Wheel set automatic loading and unloading transport vehicle

Abstract

The utility model discloses a wheel set automatic loading and unloading transport vehicle relates to wheel set transport technical field to solve the problem of low efficiency of the existing wheel set relying on manpower transportation. Including car body, walking device, wheel set grabbing device and be used for guiding wheel set up and down transport car's wheel set guide device, walking device and car body fixed connection, walking device is set up in car body both sides symmetry, wheel set grabbing device and car body fixed connection, wheel set guide device and car body articulate, wheel set guide device is set up in wheel set grabbing device both sides symmetry. The above -mentioned wheel set automatic loading and unloading transport vehicle has realized the automatic grabbing and delivery of wheel set.

Description

Technical Field

[0001] This utility model relates to the field of wheelset transportation device technology, and in particular to an automatic wheelset loading and unloading transportation vehicle. Background Technology

[0002] In wheelset transfer operations at rail transit vehicle maintenance depots, manual operation or traditional handling equipment is still the primary method, which presents numerous limitations. Firstly, wheelsets, as critical components of the vehicle's running gear, are heavy and structurally complex; manual handling is not only labor-intensive and inefficient but also poses certain safety risks. Secondly, wheelset transfer routes are typically long, involving connections between multiple work areas, leading to extended maintenance cycles and hindering improvements in overall maintenance efficiency.

[0003] Furthermore, with the rapid development of rail transit systems such as subways and trams, wheelset models are becoming increasingly diversified (such as type A, type B, type L, etc.), and some wheelsets are equipped with gearboxes and bearing assemblies, making their structures more complex. This places higher demands on the adaptability, stability, and intelligence level of transfer equipment.

[0004] Therefore, there is a need to provide a new wheelset transfer device to realize the automatic transportation of wheelsets. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides an automatic wheelset loading and unloading transport vehicle.

[0006] To achieve the above objectives, this utility model provides the following technical solution: An automatic wheelset loading and unloading transport vehicle is provided, characterized in that it includes a vehicle body, a running gear, a wheelset gripping device, and a wheelset guiding device for guiding wheelsets onto and off the transport vehicle; The traveling device is fixedly connected to the vehicle body and is symmetrically arranged on both sides of the vehicle body. The wheel set gripping device is fixedly connected to the vehicle body. The wheel set guiding device is hinged to the vehicle body and is symmetrically arranged on both sides of the wheel set gripping device.

[0007] Compared with the prior art, the present invention has the following technical effects: The automatic wheelset loading and unloading transport vehicle described in this application has a moving component that enables the transport vehicle to move across or along the track. The wheelset gripping device grips the wheelsets and moves them onto the transport vehicle. The wheelset guiding device, upon contact with the wheelsets, provides an inclined surface to facilitate their movement onto the transport vehicle, thus loading the wheelsets. The wheelset guiding device automatically resets when the wheelsets separate from the guiding device. This transport vehicle achieves the loading and transfer of wheelsets. Attached Figure Description

[0008] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the automatic wheelset loading and unloading transport vehicle in the embodiment of this utility model; Figure 2 for Figure 1 A schematic diagram of the structure of the Automated Loading and Unloading Transport Vehicle with Wheelset; Figure 3 for Figure 1 A schematic diagram of the running gear of an automated loading and unloading transport vehicle with a center wheelset; Figure 4 for Figure 1 A schematic diagram of the traction device of the automatic loading and unloading transport vehicle with wheelsets; Figure 5 for Figure 1 A schematic diagram of the wheelset clamps of an automated wheelset loading and unloading transport vehicle; Figure 6 for Figure 1 A schematic diagram of the wheelset clamp of the automatic wheelset loading and unloading transport vehicle starting to clamp the wheelset axle; Figure 7 for Figure 1 A schematic diagram of the automatic wheelset loading and unloading vehicle after it has completed the wheelset clamping process; Figure 8 for Figure 1 A schematic diagram of an automated loading and unloading vehicle with a gearbox on the right side when loaded; Figure 9 for Figure 1 A schematic diagram of an automated loading and unloading vehicle with a gearbox on the left side when it is loaded.

[0009] Figure label: 110-Car body, 111-Car body, 112-Base plate, 113-First reinforcing plate, 114-Second reinforcing plate, 115-Positioning groove, 120-Traveling device, 121-Housing, 122-Second drive motor, 123-Driving wheel, 124-Driven wheel, 130-Traction device, 131-Guide rod, 132-Nut slider, 133-Guide block, 134-Tilting slider, 135-Guide hole, 140-Wheelset clamp, 141-Front hook plate, 142-Front connecting plate, 143-Rear hook plate, 144-Rear connecting plate, 145-Roller, 146-Shaft, 147-Nylon wheel, 150-Wheelset guide device, 151-Bearing rail, 152-Extension rail, 153-Mounting plate, 154-First elastic recovery device, 161-Gearbox guide plate, 162-Second elastic recovery device. Detailed Implementation

[0010] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0011] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0012] Please see Figures 1 to 9 The automatic wheelset loading and unloading transport vehicle provided in this embodiment of the utility model includes a vehicle body 110, a running device 120, a traction device 130, a wheelset gripping device, and a wheelset guiding device 150 for guiding wheelsets onto and off the transport vehicle. The traveling device 120 is fixedly connected to the vehicle body 110 and is symmetrically arranged on both sides of the vehicle body 110. The wheel set gripping device is fixedly connected to the vehicle body 110. The wheel set guiding device 150 is hinged to the vehicle body 110 and is symmetrically arranged on both sides of the wheel set gripping device.

[0013] In practice: The automatic wheelset loading and unloading transport vehicle is a wheelset transfer device used in maintenance depots of rail transit vehicles such as subways and trams. It is used to safely and efficiently transfer wheelsets of various locomotive models such as A-type, B-type, and L-type within the maintenance line. It can be automatically transported or remotely operated to realize the automatic loading, unloading, and transfer of wheelsets.

[0014] The automatic wheelset loading and unloading transport vehicle includes a vehicle body 110, a running gear 120, a wheelset gripping device, and a wheelset guiding device.

[0015] The vehicle body 110 includes a body 111 and a floor 112. The body 111 is welded from metal materials and undergoes stress relief treatment to meet the load-bearing requirements of the wheelset (wheelset with gearbox and bearings) and to securely mount other components. The floor 112 is fixedly connected to the body 111. The running gear 120 is symmetrically arranged on both sides of the body 111 and fixedly connected to both the body 111 and the floor 112. A baffle is provided on the body 111, which can be flipped open to facilitate the installation and maintenance of components within the body 111's interior. To improve the structural strength of the vehicle body 110, a first reinforcing plate 113 and a second reinforcing plate 114 are also provided. The first reinforcing plate 113 is symmetrically arranged inside the running gear 120 and fixedly connected to both the floor 112 and the running gear 120. Furthermore, the first reinforcing plate 113 is also fixedly connected to the outer side of the load-bearing rail 151 of the wheelset guide device 150. The second reinforcing plate 114 is symmetrically arranged on both sides of the wheel guide device and is fixedly connected to the vehicle body 111 and the load-bearing rail 151. The vehicle body 111 and the floor plate 112 form the overall frame of the vehicle body 110. The inner cavity of the vehicle body 111 is equipped with a drive power supply, etc., to provide power to the entire transport vehicle.

[0016] The traveling device 120 is the power unit of the transport vehicle, including a housing 121, a second drive motor 122, a drive wheel 123, and a driven wheel 124. The traveling device 120 is symmetrically installed on both sides of the vehicle body 110. The housing 121 is fixedly connected to the vehicle body 111 and the floor 112. The second drive motor 122, the drive wheel 123, and the driven wheel 124 are installed inside the housing 121. The drive wheel 123 and the driven wheel 124 are mounted on the housing 121 via wheel axle clamps. The second drive motor 122 is connected to the drive wheel 123 via a chain, track, or belt. The second drive motor 122 drives the drive wheel 123 and the driven wheel to travel on the ground, allowing them to cross tracks and, in conjunction with a navigation system, to travel along a precise path.

[0017] The wheelset gripping device includes a traction device 130 and a wheelset clamp 140. The traction device 130 is fixedly connected to the vehicle body 111 and the floor 112. The traction device 130 includes a guide rod 131, a first drive motor (not shown in the figure), a ball screw (not shown in the figure), a guide block 133, and a flipping slider 134. The guide rod 131 is fixedly connected to the vehicle body 111 and the floor 112. The first drive motor is a power unit. The guide block 133 is fixedly connected to the nut slider 132 of the ball screw. The wheelset clamp 140 is fixedly connected to the guide block 133. The first drive motor can drive the wheelset clamp 140 to reciprocate along the ball screw. The flipping slider 134 is located at the end of the guide rod 131 away from the vehicle body 111 and has a wedge-shaped structure.

[0018] The wheelset clamp 140 includes a fixed clamp and a movable clamp. The fixed clamp is fixedly connected to the guide block 133, and the movable clamp is hinged to the fixed clamp. When the wheelset clamp 140 moves to the position of the flip slider 134, the movable clamp will rotate and unfold downward along the inclined surface of the flip slider 134 under its own gravity. When the movable clamp moves to the position of the wheelset axle, the first drive motor will drive the wheelset clamp 140 to move towards the vehicle body 111 via a ball screw. The movable clamp moves upward under the action of the inclined surface of the flip slider 134. The fixed clamp and the movable clamp are arc-shaped. When the movable clamp moves upward along the flip slider 134, it will hook the wheelset axle. When the movable clamp continues to move to the guide rod 131, it will cooperate with the fixed clamp to clamp the wheelset axle and drive the wheelset to move onto the transport vehicle through the wheelset guide device 150. The inner sides of the fixed clamp and the movable clamp are provided with auxiliary wheels to guide the movement of the wheelset axle. Below the fixed clamp and the movable clamp, a guide wheel is provided to abut against the guide rod 131. The guide wheel reduces the frictional force when the wheelset clamp 140 moves relative to the guide rod 131. Furthermore, the wheelset clamp 140 includes a front hook plate 141, a front connecting plate 142, a rear hook plate 143, a rear connecting plate 144, a roller 145, a rotating shaft 146, and a nylon wheel 147. The front hook plate 141 is fixedly connected to the front connecting plate 142, the roller 145 is hinged to the front hook plate 141, the rotating shaft 146 is hinged to the front hook plate 141, the nylon wheel 147 is hinged to the rotating shaft 146 and the roller 145, the nylon wheel 147 and the rotating shaft 146 form a guide wheel, the nylon wheel 147 and the roller 145 form an auxiliary wheel, and the front hook plate 141, the front connecting plate 142, the guide wheel and the auxiliary wheel together constitute a movable clamp.

[0019] The rear hook plate 143 is fixedly connected to the rear connecting plate 144, the roller 145 is hinged to the rear hook plate 143, the rotating shaft 146 is hinged to the rear hook plate 143, the rear hook plate 143 is fixedly connected to the guide block 133, and nylon is hinged to the rotating shaft 146 and the roller 145, forming the guide wheel and the auxiliary wheel respectively. The rear hook plate 143, the rear connecting plate 144, the guide wheel, and the auxiliary wheel together constitute the fixing clamp.

[0020] The wheelset guiding device 150 is symmetrically arranged on both sides of the wheelset gripping device, including a mounting plate 153, a bearing rail 151, and an extension rail 152. The bearing rail 151 is fixedly connected to the vehicle body 111 and the base plate 112, and the extension rail 152 is fixedly connected to the mounting plate 153. The mounting plate 153 is hinged to the base plate 112, and the mounting plate 153 is connected to the traveling device 120 through a first elastic return device. During the wheelset loading and unloading process, the wheelset presses down on the extension rail 152 by its own weight, causing the extension rail 152 to swing downwards until it abuts against the rail. The wheelset moves along the inclined surface of the extension rail 152 onto the transport vehicle. During the movement, the wheel tread will successively engage with the extension rail 152 and the bearing rail 151. After the wheelset is loaded and unloaded from the rail, the extension rail 152 returns to its original position under the action of the first elastic return device 154, making the extension rail 152 horizontal with the bearing rail 151. To ensure the fixing effect of the wheelset during transportation, a positioning groove 115 is also provided on the bearing rail 151.

[0021] The gearbox guide device is set on both sides of the wheelset gripping device, including a gearbox guide plate 161 and a second elastic return device 162. The gearbox guide plate 161 is hinged to the base plate 112, and the second elastic return device 162 is fixedly connected to the gearbox guide plate 161 and the guide rod 131.

[0022] Typically, wheelsets with gearboxes have a gearbox support device installed at the bottom of the gearbox. During wheelset loading and unloading, the gearbox support device presses down on the gearbox guide plate 161, which cooperates with the gearbox guide plate 161 to guide the gearbox support device. After the wheelset loading and unloading is completed, the gearbox guide plate 161 returns to its original position under the pulling force of the second elastic return device 162, making the gearbox guide plate 161 horizontal with the base plate 112. The gearbox guide plate 161 is asymmetrically arranged, which facilitates the loading and unloading of wheelsets with gearboxes from both the front and rear directions. Regardless of whether the gearbox of the wheelset is in the front or rear, the wheelsets can be automatically loaded and unloaded from the transport vehicle.

[0023] The automated wheelset loading and unloading vehicle is equipped with a 3D LiDAR sensor, serving as its navigation, positioning, and track alignment sensor. Before operation, the LiDAR is used to create a point cloud map of the work area, forming a high-precision environmental map. During operation, the vehicle's six-degree-of-freedom pose is calculated in real time based on the scanning and map matching (such as NDT / ICP) of each frame of the radar point cloud. Combining the preset driving path points and the spatial position of the ground track, an executable trajectory is generated through trajectory planning and time parameterization, outputting speed and steering commands to achieve autonomous navigation and obstacle avoidance. At the wheelset docking station, the track alignment mode is activated. The 3D LiDAR extracts the geometric features of the rails, fits the ground track coordinate system, compares it with the geometric model of the vehicle's own track, calculates the lateral, longitudinal, and heading deviations, and uses closed-loop micro-motion control to converge the deviations to within a threshold, ensuring precise alignment between the vehicle track and the ground track, and then performs the wheelset docking operation.

[0024] During operation, the automated wheelset loading and unloading transport vehicle automatically travels along a predetermined path to the predetermined position of the wheelset on the track. During this travel, the first drive motor (not shown in the diagram) of the wheelset gripping device drives the wheelset clamp 140 towards the wheelset via a ball screw until the movable clamp of the wheelset clamp 140 is fully extended downwards along the tilting slider 134. After the automated wheelset loading and unloading transport vehicle reaches its position, the first drive motor drives the movable clamp of the wheelset clamp 140 upwards along the tilting slider 134 via a ball screw until the movable clamp reliably contacts the wheelset axle, achieving clamping of the wheelset axle. The first drive motor then continues to drive the wheelset clamp 140 towards the vehicle body 111 via the ball screw. During the wheelset loading process, the wheelset and gear shaft support devices respectively press down on the wheelset guide device 150 and the gearbox guide device, guiding the wheelset and gearbox support devices until they are fully loaded onto the transport vehicle. The first drive motor continues to move the traction wheel through the wheelset clamp 140 to the positioning slot 115 of the bearing rail 151 for positioning. The wheelset clamp 140 remains in the clamping state, and the first elastic return device 154 and the second elastic return device 162 respectively drive the wheelset guide device 150 and the gearbox guide device to reset, making them horizontal with the vehicle body 110, thus completing the loading of the wheelset onto the transport vehicle. The automatic unloading process is the reverse of the loading process.

[0025] The automatic wheelset loading and unloading transport vehicle described in this application has a moving component that enables the transport vehicle to move across or along the track. The wheelset gripping device grips the wheelsets and moves them onto the transport vehicle. The wheelset guiding device, upon contact with the wheelsets, provides an inclined surface to facilitate their movement onto the transport vehicle, thus loading the wheelsets. The wheelset guiding device automatically resets when the wheelsets separate from the guiding device. This transport vehicle achieves the loading and transfer of wheelsets.

[0026] As one possible implementation, the vehicle body 110 includes a body 111 and a floor 112; the body 111 and the floor 112 are fixedly connected, the traveling device 120 is fixedly connected to the body 111 and the floor 112, the wheel set gripping device is fixedly connected to the body 111 and the floor 112, and the wheel set guiding device 150 is hinged to the floor 112.

[0027] The vehicle body 111, the floor 112, and the running gear 120 form the overall frame of the transport vehicle. The floor 112 can support the wheelsets, the running gear 120 is the moving part of the transport vehicle, and the wheelset guide device 150 facilitates the movement of the wheelsets on the track onto the floor 112.

[0028] As one possible implementation, the wheelset gripping device includes a guide rod 131, a first drive motor, a ball screw, a guide block 133, a flip slider 134, and a wheelset clamp 140. The guide rod 131 is fixedly connected to the vehicle body 110, the flip slider 134 is fixedly connected to the end of the guide rod 131, the first drive motor and the ball screw are installed inside the guide rod 131, one end of the ball screw is connected to the output end of the first drive motor, and the other end of the ball screw is hinged to the end of the guide rod 131. The guide rod 131 is provided with a guide hole 135 along its length, the guide block 133 passes through the guide hole 135 and is fixedly connected to the nut slider 132 of the ball screw, and the wheelset clamp 140 is fixedly connected to the guide block 133.

[0029] The first drive motor is the power unit for the wheelset gripping device. It drives the guide block 133 to move along the length of the guide rod 131 via a ball screw. The wheelset clamp 140 is fixedly connected to the guide block 133, thereby enabling adjustment of the position of the wheelset clamp 140. The flip slider 134, located at the end of the guide rod 131, is a wedge-shaped structure extending obliquely downwards from the upper surface of the guide rod 131. When the movable clamp of the wheelset clamp 140 moves to the position of the flip slider 134, it will move obliquely downwards along the flip slider 134 under its own weight, causing the wheelset clamp 140 to unfold.

[0030] As one possible implementation, the wheelset clamp 140 includes a fixed clamp and a movable clamp; the fixed clamp is fixedly connected to the guide block 133, the movable clamp is hinged to the fixed clamp, and auxiliary wheels for guiding the wheelset axle are provided on the inner sides of the fixed clamp and the movable clamp.

[0031] The movable clamp is hinged to the fixed clamp. It unfolds when it moves diagonally downward along the flip slider 134 and closes when it moves upward along the flip slider 134. In conjunction with the auxiliary wheel, it realizes the guidance and clamping of the wheel and the wheel axle.

[0032] As one possible implementation, the fixed clamp and the movable clamp also include guide wheels, which are disposed on the side of the fixed clamp and the movable clamp facing the guide rod 131, and the guide wheels abut against the guide rod.

[0033] The guide wheel is positioned to abut against the guide rod 131, making it more convenient for the wheelset clamp 140 to move along the guide rod 131.

[0034] In one possible implementation, the wheelset guiding device 150 includes a support rail 151, an extension rail 152, and a mounting plate 153. The support rail 151 is fixedly connected to the vehicle body 110 and is symmetrically arranged on both sides of the wheelset gripping device. The extension rail 152 is fixedly connected to the mounting plate 153, and the mounting plate 153 is hinged to the vehicle body 110. When the mounting plate 153 is reset, the extension rail 152 abuts against the support rail 151. When the mounting plate 153 is pressed down, the end of the extension rail 152 fits against the rail. Furthermore, a wheelset positioning groove 115 is provided on the support rail 151.

[0035] The load-bearing rail 151 is fixedly connected to the base plate 112 and the vehicle body 111, which improves the structural strength of the transport vehicle to a certain extent. The extension rail 152 is hinged to the base plate 112 through the mounting plate 153. When the wheel tread moves to the position of the extension rail 152, the extension rail 152 can swing downwards to abut against the rail. The wheelset can move into the positioning groove 115 on the load-bearing rail 151 under the action of the first drive motor and the wheelset clamp 140, thereby fixing the wheelset and ensuring the stability of the wheelset during transportation.

[0036] As one possible implementation, the wheelset guiding device 150 further includes a first elastic return device 154; the two ends of the first elastic return device 154 are fixedly connected to the running device 120 and the mounting plate 153, respectively.

[0037] The first elastic return device 154 provides driving force for the reset of the extension rail 152, ensuring that the extension rail 152 can automatically reset after the wheelset moves onto the transport vehicle via the extension rail 152.

[0038] As one possible implementation, the transport vehicle also includes a gearbox guide device; the gearbox guide device includes a gearbox guide plate 161 and a second elastic return device 162, the gearbox guide plate 161 is hinged to the bottom plates 112 on both sides of the wheelset gripping device, and the two ends of the second elastic return device 162 are fixedly connected to the gearbox guide plate 161 and the wheelset gripping device, respectively.

[0039] The gearbox guide device facilitates the movement of the gearbox-equipped wheelset onto the transport vehicle, enabling loading of the gearbox-equipped wheelset. The second elastic return device 162 enables the automatic reset of the gearbox guide plate 161.

[0040] As one possible implementation, the traveling device 120 includes a housing 121, a second drive motor 122, a drive wheel 123, and a driven wheel 124; the housing 121 is fixedly connected to the vehicle body 110, the second drive motor 122, the drive wheel 123, and the driven wheel 124 are fixedly connected to the housing 121, and the second drive motor 122 is drively connected to the drive wheel 123.

[0041] The housing 121 is fixedly connected to the body 111 and the base plate 112. The second drive motor 122 is connected to the drive wheel 123 and can drive the drive wheel 123 to move. The two traveling devices 120 achieve steering of the transport vehicle through differential control of the drive wheels 123. When the speeds of the second drive motors 122 on both sides are the same, the transport vehicle moves in a straight line at a constant speed. When the speeds of the second drive motors 122 on both sides are different, the transport vehicle will generate steering force. When turning left, the speed of the second drive motor 122 on the right side is higher than that on the left side; when turning right, the speed of the second drive motor 122 on the left side is higher than that on the right side.

[0042] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0043] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A wheel set automatic mounting and dismounting transport vehicle, characterized by, It includes the vehicle body, running gear, wheelset gripping device, and wheelset guiding device for guiding wheelsets onto and off the transport vehicle; The traveling device is fixedly connected to the vehicle body and is symmetrically arranged on both sides of the vehicle body. The wheel set gripping device is fixedly connected to the vehicle body. The wheel set guiding device is hinged to the vehicle body and is symmetrically arranged on both sides of the wheel set gripping device.

2. The wheelset self-loading / unloading transport vehicle according to claim 1, characterized in that, The vehicle body includes a body and a floor; The vehicle body and the floor are fixedly connected, the traveling device is fixedly connected to the vehicle body and the floor, the wheel set gripping device is fixedly connected to the vehicle body and the floor, and the wheel set guiding device is hinged to the floor.

3. The wheelset self-loading / unloading transport vehicle according to claim 1, characterized in that, The wheelset gripping device includes a guide rod, a first drive motor, a ball screw, a guide block, a flipping slider, and a wheelset clamp; The guide rod is fixedly connected to the vehicle body, the flipping slider is fixedly connected to the end of the guide rod, the first drive motor and the ball screw are installed inside the guide rod, one end of the ball screw is connected to the output end of the first drive motor, the other end of the ball screw is hinged to the end of the guide rod, the guide rod is provided with a guide hole along its length, the guide block passes through the guide hole and is fixedly connected to the nut slider of the ball screw, and the wheelset clamp is fixedly connected to the guide block.

4. The wheelset self-loading / unloading transport vehicle according to claim 3, characterized in that, The wheelset clamp includes a fixed clamp and a movable clamp; The fixed clamp is fixedly connected to the guide block, and the movable clamp is hinged to the fixed clamp. The inner sides of the fixed clamp and the movable clamp are provided with auxiliary wheels for guiding the wheel axle.

5. The wheelset self-loading / unloading transport vehicle according to claim 4, characterized in that, The fixed clamp and the movable clamp also include guide wheels, which are disposed on the side of the fixed clamp and the movable clamp facing the guide rod, and the guide wheels abut against the guide rod.

6. The wheelset self-loading / unloading transport vehicle according to claim 1, characterized in that, The wheelset guiding device includes a load-bearing rail, an extension rail, and a mounting plate; The load-bearing rail is fixedly connected to the vehicle body and is symmetrically arranged on both sides of the wheelset gripping device. The extension rail is fixedly connected to the mounting plate, and the mounting plate is hinged to the vehicle body. When the mounting plate is reset, the extension rail abuts against the load-bearing rail. When the mounting plate is pressed down, the end of the extension rail fits against the rail.

7. The automatic wheelset loading and unloading transport vehicle according to claim 6, characterized in that, The wheelset guiding device also includes a first elastic return device; The two ends of the first elastic recovery device are fixedly connected to the traveling device and the mounting plate, respectively.

8. The wheelset self-loading / unloading transport vehicle according to claim 6, characterized in that, The support rail is provided with wheelset positioning grooves.

9. The wheelset self-loading / unloading transport vehicle according to claim 2, characterized in that, The transport vehicle also includes a gearbox guide device; The gearbox guiding device includes a gearbox guide plate and a second elastic return device. The gearbox guide plate is hinged to the base plates on both sides of the wheelset gripping device. The two ends of the second elastic return device are fixedly connected to the gearbox guide plate and the wheelset gripping device, respectively.

10. The wheelset self-loading / unloading transport vehicle according to claim 1, characterized in that, The traveling device includes a housing, a second drive motor, a drive wheel, and a driven wheel; The housing is fixedly connected to the vehicle body, the second drive motor, the drive wheel and the driven wheel are fixedly connected to the housing, and the second drive motor is drivenly connected to the drive wheel.

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