Self-tracking hybrid drive transport equipment and operation method

Abstract

The present invention discloses a self-track-laying hybrid drive transport equipment and operation method, belonging to the technical field of suspended vehicles. The present invention solves the problem of high cost and poor feasibility of existing electric magnetic levitation vehicles. The present invention forms two carrier base units by setting a plurality of carrier bases, and both carrier base units can lay tracks or support the vehicle. When one group of carrier base units supports the vehicle, the other carrier base unit also lays tracks in the direction of travel under the action of the motor primary and motor secondary that cooperate with each other, and then starts the support function to support the vehicle, while the other group of carrier base units used for supporting stops supporting to lay tracks, thereby realizing the alternation of track laying and carrying back and forth. The vehicle driving device and / or the carrier base driving device of the carrying carrier base is used to drive the vehicle to move, thereby realizing continuous driving of the vehicle and realizing self-track-laying operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of suspended vehicles, and in particular relates to a self-tracking hybrid drive transport equipment and an operation method thereof. Background Art

[0002] Traditional cars use engines and rotating motors as their power systems, and the power needs to be transmitted to the drive wheels through various transmission mechanisms. The friction generated by the drive wheels' direct contact with the ground enables the vehicle to travel. The power transmission loss in this process is large, and the driving speed is also limited. At the same time, the direct contact between the car's drive wheels and the chassis and the contact between the various components when the transmission mechanism transmits power greatly increase the friction loss of traditional cars. At the same time, in recent years, as the contradiction between energy demand and environmental resources has become increasingly prominent, electric-drive vehicles have gradually become a hot topic in the field of road transportation due to their own environmental protection and energy-saving advantages. However, during the operation of electric-drive vehicles, the drive wheels will directly carry all the weight of the drive wheels themselves, the chassis, the body, and the passengers to drive, which consumes a lot of energy for the entire vehicle, and the energy-saving effect is relatively low.

[0003] In this context, many scholars have proposed a variety of suspended electric drive vehicle solutions, such as the invention patent with patent number CN109204008B, which discloses a semi-suspended electric magnetic levitation vehicle. However, the suspension force of this solution is provided by magnetic wheels and a magnetic levitation track equipped with a conductor plate. If the vehicle travels a long distance, a large number of suspended tracks and conductor plates are required, which increases the cost of the whole vehicle and makes it less feasible. Summary of the invention

[0004] In view of the problem in the prior art that electric magnetic levitation vehicles require a large number of suspension lanes and conductor plates when traveling long distances, resulting in increased vehicle cost and poor feasibility, the present invention provides a self-tracking hybrid drive transport equipment and an operation method.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A self-tracking hybrid drive transport equipment, comprising:

[0007] Carrier;

[0008] Carrying base;

[0009] Support system;

[0010] Carrier driving device;

[0011] Carrier base drive device;

[0012] The carrier base includes a supporting portion, the supporting system is arranged between the supporting portion and the carrier, and the supporting system includes a supporting component arranged on the carrier and / or the carrier base, and is used to bear the weight of the carrier and ensure relative movement between the carrier and the carrier base;

[0013] The carrier base driving device comprises a motor primary and a motor secondary that cooperate with each other, and the motor primary and the motor secondary are respectively arranged on the carrier base and the carrier, and are used to drive the carrier base to lay tracks;

[0014] The carrier driving device and / or the carrier base driving device of the carrying carrier base is used to drive the carrier to move.

[0015] When the carrier base driving device of the carrying carrier base is used to move the carrier base, a separate carrier driving device may not be provided.

[0016] After adopting this technical solution, the present invention enables at least two carrier base units to alternate between laying the carrier running track and supporting the carrier weight. During operation, at least one of the carrier base units lays tracks relative to the carrier. When laying tracks, the other carrier base unit supports part or all of the weight. When the load-bearing carrier base unit supports part of the weight, the carrier base unit laying tracks supports the remaining weight. In this way, the driving force on the carrier wheels is optimized and distributed, and the driving energy consumption is reduced, thereby achieving the effect of saving energy.

[0017] When a carrier base unit is laying tracks, the suction force between the normal forces between the primary and secondary can be used to transfer part of the weight of the carrier base unit to the load-bearing carrier base unit, thereby achieving lighter track laying.

[0018] Preferably, at least one of the carrier bases forms a carrier base unit, the carrier base unit is divided into a bearing unit and a track-laying unit, at least one bearing unit and at least one track-laying unit form a carrier base module,

[0019] When the carrier base module only includes one carrier unit and one track-laying unit, the carrier unit and the track-laying unit of the carrier base module are arranged in parallel transversely or longitudinally, and the two carrier base units perform load-bearing and track-laying alternately;

[0020] When the carrier base module includes a plurality of bearing units and / or a plurality of track-laying units, the bearing units and the track-laying units are combined horizontally or vertically or cross-combined horizontally and vertically.

[0021] The cross-combination arrangement means that the carrier base units are cross-combined and arranged in a transverse direction or a longitudinal direction.

[0022] Preferably, the support assembly is a mechanical support assembly and / or a magnetic levitation support assembly.

[0023] Preferably, the magnetic suspension support assembly includes a vertical suspension support assembly and / or a lateral suspension support assembly;

[0024] The vertical suspension support assembly includes a first vertical suspension magnet and a second vertical suspension magnet that can cooperate to generate a suspension force, the first vertical suspension magnet is vertically arranged on the support action part, and the second vertical suspension magnet is vertically arranged on the carrier;

[0025] The transverse magnetic suspension support assembly includes a first transverse suspension magnet disposed transversely on the carrier, and a second transverse suspension magnet is disposed on the support portion at a position corresponding to the position of the first transverse suspension magnet. Both the first transverse suspension magnet and the second transverse suspension magnet are controllable magnets or uncontrollable magnets.

[0026] Preferably, the controllable magnet is an electromagnet, and the uncontrollable magnet is a permanent magnet or a superconducting magnet arranged in a dewar.

[0027] After adopting this technical solution, a vertical suspension support component is set on the bottom of the vehicle and the supporting part, wherein the vertical suspension support component can be a mechanical support or a magnetic suspension support, the mechanical support can be a retractable ball support or roller support, and the vertical suspension support component can preferably be a magnetic suspension component, so that the vertical suspension can be adjusted by controlling the presence and size of its magnetic force. The vertical suspension support components cooperate with each other to realize the support of the vehicle in the vertical direction, maintain the stability of the vehicle in the vertical direction, and reduce the rolling resistance of the carrier, thereby achieving the effect of saving energy consumption. In addition, due to the use of the vertical suspension support component, the vehicle can realize independent movement in the vertical direction, thereby realizing the decoupling of the vehicle in the vertical direction.

[0028] The present invention realizes vertical suspension of the vehicle through the first vertical suspension magnet and the second vertical suspension magnet. It should be noted that the first vertical suspension magnet and the second vertical suspension magnet are arranged correspondingly to maximize the overlapping area and enhance the suspension effect in the vertical direction; and the first vertical suspension magnet and the second vertical suspension magnet are both one of a permanent magnet, a superconducting magnet and an electromagnet. The three magnets can be combined at will, but at least one needs to be a controllable magnet to realize the opening or closing of the suspension force.

[0029] There are two reasons for setting the first vertical suspension magnet and the second vertical suspension magnet as controllable magnetic suspension components. On the one hand, in order to cooperate with the two groups of carrier base units to realize the alternation of supporting the weight of the carrier and laying the track, specifically, the spacing between the first vertical suspension magnet and the second vertical suspension magnet is controlled by the rotation of the eccentric wheel, so as to adjust the suspension force between the carrier and the supporting part, and the carrier base driving device drives the carrier base with a smaller load-bearing capacity to lay the track, so as to realize the alternation from load-bearing to laying the track or from laying the track to load-bearing; on the other hand, when an electromagnet is used, different sizes of suspension forces can be generated by controlling the electromagnet to adapt to different terrains and the weight of the carrier, thereby improving the stability of the carrier. When a superconducting magnet is used, the lateral displacement of the supporting part can be limited by the pinning effect of high-temperature superconductivity, so that the lateral suspension support component can be omitted to reduce the weight of the carrier and / or the carrier base.

[0030] By arranging a transverse suspension support assembly between the bottom of the vehicle and the supporting part, the transverse suspension support assembly cooperates with each other to realize the suspension of the vehicle in the transverse direction, thereby improving the stability of the vehicle in the transverse direction. By adopting the transverse suspension support assembly, the transverse movement of the vehicle is constrained to ensure the transverse stability of the vehicle, thereby realizing the decoupling of the vehicle in the transverse direction. It should be noted that the first transverse suspension magnet and the second transverse suspension magnet are arranged correspondingly to maximize the overlapping area and enhance the suspension effect in the vertical direction; and the first transverse suspension magnet and the second transverse suspension magnet are both one of a permanent magnet, a superconducting magnet and an electromagnet, and the three magnets can be combined at will. Preferably, the first transverse suspension magnet and the second transverse suspension magnet are both permanent magnets, which can save energy consumption.

[0031] Preferably, a mounting structure is provided between the carrier and the carrier base, the mounting structure comprising a mounting groove and a mounting block, the mounting groove is provided on the carrier or the carrier base, the matching mounting block is provided on the carrier base or the carrier, and the carrier base driving device and the supporting system are arranged in the mounting structure.

[0032] After adopting this technical solution, the carrier and the carrier driving device are connected by setting the installation groove and the placement of the installation block. The installation groove can be opened at the bottom of the carrier and the installation block can be set on the carrier base; the installation groove can also be opened on the carrier base and the installation block can be set on the carrier. The carrier base driving device and the support system are all arranged in the installation structure, which improves the utilization efficiency of the space, simplifies the structural design, and facilitates modular matching and production.

[0033] Preferably, the carrier driving device is an air jet device arranged on the carrier.

[0034] After adopting this technical solution, the jet device is used as a power source to drive the vehicle to move, so that the purpose of driving the vehicle is achieved with less power, thereby realizing decoupled driving of the vehicle and the carrier base.

[0035] Preferably, the plurality of carrier bases are symmetrically arranged along the longitudinal direction of the carrier.

[0036] After adopting this technical solution, multiple carrier bases are symmetrically arranged along the longitudinal direction of the carrier so that the carrier can achieve stable suspension support and operation without tilting during operation.

[0037] Preferably, a limiting component for limiting the carrier base from separating from the carrier is provided on the supporting portion.

[0038] After adopting this technical solution, a limiting component for limiting the carrier base from separating from the carrier is provided on the supporting part. The limiting component can be a protrusion provided on the supporting part, etc., which is used to prevent the carrier base and the carrier from separating from each other under extreme circumstances.

[0039] Preferably, a rotatable anti-collision component is provided on the supporting portion and / or the carrier.

[0040] Preferably, the anti-collision component is an anti-collision ball or an anti-collision roller.

[0041] After adopting this technical solution, when the vehicle is traveling, the vehicle and the carrying base may collide due to changes in the height of the vehicle or stimulation by uneven road surface, and anti-collision components are arranged on both sides of the supporting part to prevent the carrying base and the vehicle from colliding left and right when encountering shaking or bumps.

[0042] Preferably, a limit block may be provided on the supporting portion and / or the carrier. When the carrier is parked or has not yet entered the driving state, the suspension system does not need to work, the height of the carrier is lowered, and it is parked on the carrier base through the limit block. The carrier base is stationary, which can protect the carrier base drive device and support system arranged between the carrier base and the carrier.

[0043] A method for operating a self-tracking hybrid drive transport device comprises the following steps:

[0044] Step 1: Control at least one carrier base unit to lay tracks; in addition, the carrier base of at least one carrier base unit bears the weight of the carrier through a support system, and the carrier driving device and / or the carrier base driving device of at least one carrier base unit that carries the weight drives the carrier to move;

[0045] Step 2: Control the carrier base unit that carries out the load in step 1 to lay the track, and the carrier base unit that carries out the track laying carries the load. Steps 1 and 2 are repeated in a cycle to realize the alternating track laying and load carrying of different carrier base units, thereby realizing self-track laying operation.

[0046] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0047] 1. In the present invention, a track-laying unit and a load-bearing unit are formed by arranging a plurality of carrier bases. Both the track-laying unit and the load-bearing unit can lay tracks or carry the carrier to realize self-track-laying operation, thereby solving the problem that the existing maglev vehicles can only lay tracks in advance, which is costly and has limited applicability.

[0048] 2. In the present invention, magnetic levitation can be used to suspend the carrier on the carrier base of the carrier unit during operation. Therefore, the carrier base unit for laying tracks does not bear weight. During forward movement, it only needs to overcome the friction generated by the weight of the carrier base unit itself. Therefore, only a small amount of driving force is needed to push it, thereby achieving the effect of improving efficiency and reducing energy consumption.

[0049] 3. In the present invention, the jet device is used as a power source to drive the vehicle to move, so as to achieve the purpose of driving the vehicle with a relatively small power, thereby realizing the decoupling drive of the vehicle and the carrier base.

[0050] 4. In the present invention, when the vehicle is traveling, the vehicle and the carrier base may collide due to changes in the height of the vehicle or stimulation by uneven road surface, and anti-collision components are arranged on both sides of the supporting portion to prevent the carrier base and the vehicle from colliding left and right when encountering shaking or bumps.

[0051] 5. In the present invention, a linear motor is used to directly drive the carrier base to realize a "self-track laying" driving form. The linear motor is used as one of the power sources to achieve a high degree of separation between the driving system and the suspension system, thereby reducing the complexity of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of the present invention;

[0053] Figure 2 Schematic diagram of the structure of the carrier in the present invention;

[0054] Figure 3 It is a three-dimensional bottom view of the carrier base in the present invention;

[0055] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0056] Figure 5It is a side plan view of the carrier base in the present invention;

[0057] Figure 6 for Figure 5 The cross-section at A in the middle;

[0058] Figure 7 for Figure 5 A partial enlarged view of point B in the middle;

[0059] Among them, 1-carrier, 2-carrier wheel, 3-jet device, 4-carrier base, 5-supporting part, 6-carrier wheel connecting part, 7-raised part, 8-limiting block, 9-first vertical suspension magnet, 10-primary of motor, 11-anti-collision component, 12-second vertical suspension magnet, 13-secondary of motor. DETAILED DESCRIPTION

[0060] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0061] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. Example

[0062] like Figure 1-6 As shown, a self-tracking hybrid driving transport equipment comprises:

[0063] Carrier 1;

[0064] Carrying base 4;

[0065] Support system;

[0066] Carrier drive device;

[0067] Carrier base drive device;

[0068] The carrier base 4 includes a supporting portion 5, and the supporting system is arranged between the supporting portion 5 and the carrier 1;

[0069] The support system includes support components arranged on the carrier 1 and the support action part 5 of the carrier base 4, and the support system is used to support the carrier 1 and ensure that the carrier 1 and the carrier base 4 can generate relative movement;

[0070] There are four carrier bases 4 in total, and the four carrier bases 4 are arranged in parallel transversely. The four carrier bases 4 are grouped in pairs to form two carrier base units. The two carrier base units can be the first and the third as a group, and the second and the fourth as a group; or the first and the fourth as a group, and the second and the third as a group; because the force on the carrier 1 is more balanced and uniform when the first and the fourth are in a group and the second and the third are in a group, the stability of suspension and operation is higher, so in this embodiment, the first carrier base 4 and the fourth carrier base 4 are selected as a bearing base unit, and the second carrier base 4 and the third carrier base 4 are selected as a bearing base unit. The two bearing base units can be used as track laying units and bearing units respectively, and the two bearing units form a carrier base module;

[0071] In this embodiment, the four carrying bases 4 of each group of the carrying base units are symmetrically arranged along the longitudinal direction of the carrier 1 .

[0072] The bottom of the carrier 1 is provided with mounting grooves corresponding to the number of the carrier base 4. The mounting grooves are T-shaped structures, and the supporting part 5 is used as a mounting block. The shape of the supporting part 5 matches the shape of the mounting grooves. In other embodiments, mounting grooves can also be provided on the supporting part 5, and then mounting blocks matching the mounting grooves can be provided on the carrier 1. In this embodiment, since there are four carrier bases 4, there are also four mounting grooves. Each of the mounting grooves is through-connected from front to back, and the supporting parts 5 of the four carrier bases 4 are respectively provided in each mounting groove.

[0073] In this embodiment, the length of the carrying base 4 is greater than the length of the mounting groove, that is, both ends of the carrying base 4 can be located outside the mounting groove at the same time.

[0074] The carrier base 4 further includes a carrier wheel connection portion 6 connected to the supporting portion 5, and the carrier wheel 2 is rotatably connected to the carrier wheel connection portion 6. Figure 1As shown, in this embodiment, two rotatable carrying wheels 2 are connected to both sides of the carrying wheel connecting part 6 of each carrying base 4. Since four carrying bases 4 are provided (in other embodiments, the carrying bases 4 can be set to an even number such as 2, 6, 8, etc. according to factors such as the size of the carrier 1), a total of 16 carrying wheels 2 are provided, and an opening is provided at the bottom of each of the mounting grooves, and the carrying wheel connecting part 6 is connected to the supporting part 5 from the opening at the bottom of the mounting groove; the size of the opening is smaller than the size of the supporting part 5 and the mounting groove, so as to longitudinally limit the supporting part 5 in the mounting groove, and a supporting system and a carrying base driving device can be provided between the lower bottom wall of the supporting part 5 and the lower bottom wall of the mounting groove, so that the carrier structure has a high degree of integration and effectively saves space in the entire vehicle.

[0075] like Figure 3-6 As shown, the support system includes a second vertical suspension magnet 12 arranged on the bottom wall of each mounting groove of the carrier 1, and a first vertical suspension magnet 9 is arranged on the lower surface of the support portion 5 corresponding to the second vertical suspension magnet. In this embodiment, the first vertical suspension magnet 9 on each support portion 5 includes an electromagnetic suspension coil arranged in a row along the length direction of the support portion 5. In order to maintain the balance of the suspension force, two rows of electromagnetic suspension coils are arranged in this embodiment; the second vertical suspension magnet 12 is a permanent magnet, and the permanent magnet is also arranged in two rows like the electromagnetic suspension coil. Of course, in other embodiments, the first vertical suspension magnet 9 may be a permanent magnet, and the second vertical suspension magnet 12 may be an electromagnetic suspension coil;

[0076] This embodiment adopts the principle of attractive suspension, and realizes magnetic suspension of the object by using a feedback loop to continuously change the magnetic field strength generated by the electromagnet, that is, the carrier 1 is attracted by the carrier base 4, so that it can offset the weight of the carrier 1 itself, thereby achieving stable suspension. Electromagnetic suspension has the characteristics of large suspension force and stable suspension force. It only needs to balance the suspension force with the gravity of the suspended object (carrier 1), and the suspended object (carrier 1) can be stable in its equilibrium position.

[0077] The carrier driving device is used to drive the carrier 1 to move. In this embodiment, the jet device 3 arranged at the tail and head of the carrier 1 is selected to spray air backward to push the carrier 1 to move forward or backward. In other embodiments, the jet device 3 may not be set, but the carrier 1 is pushed to move by a single-secondary single-primary iron-core permanent magnet linear motor arranged between the carrier base 4 and the carrier 1 on the carrier base unit for suspension support; in other embodiments, the jet device 3 and the single-secondary single-primary iron-core permanent magnet linear motor arranged between the carrier base 4 and the carrier 1 on the carrier base unit for suspension support can also be used to push the carrier 1 to move.

[0078] In this embodiment, the carrier base driving device is a single-secondary single-primary iron-core permanent magnet linear motor. In other embodiments, it can also be other linear motors. Figure 3-6 As shown, the single-secondary single-primary iron-core permanent magnet linear motor includes a motor secondary 13 composed of a plurality of secondary plates arranged in a row along the length direction of the carrier 1 on the bottom wall of the mounting groove, and a motor primary 10 composed of a plurality of linear motor primary coils arranged in a row along the length direction of the carrier base 4 is arranged on the lower bottom wall of the supporting portion 5 at a position corresponding to the position of the motor secondary 13 (in other embodiments, the motor primary 10 is arranged on the wall of the mounting groove, and the motor secondary 13 is also arranged on the supporting portion 5), and the linear motor primary coil is composed of an armature winding. The armature winding is composed of a certain number of armature coils connected according to a certain rule, which is the circuit part of the DC motor and also the part that generates induced electromotive force, generates electromagnetic torque and performs electromechanical energy conversion, and is a double-layer fractional slot concentrated winding. The double-layer winding is conducive to improving the thrust density of the motor;

[0079] In this embodiment, in order to improve the balance of driving force, two single-secondary single-primary iron-core permanent magnet linear motors are provided (in other embodiments, more or fewer single-secondary single-primary iron-core permanent magnet linear motors can be provided according to the weight and size of the carrying base, and other linear motors can also be provided), so the primary coils and secondary plates of the linear motors are each provided in two rows.

[0080] When the carrier base driving device is working, the electromagnetic coil on the motor primary 10 is connected to the AC power supply, and the air gap between the motor primary 10 and the motor secondary 13 generates a traveling wave magnetic field. The linear motor is similar to the rotary motor. After power is turned on, a magnetic field will be generated in the air gap. If the end effect is not considered, the magnetic field is sinusoidally distributed in the straight direction, but this magnetic field is translated rather than rotated, so it is called a traveling wave magnetic field. The traveling wave magnetic field interacts with the secondary to generate electromagnetic thrust, which is the basic principle of the operation of the linear motor. Under the cutting of the traveling wave magnetic field, the motor secondary 13 generates an induced electromotive force and generates a current. The current interacts with the original traveling wave magnetic field between the air gap to generate an electromagnetic thrust, which drives the primary and secondary to move relative to each other, so that the carrier base 4 moves forward. However, at the same time, a reaction force will be generated on the carrier 1 with the motor secondary 13. In order to make the carrier base 4 move forward, an injection device 3 is installed on the carrier to offset the reaction force generated, so as to achieve the effect of "fixing" the secondary movement of the primary.

[0081] In this embodiment, the opening of the bottom wall of the mounting groove divides the bottom wall of the mounting groove into a left part and a right part, and a row of motor secondary 13 and a row of second vertical suspension magnet 12 are arranged on the left part and the right part, that is, two rows of motor secondary 13 and two rows of second vertical suspension magnet 12 are arranged on the bottom wall of the mounting groove, and the two rows of motor secondary 13 can be arranged in the first row and the fourth row respectively (the motor primary 10 is opposite to its position), and the two rows of second vertical suspension magnet 12 are arranged in the second row and the third row respectively (the first vertical suspension magnet 9 is opposite to its position), or the two rows of motor secondary 13 can be arranged in the first row and the third row respectively (the motor primary 10 is opposite to its position), and the two rows of second vertical suspension magnet 12 are arranged in the second row and the fourth row (the first vertical suspension magnet 9 is opposite to its position). In order to ensure the balance of driving and suspension forces, as shown in FIG. Figure 2 As shown, in this embodiment, two columns of motor secondaries 13 are respectively arranged in the first column and the fourth column (the motor primary 10 is directly opposite to them), and two columns of second vertical suspension magnets 12 are respectively arranged in the second column and the third column (the first vertical suspension magnet 9 is directly opposite to them).

[0082] In this embodiment, a vehicle controller is also arranged in the vehicle 1. The vehicle controller includes three parts: driver intention analysis, drive thrust calculation and drive control. First, the driver's intention such as acceleration demand is analyzed, and then the required thrust of the carrier base drive device and the vehicle drive device is calculated according to the analysis results. Finally, the thrust command is sent to the drive control to complete the vehicle drive.

[0083] In this embodiment, the braking system is a linear motor eddy current braking system, and the implementation process is the same as the driving system. Example

[0084] This embodiment is basically the same as the embodiment 1, except that: in this embodiment, four carrier bases 4 are arranged in pairs in a row, two carrier bases 4 arranged in parallel at the front side form a carrier base unit, two carrier bases 4 arranged in parallel at the rear side form a carrier base unit, and two carrying units form a carrier base module;

[0085] When the carrier is running, the carrier base driving device of the first group of carrier base units is controlled to drive the carrier base 4 of the carrier base unit to move, and the carrier driving device works to make the carrier 1 move and the carrier base 4 lays the carrier 1 running track relative to the carrier 1 along the moving direction; the second group of carrier base units supports the weight of the carrier 1 through the support system;

[0086] Then the carrier base driving device of the rear group of carrier base units is controlled to drive the carrier base 4 of this group of carrier base units to move, and the carrier driving device works to move the carrier 1 and lay the carrier 1 running track relative to the carrier 1 along the movement direction; the front group of carrier base units supports the weight of the carrier 1 through the support system, thereby realizing self-track laying operation in a reciprocating cycle. Example

[0087] This embodiment is basically the same as Embodiment 1, except that: in this embodiment, a total of eight carrying bases 4 are provided, with four carrying bases 4 provided in each row; wherein the first carrying base 4 and the fourth carrying base 4 in the first row of carrying base modules form a first carrying base unit, and the second carrying base 4 and the third carrying base 4 in the first row of carrying base modules form a second carrying base unit; the first carrying base unit and the second carrying base unit are respectively used as a bearing unit and a track-laying unit to form a carrying base module, and the second carrying base 4 and the third carrying base 4 in the second row of carrying base modules form a third carrying base unit; the first carrying base 4 and the fourth carrying base 4 in the second row of carrying base modules form a fourth carrying base unit, and the third carrying base unit and the fourth carrying base unit are respectively used as a bearing unit and a track-laying unit to form a carrying base module to realize self-track laying operation. Example

[0088] This embodiment is basically the same as Embodiment 1, except that: in this embodiment, a total of sixteen carrying bases 4 are provided, and four of the sixteen carrying bases 4 are arranged in a row; wherein the second carrying base 4 in the first row, the third carrying base 4, the four carrying bases 4 in the third row, the first carrying base 4 in the fourth row, and the fourth carrying base 4 constitute a carrying base unit; wherein the first carrying base 4 in the first row, the fourth carrying base 4, the four carrying bases 4 in the second row, the second carrying base 4 in the fourth row, and the third carrying base 4 constitute a carrying base unit, and two carrying base units alternate between supporting the weight of the carrier 1 and laying the running track of the carrier 1. Example

[0089] This embodiment is basically the same as the embodiment 1, except that: three carrier bases 4 are provided (in other embodiments, the carrier bases 4 can be set to an odd number such as 3, 5, 7, etc. according to factors such as the size of the carrier 1), the three carrier bases 4 are arranged in parallel horizontally, the carrier base 4 in the middle is independently used as a carrier base unit, the carrier bases 4 on both sides are used as a carrier base unit, the driving force and the suspension force of the carrier base 4 in the middle are equal to the sum of the driving force and the suspension force of the two carrier bases 4 on both sides (if it is another odd number, it is sufficient to ensure that the driving force and the suspension force of the two carrier base units are roughly the same), and the two carrier base units alternate between supporting the weight of the carrier 1 and laying the running track of the carrier 1. Example

[0090] This embodiment is basically the same as Embodiment 1, except that: three carrying bases 4 are provided, and the three carrying bases 4 are arranged in two rows, wherein two parallel arranged carrying bases 4 constitute a carrying base unit, and the other carrying base 4 serves as a carrying base unit alone, and the two carrying base units alternate between supporting the weight of the carrier 1 and laying the running track of the carrier 1. Example

[0091] The track-laying unit and the bearing unit in this embodiment may also be a transverse combination of a longitudinal carrier base module and a transverse carrier base module. Example

[0092] This embodiment is basically the same as any one of Embodiments 1-7, except that: the first vertical suspension magnet 9 is a superconducting magnet arranged in the dewar, and a cooling medium such as liquid nitrogen can be introduced into the dewar to make the dewar reach the temperature required for the operation of the superconducting magnet. The suspension of the vehicle 1 is achieved by the cooperation of the superconducting magnet and the permanent magnet (the positions of the superconducting magnet and the permanent magnet can also be exchanged). Example

[0093] This embodiment is basically the same as any one of Embodiments 1-7, except that the second vertical suspension magnet 12 is also an electromagnetic suspension coil, and the suspension of the vehicle 1 is achieved through the cooperation of two oppositely arranged electromagnetic suspension coils. Example

[0094] When one of the first vertical suspension magnet 9 and the second vertical suspension magnet 12 is a superconducting magnet, the pinning effect of the superconducting magnet can be used to achieve lateral stability;

[0095] When the first vertical suspension magnet 9 and the second vertical suspension magnet 12 are not superconducting magnets, a transverse suspension component can also be set up separately. The transverse suspension support includes a first transverse suspension magnet and a second transverse suspension magnet that can cooperate to generate a suspension force. The first transverse suspension magnet is transversely arranged on the carrier 1, and the second transverse suspension magnet is transversely arranged on the supporting part 5. The first transverse suspension magnet and the second transverse suspension magnet 13 are one of an electromagnet, a permanent magnet and a superconducting magnet. Preferably, the first transverse suspension magnet and the second transverse suspension magnet are both permanent magnets to save energy. Example

[0096] This embodiment is basically the same as embodiment 1, except that: Figure 7 As shown, both ends of the top surface of each of the supporting action parts 5 are provided with limiting components, the limiting components are protrusions 7, the height of the protrusions 7 is greater than the maximum gap that can be between the top surface of the supporting action part 5 and the fixed wall of the mounting groove, and both sides of the supporting action part 5 and the inner side of the two protrusions 7 are provided with rotatable anti-collision components 11, the anti-collision components 11 provided on the supporting action part 5 can make several anti-collision balls or anti-collision rollers arranged in rows along the two sides of the supporting action part 5, and the anti-collision components 11 on the protrusions 7 can make the anti-collision balls or anti-collision rollers arranged in rows on the inner side of the protrusions 7 along the width direction of the carrying base 4.

[0097] When the vehicle is traveling, the vehicle 1 may collide with the carrier base 4 due to the change in height of the vehicle 1 or the stimulation of uneven road surface, etc. Anti-collision balls or anti-collision rollers (cylinders) are arranged on both sides of the support action portion 5 to prevent the carrier base 4 and the vehicle 1 from colliding left and right when they are shaken or bumped. At the same time, raised portions 7 are arranged at the extreme positions of the front and rear ends of the top of the carrier base 4, and anti-collision balls or anti-collision rollers (cylinders) are arranged on the raised portions 7 to prevent the carrier base 4 and the vehicle 1 from colliding front and back and derailing during the travel process. Example

[0098] This embodiment is basically the same as the embodiment 1, except that: a plurality of limit blocks 8 are further provided on the bottom wall of the installation groove, and the height of the limit blocks is greater than the height of the motor secondary 13 and the second vertical suspension magnet 12 provided on the bottom wall of the installation groove. The limit blocks may be anti-collision balls or anti-collision rollers. When the vehicle 1 is parked or has not yet entered the driving state, the suspension system does not need to work at this time, and the height of the vehicle 1 is lowered and parked on the carrier base 4 through the limit blocks, so as to avoid collision and damage between the motor primary 10 and the motor secondary 13, the first vertical suspension magnet 9 and the second vertical suspension magnet 12. Example

[0099] This embodiment is basically the same as the embodiment 1, except that: the support system for realizing suspension support by magnetic levitation is replaced by mechanical support, which can be specifically: two liftable bases are arranged on the bottom wall of the installation groove (the extension and retraction of the bases can be realized by the existing electric telescopic structure), and a row (at least 1 row) of rotatable anti-collision balls or anti-collision rollers are arranged on the bases. When suspension support is required, the bases are raised to lift up the supporting part 5, so that it is suspended in the installation groove. At this time, there is no friction between the supporting part 5 and the installation groove, and there is only friction between the anti-collision balls or anti-collision rollers and the supporting part 5, which can also achieve the technical effect of reducing friction. Example

[0100] This embodiment is basically the same as the first embodiment, except that the motor primary 10 is arranged on the top surface of the supporting portion 5, and the motor secondary 13 is arranged on the top surface of the mounting groove. Example

[0101] This embodiment is basically the same as the first embodiment, except that the motor primary 10 is arranged on the side of the supporting portion 5, and the motor secondary 13 is arranged on the side of the mounting groove. Example

[0102] A method for operating the self-tracking hybrid drive vehicle according to Embodiment 1 comprises the following steps:

[0103] Step 1: The second carrier base 4 and the third carrier base 4 on the inner side can be used as the bearing unit. At this time, the carrier wheels 2 of the second carrier base 4 and the third carrier base 4 serve as load-bearing wheels and remain stationary. Current is passed through the first vertical suspension magnet 9 to generate attraction between the first vertical suspension magnet 9 and the second vertical suspension magnet 12. The carrier 1 is attracted by the carrier base 4, so that the weight of the carrier 1 can be offset, thereby making the carrier 1 suspended relative to the carrier base 4. The first carrier base 4 and the fourth carrier base 4 on the outer side serve as track-laying units. The electromagnetic coil on the motor primary 10 is connected to an AC power supply, and the air gap between the motor primary 10 and the motor secondary 13 generates a traveling wave magnetic field. Under the cutting of the traveling wave magnetic field, the motor secondary 13 generates an induced electromotive force and generates a current. The current interacts with the traveling wave magnetic field between the air gap to generate an electromagnetic thrust, which drives the primary and secondary to move relative to each other, so that the first carrier base 4 and the fourth carrier base 4 lay the track forward, and at the same time, the carrier base driving device (motor primary 10 and motor secondary 13) and / or the jet device 3 of the carrier unit drives the carrier 1 to move in the traveling direction;

[0104] Step 2: When the first carrier base 4 and the fourth carrier base 4 travel to the limit position, the first carrier base 4 and the fourth carrier base 4 are parked, and current is supplied to the first vertical suspension magnets 9 of the first carrier base 4 and the fourth carrier base 4, so that an attraction is generated between the first vertical suspension magnets 9 and the second vertical suspension magnets 12, so that the carrier 1 continues to suspend. At this time, the first carrier base 4 and the fourth carrier base 4 serve as a carrying unit; at the same time, an AC power supply is supplied to the electromagnetic coils on the primary 10 of the motors of the second carrier base 4 and the third carrier base 4 on the inner side, and the electric The air gap between the primary 10 and the secondary 13 of the motor generates a traveling wave magnetic field. Under the cutting of the traveling wave magnetic field, the secondary 13 of the motor generates an induced electromotive force and generates a current. The current interacts with the traveling wave magnetic field between the original air gaps to generate an electromagnetic thrust, which drives the primary and secondary to move relative to each other, so that the carrier base 4 of the group of carrier base units acts as a track-laying unit to lay tracks in the direction of travel. At the same time, the carrier base driving device (primary 10 and secondary 13 of the motor) and / or the jet device 3 of the bearing unit drives the carrier 1 to move in the direction of travel, thereby realizing the continuous self-track-laying suspension operation of the carrier 1 in a cycle. After that, the first step and the second step work alternately, that is, the first carrier base 4 and the fourth carrier base 4 and the second carrier base 4 and the third carrier base 4 act alternately as track-laying units and bearing units, thereby realizing the self-track-laying magnetic suspension linear operation. Example

[0105] This embodiment is basically the same as Embodiment 14, except that before starting the vehicle driving device and the carrier base driving device, the support system is started first to support the vehicle 1, so as to achieve friction-free operation throughout the entire operation process.

[0106] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A self-tracking hybrid drive transport equipment, characterized in that: include: Carrier (1); Carrying base (4); Support system; Carrier driving device; Carrier base drive device; The carrier base (4) comprises a supporting portion (5), the supporting system being arranged between the supporting portion (5) and the carrier (1), the supporting system comprising a supporting component arranged on the carrier (1) and / or the carrier base (4), and being used to bear the weight of the carrier (1) and ensure that the carrier (1) and the carrier base (4) can move relative to each other; The carrier base driving device comprises a motor primary (10) and a motor secondary (13) that cooperate with each other, wherein the motor primary (10) and the motor secondary (13) are respectively arranged on the carrier base (4) and the carrier (1) and are used to drive the carrier base (4) to lay tracks; The carrier driving device and / or the carrier base driving device of the carrying carrier base (4) are used to drive the carrier (1) to move. When only the carrier base driving device of the carrying carrier base (4) is used to move the carrier, the carrier driving device is not provided.

2. The self-tracking hybrid driving vehicle according to claim 1, characterized in that: At least one of the carrier bases (4) forms a carrier base unit, the carrier base unit is divided into a bearing unit and a track-laying unit, and at least one bearing unit and at least one track-laying unit form a carrier base module; When the carrier base module only includes one carrier unit and one track-laying unit, the carrier unit and the track-laying unit of the carrier base module are arranged in parallel transversely or longitudinally, and the two carrier base units perform load-bearing and track-laying alternately; When the carrier base module includes a plurality of bearing units and / or a plurality of track-laying units, the bearing units and the track-laying units are combined horizontally or vertically or cross-combined horizontally and vertically.

3. The self-tracking hybrid driving vehicle according to claim 1, characterized in that: The support assembly is a magnetic suspension support assembly and / or a mechanical support assembly.

4. The self-tracking hybrid driving vehicle according to claim 3, characterized in that: The magnetic suspension support assembly includes a vertical magnetic suspension support assembly and / or a transverse magnetic suspension support assembly; The vertical magnetic suspension support assembly comprises a first vertical suspension magnet (9) arranged on the carrier (1); a second vertical suspension magnet (12) is arranged on the support action portion (5) at a position corresponding to the position of the first vertical suspension magnet (9); the first vertical suspension magnet (9) and the second vertical suspension magnet (12) are both controllable magnets or uncontrollable magnets, and at least one of the first vertical suspension magnet (9) and the second vertical suspension magnet (12) is a controllable magnet; The transverse magnetic suspension support assembly comprises a first transverse suspension magnet disposed transversely on the carrier (1); a second transverse suspension magnet is disposed on the support action portion (5) at a position corresponding to the position of the first transverse suspension magnet; and both the first transverse suspension magnet and the second transverse suspension magnet are controllable magnets or uncontrollable magnets.

5. The self-tracking hybrid driving vehicle according to claim 4, characterized in that: The controllable magnet is an electromagnet, and the uncontrollable magnet is a permanent magnet or a superconducting magnet arranged in a dewar.

6. A self-tracking hybrid driving vehicle according to any one of claims 1 to 5, characterized in that: The carrier driving device is an air jet device (3) arranged on the carrier (1).

7. A self-tracking hybrid driving vehicle according to any one of claims 1 to 5, characterized in that: The supporting action portion (5) is provided with a limiting component for limiting the carrier base (4) from separating from the carrier (1).

8. A self-tracking hybrid driving vehicle according to any one of claims 1 to 5, characterized in that: A rotatable anti-collision component (11) is provided on the supporting portion (5) and / or the carrier (1).

9. A self-tracking hybrid driving transport equipment according to any one of claims 1 to 5, characterized in that: A mounting structure is provided between the carrier (1) and the carrier base (4), the mounting structure comprising a mounting groove and a mounting block, the mounting groove being provided on the carrier (1) or the carrier base (4), the matching mounting block being provided on the carrier base (4) or the carrier (1), and the carrier base drive device and the support system being arranged in the mounting structure.

10. An operating method of the self-tracking hybrid drive vehicle according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Controlling at least one carrier base unit to lay tracks; in addition, the carrier base (4) of at least one carrier base unit bears the weight of the carrier (1) through a support system, and the carrier driving device and / or the carrier base driving device of at least one carrier base unit driving the carrier (1) to move; Step 2: Control the carrier base unit that carries out the load in step 1 to lay the track, and the carrier base unit that carries out the track laying in step 2 carries out the load. Step 1 and step 2 are repeated in a cycle to realize the alternating track laying and load carrying of different carrier base units, thereby realizing self-track laying operation.

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