5048 results about "Epicyclic gearing" patented technology

A power tool includes a housing, a motor being controlled to run at a speed between 15,000 rpm and 32,000 rpm, an output spindle, a rotary impact assembly configured to transmit rotational motion with intermittent rotational impacts from a cam shaft to the output spindle, a hammer of the rotary impact assembly having an inertia between 400 kg·mm2 and 3,000 kg·mm2, and a single stage compound planetary transmission including a first planet gear meshed with a sun gear and a second planet gear meshed with a ring gear, the compound planet gear being carried by a planet carrier to achieve a gear reduction ratio between 14:1 and 30:1. The power tool is configured to achieve a fastening torque of at least 900 foot-pounds (a) in a time of less than 3.5 seconds, and / or (b) with an input energy of less than 2,500 Joules.

The invention provides a self-adaptive anti-backlash planetary gear reducer and a working method thereof. The self-adaptive anti-backlash planetary gear reducer comprises an input shaft and a shell. An electromagnet coil, an electromagnet, a sliding block seat, a supporting seat, a sun gear and a second inner gear ring sequentially penetrate through one end of the input shaft from one end to the other end; the side, away from the input shaft, of the second inner gear ring is connected with an output shaft. A planet carrier is slidably arranged on the supporting seat in the radial direction, a first planet gear and a second planet gear are coaxially arranged on the planet carrier, a first inner gear ring is arranged on the inner side of the shell, and the sun gear, the first planet gear and the second planet gear are engaged with the first planet gear, the first inner gear ring and the second inner gear ring correspondingly; the electromagnet is fixed to the sliding block base, the sliding block base, the supporting base and the second inner gear ring are all rotationally connected with the input shaft, and the sliding block base can slide on the input shaft in the axial direction. And the sliding block seat is hinged with the planet carrier through a connecting rod. The speed reducer is simple in structure, has the self-adaptive anti-backlash capability, and can realize self-adaptive real-time elimination of the transmission backlash.

A cranking mechanism preferably includes a planetary gear, a drive shaft, a one way bearing, a clutch assembly, and at least one drive unit. The clutch preferably includes a clutch pressure plate, a flywheel, friction surfaces and at least one friction plate. Each drive unit includes a carrier, a spool and a flywheel. The one way bearing and the clutch assembly are axial on the drive shaft. A pressure locking nut is threaded on to a threaded end of the crank shaft to exert pressure on the clutch assembly. The sun gear is fixed on the drive shaft. The at least one drive unit is axial with the drive shaft, and fixed with the carrier of the planetary gear set. The pressure locking nut is tightened against the clutch assembly to frictionally engage the drive shaft with the at least one drive unit.

The invention relates to an integrated oil cooling hub speed reduction electric wheel which comprises a motor, a planetary gear speed reducer and a bearing system which are arranged in the axial direction, and the planetary gear speed reducer is arranged in the motor and integrated with a brake. The bearing system comprises a rotor supporting bearing used for supporting a motor rotating system and a hub bearing used for supporting a wheel rotating system, the motor, the planetary gear reducer and the rotor supporting bearing are designed in an integrated oil cooling mode, and cavities where the motor, the planetary gear reducer and the rotor supporting bearing are located are communicated with one another. Cooling liquid cools and lubricates the motor, the planetary gear reducer and the rotor supporting bearing at the same time. Compared with the prior art, the electric wheel is compact in structure, the number of sealing pieces of the electric wheel can be reduced on the premise that the electric wheel has good structural rigidity, the axial size of an electric wheel assembly is reduced, and the electric wheel has the advantages of being good in cooling effect and easy to maintain.

A power tool includes a housing, a motor mounted within the housing and including a stator with an outer diameter and a rotor having a shaft configured to rotate about an axis relative to the stator. The power tool also includes a gear assembly operably coupled to the motor and including a ring gear fixed relative to the housing and planet gears meshed with the ring gear. A drive assembly is operably coupled to the gear assembly to receive torque from the shaft through the gear assembly. The power tool also includes a rear bearing rotatably supporting a rearward portion of the shaft and a forward bearing rotatably supporting a forward portion of the shaft. A distance measured between a front edge of the rear bearing and a rear edge of the forward bearing is less than the outer diameter of the stator.

The invention discloses a brushless planetary gear speed reducing motor, and belongs to the technical field of planetary gear speed reducing motors, the brushless planetary gear speed reducing motor comprises a base, a heat dissipation assembly and a torque self-adjusting assembly, the upper surface of the base is fixedly connected with a shell, the shell is provided with an air hole penetrating through the inner side and the outer side of the shell, and the outer side of the shell is provided with a heat conduction strip; a bearing in the shell is connected with one end of a motor winding, and the other end of the motor winding is coaxially and fixedly connected with one end of a driving shaft. According to the motor, the fan structure and the water-cooling heat dissipation structure are arranged inside the motor, so that the heat dissipation efficiency and effect can be improved, and the problem that the heat dissipation efficiency and effect are poor due to the fact that only the fan structure is arranged in the past and hot air circulates inside and outside the shell is solved; and after the motor is started, the torque is gradually reduced, so that the strength of the structure is improved, and the situation that the strength is reduced due to the fact that the torque is too long is avoided.

The invention discloses a motor-clutch time division multiplexing driving system for a rope-driven dexterous hand. The motor-clutch time division multiplexing driving system comprises a driving box, a plurality of rope-driven mechanisms and a plurality of dexterous fingers, wherein the rope-driven mechanisms and the dexterous fingers are arranged on the driving box; the rope driving mechanism comprises a power unit, a worm and gear unit and a guide unit. The power unit uses a sun gear to drive a plurality of planetary gears, and an electromagnetic clutch outputs power to the worm and gear unit; the plurality of worm and gear units are respectively used for controlling the winding and unwinding of the plurality of driving ropes; the plurality of guide units respectively guide the plurality of driving ropes to the same rope-driven rotating joints of the plurality of dexterous fingers; different rope-driven rotating joints of the dexterous fingers are controlled by different rope-driven mechanisms, and the same rope-driven rotating joint of the multiple dexterous fingers is controlled by the same rope-driven mechanism. According to the scheme, the fast switching characteristic of the electromagnetic clutch is ingeniously utilized, and driving control over multiple degrees of freedom by a single motor is achieved.

The invention discloses a pipeline combined type single-autorotation intelligent counter-current chromatograph, and relates to the technical field of counter-current chromatographs, the pipeline combined type single-autorotation intelligent counter-current chromatograph comprises a rotating disc, a surrounding separation channel is formed in the rotating disc, a filling block is mounted in the surrounding separation channel, one end of the rotating disc is rotatably mounted through a liquid slip ring, and the other end of the rotating disc is rotatably mounted through a liquid slip ring. The other end of the rotating disc is connected with a main shaft, the main shaft is connected with a driving device, unwinding is conducted in a liquid slip ring mode, the rotating disc can complete unwinding action under single rotation, mixing of two phases in the separation channel can be enhanced through a filling block, and therefore arrangement of a planetary gear train can be abandoned; the main shaft is directly driven by the driving equipment to rotate, and the main shaft drives the rotating disc to rotate to realize two-phase separation and extraction, so that a higher rotating speed can be obtained, and the separation efficiency and effect are improved; and secondly, after the planetary gear train is abandoned, the equipment noise is greatly reduced, and good dynamic balance is achieved.

The invention discloses size detection equipment for casting perforation processing, and relates to the technical field of size measurement. The device comprises a base, a supporting plate and a displacement assembly. The detection part goes deep into a workpiece hole through the contact ball, and the laser emitter and the light sensor are used for detecting the contact position, thereby realizing high-precision size measurement. The displacement assembly adopts the design of a negative pressure rotating cylinder and a resistance sliding rod, adjusts the displacement of a contact ball according to the rotating speed, and flexibly adapts to different hole requirements. Through the control of the planetary gear and the electromagnet, the contact ball can rotate to realize multi-angle detection. The detection table is driven by a central electric cylinder and an edge inclination control electric cylinder to stably adjust the posture of a workpiece. The device is high in automation degree and convenient to operate, and overcomes the defects of low precision, poor efficiency and single-direction detection of traditional manual measurement.

The power plant can have a structure; an output shaft connectable to a load, the output shaft rotatable about an axis relative the structure; a thermal engine secured to the structure, the thermal engine having a thermal engine shaft; an electric motor having a stator and a rotor shaft, the stator secured to the structure; an epicyclic gearing having a sun gear coaxial to a ring gear, a plurality of planet gears meshed between the sun gear and the ring gear, and a carrier coaxial to the sun gear and to the ring gear, the sun gear, carrier, and ring gear being rotatable relative the casing structure, the output shaft and the rotor shaft both coupled to the carrier, and the thermal engine shaft coupled to sun gear and the carrier; and an overrunning clutch operable to prevent the rotation of the ring gear in one angular direction.

The invention discloses a self-cleaning mechanism of a differential rotation type multi-stage air purification filter cartridge, and relates to the technical field of air purification equipment. The device comprises a purification shell, a first filter cartridge is arranged in the purification shell, the surface of the first filter cartridge is sleeved with a second filter cartridge, and the surface of the second filter cartridge is sleeved with a third filter cartridge; a driving assembly is arranged at the top of the purifying shell and comprises a driving motor arranged at the top of the purifying shell and a transmission rod installed at the output end of the driving motor. Through meshing transmission of a sun gear and a planetary gear in the driving assembly, differential rotation of the first filter cartridge and the second filter cartridge is achieved, attached particles are stripped in a layered mode through centrifugal force, the self-cleaning efficiency is remarkably improved, the differential design breaks through a static filtering mode of a traditional filter cartridge, particulate matter deposition inertia can be actively destroyed, and surface dust accumulation of a filter material is reduced; the problem of filtering efficiency attenuation caused by dust accumulation is avoided, the service life of the filter cartridge is prolonged, and the maintenance frequency is reduced.

The invention provides an automatic speed changing assembly which comprises a planetary gear speed reducing mechanism, a first-stage speed changing mechanism and a second-stage speed changing mechanism. An inner rotation driving member; the outer element is movably connected with the inner rotation driving part, so that the outer element can be driven to rotate under the driving of the inner rotation driving part, and the outer element is allowed to axially move between a first position and a second position relative to the inner rotation driving part; the driving disc is movably connected with the outer element, so that the driving disc can be driven to rotate under the driving of the outer element, and the driving disc is configured to be capable of changing between a first state in which the driving disc is combined with the power output element and a second state in which the driving disc is separated from the power output element; the first stage sun gear is configured to disengage from the outer element in a first position of the outer element and to engage with the outer element in a second position of the outer element. According to the automatic speed changing assembly and the electric capstan with the automatic speed changing assembly, the automatic speed changing function can be achieved, and reliability is good.

The invention discloses a planetary gear system digital twin model updating method based on deep reinforcement learning. The planetary gear system digital twin model updating method comprises the steps of S1, simplifying a planetary gear system; s2, describing the kinetic model by using a lumped parameter method, and constructing a planetary gear train oscillatory differential equation set; s3, a frequency response function family is calculated through finite element analysis, and a planetary gearbox rigid-flexible coupling model, namely a digital twinborn body, is constructed; s4, vibration response of the planetary gearbox shell under the stable rotating speed is obtained through a vibration signal collecting device; s5, defining an action space and a state space, and establishing a reinforcement learning environment; s6, solving the oscillatory differential equation set to obtain a simulation response, and constructing a reward function according to the simulation response; step S7, setting neural network parameters; step S8, optimizing by using a deep reinforcement learning algorithm; and step S9, loop iteration is carried out, the optimal physical parameters of inversion are output, and updating of the digital twinborn body is realized.

Methods and systems are provided for an electric axle. The electric axle system includes, in one example, a first electric machine and a planetary reduction differential configured to receive mechanical power from the first electric machine. The planetary reduction differential includes a first planetary gear set directly rotationally coupled to a second planetary gear set. In the electric axle system, a sun gear in the first planetary gear set is directly coupled to an input shaft of the planetary reduction differential.

According to the free wheel type antiskid differential mechanism, a half axle gear 3 is meshed with a first planetary gear 4, the first planetary gear 4 is meshed with a second planetary gear 5, and therefore when the first planetary gear 4 and the second planetary gear 5 do not revolve, the half axle gear 3 rotates, the rotating direction of the second planetary gear 5 is the same as that of the half axle gear 3, and the second planetary gear 5 is meshed with an inner gear ring 6; the inner gear ring 6 is fixedly connected with the outer gear ring 7, so that the rotation direction of the outer gear ring 7 is the same as that of the half axle gear 3, and the outer gear ring 7 and the half axle gear 3 are jointly meshed with a free gear, so that a structure with a zero arm of force is formed; if the half shaft on one side is not stressed due to slipping or suspension of the vehicle, the planetary gears 4 and 5 of the half shaft on the stressed side revolve to enable the outer gear ring 7 to rotate, the outer gear ring 7 and the half shaft gear 3 are in a locking state due to the fact that the force arm is zero, then escaping is achieved, instant response in the whole process is not delayed, and the service life of the vehicle is prolonged. Due to the fact that the force arm is zero in locking, friction loss is not generated, the pure mechanical structure supports large torque, and the device can be applied to various scenes such as off-road vehicles and heavy trucks.

A blind cord spool structure has a cord spool. The cord spool includes a bottom case, force-receiving wheel, driven chainwheel, top case, two rotatable units, and two spool rollers. The bottom case is in long rectangular shape. The bottom case and the top case allow the force-receiving wheel, driven chainwheel, rotatable units and spool rollers to be fitted together. The force-receiving wheel meshes with the driven chainwheel through a plurality of planetary gears and interlocks with the spool rollers and rotatable units through a driven gear. The high speed reduction ratio of the planetary gears effectively reduces the required weight of a volute spiral spring and reduces the operation cost of the volute spiral spring. With the bottom case being in long rectangular shape, the force-receiving wheel, rotatable units and spool rollers can be collectively mounted on the same standard surface, allowing the cord spool to be structurally simple.

The subject matter of this specification can be embodied in, among other things, a rotary lock assembly includes an epicyclic gear assembly having a sun gear assembly, a ring gear assembly, and a planet gear assembly having a collection of planet gears mechanically engaged to the sun gear assembly and the ring gear assembly, and a planet carrier mechanically engaged to the planet gears and configured to be rotated by the planet gears, a lock rotor configured to be rotated by the ring gear assembly, and a rotary output assembly configured to be rotated by the planet carrier.

An electric propulsion system for a vertical take-off and landing (VTOL) aircraft having a heat exchanger to cool fluids used in an electrical engine, the electric propulsion system comprising at least one electrical engine mechanically connected directly or indirectly to a fuselage of the VTOL aircraft and electrically connected to an electrical power source. The electrical engine may comprise an electrical motor having a stator and a rotor; a gearbox assembly comprising a sun gear; at least one planetary gear; a ring gear; and a planetary carrier. The electric engine may include an inverter assembly comprising a thermal plate and an inverter assembly housing; an end bell assembly that is connected to the thermal plate of the inverter assembly; and a heat exchanger comprising an array of cooling fins and tubes.

The invention discloses a humanoid robot and a shank structure thereof. The shank structure comprises a knee frame, a foot plate, a driving assembly and a cam; the foot plate is rotatably connected to the knee frame around the X axis; the knee frame is provided with a rotating seat; the inner shaft is rotationally connected to the rotating seat around the Y axis; the fixing sleeve is rotatably mounted on the inner shaft; the driven planetary gears are meshed with the driving planetary gears on the two sides; one end of the side shaft is limited to the fixing sleeve, and the driven planetary gear is rotationally arranged on the side shaft in a sleeving mode. The upper end of the connecting rod is rotatably connected to the connecting seat, and the lower end of the connecting rod is rotatably connected to the foot plate; when the cams at the left and right positions rotate towards the same direction, the connecting seat drives the foot plate and the knee frame to rotate around the Y axis through the connecting rod; when the cams at the left and right positions rotate in opposite directions, the connecting seat rotates around the side shaft and drives the foot plate to rotate around the X axis relative to the knee frame through the connecting rod. According to the scheme, more flexible gait control can be achieved, and the problem that the weight burden of shanks is too heavy due to a direct drive mode in a traditional system is solved.

In one aspect, an in-wheel drive assembly is provided that includes a stator configured to form a non-rotatable connection with a spindle of a vehicle and be positioned outboard of the spindle. The in-wheel drive assembly includes a stator retainer configured to extend in an interior of the spindle and inhibit movement of the stator in an outboard direction relative to the spindle. The in-wheel drive assembly further includes a rotor rotatably supported by the stator, an output housing to be connected to a wheel hub, and a planetary gear assembly operatively connecting the rotor and the output housing. The planetary gear assembly is configured to cause rotation of the output housing and wheel hub connected thereto in response to rotation of the rotor.

The invention discloses an unmanned aerial vehicle carrying type ice stripping robot device for a distribution line. The unmanned aerial vehicle carrying type ice stripping robot device comprises an unmanned aerial vehicle system, a clamping guide mechanism, a docking mechanism, a camera mechanism and a wheel type ice stripping mechanism, the clamping guide mechanism comprises a top cover, a V-shaped wheel and a clamping wheel assembly, and the distribution line is clamped below the V-shaped wheel and is clamped by the clamping wheel assembly to advance; the unmanned aerial vehicle system is mounted above the top cover through the docking mechanism; the camera mechanisms are mounted on the front and rear sides of the top cover; the wheel type ice stripping mechanism comprises a connecting top plate, a planetary gear, a main gear and a cutter, the front end of the connecting top plate is installed on the top cover, the planetary gear is installed at the tail end of the connecting top plate, the main gear is arranged on the outer side of the tail end of the connecting top plate and meshed with the planetary gear, and the cutter is fixed to the main gear. The power distribution cable deicing device is compact in structure, high in automation degree, high in stability, simple and convenient in deicing operation, high in efficiency, safe and reliable, and power distribution cable deicing operation can be realized without power failure.

The invention provides a compound uniform-load and shunt load shedding type planetary gear gearbox with a face gear. The compound uniform-load and shunt load shedding type planetary gear gearbox comprises an input planet carrier integrated assembly, a first-stage compound uniform-load planet row, an inter-stage flexible connection structure, a second-stage planet row and a face gear steering output assembly. The input planet carrier integrated assembly is connected with the first-stage compound uniform-load planet row, the inter-stage flexible connection structure is arranged between the first-stage compound uniform-load planet row and the second-stage planet row, and a first-stage floating sun gear in the first-stage compound uniform-load planet row and the main shaft planet carrier structure are coaxially arranged. The first-stage floating sun gear is installed in a floatable mode through a first-stage sun gear supporting shaft, self-adjustment can be achieved in the radial direction and the axial direction, and the first-stage floating sun gear is meshed with the first planet gear and the second planet gear in a double-side mode. The energy conversion efficiency can be improved, uneven load distribution is improved, and the system integration degree is improved.

The invention provides an electric drive axle assembly and a vehicle with the same, and relates to the technical field of vehicles. The electric drive axle assembly comprises a drive motor; the differential mechanism is connected with a vehicle wheel end through a half shaft; the first planetary gear train at least comprises a first sun gear and a first planetary gear, the first sun gear is connected with an output shaft of the driving motor, and the first planetary gear is arranged on a first planetary carrier; the second planetary gear train at least comprises a second sun gear and a second planetary gear, the second planetary gear is arranged on a second planetary carrier, and the output end of the second planetary carrier is connected with the differential mechanism; and the transmission gear system is connected with the first planetary gear system and the second planetary gear system, and the transmission gear system is used for transmitting power of any one of the first planet carrier and the first sun gear to any one of the second planet carrier and the second sun gear. The problems that an electric drive axle of a commercial vehicle is large in size and unreasonable in gear-speed ratio setting are solved.

The invention relates to a differential performance detection device, which belongs to the technical field of differential detection, and comprises a detection terminal connected with the axial end face of a planetary gear; the detector is arranged opposite to the detection terminal; a displacement sensor is arranged on the surface, facing the detection terminal, of the detector; the detector is provided with the surface of the displacement sensor to abut against the detection terminal, and the axial pressure of abutting between the detector and the detection terminal is zero. The driving part is used for driving the bevel gear to rotate; the processor is connected with the displacement sensor; the moment when the driving part drives the bevel gear to rotate is the first moment, the bevel gear transmits power to the planetary gear through rotating meshing after rotating, the displacement sensor is used for detecting whether the planetary gear rotates or not, the moment when the displacement sensor feeds back signals is the second moment, and the meshing clearance is detected according to the first moment and the second moment. Whether the tooth pitch of the differential mechanism is out of tolerance or not can be judged, and the accurate positioning effect of differential mechanism fault detection is achieved.

The invention relates to the technical field of chemical equipment, in particular to an internal circulation esterification kettle which comprises a kettle body, a circulation stirring assembly, a driving assembly and a scraping assembly. A reaction cavity is formed in the kettle body; the circulating stirring assembly comprises a separation cylinder, a rotating shaft, a first paddle and a driving part; a circulation cavity is formed between the outer wall of the separation cylinder and the inner wall of the kettle body; the first paddle is arranged on the rotating shaft; the driving part is used for driving the rotating shaft to rotate; when the rotating shaft rotates, the first paddle can push materials from the first end of the separation barrel to the second end of the separation barrel, and then the materials flow back to the first end through the circulation cavity; the driving assembly comprises a first gear, a gear ring, a mounting frame and a second gear which form a planetary gear train; the scraping assembly comprises a reciprocating lead screw, a guide rod and a scraping plate, and when the rotating shaft rotates, the scraping plate can rotate by taking the central axis of the rotating shaft as the center and slide up and down along the inner wall of the kettle body in a reciprocating manner. The reaction kettle has the effects of improving the material mixing efficiency and uniformity and reducing adhesion between materials and the inner wall of the reaction kettle.

The invention provides a multi-wire cutting device capable of synchronously adjusting variable spacing, which comprises a rack, a variable spacing driving mechanism, a roller wheel group, a cutting wire, a second driving mechanism and a synchronous transmission mechanism, the variable-pitch driving mechanism comprises a first driving mechanism used for driving the outer roller wheels to rotate to achieve cutting operation and a variable-pitch assembly used for adjusting the distance between the roller wheel sets. When the distance is adjusted, the roller wheel sets do not need to be detached, and the distance between the roller wheel sets can be synchronously adjusted only through motor control; in the variable-pitch multi-wire cutting machining process, stable operation of the wire cutting machine can be achieved, and due to the small step angle of the stepping motor, the high transmission ratio of the worm gear and the worm and the wide-range transmission ratio of the planetary gear set in the aspect of adjustment, distance adjustment of the variable-pitch multi-wire cutting machine has the beneficial effects of being high in efficiency, stability, precision and flexibility; and the method is suitable for production scenes with machining requirements of high efficiency, high precision and wide cutting range, so that the method is easy to popularize and apply.

An epicyclic power gear box for a gas turbine engine delivers torque from a low speed shaft to the primary fan. The gear box includes a planet gear and a bearing pin for the planet gear, sun gear and ring gear. The planet gear and bearing pin are arranged so that a clearance between the two is maintained during a takeoff condition for the gas turbine engine.

The invention discloses planet wheel automatic mounting equipment which comprises a mounting station used for mounting a planet carrier, and the planet carrier is rotatably arranged on the mounting station; the feeding module is used for feeding the planetary gear into the window of the planetary carrier and comprises a feeding track and a feeding frame moving along the feeding track; and the material feeding module comprises a gear feeding module and a gasket feeding module which are respectively used for feeding the planetary gears and the gaskets to the feeding frame. According to the automatic mounting equipment provided by the invention, the mounting station is matched with the feeding module and the plurality of loading modules, so that all parts of a planetary gear transmission structure are sequentially configured and assembled without manual work, and the positioning precision among all the parts and the stability during combined mounting are greatly improved by replacing workers with machines; therefore, the yield and efficiency of assembling work of the planetary gear transmission structure are improved, the labor cost is effectively controlled, and control over production is better facilitated.

The invention belongs to the technical field of speed reducers, and particularly relates to a multi-point meshing compound planetary gear speed reducer, a driving wheel set and a robot driving module. Wherein the multi-point meshing compound planetary gear reducer is provided with a sun gear serving as power input; the duplex planet gears are uniformly distributed around the sun gear, the duplex planet gears are composed of first planet gears and second planet gears, and the sun gear is meshed with the first planet gears; an intermediate planet gear exists between any two adjacent second planet gears in the circumferential direction, and each intermediate planet gear is meshed with the two adjacent second planet gears at the same time; an inner gear ring is arranged on a machine shell of the speed reducer, and the inner gear ring is meshed with the intermediate planet wheel. An existing planetary reducer has defects in the torque transmission capacity and the bearing capacity, a combined structure of a duplex planet wheel and an intermediate planet wheel is adopted, the intermediate planet wheel forms a multi-point meshing relation in the transmission process, loads are evenly dispersed, and the torque transmission capacity and the bearing capacity of the reducer are improved.

The straddle type monorail bogie comprises a framework assembly, a walking wheel assembly, a driving assembly and a planetary gear reducer, the framework assembly comprises a framework body and a fixing assembly, and the fixing assembly is detachably and fixedly connected with a connecting beam in the framework body so that the fixing assembly and the connecting beam can detachably clamp the driving assembly; the driving assembly, the walking wheel assembly and the planetary gear reducer are integrated into a whole, and the driving assembly, the walking wheel assembly and the planetary gear reducer can be separated from the framework assembly by disassembling the fixing assembly. The framework assembly is provided with the receding space for the driving assembly, the walking wheel assembly and the planetary gear speed reducer to be separated from the framework body from the lower side of the connecting beam, so that the walking wheel assembly, the driving assembly and the planetary gear speed reducer can be disassembled without disassembling the framework body, walking wheels do not need to move axially within the limited axial space size, and the structure is simple and convenient. According to the wheel replacing device, the mode of directly discharging the wheels downwards in the vertical direction can be achieved, the walking wheels are not disassembled and replaced, the wheel replacing time is saved, and the wheel replacing efficiency is improved.