CN114348030A - Charging rail car suitable for high-speed magnetic levitation - Google Patents
Charging rail car suitable for high-speed magnetic levitation Download PDFInfo
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- CN114348030A CN114348030A CN202210025859.2A CN202210025859A CN114348030A CN 114348030 A CN114348030 A CN 114348030A CN 202210025859 A CN202210025859 A CN 202210025859A CN 114348030 A CN114348030 A CN 114348030A
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- 238000007600 charging Methods 0.000 title claims abstract description 247
- 238000005339 levitation Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000000034 method Methods 0.000 claims abstract description 37
- 230000008569 process Effects 0.000 claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 238000001179 sorption measurement Methods 0.000 claims description 27
- 238000004804 winding Methods 0.000 claims description 22
- 239000000725 suspension Substances 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 8
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000011161 development Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 11
- 230000009194 climbing Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
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- 230000009347 mechanical transmission Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a charging rail car suitable for high-speed magnetic levitation, which belongs to the technical field of high-speed magnetic levitation and comprises a car body consisting of a carriage and a traveling mechanism, wherein the position of a magnetic levitation train to be charged can be quickly reached by utilizing the reliable traveling of the traveling mechanism on a T-shaped beam, and then the wire feeding of a charging wire and the alignment matching of a charging interface and a charging connector can be quickly realized through the corresponding arrangement of a charging battery pack, the charging wire and a wall-climbing robot in the carriage and the reciprocating motion of the wall-climbing robot on a side plate of the T-shaped beam, so that the quick charging of a power-off storage battery pack is completed. The charging rail car suitable for high-speed magnetic levitation can quickly and accurately run on the T-shaped beam, accurately complete the charging process of the power-off battery pack of the high-speed magnetic levitation train, realize emergency treatment after the power-off of the storage battery of the high-speed magnetic levitation train, provide guarantee for the development and application of the high-speed magnetic levitation technology, and has good practical value and popularization value.
Description
Technical Field
The invention belongs to the technical field of high-speed magnetic levitation, and particularly relates to a charging rail car suitable for high-speed magnetic levitation.
Background
With the continuous research and development of the magnetic levitation technology in China, the research and application of the related technology are more and more mature, wherein the research and application comprise the high-speed magnetic levitation technology. In the design process of high-speed maglev track traffic, each vehicle of a high-speed maglev train is usually provided with 4 sets of independent storage battery packs to respectively provide 440V and 24V power supplies so as to ensure the normal power consumption requirement of each vehicle.
In the running process of high-speed maglev traffic, each storage battery pack needs to be ensured to be in a normal working state, and once the storage battery pack loses power, the high-speed maglev train needs to be parked on a maglev track line to wait for removing faults of the power-losing battery pack and intensively and quickly charge the power-losing battery pack.
However, unlike conventional road or railway transportation systems, the high speed magnetic levitation track is often far away from the station, and the magnetic levitation track is usually far away from the ground, so that the conventional fast charging device is difficult to be applied in the high speed magnetic levitation system. In addition, because the electrical box cover of the high-speed maglev train is usually arranged on the outer side of the maglev side plate, even if the high-speed maglev train stays on the track, the rapid charging of the power-off battery pack is difficult to complete in a manual operation mode.
Disclosure of Invention
Aiming at one or more of the defects or the improvement requirements in the prior art, the invention provides a charging rail vehicle suitable for high-speed magnetic levitation, which can run on a high-speed magnetic levitation rail quickly, finish positioning after running to the vicinity of a corresponding high-speed magnetic levitation train, realize quick matching of a charging mechanism and a train charging part and further finish quick charging of a storage battery of the high-speed magnetic levitation train.
In order to achieve the above object, the present invention provides a charging rail car suitable for high-speed magnetic levitation, comprising a car body; the vehicle body comprises a carriage and a running mechanism;
the running mechanism is arranged at the bottom of the carriage and is used for matching with a T-shaped beam of the high-speed magnetic suspension and finishing running on the T-shaped beam so as to drive the charging rail car to a parking position of the high-speed magnetic suspension train;
the carriage comprises an operation cabin and an accommodating cabin; the operation cabin is arranged at the front part of the vehicle body and is used for carrying out related operation processes of vehicle body traveling control and a charging process;
the accommodating bin is internally provided with a rechargeable battery pack, the rechargeable battery pack is connected with one end of a charging wire, the other end of the charging wire is provided with a charging connector, and the rechargeable battery pack is connected with a charging interface on the magnetic suspension train through the charging connector, so that the rechargeable battery pack can charge the battery pack of the high-speed magnetic suspension train; and is
A wall-climbing robot is arranged in the accommodating bin and can reciprocate on a side plate of the T-shaped beam to pull the charging wire to an electric box bin cover of the high-speed maglev train and realize the alignment and connection of the charging connector and the charging interface; correspondingly, after the charging is finished, the wall-climbing robot can withdraw the charging wire into the accommodating bin.
As a further improvement of the invention, the wall-climbing robot comprises a trolley body, a multi-axis operating arm, an adsorption module and a wheel structure;
the multi-axis operating arm is connected to the top of the trolley body, and a charging wire clamp is arranged at the end part of the multi-axis operating arm and used for clamping the charging connector to carry out wire feeding and positioning butt joint of the charging connector and the charging interface;
the adsorption module is arranged at the bottom of the trolley body and used for generating magnetic adsorption force with the side plate so as to ensure that the wall-climbing robot does not fall off the side plate when walking on the side plate;
the wheel structures are arranged on two sides of the bottom of the trolley body and used for driving the trolley body to walk on the side plates.
As a further improvement of the invention, the adsorption module comprises a permanent magnet and a controllable electromagnet;
the permanent magnet is used for providing continuous magnetic adsorption force to ensure that the trolley body can be stably adsorbed on the side plate;
the controllable electromagnets are correspondingly arranged in multiple groups, and the magnetic adsorption force of each group of controllable electromagnets is adjustable and used for dynamically adjusting the magnetic adsorption force between the trolley body and the side plates, so that the running resistance of the trolley body is reduced.
As a further improvement of the invention, a hoisting mechanism is arranged in the accommodating bin and used for hoisting the wall-climbing robot in the accommodating bin to one side of the side plate and hoisting and withdrawing the wall-climbing robot on the side plate into the accommodating bin.
As a further improvement of the invention, a charging wire retracting mechanism is further arranged in the accommodating bin and is used for realizing accurate retracting of the charging wire.
As a further improvement of the invention, the charging wire retracting and releasing mechanism comprises a cable drum, a rotating motor, a wire arranging motor and a screw rod;
a wire spool is arranged on the periphery of the cable drum, and is connected with the output end of the rotating motor and can rotate around a shaft under the driving of the output end, so that the charging wire can be wound and unwound; and is
The cable drum is connected with the output end of the winding displacement motor through the lead screw, so that the cable drum can be driven by the winding displacement motor to perform axial reciprocating motion, and layered winding displacement during winding operation of the charging wire is realized.
As a further improvement of the invention, a front guide wheel mechanism is arranged on one side of the cable drum and used for guiding the charging wire when the charging wire is wound and unwound;
the front guide wheel mechanism comprises a front guide wheel, the charging wire is matched with the front guide wheel, and the front guide wheel can guide the charging wire in the winding and unwinding processes; and is
An offset checking device is arranged between the front guide wheel and the cable drum; the deviation checking device is arranged corresponding to the front guide wheel and used for detecting whether deviation exists in the process of winding and unwinding the charging wire; and the deviation checking device is in signal interactive connection with the wire arranging motor, so that the wire arranging motor can drive the cable drum to move in an accelerated manner or in a decelerated manner when the deviation checking device checks the deviation of the charging wire, and the deviation correction of the charging wire is realized.
As a further improvement of the invention, the running gear comprises a running wheel pair and a guide wheel pair;
the walking wheel pair is arranged at the bottom of the vehicle body and is used for abutting against the top surface of the T-shaped beam to finish walking; the guide wheel pairs are arranged on two sides of the bottom of the vehicle body, are correspondingly arranged on bottom side plates on two sides of the bottom of the vehicle body and are used for being abutted and matched with side wall surfaces of the T-shaped beams, and the guide of the travelling wheel pairs in the travelling process is realized.
As a further improvement of the invention, the bottom side plate is detachably arranged or can be bent, so that the guide wheel pair is correspondingly matched with the side wall surface of the T-shaped beam only after the walking wheel pair is matched with the T-shaped beam.
As a further improvement of the invention, a positioning module is arranged at the end of the multi-axis operating arm corresponding to the charging wire clamp, and is used for identifying the position of the electrical box bin cover and realizing the alignment of the charging interface and the charging connector.
The above-described improved technical features may be combined with each other as long as they do not conflict with each other.
Generally, compared with the prior art, the technical scheme conceived by the invention has the following beneficial effects:
(1) the invention relates to a charging rail car suitable for high-speed magnetic levitation, which comprises a car body consisting of a carriage and a running mechanism, wherein the reliable running of the running mechanism on a T-shaped beam is utilized to realize the accurate driving of the charging rail car on the high-speed magnetic levitation rail beam, the charging rail car can quickly reach the position of a magnetic levitation train to be charged, and then through the corresponding arrangement of a charging battery pack, a charging wire and a wall climbing robot in the carriage, the wall climbing robot can drive the charging wire to reciprocate along a side plate of the T-shaped beam, so that a charging connector of the charging wire can be accurately conveyed to the position of a charging interface on the high-speed magnetic levitation train, the alignment and the connection of the charging interface and the charging connector are quickly completed, the quick charging of a power-losing storage battery pack is further completed, the quick emergency treatment after the power loss of the high-speed magnetic levitation train is completed, and the reliable running of the high-speed magnetic levitation train is fully ensured.
(2) The charging rail car suitable for high-speed magnetic levitation is formed by the structure that the wall-climbing robot is preferably arranged, so that the wall-climbing robot can stably run on the T-shaped beam side plate, the rapid and accurate alignment of the charging connector and the charging interface after the wall-climbing robot runs in place can be fully ensured, the manual outdoor operation process in the process of matching the charging connector and the charging interface is avoided, and the safety and the reliability of the charging maintenance of the high-speed magnetic levitation train are ensured.
(3) According to the charging rail car suitable for high-speed magnetic levitation, the winding and unwinding operation of the wall-climbing robot is accurately realized through the corresponding arrangement of the hoisting mechanism and the wall-climbing robot, the wall-climbing robot can accurately reach the side plate of the T-shaped beam, and the reliable operation of the wall-climbing robot on the side plate can be fully ensured by combining the corresponding arrangement of the permanent magnet and the controllable electromagnet on the wall-climbing robot, so that the falling damage of the wall-climbing robot is avoided, and the corresponding equipment cost is reduced.
(4) According to the charging rail car suitable for high-speed magnetic levitation, the charging wire retracting mechanism and the deviation checking device are arranged corresponding to the charging wire, so that the retracting process of the charging wire can be accurately realized, the deviation condition in the retracting process of the charging wire can be accurately measured, the deviation correction can be quickly realized after the deviation condition is checked, the winding accuracy of the winding displacement of the charging wire is fully ensured, the deformation or knotting of the charging wire is avoided, and the accuracy and the reliability of the retracting process of the charging wire are further ensured.
(5) According to the charging rail car suitable for high-speed magnetic levitation, the rapid positioning in the alignment matching process of the charging connector and the charging interface can be realized through the corresponding arrangement of the positioning modules on the multi-axis operation arm, the connection reliability after the alignment matching of the charging connector and the charging interface can be ensured by matching with the corresponding magnetic attraction arrangement of the charging connector and the charging interface, the accidental separation of the charging connector and the charging interface caused by the influence of an external environment is avoided, and the accuracy and the safety in the charging process are ensured.
(6) The charging rail car suitable for high-speed magnetic levitation can reliably run on the T-shaped beam of the high-speed magnetic levitation, accurately reaches the position where the high-speed magnetic levitation train stops due to the loss of power of the storage battery pack, can realize the quick and accurate alignment of the charging connector of the charging wire and the charging interface on the train through the corresponding running of the wall-climbing robot, can be reliably connected after the alignment matching, accurately completes the battery pack charging process of the high-speed magnetic levitation train, realizes the emergency treatment after the loss of power of the storage battery of the high-speed magnetic levitation train, provides guarantee for the development and application of the high-speed magnetic levitation technology, and has better practical value and popularization value.
Drawings
FIG. 1 is a schematic cross-sectional view of a charging rail car suitable for high-speed magnetic levitation according to an embodiment of the present invention;
FIG. 2 is a side cross-sectional view of a charging rail car suitable for high speed magnetic levitation in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a charging wire transceiver mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a cable deviation correction performed by the charging cable transceiver according to an embodiment of the present invention;
fig. 5 and 6 are schematic structural views of a wall-climbing robot in an embodiment of the invention;
fig. 7 and 8 are schematic structural diagrams of a charging connector and a charging interface in the embodiment of the invention;
FIG. 9 is a side view of a charging rail car mated with a high speed magnetic levitation vehicle in an embodiment of the present invention;
FIG. 10 is a flowchart illustrating a control process of the charging railcar according to an embodiment of the present invention;
fig. 11 is a schematic diagram showing the components of the charging system according to the embodiment of the present invention;
in all the figures, the same reference numerals denote the same features, in particular:
1. a vehicle body; 2. a working assembly; 3. a drive motor; 4. an encoder; 5. a drive shaft; 6. a driving wheel; 7. a guide wheel; 8. charging the battery pack; 9. a charging wire retracting mechanism; 10. a hoisting mechanism; 11. a wall climbing robot; 12. a seat; 13. an operation table; 14. a wire arranging motor; 15. a screw rod; 16. a cable drum; 17. rotating the motor; 18. a front guide wheel mechanism; 19. a front guide wheel; 20. an offset checking device; 21. a wire spool; 22. a multi-axis manipulator arm; 23. a camera; 24. a charging wire clamp; 25. a trolley body; 26. a wheel structure; 27. a permanent magnet; 28. a controllable electromagnet; 29. a drive structure; 30. an interface; 31. an interface magnet; 32. a joint; 33. a joint magnet; 34. a side plate; 35. an electrical box cover.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Example (b):
referring to fig. 1 to 9, in a preferred embodiment of the present invention, a charging rail car suitable for high-speed magnetic levitation includes a car body 1, where the car body 1 includes a car body and a running mechanism disposed at the bottom of the car body, and the running mechanism is disposed to realize corresponding running of the charging rail car on a long stator T-shaped beam, so that the charging rail car can run to a parking area of a magnetic levitation train quickly. Simultaneously, correspond in the carriage and be provided with rechargeable battery group 8, it corresponds with the charging wire and is connected for the group battery charging of maglev train through the charging wire. Secondly, the extension and the receive and release of corresponding charging wire are provided with charging wire jack 9 to its extension and the receive and release control that realize the charging wire. Correspondingly, the matching of the charging connector corresponding to the end of the charging wire and the charging interface on the train is also provided with a wall-climbing robot 11 which can clamp the charging connector and drive the charging wire to extend to the position near the electric box cover 35 of the maglev train, so that the corresponding matching of the charging connector and the charging interface on the maglev train is realized, and the corresponding charging process is completed. After the corresponding charging process is completed, the charging connector is pulled down by the wall-climbing robot 11 and the charging wire is brought back to the carriage, so that the charging rail car drives away from the magnetic suspension vehicle which completes charging.
Specifically, in the preferred embodiment, the vehicle body 1 running gear is as shown in fig. 1 and includes a running wheel pair and a guide wheel pair. Wherein the running wheel pairs are arranged at the bottom of the vehicle body 1 and are at least two spaced apart in the longitudinal direction of the vehicle body 1, for example, in the preferred embodiment shown in fig. 2, two running wheel pairs are respectively arranged at the front end and the rear end of the vehicle body 1, and the vehicle body 1 is supported on the magnetically levitated track beam by four running wheel pairs.
In a preferred embodiment, the running wheel pair is in contact with the top surface of the T-shaped beam of the high-speed magnetic suspension and can run on the top surface of the T-shaped beam in a reciprocating mode, and therefore the charging rail car can run in a reciprocating mode. In addition, in a preferred embodiment, the driving mechanism disposed corresponding to the pair of running wheels is preferably as shown in fig. 1, and includes a driving motor 3 disposed in match with the driving wheel 6, an encoder 4, and a driving shaft 5, and by driving of the driving motor 3, the corresponding driving of the driving wheel 6 can be realized, and the running driving of the charging rail car is completed.
Meanwhile, guide wheel mechanisms are arranged on two sides of the bottom of the vehicle body 1 corresponding to two sides of the T-shaped beam respectively, the guide wheel mechanism in the preferred embodiment is as shown in FIG. 2 and comprises 2 guide wheels 7 arranged side by side, and the two guide wheels 7 are simultaneously abutted against the side wall surface of the T-shaped beam to guide the traveling of the vehicle body 1. In actual arrangement, guide wheel mechanisms are respectively arranged on both sides of the head end and both sides of the tail end of the vehicle body 1, namely, the number of the guide wheels 7 is preferably 8. Meanwhile, in the guide wheel mechanism in the preferred embodiment, the two guide wheels 7 are preferably arranged side by side in the vertical direction, that is, the two guide wheels 7 are coaxially arranged. Through the corresponding arrangement of the guide wheel mechanism, the accuracy and the stability of the running process of the vehicle body 1 can be fully ensured.
In addition, the guide wheel mechanism in the preferred embodiment is arranged on the bottom side plates at two sides of the vehicle body, and when the vehicle body 1 is abutted against and runs on the T-shaped beam, the bottom side plates just face to the side wall surface of the T-shaped beam. In practice, the bottom side plate is preferably detachably or flexibly arranged, so that when the vehicle body 1 is fitted over the T-shaped beam, the bottom side plate is mounted on two sides of the vehicle body 1 or is controlled to be bent to a position where the guide wheel 7 abuts against the side wall surface of the T-shaped beam.
Further, the carriage of the vehicle body 1 in the preferred embodiment comprises a containing cabin and an operating cabin, the operating cabin is positioned at the front part of the vehicle body, a working assembly 2 is arranged in the operating cabin and is used for operating and controlling the running of the rail vehicle by a working person, and the working assembly 2 preferably comprises a seat 12 and an operating platform 13 in the operating cabin. Correspondingly, still correspond in the operation storehouse and be provided with the display screen for show the operation process that corresponds, make things convenient for the operation personnel to accurately obtain railcar and corresponding mechanism's operating condition.
Correspondingly, in the holding storehouse, correspond to holding rechargeable battery group 8, correspond this rechargeable battery group 8 and be provided with the charging wire, rechargeable battery group 8 is connected to the one end of this charging wire, and the tip of the other end is provided with the joint that charges for with the interface matching that charges on the train, accomplish the charging process that corresponds. Meanwhile, a charging wire retracting mechanism 9 is arranged in the accommodating bin corresponding to the charging wire and used for retracting and releasing control of the charging wire. In addition, the extension control that corresponds the charging wire is provided with wall climbing robot 11, and it can drive the charging wire and extend to the electric box cang gai of train from automobile body 1, accomplishes the counterpoint plug of sending the line and the joint that charges of charging wire.
Further, corresponding to the retraction control of the wall climbing robot 11, a hanging mechanism 10 is correspondingly arranged in the accommodating bin, and a vehicle door is arranged on the side wall of the carriage, so that the wall climbing robot 11 can be released from the vehicle door when the hanging mechanism 10 is hung down, and can be correspondingly hung on a side plate of the T-shaped beam, and then the wall climbing robot 11 can correspondingly move on the side plate and reach a corresponding charging position. Of course, after the charging is completed, the wall-climbing robot 11 can pull off the charging connector, drive the charging connector to move to the door position of the vehicle body 1, and then retract the charging connector into the accommodating bin by the hanging mechanism 10.
In the preferred embodiment, the hoist mechanism 10 includes a bracket, a hoist line, and a hoist line pay-off and take-up unit. The support is fixed in the vehicle body, the suspension wire winding and unwinding units are correspondingly arranged on the support and can be used for winding and unwinding control of the suspension wires, one ends of the suspension wires are matched with the suspension wire winding and unwinding units, and the other ends of the suspension wires are connected to the wall-climbing robot 11. In the process of hanging and moving the wall-climbing robot 11, the suspension wire take-up and pay-off unit continuously releases the suspension wire, so that the length of the suspension wire is matched with the moving process of the wall-climbing robot 11. Moreover, through the corresponding arrangement of the suspension wires, when the wall-climbing robot 11 falls off from the side plate of the track beam, the wall-climbing robot 11 can be reliably suspended by the suspension wires, so that the working reliability and the use reliability of the wall-climbing robot 11 are ensured, and the damage to the wall-climbing robot 11 is reduced.
More specifically, the charging wire retracting mechanism 9 shown in fig. 3 and 4 is further provided in the preferred embodiment, and comprises a winding displacement motor 14, a screw rod 15, a cable drum 16, a rotating motor 17 and a front guide wheel mechanism 18. The output end of the rotating motor 17 is coaxial with the cable drum 16 and can drive the cable drum to rotate forward or reversely, so that the charging wire can be wound and unwound; the winding displacement motor 14 is matched with the cable drum 16 through the screw rod 15, so that the cable drum 16 can perform axial reciprocating motion in the rotating process, and the charging wires can be accurately wound on the wire spool 21 of the cable drum 16 in layers.
Further, the front guide wheel mechanism 18 in the preferred embodiment comprises a front guide wheel 19, as shown in fig. 4, for matching the charging wires during the wire rewinding process, and correspondingly completing the deviation correction during the wire rewinding process of the charging wires. In the preferred embodiment, the deviation correction corresponding to the charging wire is provided with a deviation checking device 20, which is arranged between the wire spool 21 and the front guide wheel 19 and is used for detecting whether the deviation exists during the winding process of the charging wire. Through the detection of the deviation state, the deviation of the charging wire can be correspondingly corrected by adjusting the horizontal movement speed of the cable drum 16 in cooperation with the control of the wire arranging motor 14. For example, when the offset checking device 20 detects that the position of the charging wire is offset to the left, the cable drum 16 is controlled to accelerate to the left to compensate the offset distance of the charging wire; when the deviation checking device 20 detects that the position of the charging wire is deviated to the right, the cable drum 16 is controlled to decelerate and move to the left, so that the cable drum 16 can 'wait' for the charging wire to be in place, and the deviation correction when the charging wire is taken up is completed.
More specifically, the deviation checking device 20 in the preferred embodiment includes a mechanical transmission member and a hall sensor, and the deviation checking device 20 is two separately disposed on two sides of the charging wire, so that the charging wire can pass through between the two deviation checking devices 20, and the position of the charging wire is correspondingly detected by the two deviation checking devices 20, so as to correspondingly determine whether the charging wire has a deviation. For example, when the wire is accurately wound, the charging wire preferably passes through the middle position of the two deviation checking devices 20, and once the position of the charging wire deviates, the charging wire will deviate to one of the deviation checking devices 20, so that the deviation state of the charging wire can be judged, and the deviation correction is completed.
Further, in a preferred embodiment, a wall-climbing robot 11 is further disposed on the feeding line corresponding to the charging line, as shown in fig. 5 and 6, and can be attached to the side plate 34 of the T-shaped beam of the magnetic levitation track and the running part cover plate of the high-speed magnetic levitation train and run, so as to move to the position of the electrical box cover 35 of the magnetic levitation train with the charging connector, and complete the alignment connection between the charging connector and the charging interface after identifying the charging interface, thereby realizing the charging of the power-off storage battery of the magnetic levitation train.
Specifically, the wall-climbing robot 11 in the preferred embodiment includes a cart body 25 and a wheel structure 26 provided at the bottom of the cart body 25, and a multi-axis operation arm 22 provided at the top of the cart body 25. In a preferred embodiment, the multi-axis operating arm 22 is a four-axis operating arm, and the end of the four-axis operating arm is provided with a charging wire clamp 24 for holding a charging wire to travel, and it further prefers a charging connector holding the end of the charging wire, so that the relative position between the charging connector and the charging wire clamp 24 can be kept fixed, and a positioning basis is provided for the alignment between the charging connector and the charging interface. It is further preferred that the wheel structure 26 in the preferred embodiment is a rubber wheel pair and that a drive structure 29 is provided on the trolley body 25 in correspondence thereof, such that it can be driven to and fro on the side plates 34.
Meanwhile, a positioning module is further arranged at the end of the multi-axis operating arm 22 and used for identifying the position of the electrical box bin cover 35 and achieving alignment of the charging interface and the charging connector. When actual setting, the preferred image acquisition module of location module, further preferred camera 23, its position image and the environment image around the joint that feeds back that can gather the joint place that charges in real time, the accuracy of the joint and the extension work of charging wire of guaranteeing to charge.
In the specific alignment process, the alignment process between the charging connector and the charging interface based on the positioning module is shown in fig. 10. When the wall-climbing robot 11 moves to a corresponding position on or near the maglev train, the multi-axis operating arm 22 is controlled to rotate towards the electric box cover 35, the camera 23 collects images in real time, whether the end part of the multi-axis operating arm 22 is close to a charging interface or not is judged through preprocessing and feature extraction on the images, the butting offset is correspondingly calculated, and whether the requirement of charging contraposition is met or not is judged; if so, aligning the charging interface with the charging connector, and starting charging after alignment matching is completed; if the posture of the mechanical arm does not meet the preset posture, the posture of the mechanical arm is adjusted until the alignment process of the charging interface and the charging connector is completed.
In addition, the trolley body 25 in the preferred embodiment is shown in fig. 6, and the bottom of the trolley body is correspondingly provided with an adsorption module consisting of a permanent magnet 27 and a plurality of groups of controllable electromagnets 28. Due to the effect of the permanent magnet 27, when the trolley body 25 moves to the side plate 34 of the track beam, the trolley body can be correspondingly adsorbed on the side plate 34. The self weight of the vehicle body is overcome by the frictional force between the wheel structure 26 and the side plate 34, and the maximum value of the frictional force is determined by the magnetic attraction force as the positive pressure. In order to ensure that the trolley body 25 is stably adsorbed on the side plates 34 without falling off and can reliably travel, the adsorption capacity of the adsorption module is determined, and the adsorption capacity depends on the magnitude of the magnetic adsorption force of the adsorption module, specifically the magnitude of the adsorption force between each adsorption unit and the side plates 34 and the gap distance between each adsorption unit and the side plates 34.
In a preferred embodiment, this attraction capacity is achieved by the cooperation of a permanent magnet 27 and a controllable electromagnet 28. The permanent magnet 27 ensures the stable adsorption of the trolley body 25 and the side plates 34, and the controllable electromagnets 28 flexibly adjust the magnitude of the magnetic adsorption force under the condition of ensuring the adsorption stability of the trolley body, so that the running resistance of the trolley body 25 is reduced. During specific setting, the controllable electromagnets 28 at the bottom of the trolley body 25 are preferably set to be 8 groups, as shown in fig. 6, through the preferred control of different numbers of controllable electromagnets 28, the magnitude of the magnetic attraction force between the wall-climbing robot 11 and the side plates 34 can be correspondingly adjusted, so that the running resistance of the trolley is reduced as much as possible while stable adsorption of the robot is ensured, and the working accuracy of the wall-climbing robot 11 is ensured.
Further preferably, the charging connector and the charging interface in the preferred embodiment are as shown in fig. 7, 8. As shown in fig. 8, the charging connector includes a columnar body, the end surfaces of the body are provided with connectors 32 in pairs, and connector magnets 33 are correspondingly embedded on the end surfaces of the body. Correspondingly, on the interface that charges as shown in fig. 7, correspond and be provided with interface 30 and interface magnet 31 for when the joint that charges corresponds the matching with the interface that charges, the joint 32 can correspond and insert in the interface 30, and interface magnet 31 can correspond the matching with joint magnet 33, accomplishes the absorption, guarantees reliability and stability that both connect, avoids charging in-process charging the mistake of joint and drops.
In the preferred embodiment, the charging system, which is charged by charging the battery pack 8, employs phased pulse charging, further preferably high frequency switching power supply technology, and the system composition is preferably as shown in fig. 11. The overall scheme design of the charging system preferably comprises a main circuit and a control circuit, wherein the main circuit mainly comprises a filter, a rectifying filter, a high-frequency inverter, a high-frequency transformer and the like. The control circuit mainly comprises a feedback circuit, a protection and alarm circuit, an intelligent circuit, data acquisition and the like. In design, in order to realize automatic charging of the system, improve the charging safety and reliability, conveniently adjust the structural module of the product and ensure the stability of a main circuit, the charging system preferably comprises two processors, the control and charging are tightly combined and divided into a first processor and a second processor, and the second processor is an upper computer and is used for man-machine interaction, display, keyboard and the like; the first processor is a lower computer and is specially used for main charging control, relevant data acquisition and the like.
The charging rail car suitable for high-speed magnetic levitation can reliably run on the T-shaped beam of the high-speed magnetic levitation, accurately reaches the position where the high-speed magnetic levitation train stops due to the loss of power of the storage battery pack, can realize the quick and accurate alignment of the charging connector of the charging wire and the charging interface on the train through the corresponding running of the wall-climbing robot, can be reliably connected after the alignment matching, accurately completes the battery pack charging process of the high-speed magnetic levitation train, realizes the emergency treatment after the loss of power of the storage battery of the high-speed magnetic levitation train, provides guarantee for the development and application of the high-speed magnetic levitation technology, and has better practical value and popularization value.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A charging rail car suitable for high-speed magnetic levitation comprises a car body; the vehicle body is characterized by comprising a carriage and a running mechanism;
the running mechanism is arranged at the bottom of the carriage and is used for matching with a T-shaped beam of the high-speed magnetic suspension and finishing running on the T-shaped beam so as to drive the charging rail car to a parking position of the high-speed magnetic suspension train;
the carriage comprises an operation cabin and an accommodating cabin; the operation cabin is arranged at the front part of the vehicle body and is used for carrying out related operation processes of vehicle body traveling control and a charging process;
the accommodating bin is internally provided with a rechargeable battery pack, the rechargeable battery pack is connected with one end of a charging wire, the other end of the charging wire is provided with a charging connector, and the rechargeable battery pack is connected with a charging interface on the magnetic suspension train through the charging connector, so that the rechargeable battery pack can charge the battery pack of the high-speed magnetic suspension train; and is
A wall-climbing robot is arranged in the accommodating bin and can reciprocate on a side plate of the T-shaped beam to pull the charging wire to an electric box bin cover of the high-speed maglev train and realize the alignment and connection of the charging connector and the charging interface; correspondingly, after the charging is finished, the wall-climbing robot can withdraw the charging wire into the accommodating bin.
2. The charging rail vehicle suitable for high-speed magnetic levitation according to claim 1, wherein the wall-climbing robot comprises a trolley body, a multi-axis operating arm, an adsorption module and a wheel structure;
the multi-axis operating arm is connected to the top of the trolley body, and a charging wire clamp is arranged at the end part of the multi-axis operating arm and used for clamping the charging connector to carry out wire feeding and positioning butt joint of the charging connector and the charging interface;
the adsorption module is arranged at the bottom of the trolley body and used for generating magnetic adsorption force with the side plate so as to ensure that the wall-climbing robot does not fall off the side plate when walking on the side plate;
the wheel structures are arranged on two sides of the bottom of the trolley body and used for driving the trolley body to walk on the side plates.
3. The charging rail vehicle suitable for high-speed magnetic levitation according to claim 2, wherein the adsorption module comprises a permanent magnet and a controllable electromagnet;
the permanent magnet is used for providing continuous magnetic adsorption force to ensure that the trolley body can be stably adsorbed on the side plate;
the controllable electromagnets are correspondingly arranged in multiple groups, and the magnetic adsorption force of each group of controllable electromagnets is adjustable and used for dynamically adjusting the magnetic adsorption force between the trolley body and the side plates, so that the running resistance of the trolley body is reduced.
4. The charging rail vehicle suitable for high-speed magnetic levitation according to any one of claims 1-3, wherein a hoisting mechanism is arranged in the accommodating chamber for hoisting the wall-climbing robot in the accommodating chamber to one side of the side plate and hoisting the wall-climbing robot on the side plate back into the accommodating chamber.
5. The charging rail vehicle suitable for high-speed magnetic levitation according to any one of claims 1-4, wherein a charging wire retracting mechanism is further arranged in the accommodating bin, so as to achieve accurate retracting of the charging wire.
6. The charging rail vehicle suitable for high-speed magnetic levitation according to claim 5, wherein the charging wire retracting mechanism comprises a cable reel, a rotating motor, a winding displacement motor and a lead screw;
a wire spool is arranged on the periphery of the cable drum, and is connected with the output end of the rotating motor and can rotate around a shaft under the driving of the output end, so that the charging wire can be wound and unwound; and is
The cable drum is connected with the output end of the winding displacement motor through the lead screw, so that the cable drum can be driven by the winding displacement motor to perform axial reciprocating motion, and layered winding displacement during winding operation of the charging wire is realized.
7. The charging rail vehicle suitable for high-speed magnetic levitation according to claim 6, wherein a front guide wheel mechanism is further arranged on one side of the cable drum for guiding the charging wire when the charging wire is wound and unwound;
the front guide wheel mechanism comprises a front guide wheel, the charging wire is matched with the front guide wheel, and the front guide wheel can guide the charging wire in the winding and unwinding processes; and is
An offset checking device is arranged between the front guide wheel and the cable drum; the deviation checking device is arranged corresponding to the front guide wheel and used for detecting whether deviation exists in the process of winding and unwinding the charging wire; and the deviation checking device is in signal interactive connection with the wire arranging motor, so that the wire arranging motor can drive the cable drum to move in an accelerated manner or in a decelerated manner when the deviation checking device checks the deviation of the charging wire, and the deviation correction of the charging wire is realized.
8. The charging rail vehicle suitable for high-speed magnetic levitation according to any one of claims 1-7, wherein the running mechanism comprises a running wheel pair and a guiding wheel pair;
the walking wheel pair is arranged at the bottom of the vehicle body and is used for abutting against the top surface of the T-shaped beam to finish walking; the guide wheel pairs are arranged on two sides of the bottom of the vehicle body, are correspondingly arranged on bottom side plates on two sides of the bottom of the vehicle body and are used for being abutted and matched with side wall surfaces of the T-shaped beams, and the guide of the travelling wheel pairs in the travelling process is realized.
9. The rechargeable rail vehicle suitable for high-speed magnetic levitation according to claim 8, wherein the bottom side plate is detachably or bendable, so that the guiding wheel pair is correspondingly matched with the side wall surface of the T-shaped beam only after the running wheel pair is matched with the T-shaped beam.
10. The charging rail vehicle suitable for high-speed magnetic levitation according to claim 2, wherein a positioning module is arranged at an end of the multi-axis operating arm corresponding to the charging wire clamp, and is used for identifying the position of the electrical box cover and aligning the charging interface with the charging connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210025859.2A CN114348030A (en) | 2022-01-11 | 2022-01-11 | Charging rail car suitable for high-speed magnetic levitation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210025859.2A CN114348030A (en) | 2022-01-11 | 2022-01-11 | Charging rail car suitable for high-speed magnetic levitation |
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| CN1605517A (en) * | 2004-10-28 | 2005-04-13 | 上海交通大学 | Mixed power electric driving magnetic suspension rail polling vehicle with rail detection system |
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| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN109910931A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Magnetic suspension track inspection railcar |
| CN212046987U (en) * | 2020-10-22 | 2020-12-01 | 北京国新智电新能源科技有限责任公司 | Mobile charging device |
| CN112320503A (en) * | 2020-10-26 | 2021-02-05 | 江苏省特种设备安全监督检验研究院 | Cable automatic winding and unwinding flat cable deviation preventing method for gas storage well detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605517A (en) * | 2004-10-28 | 2005-04-13 | 上海交通大学 | Mixed power electric driving magnetic suspension rail polling vehicle with rail detection system |
| KR101002784B1 (en) * | 2010-09-08 | 2010-12-21 | 세종기술주식회사 | Power supply system for magnetic levitation train |
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN109910931A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Magnetic suspension track inspection railcar |
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Application publication date: 20220415 |