CN113682144B - Full-automatic pantograph lifting and closing main and off control method and system for train and railway vehicle - Google Patents
Full-automatic pantograph lifting and closing main and off control method and system for train and railway vehicle Download PDFInfo
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- CN113682144B CN113682144B CN202111050032.9A CN202111050032A CN113682144B CN 113682144 B CN113682144 B CN 113682144B CN 202111050032 A CN202111050032 A CN 202111050032A CN 113682144 B CN113682144 B CN 113682144B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
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Abstract
The invention discloses a full-automatic pantograph lifting and closing master-slave control method and system for a train and a rail vehicle, wherein the method comprises the following steps: acquiring the total air reservoir pressure and the auxiliary air reservoir pressure; when the total air cylinder pressure is not lower than a set value A, the pantograph is controlled to be lifted, and the main circuit breaker is controlled to be closed; when the pressure of the main air cylinder is lower than a set value A and the pressure of the auxiliary air cylinder is not lower than a set value B, controlling the action of a pantograph control circuit and a main circuit breaker control circuit; when the total air cylinder pressure is lower than a set value A and the auxiliary air cylinder pressure is higher than a set value C and lower than a set value B, controlling the auxiliary air compressor to start, controlling the pantograph to lift, and when the value B is reached, controlling the auxiliary air compressor to stop controlling the main circuit breaker to close; when the total air cylinder pressure is lower than a set value A and the auxiliary air cylinder pressure is not greater than a set value C, the auxiliary air compressor is controlled to act by a circuit, and when the auxiliary air cylinder pressure reaches a set value B, the auxiliary air compressor is controlled to stop, so that the pantograph is controlled to rise, and the main circuit breaker is controlled to close.
Description
Technical Field
The invention relates to a full-automatic pantograph lifting and closing master-slave control method and system for a train and a rail vehicle.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid development of national economy, rail transit is also developed vigorously, becomes one of effective passenger transport tools, and becomes an important transportation mode for daily travel. The train quantity is more and more, and daily maintenance work load increases, and the train is reorganized and outfit the burden and is increased, if operate improperly, can lead to the pantograph to cross the problem such as arc serious and main circuit breaker can't close because of the wind pressure is low, and repetitive operation delays departure time, influences the operation order.
In the patent with the application number of 201910707006.5, a pantograph lifting control method and a pantograph lifting control system are disclosed, which comprise an automatic control mode and a manual control mode, and specifically, whether a vehicle is in an automatic driving mode or not is judged; if so, generating a pantograph lifting control instruction signal by adopting an automatic control mode; if not, generating a pantograph lifting control instruction signal by adopting a manual control mode; the automatic control mode comprises a full-automatic unmanned control mode, and in the automatic control mode, when the train is in an awakening working condition, a vehicle pantograph rising permission signal is generated according to the air pressure of a main air pipe of a vehicle pantograph; the method of generating the pantograph permission signal further comprises: if the air pressure meets the pantograph lifting condition, automatically generating a pantograph lifting control command signal; if the air pressure does not meet the pantograph lifting condition, outputting a hard wire emergency pantograph lifting control instruction signal to control the pantograph air pump to be opened, and automatically generating a pantograph lifting control instruction signal until the air pressure meets the pantograph lifting condition. However, according to the judgment method, non-real-time judgment is carried out, wind pressure is consumed in the pantograph lifting process, when the wind pressure does not meet the requirement of pantograph lifting position, the problem of serious arc pulling can occur, and the pantograph and a power grid are damaged; the power supply is only suitable for power supply input of a direct-current power supply subway train, has a narrow application range, is not suitable for 25kv power supply trains such as urban trains, intercity motor train units, motor train units and high-speed trains, and is also not suitable for power supply input of higher voltage grades.
Disclosure of Invention
Aiming at the defects in the prior art, the first purpose of the invention is to provide a full-automatic bow-lifting and closing master-breaking control method for a train, the second purpose is to provide a full-automatic bow-lifting and closing master-breaking control system for the train, and the third purpose is to provide a rail vehicle comprising the full-automatic bow-lifting and closing master-breaking control system for the train; the method and the system provided by the invention can safely, accurately, efficiently and fully automatically complete the necessary conditions before the train is dispatched without human intervention.
In order to realize the purpose, the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a full-automatic pantograph lifting and closing master-slave control method for a train, including the following steps:
obtaining total air reservoir pressure F General assembly Auxiliary reservoir pressure F Auxiliary device ；
When F is present General assembly When the current collector is not less than a set value A, the pantograph is controlled to be lifted and the main circuit breaker is controlled to be closed;
when F is present General assembly < setting A, and F Auxiliary device When the current is more than or equal to a set value B, controlling the current receivingThe bow control circuit and the main breaker control circuit act;
when F is present General assembly < set point A, and set point C < F Auxiliary device When the current is less than the set value B, the auxiliary air compressor is started, and the pantograph rises at the same time, when the current is F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when F is present General assembly < setting A, and F Auxiliary device When the air pressure is less than or equal to the set value C, the auxiliary air compressor is started, and when the air pressure is less than or equal to the set value F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the pantograph is controlled to lift and the main circuit breaker is controlled to close;
wherein: the set value A is smaller than the set value B; the set value C is less than the set value B
In a second aspect, the embodiment of the invention also provides a full-automatic pantograph lifting and closing main and off judging system for a train, which comprises a pressure sensor and a control module;
the pressure sensor is configured to acquire the total air cylinder pressure F General assembly And auxiliary reservoir pressure F Auxiliary device ；
The control module is configured to judge the total air cylinder pressure F General assembly And auxiliary reservoir pressure F Auxiliary device The relation between the two is judged correspondingly;
when F is present General assembly When the current collector is not less than a set value A, the pantograph is controlled to be lifted and the main circuit breaker is controlled to be closed;
when F is General assembly < setting A, and F Auxiliary device When the current is larger than or equal to a set value B, the actions of a pantograph control circuit and a main circuit breaker control circuit are controlled;
when F is General assembly A set value A and a set value C < F Auxiliary device When the current is less than a set value B, the auxiliary air compressor is started, and simultaneously the pantograph rises, and when the current is F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when F is General assembly < a set value A, and F Auxiliary device When the air pressure is less than or equal to the set value C, the auxiliary air compressor is started, and when the air pressure is less than or equal to the set value F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the pantograph is controlled to lift and the main circuit breaker is controlled to close;
wherein: the set value A is less than the set value B; the set value C is smaller than the set value B.
In a third aspect, the invention further provides a rail vehicle, which comprises the fully-automatic train bow lifting and closing master-and-break judging system.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
1. compared with the prior art, the invention is not only suitable for low-voltage and direct-current power supply trains, but also more suitable for trains powered by 25kv, such as city trains, intercity motor train units, high-speed trains and the like; the train has no energy source only when the pantograph is lifted, the main circuit breaker cannot be closed due to wind pressure consumption of the pantograph lifting, the train cannot be supplied with power, and the train has the energy source only after the pantograph lifting and the main circuit breaker are closed; therefore, the invention solves the problem that the wind pressure cannot meet the requirement of closing the main circuit breaker due to the wind pressure consumption in the pantograph lifting process.
2. The invention judges the whole process before lifting the bow, during lifting the bow and before closing the main breaker in real time, and solves the problem of arc discharge caused by insufficient wind pressure in the process of lifting the bow in the prior art.
3. The invention can also be applied to the power supply input with higher voltage level, can be applied to all vehicle types and the high voltage power supply input outside rail transit, and has wider application range and more comprehensive application technology.
4. The system and the method provided by the invention can safely, accurately, efficiently and fully automatically complete the necessary conditions before train departure without human intervention; the problems of manual control, complexity, repeated operation, serious pantograph arcing and the like are avoided, the train servicing efficiency is improved, the burden of a driver is reduced, the problems that the pantograph cannot be lifted due to low wind pressure and a main circuit breaker is closed are avoided, and the ordered operation order of vehicle sections is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a block diagram of a full-automatic pantograph-ascending and closing master-break control method of a train according to an embodiment of the present invention
Fig. 2 is a main circuit breaker control circuit of a full-automatic pantograph-ascending and closing main circuit breaking control method for a train according to an embodiment of the invention;
fig. 3 is a pantograph control circuit of a full-automatic pantograph-ascending and closing main-breaking control method for a train according to an embodiment of the invention;
fig. 4 is a control circuit of an auxiliary air compressor according to a full-automatic pantograph lifting and closing main-breaking control method for a train according to an embodiment of the present invention.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
as described in the background art, the deficiencies in the prior art are overcome, and in order to solve the technical problems, the invention provides a full-automatic pantograph lifting and closing main and break control method and system for a train.
Example 1
In a typical embodiment of the present invention, as shown in fig. 1, the present invention provides a full-automatic pantograph lifting and closing main and break control method for a train, wherein pressure F of a lump air cylinder is collected by a pressure sensor General assembly Auxiliary reservoir pressure F Auxiliary device And the information is transmitted to the MCU control module through the data acquisition module, the MCU control module performs logic judgment to control the actions of the auxiliary air compressor, the pantograph control circuit and the main circuit breaker control circuit, and the full-automatic pantograph lifting and closing and main breaking of the train are realizedA road device.
The main air reservoir is mainly used for providing train main air for a train; the auxiliary air cylinder is mainly used for providing train auxiliary air for the train; the pressure sensor is used for detecting the pressure of the main air cylinder and the auxiliary air cylinder; and the data acquisition module is used for acquiring the pressure values of the total air reservoir and the auxiliary air reservoir acquired by the pressure sensor.
Furthermore, after the data acquisition module acquires the pressure value information of the main air reservoir and the auxiliary air reservoir acquired by the pressure sensor, the pressure value information is uploaded to the MCU control module; the MCU control module judges the total wind pressure and the auxiliary wind pressure value of the train, performs logic judgment, and sends action instructions to the auxiliary wind pressure control circuit, the pantograph control circuit and the main breaker control circuit, and the specific control method is as follows:
the MCU control module judges the total air cylinder pressure F General assembly When the current is not lower than the set value A (namely is more than or equal to the set value A), the pantograph control circuit and the main circuit breaker control circuit are directly controlled to act; namely, the pantograph control circuit controls the pantograph to rise, and the main breaker control circuit controls the main breaker to close.
The MCU control module judges the total air cylinder pressure F General assembly When the pressure of the auxiliary air cylinder is lower than a set value A and is not lower than a set value B (namely, the pressure is more than or equal to the set value B), the pantograph control circuit and the main circuit breaker control circuit are controlled to act;
when the total air reservoir pressure F General (1) Is lower than the set value A and assists the pressure F of the air cylinder Auxiliary device When the pressure is greater than the set value C and less than the set value B, the auxiliary air compressor controls the circuit to act, the auxiliary air compressor is started, the control module controls the pantograph to lift, and when the pressure of the auxiliary air cylinder F is less than the set value B, the control module controls the pantograph to lift Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when the total air reservoir pressure F General assembly Is lower than the set value A and assists the pressure F of the air reservoir Auxiliary device When the pressure is not more than the set value C (namely is less than or equal to the set value C), the control circuit of the auxiliary air compressor is operated, the auxiliary air compressor is started, and when the pressure F of the auxiliary air cylinder is less than or equal to the set value C Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the control module controls the power receivingThe bow rises and the main breaker closes.
The following steps: the set value A is smaller than the set value B; the set value C is smaller than the set value B.
As shown in fig. 2, the main circuit breaker control circuit disclosed in this embodiment drives a relay through an MCU control module to control the on/off of the main circuit breaker; the specific circuit comprises an MCU control module, a relay KALCBO coil and a KALCBO normally closed point are respectively driven by a diode, so that the main circuit breaker is controlled to be switched off; the MCU control module drives a relay KALCBC coil through a diode respectively, and the KALCBC normally-open point further controls the closing of the main breaker. After the KALCBO normally closed point and the KALCBC normally open point are connected in series, the electromagnetic valve of the main breaker is controlled, and then the main breaker is controlled. The MCU controls the module to output redundantly, and reliable output is guaranteed.
As shown in fig. 3, the pantograph control circuit disclosed in this embodiment drives a relay through an MCU control module to control the pantograph to rise or fall; the specific circuit comprises an MCU control module, a relay KAPanD coil and a normally closed point, wherein the MCU control module drives the relay KAPanD coil through a diode respectively, and then the pantograph is controlled to fall; the MCU control module drives a relay KAPanU coil through a diode respectively, and the KAPanU normally opens to control the pantograph to rise. The KAPanD normally closed point and the KAPanU normally open point are connected in series and then control the electromagnetic valve of the pantograph, and further control the pantograph. The MCU controls the module to output redundantly, and reliable output is guaranteed.
As shown in fig. 4, the auxiliary air compressor control circuit disclosed in this embodiment drives the relay through the MCU control module to control the auxiliary air compressor to operate or stop; the specific circuit comprises an MCU control module, a relay KAOACP coil and a KAOACP normally-closed point are respectively driven by a diode, and then the auxiliary wind pressure machine is controlled to stop; the MCU control module respectively drives the KACACP coil of the relay through the diode, and the KACACP normally-open point further controls the auxiliary wind pressure machine to start. After the KAOACP normally closed point and the KACACP normally open point are connected in series, the auxiliary wind pressure machine contactor is controlled, and then the auxiliary wind pressure machine is controlled. The MCU controls the module to output redundantly, and reliable output is guaranteed.
Example 2
The embodiment mainly discloses a system related to a full-automatic pantograph lifting and closing main-breaking control method of a train, which mainly comprises a main air cylinder, a main air pressure sensor, an auxiliary air cylinder, an auxiliary air pressure sensor, a data acquisition module, an MCU (microprogrammed control unit) control module, a main circuit breaker control circuit, a pantograph control circuit and an auxiliary air pressure control circuit. According to the invention, the pressure of the main air reservoir and the pressure of the auxiliary air reservoir are collected by the pressure sensor, the information is transmitted to the MCU control module through the data collection module, the MCU control module performs logic judgment to control the actions of the auxiliary air compressor, the pantograph control circuit and the main circuit breaker control circuit, and the full-automatic pantograph lifting and main circuit breaker closing of the train are realized.
Further, the main circuit breaker control circuit, the pantograph control circuit, and the auxiliary air compressor control circuit in this embodiment are completely the same as those in embodiment 1, and are not described herein again.
Further, the logic determination process of the MCU control module in this embodiment is the same as that of embodiment 1, and the specific MCU control module determines the total reservoir pressure F General assembly When the current is not lower than the set value A, the actions of the pantograph control circuit and the main circuit breaker control circuit are directly controlled; namely, the pantograph control circuit controls the pantograph to rise, and the main breaker control circuit controls the main breaker to close.
The MCU control module judges the total air cylinder pressure F General assembly When the pressure of the auxiliary air cylinder is lower than a set value A and is not lower than a set value B (namely, the pressure is more than or equal to the set value B), the pantograph control circuit and the main circuit breaker control circuit are controlled to act;
when the total air reservoir pressure F General (1) Is lower than the set value A and assists the pressure F of the air cylinder Auxiliary device When the current is greater than the set value C and less than the set value B, the auxiliary air compressor control circuit acts to control the auxiliary air compressor to be started, and meanwhile, the control module controls the pantograph to rise, when the current is F Auxiliary device When the value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when the total reservoir pressure F General assembly Is lower than the set value A and assists the pressure F of the air reservoir Auxiliary device When the pressure is not more than the set value C (namely is less than or equal to the set value C), the control circuit of the auxiliary air compressor is operated to control the auxiliary air compressor to be started, and when the pressure F of the auxiliary air cylinder is less than or equal to the set value C Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the control module controls the pantograph to be lifted and the main circuit breaker to be closed.
The set value A is smaller than the set value B; the set value C is smaller than the set value B.
The full-automatic bow lifting and closing master-and-break control system and method for the train, disclosed by the two embodiments, have the advantages that the necessary conditions before the train is dispatched are safely, accurately, efficiently and fully automatically completed without human intervention, the problems of manual control, complexity, repeated operation, serious arcing of the pantograph and the like are avoided, the train servicing efficiency is improved, the burden of a driver is reduced, the problems that the bow cannot be lifted due to low air pressure and the circuit breaker is closed are avoided, and the ordered operation order of the train section is ensured.
Further, the embodiment also provides a railway vehicle, and the railway vehicle comprises the fully-automatic pantograph lifting and closing control system for the train. The rail vehicle is provided with the full-automatic pantograph lifting and closing main and off control system of the train. The rail vehicle thus likewise has all the advantages described above. In some embodiments, the rail vehicle provided by the present invention may be any suitable type of vehicle, such as a fast train, a bullet train, a subway vehicle, a metro vehicle, etc., and the present invention is not limited to a certain type or types of rail vehicles.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A full-automatic bow-lifting and closing master-and-slave control method for a train is characterized by comprising the following steps:
obtaining total air reservoir pressure F General (1) Auxiliary reservoir pressure F Auxiliary device ；
When F is present General assembly When the current collector is not less than a set value A, the pantograph is controlled to be lifted and the main circuit breaker is controlled to be closed;
when F is present General assembly < setting A, and F Auxiliary device When the current is larger than or equal to a set value B, controlling the pantograph control circuit and the main circuit breaker control circuit to act;
when F is General assembly < set point A, and set point C < F Auxiliary device When the current is less than the set value B, the auxiliary air compressor is controlled to start, and the pantograph rises at the same time, when the current is F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when F is General assembly < setting A, and F Auxiliary device When the air pressure is less than or equal to a set value C, the auxiliary air compressor is controlled to start, and when F is less than or equal to the set value C, the auxiliary air compressor is controlled to start Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, the pantograph is controlled to rise, and the main circuit breaker is controlled to close;
wherein: the set value A is smaller than the set value B; the set value C is smaller than the set value B;
main circuit breaker control circuit link to each other with control module, control module passes through the closure or the disconnection of main circuit breaker control circuit control main circuit breaker, concrete circuit includes:
the MCU control module respectively drives a KALCBO coil of the relay through a diode, and a KALCBO normally-closed point further controls the main breaker to be disconnected; the MCU control module drives a relay KALCBC coil through a diode respectively, a KALCBC normally-open point controls the closing of the main circuit breaker, a KALCBO normally-closed point is connected with the KALCBC normally-open point in series and then controls the electromagnetic valve of the main circuit breaker, and the MCU control module controls the redundant output.
2. The full-automatic pantograph lifting, closing, main breaking control method of the train as claimed in claim 1, wherein the total air cylinder pressure is collected by a first pressure sensor.
3. The full-automatic pantograph lifting and closing master-and-slave control method of the train as claimed in claim 1, wherein the pressure of the auxiliary air cylinder is collected by a second pressure sensor.
4. A full-automatic bow rising and closing main and off judgment system of a train is characterized by comprising a pressure sensor and a control module, wherein the pressure sensor is connected with the control module;
the pressure sensor is configured to acquire the total wind cylinder pressure F General assembly And auxiliary reservoir pressure F Auxiliary device ；
The control module is configured to acquire the total air cylinder pressure F General assembly Auxiliary reservoir pressure F Auxiliary device When F is General assembly When the current is larger than or equal to a set value A, controlling the pantograph to rise and the main breaker to close;
when F is present General assembly < setting A, and F Auxiliary device When the current is larger than or equal to a set value B, the actions of a pantograph control circuit and a main circuit breaker control circuit are controlled;
when F is General assembly < set point A, and set point C < F Auxiliary device When the current is less than the set value B, the auxiliary air compressor is controlled to start, and the pantograph rises at the same time, when the current is F Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, and the main circuit breaker is controlled to be closed;
when F is present General (1) < a set value A, and F Auxiliary device When the air pressure is less than or equal to a set value C, the auxiliary air compressor is controlled to start, and when F is less than or equal to the set value C, the auxiliary air compressor is controlled to start Auxiliary device When the set value B is reached, the auxiliary air compressor is controlled to stop, the pantograph is controlled to rise, and the main circuit breaker is controlled to close;
wherein: the set value A is smaller than the set value B; the set value C is less than the set value B;
main circuit breaker control circuit link to each other with control module, control module passes through the closure or the disconnection of main circuit breaker control circuit control main circuit breaker, concrete circuit includes:
the MCU control module respectively drives a relay KALCBO coil through a diode, and the KALCBO normally-closed point further controls the main circuit breaker to be disconnected; the MCU control module drives a relay KALCBC coil through a diode respectively, a KALCBC normally-open point controls the closing of the main circuit breaker, a KALCBO normally-closed point is connected with the KALCBC normally-open point in series and then controls the electromagnetic valve of the main circuit breaker, and the MCU control module controls the redundant output.
5. The system according to claim 4, further comprising a pantograph control circuit, wherein the pantograph control circuit is connected to the control module, and the control module controls the pantograph to be raised or lowered through the pantograph control circuit.
6. The system according to claim 4, further comprising an auxiliary air compressor control circuit, wherein the auxiliary air compressor control circuit is connected to the control module, and the control module controls the auxiliary air compressor to start or stop via the auxiliary air compressor control circuit.
7. The full-automatic train pantograph lifting and closing master-slave judging system of claim 4, further comprising a data acquisition unit, wherein a signal input end of the data acquisition unit is connected with the pressure sensor, and a signal output end of the data acquisition unit is connected with the control module.
8. A rail vehicle, characterized in that, comprises the full-automatic bow-lifting and closing main and break judging system of the train of any one of claims 4 to 7.
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210652699U (en) * | 2019-09-24 | 2020-06-02 | 中车青岛四方机车车辆股份有限公司 | Power supply interlocking control device for railway vehicle workshop |
| CN111137134A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Device and method for controlling lifting bow in operation of railway vehicle |
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