CN115108261A - Bogie dragging system - Google Patents
Bogie dragging system Download PDFInfo
- Publication number
- CN115108261A CN115108261A CN202211037753.0A CN202211037753A CN115108261A CN 115108261 A CN115108261 A CN 115108261A CN 202211037753 A CN202211037753 A CN 202211037753A CN 115108261 A CN115108261 A CN 115108261A
- Authority
- CN
- China
- Prior art keywords
- bogie
- assembly
- module
- blocking
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000000903 blocking effect Effects 0.000 claims description 71
- 230000009471 action Effects 0.000 claims description 12
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
- B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/8823—Pivoting stop, swinging in or out of the path of the article
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a bogie dragging system which comprises a control module, a positioning module and a dragging module, wherein the positioning module is arranged beside a detection track to position the initial position of a bogie, the dragging module is a power moving mechanism along the direction of the detection track, the dragging module drives the bogie to move along the detection track, and the control module receives the working information of the positioning module and the dragging module to acquire the position of the bogie in real time and controls the dragging module to work to move the bogie to a required position. The bogie dragging system disclosed by the invention adopts a modular design, is simple in structure, easy to implement and low in cost, can automatically drag the bogie to move along the detection track, saves manpower, reduces the labor intensity, eliminates potential safety hazards, can accurately control the position of the bogie, and is high in positioning accuracy and efficiency.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a bogie dragging system.
Background
The bogie is an important component of the rail transit vehicle, provides functions of supporting, guiding, braking and the like for the running of the vehicle, and the performance condition of the bogie directly determines the safety and comfort of the running of the vehicle. The bogie is composed of a framework, wheels, a motor, a gear box, a brake, an electric part and other parts, and the structure is complex, so that the inspection of the bogie after the assembly is very important.
The existing common bogie assembly detection method mainly comprises manual visual inspection and measuring tool measurement, and during inspection, a bogie needs to be moved to a fixed detection point and placed on a track to be pushed back and forth manually. However, the weight of the bogie is about 10 tons, a power mechanism for driving the bogie to walk is not arranged, the labor intensity of workers is high, the efficiency is low, and certain safety risks are caused. The detection track for bogie detection is in a suspended state supported by a pillar, and a pit is generally arranged below the detection track so as to conveniently detect a bottom assembly part of the bogie. The existing auxiliary pushing equipment for the bogie can only push the bogie to move back and forth along the detection track, can not accurately control the position of the bogie, and is difficult to adapt to the high-precision positioning requirement of automatic detection equipment.
Disclosure of Invention
The invention aims to solve the technical problems and provides a bogie dragging system which is an improvement on the prior art and solves the problems that in the prior art, a bogie auxiliary pushing device only can push a bogie to move along a detection track and cannot accurately control the position of the bogie so as to realize high-precision positioning.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a bogie drive system, includes control module, orientation module and drags the module, orientation module sets up the initial position in order to fix a position the bogie other detecting the track, it is the power moving mechanism along detecting the track direction to drag the module, it moves along detecting the track to drag module drive bogie, control module receives orientation module and drags the work information of module in order to acquire bogie position in real time and control and drag the module work in order to remove bogie to required position.
Further, it includes walking assembly and centre gripping subassembly to drag the module, the centre gripping subassembly by walking assembly drives and is on a parallel with the track direction and removes, the centre gripping subassembly includes clamping mechanism and sideslip mechanism, sideslip mechanism drives clamping mechanism and moves in order to coordinate the position and dodge and switch between the position in the orbital direction of perpendicular to detection, clamping mechanism switches between the clamping state of centre gripping bogie and the state of loosening of deconcentrating the bogie, it still is provided with sensor one that is used for detecting the action of sideslip mechanism and is used for detecting the sensor two of clamping mechanism action to drag the module.
Furthermore, the walking assembly comprises a guide rail, a movable base and a servo driving mechanism, the guide rail is arranged in parallel to the detection track, the clamping assembly is arranged on the movable base, and the servo driving mechanism drives the movable base to move along the guide rail.
Further, the process of setting the walking component controlled by the control module comprises:
s1: the control module acquires real-time working data of the walking assembly;
s2: searching whether a setting parameter matched with the real-time working data exists in a setting parameter database, if so, issuing the setting parameter to the walking assembly by the control module for setting, otherwise, calculating a new setting parameter by the control module through a neural network algorithm according to the real-time working data, and then issuing the new setting parameter to the walking assembly by the control module for setting;
s3: and judging whether the position deviation of the bogie is smaller than a preset value, if so, completing the setting of the walking assembly, and otherwise, repeating the steps S1-S2.
Further, when the position deviation of the bogie is judged to be smaller than the preset value, if the setting parameter issued to the walking assembly is a new setting parameter calculated by the control module through a neural network algorithm according to real-time working data, the new setting parameter is added into the setting parameter database.
Furthermore, the walking assembly adopts a motor as a power source, and real-time working data of the walking assembly comprises position, acceleration, torque and position deviation.
Furthermore, the positioning module comprises a check assembly, a sensor III and a blocking assembly which are sequentially arranged along the direction of the detection track, the blocking assembly acts and switches between a blocking position state blocking the bogie and an avoiding position state avoiding the bogie, the check assembly only allows the bogie to pass towards the direction of the blocking assembly and prevents the bogie from reversely returning, and the bogie is limited between the check assembly and the blocking assembly in the blocking position state, so that the sensor III is triggered.
Furthermore, the blocking assembly comprises a first base body, a blocking block and an air cylinder, the first base body is fixedly arranged beside the detection track, the blocking block is movably arranged on the first base body, and the air cylinder drives the blocking block to switch between a blocking position above the detection track and an avoiding position beside the detection track.
Further, the non return subassembly includes base member two, non return pole and elastic component, and base member two is fixed to be set up by detecting the track, the non return pole rotates to be set up on base member two, sets up the elastic component that the drive non return pole resets between base member two and the non return pole.
Further, when the bogie enters the detection track, the control module controls the blocking assembly to be switched to a blocking position state;
the bogie passes through the check assembly along the detection track and is limited between the check assembly and the blocking assembly in the blocking position state to reach an initial position;
the control module receives information of the sensor III and then controls the dragging module to act, the clamping assembly is over against an initial position where the bogie is located, then the transverse moving mechanism drives the clamping mechanism to be switched to a matching position to trigger the sensor I, and the clamping mechanism is switched to a clamping state to trigger the sensor II;
the control module receives the information of the first sensor and the second sensor and then controls the blocking component to be switched to an avoidance position state;
the control module controls the traveling assembly to drive the bogie to move to a required position along the detection track for detection.
Compared with the prior art, the invention has the advantages that:
the bogie dragging system disclosed by the invention adopts a modular design, is simple in structure, easy to implement and low in cost, can automatically drag the bogie to move along the detection track, saves manpower, reduces the labor intensity, eliminates potential safety hazards, can accurately control the position of the bogie, and is high in positioning accuracy and efficiency.
Drawings
FIG. 1 is a schematic view of the overall construction of a truck haul system of the present invention;
FIG. 2 is a schematic diagram of a drag module;
FIG. 3 is a schematic view of a walking assembly;
FIG. 4 is a schematic view of a clamping assembly;
FIG. 5 is a schematic view of a positioning module;
in fig. 6, a is a schematic view of the blocking assembly being switched to the blocking position state, b is a schematic view of the bogie pushing the non-return assembly, and c is a schematic view of the bogie being limited between the non-return assembly and the blocking assembly in the blocking position state after passing through the non-return assembly;
fig. 7 is a schematic flow chart of the control module controlling the walking assembly to perform setting.
In the figure:
the device comprises a control module 1, a positioning module 2, a dragging module 3, a walking assembly 4, a clamping assembly 5, a clamping mechanism 51, a transverse moving mechanism 52, a guide rail 41, a moving base 42, a servo driving mechanism 43, a main body 511, a fixed roller 512, a clamping roller mechanism 513, a clamping roller 514, a non-return assembly 6, a sensor III 7, a blocking assembly 8, a base body I81, a blocking block 82, an air cylinder 83, a base body II 61, a non-return rod 62 and an elastic element 63.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a bogie dragging system which can automatically drag a bogie to move along a detection track, can accurately control the position of the bogie, realizes high-precision positioning and has high positioning efficiency.
As shown in fig. 1 to 6, a bogie dragging system mainly includes a control module 1, a positioning module 2 and a dragging module 3, wherein the positioning module 2 is disposed beside a detection track to position an initial position of a bogie, the dragging module 3 is a power moving mechanism along the detection track, the dragging module 3 drives the bogie to move along the detection track, the control module 1 receives working information of the positioning module 2 and the dragging module 3 to obtain a position of the bogie in real time and control the dragging module 3 to work to move the bogie to a desired position, specifically, the positioning module 2 first performs initial position positioning on the bogie entering the detection track, so that the dragging module 3 can be accurately connected with the bogie in a matching manner, and then the bogie moves to a desired precise position along the detection track under the driving of the dragging module 3 to perform detection, the detection accuracy is ensured.
In this embodiment, as shown in fig. 2 and fig. 4, the dragging module 3 includes a traveling assembly 4 and a clamping assembly 5, the clamping assembly 5 is driven by the traveling assembly 4 to move parallel to the track direction, the clamping assembly 5 includes a clamping mechanism 51 and a traversing mechanism 52, the traversing mechanism 52 drives the clamping mechanism 51 to move in the direction perpendicular to the detection track so as to switch between a matching position and an avoidance position, the matching position is that the clamping mechanism 51 is located on the moving path of the bogie to ensure that the bogie clamping mechanism 51 can clamp the bogie, further, the traveling assembly 4 can indirectly drive the bogie to move along the detection track through the clamping assembly 5 when driving the clamping assembly 5 to move, the avoidance position is that the clamping mechanism 51 is located beside the moving path of the bogie, at this time, the clamping mechanism 51 and the bogie are in a separated state, the traveling assembly 4 can only drive the clamping assembly 5 to move parallel to the track direction, and the bogie can not be driven by the walking component 4 to move, the clamping mechanism 51 is switched between the clamping state of clamping the bogie and the unclamping state of releasing the bogie, the dragging module 3 is further provided with a first sensor for detecting the action of the traversing mechanism 52 and a second sensor for detecting the action of the clamping mechanism 51, the information of the first sensor and the second sensor is sent to the control module 1, the control module 1 accurately learns whether the dragging module 3 is matched and connected with the bogie or not through the first sensor and the second sensor, and then the dragging module 3 is accurately controlled to drive the bogie to move to a required accurate position along a detection track.
In this embodiment, as shown in fig. 3, the walking assembly 4 includes a guide rail 41, a movable base 42 and a servo driving mechanism 43, the guide rail 41 is parallel to the detection track, the clamping assembly 5 is disposed on the movable base 42, the movable base 42 is slidably disposed on the guide rail 41, the servo driving mechanism 43 drives the movable base to move along the guide rail 41, the servo driving mechanism 43 mainly includes a servo motor, the servo motor is disposed on the movable base 42, a rack along the length direction of the servo motor is disposed on the guide rail 41, a gear meshed with the rack is disposed on the output of the servo motor, the movable base can be driven to move along the guide rail when the servo motor rotates, that is, the clamping assembly 5 is driven to move parallel to the detection track, and finally, the automatic driving bogie can move along the detection track.
Further, the traversing mechanism 52 of the clamping assembly 5 specifically comprises a traversing track perpendicular to the detection track and a servo motor assembly, the clamping assembly 5 is driven by the servo motor assembly to accurately move in the direction perpendicular to the detection track, and a sensor is used for detecting the action of the traversing mechanism, namely the switching condition of the clamping mechanism 51 between the matching position and the avoiding position, so that the control module 1 can accurately know whether the dragging module 3 is matched and connected with the bogie; in this embodiment, as shown in fig. 4, the clamping mechanism 51 includes a main body 511, a fixed roller 512 and a clamping roller mechanism 513, the main body 511 is disposed on the traversing mechanism to be moved by the traversing mechanism in a direction perpendicular to the detection track, the fixed roller 512 and the clamping roller mechanism 513 are disposed on the main body 511 at intervals along the length direction of the track, the clamping roller mechanism 513 includes a clamping roller 514 and a clamping driving mechanism, the clamping roller 514 is switched between a clamping state and a releasing state by the clamping driving mechanism, the clamping roller 514 cooperates with the fixed roller 512 to clamp the wheels of the bogie when in the clamping state, the fixed roller 512 and the clamping roller 514 are disposed at intervals along the length direction of the track, the fixed roller 512 and the clamping roller mechanism 513 are disposed such that the fixed roller 512 and the clamping roller 514 are disposed at both sides of the bogie wheels along the length direction of the track, and the clamping roller 514 is disposed when the clamping assembly 5 is in the cooperating position and the clamping roller 514 is in the clamping state The fixed roller 512 and the clamping roller 514 are in rolling contact with the tread of the bogie wheel, the rotating axial direction of the fixed roller 512 and the clamping roller 514 is parallel to the rotating axial direction of the bogie wheel, the fixed roller 512 and the clamping roller 514 limit the bogie wheel in the length direction of the track, in other words, the clamping assembly 5 is connected with the bogie in a matching way to form a whole, the clamping assembly 5 moves along the detection track under the driving action of the walking assembly 4, the clamping assembly 5 drives the bogie wheel to rotate, so that the bogie travels along the track, when the clamping roller 514 is switched to the loosening state, the clamping roller 514 is far away from the fixed roller 512, so that the clamping state of the bogie wheel is released, and at the moment, the clamping mechanism 51 is integrally switched to the avoiding position under the action of the transverse moving mechanism 52, the clamping assembly 5 is completely separated from the bogie, and the walking assembly 4 only drives the clamping assembly 5 to move parallel to the detection track, but the bogie does not move.
Specifically, the clamping driving mechanism mainly comprises a cylinder and a rotating arm, the clamping roller 514 is connected to the rotating arm, the rotating arm is rotatably connected to the main body 511 and is driven by the cylinder to deflect so as to drive the clamping roller to switch between a clamping state and a loosening state, the rotating axis of the rotating arm is parallel to the rotating axis of the bogie wheel, that is, the clamping roller 514 is close to or far away from the fixed roller 512 in a rotating manner, and the clamping roller 514 is switched between the clamping state and the loosening state in a rotating manner.
In this embodiment, the positioning module 2 comprises a check assembly 6, a sensor three 7 and a blocking assembly 8 which are arranged in sequence along the direction of the detection track, the blocking assembly 8 is operatively switchable between a blocking position blocking the bogie and an avoidance position avoiding the bogie, the non-return assembly 6 only allows the bogie to pass towards the direction of the blocking assembly 8 and prevents the bogie from reversely returning, the third sensor 7 is triggered when the bogie is limited between the non-return assembly 6 and the blocking assembly 8 in the blocking position state, the control module 1 receives the information of the third sensor 7 to determine whether the bogie accurately reaches the initial position, after the bogie is determined to be at an accurate initial position, the control module 1 controls the dragging module 3 to act to be in fit connection with the bogie, then, the control module 1 controls the dragging module 3 to act to drive the bogie to move to the required precise position along the detection track.
The blocking assembly 8 comprises a first base body 81, a blocking block 82 and an air cylinder 83, the first base body 81 is fixedly arranged beside the detection track, the blocking block 82 is rotatably arranged on the first base body 81, the air cylinder 83 drives the blocking block 82 to switch between a blocking position above the detection track and an avoiding position beside the detection track, specifically, the rotating axial direction of the blocking block 82 is parallel to the length direction of the detection track, the blocking block 82 can reliably block and intercept the bogie when rotating to the blocking position, and the blocking block 82 cannot cause any obstruction to the bogie when rotating to the avoiding position, so that the structure is simple, the reliability is high, and the blocking block 82 cannot be switched in state due to the impact of the bogie because the action direction of the blocking block 82 is perpendicular to the movement direction of the bogie, and the blocking assembly 8 can reliably intercept the bogie.
The check assembly 6 adopts an elastic check structure, which comprises a second base body 61, a check rod 62 and an elastic member 63, wherein the second base body 61 is fixedly arranged beside the detection track, the check rod 62 is rotatably arranged on the second base body 61, the elastic member 63 for driving the check rod 62 to reset is arranged between the second base body 61 and the check rod 62, specifically, the rotating shaft of the check rod 62 is vertical to the length direction of the detection track, in other words, the rotating plane of the check rod 62 is along the length direction of the detection track, the check rod 62 is elastically kept in a state on a bogie moving path under the action of the elastic member 63, when the bogie moves along the detection track towards the direction of the blocking assembly 8, the bogie can automatically press down to push the check rod 62 to rotate so that the check rod 62 can elastically avoid the bogie, thereby ensuring that the bogie can positively pass through the check assembly 6, and after the bogie completely passes through the check assembly 6, the check rod 62 resets to be everywhere under the action of the elastic member 63 In the state on the bogie activity route, two 61 of base members play limiting displacement to the reverse rotation of non return rod 62 to can't push down when making bogie reverse motion and promote non return rod 62 reverse rotation, and then play the effect of reverse non return to the bogie, and then can make the bogie spacing by non return subassembly 6 with be in and block between the subassembly 8 that blocks the position state, realize the initial position location to the bogie, ensure that dragging module 3 can be accurate be connected with the bogie cooperation. The non return subassembly 6 also can adopt other elasticity non return structures, for example, the elasticity spring bolt structure, it includes spring bolt and elastic component, the spring bolt is flexible in the orbital direction of perpendicular to detection and sets up, the elastic component is used for elasticity to keep the spring bolt to be in the state of stretching out on the bogie activity route, the spring bolt is kept away from the inclined plane that blocks one side of subassembly 8 for the inclined plane that inclines in detection track direction, and is close to the plane that blocks one side of subassembly 8 for the perpendicular to detection track direction to when the elastic bolt structure is passed through in the bogie forward, the bogie can push the spring bolt shrink through the inclined plane and roll back, thereby the bogie can forward pass through, then during bogie reverse movement can't promote the spring bolt shrink again because the perpendicular to detects the plane of track direction on the spring bolt and roll back, and then realize the non return and block.
When the bogie dragging system is used for driving the bogie to move for detection, the process comprises the following steps:
as shown in a in fig. 6, when the bogie needs to enter the detection track for detection, the control module 1 first controls the blocking assembly 8 to switch to the blocking position state;
as shown in b in fig. 6, the bogie travels along the detection track, the bogie firstly contacts the check assembly 6, the bogie automatically pushes the check assembly 6 to press downwards to pass over the check assembly 6, after the bogie passes over the check assembly 6, the check assembly 6 automatically resets, at the moment, the bogie is blocked by the blocking assembly 8 due to the blocking assembly 8 being in the blocking position state, so that the bogie cannot travel forwards, as shown in c in fig. 6, the bogie is limited between the check assembly 6 and the blocking assembly 8 in the blocking position state to reach an accurate initial position, and at the moment, the sensor three 7 is triggered;
the control module 1 receives the triggering information of the sensor III 7 and then controls the dragging module 3 to act, specifically, firstly, the clamping component 5 needs to be over against the initial position of the bogie, in other words, the clamping component 5 needs to be at the initial position, if the clamping component 5 is not at the initial position, the walking component 4 acts to drive the clamping component 5 to move to the initial position, the traversing mechanism 52 then moves the clamping mechanism 51 to the engaged position, i.e. the clamping mechanism 51 is moved in the path of the bogie to be engaged with the bogie, whereupon the sensor is activated to ensure that the clamping mechanism 51 has reached the engaged position accurately, then the clamping mechanism 51 is operated to switch to the clamping state, that is, the clamping roller 514 of the clamping mechanism 51 cooperates with the fixed roller 512 to clamp the wheels of the bogie, and at this time, the second sensor is triggered to ensure that the clamping mechanism 51 stably clamps the wheels of the bogie;
the control module 1 controls the blocking component 8 to be switched to an avoidance position state after receiving triggering information of the first sensor and the second sensor, namely, the control module 1 switches the blocking component 8 to the avoidance position state after knowing that the clamping component 5 is accurately matched and connected with the bogie, at the moment, the blocking interception of the bogie by the blocking component 8 is released, and the bogie can freely move along the detection track;
the control module 1 controls the walking assembly 4 to drive the bogie to move to a required position along the detection track for detection;
after the detection is finished, the dragging module 3 drags the bogie to the exit position of the detection track, then the clamping mechanism 51 is switched to the unclamped state to release the bogie, then the traversing mechanism 52 drives the clamping mechanism 51 to retreat to the avoiding position, the clamping assembly 5 is completely separated from the bogie, the bogie can be freely completely rolled out from the detection track at the moment, and the clamping assembly 5 is driven by the walking assembly 4 to move to the initial position to prepare the detection dragging operation of the next bogie.
The walking assembly 4 adopts servo motor as the power supply, can acquire the real-time position of bogie and drive the bogie through the control to servo motor and remove to required position, but the weight of bogie is big to the model of bogie is many, and the weight difference is also big, thereby leads to being difficult to guarantee the position accuracy of bogie to servo motor's control, thereby can influence the accuracy and the efficiency that detect. In this embodiment, the position accuracy of the bogie is improved by setting the servo motor, and the process of setting the walking assembly controlled by the control module includes:
s1: the control module 1 acquires real-time working data of the walking assembly 4, wherein the real-time working data of the walking assembly 4 specifically comprises position, acceleration, torque and position deviation;
s2: searching whether a setting parameter matched with the real-time working data exists in a setting parameter database, if so, issuing the setting parameter to the walking component 4 by the control module 1 for setting so that the walking component 4 operates according to the setting parameter, otherwise, calculating a new setting parameter by the control module 1 through a neural network algorithm according to the real-time working data, and then issuing the new setting parameter to the walking component 4 by the control module 1 for setting so that the walking component 4 operates according to the new setting parameter;
s3: and after the setting operation, judging whether the position deviation of the bogie is smaller than a preset value, if so, finishing the setting of the walking assembly 4, otherwise, repeating the steps S1-S2, and repeating the steps in such a way, so that the position deviation is gradually gathered and reduced until the precision requirement is met.
In the embodiment, a setting parameter database is constructed, and when the position deviation of the bogie is judged to be smaller than the preset value, if the setting parameter sent to the walking assembly 4 is a new setting parameter calculated by the control module 1 through a neural network algorithm according to real-time working data, the new setting parameter is added into the setting parameter database, so that the setting parameter database is enriched continuously, and further, the subsequent setting process is firstly searched and compared, and if a matched setting parameter exists, the setting parameter can be directly extracted and used without performing complex operation, so that the calculation process is greatly reduced, the setting efficiency is improved, the positioning precision of the bogie position is improved, and the detection accuracy is further ensured.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. The utility model provides a bogie drive system, its characterized in that includes control module (1), orientation module (2) and drags module (3), orientation module (2) set up the initial position in order to fix a position the bogie other detecting the track, drag module (3) for the power moving mechanism along detecting the track direction, drag module (3) drive bogie along detecting the track and remove, control module (1) receives orientation module (2) and drags the work information of module (3) and in order to acquire in real time the bogie position and control and drag module (3) work in order to remove bogie to required position.
2. The bogie dragging system according to claim 1, wherein the dragging module (3) comprises a traveling assembly (4) and a clamping assembly (5), the clamping assembly (5) is driven by the traveling assembly (4) to move in a direction parallel to the track, the clamping assembly (5) comprises a clamping mechanism (51) and a traversing mechanism (52), the traversing mechanism (52) drives the clamping mechanism (51) to move in a direction perpendicular to the detection track so as to switch between a matching position and an avoiding position, the clamping mechanism (51) switches between a clamping state for clamping the bogie and a releasing state for releasing the bogie, and the dragging module (3) is further provided with a first sensor for detecting the action of the traversing mechanism (52) and a second sensor for detecting the action of the clamping mechanism (51).
3. Truck hauling system according to claim 2, wherein the walking assembly (4) comprises a guide rail (41), a moving base (42) and a servo drive mechanism (43), the guide rail (41) being arranged parallel to the detection track, the gripping assembly (5) being arranged on the moving base (42), the servo drive mechanism (43) driving the moving base (42) to move along the guide rail (41).
4. The bogie dragging system according to claim 2, wherein the process of the control module (1) controlling the walking assembly (4) to set comprises:
s1: the control module (1) acquires real-time working data of the walking assembly (4);
s2: searching whether a setting parameter matched with the real-time working data exists in a setting parameter database, if so, issuing the setting parameter to a walking assembly (4) by the control module (1) for setting, otherwise, calculating a new setting parameter by the control module (1) through a neural network algorithm according to the real-time working data, and then issuing the new setting parameter to the walking assembly (4) by the control module (1) for setting;
s3: and judging whether the position deviation of the bogie is smaller than a preset value, if so, completing the setting of the walking assembly (4), and otherwise, repeating the steps S1-S2.
5. The bogie dragging system according to claim 4 wherein, when the position deviation of the bogie is judged to be less than the preset value, if the setting parameter sent to the walking assembly (4) is a new setting parameter calculated by the control module (1) through a neural network algorithm according to real-time working data, the new setting parameter is added into the setting parameter database.
6. The bogie dragging system according to claim 4, wherein the walking assembly (4) adopts a motor as a power source, and the real-time working data of the walking assembly (4) comprises position, acceleration, torque and position deviation.
7. The bogie dragging system according to claim 2, wherein the positioning module (2) comprises a check assembly (6), a sensor III (7) and a blocking assembly (8) which are sequentially arranged along the direction of the detection track, the blocking assembly (8) is switched between a blocking position state for blocking the bogie and an avoiding position state for avoiding the bogie, the check assembly (6) only allows the bogie to pass towards the direction of the blocking assembly (8) to prevent the bogie from reversely returning, and the sensor III (7) is triggered when the bogie is limited between the check assembly (6) and the blocking assembly (8) in the blocking position state.
8. The bogie drag system according to claim 7, wherein the blocking assembly (8) comprises a first base body (81), a blocking block (82) and a cylinder (83), the first base body (81) is fixedly arranged beside the detection track, the blocking block (82) is movably arranged on the first base body (81), and the cylinder (83) drives the blocking block (82) to switch between a blocking position above the detection track and an avoidance position beside the detection track.
9. The bogie dragging system according to claim 7, wherein the check assembly (6) comprises a second base body (61), a check rod (62) and an elastic member (63), the second base body (61) is fixedly arranged beside the detection track, the check rod (62) is rotatably arranged on the second base body (61), and the elastic member (63) for driving the check rod (62) to reset is arranged between the second base body (61) and the check rod (62).
10. The bogie dragging system according to claim 7 wherein the control module (1) first controls the blocking assembly (8) to switch to the blocking position state when the bogie enters the detection track;
the bogie passes through the non-return assembly (6) along the detection track and is limited between the non-return assembly (6) and the blocking assembly (8) in the blocking position state to reach an initial position;
the control module (1) receives information of the sensor III (7) and then controls the dragging module (3) to act, the clamping assembly (5) is over against an initial position where the bogie is located, then the transverse moving mechanism (52) drives the clamping mechanism (51) to be switched to a matching position to trigger the sensor I, and the clamping mechanism (51) is switched to a clamping state to trigger the sensor II;
the control module (1) receives the information of the first sensor and the second sensor and then controls the blocking component (8) to be switched to an avoidance position state;
the control module (1) controls the walking assembly (4) to drive the bogie to move to a required position along the detection track for detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211037753.0A CN115108261A (en) | 2022-08-29 | 2022-08-29 | Bogie dragging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211037753.0A CN115108261A (en) | 2022-08-29 | 2022-08-29 | Bogie dragging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115108261A true CN115108261A (en) | 2022-09-27 |
Family
ID=83336301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211037753.0A Pending CN115108261A (en) | 2022-08-29 | 2022-08-29 | Bogie dragging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115108261A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115406676A (en) * | 2022-10-31 | 2022-11-29 | 成都盛锴科技有限公司 | Bogie detection system and method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003226418A (en) * | 2002-02-01 | 2003-08-12 | Isuzu Motors Ltd | Carriage conveyor |
| CN202010881U (en) * | 2011-03-21 | 2011-10-19 | 山东同力达智能机械有限公司 | Shaft end nuts assembly system for CRH2 motor train unit |
| CN111555682A (en) * | 2020-05-29 | 2020-08-18 | 上海海事大学 | PID permanent magnet synchronous motor control method based on optimization algorithm |
| CN113325694A (en) * | 2021-05-26 | 2021-08-31 | 西安交通大学 | Model prediction control parameter setting method based on machine learning |
| CN114475695A (en) * | 2022-02-21 | 2022-05-13 | 中车广东轨道交通车辆有限公司 | Rail transit vehicle bogie mobile device |
| CN114563411A (en) * | 2022-03-04 | 2022-05-31 | 成都盛锴科技有限公司 | Bogie assembly quality detection system |
| CN114721380A (en) * | 2022-03-25 | 2022-07-08 | 高斯机器人(深圳)有限公司 | AGV walking process stabilizing system |
| CN216940692U (en) * | 2022-03-03 | 2022-07-12 | 南京拓控信息科技股份有限公司 | Intelligent decomposing system for center plate bolts of railway wagon |
| CN216971182U (en) * | 2022-01-25 | 2022-07-15 | 成都盛锴科技有限公司 | Leading-in and leading-out device of bogie |
-
2022
- 2022-08-29 CN CN202211037753.0A patent/CN115108261A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003226418A (en) * | 2002-02-01 | 2003-08-12 | Isuzu Motors Ltd | Carriage conveyor |
| CN202010881U (en) * | 2011-03-21 | 2011-10-19 | 山东同力达智能机械有限公司 | Shaft end nuts assembly system for CRH2 motor train unit |
| CN111555682A (en) * | 2020-05-29 | 2020-08-18 | 上海海事大学 | PID permanent magnet synchronous motor control method based on optimization algorithm |
| CN113325694A (en) * | 2021-05-26 | 2021-08-31 | 西安交通大学 | Model prediction control parameter setting method based on machine learning |
| CN216971182U (en) * | 2022-01-25 | 2022-07-15 | 成都盛锴科技有限公司 | Leading-in and leading-out device of bogie |
| CN114475695A (en) * | 2022-02-21 | 2022-05-13 | 中车广东轨道交通车辆有限公司 | Rail transit vehicle bogie mobile device |
| CN216940692U (en) * | 2022-03-03 | 2022-07-12 | 南京拓控信息科技股份有限公司 | Intelligent decomposing system for center plate bolts of railway wagon |
| CN114563411A (en) * | 2022-03-04 | 2022-05-31 | 成都盛锴科技有限公司 | Bogie assembly quality detection system |
| CN114721380A (en) * | 2022-03-25 | 2022-07-08 | 高斯机器人(深圳)有限公司 | AGV walking process stabilizing system |
Non-Patent Citations (1)
| Title |
|---|
| 周俊: "《计算机控制技术》", 31 December 2016 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115406676A (en) * | 2022-10-31 | 2022-11-29 | 成都盛锴科技有限公司 | Bogie detection system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115108261A (en) | Bogie dragging system | |
| CN106882164B (en) | Rear wheel flexible positioning mechanism, battery changing frame, automatic battery changing system and control method | |
| EP2163461A2 (en) | Method and fitting device for positioning components onto/in vehicles | |
| JPH1051960A (en) | Automatic battery charger for moving vehicle | |
| CN211420960U (en) | Parking barrier gate device | |
| CN217319948U (en) | Chassis device of land-rail dual-purpose automatic running vehicle | |
| CN107991107B (en) | Swing arm type vehicle parking detection mechanism, detection method and detection platform | |
| CN107816357B (en) | Automatic anti-collision buffer system of shield machine | |
| CN108343299B (en) | A kind of parking systems | |
| CN111157534A (en) | Movable type detection platform for train bottom in warehouse | |
| CN206815925U (en) | The vehicle guidance device of mechanical type three-dimensional parking garage | |
| CN112849895B (en) | Shuttle rail changing-based scheduling method and device | |
| CN111196285B (en) | High-speed railway automobile body installation debugging tractor | |
| CN214112346U (en) | Lifting platform for overhauling contact net and operation vehicle set | |
| CN110554689B (en) | Container dry ice cleaning robot moving system and cleaning method | |
| CN210416257U (en) | Automatic charging device for inspection trolley at bottom of straddle type monorail train | |
| CN112124882A (en) | Accurate positioning device and method for heavy-load transverse moving vehicle | |
| CN109469390A (en) | Stop mechanism, rotating mechanism and stereo garage for stereo garage | |
| CN105649388A (en) | Stereo garage carrying robot | |
| CN112606801A (en) | Adjustable wheelbase formula is parked and is used AGV | |
| CN221072282U (en) | Rotary pier passing type detection vehicle for high-speed railway bridge health data acquisition | |
| CN214427815U (en) | Automatic guide handling device | |
| CN214935456U (en) | Anti-collision limiting device of bridge crane | |
| CN220927509U (en) | Detection vehicle for high-speed railway bridge health data acquisition | |
| CN214607702U (en) | Driving steering device of AGV trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220927 |