CN106197813B

CN106197813B - Railway vertical wheel rail force calibration device, system and calibration method thereof

Info

Publication number: CN106197813B
Application number: CN201610790539.0A
Authority: CN
Inventors: 张骞; 王国宏; 戴志远
Original assignee: Qingdao University
Current assignee: Qingdao University
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2022-03-04
Anticipated expiration: 2036-08-31
Also published as: CN106197813A

Abstract

The embodiment of the application discloses a device, a system and a method for calibrating rail force of a railway vertical wheel, wherein the device comprises a calibration frame main body in the front-back direction, and two or more than two driving wheels are arranged on a bottom plate of the calibration frame main body; the side wall of the calibration frame main body is provided with a guide wheel assembly, and the guide wheel assembly comprises a guide wheel, a guide wheel rotating shaft and a guide wheel driving piece; the side wall of the calibration frame main body is also provided with a hook assembly, and the hook assembly comprises a hook body and a hook driving piece; the calibration frame main body is also provided with a hydraulic pump, and the hydraulic pump comprises a hydraulic driving part and a jacking head; the bottom plate of the calibration frame main body is also provided with a laser range finder, and the emission direction of the laser range finder is perpendicular to the bottom plate of the calibration frame main body. By adopting the technical scheme provided by the embodiment of the application, the railway vertical wheel-rail force calibration device can automatically calibrate the vertical wheel-rail force of the steel rail to be tested by autonomous driving, and is simple in operation and convenient to use.

Description

Railway vertical wheel rail force calibration device, system and calibration method thereof

Technical Field

The application relates to the technical field of railway engineering testing, in particular to a railway vertical wheel rail force calibration device, a railway vertical wheel rail force calibration system and a railway vertical wheel rail force calibration method.

Background

The railway is a major artery for transportation and plays an important role in the development of national economy. The development of high-speed and heavy-load transportation is a basic strategic strategy for improving the railway transportation capacity in China, can effectively relieve the contradiction between the railway transportation capacity and the transportation capacity, and has remarkable social and economic benefits.

However, as the speed of the train increases and the axle weight increases, the interaction between the train and the track is intensified, and the requirement on the operation safety of the train is higher and higher, so that the improvement of the guarantee level of the operation safety of the train is urgently needed. In the running of railway vehicles, the monitoring of wheel-rail force has very important significance for guaranteeing the train running safety. The wheel-rail force comprises a vertical wheel-rail force and a horizontal wheel-rail force, wherein the vertical wheel-rail force is a force which is caused by the self weight of a train, the irregularity of a rail and other factors and acts on the steel rail by a wheel in a direction parallel to the symmetrical axis of the section of the steel rail; the horizontal wheel-rail force refers to the force of the wheel on the steel rail at the position perpendicular to the symmetry axis of the section of the steel rail, which is caused by the factors of creeping, friction between the wheel tread and the top surface of the steel rail or contact between the wheel flange and the side surface of the rail head. The derailment coefficient can be calculated through the ratio of the horizontal wheel rail force and the vertical wheel rail force, so that whether the wheel rail force can be accurately calibrated is directly related to the test result of the wheel rail force, the calculation results of safety indexes such as the train derailment coefficient, the wheel load shedding rate and the like are further influenced, and the judgment and evaluation on the train operation safety are finally influenced.

The traditional wheel-rail force calibration usually transports calibration equipment to a point to be tested through vehicles such as automobiles and the like, then workers assemble the calibration equipment on site, and in the repeated pressurization and pressure relief processes, the calibration frame needs to be lifted by the workers to prevent deviation, so that the operation is complex and potential safety hazards exist. In addition, in railway environments such as tunnels, bridges and the like, because automobiles cannot pass through, calibration equipment must be carried manually, and the traditional wheel-rail force calibration device has more parts and large weight, so that the construction difficulty and workload are increased.

Disclosure of Invention

The embodiment of the application provides a device, a system and a method for calibrating rail force of a railway vertical wheel, and aims to solve the technical problems that in the prior art, a device for calibrating rail force of a railway vertical wheel is complex in operation and large in construction difficulty and workload.

In order to solve the technical problem, the embodiment of the application discloses the following technical scheme:

in a first aspect, an embodiment of the present application provides a railway vertical wheel-rail force calibration device, which includes a calibration frame main body having a front-back direction, a bottom plate of the calibration frame main body is provided with two or more driving wheels, and the two or more driving wheels are used for supporting the calibration frame main body on an upper surface of a rail head and driving the calibration frame main body to travel along the front-back direction;

the side wall of the calibration frame main body is provided with a guide wheel assembly, the guide wheel assembly comprises a guide wheel, a guide wheel rotating shaft and a guide wheel driving piece, the guide wheel is in pivot connection with the guide wheel rotating shaft, the guide wheel rotating shaft is connected with the calibration frame main body through the guide wheel driving piece, and the guide wheel driving piece is used for driving the guide wheel to swing around an axis parallel to the front-back direction so that one side of the guide wheel is buckled or separated from a rail waist, wherein the guide wheel rotating shaft is perpendicular to the front-back direction;

the side wall of the calibration frame main body is also provided with a hook component, the hook component comprises a hook body, a hook rotating shaft and a hook driving piece, the top of the hook body is connected with the calibration frame main body, and the hook driving piece is used for driving the lower part of the hook body to swing around the hook rotating shaft so as to enable the bottom of the hook body to hook or separate from the rail bottom;

the calibration frame main body is further provided with a hydraulic pump, the hydraulic pump comprises a hydraulic driving part, a jacking head and a pump body, a central shaft of the hydraulic pump is perpendicular to a bottom plate of the calibration frame main body, and the hydraulic driving part is used for driving the pump body to move along the direction of the central shaft of the pump body so as to enable the pump body to extend out of or retract into the bottom plate;

the bottom plate of the calibration frame main body is also provided with a laser range finder, and the emission direction of the laser range finder is perpendicular to the bottom plate of the calibration frame main body;

the two or more driving wheels are positioned on the same straight line parallel to the front-back direction;

the emitting direction of the laser range finder and the central axis of the jacking head are positioned in the same plane, and the plane is parallel to the front-back direction;

a level gauge is further arranged in the center of the upper surface of the calibration frame main body;

the laser range finders are even in number and are symmetrically arranged along the front-back direction relative to the central shaft of the jacking head;

and the calibration frame main body is also provided with a braking device matched with the driving wheel.

Based on the first aspect, in a first possible implementation manner of the first aspect, the number of the guide wheel assemblies is even, and the guide wheel assemblies are symmetrically arranged with respect to the front-rear direction.

Based on the first aspect, in a second possible implementation manner of the first aspect, the number of the hook assemblies is even, and the hook assemblies are symmetrically arranged with respect to the front-back direction.

Based on the first aspect, in a third possible implementation manner of the first aspect, a ruler is further disposed on the side wall of the calibration frame main body along the front-back direction, and a central scale of the ruler is disposed opposite to a central axis of the jacking head.

Based on the first aspect and any one of the first to third possible implementation manners of the first aspect, in a fourth possible implementation manner of the first aspect, two ends of the calibration frame main body are respectively provided with a gripper assembly, the gripper assembly includes an L-shaped support arm, a horizontal end of the L-shaped support arm is connected with the calibration frame main body, and a vertical end of the L-shaped support arm is perpendicular to the bottom plate; the vertical end of the L-shaped support arm is also provided with a first telescopic driving piece, and the first telescopic driving piece is used for driving the vertical end to stretch and retract along the direction vertical to the bottom plate;

a second telescopic driving piece is further arranged at the horizontal end of the L-shaped support arm and used for driving the horizontal end to stretch along the front-back direction;

the gripper assembly further comprises a gripper turntable and a gripper turntable driving piece, the gripper turntable is connected with the vertical end of the L-shaped support arm, a rotating shaft of the gripper turntable is parallel to the vertical end of the L-shaped support arm, and the gripper turntable driving piece is used for driving the gripper turntable to rotate around the rotating shaft;

the gripper assembly further comprises a gripper and a gripper driving piece, the gripper is connected with the gripper rotating disc through a gripper rotating shaft, the axis of the gripper rotating shaft is parallel to the plane where the gripper rotating disc is located, the gripper driving piece is used for driving the gripper to open or buckle, and the inner contour of the gripper when the gripper buckles is matched with the rail head.

In a second aspect, an embodiment of the present application further provides a railway vertical wheel-rail force calibration system, which includes the railway vertical wheel-rail force calibration apparatus and the laser transmitter in any one of the first aspect and the first to the fourth possible implementation manners of the first aspect, five pairs of laser receivers are uniformly arranged on two side surfaces of the calibration frame main body along the front-back direction, and are respectively a first laser receiver, a second laser receiver and a third laser receiver from outside to inside, the number of the first laser receivers and the number of the second laser receivers are two pairs, the number of the third laser receivers is one pair, and the third laser receiver is arranged corresponding to the central shaft of the jacking head, the laser transmitter is configured to transmit laser beams towards the steel rail where the vertical wheel rail force calibration device of the railway is located, and the projection positions of the laser beams are matched with the positions of points to be measured.

In a third aspect, an embodiment of the present application further provides a method for calibrating a force of a railway vertical wheel rail, where the device for calibrating a force of a railway vertical wheel rail according to the first aspect and any one of the first to third possible implementation manners of the first aspect is adopted, and the method includes:

step S110: placing the railway vertical wheel-rail force calibration device on a steel rail along the front and back directions, and enabling a driving wheel to be supported on the upper surface of a rail head;

step S120: sending a guide wheel locking instruction to a guide wheel driving piece to enable the guide wheel driving piece to drive one side of the guide wheel to buckle the rail waist;

step S130: sending a driving instruction to a driving wheel to enable the driving wheel to drive the railway vertical wheel rail force calibration device to run along the extension direction of the steel rail until the point to be measured is reached;

step S140: sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom in advance;

step S150: sending a first pressurization command to a hydraulic driving piece to enable a pump body to be abutted against a steel rail;

step S160: sending a guide wheel unlocking instruction to a guide wheel driving piece to enable the guide wheel driving piece to drive the guide wheel to be separated from the rail web;

step S170: sending a second pressurizing instruction to the hydraulic driving piece to apply certain pre-pressure between the jacking head and the steel rail so that the hook hooks the rail bottom;

step S180: sending a third pressurizing instruction to the hydraulic driving part to apply a certain testing pressure F between the jacking head and the steel rail, and collecting the pressure p between the jacking head and the calibration frame main body and the distance h detected by the laser range finder when the fluctuation value of the pressure between the jacking head and the steel rail is less than 5% and the duration time exceeds t;

step S190: and calculating a vertical force f according to a formula f which is p · s, further determining the relation between the vertical force f and the distance h, and realizing the calibration of the vertical wheel-rail force, wherein s is the area of the jacking head.

Preferably, the step S180 specifically includes: sending n times of third pressurizing commands to the hydraulic driving part, and applying a certain test pressure F between the jacking head and the steel rail by the ith time of third pressurizing commands_iWhen the fluctuation value of the pressure between the jacking head and the steel rail is less than 5 percent and the duration time exceeds t, collecting the pressure p between the jacking head and the calibration frame main body_iAnd the distance h detected by the laser range finder_iWherein F is_i＞F_i-1；

The step S190 specifically includes: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head.

In a fourth aspect, an embodiment of the present application further provides another method for calibrating a force of a vertical wheel and rail of a railway, where the device for calibrating a force of a vertical wheel and rail of a railway in the fourth possible implementation manner of the first aspect is applied to a first steel rail and a second steel rail that are parallel to each other, and the method includes:

step S210: placing the railway vertical wheel-rail force calibration device on a first steel rail along the front-back direction, and enabling a driving wheel to be supported on the upper surface of a rail head of the first steel rail;

step S220: sending a guide wheel locking command to a guide wheel driving piece to enable the guide wheel driving piece to drive one side of the guide wheel to buckle the rail web of the first steel rail;

step S230: sending a driving instruction to a driving wheel to enable the driving wheel to drive the railway vertical wheel rail force calibration device to run along the extension direction of the first steel rail until the point to be measured is reached;

step S240: sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom of the first steel rail in advance;

step S250: sending a first pressurization command to a hydraulic driving piece to enable a pump body to be abutted against a first steel rail;

step S260: sending a guide wheel unlocking instruction to a guide wheel driving piece to enable the guide wheel driving piece to drive the guide wheel to be separated from the rail web of the first steel rail;

step S270: sending a second pressurizing instruction to the hydraulic driving piece to enable a certain pre-pressure to be applied between the jacking head and the first steel rail and enable the hook to hook the rail bottom of the first steel rail;

step S280: sending n times of third pressurizing commands to the hydraulic driving part, and applying a certain test pressure F between the jacking head and the steel rail by the ith time of third pressurizing commands_iWhen the fluctuation value of the pressure between the jacking head and the steel rail is less than 5 percent and the duration time exceeds t, collecting the pressure p between the jacking head and the calibration frame main body_iAnd the distance h detected by the laser range finder_iWherein F is_i＞F_i-1；

Step S290: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) Fitting a relation curve of f and h to realize the calibration of vertical wheeltrack force, wherein s is the area of the jacking head;

step S300: sending a hand grip opening instruction to a hand grip driving piece of a first hand grip assembly to enable the hand grip driving piece of the first hand grip assembly to drive a hand grip of the first hand grip assembly to open, wherein the first hand grip assembly is any one of the hand grip assemblies positioned at two ends of the calibration frame main body;

step S310: sending an extension instruction to a first telescopic driving piece of the first gripper assembly to enable the gripper of the first gripper assembly to extend to be abutted against the rail head of the first steel rail;

step S320: sending a gripper buckling instruction to a gripper driving piece of the first gripper assembly, so that the gripper driving piece of the first gripper assembly drives the gripper of the first gripper assembly to buckle the rail head of the first steel rail;

step S330: sending a hook unlocking instruction to a hook driving piece to enable the hook driving piece to drive the hook to be separated from the rail bottom of the first steel rail;

step S340: sending a rotation instruction to a gripper turntable driving piece of the first gripper assembly, wherein the gripper turntable driving piece of the first gripper assembly drives the gripper turntable of the first gripper assembly to rotate, so that the calibration frame main body is perpendicular to the first steel rail, and a second gripper assembly is close to the second steel rail, wherein the second gripper assembly is the other gripper assembly at two ends of the calibration frame main body except the first gripper assembly;

step S350: sending an extension command or a contraction command to a second telescopic driving piece of the first gripper assembly and/or the second gripper assembly to enable the second gripper assembly to move to a position right above the second steel rail;

step S360: sending a hand grip opening instruction to the hand grip driving piece of the second hand grip assembly, so that the hand grip driving piece of the second hand grip assembly drives the hand grip of the second hand grip assembly to open;

step S370: sending an extension instruction to a first telescopic driving piece of the second gripper assembly to enable the gripper of the second gripper assembly to extend to be abutted against the rail head of the second steel rail;

step S380: sending a gripper buckling instruction to the gripper driving piece of the second gripper assembly, so that the gripper driving piece of the second gripper assembly drives the gripper of the second gripper assembly to buckle the rail head of the second steel rail;

step S390: sending a hand grip opening instruction to the hand grip driving piece of the first hand grip assembly, so that the hand grip driving piece of the first hand grip assembly drives the hand grip of the first hand grip assembly to open;

step S400: sending a contraction instruction to a first telescopic driving piece of the first gripper assembly, so that the first telescopic driving piece of the first gripper assembly drives the gripper of the first gripper assembly to be separated from the rail head of the first steel rail;

step S410: a rotation instruction is sent to a gripper turntable driving piece of the second gripper assembly, and the gripper turntable driving piece of the second gripper assembly drives the gripper turntable of the second gripper assembly to rotate, so that the front and back directions of the calibration frame main body are parallel to the second steel rail;

step S420: sending a guide wheel locking command to the guide wheel driving part to enable the guide wheel driving part to drive one side of the guide wheel to buckle the rail web of the second steel rail;

step S430: sending a hand grip opening instruction to the hand grip driving piece of the second hand grip assembly, so that the hand grip driving piece of the second hand grip assembly drives the hand grip of the second hand grip assembly to open;

step S440: and sending a contraction instruction to the first telescopic driving piece of the second gripper assembly, so that the first telescopic driving piece of the second gripper assembly drives the gripper of the second gripper assembly to be separated from the rail head of the second steel rail.

In a fifth aspect, an embodiment of the present application further provides another method for calibrating a force of a railway vertical wheel rail, where the system for calibrating a force of a railway vertical wheel rail provided in the second aspect is adopted, and the method includes:

step S510: placing the railway vertical wheel-rail force calibration device on a steel rail along the front and back directions, and enabling a driving wheel to be supported on the upper surface of a rail head;

step S520: sending a guide wheel locking instruction to a guide wheel driving piece to enable the guide wheel driving piece to drive one side of the guide wheel to buckle the rail waist;

step S530: sending a driving instruction to a driving wheel to enable the driving wheel to drive the railway vertical wheel rail force calibration device to run along the extending direction of the steel rail;

step 540: when the first laser receiver receives the laser signal emitted by the laser emitter, the current time t is acquired₁And the current speed v of the calibration frame main body₁And sending a first braking instruction to the braking device to enable the braking device to provide a first positive pressure G for the driving wheel₁；

Step S550: when the second laser receiver receives the laser signal emitted by the laser emitter, the current time t is acquired₂And the current speed v of the calibration frame main body₂According to the formula: v. of₁-v₂＝a₁(t₁-t₂) Calculating the acceleration a between the first laser receiver and the second laser receiver of the calibration frame body₁(ii) a According to the formula ma₁＝μG₁Calculating the friction coefficient mu between the braking device and the driving wheel, wherein m is the mass of the railway vertical wheel-rail force calibration device; according to equation 2a₂s＝v₃ ²-v₂ ²Calculating the acceleration a between the second laser receiver and the third laser receiver₂Wherein v is₃0, s is the distance between the second laser receiver and the third laser receiver; according to the formula ma₂＝μG₂Calculating a second positive pressure G₂And sending a second braking command to the braking device to enable the braking device to provide a second positive pressure G for the driving wheel₂；

Step S560: when the third laser receiver receives a laser signal transmitted by the laser transmitter, a third brake instruction is sent to the braking device, so that the braking device locks the driving wheel;

step S570: sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom in advance;

step S580: sending a first pressurization command to a hydraulic driving piece to enable a pump body to be abutted against a steel rail;

step S590: sending a guide wheel unlocking instruction to a guide wheel driving piece to enable the guide wheel driving piece to drive the guide wheel to be separated from the rail web;

step S600: sending a second pressurizing instruction to the hydraulic driving piece to apply certain pre-pressure between the jacking head and the steel rail so that the hook hooks the rail bottom;

step S610: sending n times of third pressurizing commands to the hydraulic driving part, and applying a certain test pressure F between the jacking head (501) and the steel rail (10) by the ith time of third pressurizing commands_iWhen the fluctuation value of the pressure between the jacking head (501) and the steel rail (10) is less than 5% and the duration time exceeds t, acquiring the pressure p between the jacking head (501) and the calibration frame main body (1)_iAnd the distance h detected by the laser range finder (6)_iWherein F is_i＞F_i-1；

Step S620: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head (501).

By adopting the technical scheme provided by the embodiment of the application, the railway vertical wheel-rail force calibration device can automatically calibrate the vertical wheel-rail force of the steel rail to be tested by autonomous driving, and is simple in operation and convenient to use.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of a railway vertical wheel and rail force calibration device provided in an embodiment of the present application;

FIG. 2 is a bottom view of a railway vertical wheel and rail force calibration device provided in an embodiment of the present application;

FIG. 3 is an assembled front view of a railway vertical wheel track force calibration device provided in an embodiment of the present application;

FIG. 4 is an assembled side view of a railway vertical wheel track force calibration apparatus provided in an embodiment of the present application;

FIG. 5 is an assembled front view of another railway vertical wheel track force calibration apparatus provided in an embodiment of the present application;

FIG. 6 is an assembled side view of an alternative railway vertical wheel track force calibration apparatus provided in accordance with an embodiment of the present application;

7A-7C are schematic diagrams illustrating an inversion of a railway vertical wheel track force calibration apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural view of a gripper assembly according to an embodiment of the present disclosure;

FIGS. 9A-9D are schematic diagrams illustrating the step-by-step braking of a railway vertical wheel-rail force calibration device according to an embodiment of the present disclosure;

the symbols in the figures are represented as: 1-calibration frame body, 101-base plate, 2-driving wheel, 3-guide wheel assembly, 301-guide wheel, 302-guide wheel rotating shaft, 303-guide wheel driving member, 4-hook assembly, 401-hook body, 402-hook rotating shaft, 5-hydraulic pump, 501-jacking head, 502-pump body, 6-laser range finder, 7-staff gauge, 8-level gauge, 9-display screen, 10-steel rail, 1001-rail head, 1002-rail web, 1003-rail bottom, 11-power supply, 12-gripper assembly, 121-L-shaped support arm, 122-first telescopic driving member, 123-gripper turntable, 124-gripper, 125-gripper driving member, 126-gripper rotating shaft; 127-a second telescopic drive; 131-first laser receiver, 132-second laser receiver, 133-third laser receiver, 14-laser transmitter, X-back-and-forth direction.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The steel rail related to the embodiment of the application is an i-shaped steel rail composed of a rail head 1001, a rail web 1002 and a rail bottom 1003, and for simplicity of description, the steel rail is abbreviated as the steel rail in the text.

Fig. 1 is a perspective view of a railway vertical wheel rail force calibration device provided in an embodiment of the present application, and fig. 2 is a bottom view of the railway vertical wheel rail force calibration device provided in the embodiment of the present application, as shown in fig. 1 in combination with fig. 2, the railway vertical wheel rail force calibration device provided in the embodiment of the present application includes a calibration frame main body 1, the calibration frame main body 1 is a rectangular frame having a front-back direction, the front-back direction of the calibration frame main body is a walking direction of the device, i.e., an X direction shown in fig. 1 and fig. 2, and other functional components of the device are all disposed on the calibration frame main body 1, so that the device can implement corresponding functions.

For convenience of explanation, the lower surface shown in fig. 1 is used as a bottom plate 101 (hereinafter, simply referred to as a bottom plate) of the calibration stand body 1, and the side perpendicular to the bottom plate 101 and parallel to the X direction is used as a side wall (hereinafter, simply referred to as a side wall) of the calibration stand body 1.

In a preferred embodiment of the present application, two driving wheels 2 are disposed on the bottom plate 101, and the two driving wheels 2 are disposed along the X direction and are used for driving the calibration frame body 1 to be supported on the upper surface of the rail head 1001 and driving the calibration frame body 1 to travel along the front-back direction. It should be noted that, in the embodiment of the present application, the number of the driving wheels 2 is not limited specifically, and those skilled in the art can make corresponding adjustments according to actual requirements, for example, 3, 4 or other numbers of driving wheels 2 may be arranged along the X direction, which should be within the protection scope of the present application.

Since the driving wheel 2 is a roller, it may not be possible to ensure the balance of the calibration frame body 1 by only supporting the driving wheel 2 on the steel rail 10, so the embodiment of the present application further has the guide wheel assemblies 3 on the side walls, and in order to achieve a better balance effect, 4 guide wheel assemblies 3 are provided in a preferred embodiment of the present application, and each side wall is provided with two guide wheel assemblies 3. Of course, a person skilled in the art may also provide other numbers of guide wheel assemblies 3, but preferably an even number, symmetrically arranged with respect to the X-direction.

The guide wheel assembly 3 comprises a guide wheel 301, a guide wheel rotating shaft 302 and a guide wheel driving member 303, the guide wheel 301 is pivotally connected with the guide wheel rotating shaft 302, the guide wheel rotating shaft 302 is connected with the calibration frame main body 1 through the guide wheel driving member 303, and the guide wheel driving member 303 can drive the guide wheel rotating shaft 302 to swing so as to drive the guide wheel 301 to swing around a direction parallel to the direction X. The guide wheel 301 swings to have two limit positions, and the guide wheel 301 is separated from the rail web 1002 at the first limit position and is in a non-working state; at the second extreme position the guide wheel 301 is buckled on the rail web 1002, the guide wheel rotation axis 302 is perpendicular to the X direction, so that the side edge of the guide wheel 301 is abutted against the rail web 1002, and the profile shape of the guide wheel 301 is matched with the profile shape of the rail web side of the steel rail 10, when the driving wheel 2 drives the calibration frame main body 1 to run on the steel rail 10, the guide wheel 301 is abutted against the rail web 1002 to roll, that is, the friction force between the guide wheel 301 and the steel rail 10 is rolling friction, and the friction force is small. Therefore, the guide wheel assembly 3 provided by the embodiment of the present application can not only ensure the balance of the calibration frame body 1, but also reduce the friction between the calibration frame body 1 and the steel rail 10 relative to the balance mode of sliding friction.

When vertical wheel-rail force calibration is performed, in order to ensure the tension between the calibration frame main body 1 and the steel rail 10, the calibration frame main body 1 needs to be fixedly connected with the steel rail 10 in the vertical direction. In the embodiment of the present application, the sidewall of the calibration frame main body 1 is provided with the hook assemblies 4, in order to achieve a better fixing effect, 4 hook assemblies 4 are provided in a preferred example of the present application, and each sidewall is provided with 2 hook assemblies, which are respectively located at two ends of the calibration frame main body 1. Of course, a person skilled in the art can also provide other numbers of hooking members 4, but preferably an even number, symmetrically arranged on both sides with respect to the direction X.

The hook assembly 4 comprises a hook body 401 and a hook driving piece, the upper portion of the hook body 401 is connected with the calibration frame main body 1, and the hook driving piece is used for driving the lower portion of the hook body 401 to swing around a hook rotating shaft 402. The hook body 401 swings to have two limit positions, and at the first limit position, the hook body 401 is separated from the rail bottom 1003 and is in a non-working state; at the second extreme position, the hook body 401 hooks the rail bottom 1003, so that the calibration frame main body 1 and the steel rail 10 are kept fixed, and the vertical wheel-rail force calibration is further facilitated.

The central position of calibration frame main part 1 still is equipped with hydraulic pump 5, and hydraulic pump 5 includes hydraulic drive spare, top lift 501 and pump body 502, and the center pin of hydraulic pump 5 hangs down mutually with calibration frame main part 1's bottom plate 101, and hydraulic drive spare is used for driving pump body 502 moves along its center pin direction, makes pump body 502 stretches out or retracts bottom plate 101. In a non-working state, the pump body 502 is retracted inside the bottom plate 101, and the end of the pump body 502 is flush with the lower surface of the bottom plate 101; when the calibrating frame works, the pump body 502 extends out of the bottom plate 101 under the driving action of the hydraulic driving piece and is supported on the steel rail 10, so that pre-tightening force is provided between the calibrating frame main body 1 and the steel rail 10.

When the jacking head 501 is supported on the steel rail 10, in order to detect the deformation state of the steel rail 10, a laser distance measuring instrument 6 is arranged on the bottom plate 101 of the calibration frame main body 1, and the emitting direction of the laser distance measuring instrument 6 is perpendicular to the bottom plate 101 of the calibration frame main body 1, namely, the laser distance measuring instrument emits towards the direction perpendicular to the upper surface of the rail head 1001. Since the deformation state of the steel rail 10 is uniformly changed along the X direction with the jacking head 501 as the center, in a preferred embodiment of the present application, the number of the laser range finders 6 is set to 2, and the emitting direction of the laser range finders 6 and the central axis of the jacking head 501 are located in the same plane, and the plane is parallel to the X direction. The distance measurement result of the laser distance meter 6 is the average of the two laser distance meters 6. Of course, those skilled in the art may also set other numbers of laser range finders 6 according to actual requirements, and in order to achieve better detection effect, the number of the laser range finders 6 is preferably an even number, such as 4, 6 or 8, and the like, and all of them should be within the protection scope of the present application without departing from the inventive concept of the present application.

It should be noted that, when the above components are arranged on the calibration frame main body 1, corresponding positional relationships should be satisfied in order to achieve corresponding functions. For example, in order to enable the hook body 401 to hook the rail base 1003, the maximum distance that the hook body 401 extends out of the bottom plate 101 should be less than the sum of the limit distance that the pump body 502 extends out of the bottom plate 101 and the height of the steel rail 10 and greater than the sum of the height of the driving wheel 2 and the height of the steel rail 10; in order to enable the hook bodies 401 at the two sides of the calibration frame main body 1 to hook the rail bottom 1003 at the same time, the hook bodies 401 at the two sides of the calibration frame main body 1 hook the two sides of the rail bottom 1003 respectively, and the length of the bottom of the hook rail bottom 1003 is not less than 2/3 of the width of the rail bottom 1003; in order to enable the guide wheels 301 on both sides of the calibration frame body 1 to simultaneously buckle the rail web 1002, the distance between the inner side surfaces of the guide wheels 301 on both sides of the calibration frame body 1 in the direction perpendicular to the X direction should be equal to the width of the rail web 1002 at the buckled position when the guide wheels are in the working state.

In order to achieve a better test effect, the jacking head 501 should be located at the position of the measuring point, but in the actual working process, because the jacking head 501 is located at the bottom of the calibration frame main body 1, an operator cannot accurately observe the actual position of the jacking head 501. In the embodiment of the present application, a ruler 7 is disposed on the side wall of the calibration frame main body 1 along the X direction, and a central scale of the ruler 7 is disposed opposite to a central axis of the lift head 501, that is, a projection of the central scale of the ruler 7 and the central axis of the lift head 501 in the direction perpendicular to the X direction coincides. Because the position relation between the scale 7 and the jacking head 501 is determined, the position of the jacking head 501 can be determined through the scale 7, and the measuring point can be accurately positioned.

In a preferred embodiment of the present application, a leveling instrument 8 is further disposed on the calibration frame body 1, and the leveling instrument 8 can check the levelness of the calibration frame body 1, so that when the calibration frame body 1 is in an inclined state, the pose of the calibration frame body 1 can be adjusted in time, and the test accuracy is ensured.

In a preferred embodiment of the application, the calibration frame main body 1 is made of aviation aluminum alloy, and has the advantages of light weight, high rigidity and high strength.

In order to realize the control of the above-mentioned railway vertical wheel-rail force calibration device, in an optional embodiment of the present application, the device further includes a controller, the controller is electrically connected to the driving wheel 2, the guide wheel driving member 303, the hook driving member, the hydraulic driving member and the laser distance meter 6, and is configured to send a control command to the above-mentioned components, and receive distance data collected by the laser distance meter 6, and calibrate the operating speed and the operating time of the frame main body 1, and pressure data between the jacking head 501 and the steel rail 10. In addition, the controller may further include a display screen 9 for displaying the acquired data, or receiving a trigger signal of the user through the display screen 9, and when the trigger signal of the user is received through the display screen 9, the display screen 9 is a touch screen. It should be noted that the controller in the embodiment of the present application may be integrally disposed with the calibration frame body 1, or may be disposed separately from the calibration frame body 1, and when the controller is disposed separately from the calibration frame body 1, the controller is wirelessly connected to the calibration frame body 1.

In addition, when the railway vertical wheel-rail force calibration device provided by the embodiment of the application travels to the position of the to-be-measured point, in order to stop the device in time, a braking device matched with the driving wheel 2 is further arranged on the calibration frame main body 1, the braking device can provide a certain positive pressure for the driving wheel, sliding friction force is generated between the braking device and the driving wheel 2, and then the railway vertical wheel-rail force calibration device is decelerated until the railway vertical wheel-rail force calibration device stops. And the calibration frame main body 1 is also provided with a power supply 11 for supplying power to the railway vertical wheel-rail force calibration device.

In order to facilitate better understanding of the technical solution by those skilled in the art, the following description is made in conjunction with a specific implementation process of the railway vertical wheel rail force calibration device. The method mainly comprises the following steps:

step S110: the railway vertical wheeltrack force calibration device is placed on the steel rail 10 along the front-back direction, so that the driving wheel 2 is supported on the upper surface of the rail head 1001.

At the initial stage, the guide wheel 301, the hook body 401 and the jacking head 501 are all in a retracted state, at the moment, the railway vertical wheel-rail force calibration device is placed on the steel rail 10, and only the driving wheel 2 is in contact with the steel rail 10.

Step S120: a guide wheel locking command is sent to the guide wheel driving part 303, so that the guide wheel driving part 303 drives one side of the guide wheel 301 to buckle the rail waist 1002.

Fig. 3 is an assembly front view of a railway vertical wheel rail force calibration device provided by an embodiment of the present invention, and fig. 4 is an assembly side view of the railway vertical wheel rail force calibration device provided by the embodiment of the present invention, as shown in fig. 3 in combination with fig. 4, in order to ensure that the device runs stably on a steel rail 10, a controller may send a guide wheel locking command to the guide wheel driving member 303, and the guide wheel driving member 303 drives the guide wheel 301 to swing along a direction parallel to the X axis, so that one side of the guide wheel 301 buckles a rail web 1002, at this time, as the guide wheels 301 on both sides of the calibration frame body 1 buckle the rail web 1002, which is equivalent to clamp the calibration frame body 1 on the steel rail 10, the calibration frame body 1 can maintain good stability.

Step S130: and sending a driving instruction to the driving wheel 2, so that the driving wheel 2 drives the railway vertical wheel rail force calibration device to run along the extension direction of the steel rail 10 until the point to be measured is reached.

For areas which are not easy to reach by highway vehicles (such as automobiles and the like) such as railway tunnels, bridges and the like, the device can be arranged on the steel rail 10 outside the tunnels or bridges, and a driving command is sent to the driving wheel 2 through the controller, so that the driving wheel 2 drives the railway vertical wheel rail force calibration device to run along the extending direction of the steel rail 10 until the point to be measured is reached. When the railway vertical wheeltrack force calibration device reaches the position near the point to be measured, the leveling rod 7 on the calibration frame body 1 can be used for accurately positioning, or the levelness of the railway vertical wheeltrack force calibration device is checked through a level gauge so as to be timely adjusted when the railway vertical wheeltrack force calibration device is inclined.

Step S140: and sending a hook locking instruction to a hook driving element to enable the hook driving element to drive the hook to pre-hook the rail bottom 1003.

Fig. 5 is an assembly front view of another railway vertical wheel rail force calibration device provided in this embodiment of the present application, and as shown in fig. 5, after the railway vertical wheel rail force calibration device reaches a point to be tested, a hook locking command is sent to a hook driving member, so that the hook driving member drives the hook to pre-hook the rail bottom 1003.

The hook is used for hooking the rail bottom of the first steel rail in advance, namely the hook only swings to a corresponding position, no acting force is generated between the hook and the steel rail, the hook is tightened along with the extension of a subsequent hydraulic pump, and the acting force between the hook and the steel rail is gradually increased.

Step S150: a first pressurization command is sent to the hydraulic drive to bring the pump body 502 into contact with the rail 10.

At initial state, the pump body and the bottom plate parallel and level of hydraulic pump send first vertical pressurization instruction to the hydraulic pump for the pump body moves down and inconsistent with first rail, because the leading wheel still detains on the web of rail this moment, consequently, can not pressurize for first rail this moment, only make pump body and first rail inconsistent, prepare for follow-up vertical pressurization.

Step S160: a guide wheel unlocking command is sent to the guide wheel driving piece 303, so that the guide wheel driving piece 303 drives the guide wheel 301 to be separated from the rail web 1002.

Fig. 6 is an assembly side view of another railway vertical wheel rail force calibration device provided by the embodiment of the present application, and as shown in fig. 6, since the railway vertical wheel rail force calibration device has reached a point to be tested and is in a static state, and guidance of the guide wheel 301 is no longer needed, a guide wheel unlocking command is sent to the guide wheel driving member 303, so that the guide wheel driving member 303 drives the guide wheel 301 to be separated from the rail web 1002, and the guide wheel 301 swings in the L direction to be separated from the rail web 1002 and is folded in a V shape.

Step S170: and sending a second pressurizing instruction to the hydraulic driving piece to apply certain pre-pressure between the jacking head and the steel rail, so that the hook hooks the rail bottom 1003, and the pre-pressure enables the railway vertical wheel rail force calibration device to reach a self-balancing state.

The self-balancing state is a stable state which is achieved by the railway vertical wheel-rail force calibration device before the railway vertical wheel-rail force calibration device calibrates the steel rail through the railway vertical wheel-rail force calibration device, and specifically, the self-balancing state may involve applying a small pre-pressure between the jacking head 501 and the steel rail 10, then leveling the calibration frame main body 1 (referring to a level gauge, adjusting the calibration frame main body 1 to a horizontal position), and finally applying a large pre-pressure to enable the railway vertical wheel-rail force calibration device to achieve a self-balancing state.

Step S180: sending a third pressurizing instruction to the hydraulic driving part, applying a certain test pressure F between the jacking head 501 and the steel rail 10, and collecting the pressure p between the jacking head 501 and the calibration frame main body 1 and the distance h detected by the laser range finder 6 when the fluctuation value of the pressure between the jacking head 501 and the steel rail 10 is less than 5% and the duration exceeds t (wherein t can be selected from 5s, 10s, 15s and the like).

In particular, n third pressure commands are sent to the hydraulic drive, for example, the ith third pressure command causes a certain test pressure F to be applied between the jacking head 501 and the rail 10_iAnd collecting the pressure p between the jacking head 501 and the calibration frame body 1_iAnd the distance h detected by the laser range finder 6_iWherein F is_i＞F_i-1. Wherein, before each pressurization, the hydraulic driving part needs to be completely decompressed, and then the pressurization measurement is restarted.

Step S190: according to a formula f, p · s, a vertical force f is calculated, and then a relation between the vertical force f and a distance h is determined, so that the calibration of a vertical wheel-rail force is realized, wherein s is the area of the jacking head 501.

Specifically, according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head 501, the relation curve of f and h is a vertical wheeltrack force calibration result, f represents the vertical force, and h represents the vertical deformation of the first steel rail.

The railway includes two rail that are parallel to each other, when carrying out vertical wheel rail power calibration to the railway, generally need mark two rail respectively, in this application embodiment, in order to realize the automatic leap of the vertical wheel rail power calibration device of railway between two rails, still be equipped with a tongs subassembly 12 respectively at the both ends of calibration frame main part 1.

Referring to fig. 8, a schematic structural diagram of a gripper assembly according to an embodiment of the present disclosure is shown. As shown in fig. 8, the gripper assembly 12 provided by the embodiment of the present application includes an L-shaped arm 121, a horizontal end of the L-shaped arm 121 is connected to the calibration frame body 1, and a vertical end of the L-shaped arm 121 is perpendicular to the bottom plate 101; a first telescopic driving member 122 is further arranged at the vertical end of the L-shaped support arm 121, and the first telescopic driving member 122 is used for driving the vertical end to extend and retract along a direction perpendicular to the bottom plate 101; the horizontal end of the L-shaped support arm 121 is further provided with a second telescopic driving element 127, the second telescopic driving element 127 is used for driving the horizontal end to be telescopic along the front-back direction, and the first telescopic driving element 122 and the second telescopic driving element 127 enable the hand grip 124 to move along two dimensions, namely the horizontal dimension and the vertical dimension in fig. 8. The first telescopic driving member 122 and the second telescopic driving member 127 may be driven by a hydraulic pump, an electric motor, etc., which are commonly used by those skilled in the art, and the present application is not limited thereto.

The hand grip assembly 12 further comprises a hand grip rotating disc 123 and a hand grip rotating disc driving piece, the hand grip rotating disc 123 is connected with the vertical end of the L-shaped support arm 121, the rotating shaft of the hand grip rotating disc 123 is parallel to the vertical end of the L-shaped support arm 121, the hand grip rotating disc driving piece is used for driving the hand grip rotating disc 123 to rotate around the rotating shaft, and the hand grip rotating disc driving piece can adopt driving devices such as a motor and the like commonly used by technicians in the field.

The gripper assembly 12 further includes a gripper 124 and a gripper driving member 125, the gripper 124 includes two concave members, one end of each of the two concave members is connected to the gripper rotating disc 123 through the gripper rotating shaft 126, and the grooves of the two concave members are oppositely disposed, so that the gripper 124 is opened or closed when the concave members rotate relative to the gripper rotating shaft 126 (fig. 8 shows a closed state of the gripper 124), wherein an inner contour of the gripper 124 when closed is matched with the rail head 1001. The axis of the gripper rotating shaft 126 is parallel to the plane where the gripper rotating disc 123 is located, and the gripper driving member 125 is used for driving the gripper 124 to open or buckle. In an alternative embodiment of the present application, the gripper driving member 125 employs a hydraulic pump.

In order to make the technical solution better understood by those skilled in the art, the following describes the process of crossing from one rail to another rail of the rail force calibration device with the rail vertical wheel rail in conjunction with fig. 7A to 7C. For convenience of explanation, the gripper unit 12 at the left end of the main body of the marker support in fig. 7A to 7C is used as a first gripper unit, the gripper unit 12 at the right end is used as a second gripper unit, the rail in fig. 7A and the rail 10 on the left side in fig. 7B are used as first rails, and the rail 10 on the right side in fig. 7B and the rail 10 in fig. 7C are used as second rails.

After the force calibration device for the vertical wheel rail of the railway finishes calibration on the first steel rail, the first steel rail is grabbed by the first gripper (as shown in fig. 7A), then the gripper turnplate 123 of the first gripper is controlled to rotate, the second gripper is moved to the position of the second steel rail, the second gripper is enabled to grab the second steel rail (as shown in fig. 7B), then the first gripper is controlled to release the first steel rail, the gripper turnplate 123 of the second gripper is controlled to rotate, the calibration frame body 1 is enabled to be parallel to the second steel rail, and crossing from the first steel rail to the second steel rail is finished. The following detailed description is provided in connection with a calibration process of a railway vertical wheel-rail force calibration device, which includes the following steps.

Step S210: placing the railway vertical wheel-rail force calibration device on a first steel rail along the front-back direction, and enabling the driving wheel 2 to be supported on the upper surface of a rail head of the first steel rail;

step S220: and sending a guide wheel locking command to the guide wheel driving part 303, so that the guide wheel driving part 303 drives one side of the guide wheel 301 to buckle the web of the first steel rail.

Step S230: and sending a driving instruction to the driving wheel 2, so that the driving wheel 2 drives the railway vertical wheel rail force calibration device to run along the extension direction of the first steel rail until the point to be measured is reached.

Step S240: and sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom of the first steel rail in advance.

Step S250: a first pressurization command is sent to the hydraulic drive to cause the pump body 502 to contact the first rail.

Step S260: a guide wheel unlocking command is sent to the guide wheel driving member 303, so that the guide wheel driving member 303 drives the guide wheel 301 to be separated from the rail web of the first steel rail.

Step S270: and sending a second pressurizing command to the hydraulic driving piece to apply a certain pre-pressure between the jacking head 501 and the first steel rail, so that the hook hooks the rail bottom of the first steel rail.

Step S280: n times of third pressurizing commands are sent to the hydraulic driving part, and the ith time of the third pressurizing commands enables a certain testing pressure F to be applied between the jacking head 501 and the steel rail 10_iWhen the fluctuation value of the pressure between the jacking head 501 and the steel rail 10 is less than 5% and the duration time exceeds t, the pressure p between the jacking head 501 and the calibration frame main body 1 is acquired_iAnd the distance h detected by the laser range finder 6_iWherein F is_i＞F_i-1。

Step S290: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head 501.

Step S300: and sending a hand grip opening command to the hand grip driving member 125 of the first hand grip assembly, so that the hand grip driving member 125 of the first hand grip assembly drives the hand grip of the first hand grip assembly to open.

In the embodiment of the present application, the first rail is gripped and rotated by the first gripper assembly, but the first rail may be gripped and rotated by the second gripper assembly, which can achieve the object of the present application.

Step S310: and sending an extension instruction to the first telescopic driving member 122 of the first gripper assembly, so that the gripper 124 of the first gripper assembly extends to be abutted against the rail head of the first steel rail, and preparing for the gripper of the first gripper assembly to grip the first steel rail.

Step S320: and sending a hand gripping and fastening instruction to the hand gripping driving member 125 of the first hand gripping assembly, so that the hand gripping driving member 125 of the first hand gripping assembly drives the hand gripping member 124 of the first hand gripping assembly to fasten the rail head of the first steel rail.

Step S330: and sending a hook unlocking instruction to a hook driving piece to enable the hook driving piece to drive the hook to be separated from the rail bottom of the first steel rail.

Step S340: and sending a rotation instruction to the gripper turntable driving piece of the first gripper assembly, and driving the gripper turntable 123 of the first gripper assembly to rotate by the gripper turntable driving piece of the first gripper assembly, so that the calibration frame main body is perpendicular to the first steel rail, and the second gripper assembly is close to the second steel rail to prepare for the second gripper to grip the second steel rail.

Step S350: and sending an extension command or a contraction command to the second telescopic driving element 127 of the first gripper assembly and/or the second gripper assembly, so that the second gripper assembly moves to the position right above the second steel rail.

To different rails, the distance between first rail and the second rail is probably different, because second flexible driving piece 127 can drive the level end of L shape support arm 121 flexible, consequently can adjust the distance between first tongs subassembly and the second tongs subassembly through second flexible driving piece 127, and then the distance between first rail and the second rail in the current rail of adaptation makes the second tongs subassembly remove to the second rail directly over.

Step S360: a hand grip opening command is sent to the hand grip driving member 125 of the second hand grip assembly, so that the hand grip driving member 125 of the second hand grip assembly drives the hand grip of the second hand grip assembly to open.

Step S370: and sending an extension instruction to the first telescopic driving member 122 of the second gripper assembly, so that the gripper of the second gripper assembly extends to be abutted against the rail head of the second steel rail, and preparing for the gripper of the second gripper assembly to grip the second steel rail.

Step S380: and sending a gripper fastening command to the gripper driving member 125 of the second gripper assembly, so that the gripper driving member 125 of the second gripper assembly drives the gripper of the second gripper assembly to fasten the rail head of the second steel rail.

Step S390: and sending a hand grip opening command to the hand grip driving member 125 of the first hand grip assembly, so that the hand grip driving member 125 of the first hand grip assembly drives the hand grip of the first hand grip assembly to open.

Step S400: and sending a contraction instruction to the first telescopic driving member 122 of the first gripper assembly, so that the first telescopic driving member 122 of the first gripper assembly drives the gripper of the first gripper assembly to be separated from the rail head of the first steel rail.

Step S410: and sending a rotation instruction to a gripper turntable driving piece of the second gripper assembly, wherein the gripper turntable driving piece of the second gripper assembly drives the gripper turntable 123 of the second gripper assembly to rotate, so that the front and back directions of the calibration frame main body are parallel to the second steel rail.

Step S420: and sending a guide wheel locking command to the guide wheel driving part 303, so that the guide wheel driving part 303 drives one side of the guide wheel 301 to buckle the rail web of the second steel rail.

Step S430: a hand grip opening command is sent to the hand grip driving member 125 of the second hand grip assembly, so that the hand grip driving member 125 of the second hand grip assembly drives the hand grip of the second hand grip assembly to open.

Step S440: and sending a contraction command to the first telescopic driving member 122 of the second gripper assembly, so that the first telescopic driving member 122 of the second gripper assembly drives the gripper of the second gripper assembly to be separated from the rail head of the second steel rail.

So far, the railway vertical wheel-rail force calibration device completes automatic crossing from the first steel rail to the second steel rail, and then the railway vertical wheel-rail force calibration device can perform the wheel-rail force calibration device on the second steel rail, and the relevant contents can refer to steps S210-S290, and are not repeated in order to save space.

In the related art, the braking device is usually controlled to brake by depending on experience of an operator, so that the railway vertical wheel rail force calibration device is stopped at the position of the point to be measured, but the mode has high requirements on the experience of the operator, and the railway vertical wheel rail force calibration device cannot be stopped at the position of the point to be measured accurately usually.

Aiming at the phenomenon, the embodiment of the application also provides a railway vertical wheel rail force calibration system, which comprises the railway vertical wheel rail force calibration device and the laser transmitter 14 provided by the embodiment. The railway vertical wheel rail force calibration device in the embodiment is basically similar to the above embodiment, and the difference is that five pairs of laser receivers are uniformly arranged on two side surfaces of the calibration frame main body along the front-back direction, the first laser receiver 131, the second laser receiver 132 and the third laser receiver 133 are respectively arranged from outside to inside, the number of the first laser receiver 131 and the second laser receiver 132 is two, the number of the third laser receiver 133 is one, the third laser receiver 133 is arranged corresponding to the central axis of the jacking head, the laser transmitter 14 is configured to transmit laser beams towards the steel rail where the railway vertical wheel rail force calibration device is located, the projection position of the laser beams is matched with the position of a point to be measured, namely the projection position of the laser beams is located right above the point to be measured, when the railway vertical wheel rail force calibration device passes through the transmission area of the laser transmitter 14, the laser receiver can receive the laser beam and then perform corresponding actions, and the following detailed description of the deceleration process of the railway vertical wheel-rail force calibration device with reference to fig. 9A to 9D specifically includes the following steps.

Step S510: the railway vertical wheeltrack force calibration device is placed on the steel rail 10 along the front-back direction, so that the driving wheel 2 is supported on the upper surface of the rail head 1001.

Step S520: a guide wheel locking command is sent to the guide wheel driving part 303, so that the guide wheel driving part 303 drives one side of the guide wheel 301 to buckle the rail waist 1002.

Step S530: and sending a driving command to the driving wheel 2, so that the driving wheel 2 drives the railway vertical wheel rail force calibration device to run along the extending direction of the steel rail 10, as shown in fig. 9A.

Step 540: when the first laser receiver 131 receives the laser signal emitted from the laser emitter 14, as shown in fig. 9B, the current time t is acquired₁And the current speed v of the calibration frame main body₁In parallel toThe braking device sends a first braking instruction to enable the braking device to provide a first positive pressure G for the driving wheel₁。

When the first laser receiver 131 receives the laser signal, it indicates that the railway vertical wheel-rail force calibration device is approaching the measuring point position, and at this time, the braking device provides a first positive pressure to the driving wheel to enable the driving wheel G to drive₁The deceleration is started.

Step S550: when the second laser receiver 132 receives the laser signal emitted from the laser emitter 14, as shown in fig. 9C, the current time t is acquired₂And the current speed v of the calibration frame main body₂According to the formula: v. of₁-v₂＝a₁(t₁-t₂) The acceleration a of the calibration frame body from the first laser receiver 131 to the second laser receiver 132 is calculated₁(ii) a According to the formula ma₁＝μG₁Calculating the friction coefficient mu between the braking device and the driving wheel, wherein m is the mass of the railway vertical wheel-rail force calibration device; according to equation 2a₂s＝v₃ ²-v₂ ²The acceleration a between the second laser receiver 132 and the third laser receiver 133 is calculated₂And s is the distance between the second laser receiver 132 and the third laser receiver 133, where v₃Let v be the speed of the railway vertical wheel-rail force calibration device when it reaches the third laser receiver 133₃Calculating the acceleration a in the ideal state of 0, namely stopping calculating the acceleration a just when the railway vertical wheel-rail force calibration device reaches the position to be measured₂(ii) a According to the formula ma₂＝μG₂Calculating a second positive pressure G₂And sending a second braking command to the braking device to enable the braking device to provide a second positive pressure G for the driving wheel₂. According to a second positive pressure G₂The provided friction force is large and small, so that the speed of the railway vertical wheel rail force calibration device is just reduced to 0 when the railway vertical wheel rail force calibration device reaches the position of the point to be measured, and the railway vertical wheel rail force calibration device is accurately stopped at the position of the point to be measured.

Step S560: when the third laser receiver 133 receives the laser signal emitted by the laser emitter 14, as shown in fig. 9D, a third braking instruction is sent to the braking device, so that the braking device locks the driving wheel.

When the third laser receiver 133 receives the laser signal emitted by the laser emitter 14, it indicates that the railway vertical wheel-rail force calibration device has reached the position to be measured, and at this time, the driving wheel is locked by the braking device, so that the railway vertical wheel-rail force calibration device is stopped.

Step S570: and sending a hook locking instruction to a hook driving element to enable the hook driving element to drive the hook to pre-hook the rail bottom 1003.

Step S580: sending a first pressurizing command to the hydraulic driving piece to enable the pump body 502 to be in contact with the steel rail 10;

step S590: a guide wheel unlocking command is sent to the guide wheel driving piece 303, so that the guide wheel driving piece 303 drives the guide wheel 301 to be separated from the rail web 1002.

Step S600: and sending a second pressurizing command to the hydraulic driving part, so that a certain pre-pressure is applied between the jacking head 501 and the steel rail 10, and the hook hooks the rail bottom 1003.

Step S610: n times of third pressurizing commands are sent to the hydraulic driving part, and the ith time of the third pressurizing commands enables a certain testing pressure F to be applied between the jacking head 501 and the steel rail 10_iWhen the fluctuation value of the pressure between the jacking head 501 and the steel rail 10 is less than 5% and the duration time exceeds t, the pressure p between the jacking head 501 and the calibration frame main body 1 is acquired_iAnd the distance h detected by the laser range finder 6_iWherein F is_i＞F_i-1。

Step S620: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head 501.

By adopting the method provided by the embodiment of the application, the railway vertical wheel-rail force calibration device is accurately stopped at the position to be measured by adopting a graded braking mode. The method specifically comprises the following steps: the friction coefficient during braking is calculated through the relevant parameters between the first laser receiver and the second laser receiver, the friction coefficient is influenced by various factors (such as the surface roughness of the steel rail and a lubricating state lamp), and the friction coefficient is calculated more accurately according to relevant data on site in the embodiment of the application. After the friction coefficient is calculated, calculating how much friction force needs to be applied by the braking device according to relevant parameters (such as speed, distance between the laser receivers and the like) between the second laser receiver and the third laser receiver, and thus obtaining the required positive pressure to enable the speed of the railway vertical wheel-rail force calibration device when the railway vertical wheel-rail force calibration device reaches the position to be measured to be just reduced to 0.

The railway vertical wheel rail force calibration device has the advantages that a traditional braking mode is adopted, if the braking force is too small, the railway vertical wheel rail force calibration device can have a higher running speed when reaching the position to be measured, and even if locking measures are taken at the moment, the railway vertical wheel rail force calibration device can still slide forwards for a certain distance by means of self inertia; if the braking force is too large, the railway vertical wheel rail force calibration device can be stopped before the position of the point to be measured is reached. Therefore, the braking mode provided by the embodiment of the application can improve the accuracy of the railway vertical wheel rail force calibration device at the position of the point to be measured.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims

1. The device for calibrating the force of the railway vertical wheel rail is characterized by comprising a calibrating frame main body (1) with a front direction and a rear direction, wherein two or more driving wheels (2) are arranged on a bottom plate (101) of the calibrating frame main body (1), and the two or more driving wheels (2) are used for supporting the calibrating frame main body (1) on the upper surface of a rail head (1001) and driving the calibrating frame main body (1) to run along the front direction and the rear direction;

the side wall of the calibration frame main body (1) is provided with a guide wheel assembly (3), the guide wheel assembly (3) comprises a guide wheel (301), a guide wheel rotating shaft (302) and a guide wheel driving part (303), the guide wheel (301) is in pivot connection with the guide wheel rotating shaft (302), the guide wheel rotating shaft (302) is connected with the calibration frame main body (1) through the guide wheel driving part (303), the guide wheel driving part (303) is used for driving the guide wheel (301) to swing around an axis parallel to the front-back direction, so that one side of the guide wheel (301) is buckled or separated from a rail waist (1002), and the guide wheel rotating shaft (302) is perpendicular to the front-back direction;

the side wall of the calibration frame main body (1) is further provided with a hook assembly (4), the hook assembly (4) comprises a hook body (401), a hook rotating shaft (402) and a hook driving piece, the top of the hook body (401) is connected with the calibration frame main body (1), and the hook driving piece (402) is used for driving the lower portion of the hook body (401) to swing around the hook rotating shaft (402) so that the bottom of the hook body (401) is hooked on or separated from the rail bottom (1003);

the calibration frame main body (1) is further provided with a hydraulic pump (5), the hydraulic pump (5) comprises a hydraulic driving part, a jacking head (501) and a pump body (502), the central shaft of the hydraulic pump (5) is perpendicular to the bottom plate (101) of the calibration frame main body (1), and the hydraulic driving part is used for driving the pump body (502) to move along the direction of the central shaft of the pump body, so that the pump body (502) extends out of or retracts into the bottom plate (101);

a laser range finder (6) is further arranged on the bottom plate (101) of the calibration frame main body (1), and the emission direction of the laser range finder (6) is perpendicular to the bottom plate (101) of the calibration frame main body (1);

the two or more driving wheels (2) are positioned on the same straight line parallel to the front and back direction;

the emission direction of the laser range finder (6) and the central axis of the jacking head (501) are positioned in the same plane, and the plane is parallel to the front-back direction;

a level gauge (8) is further arranged in the center of the upper surface of the calibration frame main body (1);

the laser range finders (6) are even in number and are symmetrically arranged along the front-back direction relative to the central axis of the jacking head (501);

and the calibration frame main body (1) is also provided with a braking device matched with the driving wheel (2).

2. The device according to claim 1, characterized in that the number of guide wheel assemblies (3) is an even number, symmetrically arranged with respect to the front-rear direction.

3. Device according to claim 1, characterized in that the number of hooking members (4) is an even number, symmetrically arranged with respect to the front-rear direction.

4. The device according to claim 1, characterized in that the side wall of the calibration frame main body (1) is further provided with a scale (7) along the front-back direction, and the central scale of the scale (7) is arranged opposite to the central axis of the jacking head (501).

5. The device according to any one of claims 1 to 4, wherein a gripper assembly (12) is respectively arranged at both ends of the calibration frame main body, the gripper assembly (12) comprises an L-shaped arm (121), the horizontal end of the L-shaped arm (121) is connected with the calibration frame main body, and the vertical end of the L-shaped arm (121) is perpendicular to the bottom plate; a first telescopic driving piece (122) is further arranged at the vertical end of the L-shaped support arm (121), and the first telescopic driving piece (122) is used for driving the vertical end to stretch and retract along the direction perpendicular to the bottom plate;

a second telescopic driving piece (127) is further arranged at the horizontal end of the L-shaped support arm (121), and the second telescopic driving piece (127) is used for driving the horizontal end to stretch and retract along the front-back direction;

the gripper assembly (12) further comprises a gripper turntable (123) and a gripper turntable driving piece, the gripper turntable (123) is connected with the vertical end of the L-shaped support arm (121), the rotating shaft of the gripper turntable (123) is parallel to the vertical end of the L-shaped support arm (121), and the gripper turntable driving piece is used for driving the gripper turntable (123) to rotate around the rotating shaft;

the gripper assembly (12) further comprises a gripper (124) and a gripper driving piece (125), the gripper (124) is connected with the gripper rotating disc (123) through a gripper rotating shaft (126), the axis of the gripper rotating shaft (126) is parallel to the plane where the gripper rotating disc (123) is located, the gripper driving piece (125) is used for driving the gripper (124) to open or buckle, and the inner contour of the gripper (124) during buckling is matched with the rail head.

6. A railway vertical wheel rail force calibration system is characterized by comprising the railway vertical wheel rail force calibration device and a laser transmitter (14) according to any one of claims 1 to 4, wherein five pairs of laser receivers are uniformly arranged on two side surfaces of the calibration frame body (1) along the front-back direction, namely a first laser receiver (131), a second laser receiver (132) and a third laser receiver (133) from outside to inside, the number of the first laser receiver (131) and the number of the second laser receiver (132) are two, the number of the third laser receivers (133) is one, the third laser receivers (133) are arranged corresponding to the central axis of the jacking head (501), and the laser transmitter (14) is configured to transmit laser beams towards a steel rail (10) where the railway vertical wheel rail force calibration device is located, and the projection position of the laser beam is matched with the position of the point to be measured.

7. A method for calibrating rail force of a railway vertical wheel track, which is characterized by adopting the device for calibrating rail force of a railway vertical wheel track as claimed in any one of claims 1 to 4, and the method comprises the following steps:

step S110: placing the railway vertical wheel-rail force calibration device on a steel rail (10) along the front-back direction, and enabling a driving wheel (2) to be supported on the upper surface of a rail head (1001);

step S120: sending a guide wheel locking command to a guide wheel driving piece (303) to enable the guide wheel driving piece (303) to drive one side of the guide wheel (301) to buckle the rail waist (1002);

step S130: sending a driving instruction to a driving wheel (2) to enable the driving wheel (2) to drive the railway vertical wheel rail force calibration device to run along the extension direction of the steel rail (10) until the driving wheel reaches a point to be measured;

step S140: sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom in advance (1003);

step S150: sending a first pressurization command to a hydraulic driving piece to enable a pump body (502) to be in contact with the steel rail (10);

step S160: sending a guide wheel unlocking command to a guide wheel driving piece (303) to enable the guide wheel driving piece (303) to drive the guide wheel (301) to be separated from the rail web (1002);

step S170: sending a second pressurizing command to the hydraulic driving piece to enable a certain pre-pressure to be applied between the jacking head (501) and the steel rail (10) and enable the hook to hook the rail bottom (1003);

step S180: sending a third pressurizing instruction to a hydraulic driving piece, applying a certain testing pressure F between a jacking head (501) and a steel rail (10), and collecting the pressure p between the jacking head (501) and a calibration frame main body (1) and the distance h detected by a laser range finder (6) when the fluctuation value of the pressure between the jacking head (501) and the steel rail (10) is less than 5% and the duration exceeds t;

step S190: and calculating a vertical force f according to a formula f-p-s, determining the relation between the vertical force f and the distance h, and calibrating the vertical wheel-rail force, wherein s is the area of the jacking head (501).

8. The method of claim 7,

the step S180 specifically includes: sending n times of third pressurizing commands to the hydraulic driving part, and applying a certain test pressure F between the jacking head (501) and the steel rail (10) by the ith time of third pressurizing commands_iWhen the fluctuation value of the pressure between the jacking head (501) and the steel rail (10) is less than 5% and the duration time exceeds t, acquiring the pressure p between the jacking head (501) and the calibration frame main body (1)_iAnd the distance h detected by the laser range finder (6)_iWherein F is_i＞F_i-1；

The step S190 specifically includes: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) And fitting a relation curve of f and h to realize the calibration of the vertical wheeltrack force, wherein s is the area of the jacking head (501).

9. A method for calibrating rail force of a vertical wheel of a railway, which is characterized in that the device for calibrating rail force of a vertical wheel of a railway of claim 5 is applied to a first steel rail and a second steel rail which are parallel to each other, and the method comprises the following steps:

step S210: placing the railway vertical wheel-rail force calibration device on a first steel rail along the front-back direction, and enabling a driving wheel (2) to be supported on the upper surface of a rail head of the first steel rail;

step S220: sending a guide wheel locking command to a guide wheel driving part (303) to enable the guide wheel driving part (303) to drive one side of the guide wheel (301) to buckle the rail web of the first steel rail;

step S230: sending a driving instruction to a driving wheel (2) to enable the driving wheel (2) to drive the railway vertical wheel rail force calibration device to run along the extension direction of the first steel rail until the point to be measured is reached;

step S250: sending a first pressurization command to a hydraulic driving piece to enable a pump body (502) to be in contact with a first steel rail;

step S260: sending a guide wheel unlocking command to a guide wheel driving piece (303) to enable the guide wheel driving piece (303) to drive the guide wheel (301) to be separated from the rail web of the first steel rail;

step S270: sending a second pressurizing command to the hydraulic driving piece to enable a certain pre-pressure to be applied between the jacking head (501) and the first steel rail and enable the hook to hook the rail bottom of the first steel rail;

step S280: sending n times of third pressurizing commands to the hydraulic driving part, and applying a certain test pressure F between the jacking head (501) and the steel rail (10) by the ith time of third pressurizing commands_iWhen the fluctuation value of the pressure between the jacking head (501) and the steel rail (10) is less than 5% and the duration time exceeds t, acquiring the pressure p between the jacking head (501) and the calibration frame main body (1)_iAnd the distance h detected by the laser range finder (6)_iWherein F is_i＞F_i-1；

Step S290: according to the formula f_i＝p_iS, calculating the vertical force f after each pressurization_iFurther, an array (f) after each pressurization is obtained_i，h_i) According to all said arrays (f)_i，h_i) Fitting a relation curve of f and h to realize the calibration of vertical wheeltrack force, wherein s is the area of the jacking head (501);

step S300: sending a hand grip opening instruction to a hand grip driving piece (125) of a first hand grip assembly, so that the hand grip driving piece (125) of the first hand grip assembly drives the hand grip of the first hand grip assembly to open, wherein the first hand grip assembly is any one of the hand grip assemblies (12) positioned at two ends of the calibration frame main body;

step S310: sending an extension instruction to a first telescopic driving piece (122) of the first gripper assembly to enable the gripper of the first gripper assembly to extend to be abutted against the rail head of the first steel rail;

step S320: sending a gripper buckling instruction to a gripper driving piece (125) of the first gripper assembly, so that the gripper driving piece (125) of the first gripper assembly drives the gripper of the first gripper assembly to buckle the rail head of the first steel rail;

step S340: sending a rotation instruction to a gripper turntable driving piece of the first gripper assembly, wherein the gripper turntable driving piece of the first gripper assembly drives a gripper turntable (123) of the first gripper assembly to rotate, so that the calibration frame main body is perpendicular to the first steel rail, and a second gripper assembly is close to the second steel rail, wherein the second gripper assembly is another gripper assembly (12) at two ends of the calibration frame main body except the first gripper assembly;

step S350: sending an extension command or a retraction command to a second telescopic driving element (127) of the first gripper assembly and/or the second gripper assembly, so that the second gripper assembly moves to a position right above the second steel rail;

step S360: sending a hand grip opening instruction to a hand grip driving part (125) of the second hand grip assembly, so that the hand grip driving part (125) of the second hand grip assembly drives the hand grip of the second hand grip assembly to open;

step S370: sending an extension instruction to a first telescopic driving piece (122) of the second gripper assembly to enable the gripper of the second gripper assembly to extend to be abutted against the rail head of the second steel rail;

step S380: sending a gripper buckling instruction to a gripper driving piece (125) of the second gripper assembly, so that the gripper driving piece (125) of the second gripper assembly drives the gripper of the second gripper assembly to buckle the rail head of the second steel rail;

step S390: sending a hand grip opening instruction to a hand grip driving piece (125) of the first hand grip assembly, so that the hand grip driving piece (125) of the first hand grip assembly drives the hand grip of the first hand grip assembly to open;

step S400: sending a contraction instruction to a first telescopic driving piece (122) of the first gripper assembly, so that the first telescopic driving piece (122) of the first gripper assembly drives the gripper of the first gripper assembly to be separated from the rail head of the first steel rail;

step S410: a rotation instruction is sent to a gripper turntable driving piece of the second gripper assembly, the gripper turntable driving piece of the second gripper assembly drives a gripper turntable (123) of the second gripper assembly to rotate, and the front and back direction of the calibration frame main body (1) is parallel to the second steel rail;

step S420: sending a guide wheel locking instruction to the guide wheel driving part (303) to enable the guide wheel driving part (303) to drive one side of the guide wheel (301) to buckle the rail web of the second steel rail;

step S430: sending a hand grip opening instruction to a hand grip driving part (125) of the second hand grip assembly, so that the hand grip driving part (125) of the second hand grip assembly drives the hand grip of the second hand grip assembly to open;

step S440: and sending a contraction command to a first telescopic driving piece (122) of the second gripper assembly, so that the first telescopic driving piece (122) of the second gripper assembly drives the gripper of the second gripper assembly to be separated from the rail head of the second steel rail.

10. A method for calibrating rail force of a railway vertical wheel track, which is characterized by adopting the system for calibrating rail force of a railway vertical wheel track of claim 6, and the method comprises the following steps:

step S510: placing the railway vertical wheel-rail force calibration device on a steel rail (10) along the front-back direction, and enabling a driving wheel (2) to be supported on the upper surface of a rail head (1001);

step S520: sending a guide wheel locking command to a guide wheel driving piece (303) to enable the guide wheel driving piece (303) to drive one side of the guide wheel (301) to buckle the rail waist (1002);

step S530: sending a driving instruction to a driving wheel (2) to enable the driving wheel (2) to drive the railway vertical wheel rail force calibration device to run along the extension direction of the steel rail (10);

step 540: when the first laser receiver (131) receives the laser signal emitted by the laser emitter (14)Time, the current time t is collected₁And the current speed v of the calibration frame main body (1)₁And sending a first braking instruction to the braking device to enable the braking device to provide a first positive pressure G for the driving wheel₁；

Step S550: when the second laser receiver (132) receives the laser signal emitted by the laser emitter (14), the current time t is acquired₂And the current speed v of the calibration frame main body (1)₂According to the formula: v. of₁-v₂＝a₁(t₁-t₂) Calculating the acceleration a between the first laser receiver (131) and the second laser receiver (132) of the railway vertical wheel-rail force calibration device₁(ii) a According to the formula ma₁＝μG₁Calculating a friction coefficient mu between the braking device and the driving wheel (2), wherein m is the mass of the railway vertical wheel-rail force calibration device; according to equation 2a₂s＝v₃ ²-v₂ ²Calculating the acceleration a between the second laser receiver (132) and the third laser receiver (133)₂Wherein v is₃-0, s is the distance between the second laser receiver (132) and the third laser receiver (133); according to the formula ma₂＝μG₂Calculating a second positive pressure G₂And sending a second braking command to the braking device to enable the braking device to provide a second positive pressure G to the driving wheel (2)₂；

Step S560: when the third laser receiver (133) receives a laser signal emitted by the laser emitter (14), a third brake instruction is sent to the braking device, so that the braking device locks the driving wheel (2);

step S570: sending a hook locking instruction to a hook driving piece to enable the hook driving piece to drive the hook to hook the rail bottom in advance (1003);

step S580: sending a first pressurization command to a hydraulic driving piece to enable a pump body (502) to be in contact with the steel rail (10);

step S590: sending a guide wheel unlocking command to a guide wheel driving piece (303) to enable the guide wheel driving piece (303) to drive the guide wheel (301) to be separated from the rail web (1002);

step S600: sending a second pressurizing command to the hydraulic driving piece to enable a certain pre-pressure to be applied between the jacking head (501) and the steel rail (10) and enable the hook to hook the rail bottom (1003);