CN103318215A - Track vehicle - Google Patents

Track vehicle Download PDF

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Publication number
CN103318215A
CN103318215A CN2013101724523A CN201310172452A CN103318215A CN 103318215 A CN103318215 A CN 103318215A CN 2013101724523 A CN2013101724523 A CN 2013101724523A CN 201310172452 A CN201310172452 A CN 201310172452A CN 103318215 A CN103318215 A CN 103318215A
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China
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wheel
speed
actuating device
measuring device
rotating speed
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CN2013101724523A
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Chinese (zh)
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CN103318215B (en
Inventor
王文军
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Tsinghua University
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Tsinghua University
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Priority to CN201310172452.3A priority Critical patent/CN103318215B/en
Publication of CN103318215A publication Critical patent/CN103318215A/en
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Publication of CN103318215B publication Critical patent/CN103318215B/en
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Abstract

The invention discloses a track vehicle which comprises a vehicle body, a front bogie, a back bogie, a driving device and a controller, wherein the front bogie is arranged at the lower part of the vehicle body; a left front wheel is arranged on the left side of the front bogie, a right front wheel is arranged on the right side of the front bogie, and the two front wheels can rotate independently; the back bogie is arranged at the lower part of the vehicle body; a left back wheel is arranged on the left side of the back bogie, a right back wheel is arranged on the right side of the back bogie, and the two back wheels can rotate independently; the driving device is connected with the left back wheel and the right back wheel respectively; the controller is connected with the driving device and used for controlling the output rotating speed of the driving device, so as to enable the rotating speed difference between the left back wheel and the right back wheel when the back bogie passes by a certain position to be identical with the rotating speed difference between the left front wheel and the right front wheel when the front bogie passes by the same position. According to the track vehicle provided by the embodiment of the invention, the decoupling to the wheels in the rotation direction is realized, the abrasion loss is reduced, and meanwhile, the identical rotating speed differences between the front wheels and between the back wheels are realized through controlling the output rotating speed of the driving device, so that the curve negotiating performance of the track vehicle is greatly improved.

Description

Guideway vehicle
Technical field
The present invention relates to field of track traffic, in particular to a kind of guideway vehicle.
Background technology
Curve circuit is more in the urban track traffic such as subway, light rail, and wherein the anxious curve circuit of orbital curve radius below hundreds of rice accounts for very big ratio.The fixed wheel bogie truck of general employing in the driving system of tradition railway vehicle, this has just fundamentally limited the minimum turning radius of vehicle, badly influences the curving performance of city railway vehicle.
Independently rotating wheel bogie has been realized the decoupling zero of left and right wheels, fixedly takes turns rightly than traditional, is reducing rail wear, is improving aspect such as curving performance great application prospect is arranged.But because independently rotating wheel has lacked the directional tagging of vertical creep moment, make the tradition wheel not exist at independently rotating wheel bogie with the curve orientation function to original automatically reseting, and the moment that active gravity restoring force forms makes system unstable on yaw direction, can't realize from leading function.
But traditional independently rotating wheel complex structure is controlled loaded down with trivial detailsly, and curve negotiation ability is general, and rail wear is big.
Summary of the invention
The present invention is intended to solve at least one of technical matters that exists in the prior art.For this reason, one object of the present invention is to propose a kind of guideway vehicle, and this guideway vehicle has good curve negotiation ability.
According to a kind of guideway vehicle of the present invention, comprising: car body; Forecarriage, forecarriage are located at the car body below, and the left side of forecarriage is provided with front left wheel and the right side is provided with right front wheel, and front left wheel and right front wheel are rotated independently of one another; Trailing truck, trailing truck are located at the below of car body, and the left side of trailing truck is provided with left back wheel and the right side is provided with right rear wheel, and left back wheel and right rear wheel are rotated independently of one another; Actuating device, actuating device link to each other with right rear wheel with left back wheel respectively; And controller, controller links to each other with actuating device and is used for the output speed of accessory drive, so as the speed discrepancy of trailing truck left back wheel and right rear wheel during through a certain position and forecarriage when passing through same position the speed discrepancy of front left wheel and right front wheel consistent.
Guideway vehicle according to the embodiment of the invention, by independently rotary front left wheel and right front wheel and right front wheel and right rear wheel each other are set, realized front left wheel and right front wheel and left back wheel and the decoupling zero of right rear wheel on hand of rotation, make it have bigger rotary freedom, can reduce the abrasion of wheel and rail, pass through the output speed of controller accessory drive simultaneously, the speed discrepancy of speed discrepancy when realizing left back wheel and right rear wheel through a certain position of curved steel rail during with the same position that front left wheel and right front wheel are passed through this curved steel rail is identical, thereby has improved the curving performance of guideway vehicle greatly.
In addition, also have following additional technical feature according to guideway vehicle of the present invention:
According to one embodiment of present invention, actuating device comprises left actuating device and right actuating device, and left actuating device links to each other with left back wheel, and right actuating device links to each other with right rear wheel.
According to one embodiment of present invention, left actuating device and right actuating device are drive motor.
According to one embodiment of present invention, also comprise speed measuring device, speed measuring device links to each other with controller and is used for measuring the rotating speed of front left wheel and right front wheel.
According to one embodiment of present invention, speed measuring device comprises left speed measuring device and right speed measuring device, and left speed measuring device links to each other with controller and is used for measuring the rotating speed of front left wheel, and right speed measuring device links to each other with controller and is used for measuring the rotating speed of right front wheel.
According to one embodiment of present invention, left speed measuring device and right speed measuring device are tachogen.
According to one embodiment of present invention, the radial dimension of the tread of each in front left wheel and the right front wheel is configured to from inside to outside increase gradually, and the radial dimension of the tread of each in left back wheel and the right rear wheel is configured to from inside to outside reduce gradually.
Additional aspect of the present invention and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 is the scheme drawing of guideway vehicle according to an embodiment of the invention.
Reference list:
1, forecarriage; 2, trailing truck; 31, front left wheel; 32, right front wheel; 41, left back wheel; 42, right rear wheel; 5, rail
The specific embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center "; " vertically "; " laterally "; " on "; D score; " preceding ", " back ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", close the orientation of indications such as " outward " or position is based on orientation shown in the drawings or position relation, only be that the present invention for convenience of description and simplification are described, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only are used for describing purpose, and can not be interpreted as indication or hint relative importance or the implicit quantity that indicates indicated technical characterictic.Thus, one or more these features can be expressed or impliedly be comprised to the feature that is limited with " first ", " second ".In description of the invention, except as otherwise noted, the implication of " a plurality of " is two or more.
In description of the invention, need to prove that unless clear and definite regulation and restriction are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be captive joint, also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can link to each other indirectly by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can particular case understand above-mentioned term concrete implication in the present invention.
Below with reference to the guideway vehicle of Fig. 1 description according to the embodiment of the invention.
Guideway vehicle comprises: car body, forecarriage 1, trailing truck 2, actuating device and controller according to an embodiment of the invention.
Wherein forecarriage 1 is located at the car body below.As shown in Figure 1, the left side of forecarriage 1 is provided with front left wheel 31 and the right side is provided with right front wheel 32, and front left wheel 31 can independently rotate each other with right front wheel 32, with respect to traditional fixed wheel bogie truck is had bigger freedom of movement.Like this, front left wheel 31 and right front wheel 32 have realized decoupling zero at hand of rotation, make the rotating speed of its outboard wheels in the curve negotiating process can be greater than the rotating speed of inboard wheel, like this than traditional fixed take turns right, can reduce the abrasion of wheel and rail 5, improve the curving performance of guideway vehicle greatly.
For example, according to one embodiment of present invention, front left wheel 31 and right front wheel 32 can be a pair of reverse tread wheel that can relatively independent rotation, specifically, the radial dimension of the tread of each in front left wheel 31 and the right front wheel 32 is configured to from inside to outside increase gradually, adopt this design, make guideway vehicle have good anxious curve negotiation ability and the ability that leads certainly.
Trailing truck 2 is located at the car body below.The left side of trailing truck 2 is provided with left back wheel 41 and the right side is provided with right rear wheel 42, and left back wheel 41 can independently rotate each other with right rear wheel 42.Like this, left back wheel 41 and right rear wheel 42 have realized decoupling zero at hand of rotation, can reduce the abrasion of wheel and rail 5.
For example, according to one embodiment of present invention, left back wheel 41 and right rear wheel 42 can be a pair of forward tread wheel (the reverse tread wheel above relative) that can relatively independent rotation, specifically, the radial dimension of the tread of each in left back wheel 41 and the right rear wheel 42 is configured to from inside to outside reduce gradually, adopt this design, make and fixedly take turns rightly for traditional waiting rotating speed drive condition bottom left, off hind wheel to return that guideway vehicle has well from the guiding ability and drives riding stability.
Need explanation a bit, in the superincumbent description, tread refers to the face that wheel contacts with rail 5, in the relevant description of tread, if there is not specified otherwise, all is understood in this way below.
Actuating device links to each other with the left back wheel 41 of trailing truck 2 and the right rear wheel 42 of trailing truck 2 respectively, so just can drive left back wheel 41 and right rear wheel 42, that is to say, left back wheel 41 and right rear wheel 42 are driving wheel, correspondingly, front left wheel 31 and right front wheel 32 are flower wheel.
Controller links to each other with actuating device and is used for the output speed of accessory drive.Particularly, front left wheel 31 and right front wheel 32 are through a certain position of curved steel rail 5, and controller can obtain front left wheel 31 and right front wheel 32 rotating speed separately, and obtains the speed discrepancy of front left wheel 31 and right front wheel 32.
Then, controller can according to the present speed of guideway vehicle (with reference among the figure 1 v) and the distance computation of the forecarriage 1 of guideway vehicle and trailing truck 2 go out left back wheel 41 with right rear wheel 42 time difference during through same positions, that is to say, left back wheel 41 and right rear wheel 42 are also passed through the same position on this curved steel rail 5 after this time difference, at this moment the output speed of controller accessory drive, so that the speed discrepancy of front left wheel 31 and right front wheel 32 was consistent when the speed discrepancy of trailing truck 2 left back wheel 41 and right rear wheel 42 during through these same positions and forecarriage 1 passed through same position, in other words, through this same position the time, the speed discrepancy of the driven independently rotating wheel that causes greatly than the radius of curve of inboard rail owing to the radius of curve of outside rail by the control volume that drives rotating speed present on the drive wheel, for example the speed discrepancy of the front left wheel among Fig. 1 31 and right front wheel 32 makes the right cross motion of forward tread independently rotating wheel wheel that travels at curve track have like this and is equivalent to the fixed feature of taking turns right cross motion of the forward tread that travels at rectilinear orbit by on the present left back wheel 41 of control volume and right rear wheel 42 that drive rotating speed.Can guarantee under the condition of the ability that leads, to improve the carrying capacity of rail wheel on curve circuit greatly thus.
Specifically, as shown in Figure 1, when guideway vehicle when the left-handed turning wiggle travels, the radius of curve of right side rail is bigger than the radius of curve of left side rail, like this, rotating speed in this position right front wheel 32 is big, the rotating speed of front left wheel 31 is little, its speed discrepancy by the control volume that drives rotating speed present on the drive wheel, that is to say, rotating speed when left back wheel 41 passes through same positions can equate with front left wheel 31 rotating speed at that time, right rear wheel 42 rotating speed during through same positions can equate with right front wheel 32 rotating speed at that time, thereby left back wheel 41 and the speed discrepancy of right rear wheel 42 when same position and right front wheel 32 and front left wheel 31 speed discrepancy when same position equates.
When guideway vehicle during at straight-line travelling, the speed discrepancy of front left wheel 31 and right front wheel 32 is zero substantially, that is to say that this moment, the rotating speed of left back wheel 41 and right rear wheel 42 was equal substantially, guaranteed that thus guideway vehicle has the similar fixed right driving rideability of taking turns.
Guideway vehicle according to the embodiment of the invention, by independently rotary front left wheel 31 and right front wheel 32 and right front wheel 41 and right rear wheel 42 each other are set, realized front left wheel 31 and right front wheel 32 and left back wheel 41 and the decoupling zero of right rear wheel 42 on hand of rotation, make it have bigger rotary freedom, can reduce the abrasion of wheel and rail 5, pass through the output speed of controller accessory drive simultaneously, the speed discrepancy of speed discrepancy when realizing left back wheel 41 and right rear wheel 42 through a certain position of curved steel rails 5 during with the same position that front left wheel 31 and right front wheel 32 are passed through these curved steel rails 5 is identical, thereby has improved the curving performance of guideway vehicle greatly.
In one embodiment of the invention, actuating device comprises left actuating device and right actuating device, and left actuating device links to each other with the left back wheel 41 of trailing truck 2, and right actuating device links to each other with the right rear wheel 42 of trailing truck 2.That is to say that actuating device has realized left back wheel 41 and right rear wheel 42 drives separately and rotating speed control.
Further, left actuating device and right actuating device are drive motor.Drive motor can be realized the requirement of different rotating speeds is satisfied in the driving of left back wheel 41 and right rear wheel 42 easily.
Guideway vehicle also comprises speed measuring device according to an embodiment of the invention, and speed measuring device links to each other with controller and is used for measuring the rotating speed of front left wheel 31 and right front wheel 32.Particularly, speed measuring device is measured the rotating speed of front left wheel 31 and right front wheel 32, and the rotary speed information of will being correlated with for example can be that the rotating speed of front left wheel 31 and right front wheel 32 or the speed discrepancy between front left wheel 31 and the right front wheel 32 send controller to, controller comes accessory drive namely to control the output speed of left actuating device and right actuating device according to this rotary speed information, thereby realizes that left back wheel 41 also has identical speed discrepancy with right rear wheel 42 through same position the time.
Further, speed measuring device comprises left speed measuring device and right speed measuring device.Wherein, left side speed measuring device links to each other with controller and is used for measuring the rotating speed of front left wheel 31, right speed measuring device links to each other with controller and is used for measuring the rotating speed of right front wheel 32, so just can obtain rotating speed and the rotating speed of right front wheel 32 or the speed discrepancy between front left wheel 31 and the right front wheel 32 of front left wheel 31 well.
Further, left speed measuring device and right speed measuring device are tachogen, can measure rotating speed and the rotating speed of right front wheel 32 or the speed discrepancy between front left wheel 31 and the right front wheel 32 of front left wheel 31 so well, improve survey precision.
In one embodiment of the invention, the radial dimension of the tread of each in front left wheel 31 and the right front wheel 32 is configured to from inside to outside increase gradually.That is to say that front left wheel 31 and right front wheel 32 are a pair of reverse tread wheels that can relatively independent rotation.Because this reverse tread independently rotating wheel curve negotiation ability is strong, but it can be lost along with the introducing of propulsive effort from the guiding ability.Therefore front left wheel 31 and right front wheel 32 make front left wheel 31 and right front wheel 32 also not lose from the guiding ability when having good curve negotiation ability as flower wheel.Certainly, forecarriage also can adopt the independently rotating wheel bogie with the ability that leads certainly of other form.
Further, the radial dimension of the tread of each in left back wheel 41 and the right rear wheel 42 is configured to from inside to outside reduce gradually.That is to say that left back wheel 41 and right rear wheel 42 are a pair of forward tread wheels that can relatively independent rotation.Since this forward tread wheel waits the rotating speed driving time can return for traditional fixed take turns right, drive good stability during as driving wheel, therefore cooperate with two reverse tread wheels, thereby improved curve negotiation ability and the driving stability ability of guideway vehicle on the whole.
In brief, the strong and driving stability according to the guideway vehicle curve negotiation ability of the embodiment of the invention.
In the description of this specification sheets, concrete feature, structure, material or characteristics that the description of reference term " embodiment ", " some embodiment ", " illustrative examples ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example description are contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete feature, structure, material or the characteristics of description can be with the suitable manner combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment under the situation that does not break away from principle of the present invention and aim, scope of the present invention is limited by claim and equivalent thereof.

Claims (7)

1. a guideway vehicle is characterized in that, comprising:
Car body;
Forecarriage, described forecarriage are located at described car body below, and the left side of described forecarriage is provided with front left wheel and the right side is provided with right front wheel, and described front left wheel and described right front wheel are rotated independently of one another;
Trailing truck, described trailing truck is located at the below of described car body, and the left side of described trailing truck is provided with left back wheel and the right side is provided with right rear wheel, and described left back wheel and described right rear wheel are rotated independently of one another;
Actuating device, described actuating device link to each other with described right rear wheel with described left back wheel respectively; And
Controller, described controller links to each other with described actuating device and is used for the output speed of the described actuating device of control, so as the speed discrepancy of described trailing truck described left back wheel and described right rear wheel during through a certain position and described forecarriage when passing through same position the speed discrepancy of described front left wheel and described right front wheel consistent.
2. guideway vehicle according to claim 1 is characterized in that, described actuating device comprises left actuating device and right actuating device, and described left actuating device links to each other with described left back wheel, and described right actuating device links to each other with described right rear wheel.
3. guideway vehicle according to claim 2 is characterized in that, described left actuating device and right actuating device are drive motor.
4. guideway vehicle according to claim 1 is characterized in that, also comprises speed measuring device, and described speed measuring device links to each other with described controller and is used for measuring the rotating speed of described front left wheel and described right front wheel.
5. guideway vehicle according to claim 4, it is characterized in that, described speed measuring device comprises left speed measuring device and right speed measuring device, described left speed measuring device links to each other with described controller and is used for measuring the rotating speed of described front left wheel, and described right speed measuring device links to each other with described controller and is used for measuring the rotating speed of described right front wheel.
6. guideway vehicle according to claim 5 is characterized in that, described left speed measuring device and described right speed measuring device are tachogen.
7. guideway vehicle according to claim 1, it is characterized in that, the radial dimension of the tread of each in described front left wheel and the described right front wheel is configured to from inside to outside increase gradually, and the radial dimension of the tread of each in described left back wheel and the described right rear wheel is configured to from inside to outside reduce gradually.
CN201310172452.3A 2013-05-10 2013-05-10 Guideway vehicle Active CN103318215B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103538491A (en) * 2013-11-12 2014-01-29 南车株洲电力机车研究所有限公司 Electronic differential control method and device for railway vehicle
CN108466928A (en) * 2018-03-19 2018-08-31 中国水利水电第十工程局有限公司 A kind of control method travelled on bend for gantry crane
CN117289706A (en) * 2023-11-24 2023-12-26 福勤智能科技(昆山)有限公司 Wheelset control method and device of autonomous operation equipment

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Publication number Priority date Publication date Assignee Title
US1780082A (en) * 1930-03-28 1930-10-28 John S Keen Two-wheel locomotive truck
CN101219669A (en) * 2008-01-23 2008-07-16 西南交通大学 Elastic coupling device for independent wheel-and-axle assembly single axle bogie
CN102079311A (en) * 2010-12-28 2011-06-01 深圳华强智能技术有限公司 Four-wheel-driven control system and method of railcar and railcar
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1780082A (en) * 1930-03-28 1930-10-28 John S Keen Two-wheel locomotive truck
CN101219669A (en) * 2008-01-23 2008-07-16 西南交通大学 Elastic coupling device for independent wheel-and-axle assembly single axle bogie
CN102079311A (en) * 2010-12-28 2011-06-01 深圳华强智能技术有限公司 Four-wheel-driven control system and method of railcar and railcar
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103538491A (en) * 2013-11-12 2014-01-29 南车株洲电力机车研究所有限公司 Electronic differential control method and device for railway vehicle
CN103538491B (en) * 2013-11-12 2016-06-29 南车株洲电力机车研究所有限公司 The Electronic differential control method of a kind of rail vehicle and device
CN108466928A (en) * 2018-03-19 2018-08-31 中国水利水电第十工程局有限公司 A kind of control method travelled on bend for gantry crane
CN108466928B (en) * 2018-03-19 2020-01-10 中国水利水电第十一工程局有限公司 Control method for running of gantry crane on curve
CN117289706A (en) * 2023-11-24 2023-12-26 福勤智能科技(昆山)有限公司 Wheelset control method and device of autonomous operation equipment
CN117289706B (en) * 2023-11-24 2024-03-08 福勤智能科技(昆山)有限公司 Wheelset control method and device of autonomous operation equipment

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