CN102350982A - Automatic cleaning control system for train in driven state - Google Patents
Automatic cleaning control system for train in driven state Download PDFInfo
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- CN102350982A CN102350982A CN2011102097065A CN201110209706A CN102350982A CN 102350982 A CN102350982 A CN 102350982A CN 2011102097065 A CN2011102097065 A CN 2011102097065A CN 201110209706 A CN201110209706 A CN 201110209706A CN 102350982 A CN102350982 A CN 102350982A
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Abstract
The invention provides an automatic cleaning control system for a train in a driven state. The system comprises an automatic united hanging machine, a hauling machine and a control device, wherein the automatic united hanging machine is provided with a united hanging machine body and a mechanical hand which can stretch out of the body upwards; the united hanging machine body is arranged between rails of the train; the height of the united hanging machine body is smaller than that of the rails; the mechanical hand is connected to the united hanging machine body through a connecting rod mechanism; the connecting rod mechanism drives the mechanical hand to move upwards and move to two sides, so that the mechanical hand is positioned above the rails; the hauling machine is connected with the automatic united hanging machine and can haul the automatic united hanging machine; the control device is in communication connection with the automatic united hanging machine and the hauling machine and used for controlling the work of the automatic united hanging machine and the hauling machine; and the automatic united hanging machine generates a signal to be executed after receiving a united hanging execution signal sent by the control device, returns the signal to be executed to the control device, and starts executing a united hanging action after the control device confirms the signal to be executed. According to the technology, the train can be safely cleaned in a power failure state.
Description
Technical field
The present invention relates to a kind of train automated washing control system, relate in particular to a kind of subway train, motor-car can only carry out automated washing under off-position control system.
Background technology
The remarkable advantage that high speed railway has: speed is fast; Regional economic development along the line propelling and proportionality action have been played; Promote urban economy development along the line and land development, promoted tax revenue; Energy savings and minimizing environmental pollution.The remarkable advantage that subway has: save the soil; Reduce noise; Reduce to disturb since the running route of subway not overlapping with other transport systemss (like surface road), intersects, the traffic interaction that receives of therefore driving a vehicle is less, thereby can save in a large number and travel frequently the time; Energy savings, under the global warming problem, subway is best popular transport facility.Because the subway road speed is stable, a large amount of saving travelled frequently the time, makes the common people be happy to take, and also replaced the energy that many drivings consumed; Reduce and pollute, general automotive use gasoline or oil are as the energy, and subway uses electric energy, does not have the discharging of tail gas, does not pollute the environment.Therefore, high speed railway and subway are in China's develop rapidly in recent years.
Along with the development of high speed railway and subway, how high speed railway train and subway train are cleaned and more and more receive people's concern.Existing cleaning to high speed railway train and subway train has the manual work mode that adopts non-automaticization: this cleaning way speed is slow, efficient is low.The mode that adopts lower car puller of degree of automation and motor washer to be used in addition, this cleaning way general operation flow process is following: at first operate and draw after car puller joins extension with train to be cleaned, wait to draw to the carwash position; The operation motor washer carries out carwash; During the carwash and after carwash finishes, the operation car puller goes out the carwash position with train traction.This operating mode is with car puller and motor washer separate operation; At least two staff are according to the position of train; And the state of car puller and motor washer is assigned and is controled train is accomplished in instruction with the cooperation that realizes car puller and motor washer cleaning; Can not realize integrated operation, have carelessness to cause a serious accident slightly.How to improve degree of automation, improve cleaning speed and efficient, easy operating, stable height are the subject matter that needs to be resolved hurrily at present.
The train carwash is the motion carwash, and one side is advanced with the left back speed of 3km/h, and one side is cleaned by brush group on every side.Particularly, the electric high-speed train can not hot line work when getting into the carwash storehouse and cleaning, because high speed train uses high-tension current, if hot line work is breakneck.Need move ahead this moment with being arranged on traction machine towing vehicle at a distance.But, how to allow traction safe and reliable, be urgently open question.
Summary of the invention
In order to solve the problem that prior art exists, the purpose of this invention is to provide the train automated washing control system under a kind of negative load condition, it is characterized in that the train automated washing control system under the said negative load condition comprises:
Train automated washing control system under a kind of negative load condition is characterized in that, comprising:
Automatically join on-hook; It has and joins on-hook body and the manipulator that can upwards stretch out from said body; Said on-hook body is arranged between the train rail; And it highly is lower than the height of track; Said manipulator is connected to said on-hook body through connecting rod mechanism; Said connecting rod mechanism drives said manipulator and upwards reaches to two lateral movements, so that manipulator is positioned at the track top;
Traction machine, it links to each other with said automatic on-hook, can draw said automatic on-hook;
Control setup, it is connected with said traction machine communication with said automatic on-hook, is used to control the work of said automatic on-hook and said traction machine;
Wherein, said automatic on-hook receive execution that control setup sends join hang signal after, generates signal to be carried out, again signal to be carried out is back to control setup, after control setup is confirmed to wait to carry out signal, join on-hook automatically and begin to carry out to join to hang and move.
Preferably, in the train automated washing control system under the described negative load condition, carry out wireless telecommunications between said automatic on-hook and the control setup, and carry out wire communication between said traction machine and the control setup.
Preferably, in the train automated washing control system under the described negative load condition, said traction machine is a hoist and traction machine, and it is through the said automatic on-hook of wire rope traction.
Preferably; In the train automated washing control system under the described negative load condition, said control setup comprises monitoring modular, is used for the residing position of monitor vehicle; When monitoring module monitors when vehicle stops at the desired location, control setup sends to carry out to join hangs signal.
Preferably, in the train automated washing control system under the described negative load condition, said monitoring modular comprises camera and prompting device, and camera is produced the position of train wheel to be cleaned, and holds stop position through prompting device prompting train operator.
Preferably, in the train automated washing control system under the described negative load condition, said traction machine comprises the torque control module, and when the traction machine moment of torsion exceeds setting value, car puller stops traction, and reports to the police.
Preferably, in the train automated washing control system under the described negative load condition, said traction machine comprises current control module, and when the traction machine electric current exceeds setting value, car puller stops traction, and reports to the police.
Preferably; In the train automated washing control system under the described negative load condition; Said automatic on-hook is provided with along train rail movably; And along track, join on-hook automatically and the couplet of train hung the position and take off and hang the position and be provided with detector switch, guarantee executable operations at the preposition place.
Preferably; In the train automated washing control system under the described negative load condition; Said control setup is communicated by letter with said detector switch; Be under the state that stops, braking detecting train; And said automatic on-hook is in predetermined the couplet when hanging the position, and said control setup sends the guiding manipulator and shows, stretches out signal.When manipulator is shown, when stretching out, can be positioned at the rear of wheel.When manipulator is positioned at the wheel dead aft, be to join to hang successfully.At this moment, the traction machine traction joins on-hook automatically moves, and will drive wheel and move ahead.
Preferably; In the train automated washing control system under the described negative load condition; Said control setup is under the state that stops, braking detecting train, and said automatic on-hook is in predetermined taking off when hanging the position, and said control setup sends guiding robot arm retrieves, pendulum and writes in reply number.
Use improves degree of automation according to train automated washing control system under the negative load condition of the present invention and method, improves cleaning speed and efficient, easy operating, good stability.Particularly, through joining two the affirmations of hanging signal, can guarantee the safety of trailer.
The specific embodiment
Do further detailed description in the face of the present invention down, can implement according to this with reference to the specification sheets literal to make those skilled in the art.
Train automated washing control system under the negative load condition comprises: lead car unit, carwash unit and control unit.
Leading the car unit is used for drawing cleaning train.Lead the car unit and comprise automatic on-hook, tightening device, assembly pulley, rack winch.Automatically join on-hook and be installed in the railroad track, size can not exceed railway construction clearance, and skidding advances in orbit.When not working, can not influence railroad train safety and pass through.Automatically the couplet on-hook joins extension through the control of control unit with wheel and throws off, and realizes automatic towage.Tightening device and rack winch are installed in the track outside.Rack winch connects through steel rope with the on-hook of automatic couplet, and joining on-hook automatically can join extension, throw off with railroad train wheels such as motor train unit, day bus, lorries automatically, thereby realizes the towage to railroad trains such as motor train unit, day bus, lorries.
Carwash unit comprises brush group, pump and water piping system, air pipe system, high wind purger, warm air curtain equipment, water circulation system and water treatment system.Railroad train two sides, front/rear end, roof face are scrubbed, through the physical action of water, purging medium and brush group and both sides, end, the door and window of the method for cleaning automated washing train that chemical action combines.Pollutantss such as the dust of removal car body surface, dirt, greasy dirt keep clean car body surface.
Control unit is used for control and leads car unit and carwash unit.Control unit comprises industrial computer, is used for man machine communication, to the controller transfer control instruction, and shows running state to the operator; The PCL controller; Check implement is used to detect the position of railroad train; Wireless telecommunications system is used for long-range reception, sends detection information or control signal; Train model recognizer is used to discern the train model.All operations adopts industrial computer and PLC controller to control completion, realizes full automation.Control can divide manually and automatic two kinds of modes.All with the automated manner operation, manually can realize single system and unit running control generally speaking, flexible, debugging is observed in easy access.Lead car and when cleaning, lead pump in car unit, the carwash unit, brush group according to process and start successively, wash Bi Houye and stop successively, realize not only energy-conservation but also water saving by the train situation of putting in place of advancing.Train is scrubbed the gait of march requirement, and self-operating is generally about 3km/h.Control unit is provided with detection, demonstration, record, warning device.Other has complete safety guard-safeguard, as: functions such as position display, safety interlocking, signal aspect and indication, sound and light alarm, fault self-checking, safe self-insurance.
Now, in conjunction with the cleaning procedure of railroad train the present invention is done further detailed description.
The S1 railroad train rests in to clean prepares in the zone braking; Train sends " stop, brake and accomplish signal ";
The S2 check implement detects the accurate position that train is stopped, and train model recognizer is through measurement car body outside dimension or measure the data that other can judge the train model, and notifies control unit with position data and train model data through wireless telecommunications system;
The S3 control unit is according to the data that receive, and corresponding adjusting carwash unit and the corresponding component that leads the car unit are to cooperate the train of this model;
The S4 control unit transmits control command through wireless telecommunications system, and control is led car unit starting arrival couplet and hung the position, and manipulator and the train wheel that leads the car unit joins extension automatically, couplet sends " couplet is hung the completion signal " to control unit and train after hanging completion;
The S5 train is received " join hang accomplish signal " and is alleviated, and gives to lead the car unit and " alleviate and accomplish signal ";
S6 leads the car unit and receives " alleviate and accomplish signal ", leads the car unit and sends traction signal to control unit;
S6 control unit control is led car unit tractor-trailer train and is travelled, and after check implement detects train and arrives the desired location, leads car unit tractor-trailer train and advances with constant speed or stop preset time;
S7 control unit control carwash unit carwash can carry out side cleaning or end face respectively and clean;
The afterbody that the S8 check implement detects train travelled behind the preposition, stopped the running of brush group, opened high wind purger and warm air curtain equipment;
S9 leads car unit tractor-trailer train and sails out of washing system at a predetermined velocity, and carwash finishes.
Wherein can also may further comprise the steps in the S7 step:
S71 leads car unit tractor-trailer train and drives to the side cleaning positions, carries out the side and scrubs;
S72 leads car unit tractor-trailer train to the front end face cleaning positions, stops, and control unit control cleaning unit carries out front end face and cleans, and the side is cleaned and suspended;
After the S73 front end face clean to finish, control unit control was led the car unit and is led the car team car and advance, and proceeds the side and cleans;
S74 leads car unit tractor-trailer train to the aft end face cleaning positions, stops, and control unit control cleaning unit carries out aft end face and cleans, and the side is cleaned and suspended;
After the S75 aft end face is washed end, lead the car unit and receive " aft end face cleaning end signal ", lead car unit continuation tractor-trailer train and move ahead, carwash unit continues the side and scrubs.
In order to save scavenging period and to shorten the length in carwash workshop, the step of S71-S75 can be overlapped, and promptly carries out the step S71 later stage, promptly begins step S72.
Particularly, it is following to lead the control of truck system:
Leading truck system is made up of automatic on-hook, traction machine and control system two parts.Automatically join on-hook and control system and realize control and message feedback through wireless telecommunications; Traction machine and control system have line control.Automatically join on-hook and be installed in the track, traction machine is installed to outside the track, and traction machine joins on-hook through rope traction and travels in orbit.
In concrete operations, to carry out motor washer and car puller and join control, traction carwash process is following:
1 vehicle parking, braking
2 car pullers join to be hung
3 vehicle parkings, alleviation
4 tractions are carried out the side and are scrubbed
5 wash the position to front end stops traction, carries out front end and washes
6 front ends are washed end, continue traction, carry out the side and scrub
7 wash the position to the rear end stops traction, carries out the rear end and washes
End is washed in 8 rear ends, continues traction, carries out the side and scrubs
9 to the motor washer end position, stops traction, car brakeing, and car puller takes off extension
10 traction carwash finish
In this process, control through sending signal by control setup, for example:
1 vehicle ' is stopped, is braked to assigned address
2 control setups send " stop, brake and accomplish signal "
3 car pullers receive " signal is accomplished in braking "
4 car pullers start to join hangs position (position switch detects car puller and puts in place), joins the extension manipulator and shows, stretches out
The couplet on-hook manipulator of 5 car pullers and wheel join extension automatically, couplet sends " join and hang the completion signal " to vehicle after hanging and accomplishing
6 vehicles are received " join hang accomplish signal " and are alleviated, and " alleviate and accomplish signal " for car puller
7 car pullers are received " alleviate and accomplish signal ", and car puller sends traction signal
8 car puller towing vehicles travel, wash the position to side, carry out the side and scrub
9 automatic couplet on-hooks are drawn to front end and wash the position, and parking, car puller are given motor washer " front end is washed stop signal ", and after motor washer was received signal, side was washed time-out, carried out front end and washed
After 10 front ends were washed end, motor washer was given car puller " front end is washed end signal "
11 car pullers are received " front end is washed end signal ", and car puller continues towing vehicle and moves ahead, and motor washer continues the side and scrubs
12 automatic couplet on-hooks are drawn to the rear end and wash the position, and parking, car puller are given motor washer " stop signal is washed in the rear end ", and after motor washer was received signal, side was washed time-out, carried out the rear end and washed
After end was washed in 13 rear ends, motor washer was given car puller " end signal is washed in the rear end "
14 car pullers are received " end signal is washed in the rear end ", and car puller continues towing vehicle and moves ahead, and motor washer continues the side and scrubs
15 car pullers are to the motor washer end position, and car puller stops traction, sends " carwash end stop signal " to vehicle
16 vehicles are received car puller " carwash end stop signal ", brake, and send " signal is accomplished in braking " to car puller
17 car pullers are received vehicle " signal is accomplished in braking ", take off extension, after extension is taken off in completion, send " take off to hang and accomplish signal " vehicle to vehicle and receive " take off to hang and accomplish signal ", lead the car end, and vehicle can freely travel
Move safely and reliably in order to ensure leading truck system, particularly important to the control of leading truck system, the safety control measure of leading truck system for example is:
The control system of car puller and couplet on-hook employing wireless telecommunications automatically.For fear of radio interference, cause the manipulator misoperation of automatic on-hook.In wireless telecommunications, take encryption measures and twice affirmation.Automatically join on-hook and receive car puller control system signal, do not carry out, signal is being issued the car puller control system, control system is being issued automatic on-hook after confirming, joins on-hook automatically and just carries out.
The traction safety precautions
When car puller draws; If vehicle is not alleviated, foreign matter is arranged on the track or brake owing to vehicle air pressure is lower than rated value; All can cause traction resistance big, the traction wheel that joins the on-hook manipulator automatically can possibly cause car puller or vehicle damage with vehicle wheel to jack-up.The torque control and the current control of taking to draw the elevator motor take place for fear of this fault.Exceed setting value when drawing elevator Motor torque or electric current, car puller stops traction, and reports to the police.
Position detecting function
Not in place for fear of action, continue to carry out other action, cause fault.Automatically joining showing, stretch out, regain, put back of on-hook manipulator, leading car and join the extension position, leading car and take off the extension position and be provided with detector switch, guaranteeing to carry out proper and put in place, otherwise, warning.
Manipulator show, stretch out protection
Showing, stretching out of manipulator must be satisfied condition: vehicle stops, brakes; Automatically join on-hook and hang the position to joining.
The withdrawal of manipulator, put back protection
Stretching out of manipulator must be satisfied condition: join on-hook automatically and hang the position to taking off; Vehicle stops, brakes.
To sum up, the present invention includes following instance:
Train automated washing control system under a kind of negative load condition; Comprise: join on-hook automatically; It has and joins on-hook body and the manipulator that can upwards stretch out from said body; Said on-hook body is arranged between the train rail; And it highly is lower than the height of track; Said manipulator is connected to said on-hook body through connecting rod mechanism, and said connecting rod mechanism drives said manipulator and upwards reaches to two lateral movements, so that manipulator is positioned at the track top; Traction machine, it links to each other with said automatic on-hook, can draw said automatic on-hook; Control setup, it is connected with said traction machine communication with said automatic on-hook, is used to control the work of said automatic on-hook and said traction machine;
Wherein, said automatic on-hook receive execution that control setup sends join hang signal after, generates signal to be carried out, again signal to be carried out is back to control setup, after control setup is confirmed to wait to carry out signal, join on-hook automatically and begin to carry out to join to hang and move.
Carry out wireless telecommunications between said automatic on-hook and the control setup, and carry out wire communication between said traction machine and the control setup.
Said traction machine is a hoist and traction machine, and it is through the said automatic on-hook of wire rope traction.
Said control setup comprises monitoring modular, is used for the residing position of monitor vehicle, when monitoring module monitors when vehicle stops at the desired location, control setup sends to carry out to join hangs signal.
Said monitoring modular comprises camera and prompting device, and camera is produced the position of train wheel to be cleaned, and holds stop position through prompting device prompting train operator.
Said traction machine comprises the torque control module, and when the traction machine moment of torsion exceeds setting value, car puller stops traction, and reports to the police.
Said traction machine comprises current control module, and when the traction machine electric current exceeds setting value, car puller stops traction, and reports to the police.
Said automatic on-hook is provided with along train rail movably, and along track, join on-hook automatically and the couplet of train hung the position and take off and hang the position and be provided with detector switch, guarantee executable operations at the preposition place.
Said control setup is communicated by letter with said detector switch, be under the state that stops, braking detecting train, and said automatic on-hook is in predetermined the couplet when hanging the position, and said control setup sends the guiding manipulator and shows, stretches out signal.
Said control setup is under the state that stops, braking detecting train, and said automatic on-hook is in predetermined taking off when hanging the position, and said control setup sends guiding robot arm retrieves, pendulum and writes in reply number.
Although embodiment of the present invention are open as above; But it is not restricted to listed utilization in specification sheets and the embodiment; It can be applied to various suitable the field of the invention fully; For being familiar with those skilled in the art; Can easily realize other modification; Therefore under the universal that does not deviate from claim and equivalency range and limited, the legend that the present invention is not limited to specific details and illustrates here and describe.
Claims (10)
1. the train automated washing control system under the negative load condition is characterized in that, comprising:
Automatically join on-hook; It has and joins on-hook body and the manipulator that can upwards stretch out from said body; Said on-hook body is arranged between the train rail; And it highly is lower than the height of track; Said manipulator is connected to said on-hook body through connecting rod mechanism; Said connecting rod mechanism drives said manipulator and upwards reaches to two lateral movements, so that manipulator is positioned at the track top;
Traction machine, it links to each other with said automatic on-hook, can draw said automatic on-hook;
Control setup, it is connected with said traction machine communication with said automatic on-hook, is used to control the work of said automatic on-hook and said traction machine;
Wherein, said automatic on-hook receive execution that control setup sends join hang signal after, generates signal to be carried out, again signal to be carried out is back to control setup, after control setup is confirmed to wait to carry out signal, join on-hook automatically and begin to carry out to join to hang and move.
2. the train automated washing control system under the negative load condition as claimed in claim 1 is characterized in that, carries out wireless telecommunications between said automatic on-hook and the control setup, and carries out wire communication between said traction machine and the control setup.
3. the train automated washing control system under the negative load condition as claimed in claim 1 is characterized in that said traction machine is a hoist and traction machine, and it is through the said automatic on-hook of wire rope traction.
4. the train automated washing control system under the negative load condition as claimed in claim 1; It is characterized in that said control setup comprises monitoring modular, be used for the residing position of monitor vehicle; When monitoring module monitors when vehicle stops at the desired location, control setup sends to carry out to join hangs signal.
5. the train automated washing control system under the negative load condition as claimed in claim 4; It is characterized in that; Said monitoring modular comprises camera and prompting device, and camera is produced the position of train wheel to be cleaned, and holds stop position through prompting device prompting train operator.
6. the train automated washing control system under the negative load condition as claimed in claim 1 is characterized in that said traction machine comprises the torque control module, and when the traction machine moment of torsion exceeds setting value, car puller stops traction, and reports to the police.
7. the train automated washing control system under the negative load condition as claimed in claim 1 is characterized in that said traction machine comprises current control module, and when the traction machine electric current exceeds setting value, car puller stops traction, and reports to the police.
8. the train automated washing control system under the negative load condition as claimed in claim 1; It is characterized in that; Said automatic on-hook is provided with along train rail movably; And along track, join on-hook automatically and the couplet of train hung the position and take off and hang the position and be provided with detector switch, guarantee executable operations at the preposition place.
9. the train automated washing control system under the negative load condition as claimed in claim 8; It is characterized in that; Said control setup is communicated by letter with said detector switch; Be under the state that stops, braking detecting train; And said automatic on-hook is in predetermined the couplet when hanging the position, and said control setup sends the guiding manipulator and shows, stretches out signal.
10. the train automated washing control system under the negative load condition as claimed in claim 9; It is characterized in that; Said control setup is under the state that stops, braking detecting train; And said automatic on-hook is in predetermined taking off when hanging the position, and said control setup sends guiding robot arm retrieves, pendulum and writes in reply number.
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| CN2011102097065A CN102350982A (en) | 2011-07-25 | 2011-07-25 | Automatic cleaning control system for train in driven state |
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| CN2011102097065A CN102350982A (en) | 2011-07-25 | 2011-07-25 | Automatic cleaning control system for train in driven state |
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| CN107272633A (en) * | 2017-08-18 | 2017-10-20 | 中车南京浦镇车辆有限公司 | A kind of train cleaning machine control method under the unmanned pattern of train |
| CN107291023A (en) * | 2017-05-05 | 2017-10-24 | 沃尔新(北京)自动设备有限公司 | A kind of profiling curve generation method and system and train end surface cleaning method and system |
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| CN110758332A (en) * | 2019-11-13 | 2020-02-07 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN112977348A (en) * | 2019-12-02 | 2021-06-18 | 中车唐山机车车辆有限公司 | Vehicle washing control method and device applied to rail vehicle |
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| CN107284466A (en) * | 2017-05-05 | 2017-10-24 | 沃尔新(北京)自动设备有限公司 | One kind hangs together system and method automatically |
| CN107272633A (en) * | 2017-08-18 | 2017-10-20 | 中车南京浦镇车辆有限公司 | A kind of train cleaning machine control method under the unmanned pattern of train |
| CN110758332A (en) * | 2019-11-13 | 2020-02-07 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN110758332B (en) * | 2019-11-13 | 2021-03-19 | 通号城市轨道交通技术有限公司 | Automatic train cleaning method based on urban rail transit and VOBC system |
| CN112977348A (en) * | 2019-12-02 | 2021-06-18 | 中车唐山机车车辆有限公司 | Vehicle washing control method and device applied to rail vehicle |
| CN112977348B (en) * | 2019-12-02 | 2022-10-14 | 中车唐山机车车辆有限公司 | Vehicle washing control method and device applied to rail vehicle |
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Application publication date: 20120215 |