CN203753136U - Streetcar based on rubber wheels and virtual rail technology - Google Patents

Abstract

The utility model discloses a streetcar based on rubber wheels and a virtual rail technology. The streetcar based on rubber wheels and the virtual rail technology comprises a streetcar body (1), a control system (6) and wheel assemblies and is characterized in that each wheel assembly is a rubber wheel with a driving motor and a brake, and the driving motors and the brakes of the wheel assemblies are all connected with the control system (6); sensors (4) for detecting virtual rail identifiers (3) on the ground are further arranged at the bottom of the streetcar body (1), and the output ends of the sensors (4) are connected with the control system (6); or a global positioning system connected with the control system (6) is installed on the streetcar body (1). Steel rails do not need to be laid for the streetcar, and the streetcar is low in running noise and has little influence on urban environment. The streets for the streetcar to run through can be kept flat, complete and attractive, and are also convenient for other vehicles and pedestrians to pass through.

Description

Tram based on rubber wheels and virtual track technology

technical field

The utility model relates to an urban public transport vehicle, in particular to a tram based on rubber wheels and virtual track technology.

Background technique

Tram is one of the main public transport in the city. Existing trams all adopt metal wheels with guide rims, which run on the steel rails laid on the street surface. The existing problem is that the metal wheels run on steel rails, which will cause a lot of noise due to the friction between the wheels and rails and deteriorate the urban environment. The laying of steel rails requires a lot of civil construction on the streets. During the construction period, it not only affects urban traffic, but also brings operational noise and dust pollution. The laid steel rails make the street surface uneven, which not only affects the integrity and aesthetics of the street, but also causes inconvenience to the operation of other means of transportation and the passage of pedestrians.

Utility model content

The purpose of this utility model is to provide a tram based on rubber wheels and virtual track technology. This tram does not need to lay steel rails, has low running noise, and has little impact on the urban environment; The integrity and aesthetics of the building can be maintained, and it is also convenient for the operation of other means of transportation and the passage of pedestrians.

The utility model solves its technical problems. The adopted technical solution is a tramcar based on rubber wheels and virtual track technology, including a car body, a control system, and a wheel assembly, and is characterized in that:

The wheel assembly is a rubber wheel with a drive motor and a brake, both of which are connected to the control system;

The bottom of the car body is also provided with a sensor for detecting the ground virtual track mark, and the output end of the sensor is connected with the control system; or a satellite locator connected with the control system is installed on the car body.

The work process and principle of the tram of the utility model are:

The control system controls the rotation of the driving motors of each wheel assembly to drive the rubber wheels to rotate, and then drive the tram to run;

While the tram is running, the sensor detects the ground virtual track mark in real time, and transmits the detected distance or angle signal from the sensor to the mark to the control system, and the control system analyzes and processes the received signal related to the mark or satellite positioning signal . If the processing results show that the current running track of the tram is deviated from the virtual track (trajectory) formed by the virtual track mark on the ground, the control system will output a deviation correction control signal to control the change of the driving motor of the corresponding wheel assembly and the rotation speed of the wheel, so that the tram returns to the virtual track on the ground. Run on the virtual track set by the track mark (if the tram track deviates to the left, control the acceleration of the left wheel or the deceleration of the right wheel, and the tram turns right and returns to the set virtual track).

Or, while the tram is running, the satellite locator transmits the satellite positioning signal of the car body to the control system; the control system analyzes and processes the received satellite positioning signal. If the processing results show that the current running track of the electric car deviates from the preset running track (virtual track) in the control system, the control system will output a deviation correction control signal to control the change of the driving motor of the corresponding wheel assembly and the rotation speed of the wheel, so that the electric car returns to the set point. run on a given virtual track.

Through the above method, the utility model realizes the rail-guided operation of the electric car on the ground without solid rail tracks.

Compared with the prior art, the beneficial effects of the utility model are:

Through satellite positioning or sensor detection of the virtual track mark on the ground, the actual running track of the tram is measured, and the control system controls the speed of the driving motor of the independently driven wheel assembly to realize the feedback control of the control system on the running track of the tram, ingenious It realizes the tram running on the ground without physical rail track guided by the existing virtual track.

Its wheels in contact with the ground are rubber wheels, with low noise and little impact on the urban environment.

It does not need to lay steel rails, and the virtual track mark on the ground is small and thin, which can be embedded, pasted or coated on the ground, and the satellite positioning method does not need to make any changes to the ground; the street it runs through The surface is flat, the integrity and aesthetics of the street can be maintained, and it is also convenient for the operation of other means of transportation and the passage of pedestrians.

The specific composition of the above-mentioned wheel assembly is: an inflated or solid rubber tire is fixed on a metal hub to form a rubber wheel; the driving motor is a disc hub motor, and the rotor of the disc hub motor is fixedly connected to the metal hub; the rotor of the disc hub motor At the same time, the bearing is installed on the mandrel of the rotating arm, and the stator of the disc hub motor is fixed on the rotating arm; one end of the rotating arm is hinged to the suspension frame on the lower side of the car body through a hinge shaft, and the other end of the rotating arm is connected by the suspension The device is connected to the top of the suspension frame; the brake of the brake is connected to the rotating arm, and the brake disc of the brake is fixedly connected with the stator of the disc hub motor; the driving mechanism of the brake and the disc hub motor are connected with the control system connect.

In this way, each wheel assembly is independently driven and controlled, which is convenient for precise control of the operation of the tram; at the same time, the axles connecting the wheel assemblies on both sides of the car body are omitted, so that the position of the bottom of the car body can be greatly reduced, and the car body The center of gravity is lowered, the operation is more stable and safe, and the space inside the car is larger and the ride is more comfortable.

The suspension frame of the wheel assembly is directly fixed on the side of the car body, and the suspension frame is connected with the longitudinal rotating arm of the wheel assembly through the suspension device to realize suspension and vibration isolation. There is no longer any suspension and vibration isolation mechanism at the bottom of the car body other than the sides, and the position of the bottom of the car body can be lowered, the center of gravity of the car body can be lowered, the space inside the car is larger, the operation is more stable, safe, and the ride is more comfortable.

The suspension device mentioned above is an air spring, a steel spring, a high temperature superconducting suspension device, an electromagnetic suspension device or a permanent magnetic suspension device.

These suspension devices can well realize the support, suspension and vibration isolation effects on the vehicle body.

The above-mentioned ground virtual track marks are optical, electrical or magnetic signal generators installed continuously or intermittently on the ground; the sensors installed on the vehicle body are more than two sensors that can detect corresponding optical, electrical or magnetic signals, and at least The lateral positions of the two sensors are different.

The optical, electrical or magnetic signal generator is small and thin, easy to embed and stick on the ground, and its technology is mature, the signal sent is stable, and it is easy to be received and detected by the corresponding sensor installed on the vehicle body; it consists of at least two lateral The sensors at different positions detect the signal of the ground virtual track mark, so that the control system can quickly and accurately analyze the deviation magnitude and direction of the virtual track formed by the current vehicle running track and the ground virtual track mark, and can well realize the virtual track to the tram track guidance.

The above-mentioned virtual track mark on the ground is a track line of a set color that is continuously or intermittently coated on the ground, and the sensor set on the vehicle body is a camera.

The track line is formed by coating the set color on the ground, which is convenient for construction and low in cost; the camera on the car body can also reliably capture the track line, and can calculate and judge the vehicle through the image analysis and processing software of the control system. Whether the body deviates from the track line and the direction and magnitude of the deviation.

The above-mentioned car body is provided with a steering control handle, and the rotation angle sensor of the steering control handle is connected with the control system.

In this way, the driver can operate the steering control handle for manual intervention when necessary, and the control system analyzes the driver's instructions based on the angle detected by the angle sensor, so as to perform corresponding operations such as steering, avoiding, and changing lanes.

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

Description of drawings

Fig. 1 is a front structural schematic view of Embodiment 1 of the utility model.

Fig. 2 is a cross-sectional view along line A-A of Fig. 1 .

FIG. 3 is an enlarged cross-sectional view taken along line B-B of FIG. 1 .

Detailed ways

Embodiment one

Figures 1-3 show that a specific embodiment of the present invention is: a tram based on rubber wheels and virtual track technology, including a car body 1, a control system 6, and a wheel assembly.

The wheel assembly is a rubber wheel with a driving motor and a brake, and the driving motor and the brake are all connected to the control system 6;

The bottom of the car body 1 is also provided with a sensor 4 for detecting the ground virtual track mark 3 , and the output end of the sensor 4 is connected with the control system 6 .

Fig. 1, Fig. 3 show, the specific composition of the wheel assembly of this example is: inflatable or solid rubber tire 8a is fixed on the metal wheel hub 8b to form rubber wheel; Drive motor is disc hub motor, the rotor 9b of disc hub motor It is fixedly connected with the metal hub 8b; the rotor 9b of the disc hub motor is installed on the spindle 14 of the rotating arm 13 through the bearing 14a at the same time, and the stator 9a of the disc hub motor is fixed on the rotating arm 13; one end of the rotating arm 13 is passed Hinge shaft 15 is hinged on the suspension frame 12 of car body 1 bottom side, and the other end of rotating arm 13 links to each other with the top of suspension frame 12 by suspension device; The disc 11 b is fixedly connected with the stator 9 a of the disc hub motor; the driving mechanism of the brake 11 a and the disc hub motor are both connected with the control system 6 .

The suspension device of this example is an air spring 10 . During specific implementation, the suspension device can also be a steel spring, a high temperature superconducting suspension device, an electromagnetic suspension device or a permanent magnetic suspension device.

Fig. 2 shows that the ground virtual track mark 3 of this example is a light, electricity or magnetic signal generator arranged continuously or intermittently on the ground; Or magnetic signal sensors 4, and at least two sensors 4 have different lateral positions.

The car body 1 of this example is provided with a steering control handle 10 , and the rotation angle sensor of the steering control handle 10 is connected with the control system 6 .

Embodiment two

The structure of this example is basically the same as that of Embodiment 1, except that the bottom of the car body 1 does not have a sensor 4 for detecting the ground virtual track mark 3, but instead: a satellite connected to the control system 6 is installed on the car body 1 Locator.

Embodiment three

The structure of this example is basically the same as that of Embodiment 1, and the difference is only: the ground virtual track mark 3 of this example is the track line of the set color that is coated continuously or in gaps on the ground, and the sensor 4 that is set on the car body 1 is then Camera.

Claims (6)

1. A tram based on rubber wheels and virtual track technology, comprising a car body (1), a control system (6), and a wheel assembly, characterized in that: The wheel assembly is a rubber wheel with a drive motor and a brake, both of which are connected to the control system (6); The bottom of the car body (1) is also provided with a sensor (4) for detecting the ground virtual track mark (3), and the output end of the sensor (4) is connected to the control system (6); or the car body (1) ) is installed with a satellite locator connected to the control system (6). 2. A tram based on rubber wheels and virtual track technology according to claim 1, characterized in that, the specific composition of the wheel assembly is: an inflated or solid rubber tire (8a) is fixed on a metal hub Rubber wheels are formed on (8b); the drive motor is a disc hub motor, and the rotor (9b) of the disc hub motor is fixedly connected with the metal hub (8b); the rotor (9b) of the disc hub motor is installed through the bearing (14a) at the same time On the mandrel (14) of the rotating arm (13), the stator (9a) of the disc hub motor is fixed on the rotating arm (13); one end of the rotating arm (13) is hinged to the car body through the hinge shaft (15) (1) On the suspension frame (12) on the lower side, the other end of the swing arm (13) is connected to the top of the suspension frame (12) through the suspension device; the brake brake (11a) of the brake is connected to the swing arm (13) , the brake disc (11b) of the brake is fixedly connected to the stator (9a) of the disc hub motor; the driving mechanism of the brake (11a) and the disc hub motor are both connected to the control system (6). 3. A tram based on rubber wheels and virtual track technology according to claim 2, characterized in that the suspension device is an air spring (10), a steel spring, a high temperature superconducting suspension device, an electromagnetic suspension device or permanent magnetic levitation device. 4. A kind of tramcar based on rubber wheels and virtual track technology according to claim 1, characterized in that, said ground virtual track mark (3) is a light, electricity or magnetic track that is arranged continuously or in gaps on the ground. Signal generator; the sensor (4) set on the vehicle body (1) is more than two sensors (4) that can detect corresponding optical, electrical or magnetic signals, and at least two sensors (4) have different lateral positions . 5. A kind of tramcar based on rubber wheels and virtual track technology according to claim 1, characterized in that, said ground virtual track mark (3) is a set color of continuous or gap coating on the ground The track line, the sensor (4) that is arranged on the car body (1) is a camera. 6. A tram based on rubber wheels and virtual track technology according to claim 1, characterized in that, the car body (1) is provided with a steering control handle (10), and the steering control handle (10 ) The rotation angle sensor is connected with the control system (6).