A magnetic levitation switching bearing transportation equipment and a self-laying track operation method

Abstract

The present invention discloses a maglev switching bearing carrier equipment and a self-laying track operation method, which solve the technical problems that the existing maglev vehicles cannot achieve the alternation of bearing and track laying, cannot perform automatic track laying, and have high application costs. The present invention includes: a carrier; a carrier base; carrier wheels; a carrier wheel driving device is arranged on the carrier wheels, the carrier base includes a carrier support part and a carrier wheel connection part, and a support system is arranged between the carrier support part and the carrier; a plurality of the carrier wheels form two carrier wheel assemblies, a carrier wheel support assembly is arranged on the carrier wheels, the carrier wheel support assembly includes a first support assembly and at least one second support assembly, and by controlling the change of the acting forces of the first support assembly and the second support assembly and / or the driving of the carrier wheel driving device, the alternation of different carrier wheel assemblies between two working states of bearing and track laying is adjusted. The present invention has the advantages of alternating bearing and track laying and realizing automatic track laying, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and particularly to a maglev switching bearing transportation equipment and a self-laying track running method. Background Art

[0002] Traditional maglev vehicles rely on maglev carrier wheels, motors, and maglev lanes as the power system. When the maglev carrier wheels rotate relative to the induction lane, an induced current is generated. According to the principles of electromagnetic induction and Lenz's law, an electromagnetic force is generated between the induced magnetic field generated by the induced current and the original magnetic field to hinder this relative motion. In the normal direction, it is manifested as a levitation force to levitate the vehicle carrier, and in the tangential direction, it is manifested as a driving force to realize the driving of the vehicle. At the same time, in recent years, with the increasingly prominent contradiction between energy demand and environmental resources, electric vehicles have gradually become a research hotspot in the field of road transportation due to their own environmental protection and energy-saving advantages. In this context, some scholars have proposed various maglev vehicle driving schemes. For example, in the prior art CN202010644600.7, the levitation method is electromagnetic levitation, relying on the rotation of the maglev carrier wheels relative to the induction lane to generate a levitation force for levitation control of the vehicle carrier. This levitation scheme has the following deficiencies: First, the vehicle must be on the induction lane to achieve levitation driving, which will greatly increase the manufacturing cost of the maglev vehicle and the usage scenario will be limited; Second, the vector superposition effect of the longitudinal forces after the rotational speeds of the front and rear wheel sets are adjusted is used to achieve braking and driving (when in the levitation state), and the control difficulty is high; Third, the dynamic decoupling in the three directions of longitudinal, transverse, and vertical is not achieved, and the mobility and stability are insufficient during the vehicle's travel. And for the carrier wheels in this patent, they only rely on the permanent magnets installed on the carrier wheels and the induction rails on the tracks installed on the ground for levitation. The carrier wheels on both sides need to achieve levitation and driving simultaneously and cannot alternate between levitation and driving.

[0003] Therefore, the present invention proposes a transportation equipment that can alternately bear and drive to overcome the problems existing in the prior art. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: the carrier wheels of the existing maglev vehicles cannot alternate between levitation and driving, the maglev vehicles cannot lay tracks by themselves and need to lay tracks additionally, resulting in high application costs.

[0005] The present invention is achieved by the following technical solutions:

[0006] A maglev switching bearing transportation equipment, comprising:

[0007] A vehicle carrier;

[0008] A transportation base;

[0009] A support system;

[0010] Carrier wheel;

[0011] A carrier wheel drive device is provided on the carrier wheel, which is used to drive the carrier wheel to rotate so as to drive the corresponding carrier base to move;

[0012] The carrier base is located below the carrier;

[0013] The carrier base includes a carrier support part and a carrier wheel connection part that are connected to each other. A support system is provided between the carrier support part and the carrier. The carrier wheel is provided on the carrier wheel connection part;

[0014] The support system includes support components provided on the carrier and / or the carrier support part of the carrier base, which are used to support the carrier and ensure relative movement between the carrier and the carrier base;

[0015] A plurality of the carrier wheels form at least two carrier wheel assemblies,

[0016] A carrier wheel support assembly is provided on the carrier wheel. The carrier wheel support assembly includes a first support assembly and a second support assembly that are cooperatively arranged. The first support assembly is connected to the carrier base, and the second support assembly is provided on the carrier wheel. The second support assembly can generate an intermittent support effect with the first support assembly as the carrier wheel rotates. By controlling the change of the acting forces of the first support assembly and the second support assembly and / or the drive of the carrier wheel drive device, the alternation between the two working states of loading and track laying of different carrier wheel assemblies is adjusted.

[0017] One of the carrier wheel assemblies is the smallest unit to complete the two working states of "loading" and "track laying". The two working states of "loading" and "track laying" can be achieved by one carrier wheel assembly or by the cooperation of multiple carrier wheel assemblies.

[0018] Preferably, the carrier equipment further includes a carrier drive device, which is provided on the carrier base and / or the carrier and is used to drive the carrier to move.

[0019] Furthermore, the carrier wheel support assembly is mechanical support and / or magnetic levitation support. When the carrier wheel support assembly is mechanical support, the carrier wheel support assembly includes a first mechanical support assembly and a second mechanical support assembly. As the carrier wheel rotates, the second mechanical support assembly is driven to alternately abut against the first mechanical support assembly to generate an upward thrust to alternately support the carrier base and the carrier;

[0020] When the carrier wheel support assembly is magnetically levitated, the carrier wheel support assembly includes a first magnetic levitation assembly and a second magnetic levitation assembly. As the carrier wheel rotates, it drives the second magnetic levitation assembly and the first magnetic levitation assembly to act alternately, generating a changing magnetic force to alternately support the carrier base and the carrier.

[0021] In the present invention, the alternation between the two states of loading and track laying is achieved by the change in the acting forces of the first magnetic levitation assembly and the second magnetic levitation assembly of different carrier wheel assemblies. That is, when the acting forces of the first magnetic levitation assembly and the second magnetic levitation assembly of the carrier wheel assembly are large, the carrier wheel assembly bears the load, and when the acting forces of the first magnetic levitation assembly and the second magnetic levitation assembly are small or disappear, the carrier wheel assembly lays the track.

[0022] The present invention preferably relates to a magnetically levitated switching and loading carrier equipment. The support system includes a vertical support assembly and / or a lateral support assembly. A vertical support assembly is provided vertically between the bottom of the carrier and the carrier support part for supporting the carrier and the carrier base vertically. A lateral support assembly is provided horizontally between the bottom of the carrier and the carrier support part for stably controlling the carrier and the carrier base horizontally.

[0023] The present invention preferably relates to a magnetically levitated switching and loading carrier equipment, and both the vertical support assembly and / or the lateral support assembly are magnetically levitated assemblies capable of generating repulsive forces.

[0024] Further, both the vertical support assembly and / or the lateral support assembly adopt a superconducting magnetic levitation system.

[0025] Vertically, the levitation force reaches an equilibrium state with the gravity of the levitated carrier. This superconducting magnetic levitation system has the function of stable levitation to achieve the vertical stability of the carrier equipment, and also achieves stable control horizontally under the strong pinning effect of the superconducting magnetic levitation.

[0026] The present invention preferably relates to a magnetically levitated switching and loading carrier equipment. The first magnetic levitation assembly and the second magnetic levitation assembly are cooperatively designed to form a superconducting magnetic levitation system or an electromagnetically controllable magnetic levitation system, or both adopt permanent magnets. When the first magnetic levitation assembly is a superconducting magnet or an electromagnet, the second magnetic levitation assembly is a permanent magnet, or when the first magnetic levitation assembly is a permanent magnet, the second magnetic levitation assembly is a superconducting magnet or an electromagnet, or both the first magnetic levitation assembly and the second magnetic levitation assembly are permanent magnets.

[0027] In the present invention, the magnetic force change between the first magnetic levitation assembly and the second magnetic levitation assembly is directly regulated by a controllable magnetic levitation system, or the magnetic force magnitude is adjusted by the position change between the first magnetic levitation assembly and the second magnetic levitation assembly.

[0028] When adjusting the magnetic force by the positional relationship, when the position of the second magnetic levitation component relative to the first magnetic levitation component changes from partial opposition to full opposition, the repulsive force generated on the carrier wheel enables the carrier wheel assembly to bear the weight of the carrier and the carrier base. At this time, the carrier wheel assembly serves as a load-bearing wheel. When the first magnetic levitation component and the second magnetic levitation component are completely staggered in position, no levitation repulsive force is generated between them, and the set of carrier wheel assemblies lays tracks under the action of the carrier wheel driving device. As the carrier wheel rotates, when the positions of the first magnetic levitation component and the second magnetic levitation component of the carrier wheel assembly laying the track gradually become opposite, at this time, a magnetic levitation repulsive force is generated, and the operation of the carrier wheel driving device of this group is stopped. At the same time, when the positions of the first magnetic levitation component and the second magnetic levitation component of the carrier wheel assembly laying the track are partially opposite, the operation of the carrier wheel driving device can also be stopped. Relying on the inertia of this group of carrier wheels, the first magnetic levitation component and the second magnetic levitation component are made to be completely opposite, generating a downward pressing levitation force to achieve the switching from track laying to load bearing. The previous carrier wheel assembly that was bearing switches from load bearing to track laying under the action of the carrier wheel driving device.

[0029] When directly regulating the magnetic force change between the first magnetic levitation component and the second magnetic levitation component through a controllable magnetic levitation system, when the carrier wheel assembly needs to bear the load, load bearing is achieved by controlling and increasing the levitation force between the first support component and the second support component. For the carrier wheel assembly that needs to lay tracks, the levitation force between the first support component and the second support component is controlled to become smaller or disappear, and the carrier wheel driving device is driven to work to achieve track laying. The alternate load bearing and track laying of the carrier wheel assembly are realized through the controllable levitation force between the electromagnet and the permanent magnet and in cooperation with the drive of the carrier wheel driving device.

[0030] Preferably, the first magnetic levitation component is a superconducting magnet, and the second magnetic levitation component is a permanent magnet. The working state of the carrier wheel is adjusted by the change in repulsive force caused by the position change between the superconducting magnet and the permanent magnet.

[0031] The present invention preferably relates to a magnetic levitation switching load-bearing transport equipment. The inner arc surface of the first magnetic levitation component faces the center of the carrier wheel, and the inner arc surface of the second magnetic levitation component faces the center of the carrier wheel. At least one second magnetic levitation component is provided on each carrier wheel, and preferably one is provided.

[0032] Preferably, the first magnetic levitation component and the second magnetic levitation component are concentric arc structures, so that the magnetic force remains constant during the process of their relative positions.

[0033] The present invention preferably provides a magnetic levitation switching load-bearing transport equipment, wherein the outer arc surface of the first magnetic levitation component faces the center of the carrier wheel, and the inner arc surface of the second magnetic levitation component faces the center of the carrier wheel. The second magnetic levitation component can also be set as a planar structure or a structure of other shapes. At least one second magnetic levitation component is set for each carrier wheel, and one is preferably set. It is best if the repulsive force generated between the second magnetic levitation component and the first magnetic levitation component can overcome the weight of the carrier.

[0034] In this way, when the first magnetic levitation component and the second magnetic levitation component are relative to each other, from the farthest distance to the closest distance, the magnetic force gradually increases from small to maximum, and then gradually decreases from maximum to minimum, thereby achieving flexible changes and faster conversion between the load-bearing and track-laying states, which is more efficient and energy-saving.

[0035] Preferably, the second magnetic levitation component includes a plurality of arc structures arranged at intervals, and the plurality of arc structures of the carrying wheel components of different working status groups are arranged alternately, wherein the repulsive force generated between the second magnetic levitation component of each arc structure and the first magnetic levitation component can overcome the weight of the carrier.

[0036] Preferably, the second magnetic levitation component is composed of at least two convex arc segments and at least two concave arc segments, wherein each convex arc segment is connected with two concave arc segments to form a whole, and the convex arc segment forms a concentric arc with the first magnetic levitation component, so that the carrying wheel can switch smoothly between the load-bearing and track-laying states.

[0037] Preferably, the design principle of the concave arc segment is: from the time when the concave arc segment is relative to the first magnetic levitation component (that is, the distance between the two is closest) until the distance between the concave arc segment and the first magnetic levitation component is the farthest, the suspension force between them gradually changes from maximum to minimum, and then the suspension force gradually increases from minimum to maximum again, thereby realizing flexible switching of load bearing.

[0038] Preferably, the second magnetic levitation component includes a hollow cylindrical magnet structure enclosed in 360° with its inner arc surface facing the center of the carrier wheel, and a section of the outer arc surface of the hollow cylindrical magnet structure is provided with a magnet protrusion facing away from the center of the carrier wheel. Preferably, the protrusion is an arc-shaped structure and its outer arc surface faces away from the center of the carrier wheel.

[0039] For the adjustment of the positional relationship between the first magnetic levitation components and the second magnetic levitation components of different groups of carrying wheel components, the second magnetic levitation components of different groups of carrying wheel components can be arranged at the same position, but the arrangement positions of the first magnetic levitation components are staggered, as long as the first magnetic levitation component and the second magnetic levitation component of a carrying wheel assembly are relative to each other, they can generate vertical repulsive force on each other.

[0040] The present invention preferably relates to a maglev switching - bearing transport equipment. An installation structure is provided between the carrier and the transport base. The installation structure includes an installation groove and an installation block. When the installation groove is provided on the carrier, the matching installation block is provided on the transport base. When the installation groove is provided on the transport base, the matching installation block is provided on the carrier. A support system and a carrier driving device are arranged in the installation structure.

[0041] Preferably, longitudinal through - installation grooves corresponding to the number of transport bases are provided at the bottom of the carrier. The carrier support part is arranged in the installation groove. One end of the carrier wheel connecting part is connected to the carrier support part, and the other end extends out of the installation groove and is connected to the carrier wheel. That is, the carrier support part and the carrier wheel connecting part of the transport base form a T - shaped structure. The vertical support assembly is vertically installed on the top wall of the installation groove and the upper end of the carrier support part in cooperation. The horizontal support assembly is horizontally installed on the side wall of the installation groove and the carrier support part in cooperation. The first driving component of the carrier driving device is arranged on the top wall or side wall or bottom wall of the installation groove, and the second driving component of the carrier driving device is arranged at the corresponding position on the carrier support part.

[0042] Preferably, the carrier driving device is a linear motor. The primary structure or secondary structure of the linear motor is provided on the inner top wall of the installation groove. The upper surface of the carrier support part is provided with a secondary or primary structure corresponding to the one on the carrier installation groove. Additionally, it can also be that the carrier support part directly uses ferromagnetic material to form a linear motor with the primary structure or secondary structure on the carrier.

[0043] The present invention preferably relates to a maglev switching - bearing transport equipment. Each carrier wheel assembly is provided with at least one carrier wheel. Each transport base is provided with at least one carrier wheel assembly. At least one carrier wheel assembly and at least one transport base form a transport unit. The transport unit is divided into a "loading" unit and a "track - laying" unit. At least one "loading" unit and at least one "track - laying" unit form a transport module.

[0044] When the transport module only includes one loading unit and one track - laying unit, the loading unit and the track - laying unit of the transport module are arranged horizontally in parallel or vertically in parallel, and the two transport units alternate between loading and track - laying.

[0045] When the transport module includes multiple "loading" units and / or multiple "track - laying" units, the "loading" units and the "track - laying" units can be arranged in a horizontal combination, a vertical combination, and a horizontal - vertical cross - combination.

[0046] Further, for stable operation and alternating stable track laying, each carrier unit includes at least two of the carrier bases, and each carrier base is provided with at least two carrier wheels to ensure stable support for the carrier.

[0047] The present invention preferably provides a maglev switching load-carrying transport equipment. The carrier wheels are connected to the carrier base through a vibration damping support system. The vibration damping support system is installed below the connecting arm. A shock absorber is provided on the vibration damping support system. A direct drive hub motor drive system or a wheel motor is provided inside the carrier wheels.

[0048] A method for operating a maglev switching load-carrying transport equipment includes the following steps:

[0049] Step 1: Control the carrier wheel drive device of at least one carrier wheel assembly to work so that the carrier wheels rotate to drive the track laying of the carrier unit; at least one carrier wheel assembly of the remaining carrier units supports the weight of the carrier base and the carrier through maglev.

[0050] Step 2: The levitation force of the maglev support of the carrier wheel assembly that bears in Step 1 weakens or disappears, and the carrier wheel drive device works so that the carrier wheels rotate to drive the track laying of the carrier unit; the carrier wheel assembly of the carrier unit that lays the track in Step 1 stops driving and supports the weight of the carrier base and the carrier through maglev.

[0051] Step 1 and Step 2 are repeated cyclically to achieve self-track-laying operation of the carrier base through alternating track laying and bearing of the carrier units.

[0052] Preferably, in a self-track-laying operation method of a maglev switching load-carrying transport equipment, in the above steps, the driving mode of the carrier is as follows: there is a partial repulsive force between the carrier wheel support assemblies of the carrier wheel assembly that lays the track, and this carrier wheel still bears a small part of the weight of the carrier and the carrier base; as the carrier wheels continue to rotate, this repulsive force makes there be a partial magnetic force continuously between the maglev support assemblies of the carrier and the carrier base. Under the action of this partial magnetic force, the movement of the carrier base will drive the carrier to move together. When this magnetic force is sufficient to drive the carrier to move, there is no need to separately set a carrier drive device or not start the carrier device. When this magnetic force is not sufficient to drive the carrier to move, a carrier drive device can be separately set or the carrier device can be started to enhance the acting force between the two, so as to drive the carrier to move.

[0053] The present invention has the following advantages and beneficial effects:

[0054] 1. The present invention proposes an automatic switching design for the carrier wheels between the track-laying state and the load-bearing state. A magnetic levitation system is arranged on each carrier wheel. The magnitude of the levitation force is adjusted by the corresponding position changes of the first magnetic levitation component and the second magnetic levitation component on the carrier wheels of the carrier wheel assemblies in different working states. And in cooperation with the drive of the carrier wheel drive device on the carrier wheel assemblies of different working state groups, different carrier wheel assemblies can be alternately switched between track-laying and load-bearing, so as to achieve self-track-laying of the carrier base and realize the self-track-laying operation of the carrier equipment, solving the technical problem that the existing maglev vehicles cannot self-track-lay.

[0055] 2. The present invention uses magnetic levitation vertically to generate a repulsive force that balances the self-gravity of the levitating vehicle body macroscopically, thereby realizing the levitation of the vehicle body. It is controlled by a linear motor longitudinally, with higher power density and more stable control of the longitudinal swing of the carrier equipment. Horizontally, it makes full use of the unique strong pinning ability of high-temperature superconducting permanent magnets to ensure the control of the lateral stability of the carrier equipment, realizing the decoupling of the carrier equipment in the longitudinal, horizontal, and vertical directions, solving the defects in the existing maglev vehicle technical solutions such as the great difficulty in three-way control in the longitudinal, horizontal, and vertical directions, high energy consumption of electromagnetic levitation, the need for an externally added electromagnetic levitation induction track, increased costs, and insufficient control accuracy and mobility, reducing the energy consumption of the maglev car and improving the vehicle's endurance.

[0056] 3. The present invention proposes a carrier base with a T-shaped structure design to realize the cooperative structure of laterally arranged permanent magnets and superconducting magnets, longitudinally arranged linear motors, and vertically arranged high-temperature superconducting levitation systems to levitate the vehicle body, simplifying the redundant structure and facilitating modular matching and production.

[0057] 4. Each carrier wheel of the present invention is independently controlled by a hub motor or a wheel-side motor, enabling a driving and braking form for the carrier equipment with individual control of each carrier wheel. The motor is directly embedded in the carrier wheel to drive the carrier wheel alone, with more stable and reliable power output, simple transmission structure, fast response speed, improving the reliability of the power system, and solving the problems of poor reliability, complex structure, and low efficiency in the existing technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not limit the embodiments of the present invention. In the drawings:

[0059] Figure 1 is a schematic diagram of the overall structure of a carrier equipment according to an embodiment of the present invention;

[0060] Figure 2 For the present invention Figure 1 side view of the carrier equipment;

[0061] Figure 3 For the carrier equipment of the present inventionFigure 2 Cross-sectional view along B-B;

[0062] Figure 4 For the present invention Figure 3 Enlarged view of V;

[0063] Figure 5 Schematic diagram of the overall structure of the transport equipment according to another embodiment of the present invention;

[0064] Figure 6 For the present invention Figure 5 Schematic side view of the transport equipment;

[0065] Figure 7 For the present invention Figure 6 Cross-sectional structure view along the A-A direction;

[0066] Figure 8 For the present invention Figure 7 Enlarged view of the structure at I;

[0067] Figure 9 For the present invention Figure 7 Enlarged view of the structure at II;

[0068] Figure 10 Enlarged schematic diagram of the structure of the transport wheel of the present invention;

[0069] Figure 11 Schematic diagram of another installation method structure of the carrier driving device of the present invention;

[0070] Figure 12 Schematic diagram of the transport equipment structure with only one transport base of the present invention;

[0071] Figure 13 For the present invention Figure 12 Side view;

[0072] Figure 14 Schematic diagram of the transport wheel structure of one embodiment in the transport wheel group structure of the present invention;

[0073] Figure 15 Schematic diagram of the transverse combination structure of the longitudinal transport module and the transverse transport module of the present invention;

[0074] Figure 16 Schematic diagram of the longitudinal combination structure of the longitudinal transport module and the transverse transport module of the present invention;

[0075] Figure 17 Another schematic diagram of the structure of the transport wheel support assembly of the present invention with magnetic levitation support;

[0076] Figure 18 Schematic diagram of the structure of the transport wheel support assembly of the present invention with mechanical support.

[0077] The component names in the attached drawings are as follows:

[0078] 1 - Carrier base, 101 - Second lateral support assembly, 102 - Limit block, 103 - Second vertical support assembly, 104 - Second drive assembly, 2 - Carrier, 201 - First vertical support assembly, 202 - First drive assembly, 203 - First lateral support assembly, 204 - Limiting member, 3 - Vibration damping support system, 301 - Connecting arm, 302 - Lower arm, 303 - Vibration damper; 4 - Carrier wheel Ⅰ; 5 - Carrier wheel Ⅱ; 6 - Carrier wheel Ⅲ; 7 - Carrier wheel Ⅳ, 8 - First magnetic levitation assembly, 9 - Second magnetic levitation assembly, 10 - First mechanical support assembly, 11 - Second mechanical support assembly. Detailed implementation manners

[0079] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in combination with embodiments and the attached drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and shall not be construed as a limitation to the present invention.

[0080] As Figures 1 - 18 shown

[0081] A magnetic levitation switching load - bearing carrier equipment includes: a carrier 2, a carrier base 1, a support system, and a carrier drive device, where the carrier drive device is used to drive the carrier 2 to move; carrier wheels; a carrier wheel drive device is provided on the carrier wheels to drive the carrier wheels to rotate so as to drive the corresponding carrier base 1 to move; the carrier base 1 is located below the carrier 2.

[0082] The carrier base 1 includes a carrier support part and a carrier wheel connection part that are connected to each other. The support system is provided between the carrier support part and the carrier 2, and the carrier wheel connection part is provided with the carrier wheels.

[0083] The support system includes support assemblies provided on the carrier 2 and / or the carrier support part of the carrier base 1, which are used to support the carrier 2 and ensure relative movement between the carrier 2 and the carrier base 1.

[0084] Multiple said carrier wheels form at least two carrier wheel assemblies,

[0085] A carrier wheel support assembly is provided on the carrier wheel. The carrier wheel support assembly includes a first support assembly and a second support assembly that are cooperatively arranged. The first support assembly is connected to the carrier base 1, and the second support assembly is provided on the carrier wheel. The second support assembly can intermittently support the first support assembly as the carrier wheel rotates. By controlling the change in the acting forces of the first support assembly and the second support assembly and / or the drive of the carrier wheel drive device, different carrier wheel assemblies can be adjusted to alternate between the two working states of loading and track laying.

[0086] One of the described carrier wheel assemblies is the smallest unit to complete the two working states of "loading" and "track laying". The two working states of "loading" and "track laying" can be achieved by one carrier wheel assembly or by multiple carrier wheel assemblies working together.

[0087] The carrier wheel support assembly is mechanical support and / or magnetic levitation support.

[0088] In one embodiment, the carrier wheel support assembly is mechanical support. As shown, the carrier wheel support assembly includes a first mechanical support assembly 10 and a second mechanical support assembly 11. The first mechanical support assembly 10 has an arc-shaped structure with the outer arc surface facing the center of the carrier wheel. The second mechanical support assembly 11 is a convex structure connected to the wheel hub. As the carrier wheel rotates, the second mechanical support assembly 11 alternately abuts against the first mechanical support assembly 10 to generate an upward thrust to alternately support the carrier base 1 and the carrier 2. Figure 18 shown, the carrier wheel support assembly includes a first mechanical support assembly 10 and a second mechanical support assembly 11, where the first mechanical support assembly 10 has an arc-shaped structure with the outer arc surface facing the center of the carrier wheel, and the second mechanical support assembly 11 is a convex structure connected to the wheel hub. As the carrier wheel rotates, the second mechanical support assembly 11 alternately abuts against the first mechanical support assembly 10 to generate an upward thrust to alternately support the carrier base 1 and the carrier 2;

[0089] In another embodiment, the carrier wheel support assembly is magnetic levitation support. The carrier wheel support assembly includes a first magnetic levitation assembly 8 and a second magnetic levitation assembly 9. As the carrier wheel rotates, the second magnetic levitation assembly 9 alternately acts with the first magnetic levitation assembly 8 to generate a changing magnetic force to alternately support the carrier base and the carrier.

[0090] In this embodiment, the present invention realizes the alternation between the two states of loading and track laying by changing the acting forces of the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 of different carrier wheel assemblies. That is, when the acting forces of the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 of the carrier wheel assembly are large, the carrier wheel assembly loads, and when the acting forces of the first magnetic levitation assembly and the second magnetic levitation assembly are small or disappear, the carrier wheel assembly lays tracks.

[0091] The support system includes a vertical support assembly and / or a lateral support assembly. A vertical support assembly is provided between the bottom of the carrier 2 and the carrier support portion in the vertical direction for realizing magnetic levitation support between the carrier 2 and the carrier base 1 in the vertical direction. A lateral support assembly is provided between the bottom of the carrier 2 and the carrier support portion in the lateral direction for realizing stable control between the carrier 2 and the carrier base 1 in the lateral direction.

[0092] In one embodiment, the vertical support assembly and / or the lateral support assembly can both be mechanical supports, such as ball bearings or rolling bearings.

[0093] In a specific embodiment, both the vertical support assembly and the lateral support assembly are magnetic levitation assemblies that can repel each other.

[0094] As Figure 8 and Figure 11 shown, the vertical support assembly includes a first vertical support assembly 201 and a second vertical support assembly 103. The first vertical support assembly 201 is disposed on the carrier 2, and the second vertical support assembly 103 is disposed on the carrier support portion.

[0095] The lateral support assembly includes a first lateral support assembly 203 and a second lateral support assembly 101. The first lateral support assembly 203 is disposed on the carrier 2, and the second lateral support assembly 101 is disposed on the carrier support portion.

[0096] Both the vertical support assembly and the lateral support assembly adopt a superconducting magnetic levitation system. The first vertical support assembly 201 is a first superconducting magnet, the second vertical support assembly 103 is a first permanent magnet corresponding to the first superconducting magnet, the first lateral support assembly 203 is a second superconducting magnet, and the second lateral support assembly 101 is a second permanent magnet corresponding to the second superconducting magnet. The above-mentioned first superconducting magnet and second superconducting magnet are respectively stored in a first Dewar and a second Dewar. At the same time, a coolant is also stored in the Dewar to cool the superconducting magnet.

[0097] Vertically, the levitation force reaches an equilibrium state with the gravity of the levitated carrier 2. This superconducting magnetic levitation system has the function of stable levitation to achieve the vertical stability of the transportation equipment, and also realizes stable control under the strong pinning effect of superconducting magnetic levitation horizontally.

[0098] In one embodiment, the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 are designed in cooperation to form a superconducting magnetic levitation system or an electromagnetically controllable magnetic levitation system or both adopt permanent magnets. When the first magnetic levitation assembly 8 is a superconducting magnet or an electromagnet, the second magnetic levitation assembly is a permanent magnet, or when the first magnetic levitation assembly 8 is a permanent magnet, the second magnetic levitation assembly 9 is a superconducting magnet or an electromagnet. In addition, both the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 can adopt permanent magnets.

[0099] In this embodiment, the load-bearing state of the transportation wheel is adjusted by controlling the change of the magnetic force caused by the position change between the superconducting magnet, the electromagnet and the permanent magnet or between the permanent magnets.

[0100] In this embodiment, the magnetic force between the first magnetic levitation component 8 and the second magnetic levitation component 9 is directly regulated by a controllable magnetic levitation system, or the magnitude of the magnetic force is adjusted by the change in the position between the first magnetic levitation component 8 and the second magnetic levitation component 9.

[0101] When adjusting the magnetic force by the positional relationship, when the position of the second magnetic levitation component 8 relative to the first magnetic levitation component 9 changes from partially opposite to completely opposite, the repulsive force generated on the carrier wheel causes the carrier wheel assembly to bear the weight of the carrier 2 and the carrier base 1. At this time, the carrier wheel assembly serves as a load-bearing wheel. When the positions of the first magnetic levitation component 8 and the second magnetic levitation component 9 are completely staggered, no magnetic levitation repulsive force is generated between them, and the set of carrier wheels is laid with tracks under the action of the carrier wheel driving device. As the carrier wheel rotates, when the positions of the first magnetic levitation component 8 and the second magnetic levitation component 9 of the carrier wheel assembly laying the tracks gradually become opposite, at this time, a magnetic levitation repulsive force is generated, and the operation of the set of carrier wheel driving devices is stopped. At the same time, when the positions of the first magnetic levitation component 8 and the second magnetic levitation component 9 of the carrier wheel assembly laying the tracks are partially opposite, the operation of the carrier wheel driving device can also be stopped, and relying on the inertia of the set of carrier wheels, the first magnetic levitation component 8 and the second magnetic levitation component 9 are made to be completely opposite, generating a downward pressing magnetic levitation force to achieve the switching from laying tracks to load-bearing. The previous load-bearing carrier wheel assembly switches from load-bearing to laying tracks under the action of the carrier wheel driving device.

[0102] When directly regulating the magnetic force change between the first magnetic levitation component 8 and the second magnetic levitation component 9 through a controllable magnetic levitation system, when the carrier wheel assembly needs to bear the load, it is achieved by controlling and increasing the magnetic levitation force between the first support component 8 and the second support component 9. For the carrier wheel assembly that needs to lay tracks, the magnetic levitation force between the first support component 8 and the second support component 9 is controlled to become smaller or disappear, and the carrier wheel driving device is driven to operate to achieve track laying. The alternating load-bearing and track laying of the carrier wheel assembly are realized through the controllable magnetic levitation force between the electromagnet and the permanent magnet and in cooperation with the drive of the carrier wheel driving device.

[0103] In one embodiment, the second magnetic levitation component 9 is provided on one side hub of the carrier wheel, and the first magnetic levitation component 8 is provided above the carrier wheel corresponding to the second magnetic levitation component 9.

[0104] When the second magnetic levitation component 9 is provided only on one side, a counterweight is provided on the other side of the carrier wheel to ensure the stability of the carrier wheel, as Figure 1 、 Figure 3 and Figure 4 shown.

[0105] Another implementation is that the same-structured second magnetic levitation component 9 is also provided on the other side of the carrier wheel, and the first magnetic levitation component 8 is provided at the corresponding upper position of each second magnetic levitation component 9, as Figure 5 、Figure 7 and Figure 9 As shown, this can ensure that the entire carrier wheel receives a relatively balanced magnetic levitation force, making the operation or bearing of the carrier wheel smoother.

[0106] In one embodiment, the inner arc surface of the first magnetic levitation assembly 8 faces the center of the carrier wheel, and the inner arc surface of the second magnetic levitation assembly 9 also faces the center of the carrier wheel. The first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 are concentric arc structures. In this way, the magnetic force can remain constant during the relative movement of the two, as shown in Figure 1 and Figure 2 the carrier wheel part.

[0107] In another embodiment, both ends of the first magnetic levitation assembly 8 are bent upward.

[0108] In another embodiment, as shown in Figure 14 the outer arc surface of the first magnetic levitation assembly 8 faces the center of the carrier wheel, and the inner arc surface of the second magnetic levitation assembly 9 faces the center of the carrier wheel. In this way, from the farthest relative position to the closest relative position of the two, the magnetic force gradually increases from small to the maximum, realizing a flexible change and enabling a faster conversion between the two states of bearing and track laying, with higher efficiency and more energy saving.

[0109] In this embodiment, the second magnetic levitation assembly 9 can also be set as a planar structure or a structure of other shapes. One second magnetic levitation assembly 9 is provided for each carrier wheel, and the repulsive force generated between the second magnetic levitation assembly 9 and the first magnetic levitation assembly 8 can overcome the weight of the carrier 2.

[0110] In another embodiment, as shown in Figure 17 when the first support assembly 8 and the second support assembly 9 form a magnetic levitation system, the second magnetic levitation assembly 9 includes a hollow cylindrical magnet structure enclosing 360°, and the inner arc surface faces the center of the carrier wheel. A magnet protrusion facing away from the center of the carrier wheel is provided on a section of the outer arc surface of the hollow cylindrical magnet structure. Preferably, the protrusion is in an arc structure and the outer arc surface faces away from the center of the carrier wheel.

[0111] When the carrying wheel rotates until the protrusion is opposite to the first supporting assembly, a maximum repulsive force will be generated, and the carrying wheel bears most of the weight of the carrier 2 and the carrying base 1. As the carrying wheel driving device works, the position of the protrusion of the second supporting assembly 9 and the first supporting assembly 8 gradually staggers. When the positions of the two are completely staggered, the distance between the hollow cylindrical structure and the first supporting assembly 8 increases and there is still some repulsive force between the two. The carrying wheel still bears a small part of the weight of the carrier 2 and the carrying base 1. As the carrying wheel continues to rotate, the repulsive force causes the magnetic suspension supporting assembly between the carrier 2 and the carrying base 1 to continue to have some magnetic force. Under the action of this part of the magnetic force, the movement of the carrying base 1 will drive the carrier 2 to move together. When the magnetic force is sufficient to drive the carrier 2 to move, there is no need to set up a separate carrier driving device or not start the carrier device. When the magnetic force is insufficient to drive the carrier 2 to move, a separate carrier driving device can be set up or the carrier device can be started to enhance the force between the two, thereby driving the carrier 2 to move.

[0112] In this embodiment, the same carrier wheel assembly can simultaneously carry a small portion of the weight, lay tracks, and drive the carrier 2 to move; wherein at least one carrier wheel assembly alternates between carrying a small portion of the weight, laying tracks, and driving the carrier 2 to move and at least one other carrier wheel assembly alternates between carrying most of the weight.

[0113] In another embodiment, the second magnetic suspension component 9 includes a plurality of arc structures arranged at intervals, and the plurality of arc structures of different groups of carrier wheel components are alternately arranged, wherein the repulsive force generated between the second magnetic suspension component 9 of each arc structure and the first magnetic suspension component 8 can overcome the weight of the carrier 2.

[0114] In one embodiment, Figure 5 , 6 and Figure 10 As shown, the second magnetic levitation component 9 is composed of two convex arc segments and two concave arc segments, wherein each convex arc segment is connected with the two concave arc segments to form a whole, and the convex arc segment has the same curvature as the first magnetic levitation component 8, so that the carrying wheel can switch smoothly between the load-bearing and driving states.

[0115] The design of the concave arc segment is as follows: from the time when the concave arc segment and the first magnetic suspension component 8 are opposite to each other (i.e., the distance between the two is the shortest) until the distance between the concave arc segment and the first magnetic suspension component 8 is the farthest, the suspension force between them gradually changes from the maximum to the minimum, and then the suspension force gradually increases from the minimum to the maximum, thereby realizing the flexible switching of the load. It should be noted that, in this embodiment, the second magnetic suspension component 9 can also be composed of more than two convex arc segments and more than two concave arc segments.

[0116] The shapes of the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 can also be other shapes, such as a plane, or other lengths, as long as they can act alternately and generate repulsive magnetic forces when in relative positions to enable the carrier wheels to carry alternately. Among them, the length of the second magnetic levitation assembly 9 is less than that of the first magnetic levitation assembly 8, so that the carrier wheel has a short carrying time and a long driving time, improving the operating efficiency of the carrying equipment.

[0117] In another embodiment, for the adjustment of the positional relationship between the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 of the carrier wheel assemblies in different working state groups, it can also be that the layout positions of the second magnetic levitation assemblies 9 of different groups of carrier wheel assemblies are the same, but the layout positions of the first magnetic levitation assemblies 8 are staggered. As long as it is ensured that when the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 of the carrier wheel assembly responsible for carrying are in relative positions, they can generate repulsive forces in the vertical direction, and the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 of the carrier wheel assembly responsible for laying tracks are partially or completely staggered to achieve lightweight track laying.

[0118] In one embodiment, an installation structure is provided between the carrier 2 and the carrier base 1. The installation structure includes an installation groove and an installation block. When the installation groove is provided on the carrier 2, the matching installation block is provided on the carrier base 1. When the installation groove is provided on the carrier base 1, the matching installation block is provided on the carrier 2. A support system and a carrier driving device are arranged in the installation structure.

[0119] In a specific embodiment, longitudinally penetrating installation grooves corresponding to the number of the carrier bases 1 are provided at the bottom of the carrier 2. The carrier support part is arranged in the installation groove. One end of the carrier wheel connecting part is connected to the carrier support part, and the other end extends out of the installation groove and is connected to the carrier wheel. That is, the carrier support part and the carrier wheel connecting part of the carrier base 1 form a T-shaped structure, as Figure 1 、 3 、5、7、8 and Figure 11 , shown. The vertical support assembly is vertically installed in cooperation on the top wall of the installation groove and the upper end of the carrier support part. The horizontal support assembly is horizontally installed in cooperation on the wall of the installation groove and the carrier support part. The carrier driving device includes a first driving assembly 202 and a second driving assembly 104. The first driving assembly 202 is installed on the top wall, side wall or bottom wall of the installation groove, and the second driving assembly 104 is provided at the corresponding position of the carrier support part.

[0120] In a specific solution, as Figure 3 、 7As shown in FIGS. 7 and 8, the carrier driving device includes a first driving component 202 and a second driving component 104. The carrier driving device is a linear motor. For the installation position of the linear motor, the primary structure or the secondary structure of the linear motor can be arranged on the inner top wall or the side wall of the installation groove. On the upper surface of the carrier support portion, a secondary or primary structure corresponding to the installation groove on the carrier 2 is arranged. Additionally, the carrier support portion can directly adopt a ferromagnetic material to form a linear motor with the primary structure or the secondary structure on the carrier 2, that is, the first driving component and the second driving component 104 are the mutually cooperating primary and secondary, and their installation positions can be interchanged.

[0121] In another embodiment, the first driving component 202 is arranged at two L-shaped bottom walls of the installation groove to improve the longitudinal stability, and the second driving component 104 is arranged below the carrier support portion to cooperate with the first driving component 202.

[0122] When the first driving component 202 of the carrier driving device is arranged on the two L-shaped bottom walls of the installation groove and acts on the second driving component 104 on the carrier support portion, the carrier driving device adopts a linear motor. The repulsive force generated between the secondary and the primary of the linear motor can play a role in vertical suspension, and a separate vertical support component can be not provided, thereby simplifying the structure.

[0123] The linear motor is based on the principle of minimizing magnetic resistance, making the magnetic flux tend to form a closed loop along the path with the minimum magnetic resistance, and finally realizing the stable driving of the transport equipment in the longitudinal direction.

[0124] In a specific embodiment, as Figure 3 、 7 and 8 shown, a limiting member 204 is further provided on the upper wall of the installation groove. The limiting member 204 can be a ball or a roller. The ball or the roller is located on both sides of the carrier driving device, so as to protect the carrier driving device.

[0125] In a specific implementation scheme, in order to make the suspension stable, two sets of vertical support components are arranged in one installation groove. Further, the two sets of vertical support components can be arranged at positions close to both ends, as Figure 3 、 7 and Figure 8 shown.

[0126] In order to prevent the lower end of the carrier support portion from colliding with the bottom of the installation groove and causing damage in extreme cases, a limiting block 102 is arranged at the bottom of the installation groove.

[0127] In addition, since the transport base 1 needs to lay tracks along the running direction, in order to prevent the transport base 1 from being separated from the carrier 2 during the track laying process, a limiting component is arranged on the carrier support portion. The limiting component can be a convex block or the like.

[0128] A carrier wheel assembly is provided with at least one carrier wheel. A carrier base 1 is provided with at least one carrier wheel assembly. At least one carrier wheel assembly and at least one carrier base 1 form a carrier unit. The carrier unit is divided into a "loading" unit and a "track-laying" unit. At least one "loading" unit and at least one "track-laying" unit form a carrier module.

[0129] When the carrier module only includes one loading unit and one track-laying unit, the loading unit and the track-laying unit of the carrier module are arranged horizontally in parallel or vertically in parallel, and the two carrier units alternate between loading and track-laying.

[0130] When the carrier module includes multiple "loading" units and / or multiple "track-laying" units, the "loading" units and the "track-laying" units can be arranged in a horizontal combination, a vertical combination, or a horizontal and vertical cross combination.

[0131] The cross combination arrangement means that the carrier units are arranged in a cross combination in the horizontal or vertical direction.

[0132] In a specific embodiment, the two carrier units include four carrier bases 1. One carrier base 1 is provided with one carrier wheel assembly, and one carrier wheel assembly is provided with two carrier wheels. Regarding the arrangement of the four carrier bases 1, the four carrier bases 1 can be arranged longitudinally in parallel along the carrier 2 to form a longitudinal carrier module, or the four carrier bases 1 can be arranged horizontally in parallel along the carrier 2 to form a horizontal carrier module, or a longitudinal carrier module and a horizontal carrier module can be cross combined.

[0133] In the horizontal carrier module, as Figure 12 shown, each carrier base 1 is provided with two carrier wheels on the left and right to form a carrier wheel group. The carrier wheel groups are, from front to back: carrier wheel group Ⅰ4, carrier wheel group Ⅱ5, carrier wheel group Ⅲ6, and carrier wheel group Ⅳ7. Among them, carrier wheel group Ⅰ4 and carrier wheel group Ⅲ6 form one carrier unit, and carrier wheel group Ⅱ5 and carrier wheel group Ⅳ7 form one carrier unit. The two carrier units alternate between loading and track-laying.

[0134] In the longitudinal carrier module, as Figure 3 shown, each carrier base 1 is provided with two carrier wheels in the front and back to form a carrier wheel group. The carrier wheel groups are, from left to right: carrier wheel group Ⅰ4, carrier wheel group Ⅱ5, carrier wheel group Ⅲ6, and carrier wheel group Ⅳ7. Among them, carrier wheel group Ⅰ4 and carrier wheel group Ⅳ7 form one carrier unit, and carrier wheel group Ⅱ5 and carrier wheel group Ⅲ6 form one carrier unit. The two carrier units alternate between loading and track-laying.

[0135] In the cross combination of the longitudinal carrier module and the horizontal carrier base module, it can be a horizontal combination of the longitudinal carrier module and the horizontal carrier module, as Figure 15As shown, it can also be a vertical combination of the two, such as Figure 16 as shown.

[0136] In order to prevent the carrier 2 from detaching from the carrier base 1, a bump for limiting is provided on the carrier base 1 to form a limit.

[0137] Such as Figure 3 、 4 、7 and Figure 9 As shown, the carrier wheel is connected to the carrier base 1 through a vibration damping support system 3. The vibration damping support system 3 is installed below the connecting arm 301. A shock absorber 303 is provided on the vibration damping support system 3. One end of the lower arm 302 of the vibration damping support system 3 is connected to the carrier wheel, and the other end is connected to the carrier connecting part. The lower arm 302 is located below the shock absorber 303. A direct drive hub motor drive system is provided inside the carrier wheel. One end of the connecting arm 301 of the vibration damping support system 3 is connected to the lower part of the carrier wheel, and the other end is connected to the carrier wheel connecting part. One end of the shock absorber 303 is connected to the carrier wheel, and the other end is connected to the carrier wheel connecting part. The shock absorber 303 is located above the connecting arm 301.

[0138] A first magnetic levitation assembly 8 is connected to the end of the connecting arm 301.

[0139] In one embodiment, as Figure 3 and Figure 4 shown, when a carrier wheel support assembly is provided only on one side of each carrier wheel, the connecting arm 301 is provided with one end connection end for setting the first magnetic levitation assembly 8.

[0140] In another embodiment, as Figure 7 and Figure 9 shown, when a set of carrier wheel support assemblies are arranged on both sides of each carrier wheel, two branches need to be provided at the end of the connecting arm 301, one branch facing the left side of the carrier wheel and one branch facing the right side of the carrier wheel.

[0141] In one embodiment, in order to prevent a collision between the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 due to the up and down fluctuation of the carrier wheel, a limit structure can be provided on the shock absorber 303. Additionally, the closest distance between the connecting arm 301 and the tire of the carrier wheel can be set to be less than the minimum distance between the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9. In this way, when the carrier wheel fluctuates up and down, it is ensured that the tire collides with the connecting arm 301 first, and a collision between the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 that may damage the magnet is avoided.

[0142] In a specific embodiment, a direct-drive hub motor drive system is provided inside the carrier wheel. The direct-drive hub motor drive system uses an axial-flux motor arranged inside the carrier wheel. The direct-drive hub motor directly connects the motor to the carrier wheel, omitting mechanical components such as a speed reducer. Moreover, the axial-flux motor has the advantage of higher torque density.

[0143] The working process of the carrier wheel assembly is as follows: When the hub motor arranged in one carrier wheel drives a group of carrier wheels to move forward, the other group of carrier wheels is pressed downward by the repulsive force of the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 thereon and serves as a load-bearing wheel. When the carrier wheel moves forward to a position where the second magnetic levitation assembly 9 at its farthest end starts to be partially opposite to the first magnetic levitation assembly 8 on the carrier base 1, at this time, this group of carrier wheels is subjected to a partial repulsive force, and the hub motor can stop driving this group of carrier wheels. It can be regarded that this group of carrier wheels continues to move forward under inertia until it stops when the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 are directly opposite. At this time, this group of carrier wheels serves as a load-bearing wheel, and the hub motor arranged on the other group of carrier wheels starts to drive forward. By this principle in a cycle, the other group of carrier wheels switches to the track-laying state, and after the previous group of driving wheels stops due to inertia, the first magnetic levitation assembly 8 and the second magnetic levitation assembly 9 are directly opposite and switch to the load-bearing state.

[0144] The present invention also provides an implementation manner of a self-track-laying operation method, including:

[0145] Step 1: Control the carrier wheel drive device of at least one carrier wheel assembly to work so that the carrier wheel rotates to drive the carrier unit to lay tracks; at least one carrier wheel assembly of the remaining carrier units magnetically levitates to support the weights of the carrier base 1 and the carrier 2;

[0146] Step 2: The levitation force for magnetic levitation support of the carrier wheel assembly that bears in Step 1 weakens or disappears, and the carrier wheel drive device works so that the carrier wheel rotates to drive the carrier unit to lay tracks; the carrier wheel assembly of the carrier unit that lays tracks in Step 1 stops driving and magnetically levitates to support the weights of the carrier base 1 and the carrier 2,

[0147] Step 1 and Step 2 are repeated alternately to achieve the self-track-laying operation of the carrier base 1 through the carrier units laying tracks and bearing.

[0148] Another implementation manner of the operation method is:

[0149] In the above steps, the driving mode of the carrier is as follows: there is a partial repulsive force between the carrier wheel support components of the carrier wheel assembly for track laying, and this carrier wheel still bears a small part of the weight of the carrier 2 and the carrier base 1; as the carrier wheel continues to rotate, this repulsive force makes a partial magnetic force continuously exist between the magnetic levitation support components of the carrier 2 and the carrier base 1. Under the action of this part of the magnetic force, the movement of the carrier base 1 will drive the carrier 2 to move together. When this magnetic force is sufficient to drive the carrier 2 to move, there is no need to separately set up a carrier driving device or not start the carrier device. When this magnetic force is not sufficient to drive the carrier 2 to move, a carrier driving device can be separately set up or the carrier device can be started to enhance the acting force between the two, so as to drive the carrier to move, and finally realize the self-laying track operation of the carrying equipment.

[0150] In the above operation mode, it also includes the steering operation of the carrier wheel.

[0151] Control the carrier wheel driving devices in a working state in Steps 1 and 2 to have different rotation speeds, or control a group of carrier wheel driving devices in a working state to rotate in different directions to achieve differential steering.

[0152] In the present invention, the "lateral direction" refers to the width direction of the carrier 2, the "longitudinal direction" refers to the length direction of the carrier 2, and the "vertical direction" refers to the vertical direction from the ground to the carrier 2.

[0153] The above-mentioned specific implementation manners further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above is only the specific implementation manners of the present invention and is 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 within the protection scope of the present invention.

Claims

1. A magnetic suspension switching carrying and transporting equipment, characterized in that: include: Carrier (2); Carrying base (1); Support system; Carrier wheels; The carrier wheel is provided with a carrier wheel driving device for driving the carrier wheel to rotate, thereby driving the corresponding carrier base (1) to move to achieve track laying; The carrier base (1) is located below the carrier (2); The carrier base (1) comprises a carrier support portion and a carrier wheel connection portion which are connected to each other, the support system is arranged between the carrier support portion and the carrier (2), and the carrier wheel connection portion is provided with the carrier wheel; The support system comprises a carrier support assembly arranged on a carrier support portion of the carrier (2) and / or the carrier base (1), and used to support the carrier (2) and ensure that the carrier (2) and the carrier base (1) can move relative to each other; The plurality of carrier wheels form at least two carrier wheel assemblies, The carrier wheel is provided with a carrier wheel support assembly, the carrier wheel support assembly comprising a first support assembly and a second support assembly which are arranged in cooperation with each other, the first support assembly being connected to the carrier base (1), the second support assembly being arranged on the carrier wheel, the second support assembly being able to produce an intermittent support effect with the first support assembly as the carrier wheel rotates, and by controlling the change in the acting force of the first support assembly and the second support assembly and / or the driving of the carrier wheel driving device, the different carrier wheel assemblies are adjusted to alternately operate in two working states, namely, load-bearing and track-laying; The carrier wheel support assembly is a mechanical support and / or a magnetic suspension support. When the carrier wheel support assembly is a mechanical support, the carrier wheel support assembly comprises a first mechanical support assembly (10) and a second mechanical support assembly (11). As the carrier wheel rotates, the second mechanical support assembly (11) is driven to alternately abut against the first mechanical support assembly (10) to generate an upward thrust to alternately support the carrier base (1) and the carrier (2); When the carrier wheel support assembly is a magnetic suspension support, the carrier wheel support assembly comprises a first magnetic suspension assembly (8) and a second magnetic suspension assembly (9), and as the carrier wheel rotates, the second magnetic suspension assembly (9) and the first magnetic suspension assembly (8) are driven to alternately act to generate a changing magnetic force to alternately support the carrier base (1) and the carrier (2).

2. The magnetic suspension switching carrying and transporting equipment according to claim 1, characterized in that: It also comprises a carrier driving device, which is arranged on the carrier base (1) and / or the carrier (2) and is used to drive the carrier (2) to move.

3. A magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: The support system comprises a vertical support component and / or a lateral support component. The vertical support component is arranged between the bottom of the carrier (2) and the carrier support portion in the vertical direction, and is used to support the carrier (2) and the carrier base (1) in the vertical direction. The lateral support component is arranged between the bottom of the carrier (2) and the carrier support portion in the lateral direction, and is used to stabilize the carrier (2) and the carrier base (1) in the lateral direction.

4. The magnetic suspension switching carrying and transporting equipment according to claim 3 is characterized in that: The vertical support component and / or the lateral support component is a magnetic suspension component that can generate repulsive force.

5. The magnetic suspension switching carrying and transporting equipment according to claim 3 is characterized in that: The vertical support assembly and / or the lateral support assembly both adopt a superconducting magnetic suspension system.

6. A magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: The first magnetic suspension component (8) and the second magnetic suspension component (9) are designed in cooperation to form a superconducting magnetic suspension system or an electromagnetically controllable magnetic suspension system, or both use permanent magnets.

7. A magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: The inner arc surface of the first magnetic suspension component (8) faces the center of the carrier wheel, and the inner arc surface of the second magnetic suspension component (9) faces the center of the carrier wheel. At least one second magnetic suspension component (9) is arranged on each carrier wheel.

8. The magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: The second magnetic suspension component (9) comprises a hollow cylindrical magnet structure enclosing 360° and with an inner arc surface facing the center of the carrier wheel; a section of the outer arc surface of the hollow cylindrical magnet structure is provided with a magnet protrusion facing away from the center of the carrier wheel.

9. A magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: The outer arc surface of the first magnetic suspension component (8) faces the center of the carrier wheel, and at least one second magnetic suspension component (9) is arranged on each carrier wheel.

10. The magnetic suspension switching carrying and transporting equipment according to claim 3, characterized in that: A mounting structure is arranged between the carrier (2) and the carrier base (1), the mounting structure comprising a mounting groove and a mounting block; when the mounting groove is arranged on the carrier (2), the matching mounting block is arranged on the carrier base (1); when the mounting groove is arranged on the carrier base (1), the matching mounting block is arranged on the carrier (2); a support system and a carrier driving device are arranged in the mounting structure.

11. The magnetic suspension switching carrying and transporting equipment according to claim 10, characterized in that: The bottom of the carrier (2) is provided with longitudinally penetrating mounting grooves corresponding to the number of the carrier base (1); the carrier support portion is arranged in the mounting groove; one end of the carrier wheel connecting portion is connected to the carrier support portion, and the other end extends out of the mounting groove and is connected to the carrier wheel; the vertical support component is vertically mounted on the top wall of the mounting groove and the upper end of the carrier support portion; the transverse support component is transversely mounted on the wall of the mounting groove and the carrier support portion; the first drive component (202) of the carrier drive device is arranged on the top wall, side wall or bottom wall of the mounting groove; and the second drive component (104) of the carrier drive device is arranged at a corresponding position of the carrier support portion.

12. A magnetic suspension switching carrying and transporting equipment according to claim 1 or 2, characterized in that: A carrying wheel assembly is provided with at least one carrying wheel, a carrying base (1) is provided with at least one carrying wheel assembly, at least one carrying wheel assembly and at least one carrying base (1) constitute a carrying unit, the carrying unit is divided into a carrying unit and a track laying unit, at least one carrying unit and at least one track laying unit form a carrying module, When the transport module includes only one carrying unit and one track-laying unit, the carrying unit and the track-laying unit of the transport module are arranged in parallel transversely or longitudinally, and the two transport units perform load-bearing and track-laying alternately; When the transport module includes a plurality of carrying units and / or a plurality of track-laying units, the carrying units and the track-laying units can be arranged in a transverse combination, a longitudinal combination, or a transverse and longitudinal cross combination.

13. A self-tracking operation method for a magnetic suspension switching carrying and transporting equipment according to claim 12, characterized in that: The steps include: Step 1: controlling the carrying wheel driving device of at least one carrying wheel assembly to operate so that the carrying wheel rotates, thereby driving the carrying unit to lay tracks; at least one carrying wheel assembly of the remaining carrying units supports the weight of the carrying base (1) and the carrier (2) through magnetic suspension; Step 2: The suspension force of the magnetic suspension support of the carrying wheel assembly carried in step 1 is weakened or disappears, and the carrying wheel driving device is operated to rotate the carrying wheel, thereby driving the carrying unit to lay tracks; the carrying wheel assembly of the carrying unit laying tracks in step 1 stops driving, and the weight of the carrying base (1) and the carrier (2) is supported by magnetic suspension, and steps 1 and 2 are repeated in a cycle to realize the self-track-laying operation of the carrying base (1) through the alternating track laying and carrying of the carrying unit.

14. A self-tracking operation method for a magnetic suspension switching carrying and transporting equipment according to claim 13, characterized in that: In the above steps, the driving method of the carrier is as follows: there is a partial repulsive force between the carrier wheel support assembly of the track-laying carrier wheel assembly, and the carrier wheel still bears a small part of the weight of the carrier and the carrier base (1); as the carrier wheel continues to rotate, the repulsive force causes the magnetic suspension support assembly between the carrier (2) and the carrier base (1) to continue to have a partial magnetic force, and under the action of this partial magnetic force, the movement of the carrier base (1) will drive the carrier to move together, and when the magnetic force is sufficient to drive the carrier (2) to move, there is no need to separately set up a carrier driving device or not start the carrier device, and when the magnetic force is insufficient to drive the carrier (2) to move, a separate carrier driving device can be set up or the carrier device can be started to enhance the force between the two, thereby driving the carrier (2) to move.

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