A hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle and a driving method thereof

Abstract

The present invention discloses a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle and a driving method thereof, and belongs to the technical field of tracked vehicles. The present invention solves the problem of a single driving form of a tracked vehicle. The present invention comprises a vehicle body, a track is arranged on the vehicle body, a magnetic levitation system and a track propulsion system are arranged between the vehicle body and the track, and a tension propulsion system is also arranged on the vehicle body; the magnetic levitation system is used to suspend the vehicle body on the track, the magnetic levitation system comprises a first permanent magnet group, and a suspension magnet is arranged on the vehicle body; the track propulsion system is used to propel the track to move when the vehicle body is suspended on the track; the tension propulsion system comprises a guiding superconducting component and a driving superconducting component, the guiding superconducting component cooperates with the first permanent magnet group to support the curved part of the track, and the driving superconducting component cooperates with the first permanent magnet group to push the track to move under the vehicle body. The present invention uses high-temperature superconducting suspension force drive as one of the power sources, and the power output is more stable and reliable, and the power system redundancy is increased.

Description

Technical Field

[0001] The invention belongs to the technical field of tracked vehicles, and in particular relates to a hybrid-driven high-temperature superconducting magnetic suspension tracked vehicle and a driving method thereof. Background Art

[0002] Traditional tracked vehicles rely on engines and motors as power systems, and the power transmission needs to be transmitted to the driving wheel through the transmission mechanism. The driving wheel drags the track by meshing with the track and relies on the friction between the track and the ground to achieve the driving of the vehicle. The power transmission loss in this process is large, and the driving speed is also limited. At the same time, the vehicle's road wheels are in direct contact with the lower track plate and bear the entire weight of the vehicle, which increases the friction loss of traditional tracked vehicles. At the same time, in recent years, as the contradiction between energy demand and environmental resources has become more and more prominent, electric-driven vehicles have gradually become a hot topic in the field of road transportation due to their own environmental protection and energy-saving advantages. In this context, domestic and foreign scholars have proposed a variety of design schemes for magnetically suspended electric-driven tracked vehicles. The suspension method is mainly electromagnetic suspension, which makes full use of the current regulation of the electromagnet to realize the control of the suspension force formed between the electromagnet and the permanent magnet.

[0003] However, the driving system of the existing tracked vehicle still uses the driving wheel to drive the track, the driving form is single, the friction between the track and the driving wheel cannot be reduced, and the energy-saving space is limited. Summary of the invention

[0004] In view of the problems in the prior art that the driving system of the existing tracked vehicle still uses a driving wheel to drive the track, the driving form is single, the friction between the track and the driving wheel cannot be reduced, and the energy-saving space is limited, the present invention provides a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle and a driving method thereof.

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

[0006] A hybrid-driven high-temperature superconducting magnetic suspension tracked vehicle comprises a vehicle body, a track is arranged on the vehicle body, a magnetic suspension system and a track propulsion system are arranged between the vehicle body and the track, and a tension propulsion system is also arranged on the vehicle body;

[0007] The magnetic suspension system is used to suspend the vehicle body on the track, and the magnetic suspension system includes a first permanent magnet group arranged on the track, and a suspension magnet cooperating with the first permanent magnet group is arranged on the vehicle body;

[0008] The crawler propulsion system is used to propel the crawler to move when the vehicle body is suspended on the crawler;

[0009] The tensioning propulsion system includes a guiding superconducting component and a driving superconducting component arranged at the upper bends at both ends of each track. The guiding superconducting component cooperates with the first permanent magnet group to support the bends of the track, and the driving superconducting component cooperates with the first permanent magnet group to push the track to move under the vehicle body.

[0010] After adopting this technical solution, the present invention proposes a hybrid drive form for a tracked vehicle that is mainly driven by a linear motor and supplemented by a high-temperature superconducting suspension force drive. The high-temperature superconducting suspension force drive is used as one of the power sources, and the power output is more stable and reliable, increasing the redundancy of the power system.

[0011] Preferably, the tensioning propulsion system includes four supporting mechanisms arranged on the upper part of the vehicle body, and the four supporting mechanisms are respectively arranged at the upper bends at both ends of each track. The guiding superconducting component is connected to the end of the supporting mechanism, and the side of the guiding superconducting component close to the track is set as an arc surface, the driving superconducting component is arranged below the guiding superconducting component, and the side of the driving superconducting component close to the track is a plane inclined toward the side close to the vehicle body.

[0012] After adopting this technical solution, the high-temperature superconducting suspension system replaces the traditional tracked vehicle tensioning guide wheel and is placed at the same position as the traditional tracked vehicle tensioning guide wheel. On the one hand, it plays the role of a tensioning guide wheel; on the other hand, the lateral constraint of the high-temperature superconducting suspension system can be used to effectively restrict the lateral swing of the vehicle and improve the driving stability of the vehicle; more importantly, the high-temperature superconducting suspension system at the position of the tensioning guide wheel can also play the role of pushing the track, assisting the driving of the tracked vehicle to a certain extent.

[0013] Preferably, the supporting mechanism comprises a hydraulic telescopic rotating device connected to the vehicle body, the hydraulic telescopic rotating device comprises a hydraulic telescopic rod, and the hydraulic telescopic rod is connected to the guiding superconducting component.

[0014] After adopting this technical solution, during the operation of the vehicle, the tension of the track will be affected due to changes in the height of the vehicle body or stimulation by uneven road surface. A track that is too loose will vibrate or derail during movement, and a track that is too tight will increase the resistance of the vehicle. The tensioning system composed of a hydraulic telescopic rotating device and a guiding superconducting component can achieve adjustable track tension. The guiding superconducting component is connected to the hydraulic telescopic rotating device through a hydraulic telescopic rod. The hydraulic telescopic rotating device realizes telescopic movement and rotation around the vehicle body connection point to drive the lateral and vertical position movement of the guiding superconducting component, thereby achieving adjustable track tension. At the same time, the driving superconducting component under the guiding superconducting component is also connected to the hydraulic telescopic rotating device through a hydraulic telescopic rod, and a suspension force can be generated between it and the track to promote the self-tracking movement of the track.

[0015] Preferably, the driving superconducting component is connected to the guiding superconducting component or the supporting mechanism.

[0016] Preferably, the driving superconducting group includes a driving dewar, the guiding superconducting assembly includes a guiding dewar, high temperature superconducting blocks are arranged in the driving dewar and the guiding dewar, and the driving dewar and the guiding dewar are connected to a cooling medium conveying mechanism.

[0017] Preferably, the magnetic levitation system includes a support block arranged on the inner surface of the track, the first permanent magnet group is composed of several first permanent magnets, and the several first permanent magnets are evenly arranged on the side of the support block away from the track, and the levitation magnet includes a levitation dewar arranged on the vehicle body corresponding to the first permanent magnet group.

[0018] After adopting this technical solution, the vehicle body is suspended on the track through the cooperation of the first permanent magnet group and the suspension dewar, and the high-temperature superconducting magnetic levitation technology is used to achieve less friction between the vehicle body and the track, thus solving the defects of traditional tracked vehicles such as large power transmission loss, large friction loss and limited driving speed.

[0019] Preferably, the track propulsion system is a linear motor propulsion system, which includes two second permanent magnet groups arranged on both sides of the support block, each second permanent magnet group is composed of several second permanent magnets, and the two second permanent magnet groups serve as the linear motor secondaries of the linear motor propulsion system. The linear motor primary of the linear motor propulsion system is arranged on the vehicle body opposite to the second permanent magnet group.

[0020] Preferably, the support block includes a transverse support plate and a longitudinal support plate connecting the transverse support plate and the track, the transverse support plate and the longitudinal support plate together constitute a support block with a T-shaped cross-section, the two second permanent magnet groups are respectively embedded in both sides of the longitudinal support plate, and the first permanent magnet group is embedded in the upper surface of the transverse support plate.

[0021] After adopting this technical solution, for the linear motor used in the maglev train, the primary winding of the linear motor is laid along the track or the walls on both sides of the track, and the secondary of the linear motor is installed on the vehicle body. The layout space of the linear motor used in the tracked vehicle is more limited, so the support block is set as a T-shaped structure, and the design of the integrated suspension and drive system is realized to maximize the reasonable use of space. The two second permanent magnet groups are respectively embedded on both sides of the longitudinal support plate, so that the distance between the second permanent magnet group and the first permanent magnet group is large enough to reduce the mutual influence between the second permanent magnet group and the first permanent magnet group.

[0022] Preferably, a lower support wheel group is provided on each side of the vehicle body, each of the lower support wheel groups is respectively located between the annular structures of the two tracks, each lower support wheel group is composed of at least two rows of lower support wheels symmetrically arranged on the vehicle body, and the lower support wheels are respectively arranged on both sides of the magnetic levitation system.

[0023] After adopting this technical solution, the magnetic levitation system is set in the middle of the track, and at least one row of lower support wheels are set on both sides of the high-temperature superconducting magnetic levitation system. The high-temperature superconducting magnetic levitation system can be limited to the area between the two rows of lower support wheels, thereby improving the integrity and stability of the device.

[0024] Preferably, each of the crawlers is provided with an induction tooth, and the lower support wheel is provided with a limiting groove cooperating with the induction tooth, the depth of the limiting groove is greater than the height of the induction tooth, and the suspension displacement of the lower support wheel is less than the height of the induction tooth.

[0025] After adopting this technical solution, the depth of the limiting groove is greater than the height of the inducing tooth, so that the wheel surface of the lower supporting wheel can contact the track when the vehicle body is not suspended, while the end face of the inducing tooth does not contact the bottom of the limiting groove, making the force more uniform; the suspension displacement of the lower supporting wheel is less than the height of the inducing tooth, so that the inducing tooth is always located in the limiting groove, preventing it from leaving the limiting groove.

[0026] A driving method for a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle comprises the following steps:

[0027] Step A: suspending the vehicle body on the tracks by magnetic levitation;

[0028] Step B: The crawler track under the vehicle body is driven to move to the opposite side of the forward direction by the crawler propulsion system, and at the same time, the curved part of the crawler track is supported by the cooperation of the guiding superconducting component and the first permanent magnet group to realize the zero-friction steering of the crawler track; the driving superconducting component on the forward side cooperates with the first permanent magnet group to drive the crawler track to move under the vehicle body to complete the hybrid drive.

[0029] Preferably, the specific process of driving the superconducting component in step B to cooperate with the first permanent magnet group to drive the track to move under the vehicle body is as follows: the side of the driving superconducting component close to the track is an inclined surface, and the inclined surface is inclined toward the side close to the vehicle body. When the track propulsion system drives the track to move, the driving superconducting component provides an oblique downward traction force, thereby driving the track to move under the vehicle body.

[0030] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0031] 1. The present invention proposes a hybrid drive form for a tracked vehicle that is mainly driven by a linear motor and supplemented by a high-temperature superconducting suspension force drive. With the high-temperature superconducting suspension force drive as one of the power sources, the power output is more stable and reliable, and the power system redundancy is increased. The high-temperature superconducting suspension system replaces the tensioning guide wheel of the traditional tracked vehicle and is placed at the same position as the tensioning guide wheel of the traditional tracked vehicle. On the one hand, it plays the role of a tensioning guide wheel; on the other hand, the lateral constraint of the high-temperature superconducting suspension system can be used to effectively restrict the lateral sway of the vehicle and improve the driving stability of the vehicle; more importantly, the driving superconducting component at the tensioning guide wheel position can also play the role of pushing the track, which assists the driving of the tracked vehicle to a certain extent.

[0032] 2. By driving the superconducting components, the tracks can be automatically laid under the vehicle body, realizing self-assisted track operation.

[0033] 3. The present invention suspends the vehicle body on the track by cooperating the first permanent magnet group with the suspension dewar, and adopts high-temperature superconducting magnetic suspension technology to achieve less friction between the vehicle body and the track, thereby solving the defects of traditional tracked vehicles such as large power transmission loss, large friction loss and limited driving speed.

[0034] 4. For the linear motor used in the maglev train, the primary winding of the linear motor is laid along the track or the walls on both sides of the track, and the secondary winding of the linear motor is installed on the vehicle body. The layout space of the linear motor used in the tracked vehicle is more limited. Therefore, the support block is set to a T-shaped structure, and the design of the suspension and drive system is integrated to achieve the maximum reasonable use of space. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the two-dimensional internal structure of the present invention;

[0037] Figure 3 It is a schematic diagram of the structure of the crawler of the present invention;

[0038] Figure 4 A diagram showing the position relationship between the induction tooth and the limiting groove when the vehicle body is suspended in the present invention;

[0039] Figure 5 A diagram showing the position relationship between the induction tooth and the limiting groove when the vehicle body is not suspended in the present invention;

[0040] Figure 6 It is a structural schematic diagram of the support mechanism in the present invention;

[0041] Figure 7 for Figure 6 The cross-section at point B in the middle;

[0042] Among them, 1-track, 101-induction tooth; 102-first permanent magnet group; 103-second permanent magnet group, 2-hydraulic telescopic rod, 3-tensioning propulsion system, 301-guiding superconducting component, 302-driving superconducting component, 4-vehicle body, 5-upper support wheel, 6-upper support wheel axle, 7-hydraulic telescopic rotating device, 8-lower support wheel axle, 9-lower support wheel, 10-controller, 11-linear motor primary, 12-power supply, 13-suspension dewar. DETAILED DESCRIPTION

[0043] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0044] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0045] Example 1

[0046] like Figure 1 As shown, a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle comprises a vehicle body 4, a track 1 is arranged on the vehicle body 4, and a magnetic levitation system, a track propulsion system and a tension propulsion system 3 are arranged between the vehicle body 4 and the track 1;

[0047] The magnetic suspension system is used to suspend the vehicle body 4 on the crawler 1. The magnetic suspension system includes a first permanent magnet group 102 arranged on the crawler 1, and a suspension magnet cooperating with the first permanent magnet group 102 is arranged on the vehicle body 4;

[0048] The crawler propulsion system is used to propel the crawler 1 to move when the vehicle body 4 is suspended on the crawler 1;

[0049] The tensioning propulsion system 3 includes a guiding superconducting component 301 and a driving superconducting component 302 arranged at the upper bending parts of both ends of each track 1. The guiding superconducting component 301 cooperates with the first permanent magnet group 102 to support the bending parts of the track 1, and the driving superconducting component 302 cooperates with the first permanent magnet group 102 to push the track 1 to move under the vehicle body 4.

[0050] In this embodiment, the vehicle body 4 is provided with a controller 10 for controlling the normal operation of each device on the vehicle body 4 and a power supply 12 for supplying power to each device.

[0051] In this embodiment, Figure 1-2 As shown, the tensioning propulsion system 3 includes four supporting mechanisms arranged on the upper part of the vehicle body 4, and the four supporting mechanisms are respectively arranged at the upper curved parts of the two ends of each crawler 1. The guiding superconducting component 301 is connected to the end of the supporting mechanism, and the side of the guiding superconducting component 301 close to the crawler 1 is set as an arc surface, and the driving superconducting component 302 is arranged below the guiding superconducting component 301, and the side of the driving superconducting component 302 close to the crawler 1 is a plane inclined to the side close to the vehicle body 4, and the plane is tangent to the arc surface. The crawler 1 is bent downward by the arc surface of the guiding superconducting component 301, and the crawler 1 is turned frictionlessly by the magnetic suspension force between the guiding superconducting component 301 and the first permanent magnet 102. The driving superconducting component 302 below the guiding superconducting component 301 provides a downward oblique supporting force to the crawler 1 bent down, thereby generating a pulling force for the crawler 1 to move downward to the vehicle body 4, thereby assisting in driving the crawler 1 to move downward to the vehicle body 4.

[0052] In this embodiment, Figure 6-7 As shown, the support mechanism includes a hydraulic telescopic rotating device 7 connected to the vehicle body 4, and the hydraulic telescopic rotating device 7 includes a hydraulic telescopic rod 2, and the hydraulic telescopic rod 2 is connected to the guide superconducting component 301. The tensioning system composed of the hydraulic telescopic rotating device 7 and the guide superconducting component 301 can realize the adjustable tension of the crawler 1. The hydraulic telescopic rotating device 7 realizes the telescopic movement and the rotation around the connection point of the vehicle body 4 to drive the lateral and vertical position movement of the guide superconducting component 301, so as to realize the adjustable tension of the crawler.

[0053] In this embodiment, the driving superconducting component 302 includes a driving dewar, and the guiding superconducting component 301 includes a guiding dewar. The driving dewar and the guiding dewar are both provided with high-temperature superconducting blocks, and the driving dewar and the guiding dewar are both connected with a cooling medium conveying mechanism. The cooling medium is liquid nitrogen, and the cooling medium conveying mechanism is used to convey or discharge the liquid nitrogen to the guiding superconducting component 301 and the driving superconducting component 302, so as to make the high-temperature superconducting block work or stop working.

[0054] In this embodiment, the driving superconducting component 302 is fixedly connected to the guiding superconducting component 301 .

[0055] In this embodiment, the magnetic levitation system includes a support block arranged on the inner surface of the track 1, and the support block is a ring structure. The first permanent magnet group 102 is composed of several first permanent magnets, and the several first permanent magnets are evenly arranged on the side of the support block away from the track 1. The levitation magnet is an electromagnet arranged on the vehicle body 4 at a position opposite to the first permanent magnet group 102. The first permanent magnet group 102 cooperates with the electromagnet on the vehicle body 4 so that the vehicle body 4 can be suspended on the track 1.

[0056] In this embodiment, the support block is composed of 45# cast steel and rubber coated on the 45# cast steel.

[0057] In this embodiment, Figure 1-3 As shown, the track propulsion system is a linear motor propulsion system, specifically a single-secondary dual-primary bilateral iron-core permanent magnet linear motor, the linear motor propulsion system includes two second permanent magnet groups 103 arranged on both sides of the support block, each second permanent magnet group 103 is composed of several second permanent magnets, the two second permanent magnet groups 103 serve as the linear motor secondary of the linear motor propulsion system, there is a gap between the several second permanent magnet groups 103, to prevent the second permanent magnet groups 103 from affecting the normal rotation of the track 1, and the linear motor primary 11 of the linear motor propulsion system is arranged on the vehicle body 4 at a position opposite to the second permanent magnet group 103. The second permanent magnet group 103 is neodymium iron boron, which has significant advantages such as high residual magnetic density, magnetic field coercive force, and maximum magnetic energy product.

[0058] The lower end of the vehicle body is fixedly connected with a linear motor primary for propulsion. The linear motor primary consists of two armature windings, which are respectively located on both sides of the support block on the track and are arranged opposite to the second permanent magnet group 103. The electromagnetic coil on the linear motor primary 11 is connected to an AC power supply, and the air gap between the linear motor primary 11 and the second permanent magnet group 103 generates a traveling wave magnetic field. Under the cutting of the traveling wave magnetic field, the second permanent magnet group 103 generates an induced electromotive force and generates a current. The current interacts with the magnetic field between the air gap to generate an electromagnetic thrust, which drives the second permanent magnet group 103 to move, thereby driving the track 1 to move. When the vehicle is turning, the magnitude of the magnetic force generated at both ends can be controlled by adjusting the magnitude of the current flowing into the electromagnetic coils at both ends of the linear motor primary 11, reducing the lateral movement of the vehicle body 1 and ensuring the stability of the air gap size. The electromagnetic coil on one side of the linear motor primary 11 and the second permanent magnet group 103 on the same side will generate a normal suction force. The linear motor propulsion system uses a bilateral linear motor to offset the normal forces generated at both ends.

[0059] In this embodiment, Figure 2As shown, a lower support wheel group 9 is provided on each side of the vehicle body 4, each of the lower support wheel groups 9 is respectively located between the annular structures of the two tracks 1, and each of the lower support wheel groups 9 is composed of two rows of lower support wheels 9 symmetrically arranged on the vehicle body 4, and the lower support wheels 9 are respectively arranged on both sides of the magnetic suspension system, and the lower support wheels 9 are rotatably connected to the vehicle body 4 through the lower support wheel shaft 8.

[0060] In this embodiment, Figure 2 As shown, the upper surface of the vehicle body 4 corresponding to the crawler track 1 is rotatably connected to a plurality of upper support wheels 5 via an upper support wheel shaft 6, and the vehicle body 4 is located between the annular structures of the crawler track 1.

[0061] like Figure 1-3 As shown, a driving method of a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle comprises the following steps:

[0062] Step A: by energizing the electromagnet on the vehicle body 4, the electromagnet generates a magnetic force that repels the first permanent magnet 102, so that the repulsive force between the first permanent magnet group 102 on the support block and the electromagnet on the vehicle body 4 causes the vehicle body 4 to suspend on the crawler 1;

[0063] Step B: When the vehicle body 4 is suspended on the crawler 1, an AC power supply is supplied to the electromagnetic coil on the primary 11 of the linear motor, and the air gap between the primary 11 of the linear motor and the second permanent magnet group 103 generates a traveling wave magnetic field. The second permanent magnet group 103 generates an induced electromotive force and a current under the cutting of the traveling wave magnetic field. The current interacts with the magnetic field between the air gap to generate an electromagnetic thrust, which drives the second permanent magnet group 103 to move, thereby driving the crawler 1 to move. When the vehicle is turning, the magnitude of the magnetic force generated at both ends can be controlled by adjusting the magnitude of the current flowing into the electromagnetic coils at both ends of the primary 11 of the linear motor, thereby reducing the lateral movement of the vehicle body 1 and ensuring the stability of the air gap size. The electromagnetic coil on one side of the primary 11 of the linear motor and the second permanent magnet group 103 on the same side will generate normal suction force. The linear motor propulsion system adopts a bilateral linear motor to make the normal forces generated at both ends cancel each other out. The track 1 is bent downward by the curved surface of the guiding superconducting components 301 on both sides of the vehicle body 4, and the track 1 is bent without friction by the magnetic suspension force between the guiding superconducting components 301 and the first permanent magnet 102. The driving superconducting component 302 below the guiding superconducting component 301 on the forward side of the vehicle body 4 provides an oblique downward support force to the bent track 1 (the driving superconducting component 302 on the other side is not started), thereby generating a pulling force for the track 1 to move downward to the vehicle body 4, thereby assisting in driving the track 1 to move downward to the vehicle body 4, and completing the hybrid drive. The pinning effect between the guiding superconducting component 301 and the driving superconducting component 302 and the first permanent magnet group 102 can maintain the relative position of the track 1 and the vehicle body 4, and there is no need to set up an additional limit mechanism to limit the left and right displacement, saving costs.

[0064] Example 2

[0065] This embodiment is basically the same as the embodiment 1, except that the suspension magnet is a suspension dewar 13 disposed on the vehicle body 4, and the suspension dewar 13 is connected to a cooling medium conveying mechanism. The cooling medium is liquid nitrogen, and the cooling medium conveying mechanism is used to convey or discharge the liquid nitrogen from the suspension dewar 13, so as to make the high-temperature superconducting block work or stop working. The vehicle body 4 is suspended on the track 4 by cooperating with the suspension dewar 13 and the first permanent magnet group 102. The first permanent magnet group 102 uses high-strength permanent magnets. The high-temperature superconducting magnetic levitation has the characteristics of large suspension force and stable suspension force. It only needs to balance the suspension force with the gravity of the suspended object (vehicle body 4), and the suspended object (vehicle body 4) can be stable in its equilibrium position, and its balance The height of the balance position from the ground is determined by the number and strength of the first permanent magnet group 102 in the suspension system and the size and number of the superconducting block material. The suspension system using high-temperature superconducting magnetic suspension has a self-stabilizing function: in the external magnetic field, the unique strong pinning ability of the high-temperature superconductor makes it difficult for the magnetic lines to escape from the constraints of the pinning center (for the magnetic lines that have been captured) and difficult to penetrate into the superconductor (for the free magnetic lines that have not been captured). This unique pinning characteristic enables the superconductor to induce a strong superconducting current that hinders this change as the external magnetic field changes. The electromagnetic interaction between this superconducting current and the external magnetic field generates a suspension force that is balanced with the gravity of the suspension body itself on a macroscopic level. It is a characteristic that gravity and magnetic force automatically maintain balance. When the high-temperature superconducting magnetic suspension system is not needed to generate magnetic force, the height of the vehicle body 4 decreases. At this time, the lower support wheel 9 contacts the crawler 1, which plays a supporting role for the vehicle body 4, and the vehicle driving function can still be realized normally. The vehicle body is suspended by high-temperature superconducting technology, so that the friction between the vehicle body 4 and the track 1 is reduced, solving the defects of large power transmission loss, large friction loss and limited driving speed of traditional tracked vehicles. The unique strong pinning ability of high-temperature superconducting magnetic levitation is fully utilized to generate a suspension force that is balanced with the gravity of the suspended body on a macro scale, solving the shortcomings of the existing magnetic levitation tracked vehicle technical solutions, such as high electromagnetic suspension energy consumption, the need for an external electromagnetic suspension controller to increase costs, and high requirements for control accuracy and real-time performance, and improving endurance.

[0066] Example 3

[0067] This embodiment is basically the same as embodiment 1 or 2, except that: Figure 3-5As shown, in this embodiment, each of the crawlers 1 is provided with an induction tooth 101, and the lower support wheel 9 is provided with a limiting groove matched with the induction tooth 101, the depth of the limiting groove is greater than the height of the induction tooth 101, and the suspension displacement of the lower support wheel 9 is less than the height of the induction tooth 101. The induction tooth 101 cooperates with the limiting groove to avoid left and right instability during vehicle operation and stabilize the vehicle body. The suspension displacement of the lower support wheel 9 is less than the height of the induction tooth 101, so that the induction tooth 101 is still located in the limiting groove after the vehicle body 4 is suspended, ensuring that the vehicle body 4 will not be randomly displaced left and right after it is suspended.

[0068] Example 4

[0069] This embodiment is basically the same as Embodiment 1, 2 or 3, except that: Figure 3 As shown, the magnetic suspension system includes a support block arranged on the inner surface of the track 1, the first permanent magnet group 102 is composed of several first permanent magnets, and the several first permanent magnets are evenly arranged on the side of the support block away from the track 1. The suspension magnet includes a suspension dewar 13 arranged on the vehicle body 4 corresponding to the first permanent magnet group 102. The support block is set to a T-shaped structure, and the design of the integrated suspension and drive system is realized to achieve the maximum reasonable use of space.

[0070] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle, characterized in that: The vehicle comprises a vehicle body (4), a crawler track (1) being arranged on the vehicle body (4), a magnetic suspension system and a crawler track propulsion system being arranged between the vehicle body (4) and the crawler track (1), and a tension propulsion system (3) being also arranged on the vehicle body (4); The magnetic suspension system is used to suspend a vehicle body (4) on a crawler track (1), the magnetic suspension system comprising a first permanent magnet group (102) arranged on the crawler track (1), and a suspension magnet cooperating with the first permanent magnet group (102) being arranged on the vehicle body (4); The crawler propulsion system is used to propel the crawler (1) to move when the vehicle body (4) is suspended on the crawler (1); The tensioning propulsion system (3) comprises a guiding superconducting component (301) and a driving superconducting component (302) arranged at the upper bends of both ends of each crawler (1); the guiding superconducting component (301) cooperates with the first permanent magnet group (102) to support the bends of the crawler (1); and the driving superconducting component (302) cooperates with the first permanent magnet group (102) to push the crawler (1) to move toward the bottom of the vehicle body (4); The tensioning propulsion system (3) comprises four support mechanisms arranged on the upper part of the vehicle body (4), the four support mechanisms being respectively arranged at the upper bends at both ends of each crawler (1), the guiding superconducting component (301) being connected to the ends of the support mechanisms, and the side of the guiding superconducting component (301) close to the crawler (1) being arranged as an arc surface, the driving superconducting component (302) being arranged below the guiding superconducting component (301), the side of the driving superconducting component (302) close to the crawler (1) being an inclined surface, and the inclined surface being arranged obliquely towards the side close to the vehicle body (4).

2. A hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to claim 1, characterized in that: The support mechanism comprises a hydraulic telescopic rotating device (7) connected to a vehicle body (4); the hydraulic telescopic rotating device (7) comprises a hydraulic telescopic rod (2); and the hydraulic telescopic rod (2) is connected to a guiding superconducting component (301).

3. The hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to claim 1, characterized in that: The driving superconducting component (302) comprises a driving dewar, and the guiding superconducting component (301) comprises a guiding dewar. High-temperature superconducting blocks are arranged in the driving dewar and the guiding dewar, and the driving dewar and the guiding dewar are both connected to a cooling medium conveying mechanism.

4. A hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to any one of claims 1 to 3, characterized in that: The magnetic suspension system comprises a support block arranged on the inner surface of a crawler track (1); the first permanent magnet group (102) is composed of a plurality of first permanent magnets, the plurality of first permanent magnets being evenly arranged on a side of the support block away from the crawler track (1); and the suspension magnet comprises a suspension dewar (13) arranged on the vehicle body (4) at a position corresponding to the first permanent magnet group (102).

5. The hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to claim 4, characterized in that: The crawler propulsion system is a linear motor propulsion system, which includes two second permanent magnet groups (103) arranged on both sides of the support block, each second permanent magnet group (103) is composed of a plurality of second permanent magnets, and the two second permanent magnet groups (103) serve as the linear motor secondary of the linear motor propulsion system. A linear motor primary (11) of the linear motor propulsion system is arranged on the vehicle body (4) at a position opposite to the second permanent magnet group (103).

6. The hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to claim 5, characterized in that: The support block comprises a transverse support plate and a longitudinal support plate connecting the transverse support plate and the track (1), the transverse support plate and the longitudinal support plate together forming a support block with a T-shaped cross section, the two second permanent magnet groups (103) are respectively embedded in both sides of the longitudinal support plate, and the first permanent magnet group (102) is embedded in the upper surface of the transverse support plate.

7. A hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to any one of claims 1 to 3, characterized in that: A lower support wheel (9) group is provided on each side of the vehicle body (4), each lower support wheel (9) group is located between the annular structures of two tracks (1), each lower support wheel (9) group is composed of at least two rows of lower support wheels (9) symmetrically arranged on the vehicle body (4), the lower support wheels (9) are arranged on both sides of the magnetic suspension system, each track (1) is provided with an induction tooth (101), the lower support wheel (9) is provided with a limiting groove matched with the induction tooth (101), the depth of the limiting groove is greater than the height of the induction tooth (101), and the suspension displacement of the lower support wheel (9) is less than the height of the induction tooth (101).

8. A driving method for a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step A: suspending the vehicle body (4) on the crawler track (1) by means of magnetic suspension; Step B: The crawler track (1) below the vehicle body (4) is driven to move to the side opposite to the forward direction by the crawler track propulsion system, and at the same time, the curved part of the crawler track (1) is supported by the cooperation of the guiding superconducting component (301) and the first permanent magnet group (102), so as to achieve zero-friction steering of the crawler track (1); the driving superconducting component (302) on the forward side cooperates with the first permanent magnet group (102) to drive the crawler track (1) to move below the vehicle body (4), so as to complete the hybrid drive.

9. The driving method of a hybrid-driven high-temperature superconducting magnetic levitation tracked vehicle according to claim 8, characterized in that: The specific process of driving the superconducting component (302) and the first permanent magnet group (102) to cooperate in driving the crawler track (1) to move below the vehicle body (4) in step B is as follows: the side of the driving superconducting component (302) close to the crawler track (1) is an inclined surface, and the inclined surface is inclined toward the side close to the vehicle body (4). When the crawler track propulsion system drives the crawler track (1) to move, the driving superconducting component (302) provides a traction force obliquely downward, thereby driving the crawler track (1) to move below the vehicle body (4).

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