CN110843804B - Dual-power constant low-speed steel rail laser strengthening vehicle and control method thereof - Google Patents
Dual-power constant low-speed steel rail laser strengthening vehicle and control method thereof Download PDFInfo
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- CN110843804B CN110843804B CN201911096077.2A CN201911096077A CN110843804B CN 110843804 B CN110843804 B CN 110843804B CN 201911096077 A CN201911096077 A CN 201911096077A CN 110843804 B CN110843804 B CN 110843804B
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- 238000005728 strengthening Methods 0.000 title claims abstract description 150
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 73
- 239000010959 steel Substances 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims description 32
- 238000003860 storage Methods 0.000 claims abstract description 25
- 238000004378 air conditioning Methods 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 23
- 238000005192 partition Methods 0.000 claims description 17
- 238000001816 cooling Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000010248 power generation Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005057 refrigeration Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000002485 combustion reaction Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 9
- 230000002411 adverse Effects 0.000 abstract description 8
- 230000002787 reinforcement Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000010791 quenching Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/04—Arrangement or disposition of driving cabins, footplates or engine rooms; Ventilation thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C3/00—Electric locomotives or railcars
- B61C3/02—Electric locomotives or railcars with electric accumulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D3/00—Wagons or vans
- B61D3/10—Articulated vehicles
- B61D3/12—Articulated vehicles comprising running gear interconnected by loads
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
- E01B31/02—Working rail or other metal track components on the spot
- E01B31/18—Reconditioning or repairing worn or damaged parts on the spot, e.g. applying inlays, building-up rails by welding; Heating or cooling of parts on the spot, e.g. for reducing joint gaps, for hardening rails
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a double-power constant low-speed steel rail laser strengthening vehicle, wherein: comprises a flat car, a first container car body and a second container car body which are mutually independent; a generator and a storage battery are arranged in the first container body; and a lifting driving trolley is arranged below the flat car. In the invention, the generator and the storage battery are arranged in the first container body, the generator is directly powered during non-reinforced operation, the generator is stopped for power supply by the storage battery during reinforced operation, and the adverse effect of vibration of the internal combustion generator on vehicle speed control and head vibration reinforcement is avoided by a power supply mode of double power switching, so that the quality of laser reinforcement is improved; the constant low speed is obtained through the lifting driving trolley, so that the good matching of the walking of the strengthening trolley and the operation of the robot is realized, the strengthening stability and uniformity are ensured, the internal stress generated by uneven rail surface strengthening layers is avoided, and the laser strengthening quality of the steel rail is ensured.
Description
Technical Field
The invention belongs to the field of steel rail laser reinforcement, and particularly relates to a double-power constant low-speed steel rail laser reinforcement vehicle and a control method thereof.
Background
The rail is subjected to high-speed rail, inter-city, urban railway and urban rail transit rapid development, the operation mileage reaches a huge scale, under the background of railway speed increase, the direct bearing infrastructure of the train, namely the rail, bears huge operation pressure, and due to the action of wheel rails, the rail can generate serious abrasion during service, the service life of the rail is obviously shortened, and a large number of rails are replaced every year, so that huge economic loss is caused, and the improvement of the service life of the rail has great significance for operation maintenance of the railway and urban rail transit in China.
At present, the modes of increasing the wear resistance of the steel rail, improving the surface hardness of the steel rail and prolonging the service life of the steel rail mainly comprise two modes:
firstly, in the production process of the steel rail, quenching process treatment is carried out;
secondly, when abrasion occurs in the use process of the steel rail, the defect part of the steel rail is polished by polishing equipment.
The first mode is to strengthen the wear resistance of the steel rail from the aspect of the original performance of the steel rail, and quench the steel rail by adopting a method of medium-frequency heating and air spraying/mist cooling, but the condition that the hardness of the surface of the steel rail is uneven due to uneven air and mist cooling is also caused, and the steel rail is easy to peel off, scratch and other failures, so that the service life of the steel rail is influenced.
The second mode is to repair abrasion from the aspect of the service state of the steel rail, the small equipment or the large road maintenance machine is used for polishing and repairing the steel rail by virtue of a grinding wheel, so that the influence of abrasion on the service life of the steel rail is reduced, but the polishing and repairing only repair the profile of the steel rail, the adverse effect of abrasion on the running stability of a train is reduced, the abrasion resistance of the steel rail cannot be fundamentally improved, the existing steel rail cannot be reinforced, and the service life of the steel rail is prolonged.
In view of this, there is an urgent need to develop a new steel rail reinforcing apparatus and method to increase the wear resistance of the steel rail, increase the surface hardness of the steel rail, and extend the service life of the steel rail.
When the steel rail is reinforced by laser, the uniformity of the reinforced layer can be ensured by accurate laser path control, so that the reinforced section of the steel rail has the same strength and hardness, and the stress concentration damage and reinforcement effect of the steel rail are avoided. The key to accurate laser path control is the low speed stability control.
The prior patent ZL 02100096.4 discloses a railway track laser maintenance vehicle which comprises a tractor control vehicle and a laser processing vehicle, wherein a plurality of laser maintenance vehicles can form a laser maintenance train; however, the railway track car is used as a traction control car to drive the whole car set, only one type of driving power is adopted, the railway track car adopts a diesel motor, huge vibration is generated during operation, constant and stable speed control is difficult to realize, and precise laser strengthening operation cannot be performed.
The prior patent ZL 200620036146 discloses a hydraulic transmission constant low-speed control device, which comprises a total control PLC and a hydraulic transmission box connected with a main diesel engine, wherein the main diesel engine is transmitted through the hydraulic transmission box, and the mode can increase the transmission precision, but the unstable operation and huge vibration of the diesel engine can produce adverse effects on the transmission, and finally the precision of speed control is influenced.
Disclosure of Invention
Aiming at least one of the defects or the improvement demands of the prior art, the invention provides a double-power constant low-speed steel rail laser strengthening vehicle, a generator and a storage battery are arranged in a first container vehicle body, the generator is directly powered during non-strengthening operation, the generator is stopped for power supply by a storage battery during strengthening operation, and the adverse effect of vibration of an internal combustion generator on vehicle speed control and strengthening head shaking is avoided through a double-power switching power supply mode, so that the quality of laser strengthening is improved; the middle part of the flat car is provided with a driving trolley driven by a hydraulic motor, the driving trolley and the wheels of the flat car are provided with a speed sensor and a position sensor, the running speed of the laser strengthening car is monitored in real time, the constant and stable driving speed is provided for laser strengthening through closed loop control, the good matching of the walking of the strengthening car and the operation of a robot is realized, the strengthening stability and uniformity are ensured, the internal stress generated by uneven rail surface strengthening layers is avoided, and the laser strengthening quality of the steel rail is ensured.
The constant and stable low-speed control system and the method can monitor the running speed of the laser strengthening vehicle in real time, realize closed-loop control of the hydraulic motor by adjusting the flow and the flow speed of oil, ensure that the driving trolley can output constant and stable driving speed, and simultaneously stop the internal combustion motor in the driving process during strengthening operation, thereby greatly reducing mechanical vibration and increasing the stability and the accuracy of speed control.
In order to achieve the above object, according to one aspect of the present invention, there is provided a dual-power constant low speed rail laser strengthening vehicle, wherein: comprises a flat car, a first container car body and a second container car body which are mutually independent;
the first container body and the second container body are detachably arranged on the flat car; the flat car is used for carrying and running, the first container car body is used for providing energy, and the second container car body is used for strengthening operation;
a generator and a storage battery are arranged in the first container body; a lifting driving trolley is arranged below the flat car;
the flatbed is characterized in that an external railway vehicle is towed to an operation area, and the driving trolley is in a lifting state in the towing process; in the operation area, the driving trolley falls down to the steel rail; when the laser strengthening vehicle walks in non-strengthening operation, the generator operates to generate electricity to directly provide electric energy for the operation of the whole laser strengthening vehicle including the driving trolley and charge the storage battery; when the laser strengthening vehicle runs during strengthening operation, the generator stops running, the storage battery pack is used for supplying electric energy for the running of the whole laser strengthening vehicle including the driving trolley, and the adverse effect of vibration of the internal combustion generator on vehicle speed control and strengthening head shaking is avoided through a double-power switching power supply mode, so that the laser strengthening quality is improved.
Preferably, a hydraulic station is arranged in the second container body, and the hydraulic station provides hydraulic power for the lifting and descending of the driving trolley and the driving motor thereof.
Preferably, the dual-power constant low-speed steel rail laser strengthening vehicle further comprises a constant low-speed control system;
the hardware of the constant low-speed control system comprises a rotating speed sensor, a position sensor and a central controller;
the rotating speed sensor and the position sensor are arranged on the driving wheel of the driving trolley and are connected with the central controller in the first container truck, and the monitored rotating speed and position information of the wheels are transmitted to the central controller in real time.
Preferably, the hardware of the constant low-speed control system further comprises a current regulator, a pump valve motor and a hydraulic motor; the driving motor of the driving trolley is the hydraulic motor;
the hydraulic station is internally provided with the current regulator and the pump valve motor, the current regulator and the pump valve motor are connected with the central controller positioned in the operation table of the first container body, and the current regulator is used for regulating the input current of the hydraulic station, so as to regulate the rotating speed of the hydraulic pump, and realize the control of the circulation speed of oil; the pump valve motor is used for adjusting the channel sizes of the output and input oil pipes of the hydraulic station so as to realize the flow control of the output and input oil of the hydraulic station; accurate speed control of the hydraulic motor is realized through adjustment of oil speed and flow, constant low speed is provided for the laser strengthening vehicle, good matching of walking of the strengthening vehicle and robot operation is realized, strengthening stability and uniformity are ensured, internal stress generated by uneven rail surface strengthening layers is avoided, and laser strengthening quality of the steel rail is ensured.
Preferably, an electrical interface is reserved among the flat car, the first container car body and the second container car body are installed and fixed on the flat car through the limiting columns and the limiting rods, and after the installation is finished, the energy and information communication among the flat car, the first container car body and the second container car body is realized through connecting the electrical interface.
Preferably, a robot is mounted at the tail of the second container body, the robot is provided with a plurality of rotatable joints, a mechanical arm of the robot can realize three-dimensional movement, and a laser emission head is mounted at the end part of the mechanical arm.
Preferably, the first container body comprises a plurality of compartments including a driving compartment, a power generation compartment, an operation compartment and a cable compartment, the different compartments are divided into independent spaces by partition plates, and the compartments are communicated by vehicle doors arranged on the partition plates;
the second container body comprises a plurality of compartments including a pressure compartment, a light source compartment, an operation compartment and a cable compartment, and different compartments are divided into independent spaces through partition plates, and the compartments are communicated through vehicle doors arranged on the partition plates.
Preferably, a driving platform and a driving seat are arranged in the driving cab, so that a driver can observe the track condition in the working process;
a generator, a storage battery pack and an electric cabinet are arranged in the power generation room, electric energy generated by the generator and the storage battery pack is used by other equipment on the laser strengthening vehicle, and hardware equipment required by generator control is arranged in the electric cabinet;
the operation room is internally provided with an operation desk, a first air-conditioning outdoor unit and a first air-conditioning indoor unit, the operation desk is used for sending control instructions for the robot operation process and the trolley driving motion process of the flat car, and the first air-conditioning outdoor unit and the first air-conditioning indoor unit are used for controlling the temperature in the operation room so as to be suitable for personnel to operate equipment in the operation room.
Preferably, a water cooling machine, a hydraulic station and an air compressor are distributed in the pressure chamber, wherein the water cooling machine is used for circulating refrigeration when the laser generator works, the hydraulic station provides hydraulic power for the ascending and descending of a driving trolley of the flat car and a driving motor, and the air compressor is used for providing power for air braking of the flat car;
the laser generator is used for generating high-energy laser required by steel rail strengthening operation, and the second air-conditioning outdoor unit and the second air-conditioning indoor unit are used for controlling the temperature in the light source room so as to be suitable for personnel to operate equipment in the light source room;
the robot is arranged near the tail of the operation room, the robot electric cabinet is arranged near the head direction, the side by side door is arranged at the tail of the operation room, the operation room is opened during operation so that the robot stretches out of the mechanical arm, and the operation room is closed after the operation is completed so that the operation room is closed.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a control method of a dual-power constant low speed rail laser strengthening vehicle, comprising the steps of:
(1) Transporting the first container body and the second container body to an operation area, and towing the flat car to the operation area through a rail car;
(2) Mounting the first container body and the second container body on the flat car;
(3) After the laser strengthening vehicle is integrally pulled to a designated operation area through the track vehicle, the track vehicle is separated from the laser strengthening vehicle, and the driving trolley of the flat car descends to the position where the driving wheel contacts the rail surface of the steel rail;
(4) The central controller gives a control instruction of a designated speed and position value to an electrical cabinet beside the hydraulic station, and the electrical cabinet converts the instruction into an adjustment amount of input current of the hydraulic station and an adjustment amount of opening of a pump valve;
(5) The hydraulic station conveys oil to a driving motor of the driving trolley under specified current and pump valve opening, adjusts output of the motor and drives the laser strengthening trolley to run;
(6) A rotation speed sensor on a driving wheel of the driving trolley starts to collect the rotation speed of the wheel and transmits the collected rotation speed information to a central controller;
(7) Comparing the collected speed value with a designated speed value by the central controller, if an error exists, adjusting the speed amount in the control instruction according to the error value, and repeating the steps (4) - (6);
(8) If the speed is compared and has no error, driving a position sensor on a driving wheel of the trolley to start to collect the position information of the vehicle, and transmitting the collected position information to a central controller;
(9) Comparing the collected position value with a designated position value by the central controller, if the position value has an error, adjusting the position quantity in the control instruction according to the error value, and repeating the steps (4) - (8);
(10) If the position comparison is free from errors, planning a working path by a robot for working on the second container body according to the received strengthening control command and the strengthening process requirement, starting a rotating mechanical arm, adjusting the posture of the mechanical arm, enabling a carried laser emitting head to be aligned to the top surface of the steel rail, and carrying out laser strengthening operation according to the planned path;
(11) After the strengthening operation is completed, the robot rotates the mechanical arm to retract into the operation room of the second container body, and drives the trolley to rise to the position that the driving wheel leaves the steel rail;
(12) The rail car is connected with a hook on the flat car, and the laser strengthening car is pulled to leave.
The above-described preferred technical features may be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
1. according to the dual-power constant low-speed steel rail laser strengthening vehicle, the generator and the storage battery are arranged in the first container vehicle body, the generator is directly powered during non-strengthening operation, the generator is stopped for power supply by the storage battery during strengthening operation, and the adverse effect of vibration of the internal combustion generator on vehicle speed control and strengthening head shaking is avoided through a dual-power switching power supply mode, so that the laser strengthening quality is improved; the middle part of the flat car is provided with a driving trolley driven by a hydraulic motor, the driving trolley and the wheels of the flat car are provided with a speed sensor and a position sensor, the running speed of the laser strengthening car is monitored in real time, the constant and stable driving speed is provided for laser strengthening through closed loop control, the good matching of the walking of the strengthening car and the operation of a robot is realized, the strengthening stability and uniformity are ensured, the internal stress generated by uneven rail surface strengthening layers is avoided, and the laser strengthening quality of the steel rail is ensured.
2. The invention relates to a double-power constant low-speed steel rail laser strengthening vehicle, which is characterized in that a driving trolley driven by a hydraulic motor is arranged in the middle of a flat car, speed sensors and position sensors are arranged on the driving trolley and wheels of the flat car, the running speed of the laser strengthening vehicle is monitored in real time, and the aim of providing constant and stable driving speed for laser strengthening is realized through closed loop control.
3. The double-power constant low-speed steel rail laser strengthening vehicle can monitor the running speed of the laser strengthening vehicle in real time, and realize closed-loop control of the hydraulic motor by adjusting the flow and the flow speed of oil, so that the driving trolley can output constant and stable driving speed, and meanwhile, the internal combustion motor is stopped in the driving process during strengthening operation, thereby greatly reducing mechanical vibration and increasing the stability and the accuracy of speed control.
4. The double-power constant low-speed steel rail laser strengthening vehicle can simultaneously manufacture and debug the three independent parts of the flat vehicle, the first container vehicle body and the second container vehicle body, only the interfaces which are mutually butted are reserved, the refitting amount of the flat vehicle is small, and the manufacturing period can be greatly shortened.
5. The dual-power constant low-speed steel rail laser strengthening vehicle is a strengthening vehicle which is driven independently, can be separated, is modularized and is designed in a container mode, is simpler to process and manufacture, is more flexible to transport, is more convenient to debug or maintain, and is higher in system reliability, and better and excellent in low-speed constant and stability.
Drawings
FIG. 1 is a general schematic front view of a dual-power constant low speed rail laser strengthening vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic top view of a dual-power constant low speed rail laser reinforcement vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot strengthening operation of a dual-power constant low-speed rail laser strengthening vehicle driven by a driving trolley according to an embodiment of the invention;
FIG. 4 is a schematic diagram of the inter-working layout of a dual-power constant low speed rail laser strengthening vehicle according to an embodiment of the invention;
FIG. 5 is a hardware block diagram of a constant low speed control system of a dual-power constant low speed rail laser enhanced vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a dual-power constant low speed rail laser strengthening vehicle strengthening process according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other. The present invention will be described in further detail with reference to the following embodiments.
As a preferred embodiment of the present invention, as shown in fig. 1 to 6, the present invention provides a dual-power constant low speed rail laser reinforced vehicle, wherein: the device comprises a flat car 26, a first container body 1 and a second container body 15 which are mutually independent;
the first container body 1 and the second container body 15 are detachably mounted on the flat car 26; the flat car 26 is used for carrying and running, the first container car body 1 is used for providing energy, and the second container car body 15 is used for strengthening operation. A generator and a storage battery pack 4 are arranged in the first container body 1; a lifting driving trolley 21 is arranged below the flat car 26. The flatbed 26 is towed to an operation area by an external rail car, and the driving trolley 21 is in a lifting state in the towing process; in the working area, the driving trolley 21 descends to the steel rail; when the laser strengthening vehicle walks in non-strengthening operation, the generator operates to generate electricity to directly provide electric energy for the operation of the whole laser strengthening vehicle including the driving trolley and charge the storage battery; when the laser strengthening vehicle runs during strengthening operation, the generator stops running, the storage battery pack is used for supplying electric energy for the running of the whole laser strengthening vehicle including the driving trolley, and the adverse effect of vibration of the internal combustion generator on vehicle speed control and strengthening head shaking is avoided through a double-power switching power supply mode, so that the laser strengthening quality is improved.
Specifically, the first container body 1 and the second container body 15 can be installed on the flat car 26, and can be separated from the flat car 26, the flat car 26 is mainly responsible for carrying and running, the first container body 1 is mainly responsible for providing energy, and the second container body 15 is mainly responsible for strengthening operation. The three independent parts of the flat car 26, the first container car body 1 and the second container car body 15 can be manufactured and debugged at the same time, only the interfaces which are mutually butted are reserved, the refitting amount of the flat car 26 is small, and the manufacturing period can be greatly shortened.
The first pallet body 1 and the second pallet body can be conveniently and specially debugged or maintained in a workshop after being separated from the pallet 26, the first pallet body and the second pallet body are not influenced by each other, and can be transported to the vicinity of an operation area through automobiles and lifted to the pallet 26 through a crane for installation.
The first container car body 1, the second container car and the flat car 26 are all of modularized design, and after a certain part fails, the same module is used for replacing the first container car body, so that the whole maintenance is not needed, and the reliability of the strengthening car is improved.
The reinforced vehicle with independent driving, separability, modularization and container type design is simpler in processing and manufacturing, more flexible in transportation, more convenient in debugging or maintenance, higher in system reliability, and better and excellent in low-speed constancy and stability.
The invention relates to a double-power constant low-speed steel rail laser strengthening vehicle which mainly comprises a first container body 1, a driving seat 2, a first partition plate 3, a generator and storage battery pack 4, an electric cabinet 5, a second partition plate 6, a first air conditioning indoor unit 7, an operating platform 8, a water cooling machine 9, a hydraulic station 10, a third partition plate 11, a second air conditioning indoor unit 12, a fourth partition plate 13, a robot 14, a second container body 15, a robot electric cabinet 16, a laser generator 17, a second bottom plate 18, a second bearing plate 19, an air compressor 20, a driving trolley 21, a first air conditioning outdoor unit 22, a first bottom plate 23, a first bearing plate 24, a limit column 25, a flat car 26, a driving platform 27, a hook 28, a limit rod 29, a second air conditioning outdoor unit 30, a side-by-side door 31, a vehicle door 32 and the like, as shown in fig. 1, 2 and 3.
The flat car 26, the first container car body 1 and the second container car body 15 are mutually independent, an electric interface is reserved among the three, the first container car body 1 and the second container car body 15 are installed and fixed on the flat car 26 through the limit posts 25 and the limit rods 29, and after the installation is finished, the energy and information communication among the flat car 26, the first container car body 1 and the second container car body 15 can be realized through connecting the electric interface, as shown in fig. 1, 2 and 4.
The first container body 1 is divided into four compartments, i.e., a driving compartment, a power generation compartment, an operation compartment, a cable compartment, etc., and the different compartments are separated into independent spaces by partition plates, and the compartments are communicated by vehicle doors 32 arranged on the partition plates, as shown in fig. 1 and 2.
The second container body 15 is divided into four compartments, namely, a pressure compartment, a light source compartment, a working compartment, a cable compartment and the like, different compartments are divided into independent spaces by partition plates, and the compartments are communicated by vehicle doors 32 arranged on the partition plates, as shown in fig. 1 and 2.
The driver's cab is provided with the driver's cab 27 and the driver's seat 2, so that a driver can observe the track condition in the working process and can control the vehicle better; a generator, a storage battery pack 4 and an electrical cabinet 5 are arranged in the power generation room, electric energy generated by the generator and the storage battery pack 4 is used by other equipment on the laser strengthening vehicle, and hardware equipment required by generator control is arranged in the electrical cabinet 5; the operation room is internally provided with an operation desk 8, a first air-conditioning outdoor unit 22 and a first air-conditioning indoor unit 7, the operation desk 8 is used for sending control instructions for the operation process of the robot 14 and the movement process of the driving trolley 21, and the first air-conditioning outdoor unit 22 and the first air-conditioning indoor unit 7 are used for controlling the temperature in the operation room so as to be suitable for personnel to operate equipment therein, as shown in figures 1, 2 and 3.
The water cooling machine 9, the hydraulic station 10 and the air compressor 20 are distributed in the pressure chamber, wherein the water cooling machine 9 is responsible for circulating refrigeration when the laser generator 17 works, the hydraulic station 10 provides hydraulic power for the ascending and descending of the driving trolley 21 and the driving motor, and the air compressor 20 is responsible for providing power for air braking of the flat car 26; the laser generator 17, the second air-conditioning outdoor unit 30 and the second air-conditioning indoor unit 12 are arranged in the light source room, the laser generator 17 is used for generating high-energy laser required by steel rail strengthening operation, and the second air-conditioning outdoor unit 30 and the second air-conditioning indoor unit 12 are used for controlling the temperature in the light source room so as to be suitable for personnel to operate equipment in the light source room; the robot 14 is arranged in the middle of the working room close to the tail of the vehicle, the robot electric cabinet 16 is arranged close to the partition plate, the side by side door 31 is arranged at the tail of the working room, the working room is opened during working so that the robot 14 extends out of the mechanical arm, the working room is closed after the working is finished so as to be closed, and foreign matters are prevented from entering the working room to influence the performance of equipment, as shown in figures 1, 2 and 3.
Preferably, the dual-power constant low-speed steel rail laser strengthening vehicle further comprises a constant low-speed control system; as shown in fig. 5, the hardware of the constant low speed control system comprises a rotation speed sensor, a position sensor, a central controller, a current regulator, a pump valve motor and a hydraulic motor; the drive motor of the drive carriage 21 is the hydraulic motor.
The rotation speed sensor and the position sensor are arranged on the driving wheel of the driving trolley 21 and are connected with the central controller in the first container vehicle body 1, and the monitored rotation speed and position information of the wheels are transmitted to the central controller in real time.
The hydraulic station 10 is internally provided with the current regulator and the pump valve motor, the current regulator and the pump valve motor are connected with the central controller positioned in the operation table 8 of the first container body 1, and the current regulator is used for regulating the input current of the hydraulic station 10, so as to regulate the rotating speed of a hydraulic pump therein and realize the control of the circulation speed of oil; the pump valve motor is used for adjusting the channel size of the output and input oil pipes of the hydraulic station 10 so as to realize the flow control of the output and input oil of the hydraulic station; accurate speed control of the hydraulic motor is realized through adjustment of oil speed and flow, constant low speed is provided for the laser strengthening vehicle, good matching of walking of the strengthening vehicle and robot operation is realized, strengthening stability and uniformity are ensured, internal stress generated by uneven rail surface strengthening layers is avoided, and laser strengthening quality of the steel rail is ensured.
The driving trolley 21 is fixed on the bottom plate of the flat car 26 through a support, and the driving trolley 21 is positioned below the bottom plate of the flat car 26 and can ascend and descend under the drive of the hydraulic telescopic cylinder through the guidance of the guide sliding cylinder and the guide column; accurate speed control of the laser diode-reinforced cart is achieved by providing accurate hydraulic actuation by the hydraulic station 10, as shown in fig. 3.
The robot 14 is fixed on the bearing plate of the second container car body 15 through bolts, the robot 14 is provided with a plurality of rotatable joints, the mechanical arm of the robot 14 can realize three-dimensional movement, the end part of the mechanical arm of the robot can be provided with a laser emitting head, a rail image can be acquired in real time through a vision sensor, the posture of the mechanical arm is adjusted according to the image so as to control the laser emitting head to be always aligned with the top surface of the rail, and a laser strengthening path is planned, so that the pertinence and the accuracy of operation are ensured, and the laser strengthening operation of 2 rails can be realized through the rotation of the mechanical arm only by one robot under the control of a central controller in an operation console, as shown in fig. 1 and 2.
As shown in fig. 6, the working method of the dual-power constant low-speed steel rail laser strengthening vehicle comprises the following steps:
(1) Transporting the first container body 1 and the second container body 15 to a working area, and towing the flat car 26 to the working area by a rail car;
(2) Mounting the first container body 1 and the second container body 15 to the pallet 26;
(3) After the laser strengthening vehicle is integrally pulled to a designated operation area by the rail vehicle, the rail vehicle is separated from the laser strengthening vehicle, and the driving trolley 21 of the flat car 26 descends to the position that the driving wheel contacts the rail surface of the steel rail;
(4) The central controller gives a designated speed and position value control instruction to an electrical cabinet 5 beside the hydraulic station 10, and the electrical cabinet 5 converts the instruction into an adjustment amount of the input current of the hydraulic station and an adjustment amount of the opening of a pump valve;
(5) The hydraulic station 10 conveys oil to a driving motor of the driving trolley 21 under the specified current and pump valve opening, adjusts the output of the motor and drives the laser strengthening trolley to run;
(6) The rotation speed sensor on the driving wheel of the driving trolley 21 starts to collect the rotation speed of the wheel and transmits the collected rotation speed information to the central controller;
(7) Comparing the collected speed value with a designated speed value by the central controller, if an error exists, adjusting the speed amount in the control instruction according to the error value, and repeating the steps (4) - (6);
(8) If the speed is compared and has no error, a position sensor on a driving wheel of the driving trolley 21 starts to collect vehicle position information, and the collected position information is transmitted to a central controller;
(9) Comparing the collected position value with a designated position value by the central controller, if the position value has an error, adjusting the position quantity in the control instruction according to the error value, and repeating the steps (4) - (8);
(10) If the position comparison is free from errors, planning a working path by the robot 14 for operation on the second container body 15 according to the received strengthening control command and the strengthening process requirement, starting a rotating mechanical arm, adjusting the posture of the mechanical arm, enabling the carried laser emission head to be aligned with the top surface of the steel rail, and carrying out laser strengthening operation according to the planned path;
(11) After the strengthening operation is completed, the robot 14 rotates the mechanical arm to retract into the operation room of the second container body 15, the split door 31 is closed, and the trolley 21 is driven to rise to the driving wheel to leave the steel rail;
(12) The rail car is connected with a hook on the flat car 26 to pull the laser strengthening car away.
In summary, the present invention has the following significant advantages:
according to the dual-power constant low-speed steel rail laser strengthening vehicle, the generator and the storage battery are arranged in the first container vehicle body, the generator is directly powered during non-strengthening operation, the generator is stopped for power supply by the storage battery during strengthening operation, and the adverse effect of vibration of the internal combustion generator on vehicle speed control and strengthening head shaking is avoided through a dual-power switching power supply mode, so that the laser strengthening quality is improved; the middle part of the flat car is provided with a driving trolley driven by a hydraulic motor, the driving trolley and the wheels of the flat car are provided with a speed sensor and a position sensor, the running speed of the laser strengthening car is monitored in real time, the constant and stable driving speed is provided for laser strengthening through closed loop control, the good matching of the walking of the strengthening car and the operation of a robot is realized, the strengthening stability and uniformity are ensured, the internal stress generated by uneven rail surface strengthening layers is avoided, and the laser strengthening quality of the steel rail is ensured.
The invention relates to a double-power constant low-speed steel rail laser strengthening vehicle, which is characterized in that a driving trolley driven by a hydraulic motor is arranged in the middle of a flat car, speed sensors and position sensors are arranged on the driving trolley and wheels of the flat car, the running speed of the laser strengthening vehicle is monitored in real time, and the aim of providing constant and stable driving speed for laser strengthening is realized through closed loop control.
The double-power constant low-speed steel rail laser strengthening vehicle can monitor the running speed of the laser strengthening vehicle in real time, and realize closed-loop control of the hydraulic motor by adjusting the flow and the flow speed of oil, so that the driving trolley can output constant and stable driving speed, and meanwhile, the internal combustion motor is stopped in the driving process during strengthening operation, thereby greatly reducing mechanical vibration and increasing the stability and the accuracy of speed control.
The double-power constant low-speed steel rail laser strengthening vehicle can simultaneously manufacture and debug the three independent parts of the flat vehicle, the first container vehicle body and the second container vehicle body, only the interfaces which are mutually butted are reserved, the refitting amount of the flat vehicle is small, and the manufacturing period can be greatly shortened.
The dual-power constant low-speed steel rail laser strengthening vehicle is a strengthening vehicle which is driven independently, can be separated, is modularized and is designed in a container mode, is simpler to process and manufacture, is more flexible to transport, is more convenient to debug or maintain, and is higher in system reliability, and better and excellent in low-speed constant and stability.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A dual-power constant low-speed steel rail laser strengthening vehicle is characterized in that: comprises a flat car (26), a first container car body (1) and a second container car body (15), which are mutually independent;
the first container body (1) and the second container body (15) are detachably arranged on the flat car (26); the flat car (26) is used for carrying and running, the first container car body (1) is used for providing energy, and the second container car body (15) is used for strengthening operation;
a generator and a storage battery pack (4) are arranged in the first container body (1); a lifting driving trolley (21) is arranged below the flat car (26) and can ascend and descend under the drive of the hydraulic telescopic cylinder through the guidance of the guide sliding cylinder and the guide column;
the flatbed (26) is a flatbed with an external rail car which is towed to an operation area, and the driving trolley (21) is in a lifting state in the towing process; in the working area, the driving trolley (21) descends to the steel rail; when the laser strengthening vehicle walks in non-strengthening operation, the generator operates to generate electricity to directly provide electric energy for the operation of the whole laser strengthening vehicle including the driving trolley and charge the storage battery; when the laser strengthening vehicle runs during strengthening operation, the generator stops running, and the storage battery pack supplies electric energy for the running of the whole laser strengthening vehicle including the driving trolley;
a hydraulic station (10) is arranged in the second container body (15), and the hydraulic station (10) provides hydraulic power for the lifting and descending of the driving trolley (21) and the driving motor thereof;
the double-power constant low-speed steel rail laser strengthening vehicle further comprises a constant low-speed control system;
the hardware of the constant low-speed control system comprises a rotating speed sensor, a position sensor and a central controller;
the hardware of the constant low-speed control system also comprises a current regulator, a pump valve motor and a hydraulic motor; the driving motor of the driving trolley (21) is the hydraulic motor;
the rotating speed sensor and the position sensor are arranged on a driving wheel of the driving trolley (21) and are connected with the central controller in the first container body (1), and monitored rotating speed and position information of the wheels are transmitted to the central controller in real time;
the hydraulic station (10) is internally provided with the current regulator and the pump valve motor, the current regulator and the pump valve motor are connected with the central controller positioned in the operation table (8) of the first container body (1), and the current regulator is used for regulating the input current of the hydraulic station (10) so as to regulate the rotating speed of the hydraulic pump therein and realize the control of the circulation speed of oil; the pump valve motor is used for adjusting the channel size of the output and input oil pipes of the hydraulic station (10) so as to realize the flow control of the output and input oil of the hydraulic station; accurate speed control of the hydraulic motor is realized through adjustment of oil speed and flow, and constant low speed is provided for the laser strengthening vehicle.
2. The dual-power constant low-speed steel rail laser strengthening vehicle as claimed in claim 1, wherein:
electric interfaces are reserved among the flat car (26), the first container car body (1) and the second container car body (15) are installed and fixed on the flat car (26) through limiting columns (25) and limiting rods (29), and after the installation is finished, the flat car (26), the first container car body (1) and the second container car body (15) are connected through the electric interfaces.
3. The dual-power constant low-speed steel rail laser strengthening vehicle as claimed in claim 1, wherein:
the tail part of the second container body (15) is provided with a robot (14), the robot (14) is provided with a plurality of rotatable joints, a mechanical arm of the robot can realize three-dimensional movement, and the end part of the mechanical arm is provided with a laser emission head.
4. A dual-power constant low-speed rail laser strengthening vehicle as claimed in claim 3, wherein:
the first container body (1) comprises a plurality of compartments including a driving compartment, a power generation compartment, an operation compartment and a cable compartment, the different compartments are divided into independent spaces through partition plates, and the compartments are communicated through vehicle doors (32) arranged on the partition plates;
the second container body (15) comprises a plurality of compartments including a pressure compartment, a light source compartment, a working compartment and a cable compartment, the different compartments are divided into independent spaces through partition plates, and the compartments are communicated through vehicle doors (32) arranged on the partition plates.
5. The dual-power constant low-speed steel rail laser strengthening vehicle of claim 4, wherein:
a driving platform (27) and a driving seat (2) are arranged in the driving cab, so that a driver can observe the track condition in the working process;
a generator, a storage battery pack (4) and an electrical cabinet (5) are arranged in the power generation room, electric energy generated by the generator and the storage battery pack (4) is used for other equipment on the laser strengthening vehicle, and hardware equipment required by generator control is arranged in the electrical cabinet (5);
an operation table (8), a first air-conditioning outdoor unit (22) and a first air-conditioning indoor unit (7) are arranged in the operation room, the operation table (8) is used for sending control instructions for the operation process of the robot (14) and the movement process of a driving trolley (21) of a flat car (26), and the first air-conditioning outdoor unit (22) and the first air-conditioning indoor unit (7) are used for controlling the temperature in the operation room so as to be suitable for personnel to operate equipment in the operation room.
6. The dual-power constant low-speed steel rail laser strengthening vehicle of claim 4, wherein:
the water cooling machine (9), the hydraulic station (10) and the air compressor (20) are distributed in the pressure chamber, wherein the water cooling machine (9) is used for circulating refrigeration when the laser generator (17) works, the hydraulic station (10) provides hydraulic power for the ascending and descending of the driving trolley (21) of the flat car (26) and the driving motor, and the air compressor (20) is used for providing power for air braking of the flat car (26);
a laser generator (17), a second air-conditioning outdoor unit (30) and a second air-conditioning indoor unit (12) are arranged in the light source room, the laser generator (17) is used for generating high-energy laser required by steel rail strengthening operation, and the second air-conditioning outdoor unit (30) and the second air-conditioning indoor unit (12) are used for controlling the temperature in the light source room so as to be suitable for personnel to operate equipment in the light source room;
the robot (14) is arranged near the tail of the operation room, the robot electric cabinet (16) is arranged near the head direction, the side by side door (31) is arranged at the tail of the operation room, the operation room is opened during operation so that the robot (14) stretches out of the mechanical arm, and the operation room is closed after the operation is completed so that the operation room is closed.
7. A method of controlling a dual-power constant low speed rail laser reinforced vehicle as claimed in any one of claims 1 to 6, comprising the steps of:
(1) Transporting the first container body (1) and the second container body (15) to an operation area, and towing the flat car (26) to the operation area through a track car;
(2) Mounting the first pallet body (1) and the second pallet body (15) to a pallet (26);
(3) After the laser strengthening vehicle is integrally pulled to a designated operation area through the track vehicle, the track vehicle is separated from the laser strengthening vehicle, and a driving trolley (21) of the flat car (26) descends to a driving wheel to contact the rail surface of the steel rail;
(4) The central controller gives a control instruction of a designated speed and position value to an electrical cabinet (5) beside the hydraulic station (10), and the electrical cabinet (5) converts the instruction into an adjustment amount of input current of the hydraulic station and an adjustment amount of pump valve opening;
(5) The hydraulic station (10) conveys oil to a driving motor of the driving trolley (21) under specified current and pump valve opening, and adjusts the output of the motor to drive the laser strengthening trolley to run;
(6) A rotation speed sensor on a driving wheel of the driving trolley (21) starts to collect the rotation speed of the wheel and transmits the collected rotation speed information to a central controller;
(7) Comparing the collected speed value with a designated speed value by the central controller, if an error exists, adjusting the speed amount in the control instruction according to the error value, and repeating the steps (4) - (6);
(8) If the speed is compared and has no error, a position sensor on a driving wheel of the driving trolley (21) starts to collect vehicle position information, and the collected position information is transmitted to a central controller;
(9) Comparing the collected position value with a designated position value by the central controller, adjusting the position quantity in the control instruction according to the error value if the error exists, and repeating the steps (4) - (8);
(10) If the position comparison is free from errors, planning a working path by a robot (14) for working on the second container body (15) according to the received strengthening control command and the strengthening process requirement, starting a rotating mechanical arm, adjusting the posture of the mechanical arm, enabling a carried laser emission head to be aligned with the top surface of a steel rail, and carrying out laser strengthening operation according to the planned path;
(11) After the strengthening operation is finished, the robot (14) rotates the mechanical arm to retract into the operation room of the second container body (15), and the driving trolley (21) is driven to rise to the driving wheel to leave the steel rail;
(12) And the rail car is connected with a hook on the flat car (26) to pull the laser strengthening car to leave.
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| CN201911096077.2A CN110843804B (en) | 2019-11-11 | 2019-11-11 | Dual-power constant low-speed steel rail laser strengthening vehicle and control method thereof |
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