unit (53) includes a motion component, a connecting rod (531) and a positioning shaft (532). The first drive unit (54) drives the motion component to perform linear motion. The motion component and the load-bearing part (522) are movably connected through the connecting rod (531). The positioning shaft (532) is installed on the crossbeam frame (51) and is located below the first drive unit (54). The connector (52) is hinged to the positioning shaft (532) through the positioning hole (523) and the connector (52) is hinged to the connecting rod (531) through the movable hole (524).

6. The bogie moving device according to claim 5, characterized in that: The motion assembly includes a first lead screw transmission structure (533) and a first heavy-duty guide structure (534) arranged in parallel with each other. The first lead screw transmission structure (533) includes a first transmission screw and a first nut seat. The first transmission screw is connected to a first drive unit (54). The first nut seat moves linearly on the first transmission screw. The first heavy-duty guide structure (534) includes a first heavy-duty guide rail and a first load-bearing slider. The first nut seat and the first load-bearing slider are connected by a synchronization plate (535). The synchronization plate (535) is hinged to the connecting rod (531). And / or, the motion assembly includes two sets of first heavy-duty guide structures (534). The two sets of first heavy-duty guide structures (534) are arranged in parallel on both sides of the first lead screw transmission structure (533).

7. The bogie moving device according to claim 4, characterized in that: The lifting mechanism (6) includes a mounting body (61), a lifting unit (62), and a second drive unit (63). The mounting body (61) includes a top plate (611) and a bottom plate (612) arranged horizontally opposite each other. The lifting unit (62) and the second drive unit (63) are installed between the top plate (611) and the bottom plate (612). The top plate (611) is connected to the bottom of the support frame (1). The lifting unit (62) includes a lifting actuator (621) which is connected to the crossbeam frame (51). And / or, the lifting mechanism (6) includes two sets of lifting units (62), which are symmetrically arranged on the mounting body (61). And / or, a guide opening (511) is provided in the middle of the crossbeam frame (51), which is used to pass through the mounting body (61).

8. The bogie moving device according to claim 7, characterized in that: The mounting body (61) also includes two mounting plates (613), which are vertically mounted between the top plate (611) and the bottom plate (612). The outer walls of the two mounting plates (613) are evenly provided with a plurality of second heavy-duty guide structures (64). The second heavy-duty guide structure (64) includes a second heavy-duty guide rail and a second load-bearing slider. The second heavy-duty guide rail is disposed on the outer wall of the mounting plate (613), and the second load-bearing slider is installed on the inner wall of the guide opening (511) of the crossbeam frame (51). The crossbeam frame (51) is slidably connected to the mounting body (61) through the plurality of second heavy-duty guide structures (64).

9. The bogie moving device according to claim 7, characterized in that: The lifting unit (62) further includes a worm gear (622), a worm (623), and a second lead screw transmission structure (624). The second lead screw transmission structure (624) includes a threaded second screw and a second nut seat. The output shaft of the second drive unit (63) is connected to the worm (623) for transmission. The worm gear (622) is coaxially fixed with the second screw. The second nut seat moves along the axial direction of the second screw. The second nut seat is connected to the crossbeam frame (51) through the lifting actuator (621).

10. The bogie moving device according to claim 1, characterized in that: It also includes a scheduling module and an obstacle avoidance module. The scheduling module is used to control the precise positioning of the bogie (7) of the transfer structure, and the obstacle avoidance module is used to avoid collisions when the transfer structure moves.

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