A superconducting maglev electric drive crawler vehicle with a permanent magnet track

Abstract

The present invention discloses a superconducting maglev electric drive crawler vehicle with a permanent magnet track, which solves the technical problems of the existing crawler vehicle having a large weight, high energy consumption and poor running stability. The present invention includes a vehicle body; a chassis located at the bottom of the vehicle body; a superconducting maglev system; a linear electric drive system; a crawler for driving the vehicle body to move; a tensioning support system; the superconducting maglev system includes a superconducting magnet assembly provided on the vehicle body and a permanent magnet track provided on the chassis for vertically suspending the vehicle body; the linear electric drive system includes a primary winding provided on the lower side of the chassis and secondary magnetic pieces provided on the inner side of the crawler for propelling the longitudinal movement of the crawler; the tensioning support system is provided at both ends of the crawler for controlling the tightness of the crawler and supporting the crawler. The present invention has the advantages of compact layout, stable running of the crawler and low energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of maglev crawler vehicles, and particularly to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. Background Art

[0002] Crawler vehicles have the advantages of low unit pressure on the ground, strong grip, good cross-country performance, and strong passing performance, and are widely used in various construction machinery and agricultural machinery. In the prior art, the chassis and the vehicle body of a crawler vehicle are usually rigidly connected, and only steel spring vibration isolation is provided at the connection between the crawler wheel set and the chassis. However, the damping of ordinary steel springs is small, and the vibration damping effect on external disturbances such as road unevenness is poor. Moreover, crawler vehicles are mostly used in complex and harsh terrain environments with poor road smoothness. Both of them result in relatively intense vibrations transmitted to the crawler vehicle body, significantly affecting the riding comfort and operation quality of the crawler vehicle. In addition, crawler vehicles mostly use internal combustion engines or electric motors to output torque and drive the crawlers to move forward through a transmission mechanism. During the movement process, due to large frictional losses, the power consumption is large, the transmission components are easily damaged, the energy use efficiency is reduced, and the later operation and maintenance costs are increased.

[0003] Although the concept of maglev has been applied to crawler vehicles in the prior art, for example, the patent with the publication number CN105857111A and the name of a new type of suspension propulsion two-in-one maglev system discloses that magnetic interaction is generated between the crawler magnet and the lane aluminum plate to make the vehicle body suspended. However, this kind of suspension requires the vehicle body to move first to generate the suspension force, which is not conducive to energy conservation and the stable operation of the vehicle body.

[0004] In the patent with the publication number CN 101209676B and the patent name of "Magnetic Levitation Crawler-Type Linear Motor Electric Drive Vehicle", a suspension system with adjustable suspension force is disclosed. Specifically, permanent magnets are laid on the inner surface of the crawler, and permanent magnets with the same polarity are installed at the frame position opposite to the crawler permanent magnets. An array of permanent magnets and electromagnets with adjustable current constitute the suspension system with adjustable suspension force. The composition of the drive system is also disclosed: a crawler is provided on each side of the frame, and the drive system consists of a linear motor electromagnetic coil fixed to the frame as the primary and a composite plate (linear motor secondary) embedded in the crawler as the secondary, forming two left and right linear motors. Although this patent discloses the use of an electromagnetic and permanent magnet hybrid suspension system, where the permanent magnets provide the basic suspension force and the electromagnets provide the controllable suspension force. Due to the action of magnetic levitation, the frame is separated from the vibrating part, and the electromagnetic force can be adjusted as needed to make the suspension system adapt to the requirements of different road conditions, improving the ride comfort and performance of the vehicle. However, in this patent, the suspension force is provided by permanent magnets and electromagnets. This magnetic levitation structure uses a relatively large number of permanent magnets, and to achieve the purpose of adjustable suspension position of the vehicle, an additional electromagnetic controller is required, increasing the weight and load of the whole vehicle. The suspension system of this patent requires a large number of permanent magnets to provide suspension force, resulting in a relatively high cost of the whole vehicle. The adjustable suspension position of this patent is generated by the interaction between the electromagnet and the permanent magnet, and the control of the electromagnet has high requirements for timeliness and control accuracy, and at the same time, the energy consumption is high, affecting the endurance of the whole vehicle.

[0005] Based on the problems existing in the above-mentioned existing patents, it is necessary to study a magnetic levitation crawler vehicle with less energy consumption and smoother operation. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the existing magnetic levitation crawler vehicles have large energy consumption, high cost and poor running smoothness.

[0007] The present invention is achieved through the following technical solutions:

[0008] A superconducting magnetic levitation electric drive crawler vehicle with a permanent magnet track, comprising: a vehicle body, a chassis, a superconducting magnetic levitation system, a linear electric drive system, a crawler for driving the vehicle body to move. The superconducting magnetic levitation system includes a superconducting magnet assembly provided on the vehicle body and a permanent magnet track provided on the chassis, for vertically suspending the vehicle body. The linear electric drive system includes a primary winding provided on the lower side of the chassis and secondary magnetic sheets provided on the inner side of the crawler for promoting the longitudinal movement of the crawler.

[0009] The present invention realizes the self-stable suspension, guidance, and tracking of the longitudinal movement of the chassis of the suspended vehicle through the interaction between the superconducting magnet assembly and the permanent magnet track; the linear electric drive system composed of the primary winding on the lower side of the chassis and the secondary magnetic pieces on the inner side of the crawler plate realizes the propulsion function of the crawler vehicle; through the combined action of superconducting magnetic levitation and the linear electric drive composed of the primary winding and the secondary magnetic pieces, the present invention can effectively reduce the vibration of the vehicle body, improve the riding comfort, improve the energy utilization rate by using linear motor drive, reduce mechanical losses, and the suspension capacity of superconducting magnetic levitation is strong, and the number of permanent magnets used is not large, which can reduce the vehicle body weight to a certain extent.

[0010] The superconducting magnet assembly includes a dewar and a liquid nitrogen supply assembly, and the dewar is arranged on the side of the vehicle body.

[0011] The present invention preferably relates to a superconducting magnetic levitation electric drive crawler vehicle with a permanent magnet track. The chassis includes a chassis base. The chassis base includes a vertical plate and a horizontal plate that are connected to each other to form a T-shaped structure. A permanent magnet track is arranged above the horizontal plate, and the permanent magnet track is located below the superconducting magnet assembly. The primary winding is arranged at the bottom of the vertical plate. Load wheels are arranged on both sides of the vertical plate. The load wheels are in rolling connection with the crawler, and the secondary magnetic pieces are located between the two load wheels.

[0012] By designing the chassis into a shape with a T-shaped cross-section, arranging the permanent magnet track of the superconducting magnetic levitation system at the top of the T-shaped structure, installing load wheels in the depressions on both sides of the T-shaped structure, and arranging the primary winding at the bottom of the T-shaped structure, the linear electric drive system and the superconducting magnetic levitation system are located at the top and bottom respectively in the vertical space, and the distance between them is at least greater than the diameter of the load wheel, which fully reduces the magnetic interference between the two magnetic systems, significantly improves the operating efficiency of the crawler vehicle, reduces energy loss, and the load wheels are located in the depressions of the T-shaped structure, which also makes full use of the space, making the entire chassis structure compact, reducing the chassis volume, reducing the weight, and being more energy-efficient.

[0013] Secondly, since the load wheels are located in the depressions on both sides of the T-shaped structure, and the primary winding and the secondary magnetic pieces of the crawler are located between the load wheels, to a certain extent, the load wheels have a certain blocking effect on the magnetic field of the linear electric drive system, further reducing the magnetic interference between the linear electric drive system and the superconducting magnetic levitation system.

[0014] Finally, due to the compact design of the load wheels, the chassis base is designed into a T-shaped structure, and its bottom area becomes smaller. To ensure sufficient power for the linear electric drive system, the bottom winding core of the chassis base and the secondary magnetic pieces on the inner side of the crawler form a double salient pole structure, increasing the propulsion force of the linear electric drive system on the crawler vehicle while ensuring the compactness of the chassis structure and reducing the magnetic interference between the two magnetic systems.

[0015] Furthermore, the road wheel is made of low-carbon steel material, enabling the road wheel to have the function of shielding magnetic fields.

[0016] Furthermore, the side surface of the road wheel is coated with materials with high magnetic permeability and resistivity such as silicon steel sheet particles or soft ferrite to achieve the magnetic shielding effect.

[0017] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. A landing gear is provided at the bottom of the vehicle body. The landing gear includes a telescopic drive rod and several connecting rods, and the landing gear supports and protects the vehicle body through the state changes of the telescopic drive rod and several connecting rods.

[0018] The telescopic drive rod includes a first telescopic drive rod and a second telescopic drive rod. The first telescopic drive rod is used to control the height of the bottom of the vehicle body from the ground, and the second telescopic drive rod is used to control the contact angle between the first telescopic drive rod and the ground.

[0019] The second telescopic drive rod is connected to the first telescopic drive rod through a first connecting rod. One end of the first telescopic drive rod and one end of the second telescopic drive rod are both hinged to the vehicle body, and the other end of the second telescopic drive rod is rotatably connected to the other end of the first connecting rod; the hinged end of the second telescopic drive rod is connected to the vehicle body through a second connecting rod. The second telescopic drive rod is used to control the contact angle between the first telescopic drive rod and the ground, and can also retract the first telescopic drive rod. A supporting foot is provided at the free end of the first telescopic drive rod. The first telescopic drive rod is also connected to the vehicle body through a third connecting rod. The area of the supporting foot is relatively large, which is beneficial to better supporting the vehicle body and ensuring its stability.

[0020] In the vertical suspension, when the vehicle body is not in a stable suspension state, the telescopic rod of the landing gear contacts the ground to provide the supporting force required by the vehicle body and prevent the superconducting magnet assembly from contacting the permanent magnet track. After the superconducting magnet enters the superconducting state, the telescopic rod is retracted. Under the action of gravity, the vehicle body moves downward, and the induced current generated inside the superconducting magnet interacts with the external magnetic field provided by the permanent magnet track to generate a suspension force; when the suspension force balances the self-gravity of the vehicle body, stable suspension is achieved. When the vehicle body ends the suspension state, the landing gear is released by extending the telescopic rod to prevent the superconducting magnet assembly from colliding with the permanent magnet track.

[0021] In addition, when the vertical displacement of the crawler vehicle body exceeds the set value, the support seat of the landing gear will contact the ground. The present invention can control the maximum vertical sinking amount of the vehicle body by controlling the support length of the landing gear to avoid dangerous phenomena such as the vehicle body hitting the track during the operation of the crawler vehicle.

[0022] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. A stop assembly is provided on the chassis, the stop assembly encloses the superconducting magnet assembly, and the height of the stop assembly is greater than the suspension gap between the upper magnet assembly and the lower magnet assembly.

[0023] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. The stop assembly includes a plurality of limiting plates spaced at different positions on the chassis.

[0024] Preferably, the stop assembly includes transverse limiting plates spaced in the transverse direction of the chassis and longitudinal limiting plates spaced in the longitudinal direction of the chassis. Stop damping blocks are provided on the inner sides of the transverse limiting plates and the longitudinal limiting plates.

[0025] Preferably, rigid stop baffles are spaced on the inner sides of the transverse limiting plates and the longitudinal limiting plates, and stop damping blocks are provided between two adjacent rigid stop baffles. The stop damping blocks are rubber blocks.

[0026] Preferably, an annular rigid stop baffle is provided on the inner sides of the transverse limiting plates and the longitudinal limiting plates, and elastic members or rubber blocks are provided in the rigid stop baffle.

[0027] Under extreme working conditions, when the lateral or longitudinal force exceeds the horizontal self-stabilizing force of the vehicle body or other dangerous situations cause the vehicle body to fail to track the movement of the chassis in time, the lateral or longitudinal displacement of the vehicle body relative to the chassis will increase. Once this displacement exceeds the set value, the lateral stop and the longitudinal stop will contact the superconducting magnet assembly and play a role, absorbing vibration and providing a restoring force to protect the vehicle body and avoid dangerous accidents such as the vehicle body hitting the track.

[0028] Furthermore, the positions of the stop assembly and the road wheel are staggered in the longitudinal projection.

[0029] Furthermore, the width of the stop assembly in the transverse direction is greater than or equal to the width of the permanent magnet track at the top of the chassis.

[0030] In this way, the road wheel and the stop assembly can cooperate to better isolate the magnetic field between the superconducting maglev system and the linear electric drive system, and better reduce the magnetic interference between the two systems.

[0031] Furthermore, the transverse limiting plates and the longitudinal limiting plates are made of low-carbon steel materials or coated with materials with high magnetic permeability and resistivity on the surface to achieve better magnetic shielding effects.

[0032] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track, and further includes a tensioning and supporting system. The tensioning and supporting system includes a tensioning wheel, a telescopic assembly, and a rotating platform. The tensioning wheel is in contact support connection with the crawler, the rotating platform is arranged on the vehicle body, and the tensioning wheel is connected to the rotating platform through the telescopic assembly.

[0033] During the operation of the crawler vehicle, due to factors such as suspension height fluctuations and road unevenness, the tension of the crawler will also change dynamically. However, an overly loose crawler will experience jumping vibration or derailment during movement, and an overly tight crawler will increase the friction between the tensioning wheel and the crawler, resulting in energy loss and wear. By controlling the telescopic amount of the telescopic assembly, the longitudinal movement of the tensioning wheel can be achieved, and by controlling the rotation angle of the rotating platform, the vertical movement of the tensioning wheel can be achieved, thereby realizing adjustable tension of the crawler.

[0034] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. Two of the above-mentioned tensioning wheels are respectively connected to both ends of each crawler, and the inner sides of both ends of the crawler are meshed with the tensioning wheels.

[0035] The present invention preferably relates to a superconducting maglev electric drive crawler vehicle with a permanent magnet track. The crawler includes crawler plates, secondary magnetic chips are arranged on the inner sides of the crawler plates, tooth tracks are also arranged on the crawler plates, the secondary magnetic chips are located between two of the tooth tracks, and convex teeth are arranged on the tensioning wheels of the tensioning and supporting system, and the tooth tracks are meshed with the convex teeth.

[0036] A longitudinal groove is formed between the tooth tracks and the secondary magnetic chips. The load wheels and support wheels are located in the groove to play a lateral limiting role. The cooperation between the tooth tracks on the crawler and the convex teeth on the tensioning wheels, combined with the strong pinning effect of superconducting maglev, makes the operation stability of the entire crawler good and energy consumption and loss reduction.

[0037] Preferably, induction teeth are arranged longitudinally in the groove, and guide grooves matching the induction teeth are arranged on the load wheels and support wheels. The cooperation between the induction teeth and the guide grooves better limits the load wheels and support wheels laterally, effectively preventing deviation and better ensuring the operation stability of the crawler.

[0038] The present invention has the following advantages and beneficial effects:

[0039] 1. The present invention combines superconducting magnetic levitation and a linear electric drive system. In terms of vertical levitation, it can achieve the static levitation of the vehicle body without an initial velocity. In addition, the non-contact characteristic of magnetic levitation significantly improves problems such as large vibration amplitude and high vibration frequency of the vehicle body in the stable levitation state, effectively enhancing the running quality and riding comfort of the tracked vehicle. After the primary winding of the linear electric drive system is energized, a longitudinal electromagnetic force is generated to attract the secondary iron sheet, driving the vehicle forward; by adjusting the driving force of the linear motors on both sides in real time, the steering movement of the tracked vehicle is realized, making the entire tracked vehicle energy-saving and easy to control.

[0040] 2. By reasonably arranging the positions of the superconducting magnetic levitation system and the linear electric drive system, the present invention increases the propulsion force of the linear electric drive system on the tracked vehicle while ensuring a compact chassis structure, reducing the weight, and minimizing the magnetic interference between the two magnetic systems.

[0041] 3. By reasonably arranging the positions of the secondary magnetic chips, tooth rails, and induced teeth, as well as the strong pinning effect of superconducting magnetic levitation, the load wheels, support wheels, tension wheels, and tracks are fully stabilized laterally, effectively ensuring the running stability of the entire track and reducing energy consumption.

[0042] 4. By setting up a stop component, on the one hand, it can prevent abnormal tracking between the vehicle body and the chassis in extreme cases, such as the vehicle body hitting the track, and can cooperate with the layout of the chassis, load wheels, etc. to reduce the magnetic interference between the two magnetic systems.

[0043] 5. By setting up a landing gear, the support and protection of the vehicle body by the landing gear are realized by adjusting the state changes of the telescopic drive rod and several connecting rods of the landing gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings:

[0045] Figure 1 is a schematic diagram of the overall structure of the tracked vehicle of the present invention;

[0046] Figure 2 is a schematic three-dimensional structure diagram of the tracked vehicle of the present invention;

[0047] Figure 3 is a schematic top view structure diagram of the tracked vehicle of the present invention;

[0048] Figure 4 is of the present invention Figure 3 a schematic cross-sectional structure diagram along the B-B direction in;

[0049] Figure 5 is a schematic diagram of the chassis structure of Embodiment 4 of the present invention;

[0050] Figure 6 It is a schematic diagram of the chassis structure of Embodiment 5 of the present invention;

[0051] Figure 7 It is a schematic diagram of the chassis structure of Embodiment 6 of the present invention;

[0052] Figure 8 It is a front view schematic diagram of the landing gear structure of the present invention;

[0053] Figure 9 It is a side view schematic diagram of the landing gear structure of the present invention.

[0054] The component names in the drawings are as follows:

[0055] 1 - vehicle body; 2 - crawler; 201 - crawler plate; 202 - secondary magnetic sheet; 203 - toothed rail, 204 - induction tooth, 3 - tension support system, 301 - tension wheel, 302 - telescopic assembly, 303 - rotating platform; 4 - Dewar; 5 - chassis; 501 - chassis base; 502 - longitudinal limit plate; 503 - transverse limit plate; 504 - stop shock absorber, 505 - rigid stop baffle, 6 - permanent magnet track; 7 - primary winding, 701 - winding iron core; 702 - winding coil; 8 - load wheel; 9 - support wheel; 10 - landing gear, 101 - first telescopic drive rod, 102 - second telescopic drive rod, 103 - first connecting rod, 104 - second connecting rod, 105 - support leg, 106 - third connecting rod. Detailed implementation manners

[0056] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with embodiments and drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0057] Embodiment 1

[0058] As Figures 1 - 5 shown, a superconducting maglev electric drive crawler vehicle with a permanent magnet track includes: a vehicle body 1, a chassis 5, a superconducting maglev system, a linear electric drive system, a crawler 2 for driving the vehicle body 1 to move, a tension support system 3, and a power supply system.

[0059] The superconducting maglev system includes a Dewar 4 and a permanent magnet track 6 provided on the chassis 5. The Dewar 4 is installed on both sides of the vehicle body 1 and is internally provided with a vacuum cavity for providing a low-temperature environment for the superconducting magnet and reducing its heat exchange with the outside. The superconducting magnet uses a high-temperature superconducting material and is installed inside the Dewar 4. The permanent magnet track 6 is composed of a plurality of permanent magnets arranged and fixed on the upper surface of the chassis 5.

[0060] The chassis 5 includes a chassis base 501. The chassis base 501 includes a vertical plate and a horizontal plate that are connected to each other to form a T-shaped structure. A permanent magnet track 6 is provided above the horizontal plate, and the permanent magnet track 6 is located below the dewar 4. The bottom of the vertical plate is provided with the primary winding 7. The primary winding 7 is composed of a winding iron core 701 and a winding coil 702. The winding iron core 701 is installed on the lower side of the vertical plate of the chassis 5 through bolts, and the winding coil 702 is wound around the winding iron core 701. The primary winding 7 and the secondary magnetic pieces 202 inside the crawler 2 together constitute the linear motor propulsion system of the crawler 2 vehicle. There is a crawler 2 on each side of the crawler 2 vehicle. The crawler 2 includes a plurality of crawler plates 201, and a plurality of secondary magnetic pieces 202 are provided on the crawler plates 201. The secondary magnetic pieces 202 are fixed on the inner surface of the crawler plates 201 through bolts.

[0061] The tension support system 3 includes a tension wheel 301, a telescopic assembly 302, and a rotating table 303. The tension wheel 301 is in contact support connection with the crawler 2. The telescopic assembly 302 is a telescopic hydraulic cylinder. The rotating table 303 is installed on the connecting seats on both sides of the vehicle body 1. The tension wheel 301 is connected to the rotating table 303 through the telescopic hydraulic cylinder. By controlling the telescopic amount of the hydraulic telescopic cylinder, the longitudinal movement of the tension wheel 301 can be realized. By controlling the rotation angle of the rotating table 303, the vertical movement of the tension wheel 301 can be realized, so as to realize the tension adjustment of the crawler 2.

[0062] Load wheels 8 are provided on both sides of the vertical plate. A support wheel 9 is provided on the top of the dewar 4. Both the load wheels 8 and the support wheel 9 are in rolling contact connection with the inner side of the crawler 2. The secondary magnetic pieces 202 inside the crawler 2 are located between the two load wheels 8 and also between the two support wheels 9.

[0063] In this embodiment, the self-stable suspension, guidance, and tracking of the longitudinal movement of the chassis 5 of the suspended vehicle body 1 are realized through the interaction between the superconducting magnet and the permanent magnet track 6; the linear electric drive system composed of the primary winding 7 on the lower side of the chassis 5 and the secondary magnetic pieces 202 inside the crawler plate 201 realizes the propulsion function of the crawler 2 vehicle. In this embodiment, through the combined action of superconducting magnetic suspension and the linear electric drive composed of the primary winding 7 and the secondary magnetic pieces 202, the vibration of the vehicle body 1 can be effectively reduced, the riding comfort can be improved, the energy utilization rate can be increased by using linear motor drive, the mechanical loss can be reduced, and the suspension capacity of the superconducting magnetic suspension is strong, and the number of permanent magnets used is not much, which can reduce the vehicle body weight to a certain extent.

[0064] In this embodiment, by designing the chassis 5 to have a T-shaped cross-section, the permanent magnet track 6 of the superconducting magnetic levitation system is arranged at the top of the T-shaped structure, the load wheels 8 are installed in the depressions on both sides of the T-shaped structure, and the primary winding 7 is arranged at the bottom of the T-shaped structure. In this way, the linear electric drive system and the superconducting magnetic levitation system are located at the uppermost and lowermost positions respectively in the vertical space, and the distance between the two is at least greater than the diameter of the load wheel 8, which fully ensures the magnetic interference between the two magnetic systems, significantly improves the running efficiency of the tracked vehicle 2, reduces energy loss, and the load wheel 8 is located in the depression of the T-shaped structure, making full use of the space, making the entire chassis 5 structure compact and easier to control.

[0065] In this embodiment, the power supply system is installed inside the vehicle body 1 and uses a lithium battery for power supply to provide energy input for the drive and suspension of the tracked vehicle 2.

[0066] Embodiment 2

[0067] As Figure 2 shown, in this embodiment, tooth tracks 203 are arranged on the longitudinal sides of the track 2, the tooth tracks 203 protrude from the track plates 201, convex teeth are arranged on the tensioning wheels 301, the tooth tracks 203 are engaged with the convex teeth, a longitudinal groove is formed between the tooth tracks 203 and the secondary magnetic sheets 202, and the load wheels 8 and the support wheels 9 are located in the groove. In this way, it can be ensured that the load wheels 8 and the support wheels 9 always move along the groove, and the engagement between the tensioning wheels 301 and the track 2 can further fix the lateral positions of the load wheels 8 and the support wheels 9 during movement. On the other hand, the cooperation between the tooth tracks 203 on the track 2 and the convex teeth on the tensioning wheels 301, combined with the strong pinning effect of the superconducting magnetic levitation, makes the entire track 2 have good running stability and energy consumption reduction.

[0068] In this embodiment, the engagement between the tensioning wheels 301 and the track 2 and the groove formed by the secondary magnetic sheets 202 and the tooth tracks 203 jointly play a limiting role on the load wheels 8 and the support wheels 9, effectively ensuring the stability and comfort of the entire track 2 during operation.

[0069] Embodiment 3

[0070] As Figure 1 shown, the difference between this embodiment and Embodiment 2 is that induction teeth 204 are arranged longitudinally in the groove, guiding grooves matching the induction teeth 204 are arranged on the load wheels 8 and the support wheels 9, and the cooperation between the induction teeth 204 and the guiding grooves better limits the load wheels 8 and the support wheels 9 laterally, effectively preventing deviation and better ensuring the running stability of the track 2.

[0071] Embodiment 4

[0072] As Figure 1 、 Figure 2and Figure 5 As shown, in this embodiment, a stop assembly is provided at the edge of the upper surface of the chassis base 501, and the stop assembly encloses the superconducting magnet assembly.

[0073] The stop assembly includes a limiting plate. The limiting plate includes a transverse limiting plate 503 arranged at intervals in the transverse direction of the chassis 5 and a longitudinal limiting plate 502 arranged at intervals in the longitudinal direction of the chassis 5. Rigid stop plates 505 are arranged at intervals on the inner sides of the transverse limiting plate 503 and the longitudinal limiting plate 502. A stop damping block 504 is vulcanized and connected between two adjacent rigid stop plates 505. The stop damping block 504 is made of rubber material. The diameter of the stop damping block 504 gradually increases from the upper end to the lower end and the diameter of the upper end is smaller than the distance between the two rigid stop plates 505. The height of the stop damping block 504 is greater than the height of the rigid stop plate 505. In this embodiment, the diameter of the upper end of the stop damping block 504 is smaller than the distance between the two rigid stop plates 505. Under extreme working conditions, when the transverse or longitudinal force exceeds the horizontal self-stabilizing force of the vehicle body 1 or other dangerous situations cause the vehicle body 1 to fail to track the movement of the chassis 5 in time, the transverse or longitudinal displacement of the vehicle body 1 relative to the chassis 5 will increase. Once this displacement exceeds the set value, the transverse stop and the longitudinal stop will contact the superconducting magnet assembly and play a role. The stop damping block 504 will first deform to absorb vibration energy and store energy. When the compression deformation of the stop damping block 504 reaches the position of the rigid stop plate, the rigid stop plate plays a secondary blocking role, effectively preventing the vehicle body 1 from hitting the track.

[0074] Embodiment 5

[0075] As Figure 6 shown, in this embodiment, the positions of the stop assembly and the road wheel 8 are staggered in the longitudinal projection. In this way, the road wheel 8 and the stop assembly can cooperate to better isolate the magnetic field between the superconducting maglev system and the linear electric drive system, better reduce the magnetic interference between the two systems, and the spaced stop assembly rather than the continuous arrangement can reduce the weight of the whole vehicle to a certain extent.

[0076] Embodiment 6

[0077] As Figure 7 shown, the difference between this embodiment and Embodiment 4 is that the transverse limiting plate 503 and the longitudinal limiting plate 502 are connected to each other to enclose the upper surface of the chassis base 501. In this way, the magnetic field of the superconducting suspension system and the linear motor drive system can be better blocked, and the magnetic interference between the two is greatly weakened.

[0078] The rigid stop baffle 505 is arranged in a ring shape, and the stop damping block 504 is clamped inside the rigid stop baffle, which is convenient for installation and can effectively prevent the stop damping block 504 from falling off under the enclosure action of the rigid stop baffle 505.

[0079] Embodiment 7

[0080] As Figure 2 and Figure 5 shown, in this embodiment, the bottom winding iron core 701 of the chassis base 501 and the secondary magnetic sheet 202 inside the crawler 2 form a double salient pole structure. Since the road wheels 8 are located in the depressions on both sides of the T shape, and the winding iron core 701 and the secondary magnetic sheet 202 of the crawler 2 where it is located are between the road wheels 8, to a certain extent, the road wheels 8 have a certain blocking effect on the magnetism of the linear electric drive system, and further reduce the magnetic interference between the linear electric drive system and the superconducting magnetic levitation system. In addition, due to the compact design of the road wheels 8, the chassis base 501 is designed in a T shape, and its bottom area becomes smaller. To ensure sufficient power for the linear electric drive system, both the bottom winding iron core 701 of the chassis base 501 and the secondary magnetic sheet 202 inside the crawler 2 are designed as double salient pole structures, which increases the propulsion force of the linear electric drive system on the crawler 2 vehicle while ensuring the compact structure of the chassis 5 and reducing the magnetic interference between the two magnetic systems.

[0081] Embodiment 8

[0082] As Figure 1 、 Figure 4 、 Figure 8 and Figure 9 shown, in this embodiment, landing gears 10 are provided at the front and rear of the bottom of the vehicle body 1. The landing gear 10 includes four sets of telescopic drive rods and several connecting rods, and the support and protection of the vehicle body 1 by the landing gear 10 are realized through the state change of the telescopic drive rods and several connecting rods. The telescopic drive rod includes a first telescopic drive rod 101 and a second telescopic drive rod 102. The first telescopic drive rod 101 is used to control the height of the bottom of the vehicle body 1 from the ground. The second telescopic drive rod 102 is connected to the first telescopic drive rod 101 through a first connecting rod 103. One end of the first telescopic drive rod 101 and one end of the second telescopic drive rod 102 are both hinged to the vehicle body 1, and the other end of the second telescopic drive rod 102 is rotatably connected to the other end of the first connecting rod 103; the hinged end of the second telescopic drive rod 102 is connected to the vehicle body 1 through a second connecting rod 104. The second telescopic drive rod 102 is used to control the contact angle between the first telescopic drive rod 101 and the ground, and the first telescopic drive rod 101 can also be retracted. A support foot 105 is provided at the free end of the first telescopic drive rod 101. The first telescopic drive rod 101 is also connected to the vehicle body 1 through a third connecting rod 106. The area of the support foot 105 is relatively large, which is conducive to better supporting the vehicle body 1 and ensuring its stability.

[0083] In the vertical suspension, when the vehicle body 1 is not in a stable suspension state, the telescopic rod of the landing gear 10 contacts the ground to provide the supporting force required by the vehicle body 1 and prevent the superconducting magnet assembly from contacting the permanent magnet track 6. After the superconducting magnet enters the superconducting state, the telescopic rod is retracted, and the vehicle body 1 moves downward under the action of gravity. The induced current generated inside the superconducting magnet interacts with the external magnetic field provided by the permanent magnet track 6 to generate a suspension force; when the suspension force balances the self-gravity of the vehicle body 1, stable suspension is achieved. When the vehicle body 1 ends the suspension state, the landing gear 10 is released by extending the telescopic rod to prevent the superconducting magnet assembly from colliding with the permanent magnet track 6.

[0084] In addition, when the vertical displacement of the crawler 2 of the vehicle body 1 exceeds the set value, the support seat of the landing gear 10 will contact the ground. In this embodiment, the maximum vertical sinking amount of the vehicle body 1 can be restricted by controlling the support length of the landing gear 10 to avoid dangerous phenomena such as the vehicle body 1 hitting the track during the operation of the crawler 2 vehicle.

[0085] Since the second telescopic drive rod 102 can drive the first telescopic drive rod 101 to rotate along the hinge point, that is, the contact angle between the first telescopic drive rod 101 and the ground can be adjusted. Therefore, according to the road surface conditions, the second telescopic drive rod 102 can be controlled to extend and retract to adjust so that the first telescopic drive rod 101 is always perpendicular to the ground, which can always keep the landing gear 10 providing stable support for the crawler 2 vehicle.

[0086] Embodiment 9

[0087] As Figure 2 shown, in this embodiment, two tension wheels 301 are respectively connected to both ends of each crawler 2. The two tension wheels 301 are connected to the same shaft, and this shaft is connected to the telescopic end of the hydraulic telescopic cylinder. The two tension wheels 301 respectively mesh with two rows of tooth rails 203 on the crawler 2. On the premise of reducing the weight of the tension support system 3, the meshing stability and the running stability of the crawler 2 are ensured.

[0088] Embodiment 10

[0089] As Figure 2 shown, in this embodiment, the crawler 2 includes a plurality of grooved crawler plates 201. The plurality of grooved crawler plates 201 are connected by tooth rails 203. Specifically, the transverse plate of the grooved crawler plate 201 is provided with a first through hole. Bolts sequentially pass through the tooth rail 203 and the first through hole and extend into the groove of the grooved crawler plate 201 and are tightened with nuts. Each secondary magnetic sheet 202 covers the upper surface of a grooved crawler plate 201, which is beneficial for the secondary magnetic sheet 202 to cooperate with the primary winding 7 to ensure good propulsion power.

[0090] Embodiment 11

[0091] In this embodiment, the material used for the road wheel 8 is low-carbon steel, so that the road wheel 8 has the function of shielding magnetic fields.

[0092] Embodiment 12

[0093] In this embodiment, the side surface of the road wheel 8 is coated with silicon steel sheet particles to achieve the magnetic shielding effect.

[0094] Embodiment 13

[0095] In this embodiment, the material used for the limit plate is low-carbon steel, so that the road wheel 8 has the function of shielding magnetic fields.

[0096] Embodiment 14

[0097] In this embodiment, the side surface of the limit plate is coated with silicon steel sheet particles to achieve a better magnetic shielding effect.

[0098] In the invention, the "longitudinal direction" refers to the running direction of the crawler 2, the "transverse direction" refers to the direction in the horizontal plane and perpendicular to the running direction of the crawler 2, and the "vertical direction" refers to the direction from the bottom of the vehicle body 1 to the top of the vehicle body 1.

[0099] The specific embodiments described above have further elaborated on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A superconducting maglev electric drive crawler vehicle with a permanent magnet track, characterized in that, Comprising: Vehicle body (1); Chassis (5); Superconducting maglev system; Linear electric drive system; Track (2) for driving the movement of the vehicle body (1); The superconducting maglev system includes a superconducting magnet assembly disposed on the vehicle body (1) and a permanent magnet track (6) disposed on the chassis (5) for vertically levitating the vehicle body (1); The linear electric drive system includes a primary winding (7) disposed on the lower side of the chassis (5) and a secondary magnetic sheet (202) disposed on the inner side of the track (2) for propelling the longitudinal movement of the track (2), The chassis (5) includes a chassis base (501), the chassis base (501) includes a vertically disposed plate and a horizontally disposed plate connected to each other, a permanent magnet track (6) is disposed above the horizontally disposed plate, and the permanent magnet track (6) is located below the superconducting magnet assembly, the primary winding (7) is disposed at the bottom of the vertically disposed plate, load wheels (8) are disposed on both sides of the vertically disposed plate, the load wheels (8) are in rolling connection with the track (2), and the secondary magnetic sheet (202) is located between the two load wheels (8), A stop assembly is disposed on the chassis (5), and the stop assembly encloses the superconducting magnet assembly, The positions of the stop assembly and the load wheels (8) are staggered in the longitudinal projection.

2. The superconducting maglev electric drive crawler vehicle with a permanent magnet track according to claim 1, characterized in that, A landing gear (10) is disposed at the bottom of the vehicle body (1), and the landing gear (10) includes a telescopic drive rod and a plurality of connecting rods, and the support and protection of the vehicle body (1) by the landing gear (10) are realized through the state change of the telescopic drive rod and the plurality of connecting rods.

3. A superconducting maglev electric drive crawler vehicle with a permanent magnet track according to claim 1, characterized in that, The stop assembly includes a lateral limiting plate (503) spaced transversely on the chassis (5) and a longitudinal limiting plate (502) spaced longitudinally on the chassis (5), and stop damping blocks (504) are disposed on the inner sides of the lateral limiting plate (503) and the longitudinal limiting plate (502).

4. A superconducting maglev electric drive crawler vehicle with a permanent magnet track according to claim 1 or 2, characterized in that, Also included is a tensioning support system (3), the tensioning support system (3) includes a tensioning wheel (301), a telescopic assembly (302) and a rotating platform (303), the tensioning wheel (301) is in contact support connection with the track (2), the rotating platform (303) is disposed on the vehicle body (1), and the tensioning wheel (301) is connected to the rotating platform (303) through the telescopic assembly (302).

5. The superconducting magnetic levitation electric drive crawler vehicle with a permanent magnetic track according to claim 4, characterized in that Two of the tensioning wheels (301) are respectively connected to both ends of each track (2), and the inner sides of both ends of the track (2) are engaged with the tensioning wheels (301).

6. The superconducting magnetic levitation electric drive crawler vehicle with a permanent magnetic track according to claim 4, characterized in that, The track (2) includes a track plate (201), the secondary magnetic sheet (202) is disposed on the inner side of the track plate (201), a toothed rail (203) is further disposed on the track plate (201), the secondary magnetic sheet (202) is located between the two toothed rails (203), and convex teeth are disposed on the tensioning wheels (301) of the tensioning support system (3), and the toothed rail (203) is engaged with the convex teeth.

7. A superconducting maglev electric drive crawler vehicle with a permanent magnet track according to claim 6, characterized in that, The track plate (201) has a trough-shaped structure, and the secondary magnetic sheet (202) is located on the upper surface of the track plate (201).

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