Vacuum tube high-temperature superconducting pinned magnetic levitation system multifunctional inspection vehicle

Abstract

The application discloses a kind of vacuum pipeline high-temperature superconducting pinning magnetic levitation system multifunctional inspection car, belong to magnetic levitation track maintenance equipment technical field, including car shell, vehicle frame, walking mechanism, signal acquisition mechanism and signal processing mechanism;By car shell is cladded and fixed on vehicle frame, to form the cabin that can be isolated with vacuum pipeline between car shell and vehicle frame, for containing maintenance personnel or related articles, and by walking mechanism drives cabin to walk along track;Real-time acquisition and processing are carried out to the condition in vacuum pipeline and cabin by the signal acquisition mechanism and signal processing mechanism of corresponding arrangement simultaneously, to realize real-time maintenance work to vacuum pipeline.The vacuum pipeline high-temperature superconducting pinning magnetic levitation system multifunctional inspection car of the application can realize all-around maintenance to high-temperature superconducting pinning magnetic levitation vacuum pipeline, and have the function of traction equipment, can play a good role in promoting and realizing high-temperature superconducting pinning magnetic levitation technology commercial application.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of magnetic levitation track maintenance equipment, and particularly relates to a multifunctional inspection vehicle for a high-temperature superconducting pinned magnetic levitation system in a vacuum pipeline. BACKGROUND

[0002] With the increasing demand for the running speed of rail transit trains, various types of high-speed trains have emerged, among which high-speed magnetic levitation trains realize the floating operation and propulsion of the train by using the principle of magnetic suspension and magnetic propulsion. Compared with the traditional wheel-rail train, the high-speed magnetic levitation train has the advantages of high speed, stability, environmental protection and large load, and has been widely used. It is constantly pursuing higher speed and more advanced technology, and is one of the important development directions of future rail transportation.

[0003] Among them, the high-temperature superconducting pinned magnetic levitation train is one of the mainstream high-speed magnetic levitation systems currently being researched in China. It generates a strong magnetic field by pinning the magnet on the track, and then uses the magnetic levitation force to make the train float and keep balance. Compared with the traditional permanent magnet magnetic levitation technology, the pinned magnetic levitation can provide higher rated operating speed and greater load capacity.

[0004] Since the high-temperature superconducting pinned magnetic levitation train operates in a vacuum pipeline, during the test process, the train may have application scenarios such as inspection of the vacuum pipeline, patrol inspection in the vacuum environment, transportation of light cargo equipment, rescue of test vehicles, etc. Due to the complex internal environment of the vacuum pipeline, manual entry into the internal maintenance of the vacuum pipeline must eliminate the internal vacuum state, resulting in additional energy consumption. Therefore, in the process of researching and commercializing the high-temperature superconducting pinned magnetic levitation train, in addition to overcoming the high-temperature superconducting pinned magnetic levitation technology, it is also necessary to propose an efficient maintenance scheme for the high-temperature superconducting magnetic levitation vacuum pipeline. At present, the related research institutions at home and abroad are still in the initial stage of designing the maintenance scheme for the vacuum pipeline, and there is no effective scheme. SUMMARY

[0005] In view of one or more of the above defects or improvement needs of the prior art, the application provides a multifunctional inspection vehicle for a high-temperature superconducting pinned magnetic levitation system in a vacuum pipeline, which can patrol and inspect the vacuum pipeline in a vacuum environment and transport related cargo equipment, thereby improving the functionality and practicality of the inspection vehicle.

[0006] To achieve the above purpose, the application provides a multifunctional inspection vehicle for a high-temperature superconducting pinned magnetic levitation system in a vacuum pipeline, which comprises a vehicle shell, a vehicle frame, a walking mechanism, a signal acquisition mechanism and a signal processing mechanism.

[0007] The frame comprises a connecting frame and side bases arranged at both sides of the connecting frame, the shell is fixed on the frame, and a vehicle cabin is formed between the shell and the frame;

[0008] At least two walking mechanisms are arranged at the bottom of each side base, the walking mechanism comprises a walking wheel and a driving assembly, the walking wheel is rotationally connected with the side base, and the driving assembly drives the walking wheel to drive the frame to walk;

[0009] The signal collecting mechanism is arranged on the shell and is used for collecting real-time conditions of the vacuum pipeline and the inside of the vehicle cabin;

[0010] The signal processing mechanism is arranged in the vehicle cabin and is connected with the signal collecting mechanism, and is used for receiving and processing the collected information of the signal collecting mechanism.

[0011] As a further improvement of the application, a towing mechanism is further arranged, which is used for connecting with an external load to tow the external load by the multifunctional inspection vehicle;

[0012] The towing mechanism is arranged at the end of the inspection vehicle and comprises a mounting seat, a stopper and a driving part;

[0013] One end of the mounting seat is fixedly connected with the end of the frame, a cavity with a polygonal opening is arranged in the middle of the mounting seat, a stepped sliding groove with a height difference is arranged on the side wall of the mounting seat, and the stepped sliding groove is formed by a transition groove at the step of the stepped sliding groove.

[0014] The stopper is arranged in the cavity of the mounting seat, the stopper can move along the stepped sliding groove under the driving of the driving part, and one end of the stopper can extend out of the mounting seat when the stopper moves to the bottom end of the stepped sliding groove, and a hook is arranged at the extendable end of the stopper and is used for hooking with the external load.

[0015] As a further improvement of the application, a towing bracket is further arranged, one end of the towing bracket is fixedly connected with the end of the frame, the other end of the towing bracket is connected with the mounting seat, and the mounting seat and the frame are fixedly connected through the towing bracket;

[0016] The driving part comprises a telescopic electric push rod, one end of the electric push rod is rotationally connected with the towing bracket, and the other end of the electric push rod is rotationally connected with the stopper, so that the stopper is driven to move through the telescopic driving of the electric push rod.

[0017] And / or

[0018] At least one roller is further arranged, the roller is rotationally connected with the stopper, is matched and embedded in the stepped sliding groove, and can roll along the stepped sliding groove.

[0019] As a further improvement of the present invention, a laser sensor is also provided in the dragging mechanism to detect the dragging position and automatically detect the hook position of the load to be dragged.

[0020] As a further improvement of the present invention, the drive assembly includes a vacuum reducer and a vacuum motor fixed on the side base, and the traveling wheel is connected to the vacuum reducer via a coupling;

[0021] and / or

[0022] It also includes a supplementary power drive assembly, which is connected to the running wheels and serves as a backup drive assembly to provide driving force to the running wheels.

[0023] As a further improvement of the present invention, the side base is stepped, the bottom plate of the stepped side base is used as the bottom plate of the inspection vehicle, and at least one seat is provided on the steps of the side base, the seat being detachably connected to the side base.

[0024] As a further improvement of the present invention, signal acquisition mechanisms are respectively provided in the vacuum pipe and the vehicle cabin, and the signal acquisition mechanisms include at least one of a camera, an environmental detection system, a thermal imager, and a light source.

[0025] As a further improvement of the present invention, the camera is disposed at both ends of the exterior of the vehicle body, diagonally inside the cabin, and at the outer end of the side base, so as to monitor the vacuum pipe, the cabin, and the magnetic levitation track respectively.

[0026] The environmental monitoring system is connected and installed on the outside of the vehicle body and inside the vehicle cabin. It includes a temperature sensor, a humidity sensor and a pressure sensor to monitor the temperature, humidity and air pressure values ​​of the vacuum pipe and the vehicle cabin in real time.

[0027] As a further improvement of the present invention, an electrical compartment is provided in the vehicle cabin. The electrical compartment is a sealed shell structure that maintains a normal atmospheric pressure environment inside, and the signal processing mechanism is located in the electrical compartment.

[0028] As a further improvement of the present invention, the electrical compartment is configured in two layers, including an outer compartment and an inner compartment disposed within the outer compartment, the signal processing mechanism is disposed in the inner compartment, and both the outer compartment and the inner compartment are filled with inert gas;

[0029] and / or

[0030] The electrical compartment is also equipped with a wireless communication module, which can perform automatic control and signal transmission in an unmanned inspection state.

[0031] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0032] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include:

[0033] (1) The high-temperature superconducting pinning magnetic levitation system for vacuum pipelines of the present invention is a multi-functional inspection vehicle. It is constructed by setting up a frame and covering the frame with a shell to form a cabin that can be isolated from the vacuum pipeline between the shell and the frame. This cabin is used to accommodate maintenance personnel or related items and is driven to move along the track by a walking mechanism. At the same time, the corresponding signal acquisition mechanism and signal processing mechanism collect and process the status of the vacuum pipeline and the cabin in real time, thereby realizing real-time maintenance of the vacuum pipeline.

[0034] (2) The multi-functional inspection vehicle of the vacuum pipeline high temperature superconducting pinning magnetic levitation system of the present invention sets the signal processing mechanism in the electrical compartment and keeps the electrical compartment at normal pressure to ensure that the relevant electrical components in the electrical compartment are not affected by the vacuum environment in the vacuum pipeline; at the same time, the drive components in the walking mechanism are set as vacuum motor and vacuum reducer to ensure that when the inspection vehicle enters the pipeline for work in a vacuum state, it can adapt to the application scenario of high temperature superconducting pinning magnetic levitation track vacuum pipeline and avoid frequent changes in the internal pressure of the vacuum pipeline due to maintenance.

[0035] (3) The high-temperature superconducting pinning magnetic levitation system for vacuum pipelines of the present invention has a multi-functional inspection vehicle. By setting a towing mechanism on the inspection vehicle, the inspection vehicle can be used as a tractor to tow loads in the vacuum state inside the pipeline or to move experimental equipment to any position inside the vacuum pipeline, which further increases the function of the inspection vehicle and realizes the multi-functionality of the inspection vehicle.

[0036] (4) The multi-functional inspection vehicle of the vacuum pipeline high temperature superconducting pinned magnetic levitation system of the present invention can realize the all-round inspection of high temperature superconducting pinned magnetic levitation vacuum pipeline, and has the function of traction equipment. It can play a good role in promoting and realizing the commercial application of high temperature superconducting pinned magnetic levitation technology and has a wide range of application prospects. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is an external schematic diagram of the multi-functional inspection vehicle for the high-temperature superconducting pinning magnetic levitation system in the vacuum pipeline, as described in the embodiment.

[0039] Figure 2 This is a schematic diagram of the cross-sectional structure of the inspection vehicle inside the vacuum pipe of the high-temperature superconducting pinned magnetic levitation system in the embodiment;

[0040] Figure 3 This is a schematic diagram of the multi-functional inspection vehicle carrying personnel status of the high-temperature superconducting pinning magnetic levitation system in the vacuum pipeline in the embodiment;

[0041] Figure 4 This is a schematic diagram of the overall structure of the vehicle frame in the embodiment;

[0042] Figure 5 This is a schematic diagram of the walking mechanism in the embodiment;

[0043] Figure 6 This is a schematic diagram of the external structure of the electrical compartment in the embodiment;

[0044] Figure 7 This is a front view of the multi-functional inspection vehicle in the embodiment;

[0045] Figure 8 This is a side view of the multi-functional inspection vehicle in the embodiment;

[0046] Figure 9 This is a schematic diagram of the towing mechanism of the over-function inspection vehicle in the embodiment;

[0047] Figure 10 This is a schematic diagram showing the connection between the multi-functional inspection vehicle towing the train model and the moving part in the embodiment.

[0048] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Vehicle shell; 101. Door; 2. Frame; 201. Seat; 202. Side base; 203. Connecting frame; 3. Walking mechanism; 301. Running wheel; 302. Bearing; 303. Coupling; 304. Vacuum reducer; 305. Vacuum motor; 4. Signal acquisition mechanism; 5. Vacuum pipe; 6. Electrical compartment; 7. Fire extinguisher box; 8. Towing mechanism; 801. Towing bracket; 802. Electric push rod; 803. Stop; 804. Mounting base; 805. Roller; 806. Stepped slide; 807. Laser sensor; 9. Model car mover; 10. Item box; 11. Magnetic levitation track; 12. Inspection car track. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] Example:

[0055] Please see Figures 1-10 The multi-functional inspection vehicle of the vacuum pipeline high-temperature superconducting nailing magnetic levitation system in the preferred embodiment of the present invention includes a vehicle shell 1, a vehicle frame 2, a walking mechanism 3, a signal acquisition mechanism 4, and a signal processing mechanism.

[0056] Specifically, such as Figure 1 As shown, in the preferred embodiment, the car body 1 has an inwardly convex structure and covers the top of the frame 2 to form the outer shell of the inspection vehicle, so as to form a compartment separated from the vacuum pipe 5 between the car body 1 and the frame 2, for the storage of related equipment and items and for personnel to enter the compartment to carry out related inspection operations.

[0057] Accordingly, at least one door 101 is also provided on the vehicle body 1 for personnel and goods to enter and exit. In a preferred embodiment, one door 101 is provided on each of the two sides of the vehicle body 1.

[0058] Of course, the cabin can also be set as a completely sealed environment that can be completely isolated from the external environment, and the environment inside the cabin can be set as an atmospheric environment that humans can survive in, so that the vacuum pipe 5 can be inspected and maintained when it is in a vacuum environment.

[0059] In actual setup, the cross-sectional edge contour of the body shell 1 should be confined within the cross-section of the vacuum pipe 5, and its external dimensions should meet the boundary requirements of the vacuum pipe 5. The maximum width of the internal space should be less than 2850mm, and the maximum standing height between the internal top and the floor of the frame 2 should be 1750mm.

[0060] Furthermore, such as Figure 3 and Figure 4 The frame 2 in the preferred embodiment shown includes two side bases 202 and a connecting frame 203 that connects the two side bases 202 together. Preferably, the connecting frame 203 is an arched structure, and the two side bases 202 are symmetrically arranged on both sides of the connecting frame 203 with a lateral spacing.

[0061] Preferably, the side base 202 is configured as a stepped base, wherein the bottom plate of the stepped base forms the interior floor of the inspection vehicle, and seats 201 are provided on the steps for staff use. In a preferred embodiment, two seats 201 are provided on each side base 202, and the seats 201 on the two side bases 202 are arranged opposite each other. According to the width design of a second-class seat on a high-speed train, each seat is 430mm wide, and the total arrangement width does not exceed 900mm.

[0062] Preferably, the seat 201 is detachably connected to the side base 202 and is fixed to the side base 202 by a detachable seat buckle. The seat 201 itself is a detachable structure so that when it is necessary to transport large items through the inspection vehicle, part or all of the seat 201 can be removed to free up space.

[0063] In addition, the frame 2 in this embodiment is welded from multiple stainless steel square tubes, and the connecting plate at the connection with the car body 1 and the bottom plate of the side base 202 are made of stainless steel plate.

[0064] Preferably, a fire extinguisher box 7 and a storage box 10 are also provided in the internal space formed by the frame 2 and the shell 1. The fire extinguisher box 7 contains fire extinguishers to ensure timely handling of any fires that may occur inside the vacuum pipe. The storage box 10 contains tools and personal items that may be needed.

[0065] Furthermore, such as Figure 5 As shown, in the preferred embodiment, the walking mechanism 3 is located at the bottom of the side base 202, and at least two walking mechanisms 3 are provided at the bottom of each side base 202, including a walking wheel 301 and a drive assembly; wherein, the drive assembly is fixedly connected to the side base 202, including a vacuum reducer 304 and a vacuum motor 305 connected thereto; the walking wheel 301 is rotatably connected to the bottom of the side base 202 through a bearing 302, and is connected to the vacuum reducer 304 through a coupling 303, so as to rotate under the drive of the drive assembly and drive the inspection vehicle to move, and the drive assembly can still drive the multi-functional inspection vehicle to move normally even in the vacuum pipe 5 under vacuum conditions.

[0066] In this embodiment of the invention, a vacuum motor 305 and a vacuum reducer 304 serve as the main driving force to drive the traveling wheels 301. In addition, a linear motor is configured between the bottom of the frame 2 and the magnetic levitation track 11 mounting platform as a supplementary power drive component. The carbon steel of the magnetic track mounting platform serves as the sensing surface. Two linear motors are arranged at the bottom of the frame 2 of the multi-functional inspection vehicle so that when the vacuum motor 305 fails, the linear motors can provide driving force to the traveling wheels 301. This ensures that when the multi-functional inspection vehicle fails, it can return to the repair point under the drive of the linear motors. Alternatively, when the inspection vehicle is towing a large load, the linear motors can serve as an auxiliary driving force to improve the traction of the inspection vehicle.

[0067] Furthermore, in a preferred embodiment, two additional inspection vehicle tracks 12 are laid inside the vacuum pipe 5 along the extension direction of the magnetic levitation track 11, and are respectively set on both sides of the magnetic levitation track 11. The running wheels 301 travel along the inspection vehicle tracks 12 inside the vacuum pipe 5. In the preferred embodiment, the inspection vehicle tracks 12 adopt I-beam steel rails, matched with running steel wheels, resulting in a simple chassis walking structure. Furthermore, the magnetic levitation track 11 is not used, thus freeing it up, leading to lower costs. Additionally, the magnetic levitation track 11 can be inspected by the inspection vehicle carrying a corresponding track inspection system, improving work efficiency.

[0068] Furthermore, in the preferred embodiment, signal acquisition mechanisms 4 are provided both inside and outside the vehicle body 1, and interfaces are reserved on the vehicle body 1 for the installation of the signal acquisition mechanisms 4. The signal acquisition mechanism 4 in the preferred embodiment includes at least one of a camera, an environmental detection system, a thermal imager, and a light source, to collect information such as air pressure, temperature, humidity, and real-time environmental and equipment conditions inside the vacuum pipe 5 and the inspection vehicle.

[0069] The cameras, serving as a video surveillance system, can be installed in multiple locations on the multi-functional inspection vehicle, using either dome or bullet cameras. Dome cameras, supporting wired / wireless high-definition 4MP 1080p, are installed on the front and rear sides of the vehicle's exterior and diagonally inside the cabin; bullet cameras are primarily installed for the track inspection system's operation or for viewing the stator installation direction.

[0070] like Figure 7 and Figure 8 The specific arrangement scheme of the preferred embodiment shown is as follows:

[0071] Spherical cameras are installed at both ends of the multi-functional inspection vehicle to monitor the real-time status of the pipeline. During maintenance operations, they can detect personnel or dangerous objects intruding into the pipeline, and personnel inside the vehicle can use voice signals to drive them away in a timely manner.

[0072] The multi-functional inspection vehicle has spherical cameras installed diagonally inside the cabin to monitor the status inside the cabin and to enable remote communication between the ground control center and the personnel on board when the vehicle is in operation.

[0073] A camera is installed at the end of the side base 202 of the multi-functional inspection vehicle to monitor the track section. The ground control center can remotely view the monitoring video of the track section, which facilitates the monitoring of standardized operation processes.

[0074] Furthermore, the environmental monitoring system in the preferred embodiment mainly includes temperature sensors, humidity sensors, pressure sensors, etc., serving as an environmental monitoring system for the interior of the vacuum pipeline 5 and the inspection vehicle. Its main functions are as follows:

[0075] The environmental monitoring system is equipped with sensors to meet the requirements of both normal and low-pressure atmospheric environments;

[0076] The system monitors the air pressure, temperature, humidity, and smoke alarm data inside the pipeline and inspection vehicle in real time, and the ground control center can display the relevant data synchronously in real time. When the air pressure inside the inspection vehicle is lower than 7.4×101.4 Pa, a warning is required; when the air pressure is lower than 5.3×101.4 Pa, a danger warning is required; and when the air pressure is lower than 3.2×101.4 Pa, the maintenance work must be stopped.

[0077] Display the environmental information inside the pipeline at the end of the pipeline or at an appropriate location to ensure the safety of personnel working with the multi-functional inspection vehicle;

[0078] It meets the requirements of multi-sensor redundancy design to ensure the reliability and credibility of detection data.

[0079] Furthermore, because the operating environment of a multi-functional inspection vehicle is relatively confined and complex, with numerous electrical devices distributed throughout, equipping it with an online thermal imager is a relatively effective detection device to ensure that the vehicle can effectively eliminate potential hazards within the pipeline. The online thermal imager can meet the requirements of the working environment inside the pipeline and supports the replacement of cameras with various viewing angle parameters. Combined with a pan-tilt unit, it can achieve all-round, blind-spot-free environmental monitoring.

[0080] The combination of the environmental monitoring system and the online thermal imager can both trigger the operational status of the fire extinguishing system. The online thermal imager, as an auxiliary device for triggering the fire extinguishing system, provides better protection for the environmental safety inside the multi-functional inspection vehicle. Furthermore, the online thermal imager can be equipped with a pan-tilt unit to change the detection angle and perform online thermal imaging observation of the environment inside pipelines.

[0081] The environmental monitoring system can operate within pipelines in temperatures ranging from -10℃ to 50℃, including monitoring the environment inside the inspection vehicle, the electrical sealed chamber, and the pipeline itself. In addition to recording, storing, and displaying the environmental monitoring status locally on the inspection vehicle and online, the data must also be transmitted to the ground control center via vehicle-to-ground wireless communication. An online thermal imager can meet the needs of both pipeline environmental monitoring and the thermal imaging status monitoring of the multi-functional inspection vehicle itself.

[0082] Furthermore, in the preferred embodiment, the signal processing mechanism 4 is located inside the vehicle cabin and connected to the signal acquisition mechanism to receive and process the acquisition information from the signal acquisition mechanism 4.

[0083] In a preferred embodiment, the corresponding signal processing mechanism is further provided with an electrical compartment 6, which is a sealed shell structure. The interior of the compartment is set to maintain a normal atmospheric pressure environment, and the relevant electrical control components of the signal processing mechanism are integrated and set in the electrical compartment 6 to ensure that the electrical components in the electrical compartment 6 are not affected by the vacuum environment in the vacuum pipe 5.

[0084] In actual setup, the electronic control components include, but are not limited to, monitors, thermal imagers, temperature transmitters, motor drivers, 24V power switches, pressure sensors, PLC controllers, industrial switches, cooling fans, temperature and humidity sensors, etc.

[0085] Meanwhile, the electrical compartment 6 is also equipped with a wireless communication module, which enables automatic control and signal transmission of the multi-functional inspection vehicle in unmanned inspection mode.

[0086] Preferably, an observation port is also provided on the side of the electrical compartment 6 to observe from the outside of the electrical compartment 6 whether the relevant components inside the electrical compartment 6 are in normal condition.

[0087] Preferably, the electrical compartment 6 is configured as a double-layered structure, including an outer compartment and an inner compartment spaced apart within the outer compartment. The signal processing mechanism is located in the inner compartment, and both the outer and inner compartments are filled with high-purity inert gas, preferably nitrogen, to prevent the electrical components from being oxidized. The redundant arrangement of the inner and outer compartments ensures that the internal gas pressure does not leak.

[0088] like Figure 6 In the preferred embodiment shown, the electrical compartment 6 is made of 5mm thick stainless steel. Its outer compartment has overall dimensions of 1100mm × 510mm × 400mm, and its inner compartment is a small, sealed compartment with dimensions of 500mm × 440mm × 380mm. The interior is wrapped with aluminum foil for moisture protection. Simultaneously, the cable outlet connector is connected using a sealed flange.

[0089] Furthermore, in a preferred embodiment, a towing mechanism 8 is also provided at the end of the multi-functional inspection vehicle. It is located at the end of the inspection vehicle and is used to connect with an external load so that the multi-functional inspection vehicle can pull the external load. The control system of the towing mechanism 8 is integrated into the electrical compartment 6.

[0090] Specifically, such as Figure 9 As shown, the towing mechanism 8 in the preferred embodiment includes a stop 803, a mounting base 804, and a drive component; wherein, one end of the mounting base 804 is fixedly connected to the end of the frame 2, and a cavity with polygonal openings is provided in the middle of the mounting base 804, while a stepped slide groove 806 with a height difference is opened on the side wall of the mounting base 804, and the steps of the stepped slide groove 806 are transitioned by a transition groove to form a smooth stepped slide groove 806.

[0091] Meanwhile, the stop block 803 is set in the cavity of the mounting base 804 and can move up and down and back and forth along the stepped slide 806 under the drive of the drive component. When it moves to the bottom of the stepped slide 806, one end of the stop block 803 can extend out of the mounting base 804. At the same time, a hook is provided on the extendable end of the stop block 803 so that when it is necessary to pull the external load, the stop block 803 can be moved to the bottom of the stepped slide 806 to expose the hook and hook the external load for traction, thereby realizing the towing function of the towing mechanism 8 and driving the load to be towed to move along the inspection vehicle track 12 in the vacuum channel 5.

[0092] Accordingly, after the load is dragged to the destination, the stop block 803 is slid to the highest point of the stepped slide 806. As the stop block 803 moves backward, it is lifted upward, thereby separating the dragging mechanism 8 from the external load and retracting the hook.

[0093] Preferably, the towing mechanism 8 further includes a towing bracket 801, one end of which is fixedly connected to the end of the vehicle frame 2, and the other end is connected to the mounting base 804, so as to achieve a fixed connection between the mounting base 804 and the vehicle frame 2 through the towing bracket 801. Meanwhile, the driving component includes a telescopic electric push rod 802, one end of which is hinged to the towing bracket 801, and the other end is hinged to the stop block 803, so as to drive the stop block 803 to move along the stepped slide groove 806 through the extension and retraction of the electric push rod 802.

[0094] Preferably, at least one roller 805 is also provided in the towing mechanism 8, which is rotatably connected to the stop block 803 and is fitted into the stepped slide groove 806, and can slide along the stepped slide groove 806, so that the stop block 803 can move up and down and back and forth along the stepped slide groove 806 via the roller 805.

[0095] Preferably, a laser sensor 807 is also provided within the towing mechanism 8 to detect the towing position and automatically detect the hook position of the load to be towed, thereby enabling automatic towing of the inspection vehicle during unmanned maintenance. Figure 10 In the preferred embodiment shown, the laser sensor 807 is disposed on the side of the mounting base 804 away from the drag bracket 801.

[0096] In one specific embodiment, taking the model car mover 9 inside a high-temperature superconducting magnetic levitation vacuum pipe as an example, a multi-functional inspection vehicle is used to tow and pull it. At the end of the model car mover 9, a drag groove interface 901 that matches the Cinderella hook of the stop block 803 is provided. The working process of the towing mechanism 8 is as follows:

[0097] When the model car mover 9 moves to the end of the test line or the multi-functional inspection vehicle receives an instruction to tow the model car mover 9, the multi-functional inspection vehicle moves from the end of the vacuum pipe 5 to the front of the model car. When the laser sensor 807 of the towing mechanism 8 moves above the model car mover 9, the laser sensor 807 outputs a signal to the control system. After judgment, the control system controls the electric push rod 802 of the towing mechanism 8 to retract, driving the stop block 803 to extend into the towing groove interface 901 of the model car mover 9. When the multi-functional inspection vehicle runs again, the stop block 803 moves to the end face of the towing groove interface 901 of the model car mover 9 to push the model car mover 9 to move, thus achieving towing.

[0098] After the model car's actuator 9 is towed to its destination, the disengagement process of the towing mechanism 8 is as follows:

[0099] When the model car mover 9 is dragged to the starting position of the pipeline by the multi-functional inspection vehicle, after the multi-functional inspection vehicle stops, the stop block 803 of the dragging mechanism 8 moves to the other end face of the drag groove interface 901, realizing the braking and stopping of the model car; after the model car stops, the control system determines and controls the electric push rod 802 to extend, driving the stop block 803 to rise, and the stop block 803 disengages from the drag groove interface 901, so that the dragging mechanism 8 is separated from the model car mover 9.

[0100] Furthermore, the multi-functional inspection vehicle of the present invention includes, but is not limited to, the following working states:

[0101] (1) When the vacuum pipe 5 is in a vacuum state, the inspection vehicle enters the vacuum pipe 5 and uses the dragging mechanism 8 to drag the train model and the moving part in the vacuum pipe 5 from any position in the vacuum pipe 5 to the starting position of the pipe test.

[0102] (2) When the vacuum pipeline 5 is under normal pressure, check the signal acquisition mechanism 4 on the vehicle and use cameras, sensors and other means to conduct daily inspections and handle emergencies of the vacuum pipeline 5.

[0103] (3) Under normal pressure, the inspection vehicle carries maintenance personnel, maintenance equipment and light materials into the vacuum pipeline 5 to carry out daily maintenance work.

[0104] The multi-functional inspection vehicle for the high-temperature superconducting pinned magnetic levitation system of vacuum pipelines of the present invention can realize comprehensive inspection and maintenance of high-temperature superconducting pinned magnetic levitation vacuum pipelines, and has the function of traction equipment. It can play a good role in promoting and realizing the commercial application of high-temperature superconducting pinned magnetic levitation technology and has broad application prospects.

[0105] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines, characterized in that, This includes the vehicle body, frame, running gear, signal acquisition mechanism, signal processing mechanism, and towing mechanism; The vehicle frame includes a connecting frame and bases spaced apart on both sides of the connecting frame. The vehicle shell is covered and fixed on the vehicle frame, and a cabin is formed between the vehicle shell and the vehicle frame. At least two walking mechanisms are provided at the bottom of the side base on each side. The walking mechanism includes a running wheel and a drive assembly. The running wheel is rotatably connected to the side base, and the drive assembly drives the running wheel to move the frame. The signal acquisition mechanism is installed on the vehicle body and is used to collect real-time information about the vacuum pipes and the interior of the vehicle cabin. The signal processing mechanism is located inside the vehicle cabin and is connected to the signal acquisition mechanism to receive and process the information acquired by the signal acquisition mechanism. The towing mechanism is used to connect to an external load so that the external load can be towed using a multi-functional inspection vehicle; The towing mechanism is located at the end of the inspection vehicle and includes a mounting base, a stop block, and a drive component; One end of the mounting base is fixedly connected to the end of the vehicle frame. The mounting base has a cavity with multiple openings in the middle and a stepped slide groove with a height difference is opened on the side wall of the mounting base. The steps of the stepped slide groove are transitioned by a transition groove to form a smooth stepped slide groove. The stop block is connected and disposed in the cavity of the mounting base, and the stop block can move along the stepped slide groove under the drive of the drive component. When it moves to the bottom of the stepped slide groove, one end of the stop block can extend out of the mounting base, and a hook is provided at the extendable end of the stop block for connecting with an external load.

2. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to claim 1, characterized in that, It also includes a towing bracket, one end of which is fixedly connected to the end of the vehicle frame, and the other end is connected to the mounting base, so as to achieve a fixed connection between the mounting base and the vehicle frame through the towing bracket; The driving component includes a telescopic electric push rod, one end of which is rotatably connected to the drag bracket and the other end of which is rotatably connected to the stop block, so as to drive the stop block to move by the extension and retraction of the electric push rod; and / or It also includes at least one roller, which is rotatably connected to the stop block and is fitted into the stepped slide groove, and can roll along the stepped slide groove.

3. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to claim 1, characterized in that, A laser sensor is also installed in the dragging mechanism to detect the dragging position and automatically detect the hook position of the load to be dragged.

4. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to any one of claims 1 to 3, characterized in that, The drive assembly includes a vacuum reducer and a vacuum motor fixed on the side base, and the traveling wheel is connected to the vacuum reducer via a coupling. and / or It also includes a supplementary power drive assembly, which is connected to the running wheels and serves as a backup drive assembly to provide driving force to the running wheels.

5. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to claim 4, characterized in that, The side base is stepped, and the bottom plate of the stepped side base serves as the bottom plate of the inspection vehicle. At least one seat is installed on the steps of the side base, and the seat is detachably connected to the side base.

6. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to any one of claims 1 to 3 and 5, characterized in that, Signal acquisition mechanisms are respectively installed inside the vacuum pipe and inside the vehicle cabin. The signal acquisition mechanism includes at least one of a camera, an environmental detection system, a thermal imager, and a light source.

7. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to claim 6, characterized in that, The cameras are located at the front and rear ends of the exterior of the vehicle body, diagonally inside the cabin, and at the outer ends of the side base, respectively, to monitor the vacuum pipe, the cabin, and the magnetic levitation track. The environmental monitoring system is connected and installed on the outside of the vehicle body and inside the vehicle cabin. It includes a temperature sensor, a humidity sensor and a pressure sensor to monitor the temperature, humidity and air pressure values ​​of the vacuum pipe and the vehicle cabin in real time.

8. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to any one of claims 1 to 3, 5, and 7, characterized in that, An electrical compartment is provided inside the vehicle cabin. The electrical compartment is a sealed shell structure that maintains a normal atmospheric pressure environment inside, and the signal processing mechanism is located inside the electrical compartment.

9. The multi-functional inspection vehicle for a high-temperature superconducting pinning magnetic levitation system for vacuum pipelines according to claim 8, characterized in that, The electrical compartment is a double-layered structure, including an outer compartment and an inner compartment located inside the outer compartment. The signal processing mechanism is located in the inner compartment, and both the outer and inner compartments are filled with inert gas. and / or The electrical compartment is also equipped with a wireless communication module, which can perform automatic control and signal transmission in an unmanned inspection state.

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