CN112124350A - Stabilizing wheel guiding device for rail operation vehicle and control method thereof - Google Patents
Stabilizing wheel guiding device for rail operation vehicle and control method thereof Download PDFInfo
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- CN112124350A CN112124350A CN202011037715.6A CN202011037715A CN112124350A CN 112124350 A CN112124350 A CN 112124350A CN 202011037715 A CN202011037715 A CN 202011037715A CN 112124350 A CN112124350 A CN 112124350A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
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Abstract
The invention discloses a stable wheel guiding device for a rail working vehicle and a control method thereof. The stabilizing wheel guide device comprises an electric telescopic assembly, a connecting assembly and a guide component which are arranged on the body of the working vehicle; the electric telescopic assembly comprises a piston which is controlled to be telescopic by a controller; the telescopic end of the piston is connected with one end of the connecting component, and the other end of the connecting component is provided with the guide component. The guide device can ensure that the operation vehicle can normally run on the track.
Description
Technical Field
The invention relates to a stable wheel guiding device for a rail operation vehicle and a control method thereof, belonging to the field of operation vehicles.
Background
At present, in the process of erecting and daily using a single rail, an operation vehicle related to the single rail needs to be equipped, and the operation vehicle is used for constructing, inspecting and rescuing the straddle type single rail.
In the related art, when the work vehicle runs on the rail, the guide device of the work vehicle comes into contact with the side wall of the rail, thereby serving for the guidance of the work vehicle. However, because some of the side walls of the rails are provided with the tools or the equipment, when the working vehicle runs, the tools or the equipment can block the guide device from passing through, so that the working vehicle cannot run normally on the rails.
The related prior art: the invention discloses an automatic operation vehicle based on a groove single rail in a greenhouse and a control method thereof (IPC classification number is G05B 19/042) disclosed in Chinese invention patent CN 105467892B.
Disclosure of Invention
The invention aims to provide a stable wheel guiding device for a rail working vehicle and a control method thereof, wherein the guiding device can ensure that the working vehicle can normally run on a rail.
In order to achieve the purpose, the invention adopts the technical scheme that:
a steady wheel guiding device for a rail working vehicle and a control method thereof are structurally characterized by comprising an electric telescopic assembly, a connecting assembly and a guiding component which are arranged on a working vehicle body;
the electric telescopic assembly comprises a piston which is controlled to be telescopic by a controller; the telescopic end of the piston is connected with one end of the connecting component, and the other end of the connecting component is provided with the guide component;
the connecting assembly comprises a connecting rod, a force sensor, a first sliding part and a second sliding part arranged on the body of the working vehicle; one end of the force sensor is connected with the other end of the connecting rod, the other end of the force sensor is connected with one end of the first sliding component, and the other end of the first sliding component is connected with the guide component; a slide way is arranged in the second sliding part, the first sliding part is embedded in the slide way, and the slide way guides the first sliding part;
the guide component comprises a vibration reduction assembly, a rotating shaft and a guide wheel arranged on the rotating shaft; the vibration reduction assembly is connected with the first sliding component, and the upper end and the lower end of the rotating shaft are both connected with the vibration reduction assembly;
the force sensor is used for converting the sensed stress condition into a digital signal and sending the digital signal to the controller of the monorail operation vehicle, and the controller drives the piston of the electric telescopic assembly to move according to the stress condition of the force sensor, so that the guide wheel can closely cling to the inner side wall of the track to walk in normal work.
Therefore, the electric telescopic assembly, the force sensor and the guide component ensure that the electric telescopic assembly drives the guide component to move in the direction departing from the track when the working vehicle moves to the obstacle, so as to avoid the obstacle; after the operation car passes through the barrier, electronic flexible subassembly drive guide part is to being close to orbital motion, until guide part and orbital lateral wall contact, simple structure, convenient operation.
According to the embodiment of the invention, the invention can be further optimized, and the following is the technical scheme formed after optimization:
in one preferred embodiment, at least two guide devices are arranged on the left side and the right side of the work vehicle body, and the guide wheels of the guide devices on the corresponding sides run on the inner wall surfaces of the rails on the corresponding sides.
The quantity of guider is six, and every side of operation car automobile body sets up three guider, and wherein two guider that operation car automobile body both sides set up relatively are a set of.
The vibration reduction assembly comprises a first bracket, a second bracket and an elastic piece; the first support is connected with the connecting assembly, and the second support is connected with the rotating shaft; one end of the elastic part is connected with the first support, and the other end of the elastic part is connected with the second support. Preferably, the elastic member is a spring.
Based on the same inventive concept, the invention also provides a control method of the stabilizing wheel guide device for the rail working vehicle, which comprises the following steps:
the operation vehicle runs on the track, the guide component can move across the barrier on the track while providing guide for the monorail operation vehicle; when the working vehicle moves to the position of the barrier, the electric telescopic assembly drives the guide component to move in the direction departing from the track so as to avoid the barrier; when the operation vehicle passes through the barrier, the electric telescopic assembly drives the guide part to move towards the track until the guide part is contacted with the side wall of the track.
When the stress of the force sensor is reduced to a preset value, the controller drives the piston to move towards the inner wall surface of the track, and further the pressure between the guide wheel and the track is increased; when the stress of the force sensor is increased to a preset value, the controller drives the piston to move towards the direction far away from the inner wall surface of the track, and then the pressure between the guide wheel and the track is reduced.
Compared with the prior art, the invention has the beneficial effects that:
1. the guide device can ensure that the operation vehicle can normally run on the track and can automatically cross when encountering obstacles, thereby greatly improving the working efficiency of the operation vehicle.
2. When the construction operation of the operation vehicle is ensured to be obstructed, the guide wheels are folded, and other guide wheels can continue to keep the guiding function, so that the safety of the operation of the whole vehicle is ensured.
3. The side wall of the rail is guaranteed to be provided with a tool or equipment which does not move, multi-working-condition operation of the rail operation vehicle and the tool or equipment is achieved, and mutual interference and influence are avoided.
Drawings
FIG. 1 is a schematic block diagram of one embodiment of the present invention;
fig. 2 is a partially enlarged view of the guide member 3.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
A stabilizer guide device for a rail working vehicle is installed on the left and right sides of a vehicle body, as shown in FIG. 1, and includes an electric telescopic assembly 1, a connection assembly 2, and a guide member 3. The electric telescopic assembly 1 is connected with the vehicle body, and the electric telescopic assembly 1 comprises a piston 12. One end of the connecting assembly 2 is connected to the piston 12. The guide member 3 is connected to the other end of the connecting assembly 2.
The electric telescopic assembly 1 comprises a piston 12, and the piston 12 can reciprocate and further drive the guide component 3 to move through the connecting assembly 2. The monorail operation vehicle runs on the track 4, and the guide component 3 can move across obstacles on the track 4 while providing guidance for the monorail operation vehicle by the guide component 3. The single track operation car moves to barrier department, electronic flexible subassembly 1 drives the direction motion of guide part 3 to deviating from track 4, and then avoids the barrier, pass through the barrier at the operation car after, electronic flexible subassembly 1 redrives guide part 3 and moves to track 4, until guide part 3 and track 4's lateral wall contact, and then for the single track operation car direction, and then make the single track operation car can be smooth pass through the barrier, avoid the barrier to stride the operation process production influence of a formula single track operation car. The obstacle is usually an auxiliary tool arranged at the seam of the rail 4.
According to the scheme of the embodiment, the number of the guide devices is preferably six, three guide devices are arranged on each side of the vehicle body, two guide devices oppositely arranged on two sides of the vehicle body are in a group, three guide devices are formed in total, after the guide devices meet an obstacle, one group of guide devices meeting the obstacle retracts, the other two groups of guide devices provide a guide effect for the monorail operation vehicle, and after the monorail operation vehicle passes over the obstacle, the retracted guide devices extend again.
When the monorail operation vehicle does not meet the obstacle, the middle group of guide devices retracts, and the front group of guide devices and the rear group of guide devices are in contact with the track 4 to guide the monorail operation vehicle.
The linkage assembly 2 includes a linkage 22, a force sensor 24, a first slide member 26 and a second slide member 28. One end of the force sensor 24 is connected to the other end of the link 22. One end of the first slide member 26 is connected to the other end of the force sensor 24, and the other end of the first slide member 26 is connected to the guide member 3. The second sliding member 28 is connected to the vehicle body, the second sliding member 28 is provided with a slide way, the first sliding member 26 is embedded in the slide way, and the first sliding member 26 can slide along the slide way relative to the second sliding member 28 to guide the first sliding member 26, so that the movement of the guide member 3 has an accurate track, and the guide member 3 can be ensured to be accurately and timely away from or close to the track 4.
The linkage assembly is provided with a force transducer 24 in communication with a controller, the force transducer 24 sensing pressure of the guide wheel against the track, the controller being arranged to control the telescopic movement of the piston. When the monorail operation vehicle is in the process of operation, because the mounted position between two single tracks has the error, make the interval between two single tracks change along with the operation of monorail operation vehicle, force sensor 24's atress also changes along with the change of the interval between two single tracks, force sensor 24 converts the atress condition of feeling into digital signal and sends the controller of monorail operation vehicle, and then make the controller drive the piston 12 motion of electronic flexible subassembly 1 according to force sensor 24's atress condition, make leading wheel 36 and stride a formula single track and closely laminate, ensure that guider possesses sufficient guiding force, and then ensured that stride a formula single track operation vehicle and can continuous stable operation on track 4. In this embodiment, the force sensor 24 is used to communicate with a controller, and the controller can use the prior art to control the piston to extend and retract. In addition, the controller automatically controls the obstacle avoidance algorithm and can also adopt the prior art.
Specifically, when the force applied by the force sensor 24 is reduced to a preset value, the controller drives the piston towards the monorail, thereby increasing the pressure between the guide wheels 36 and the rail. When the force applied by the force sensor 24 increases to a predetermined value, the controller drives the piston in a direction away from the straddle monorail, thereby reducing the pressure between the guide wheels 36 and the rail. The preset value is an empirical value. The preset pressure value between the guide wheel and the rail can be obtained by testing and verifying and combining theoretical calculation and correction.
The second sliding part 28 is arranged as a sleeve, the force sensor 24 is arranged in the sleeve, the sleeve plays a role in protecting the force sensor 24, the force sensor 24 is prevented from being damaged due to external force impact in the operation process of the straddle type monorail operation vehicle, the pollution to the force sensor 24 caused by dust in the operation process can be reduced, and the service life of the force sensor 24 is prolonged.
As shown in fig. 2, the guide member 3 includes a damper assembly 32, a rotary shaft 34, and a guide wheel 36. The damping assembly 32 is connected to the connection assembly 2. The shaft 34 is connected at both ends to the damper assembly 32. The guide wheel 36 is sleeved on the rotating shaft 34. The guide part 3 is provided with the guide wheel 36, and in the process of the operation of the straddle type monorail operation vehicle, the guide wheel 36 is in contact with the track 4, so that the friction force between the guide part 3 and the track 4 is reduced, and the vibration in the process of the operation of the straddle type monorail operation vehicle is further reduced. And through setting up damping assembly 32, further reduced the vibration of the in-process that strides a formula monorail operation car and met the impact that receives behind the barrier to guide part 3 for striding a formula monorail operation car and running more steadily, promoted the stability that strides a formula monorail operation car and run.
As shown in fig. 2, the damping assembly 32 includes a first bracket 322, a second bracket 326, and an elastic member 324. The first bracket 322 is connected to the connecting assembly 2. The second bracket 326 is coupled to the shaft 34. The elastic member 324 has one end connected to the first bracket 322 and the other end connected to the second bracket 326. The first bracket 322 and the second bracket 326 are connected by the elastic member 324, which effectively improves the damping effect of the damping assembly 32. Especially when the guide device meets an obstacle, the impact of the obstacle on the vehicle body can be effectively reduced. The resilient member 324 is typically a spring.
The above-described embodiments are set forth so that this disclosure will be thorough and complete, and will not be limited by any theory presented in the preceding claims, which may suggest themselves to those skilled in the art after reading this disclosure and all equivalents thereof that fall within the scope of the invention as defined in the claims appended hereto.
Claims (7)
1. A stable wheel guiding device for a rail working vehicle is characterized by comprising an electric telescopic assembly (1), a connecting assembly (2) and a guiding component (3), wherein the electric telescopic assembly is arranged on a vehicle body of the working vehicle;
the electric telescopic assembly (1) comprises a piston (12) which is controlled to be telescopic by a controller; the telescopic end of the piston (12) is connected with one end of the connecting component (2), and the other end of the connecting component (2) is provided with the guide component (3);
the connecting assembly (2) comprises a connecting rod (22), a force sensor (24), a first sliding part (26) and a second sliding part (28) arranged on the body of the working vehicle; one end of the force sensor (24) is connected with the other end of the connecting rod (22), the other end of the force sensor (24) is connected with one end of the first sliding component (26), and the other end of the first sliding component (26) is connected with the guide component (3); a slide way is arranged in the second sliding part (28), the first sliding part (26) is embedded in the slide way, and the slide way guides the first sliding part (26);
the guide component (3) comprises a vibration damping assembly (32), a rotating shaft (34) and a guide wheel (36) arranged on the rotating shaft (34); the vibration damping assembly (32) is connected with the first sliding component (26), and the upper end and the lower end of the rotating shaft (34) are both connected with the vibration damping assembly (32);
the force sensor (24) is used for converting the sensed stress condition into a digital signal and sending the digital signal to a controller of the monorail operation vehicle, and the controller drives the piston (12) of the electric telescopic assembly (1) to move according to the stress condition of the force sensor (24), so that the guide wheel (36) is tightly attached to the inner side wall of the track to walk when in normal operation.
2. A stabilizer wheel guide device for a rail working vehicle according to claim 1, wherein at least two guide devices are provided on each of the left and right sides of the vehicle body of the working vehicle, and the guide wheels of the guide device on the corresponding side run on the inner wall surface of the rail on the corresponding side.
3. A stabilising wheel guide for a track-type work vehicle according to claim 1, wherein the number of guides is six and three guides are provided on each side of the vehicle body, wherein two guides are provided in a set, opposite each other on either side of the vehicle body.
4. A stabilising wheel guide arrangement for a rail working vehicle according to claim 1, wherein the vibration damping assembly (32) comprises a first bracket (322), a second bracket (326) and a resilient member (324); the first support (322) is connected with the connecting component (2), and the second support (326) is connected with the rotating shaft (34); one end of the elastic piece (324) is connected with the first bracket (322), and the other end of the elastic piece (324) is connected with the second bracket (326).
5. A stabilising wheel guide for a rail working vehicle according to claim 4, wherein the resilient member (324) is a spring.
6. A method of controlling a stabilising wheel guide for a track-working vehicle according to any one of claims 1 to 5, comprising the steps of:
the operation vehicle runs on the track (4), the guide part (3) provides guidance for the monorail operation vehicle, and meanwhile the guide part (3) can move across the barrier on the track (4);
when the working vehicle moves to an obstacle, the electric telescopic assembly (1) drives the guide component (3) to move towards a direction departing from the track (4) so as to avoid the obstacle;
after the operation vehicle passes through the obstacle, the electric telescopic assembly (1) drives the guide part (3) to move towards the track (4) until the guide part (3) is contacted with the side wall of the track (4).
7. The control method according to claim 6, characterized in that:
when the stress of the force sensor (24) is reduced to a preset value, the controller drives the piston (12) to move towards the inner wall surface of the track, and further the pressure between the guide wheel (36) and the track is increased;
when the stress of the force sensor (24) is increased to a preset value, the controller drives the piston (12) to move in the direction away from the inner wall surface of the track, and then the pressure between the guide wheel (36) and the track is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011037715.6A CN112124350A (en) | 2020-09-28 | 2020-09-28 | Stabilizing wheel guiding device for rail operation vehicle and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011037715.6A CN112124350A (en) | 2020-09-28 | 2020-09-28 | Stabilizing wheel guiding device for rail operation vehicle and control method thereof |
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| CN112124350A true CN112124350A (en) | 2020-12-25 |
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| CN202011037715.6A Pending CN112124350A (en) | 2020-09-28 | 2020-09-28 | Stabilizing wheel guiding device for rail operation vehicle and control method thereof |
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| CN108394311A (en) * | 2018-01-22 | 2018-08-14 | 武汉理工大学 | A kind of guider of vacuum line magnetic suspension train |
| CN209051435U (en) * | 2018-11-23 | 2019-07-02 | 西安交通工程学院 | A kind of slip electric rail travelling bogie |
| CN110155107A (en) * | 2019-05-29 | 2019-08-23 | 中国铁建重工集团股份有限公司 | Bogie and single track Operation Van |
| CN210122116U (en) * | 2019-05-29 | 2020-03-03 | 中国铁建重工集团股份有限公司 | Bogie and monorail operation vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130099469A (en) * | 2012-02-29 | 2013-09-06 | 주식회사 우진산전 | Shock absorbing apparatus for guide wheel of light electric motor car |
| CN203581160U (en) * | 2013-12-09 | 2014-05-07 | 中联重科股份有限公司 | Crawler tensioning device and excavator with same |
| CN104554326A (en) * | 2014-12-25 | 2015-04-29 | 太原轨道交通装备有限责任公司 | Straddle type single track working vehicle bogie |
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Application publication date: 20201225 |
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