58 results about "Wheel running" patented technology

The invention provides a grinding trolley frame and a steel rail grinding trolley, and solves the technical problem that a guide wheel is extremely easy to collide with a frog center when the grinding trolley passes through the frog. The grinding trolley frame comprises a trolley frame body, a traction cross arm, a lifting driving device and a single-side loading driving device, the trolley frame body is used for installing a grinding mechanism, and guide wheels are rotationally connected to the trolley frame body; the traction cross arm is in transmission connection with the grinding wagon / train, and the lifting driving device is mounted on the grinding wagon / train, is in driving connection with the traction cross arm and is used for lifting or lowering the traction cross arm and the wagon frame; the single-side loading driving device is horizontally arranged, the fixed end of the single-side loading driving device is hinged to or fixed to the traction cross arm or the grinding wagon / train, and when the telescopic end of the single-side loading driving device stretches out, the trolley frame can be driven to move in the width direction of the rail relative to the traction cross arm, so that the guide wheels are tightly attached to the single-side stock rail to advance after being lowered. The rims of the single-side guide wheels cling to the stock rails to run, so that the frog center cannot be collided when passing through the turnout.

The utility model discloses a casting base for a low-clearance electric hoist, which comprises two casting bases A which are symmetrically arranged and two casting bases B which are symmetrically arranged and are respectively in one-to-one correspondence with the two casting bases A. The two casting bases A and the two casting bases B are distributed in a rectangular shape. A connecting rod is arranged between the casting base A and the casting base B which correspond to each other, a positioning rod is arranged between the two casting bases B, a driven wheel running wheel is arranged on the opposite face, facing the corresponding casting base B, of the casting base A, and a driving wheel running wheel corresponding to the driven wheel running wheel is arranged on the opposite face, facing the corresponding casting base A, of the casting base B; the casting base B is further provided with an operation driving mechanism used for driving the driving running wheels to rotate. Modularized assembling of the electric hoist is achieved, the electric hoist assembling device can be applied to electric hoists of different specifications, and the production efficiency of the electric hoist is greatly improved.

The utility model discloses a mounting type robot walking track, and belongs to the field of tracks. Comprising a track body, the track body comprises a vertically-arranged wall plate and a transversely-arranged tread plate located at the bottom end of the wall plate, the wall plate and the tread plate are integrally in an inverted-T shape, and symmetrical walking treads are formed on the portions, on the two sides of the wall plate, of the top face of the tread plate. And the walking tread is provided with a slope surface which is inclined downwards and has a set angle from the inner side to the outer side. According to the utility model, the walking tread below the track is designed into the slope surface with a certain angle, and when the robot walking wheel runs on the walking tread, the center can be automatically adjusted due to the gravity of the robot walking wheel, so that the robot is prevented from being scratched with the side wall of the track wall plate. Compared with a rail of an I-shaped steel structure, more materials are saved, the robot can still not scratch the rail under the condition that no lateral guide wheel structure exists, the stability of the robot during operation is improved, and the structure is simple and reliable.

The climbing steering driving wheel assembly of the cleaning robot comprises an upper integrated seat, and second machine shells are evenly installed at the bottom of one side of the upper integrated seat. During climbing, the miniature reversible air pump can be controlled by the controller to inflate the anti-explosion air bag layer fixed in the steering adjusting wheel through the rotary joint, so that the corrugated air pipe distributed on the outer wall of the anti-explosion air bag layer is expanded, and then the deformed corrugated air pipe can push the storable ground gripping ribs to slide in the limiting storage grooves; according to the steering adjusting wheel, the foldable ground gripping ribs are separated from the outer wall of the steering adjusting wheel, so that the ground gripping force is enhanced by utilizing an anti-skid structure formed by the foldable ground gripping ribs which are arranged at equal angles and protrude outwards, the smooth proceeding of climbing movement is facilitated, and when the steering adjusting wheel runs on the flat ground, the micro reversible air pump reversely drives the anti-explosion air bag layer to exhaust air, so that the anti-skid effect is achieved. And a user can conveniently push the storable ground gripping ribs into the limiting storage grooves for storage, so that the tread is recovered to be smooth, and the flat ground rolling resistance is reduced.

The utility model relates to the technical field of processing and production of electric fitness equipment, and discloses a single-belt-wheel running board motor mounting structure which is mounted on one side of a supporting frame body of a walking machine, and the supporting frame body comprises two supporting pipes which are arranged in parallel; the lengths of the two supporting pipes are different; a gap is formed between at least one supporting pipe and the supporting pipe; the motor mounting shell is mounted at the interval; the top of the mounting cavity is of an opening structure; and the motor is mounted in the mounting cavity and is used for providing power. The interval is arranged between the supporting pipe and the front roller, the motor is installed in the interval, the problem that in the prior art, the motor is installed on the rear side of the running plate, the length is increased, and then the transportation cost is increased is solved, the overall length is reduced, transportation is convenient, and meanwhile the transportation cost is reduced. The utility model further provides a walking machine.

The wheel-foot conversion multi-legged robot comprises a body, the side surface of the body is provided with a plurality of driving parts distributed in the circumferential direction, a multi-joint leg, the proximal end of the multi-joint leg is hinged to the driving part, the multi-joint leg comprises a plurality of joint arms arranged in a straight line and hinged in sequence, wherein the two ends of the joint arm farthest from the proximal end are respectively provided with a walking wheel and a gripping foot, both can support and drive the wheel-foot conversion multi-legged robot, and the robot realizes wheel running and foot running mode conversion by switching the use of the walking wheel and the gripping foot of the multi-joint leg. The multi-legged robot designed by the utility model can be switched between the use of the walking wheel and the gripping foot, and then the wheel running and foot running mode conversion is realized, and the innovative design significantly enhances the obstacle crossing ability of the robot.

This invention discloses a power unit for a flying car based on a hub motor, belonging to the field of flying cars. It integrates ground driving and aerial flight into a single power unit, switching modes through changes in operating conditions. The wheel-mounted motors drive the vehicle's motion, while the propeller motors drive the propellers via hub motors mounted on a support shaft. The wheels and propeller share a hollow support shaft for rotational support, and the telescopic hydraulic structure for wheel reversal is integrated with the shock-absorbing suspension structure. The overall design is compact, simplifying the power unit structure and effectively reducing the vehicle's unsprung mass.

The application provides a control method and a control system of a steer-by-wire system. The method comprises the following steps: constructing a steering system dynamics equation based on a target front wheel running parameter, a configuration parameter and a target damping coefficient of a magneto-rheological damper in a shimmy instability mode, wherein the product of the target damping coefficient and a front wheel rotation speed is equal to the product of an initial damping coefficient of the magneto-rheological damper and a magneto-rheological damper current; obtaining a characteristic equation and all characteristic value expressions based on the steering system dynamics equation; obtaining real-time values of the target front wheel running parameter, a value of the configuration parameter, a magneto-rheological damper current real-time value and a value of the initial damping coefficient; obtaining real part values of all characteristic values of the characteristic value expressions based on the obtained values; and adjusting the magneto-rheological damper current real-time value until the real part values of all characteristic values are not greater than zero to obtain a value of the target damping coefficient, if there is at least one characteristic value whose real part value is greater than zero. The method according to the application can solve the front wheel shimmy problem.

The invention discloses a fast-assembly type automobile injection molding part, and relates to the technical field of automobile injection molding parts, the fast-assembly type automobile injection molding part comprises a wheel cover injection molding part body, and the edge of the outer surface of the wheel cover injection molding part body is fixedly connected with a sealing gasket. The sealing gasket on the wheel cover injection molding part body is in soft contact with the frame, so that in the running process of an automobile, if objects such as stones on the road collide with the wheel cover injection molding part body, the sealing gasket can absorb and disperse vibration energy, hard contact between the wheel cover injection molding part body and the frame is avoided, vibration transmission is reduced, and sound insulation can be assisted; noise generated when wheels run is prevented from being transmitted into a vehicle, the driving comfort is improved, in addition, a gap between the wheel cover injection-molded part body and a frame can be sealed, then rainwater, dust and other impurities can be prevented from entering the gap between the wheel cover injection-molded part body and the frame, the situation that water makes contact with a metal part of the frame, and consequently metal corrosion is caused is reduced, and the service life of the vehicle is prolonged. Meanwhile, abrasion of dust accumulation to the frame is reduced, and the effect of protecting the frame is achieved.

The utility model discloses a kind of split eccentric wheels, belong to mechanical equipment technical field, including upper wheel and lower wheel, upper wheel bottom is fixedly connected with cylinder, lower wheel top is correspondingly provided with embedding hole, cylinder is embedded in embedding hole, the split connection of eccentric wheel main part is realized, the pin hole is correspondingly provided in upper wheel front side and lower wheel top, split eccentric wheel further include right angle plate, screw and nut, the front end and bottom of right angle plate are fixedly connected with bolt, bolt is inserted into the pin hole of upper wheel front side and lower wheel top, the positioning connection of right angle plate limits the radial relative sliding of upper wheel and lower wheel, the recess inside of upper wheel front side is fixedly connected with internal thread. The utility model structure is optimized, effectively solve the problem of insufficient split connection reliability, reach the technical effect of guaranteeing eccentric wheel running structure stability and integrity.

The application provides a multi-mode cooperative planetary exploration robot, which adopts a modularized separable design to improve the functional integration and task flexibility, and has the cooperative working ability of three-state switching of wheel running, leg running and flight. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker assembly. The damping rocker assembly is separably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent exploration vehicle. Four six-degree-of-freedom legs are distributed in a rectangular shape on the bottom surface of the main vehicle body. Each six-degree-of-freedom leg is connected to a rotor-wheel composite assembly at the lower end. In the wheeled state, the arc-shaped sections are perpendicular to the spokes, and a plurality of arc-shaped sections are arranged in the circumferential direction to form a wheel body. In the flight state, the rotor-wheel composite assembly is flipped upward to above the main vehicle body. By changing the length of the spoke, the arc-shaped section connected to the spoke is stretched out. At the same time, the arc-shaped section is flipped to the same horizontal plane as the spoke to serve as a blade together with the spoke.

The utility model discloses a rapid detection tool for jumping of a belt pulley. A belt pulley fixing mechanism and a position adjusting mechanism are arranged on the operating table, a detection station is arranged in the belt pulley fixing mechanism, a belt pulley is rotatably fixed at the detection station, a run-out detection mechanism is arranged on the position adjusting mechanism, and the position adjusting mechanism is provided for adjusting the transverse and longitudinal positions of the run-out detection mechanism; the run-out detection mechanism comprises a radial run-out dial indicator, an axial run-out dial indicator, an induction block, a probe and an elastic reset piece, the induction block is arranged on the elastic reset piece, the probe is arranged on the induction block and faces the detection station, the front end of the probe is aligned with a V-shaped groove in the outer circle of the belt pulley, and the radial run-out dial indicator and the axial run-out dial indicator are perpendicularly arranged. The detection ends of the radial run-out dial gauge and the axial run-out dial gauge are respectively contacted with the induction block, the radial run-out dial gauge is parallel to the belt pulley, and the axial run-out dial gauge is perpendicular to the belt pulley. The device is high in detection efficiency.

The invention relates to driving stability of left and right wheels during turning of a motor vehicle. Comprising a wheel suspension frame, a frame and a compensation frame, the compensation frame comprises a bottom-layer frame and an upper-layer frame, the bottom-layer frame and the upper-layer frame are of an integrated structure, and compensation frame connecting plates are fixed to the rear side faces of the bottom-layer frame and the upper-layer frame; a connecting hole is formed in the compensation frame connecting plate, a bearing is fixed in the connecting hole, and the compensation frame connecting plate is fixedly connected with a frame through a bolt; a left connecting plate and a right connecting plate are respectively arranged on the bottom layer frame and are fixedly connected with the wheel suspension frame; a left lug plate is arranged on the upper-layer frame and fixedly connected with a left spring of a wheel suspension frame, and a right lug plate is arranged on the upper-layer frame and fixedly connected with a right spring of a vehicle suspension frame. According to the technical scheme, the problem that the front wheel on one side tilts when the vehicle moves at the rear center of gravity at a small radius at a high speed can be thoroughly solved. Compared with the prior art, the structure is simple, the effect is good, the adaptability to uneven road surfaces is better, the comfort degree of the suspension is easy to adjust, and the cost-effectiveness ratio is high.

The application discloses a kind of multi-axle virtual track vehicle's full axle steering control method and system, comprising: the multi-axle track vehicle is divided into multiple steering geometric regions, and the steering geometric region set is weakly coupled together by the method of speed instantaneous center collineation;According to geometric relation, the relationship between the steering angle of each axle in each steering geometric region is determined;At least one tracking control point is selected in each steering region, and the steering angle of a certain axle in each steering geometric region is determined by tracking control point deviation;According to the relationship between the steering angle of each axle in the steering geometric region, the steering angle of other axles in the steering geometric region is obtained;Based on the steering angle of each axle obtained, the full axle steering of multi-axle virtual track vehicle is controlled.The application can realize mutual coordination under each steering geometry, so that each wheel runs through the curve coordinately, and the stability of vehicle operation is improved.

The application relates to a stabilizer bar assembly and a vehicle, the stabilizer bar assembly comprising a housing, a transmission shaft, a first bar, a second bar and an oil cup. The housing is internally provided with a first vane, the transmission shaft is rotationally arranged in the housing, the transmission shaft is provided with a second vane, the first vane, the transmission shaft and the second vane divide the housing into a first cavity and a second cavity, and the oil cup is connected with the first cavity and the second cavity respectively. One end of the first bar is connected to one end of the housing, the other end of the first bar is used for being connected with a wheel on one side of the vehicle, one end of the second bar is connected to the transmission shaft away from the other end of the first bar, and the other end of the second bar is used for being connected with a wheel on the other side of the vehicle. The stabilizer bar assembly and the vehicle provided by the application can ensure that all the wheels can land at the same time when the wheels run on various road conditions through the cooperation of the first bar, the second bar, the housing and the transmission shaft, and the passability and comfort of the vehicle on different road conditions are improved.

The utility model belongs to the technical field of tobacco packaging, and discloses a first wheel operation testing device which comprises a supporting assembly, a driving motor and a transmission assembly, the supporting assembly comprises a first supporting frame and a second supporting frame which are arranged in a spaced mode, and a first wheel device is detachably connected to the second supporting frame; the driving motor is detachably connected to the first supporting frame; the transmission assembly comprises a first transmission wheel, a second transmission wheel and a synchronous belt arranged on the first transmission wheel and the second transmission wheel in a sleeving mode, the first transmission wheel is in transmission connection with an output shaft of the driving motor, and the second transmission wheel is in transmission connection with the input end of the first wheel device. According to the first wheel operation testing device, the lubrication performance of the first wheel device of the tobacco packaging machine is detected through idle operation testing, potential quality hazards of the first wheel device are reduced, and the working reliability of the tobacco packaging machine is improved.

The utility model discloses a corn milk seedling transplanter which adopts an engine as a power mechanism, power is transmitted through a gearbox, one part of the power drives a four-wheel walking chassis to operate through a left chain box and a right chain box, the other part of the power is transmitted to a rear operation part, and the rear operation part comprises a hanging cup device and a duckbilled device. The hanging cup device is driven by chain transmission to annularly rotate, the duckbilled planting mechanism moves up and down under the action of a cam mechanism extending out of a gearbox and a connecting rod mechanism, a bottom plate of the hanging cup device can be opened and closed, and through staggered arrangement of bottom plate supporting rods and hanging cup bottom plate lug plates, the hanging cup device can be conveniently and rapidly planted. A watering device is arranged at the upper end of the whole machine, regular and quantitative watering is achieved by electrically controlling the watering quantity, a stubble cleaning mechanism is arranged at the front end of the whole machine, transplanting is rotary tillage operation, and the previous procedure of corn milk seedling transplanting is reduced.

This satisfies both the requirement to narrow the gap between reference contacts and the requirement for high-speed train operation. [Solution] The track inspection device of the present invention comprises a reference beam, a wheel running on the rail to be measured, two reference contactors, an arm, a wheel running on the opposite rail, a contactor on the opposite side, a spring for the opposite side, a guide roller, a stopper for the turnout section, a pressure roller, a guard spring, and a measuring unit. The two reference contactors are arranged at different positions on the reference beam and come into contact with the gauge surface of the rail to be measured. The contactor on the opposite side is arranged at the end of the arm on the opposite rail side and comes into contact with the gauge surface of the opposite rail. The guide roller is arranged at the end of the arm on the opposite rail side so as to face the gauge surface of the opposite rail. The stopper for the turnout section limits the extension range of the arm at the gauge gap section. The pressure roller is arranged between the two reference contactors on the reference beam and comes into contact with the guardrail.

The invention provides a multi-mode cooperative planetary exploration robot which adopts a modular separable design to improve the function integration level and the task flexibility. And the robot has the collaborative operation capability of switching three states of wheel running, leg running and flying. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker arm assembly. The damping rocker arm assembly is detachably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent detection trolley. The four six-degree-of-freedom legs are distributed on the bottom surface of the main vehicle body in a rectangular shape; the lower end of each six-degree-of-freedom leg is connected with a rotor wing-wheel composite assembly. In the wheel type state, the arc-shaped sections are perpendicular to the spokes, and the multiple arc-shaped sections are arranged in the circumferential direction to form a wheel body; in the flying state, the rotor wing-wheel composite assembly is turned upwards to the position above the main vehicle body; the lengths of the spokes are changed, and the spokes extend to stretch out the arc-shaped sections connected with the spokes; and meanwhile, the arc-shaped sections are overturned to be in the same horizontal plane with the spokes and serve as blades together with the spokes.

The utility model relates to the technical field of wheels, and discloses a wheel hub structure for enhancing the stability of a wheel, which comprises a hub body, a plurality of spokes are annularly distributed and fixedly connected outside the hub body, a plurality of spoiler grooves are arranged inside the spokes, two spoilers are fixedly connected outside the spokes, and the spoilers are arranged in the spoiler grooves. A plurality of fixing holes are annularly formed in the hub body, a center locking hole is formed in the hub body, a plurality of positioning columns are annularly distributed and fixedly connected to the rear side of the hub body, and a plurality of portable assemblies facilitating heat dissipation of the hub body during driving are arranged in the hub body. According to the utility model, aerodynamics is optimized by means of the spoiler grooves and the spoiler, air resistance and energy loss are effectively reduced, the stability and controllability of the wheel during running are greatly enhanced, and the fixing holes and the central locking holes are matched with each other, so that the installation accuracy is guaranteed, the unbalance of the wheel is reduced, and the service life of the wheel is prolonged. And a reliable installation foundation guarantee is provided for the stability of the wheel.

A tire escape device includes a track storage module and a track, wherein the track storage module is arranged in the vehicle body above the wheel, a rotating mechanism is arranged in the track storage module, an electromagnetic adsorption module for connecting with the first end of the track is arranged on the rotating mechanism, the rotating mechanism drives the track to wind in the storage module, or the rotating mechanism drives the track to unfold outward from the storage module, and the second end of the track extends to the rear of the wheel running direction along the outer circumferential surface of the wheel to the bottom of the wheel. The tire escape device does not affect the appearance of the vehicle and the daily wind resistance, does not occupy the limited storage space in the vehicle, can realize the smooth escape of the wheel from the trouble, does not need the user to replace the special structure tire or manually lay the track, saves the cost, improves the user experience, and is convenient for realizing the winding storage of the track.

This disclosure relates to a spoke structure, a wheel, a travel and steering system, and an amphibious vehicle. The spoke structure is applied to a wheel and includes a spoke body, blades, and a drive component. The blades are rotatably connected to the spoke body and have an initial position and an extended position relative to the spoke body. In the extended position, in response to the spoke body rotating with the wheel, the blades provide propulsion for the wheel to move axially along the wheel. The drive component is disposed on at least one of the spoke body and the blades and is used to drive the blades to switch from the initial position to the extended position. Through this technical solution, the blades can push water flow during rotation to generate a reaction force, thereby propelling the amphibious vehicle laterally in water. This eliminates the need for additional propellers and drive structures, resulting in a simple structure, minimal added weight, and low cost.

The invention discloses a crane wheel running state monitoring method and a related device, and relates to the technical field of wheel running state monitoring, and the method comprises the following steps: obtaining a vibration signal, an acoustic emission signal and an optical measurement signal when a crane wheel runs on a track, carrying out time-frequency conversion and feature extraction on the vibration signal to obtain a vibration feature, the method comprises the following steps of: acquiring an acoustic emission signal, performing mode identification on the acoustic emission signal to obtain a target acoustic emission signal, further determining a crack depth, performing three-dimensional imaging on a wheel rim and a wheel tread based on an optical measurement signal, and further calculating a wheel rim wear rate, a wheel rim deformation rate, a wheel tread wear rate and a wheel tread roundness. And determining whether the crane wheel is scrapped or not based on the vibration characteristics, the crack depth, the wheel flange wear rate, the wheel flange deformation rate, the wheel tread wear rate and the wheel tread roundness. Whether the crane wheel is scrapped or not can be automatically judged by integrating various data, and automatic monitoring of the running state of the crane wheel is completed.

The invention relates to the technical field of automobile hub detection, in particular to intelligent detection equipment for automobile hubs, which comprises a bottom frame, a support plate I and the like. At least two supporting plates I are fixedly connected to the bottom frame. According to the device, high-temperature gas and low-temperature gas are sequentially input into the gas pipe I, so that the temperature of the rotary drum I is changed, the states of a wheel in a high-temperature environment and a low-temperature environment are simulated, the performance of a hub in the wheel at different environment temperatures is evaluated, the service conditions of the wheel and the hub are restored, and the service life of the wheel and the hub is prolonged. The accuracy of radial fatigue detection of the automobile hub is improved, the wheel is made to rotate, then part of the area of the wheel is made to make contact with the rotary drum I, radial pressure is applied to the wheel, and then the vertical load borne by the hub in the wheel when the wheel travels to a narrow road section is simulated. And thus, the fatigue damage resistance of the hub in the wheel when the hub travels to a narrower road section is evaluated.

The application belongs to the technical field of amphibious special vehicle, and relates to a steering control method of a single front axle wheel and track composite walking system of a special vehicle. A sensor measures and obtains relevant parameters, and the relevant parameters are determined when the special vehicle is designed; a control component calculates (1) a steering inner track driving force F ti (2) a steering outer track driving force F to ; and the control component controls a driving motor to output a driving force with a value according to the calculated steering inner track driving force F ti and the steering outer track driving force F to . The steering control method of the single front axle wheel and track composite walking system of the special vehicle can be reliably applied to the special vehicle with the single front axle and track composite walking system, and can control the size of the track driving force in real time during driving steering, so that the wheel and track steering torques are consistent according to the bearing proportion, the wheel drags the track or the track drags the wheel is avoided, the additional load of the structure is reduced, the wheel and track are minimized in wear, and the performance is improved.

The application provides a vehicle tire pressure monitoring method and device and a vehicle. The method comprises: acquiring positioning data of a vehicle in a sampling time interval; calculating a first driving distance of the vehicle in the sampling time interval according to the positioning data; acquiring wheel speeds of wheels in the vehicle in the sampling time interval; calculating wheel driving distances of the wheels in the sampling time interval according to the wheel speeds; and determining that a tire of the wheel has a tire pressure abnormality when a difference between the wheel driving distances and the first driving distance does not meet a first preset condition. In this way, the vehicle does not need to be additionally provided with a tire pressure monitoring sensor, the tire pressure of the wheel is determined according to the difference between the wheel driving distances and the first driving distance by comparing the wheel driving distances with the first driving distance, the vehicle can realize tire pressure monitoring without being additionally provided with a tire pressure monitoring sensor, and the implementation cost of tire pressure monitoring can be reduced.

The application belongs to the technical field of flying cars, and discloses a land function module and a flying car. The land function module is detachably connected with the flying function module of the flying car, and comprises a frame and a function assembly. The frame comprises a lower frame and an upper frame. The lower frame comprises two parallel and spaced transverse beams and two longitudinal beams arranged between the two transverse beams. Both ends of the transverse beam are rotatably provided with wheels. The basic structure of the lower frame is formed by the two transverse beams and the two longitudinal beams, and is used for supporting the upper frame and other components. The upper frame comprises a first mounting frame arranged in parallel and at intervals, and is used for supporting a seat. The overall structure of the frame is simplified as much as possible to realize the lightweight design of the land function module. The function assembly is used for driving the wheels to travel, brake or steer, so as to control the land function module to realize corresponding land travel functions.

The utility model discloses a track climbing device which comprises a middle walking mechanism, a front walking mechanism and a rear walking mechanism, the middle walking mechanism is provided with a middle limiting wheel set, the front walking mechanism is provided with a front walking wheel and a front limiting wheel set, and the rear walking mechanism is provided with a rear walking wheel and a rear limiting wheel set. The middle limiting wheel set, the front limiting wheel set and the rear limiting wheel set are all arranged on the two sides of a rail in a clamped mode, the front walking mechanism and the rear walking mechanism are hinged to the middle walking mechanism, a front guiding elastic assembly is arranged between the front walking mechanism and the middle walking mechanism, and a rear guiding elastic assembly is arranged between the rear walking mechanism and the middle walking mechanism. When the track fluctuates, the front walking mechanism pulls and presses the front guiding elastic assembly, the rear walking mechanism pulls and presses the rear guiding elastic assembly, and the front walking wheels and the rear walking wheels run on the top face of the track. The device can stably run on a fluctuating track, and the track adaptability is high.

The invention discloses a self-wheel operation equipment low constant speed self-adaptive control device and a rail engineering vehicle, the device comprises a traction control unit and a transmission control unit, the traction control unit corrects the size of a given torque according to acquired ramp information and outputs the torque to the transmission control unit, and the transmission control unit performs torque closed-loop control. And the traction control unit performs upper-layer speed closed-loop control based on a difference value between a given speed value and an actual speed value, so that self-adaptive low-constant-speed control under different working conditions is realized. The technical problems that an existing control mode is slow in response, low in control precision, prone to being affected by impact and low in riding comfort can be solved.