CN115585964A - Fault diagnosis and positioning method and device for relay valve - Google Patents

Abstract

The invention relates to a fault diagnosis and positioning method and a fault diagnosis and positioning device for a relay valve, wherein the fault diagnosis and positioning method for the relay valve is used for determining the fault state and the fault position of the relay valve with a plurality of chambers, and comprises the following steps: respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber; comparing the collected actual internal pressure data and actual external pressure data with the fault data acquired in advance; the fault status of the relay valve and the location of the fault are determined. The invention solves the technical problems of high difficulty in fault diagnosis and positioning of the relay valve, low accuracy and high labor intensity.

Description

Fault diagnosis and positioning method and device for relay valve

Technical Field

The invention relates to the technical field of vehicle braking, in particular to a fault diagnosis and positioning method and a fault diagnosis and positioning device for a relay valve, and particularly relates to a fault diagnosis and positioning method and a fault diagnosis and positioning device for the relay valve, which can perform multi-stage pressure output.

Background

A relay valve in the railway vehicle brake system outputs corresponding brake cylinder pressure according to the pre-control pressure and amplifies the flow, so that the aim of quickly actuating an actuating mechanism of the brake system is fulfilled.

The simple form relay valve has a fixed ratio of output pressure to input pressure (typically 1; the multi-stage pressure output relay valve with a more complex structure has the advantages that more chambers and piston diaphragms are added in the relay valve, the ratio of output pressure to input pressure can be changed by controlling the inflation of different chambers, and the ratio of the output pressure to the input pressure is increased according to the increase of the number of the chambers and the piston diaphragms. Since the internal structure is more complicated, when the multistage pressure output relay valve malfunctions, the difficulty in locating the internal malfunction also increases.

The existing fault diagnosis method for the relay valve generally comprises the steps of detecting external pressure (such as total wind pressure, pre-control pressure, output pressure and the like) of the relay valve, comparing the external pressure with a fault model or judging the deviation of the external pressure with normal state pressure to perform fault diagnosis.

For example: publication No.: CN108874741A, published: 2018.11.23, name: a Chinese patent of a relay valve leakage fault detection method based on SPRT algorithm, it discloses according to input and output characteristic of the relay valve, to the difference of the output pressure change amplitude under the normal and leakage conditions of the relay valve, utilize SPRT algorithm to leak and detect, thus reach the effect that the relay valve leaks fault detection and early warning, but the disadvantage of this kind of method is that can only carry on the leakage judgement through the data of the output pressure, therefore can diagnose or predict the leakage fault, but can't position the fault member in the valve; another example is: publication No.: CN111308909A, published date: 2020.06.19, name: a Chinese patent of a relay valve fault diagnosis method and a device thereof discloses that a pressure time sequence of a main air cylinder, a balance air cylinder and a train pipe when the relay valve has different fault types is obtained from a real train balancing module and a train balancing module simulation platform, pressure characteristic values are extracted from the pressure time sequence, training data are established, a neural network model is trained, a relay valve fault diagnosis model is obtained, the model is used for diagnosing the fault type of the relay valve to be tested, similarly, the data collected by the method are only the pressure of the main air cylinder, the balance air cylinder and the train pipe outside the relay valve, the diagnosis model is obtained by analyzing the data, the method can be used for diagnosing the fault type, but the fault part inside the valve still cannot be positioned. Therefore, in both methods, only the relay valve can be subjected to fault diagnosis, and the fault component in the valve cannot be accurately positioned.

At present, a fault diagnosis and positioning method of a multi-stage pressure output relay valve is to perform testing on a test bed, collect pressure of each external gas path, analyze pressure data by combining the principle of the valve, preliminarily judge the approximate range of a fault piece, disassemble the valve, replace suspected fault pieces one by one, and position fault parts by an elimination method. This method has several disadvantages:

1. the disassembly of the valve can cause the state change of a fault part (such as leakage fault of some sealing parts, and the position and the shape of the sealing part change after disassembly), so that the valve can restore to a normal state and can not reproduce the fault;

2. a large amount of labor is consumed, for a multi-stage pressure output relay valve with a complex structure, the number of internal parts causing the same fault phenomenon is large, and a large amount of time and labor are consumed for one-to-one replacement assembly test.

3. At present, automatic fault detection cannot be achieved, manual intervention is needed for determining a fault part by using a part replacing method, the fault is judged and analyzed by combining the principle of manpower, automation of fault diagnosis and positioning cannot be achieved, and efficiency is extremely low.

Aiming at the problems of high difficulty in fault diagnosis and positioning, low accuracy and high labor intensity of the relay valve in the related technology, an effective solution is not provided at present.

Therefore, the inventor provides a relay valve fault diagnosis positioning method and a relay valve fault diagnosis positioning device by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.

Disclosure of Invention

The invention aims to provide a fault diagnosis and positioning method and a fault diagnosis and positioning device for a relay valve, which can be used for carrying out fault diagnosis on the multi-stage pressure output relay valve, accurately positioning the position of a fault in a valve body, have high diagnosis accuracy, do not need to disassemble the valve body, improve the efficiency and save time and labor.

The purpose of the invention can be realized by adopting the following scheme:

the invention provides a fault diagnosis and positioning method for a relay valve, which is used for determining the fault state and the fault position of the relay valve with a plurality of chambers, and comprises the following steps:

respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber;

comparing the collected actual internal pressure data and the actual external pressure data with pre-acquired fault data;

and determining the fault state and the fault position of the relay valve.

In a preferred embodiment of the present invention, the actual internal pressure data of the chamber is an internal pressure of the chamber or an output pressure of the chamber under an actual working condition.

In a preferred embodiment of the present invention, a pressure collecting hole is reserved on each chamber or at the air outlet of each chamber, and the pressure collecting hole collects actual internal pressure data of the corresponding chamber.

In a preferred embodiment of the present invention, the actual external pressure data of the chamber is an input pressure of the chamber under an actual working condition.

In a preferred embodiment of the present invention, the air inlet of each of the chambers is connected to a corresponding external air path, and the pressure in the corresponding external air path or the pressure at the air inlet of the chamber is acquired as the actual external pressure data of the corresponding chamber.

In a preferred embodiment of the present invention, before the acquiring the actual internal pressure data of each chamber and the actual external pressure data corresponding to each chamber, the method further includes:

simulating the fault state of different positions in the relay valve;

respectively collecting simulated internal pressure data and simulated external pressure data of each chamber under the condition that different positions have faults;

and establishing a fault model of the relay valve according to the collected simulated internal pressure data and the simulated external pressure data.

In a preferred embodiment of the present invention, the comparing the collected actual internal pressure data and the actual external pressure data with the pre-acquired fault data includes:

comparing the actual internal pressure data and the actual external pressure data with the simulated internal pressure data and simulated external pressure data in the fault model;

selecting the simulated internal pressure data and the simulated external pressure data which have the same pressure value or the same change trend of the pressure value as the actual internal pressure data and the actual external pressure data from the fault model, namely the fault data;

and determining the fault state and the fault position corresponding to the relay valve in the fault model according to the fault data.

In a preferred embodiment of the present invention, the fault state and the fault location corresponding to the relay valve in the fault model are the fault state and the fault location of the relay valve under the actual working condition.

The invention provides a relay valve fault diagnosis positioning device, which is used for determining the fault state and the fault position of a relay valve with a plurality of chambers, and comprises:

the data acquisition unit is used for respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber;

a data processing unit for comparing the collected actual internal pressure data and the actual external pressure data with fault data acquired in advance;

and the fault determining unit is used for determining the fault state and the fault position of the relay valve.

In a preferred embodiment of the present invention, the relay valve fault diagnosis positioning apparatus further includes:

the fault state simulation unit is used for simulating the states of faults at different positions in the relay valve;

the simulation data acquisition unit is used for respectively acquiring simulation internal pressure data and simulation external pressure data of each chamber under the condition that different positions have faults;

and the fault model establishing unit is used for establishing a fault model of the relay valve according to the collected simulated internal pressure data and the simulated external pressure data.

In a preferred embodiment of the present invention, the data processing unit includes:

a data comparison module for comparing the actual internal pressure data and the actual external pressure data with the simulated internal pressure data and the simulated external pressure data in the fault model;

the fault data determination module is used for selecting the simulated internal pressure data and the simulated external pressure data which have the same pressure value or the same pressure value change trend as the actual internal pressure data and the actual external pressure data from the fault model, and the selected simulated internal pressure data and the simulated external pressure data are the fault data;

and the fault determining module is used for determining the fault state and the fault position corresponding to the relay valve in the fault model according to the fault data.

In a preferred embodiment of the present invention, the data acquisition unit includes a pressure sensor, and a pressure acquisition hole is reserved at each of the chambers or at an air outlet of each of the chambers, and the pressure sensor is disposed at the pressure acquisition hole.

In a preferred embodiment of the present invention, the relay valve fault diagnosis positioning device further includes a test device, the test device is provided with a gas path interface capable of supplying gas to the outside, the gas path interface is connected to one end of an external gas path, the other end of the external gas path is connected to the gas inlet of each of the chambers, and the test device controls and collects gas supply pressure to each of the chambers to simulate a working condition when the relay valve is in a fault.

In a preferred embodiment of the present invention, the relay valve fault diagnosis positioning apparatus further includes a data analysis device, the data analysis device at least includes a data processing unit and a fault determination unit, and the data analysis device is configured to analyze the acquired actual internal pressure data and the actual external pressure data according to the fault model to determine a fault state and a fault location of the relay valve.

From the above, the relay valve fault diagnosis positioning method and device of the invention have the characteristics and advantages that: the method can be used for diagnosing the faults of the multi-stage pressure output relay valve, accurately positioning the fault position in the multi-stage pressure output relay valve, improving the fault judging accuracy, avoiding disassembling the multi-stage pressure output relay valve, effectively improving the fault detection efficiency, saving time and reducing labor consumption.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.

Wherein:

FIG. 1: the invention is one of the flow charts of the fault diagnosis positioning method of the relay valve.

FIG. 2 is a schematic diagram: the invention is a second flow chart of the relay valve fault diagnosis positioning method.

FIG. 3: the invention relates to a third flow chart of a relay valve fault diagnosis positioning method.

FIG. 4 is a schematic view of: the invention is one of the structural block diagrams of the relay valve fault diagnosis positioning device.

FIG. 5 is a schematic view of: the invention is a second structural block diagram of the relay valve fault diagnosis positioning device.

FIG. 6: the invention is a third structural block diagram of the relay valve fault diagnosis positioning device.

FIG. 7 is a schematic view of: the invention is the fourth structure block diagram of the relay valve fault diagnosis positioning device.

FIG. 8: is a schematic structural diagram of a relay valve in one embodiment of the invention.

FIG. 9: the relay valve is provided with a pressure acquisition hole in a structural schematic diagram in one embodiment of the invention.

The reference numbers in the invention are:

100. a data acquisition unit; 200. A data processing unit;

2001. a data comparison module; 2002. A fault data determination module;

2003. a fault determination module; 300. A failure determination unit;

400. a fault state simulation unit; 500. An analog data acquisition unit;

600. a fault model establishing unit; 700. A data analysis device;

800. test equipment;

1. a relay valve; 2. A first diaphragm piston;

3. a second diaphragm piston; 4. A first return spring;

5. a second return spring; 6. A first resilient seal member;

7. a second resilient seal member; 8. A first board surface;

9. a second board surface; 10. A third board surface;

11. a fourth board surface; 12. A fifth board surface;

13. a sixth board surface; 14. A valve seat;

15. a valve core; 16. A third return spring;

17. shrinking and plugging; 18. An air inlet valve port;

19. an air outlet valve port; 20. A first proportional switching control valve;

21. a second proportional switching control valve; 22. A third proportional switching control valve;

23. an adjusting piston; 24. A voltage regulating channel;

25. a fourth return spring; 26. A first pressure regulating chamber;

27. a second pressure regulating cavity; 28. A first valve stem;

29. a second valve stem; 30. A first pressure acquisition port;

31. a second pressure acquisition port; 32. A third pressure acquisition port;

33. a fourth pressure acquisition port; 34. A fifth pressure acquisition port;

35. a sixth pressure acquisition port; 36. A seventh pressure acquisition port;

37. an eighth pressure acquisition port; 38. A ninth pressure acquisition port;

c1, an output cavity; c2, a feedback cavity;

cv1, a first pressure chamber; cv2, a second pressure chamber;

cv3, a third pressure chamber; cv4, a fourth pressure chamber;

cv5, a fifth pressure chamber; cv6, a sixth pressure chamber;

cv7, a seventh pressure chamber; r, a total air pressure cavity;

r0, a total wind inlet channel; c0, an output channel;

cv0, pre-control pressure channel; t1, a first pressure control channel;

t2, a second pressure control channel; t3, a third pressure control channel.

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

Implementation mode one

As shown in fig. 1, the present invention provides a relay valve failure diagnosis positioning method for determining a failure state and a failure position of a relay valve 1 (a multistage pressure output relay valve) having a plurality of chambers, the relay valve failure diagnosis positioning method comprising the steps of:

step S1: respectively acquiring actual internal pressure data of each chamber in the relay valve 1 and actual external pressure data corresponding to each chamber;

further, in step S1, the actual internal pressure data of the chamber is: in actual conditions, the internal pressure of the chamber or the output pressure of the chamber.

Specifically, corresponding pressure acquisition holes can be reserved on each chamber or at the air outlet of each chamber, and pressure acquisition elements such as but not limited to pressure sensors can be arranged at the pressure acquisition holes, so that actual internal pressure data of the corresponding chambers can be acquired through the pressure acquisition holes.

Further, in step S1, the actual external pressure data of the chamber is: under actual conditions, the input pressure of the chamber.

Specifically, the air inlets of the chambers may be connected to the corresponding external air paths, respectively, to collect the pressure in the corresponding external air paths or the pressure at the air inlets of the chambers, where the collected pressure in the external air paths or the pressure at the air inlets of the chambers is the actual external pressure data of the corresponding chambers.

Under the condition of multiple faults of the multistage pressure output relay valve, the actual external pressure data is collected, whether the multistage pressure output relay valve breaks down or not can be judged, and the position of the fault cannot be located, so that the actual internal pressure data of each chamber needs to be collected, and the position of the chamber where the fault is located is determined according to the actual internal pressure data.

In an alternative embodiment of the present invention, as shown in fig. 2, before step S1, a fault model of the relay valve 1 needs to be established, and the specific steps thereof include:

step S01: simulating the fault state of different positions in the relay valve 1;

each fault condition that may occur in a multi-stage pressure output relay valve (including component failure and chamber failure) was individually simulated prior to actual use.

Step S02: respectively acquiring simulated internal pressure data and simulated external pressure data of each chamber under the condition that different positions have faults;

simulated internal pressure data and simulated external pressure data for each chamber were collected for each failure condition. The simulated internal pressure data and the simulated external pressure data can be the instantaneous value of the pressure at a certain time point or the change trend of the pressure in each time period.

Step S03: and establishing a fault model of the relay valve 1 according to the collected simulated internal pressure data and the simulated external pressure data.

Specifically, the simulated internal pressure data and the simulated external pressure data of each chamber are summarized and recorded under various simulated fault conditions, so that a fault model of the relay valve 1 is established.

Step S2: comparing the collected actual internal pressure data and actual external pressure data with the fault data acquired in advance;

further, as shown in fig. 3, step S2 includes:

step S201: comparing the actual internal pressure data and the actual external pressure data with simulated internal pressure data and simulated external pressure data in the fault model;

step S202: selecting simulated internal pressure data and simulated external pressure data which have the same pressure value or the same change trend of the pressure value as the actual internal pressure data and the actual external pressure data from the fault model, wherein the simulated internal pressure data and the simulated external pressure data are the fault data;

step S203: and determining the fault state corresponding to the relay valve 1 in the fault model and the position of the fault according to the fault data.

And step S3: the fault status of the relay valve 1 and the location of the fault are determined.

Specifically, the fault state and the fault location position corresponding to the relay valve 1 in the fault model are as follows: and under the actual working condition, the fault state and the fault position of the relay valve 1.

The relay valve fault diagnosis positioning method has the characteristics and advantages that:

1. according to the relay valve fault diagnosis positioning method, the actual internal pressure data of each chamber in the relay valve 1 and the actual external pressure data corresponding to each chamber are respectively collected, the collected actual internal pressure data and the collected actual external pressure data are compared with the fault data which are obtained in advance, so that the fault state and the fault position of the relay valve 1 are determined, the multi-stage pressure output relay valve 1 does not need to be disassembled, the fault detection efficiency is effectively improved, the time is saved, and the labor consumption is reduced.

2. According to the relay valve fault diagnosis positioning method, the fault state and the fault position are positioned by combining the actual internal pressure data of the chambers with the actual external pressure data corresponding to each chamber, and the fault position can be accurately positioned for the multi-stage pressure output relay valve 1 with a complex internal structure.

3. The fault diagnosis and positioning method for the relay valve can automatically diagnose and position faults, realize automatic fault diagnosis and positioning, does not need human intervention, and can realize standardized and automatic operation.

Second embodiment

As shown in fig. 4, the present invention provides a relay valve fault diagnosis positioning device for determining a fault state and a fault location of a relay valve 1 having a plurality of chambers, the relay valve fault diagnosis positioning device comprising a data acquisition unit 100, a data processing unit 200, and a fault determination unit 300, wherein:

a data acquisition unit 100 for respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber;

further, the actual internal pressure data of the chamber is: in actual conditions, the internal pressure of the chamber or the output pressure of the chamber.

Further, the actual external pressure data of the chamber is: under actual conditions, the input pressure of the chamber.

A data processing unit 200 for comparing the collected actual internal pressure data and actual external pressure data with failure data acquired in advance;

a fault determination unit 300 for determining the fault status of the relay valve 1 and the location of the fault.

In an alternative embodiment of the present invention, as shown in fig. 5, the relay valve fault diagnosis positioning apparatus further includes a fault state simulation unit 400, a simulation data acquisition unit 500, and a fault model building unit 600, wherein:

a fault state simulation unit 400 for simulating a state in which a fault occurs at a different position in the relay valve 1;

each of the fault conditions (including component failure and chamber failure) that may occur in the multi-stage pressure output relay valve were individually simulated prior to actual use.

The simulation data acquisition unit 500 is used for respectively acquiring simulated internal pressure data and simulated external pressure data of each chamber in the fault state of different positions;

simulated internal pressure data and simulated external pressure data for each chamber were collected for each fault condition. The simulated internal pressure data and the simulated external pressure data can be the instantaneous value of the pressure at a certain time point or the variation trend of the pressure in each time period.

And a fault model establishing unit 600 configured to establish a fault model of the relay valve 1 according to the collected simulated internal pressure data and the simulated external pressure data.

Specifically, the simulated internal pressure data and the simulated external pressure data of each chamber are summarized and recorded under various simulated fault conditions, so that a fault model of the relay valve 1 is established.

In an alternative embodiment of the present invention, as shown in fig. 6, the data processing unit 200 comprises a data comparison module 2001, a fault data determination module 2002, and a fault determination module 2003, wherein:

a data comparison module 2001 for comparing the actual internal pressure data and the actual external pressure data with the simulated internal pressure data and the simulated external pressure data in the fault model;

a fault data determination module 2002, configured to select, from the fault model, simulated internal pressure data and simulated external pressure data that are the same as pressure values of the actual internal pressure data and the actual external pressure data or have the same change trend of the pressure values, that is, fault data;

and a fault determining module 2003, configured to determine a fault state and a fault location corresponding to the relay valve 1 in the fault model according to the fault data.

In an alternative embodiment of the present invention, as shown in fig. 7, the data collecting unit 100 includes a pressure sensor, and a pressure collecting hole is reserved on each chamber or at an exhaust port of each chamber, and the pressure sensor is disposed at the pressure collecting hole. Of course, other pressure sensing elements may be used to sense the pressure within each chamber or at the exhaust port of each chamber.

Further, as shown in fig. 7, the relay valve fault diagnosis positioning device further includes a test device 800, a gas path interface capable of supplying gas to the outside is arranged on the test device 800, the gas path interface is connected with a gas source, the gas path interface is further connected with one end of an external gas path, the other end of the external gas path is connected with the gas inlets of the chambers respectively, and the test device 800 controls and collects gas supply pressure to the chambers to simulate the working condition of the relay valve when the relay valve is in fault.

Further, as shown in fig. 7, the relay valve fault diagnosis positioning apparatus further includes a data analysis device 700, where the data analysis device 700 at least includes the data processing unit 200 and the fault determination unit 300, and the data analysis device 700 is configured to analyze the collected actual internal pressure data and the actual external pressure data according to a fault model to determine a fault state and a fault location of the relay valve 1.

The following is an example of a specific relay valve 1 (multi-stage pressure output relay valve), and illustrates a failure determination process of the relay valve 1.

As shown in fig. 8, a specific structure of the relay valve 1 (multistage pressure output relay valve) in this embodiment is shown. The relay valve 1 comprises a valve core 15, a first diaphragm type piston 2 and a second diaphragm type piston 3, wherein the first diaphragm type piston 2 and the second diaphragm type piston 3 can adjust the positions of the first diaphragm type piston 2 and the second diaphragm type piston 3 in the relay valve 1 through controlling the air pressure in the relay valve 1. Wherein, the valve core 15, the first diaphragm piston 2 and the second diaphragm piston 3 are movably arranged in the relay valve 1, and the valve core 15, the first diaphragm piston 2 and the second diaphragm piston 3 are respectively matched with the space arranged in the relay valve 1, the first diaphragm piston 2 has a first plate surface 8, a second plate surface 9, a third plate surface 10 and a fourth plate surface 11, the second diaphragm piston 3 has a fifth plate surface 12 and a sixth plate surface 13, a feedback cavity C2 capable of inputting the pilot pressure is formed between the first plate surface 8 and the inner wall of the relay valve 1, a first pressure cavity Cv1 capable of inputting the pilot pressure is formed between the second plate surface 9 and the inner wall of the relay valve 1, a second pressure cavity Cv2 capable of inputting the pilot pressure is formed between the third plate surface 10 and the inner wall of the relay valve 1, a third pressure cavity Cv3 capable of inputting the pilot pressure is formed between the fourth plate surface 11 and the inner wall of the relay valve 1, a fourth pressure cavity Cv4 capable of inputting the pilot pressure is formed between the fifth plate surface 12 and the inner wall of the relay valve 1, the fourth pressure cavity Cv1 is communicated with the inner wall of the relay valve 1, and the second pressure Cv1, and the inner walls of the relay valve are communicated, and the relay valve 1, and the relay valve are respectively communicated with the first pressure cavity Cv 1; one end of the first diaphragm piston 2 is abutted with the valve core 15, the other end of the first diaphragm piston 2 can be abutted with one end of the second diaphragm piston 3, so that the second diaphragm piston 3 can be pushed to move in the moving process of the first diaphragm piston 2 (because the first diaphragm piston 2 and the second diaphragm piston 3 are not fixedly connected, the second diaphragm piston 3 cannot be pulled to move by the first diaphragm piston 2), a total air pressure cavity R and an output cavity C1 which can control on-off are formed between the valve core 15 and the inner wall of the relay valve 1, the output cavity C1 and the feedback cavity C2 can be connected in an on-off mode, the output cavity C1 is further connected with the brake cylinder, and the total air pressure cavity R is connected with a total air pressure source of a vehicle. During use, the stress of each diaphragm type piston can be respectively changed by adjusting the input pilot control pressure in each chamber (namely, the feedback chamber C2, the first pressure chamber Cv1, the second pressure chamber Cv2, the third pressure chamber Cv3, the fourth pressure chamber Cv4 and the fifth pressure chamber Cv 5), so that six brake cylinder pressures with different proportions can be output to the brake cylinder.

In the present embodiment, as shown in fig. 8, the relay valve 1 further includes a first valve rod 28 and a second valve rod 29 which are coaxially disposed, the first diaphragm piston 2 is disposed on the first valve rod 28, the second diaphragm piston 3 is disposed on the second valve rod 29, one end of the first valve rod 28 is the valve seat 14 abutting against the valve element 15, and the other end of the first valve rod 28 can abut against one end of the second valve rod 29; a seal ring is provided on the first valve rod 28 at a position close to the output chamber C1 and a seal ring is provided on the second valve rod 29 at a position close to the third pressure chamber Cv3, respectively. The first valve rod 28 can be pushed to move by the movement of the second valve rod 29, and the valve core 15 is pushed to move; the second stem 29 may be moved only by the movement of the first stem 28 without being operated. Both of the above two ways can control the movement of the spool 15, thereby achieving the total wind input and the brake pressure output into the brake cylinder.

In the present embodiment, as shown in fig. 8, the first valve rod 28 located in the second pressure chamber Cv2 is fitted with the first return spring 4, one end of the first return spring 4 abuts against the third plate surface 10, and the other end of the first return spring 4 abuts against the inner wall of the relay valve 1. In the case where the pilot pressure is not input into the relay valve 1, the first return spring 4 can push the first diaphragm piston 2 to return (i.e., to a preset position) to ensure the pressure balance in the relay valve 1.

In the present embodiment, as shown in fig. 8, the second valve rod 29 located in the fourth pressure chamber Cv4 is fitted with the second return spring 5, one end of the second return spring 5 abuts against the fifth plate surface 12, and the other end of the second return spring 5 abuts against the inner wall of the relay valve 1. In case no pilot pressure is input in the relay valve 1, the second return spring 5 can push the second diaphragm piston 3 to reset (i.e. to a preset position) to ensure pressure balance in the relay valve 1.

In this embodiment, as shown in fig. 8, an intake valve port 18 can be formed between the valve core 15 and the inner wall of the relay valve 1, the output chamber C1 can be communicated with the total wind pressure chamber R by moving the valve core 15, and the opening and closing of the intake valve port 18 can be controlled by pushing the valve core 15 in the relay valve 1, so as to input compressed air. An air outlet valve port 19 can be formed between the valve core 15 and the first valve rod 28, the moving of the valve core 15 can enable the output cavity C1 to be communicated with the outside, and the valve core 15 is pushed to realize the opening and closing control of the air outlet valve port 19 in the relay valve 1, so that the external exhaust is realized. When the valve seat 14 abuts against the valve core 15 and pushes the valve core 15 to move, the air outlet valve port 19 is closed, the air inlet valve port 18 is opened, the output cavity C1 is isolated from the outside atmosphere, and the main air pressure cavity R is communicated with the output cavity C1; after the pressure is stable, the valve seat 14 and the valve core 15 keep a contact state, at this time, the air outlet valve port 19 and the air inlet valve port 18 are both closed, the total air pressure cavity R is isolated from the output cavity C1, and the output cavity C1 is isolated from the outside atmosphere; when the valve seat 14 is separated from the valve core 15, the air outlet valve port 19 is opened, the air inlet valve port 18 is closed, the total air pressure cavity R is isolated from the output cavity C1, and the output cavity C1 is communicated with the external atmosphere.

In the present embodiment, as shown in fig. 8, in order to ensure the separation effect between the pressure chambers and ensure that the first diaphragm piston 2 and the second diaphragm piston 3 can obtain the desired moving position and moving state under the action of the pre-controlled pressure, a plurality of first elastic sealing members 6 are respectively arranged between the feedback chamber C2 and the first pressure chamber Cv1 and between the second pressure chamber Cv2 and the third pressure chamber Cv3 for separation, one end of each first elastic sealing member 6 is respectively embedded into the first diaphragm piston 2, and the other end of each first elastic sealing member 6 is respectively embedded into the relay valve 1; a plurality of second elastic sealing members 7 are provided between the fourth pressure chamber Cv4 and the fifth pressure chamber Cv5 to partition them, one end of each second elastic sealing member 7 is fitted into the second diaphragm piston 3, and the other end of each second elastic sealing member 7 is fitted into the relay valve 1.

In the present embodiment, as shown in fig. 8, the valve body 15 is fitted with a third return spring 16, one end of the third return spring 16 abuts against an annular boss formed on the valve body 15, and the other end of the third return spring 16 abuts against the inner wall of the relay valve 1. When the pilot pressure Pcv is not available, the third return spring 16 can push the valve element 15 to return, at this time, the intake valve port 18 is closed, and the total pressure wind in the total wind pressure chamber R cannot enter the output chamber C1.

In the present embodiment, as shown in fig. 8, the relay valve 1 is provided with a total wind intake passage R0 and an output passage C0, the total wind intake passage R0 communicates with the total wind pressure chamber R, and the output passage C0 communicates with the output chamber C1.

In this embodiment, as shown in fig. 8, a feedback channel is disposed between the output chamber C1 and the feedback chamber C2, two ends of the feedback channel are respectively communicated with the output channel C0 and the feedback chamber C2, and the wind pressure output to the brake cylinder enters the feedback chamber C2 through the feedback channel and is used as the feedback pressure for establishing the final pressure balance in the relay valve 1. The feedback channel is provided with a shrinkage plug 17, and the flow rate of compressed air entering the feedback cavity C2 from the output cavity C1 can be controlled by adjusting the aperture of the shrinkage plug 17.

In the present embodiment, as shown in fig. 8, the relay valve capable of multi-stage pressure output further includes a first proportional switching control valve 20, a second proportional switching control valve 21, and a third proportional switching control valve 22 for controlling the pilot pressure, the relay valve 1 is provided with a pilot pressure passage Cv0, a first pressure control passage T1, a second pressure control passage T2, and a third pressure control passage T3, the pilot pressure passage Cv0 communicates with the second pressure chamber Cv2, the pilot pressure passage Cv0 communicates with the third pressure chamber Cv3 through the first proportional switching control valve 20, the pilot pressure passage Cv0 communicates with the fourth pressure chamber Cv4 through the second proportional switching control valve 21, and the pilot pressure passage Cv0 communicates with the fifth pressure chamber Cv5 through the third proportional switching control valve 22. Each proportional switching control valve can input pre-control pressure into each pressure cavity through the corresponding pre-control pressure channel under the control of the corresponding control pressure, so that the output pressure of the brake cylinder is regulated and controlled.

In the present embodiment, as shown in fig. 8, the third proportional switching control valve 22 includes a regulating piston 23 movably disposed in the third proportional switching control valve 22, a first pressure regulating chamber 26 and a second pressure regulating chamber 27 are respectively formed between both ends of the regulating piston 23 in the third proportional switching control valve 22 and an inner wall of the third proportional switching control valve 22, a fourth return spring 25 is disposed in the second pressure regulating chamber 27 of the third proportional switching control valve 22, one end of the fourth return spring 25 abuts against the regulating piston 23 in the third proportional switching control valve 22, the other end of the fourth return spring 25 abuts against the inner wall of the third proportional switching control valve 22, the first pressure regulating chamber 26 of the third proportional switching control valve 22 is communicated with the third pressure control passage T3, a pressure regulating passage 24 is disposed on the regulating piston 23 of the third proportional switching control valve 22, the regulating piston 23 in the third proportional switching control valve 22 moves upward and compresses the fourth return spring 25, the pressure regulating passage 24 of the third proportional switching control valve 22 is communicated with the atmosphere, and at this time, the pressure regulating passage 24 in the third proportional switching control valve 22 is communicated with the fifth pressure chamber Cv5, the fifth pressure chamber Cv5 in the third proportional switching control valve 22; the adjusting piston 23 in the third proportional switching control valve 22 is moved downwards and the fourth return spring 25 is restored to the original position under the action of the self elastic force, the pilot control pressure channel Cv0 is communicated with the fifth pressure cavity Cv5 through the pressure adjusting channel 24 in the third proportional switching control valve 22, the pilot control pressure channel Cv0 charges the pilot control pressure Pcv into the fifth pressure cavity Cv5, and the pilot control pressure Pcv is input into the fifth pressure cavity Cv5 and acts on the sixth plate surface 13.

In the present embodiment, as shown in fig. 8, the first proportional switching control valve 20 and the third proportional switching control valve 22 have the same structure. Namely: the first proportional switching control valve 20 includes a regulating piston 23 movably disposed in the first proportional switching control valve 20, a first pressure regulating chamber 26 and a second pressure regulating chamber 27 are formed between both ends of the regulating piston 23 in the first proportional switching control valve 20 and an inner wall of the first proportional switching control valve 20, respectively, a fourth return spring 25 is disposed in the second pressure regulating chamber 27 of the first proportional switching control valve 20, one end of the fourth return spring 25 abuts against the regulating piston 23 in the first proportional switching control valve 20, the other end of the fourth return spring 25 abuts against the inner wall of the first proportional switching control valve 20, the first pressure regulating chamber 26 of the first proportional switching control valve 20 communicates with the first pressure control passage T1, a pressure regulating passage 24 is disposed on the regulating piston 23 of the first proportional switching control valve 20, the regulating piston 23 in the first proportional switching control valve 20 is moved upward and compresses the fourth return spring 25, the pressure regulating passage 24 of the first proportional switching control valve 20 can be controlled to communicate with the external atmosphere, at this time, the pressure regulating passage 24 in the third proportional switching control valve 20 communicates with the evacuation pressure chamber Cv3, the evacuation pressure chamber Cv3 in the third proportional switching control valve 20; the adjusting piston 23 in the first proportional switching control valve 20 is moved down and the fourth return spring 25 is restored to the original position under the action of the self elastic force, the pilot pressure channel Cv0 is communicated with the third pressure chamber Cv3 through the pressure adjusting channel 24 in the first proportional switching control valve 20, the pilot pressure channel Cv0 charges the pilot pressure Pcv into the third pressure chamber Cv3, and the pilot pressure Pcv is input into the third pressure chamber Cv3 and acts on the fourth plate surface 11.

In the present embodiment, as shown in fig. 8, the second proportional switching control valve 21 and the third proportional switching control valve 22 have different structures, the second proportional switching control valve 21 includes a regulating piston 23 movably disposed in the second proportional switching control valve 21, a first pressure regulating chamber 26 and a second pressure regulating chamber 27 are respectively formed between both ends of the regulating piston 23 in the second proportional switching control valve 21 and an inner wall of the second proportional switching control valve 21, a fourth return spring 25 is disposed in the second pressure regulating chamber 27 of the second proportional switching control valve 21, one end of the fourth return spring 25 abuts against the regulating piston 23 in the second proportional switching control valve 21, the other end of the fourth return spring 25 abuts against an inner wall of the second proportional switching control valve 21, the first pressure regulating chamber 26 of the second proportional switching control valve 21 communicates with the second pressure control passage T2, a pressure regulating passage 24 is disposed on the regulating piston 23 of the second proportional switching control valve 21, the regulating piston 23 in the second proportional switching control valve 21 moves up the regulating piston 23 in the second proportional switching control valve 21 and compresses the fourth pressure control passage T2, the fourth pressure control passage 21 communicates with the fourth pressure control passage c 4 Cv4, and the pressure control passage 12 communicates with the fourth pressure control passage c 4 Cv; the adjusting piston 23 in the second proportional switching control valve 21 is moved downwards and the fourth return spring 25 is returned to the original position under the action of the elastic force of the adjusting piston, so that the pressure adjusting passage 24 of the second proportional switching control valve 21 can be controlled to be communicated with the external atmosphere, at the moment, the pressure adjusting passage 24 in the second proportional switching control valve 21 is communicated with the fourth pressure chamber Cv4, and the pressure in the fourth pressure chamber Cv4 is exhausted.

During the operation of the relay valve 1 of the present embodiment, the proportional switching control valves (i.e., the first proportional switching control valve 20, the second proportional switching control valve 21 and the third proportional switching control valve 22) function to control the charging or discharging of the third pressure chamber Cv3, the fourth pressure chamber Cv4 and the fifth pressure chamber Cv5 in the relay valve 1 by means of the control pressures (PT 1, PT2, PT 3) respectively according to the control signals given by the brake system, so as to change the output ratio. The operating principle of the first proportional switching control valve 20 is: when the brake system gives a control pressure signal, the regulating piston 23 of the first proportional switching control valve 20 moves upward against the elastic force of the fourth return spring 25 of the first proportional switching control valve 20 under the action of the control pressure PT1, and after reaching the working position, the third pressure chamber Cv3 is communicated with the external atmosphere, and at this time, the third pressure chamber Cv3 is evacuated; when the pressure signal disappears, the regulating piston 23 of the first proportional switching control valve 20 moves downward to the initial position under the action of the fourth return spring 25, the pilot pressure channel Cv is communicated with the third pressure chamber Cv3, the pilot pressure enters the third pressure chamber Cv3, and at this time, the fourth plate surface 11 of the first diaphragm piston 2 is stressed and participates in pressure balance. The operating principle of the second proportional switching control valve 21 is: when a control pressure signal is given by the brake system, the adjusting piston 23 of the second proportional switching control valve 21 overcomes the elastic force of the fourth return spring 25 of the second proportional switching control valve 21 to move upwards under the action of the control pressure PT2, the pilot control pressure channel Cv is communicated with the fourth pressure chamber Cv4 after reaching the working position, the pilot control pressure enters the fourth pressure chamber Cv4, and at the moment, the fifth plate surface 12 of the second diaphragm type piston 3 is stressed and participates in pressure balance. The operating principle of the third proportional switching control valve 22 is the same as that of the first proportional switching control valve 20, namely: when the brake system gives a control pressure signal, the adjusting piston 23 of the third proportional switching control valve 22 moves upward under the action of the control pressure PT3 against the elastic force of the fourth return spring 25 of the third proportional switching control valve 22, and after reaching the working position, the fifth pressure chamber Cv5 is communicated with the external atmosphere, and at this time, the fifth pressure chamber Cv5 is evacuated; when the pressure signal disappears, the adjusting piston 23 of the third proportional switching control valve 22 moves downward to the initial position under the action of the fourth return spring 25, the pilot pressure channel Cv0 is communicated with the fifth pressure chamber Cv5, the pilot pressure enters the fifth pressure chamber Cv5, and at the moment, the sixth plate surface 13 of the second diaphragm piston 3 is stressed and participates in pressure balance.

As shown in fig. 9, a first pressure collecting hole 30 is provided in the first proportional switching control valve 20, a second pressure collecting hole 31 is provided in the second proportional switching control valve 21, a third pressure collecting hole 32 is provided in the third proportional switching control valve 22, a fourth pressure collecting hole 33 communicating with the main air pressure chamber R is provided in the relay valve 1, a fifth pressure collecting hole 34 communicating with the sixth pressure chamber Cv6 (a sealed chamber between the second pressure chamber Cv2 and the third pressure chamber Cv 3) is provided in the relay valve 1, a sixth pressure collecting hole 35 communicating with the seventh pressure chamber Cv7 (a sealed chamber between the fourth pressure chamber Cv4 and the fifth pressure chamber Cv 5) is provided in the relay valve 1, a seventh pressure collecting hole 36 communicating with the third pressure chamber Cv3 is provided in the relay valve 1, an eighth pressure collecting hole 37 communicating with the fourth pressure chamber Cv4 is provided in the relay valve 1, a ninth pressure collecting hole communicating with the fifth pressure chamber Cv5 is provided in the relay valve 1, a ninth pressure collecting hole 38 is provided in the relay valve 1, and a pressure collecting device or a data transmitting device is provided via another pressure collecting device (a pressure collecting device) and a data transmitting device 700, as shown in the drawings, and a data transmitting device 100: test bed) as the air supply and control equipment of the multistage pressure output relay valve, so that the multistage pressure output relay valve is in a fault working condition (a fault state is repeated), the pressure at a total air inlet channel R0, an output channel C0, a pre-control pressure channel Cv0, a first pressure control channel T1, a second pressure control channel T2 and a third pressure control channel T3 which are connected with an external air channel is simultaneously acquired, and the acquired pressure of each external air channel is transmitted to the data analysis equipment 700, the data analysis apparatus 700 may compare the collected actual internal pressure data and actual external pressure data with the simulated internal pressure data and simulated external pressure data in the fault model established in advance through a preset program, thereby completing fault diagnosis and location.

Taking the above multi-stage pressure output relay valve structure as an example, if a leakage fault occurs in the pilot pressure channel Cv0 in a state where the proportional switching control pressure is T1=0, T2=0, and T3=0, the fault occurs in a state where each gas path is ventilated and pressure-maintained, and if it can be known by collecting the actual external pressure data of the installation of the pilot pressure channel Cv0, the pressure of the pilot pressure channel Cv0 continuously decreases. The failure point causing the leakage of the pilot pressure passage Cv0 may be a seal between the feedback chamber C2 and the first pressure chamber Cv1, a seal between the second pressure chamber Cv2 and the sixth pressure chamber Cv6, a seal between the sixth pressure chamber Cv6 and the third pressure chamber Cv3, a seal between the fourth pressure chamber Cv4 and the seventh pressure chamber Cv7, a seal between the seventh pressure chamber Cv7 and the fifth pressure chamber Cv5, and a seal between the third pressure chamber Cv3 and the fourth pressure chamber Cv 4. The fault position is positioned after the actual external pressure data and the actual internal pressure data of each chamber are collected and compared with a fault model:

possible failure location one: if the sealing member between the feedback chamber C2 and the first pressure chamber Cv1 fails, the compressed air in the first pressure chamber Cv1 enters the feedback chamber C2, and from the acquired data, the pressure of the pilot pressure channel Cv0 decreases, and the pressure of the output channel C0 increases.

Possible failure location two: if the seal between the second pressure chamber Cv2 and the sixth pressure chamber Cv6 or the seal between the sixth pressure chamber Cv6 and the third pressure chamber Cv3 fails, the compressed air in the first pressure chamber Cv1 is discharged through the fifth pressure collection hole 34, and from the collected data, the pressure in the pilot pressure channel Cv0 decreases, and the pressure in the fifth pressure collection hole 34 increases, and at this time, the pressure in the third pressure chamber Cv3 can be exhausted by controlling the first proportional switching control valve 20; if the pressure in the fifth pressure collecting hole 34 continues to rise at this time, it can be determined that the sealing member between the second pressure chamber Cv2 and the sixth pressure chamber Cv6 is failed; if the pressure in the fifth pressure collecting hole 34 continues to drop to 0, it can be determined that the seal between the sixth pressure chamber Cv6 and the third pressure chamber Cv3 has failed.

Possible failure location three: if the sealing member between the third pressure chamber Cv3 and the fourth pressure chamber Cv4 fails, the compressed air in the third pressure chamber Cv3 enters the fourth pressure chamber Cv4, and from the acquired data, the pressure at the seventh pressure acquisition hole 36 decreases, and the pressure at the eighth pressure acquisition hole 37 increases.

Possible failure location four: if the seal between the seventh pressure chamber Cv7 and the fifth pressure chamber Cv5 fails, the compressed air in the fifth pressure chamber Cv5 is discharged through the sixth pressure collecting hole 35, and from the collected data, the pressure of the pilot pressure channel Cv0 decreases, and the pressure at the sixth pressure collecting hole 35 increases.

From the analysis content, for the failure of the pre-control pressure channel Cv0, only the diagnosis of the failure state (namely, the pressure drop of the pre-control pressure channel Cv 0) can be completed by collecting the actual external pressure data, and the specific position of the failure can not be accurately positioned.

Further, taking the above-mentioned multi-stage pressure output relay valve structure as an example, if a failure occurs in which the second proportional switching control valve 21 is switched abnormally and the brake proportional switching fails, at this time, the pressure is supplied to the second proportional switching control valve 21 through the second pressure control passage T2, but the multi-stage pressure output relay valve brake proportional is abnormally changed. The fault position is positioned after the actual external pressure data and the actual internal pressure data of each chamber are collected and compared with a fault model:

one of the causes that may cause failure: the piston in the second proportional switching control valve 21 is blocked, so that the pre-control pressure channel Cv0 is intermittently communicated with the fourth pressure cavity Cv4, the pressure in the fourth pressure cavity Cv4 is not equal to the pressure at the pre-control pressure channel Cv0, and the braking proportion is abnormal; in this case, the pressure in the chamber communicating with the second pressure collecting hole 31 in the second proportional switching control valve 21 and the pressure in the fourth pressure chamber Cv4 are collected, and if the pressure in the chamber communicating with the second pressure collecting hole 31 in the second proportional switching control valve 21 rises, the pressure in the fourth pressure chamber Cv4 rises, it is proved that the piston in the second proportional switching control valve 21 is stuck and cannot move in place, so that the chamber communicating with the second pressure collecting hole 31 in the second proportional switching control valve 21 is communicated with the fourth pressure chamber Cv4, the pilot pressure channel Cv0 is communicated with the fourth pressure chamber Cv4, and the pilot pressure channel Cv0 is communicated with the fourth pressure chamber Cv 4.

The second cause of possible failure: the piston in the second proportional switching control valve 21 is hermetically leaked, and although the pilot pressure passage Cv0 is communicated with the fourth pressure chamber Cv4, the pressure in the pilot pressure passage Cv0 leaks from the second pressure collection hole 31 in the second proportional switching control valve 21 after passing through the leakage position of the piston in the second proportional switching control valve 21, resulting in an abnormal pressure applied to the fourth pressure chamber Cv 4. In this case, the pressure in the chamber communicating with the second pressure collection hole 31 in the second proportional switching control valve 21 is collected, and if the pressure in the chamber communicating with the second pressure collection hole 31 in the second proportional switching control valve 21 increases, it is described that the piston in the second proportional switching control valve 21 is hermetically leaked, and the pressure in the pilot pressure passage Cv0 is discharged to the atmosphere from the second pressure collection hole 31 in the second proportional switching control valve 21 after passing through the leakage position of the piston in the second proportional switching control valve 21.

Three reasons that may lead to failure: the leakage of the seal between the third pressure chamber Cv3 and the fourth pressure chamber Cv4 causes the compressed air in the fourth pressure chamber Cv4 to enter the third pressure chamber Cv3, causing an abnormality in the pressure in the third pressure chamber Cv3, resulting in an abnormality in the pressure balance in the multistage pressure output relay valve, causing an abnormality in the brake ratio. In this case, the pressure in the third pressure chamber Cv3 is acquired, and if the pressure in the third pressure chamber Cv3 rises, it is proved that the seal member for isolating the third pressure chamber Cv3 from the fourth pressure chamber Cv4 leaks, resulting in the compressed air in the fourth pressure chamber Cv4 entering the third pressure chamber Cv 3.

Four reasons that may lead to failure: the seal between the fourth pressure chamber Cv4 and the seventh pressure chamber Cv7 leaks, resulting in a leakage of the pressure in the fourth pressure chamber Cv4 from the sixth pressure collecting hole 35 to the atmosphere through the leakage position of the seal between the fourth pressure chamber Cv4 and the seventh pressure chamber Cv 7. In this case, the pressure in the seventh pressure chamber Cv7 is collected, and if the pressure in the seventh pressure chamber Cv7 rises, it is proved that the seal between the fourth pressure chamber Cv4 and the seventh pressure chamber Cv7 leaks, and the pressure in the fourth pressure chamber Cv4 leaks from the sixth pressure collection hole 35 to the atmosphere through the leakage position of the seal between the fourth pressure chamber Cv4 and the seventh pressure chamber Cv 7.

From the above analysis, it can be seen that, for a fault that the second proportional switching control valve 21 fails to switch due to abnormal switching, the fault state (i.e., the second proportional switching control valve 21 is switched abnormally) can only be diagnosed by collecting actual external pressure data, and the specific position of the fault cannot be accurately located.

The relay valve fault diagnosis positioning device has the characteristics and advantages that:

the relay valve fault diagnosis positioning device can respectively collect actual internal pressure data of each chamber in the relay valve 1 and actual external pressure data corresponding to each chamber, compare the collected actual internal pressure data and the collected actual external pressure data with fault data acquired in advance, and determine the fault state and the fault position of the relay valve 1 according to the comparison result.

The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.

Claims (14)

1. A relay valve fault diagnosis positioning method is used for determining fault states and fault positions of a relay valve with a plurality of chambers, and is characterized by comprising the following steps:

respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber;

comparing the collected actual internal pressure data and the actual external pressure data with pre-acquired fault data;

and determining the fault state and the fault position of the relay valve.

2. The relay valve fault diagnosis positioning method according to claim 1, wherein the actual internal pressure data of the chamber is an internal pressure of the chamber or an output pressure of the chamber under an actual condition.

3. The relay valve fault diagnosis positioning method according to claim 2, wherein a pressure acquisition hole is reserved at the exhaust port of each chamber or the chambers, and actual internal pressure data of the corresponding chamber is acquired through the pressure acquisition hole.

4. The relay valve fault diagnosis positioning method according to claim 1, wherein the actual external pressure data of the chamber is an input pressure of the chamber under an actual working condition.

5. The method for diagnosing and positioning the fault of the relay valve as claimed in claim 4, wherein the air inlet of each chamber is respectively connected with a corresponding external air path, and the pressure in the corresponding external air path or the pressure at the air inlet of the chamber is acquired as the actual external pressure data of the corresponding chamber.

6. The method for diagnosing and locating faults of a relay valve as claimed in claim 1, wherein before the step of acquiring the actual internal pressure data of each chamber and the actual external pressure data corresponding to each chamber respectively, the method further comprises:

simulating the fault state of different positions in the relay valve;

respectively acquiring simulated internal pressure data and simulated external pressure data of each chamber under the condition that different positions have faults;

and establishing a fault model of the relay valve according to the collected simulated internal pressure data and the simulated external pressure data.

7. The relay valve fault diagnostic locating method of claim 6, wherein said comparing said actual internal pressure data and said actual external pressure data collected with pre-acquired fault data comprises:

comparing the actual internal pressure data and the actual external pressure data with the simulated internal pressure data and simulated external pressure data in the fault model;

selecting the simulated internal pressure data and the simulated external pressure data which have the same pressure value or the same change trend of the pressure value as the actual internal pressure data and the actual external pressure data from the fault model, namely the fault data;

and determining the fault state and the fault position corresponding to the relay valve in the fault model according to the fault data.

8. The fault diagnosis and positioning method for the relay valve according to claim 7, wherein the fault state and the fault location corresponding to the relay valve in the fault model are the fault state and the fault location of the relay valve under actual conditions.

9. A relay valve fault diagnosis positioning device for determining a fault state and a fault location of a relay valve having a plurality of chambers, the relay valve fault diagnosis positioning device comprising:

the data acquisition unit is used for respectively acquiring actual internal pressure data of each chamber and actual external pressure data corresponding to each chamber;

a data processing unit for comparing the collected actual internal pressure data and the actual external pressure data with fault data acquired in advance;

and the fault determining unit is used for determining the fault state and the fault position of the relay valve.

10. The relay valve malfunction diagnosis positioning apparatus according to claim 9, characterized in that the relay valve malfunction diagnosis positioning apparatus further comprises:

the fault state simulation unit is used for simulating the fault states of different positions in the relay valve;

the simulation data acquisition unit is used for respectively acquiring simulation internal pressure data and simulation external pressure data of each chamber under the condition that different positions have faults;

and the fault model establishing unit is used for establishing a fault model of the relay valve according to the collected simulated internal pressure data and the simulated external pressure data.

11. The relay valve fault diagnostic positioning apparatus according to claim 10, wherein the data processing unit includes:

a data comparison module for comparing the actual internal pressure data and the actual external pressure data with the simulated internal pressure data and the simulated external pressure data in the fault model;

the fault data determination module is used for selecting the simulated internal pressure data and the simulated external pressure data which have the same pressure value or the same pressure value change trend as the actual internal pressure data and the actual external pressure data from the fault model, and the selected simulated internal pressure data and the simulated external pressure data are the fault data;

and the fault determining module is used for determining the fault state and the fault position corresponding to the relay valve in the fault model according to the fault data.

12. The relay valve failure diagnosis positioning device according to claim 10, wherein the data acquisition unit includes a pressure sensor, a pressure acquisition hole is reserved at the exhaust port of each chamber or each chamber, and the pressure sensor is provided at the pressure acquisition hole.

13. The relay valve fault diagnosis positioning device according to claim 10, further comprising a test device, wherein the test device is provided with a gas path interface capable of supplying gas to the outside, the gas path interface is connected with one end of an external gas path, the other end of the external gas path is respectively connected with the gas inlets of the chambers, and the test device controls and collects gas supply pressure to the chambers to simulate the working condition of the relay valve during fault.

14. The relay valve fault diagnosis positioning apparatus according to claim 10, further comprising a data analysis device, the data analysis device including at least a data processing unit and a fault determination unit, the data analysis device being configured to analyze the acquired actual internal pressure data and the actual external pressure data according to the fault model to determine a fault state and a fault location of the relay valve.

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