CN203601296U - Urban rail vehicle wheel out-of-roundness detecting device based on laser sensors - Google Patents

Abstract

The utility model discloses an urban rail vehicle wheel out-of-roundness detecting device based on laser sensors. The device comprises a central processing unit and multiple laser sensors, wherein the laser sensors are connected with the central processing unit. A steel rail in a detection zone deviates outward, and a protective rail is arranged on the inner side of the steel rail in the detection zone. The laser sensors are arranged between a region reversed for steel rail deviation and the protective rail, probes of the laser sensors are arranged in the steel rail direction and evenly located under the wheel, and all of laser sensors are coplanar with the wheel circumstance for out-of-roundness measurement. The device adopts the laser sensors, the laser sensors are installed under the wheel based on certain geometrical relation and simultaneously detect the wheel to obtain detection points, and the diameter is obtained through least square fit, and diameter subsections in the whole wheel circumference are averaged and then a maximum value is used for subtracting a minimum value to obtain the wheel out-of-roundness. The urban rail vehicle wheel out-of-roundness detecting device has the advantages of being high in speed and accuracy and large in diameter measurement range during online non-contact measurement.

Description

City rail vehicle wheel out of round degree detecting device based on laser sensor

Technical field

The utility model relates to railway wheel detection field, particularly a kind of city rail vehicle wheel out of round degree detecting device based on laser sensor.

Background technology

City rail vehicle there will be abrasion in various degree in the process of operation, abrasion exert an influence to wheel safe operation meeting, and it is particularly important wherein to wear away the inhomogeneous wheel tread polygon causing, it constitutes a serious threat to the safety in operation of train, rolling stock is strengthened greatly to circuit and the dynamic action of self, also can bring additional vibration and impact simultaneously, reduce the critical speed of rolling stock, make stationarity and the traveling comfort variation of train.Therefore to the non-roundness measurement of wheel tread to safe train operation important in inhibiting.

The method of inspection of wheel circularity is mainly divided into Static Detection and dynamic monitoring, and Static Detection need to stop or wheel dismounting in the situation that is carried out at train, not only take the turn round time of train, and speed is slow, and labour intensity is large; Dynamic monitoring not only can realize taking turns right on-line monitoring, and degree of automation is high, does not take car cycle, is convenient to store information material, and the dynamic monitoring out of roundness method adopting at present has vibration acceleration detection method and contact measuring method:

The Vibration Condition of track when the permutation train that vibration acceleration detection method gathers by analysis passes through check point, the out of roundness information of extraction wheel, but the method is subject to the impact of installation of sensors fixture, sleeper vibration damping, and measuring accuracy is not high.Contact measuring method is typically parallelogram method, patent 1(lifting mode wheel tread is inserted and is injured the online device for dynamically detecting of out of roundness, application number: 200720082608.9, the applying date: 2007-12-20) and the slotting wound of patent 2(wheel tread and out of roundness on-line measuring device, application number: 201210307496.8, applying date: 2012-08-27) On-line Measuring Method and the improvement thereof of parallelogram sturcutre all disclosed.In the method, displacement pickup is connected with the bearing being fixed on the rail that forms parallel-crank mechanism one side, sensor can directly be measured the variable quantity of the relative height of wheel tread and wheel rim, displacement pickup records the diameter situation of whole tread circumference, thus when tread not bowlder sensor be that delivery curve draws out of roundness.But the method has adopted contact type measurement, be not suitable for the situation that train passes through at a high speed, and have the problems such as speed of response is slow, the physical construction life-span is low, engineering construction is difficult of measuring.

Utility model content

The purpose of this utility model is to provide a kind of high-precision city rail vehicle wheel out of round degree detecting device based on laser sensor, adopts non-contact measurement, and detection speed is fast, measurement range is large.

The technical solution that realizes the utility model object is: a kind of city rail vehicle wheel out of round degree detecting device based on laser sensor, comprise central processing unit and multiple laser sensor, and described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, and the probe of laser sensor is arranged and is all positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement.

Compared with prior art, remarkable advantage of the present utility model is:, based on laser detection system, by the algorithm of least square fitting, realize the online noncontact measurement of train wheel (1), and survey precision is high; (2) by any multiple spot coordinate of laser sensor automatic acquisition wheel, by corresponding data Processing Algorithm, obtain institute's measuring car wheel diameter instantly, the maxim in cut-off footpath deducts minimum value, obtains the quantizating index of out of roundness, simple, convenient quick; (3) automatic acquisition wheel is through out-of-date speed; (4) have advantages of that detection speed is fast, measurement range is large.

Accompanying drawing explanation

Fig. 1 is the postrun abrasion schematic diagram of wheel tread.

Fig. 2 is the constructional drawing of the city rail vehicle wheel out of round degree detecting device of the utility model based on laser sensor.

Fig. 3 is the schematic diagram of rail switching place in the utility model city rail vehicle wheel out of round degree detecting device.

Fig. 4 is the distance Q of the utility model rail skew and the size generalized section of guard rail.

Fig. 5 is that in embodiment 1, the vertically arranged wheel out of round degree of laser sensor straight line detects schematic diagram.

Fig. 6 is the observed reading S relation of t (ms) in time that is arranged on wheel in embodiment 1 and enters 9 laser sensors of front end.

Fig. 7 is a certain moment detection sequence point (X in embodiment 1 _i, Y _i) and matching after circle.

Fig. 8 is whole diameters that in embodiment 1, all effective measured data values matchings obtain.

Fig. 9 is that the diameter of averaging within the scope of M=50mm in embodiment 1 after calculating is counted.

Figure 10 is 20 out of roundness acquired results schematic diagrams of duplicate measurements in embodiment 1.

Figure 11 is that the wheel out of round degree that in embodiment 2, laser sensor straight line tilts to install detects schematic diagram.

Figure 12 is the observed reading S relation of t (ms) in time that is arranged on wheel in embodiment 2 and enters 9 laser sensors of front end.

Figure 13 is a certain moment detection sequence point (X in embodiment 2 _i, Y _i) and matching after circle.

Figure 14 is whole diameters that in embodiment 2, all effective measured data values matchings obtain.

Figure 15 is that the diameter of averaging within the scope of M=50mm in embodiment 2 after calculating is counted.

Figure 16 is 20 out of roundness acquired results schematic diagrams of duplicate measurements in embodiment 2.

The specific embodiment

Below in conjunction with drawings and the specific embodiments, the utility model is described in further detail.

Tread profile when having expressed certain wheel operation tread profile later in Fig. 1 and just having put into operation, can find out apart from the wheel rim side 70mm of place and concentrate and locate for abrasion, this place is measurement diameter position conventional in engineering, and wheel diameter is often controlled between 770～840mm, therefore laser sensor sensing point is chosen for the wheel circumference at this place.

The city rail vehicle wheel out of round degree detecting device of the utility model based on laser sensor, comprises central processing unit and multiple laser sensor, and described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, and the probe of laser sensor is arranged and is all positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement.

As shown in Figure 2, detector segments by outer rail 6 partially, vacate certain area, laser sensor probe 3 is arranged on to the measurement point below of wheel 1, in wheel rim inner side, guard rail 5 is set and causes derailing to prevent taking turns in S or end float misalignment, laser sensor probe 3 is fixing by clamp of sensor 4, and can adjust position and the inclination angle of laser sensor probe 3, and each laser sensor probe 3 laser beams that send 2 can detect the corresponding check point on wheel simultaneously.

As shown in Figure 3, rail outwards switching place of skew is arc, is conducive to train and enters and exit detecting area.Fig. 4 has illustrated the outwards concrete size Q of skew of rail, and for wheel tread and 60 rails, Q is controlled between 50～65mm, makes track centerline not exceed the outer rim of wheel.Guard rail exceeds the size P of wheel rim, is controlled between 30～50mm.The wheel circumference that carries out diameter measurement is 70mm apart from the distance of wheel rim side.

Due to wheel to be measured and track Long Term Contact, smooth surface roughness is low, therefore relates to and utilizes laser scanning testing head to carry out profile measurement to the very strong metal curved surface of mirror-reflection, and this measurand is a difficult point in current topography measurement field.Zhang Liang etc. have analyzed the measurement capability of existing several laser feeler to metal surface, show that the holographic probe of cone light polarization and oblique fire formula triangle probe are applicable to measuring metal curved surface (Zhang Liang, Fei Zhigen, Guo Junjie. laser scanning testing head is measured research to metal curved surface, lathe and hydraulic pressure, the 39th the 9th phase of volume: in May, 2011).Therefore the laser sensor that the utility model relates to, preferably bores the holographic probe of light polarization and oblique fire formula triangle probe, the quantity of laser sensor be 6～30 and the probe of all laser sensors be fixed on wheel below by clamp of sensor.

The method that uses the above-mentioned city rail vehicle wheel out of round degree detecting device based on laser sensor to carry out the detection of wheel out of round degree, comprises the following steps:

The 1st step, is installed on rail by each laser sensor and is offset the region of vacating, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out non-roundness measurement: be X-axis along rail direction, through first laser sensor P ₁and be upwards Y-axis perpendicular to rail, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is θ with respect to the mounted angle of X-axis _i;

The 1st step, is installed on rail by each laser sensor and is offset the region of vacating, and makes the probe of each laser sensor arrange and all be positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out diameter measurement, and laser sensor is designated as P _i, along rail direction, i is followed successively by 1,2 ... n, the number that n is laser sensor;

The 2nd step, sets up two-dimensional coordinate system in the plane at the wheel circumference that carries out non-roundness measurement: be X-axis along rail direction, through first laser sensor P ₁and be upwards Y-axis perpendicular to rail, the coordinate of laser sensor is (x _i, y _i), each laser sensor probe is θ with respect to the mounted angle of X-axis _i;

The 3rd step, gathers the output valve of all laser sensors, and selects the valid data group { S that simultaneously has 6 and above sensor output value _it, S _itbe i sensor P _iin the output valve in t moment, i=1,2 ... n;

The 4th step, calculate the speed of wheel through detecting area:

v=D/t

Wherein D is two sensor P that survey vertically upward _jwith sensor P _kmounting distance, t=t _k-t _j, t _jbe j sensor P _jthe moment of output minimum value, t _kbe k sensor P _kthe moment of output minimum value, in detection interval at the uniform velocity;

The 5th step, according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i):

(X _i,Y _i)＝(x _i,y _i)+(S _i×cosθ _i,S _i×sinθ _i)i＝1,2...n

The 6th step, according to n on wheel measurement point coordinate (X _i, Y _i) carry out fitting circle, obtain the wheel diameter D of this measuring position; Adopt method of least square to carry out fitting circle, formula is as follows:

$D=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="HDA0000411838450000012.png,HDA0000411838450000023.png"\; state="\{\{state\}\}">b</figure-callout>}}^2+4\frac{\mathrm{\&Sigma;}({X_i}^2+{Y_i}^2)+\mathrm{a\&Sigma;}{X}_i+\mathrm{b\&Sigma;}{Y}_i}{n}},i=\mathrm{1,2}...n$

Wherein, a is the center of circle abscissa x after matching ₀-2 times be a=-2x ₀, b is the center of circle ordinate y after matching ₀-2 times be b=-2y ₀, and

$a=\frac{\mathrm{HD}-\mathrm{EG}}{\mathrm{CG}-{\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="HDA0000411838450000012.png,HDA0000411838450000023.png"\; state="\{\{state\}\}">D</figure-callout>}}^2}$

$b=\frac{\mathrm{HC}-\mathrm{ED}}{D^2-\mathrm{GC}}$

Wherein C, D, E, G, H are intermediate parameters, as follows respectively:

$\left.\begin{array}{c}C=\mathrm{n\&Sigma;}{X}_i^2-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{X}_i\\ D=\mathrm{n\&Sigma;}{X}_i{Y}_i-\mathrm{\&Sigma;}{X}_i\mathrm{\&Sigma;}{Y}_i\\ E=\mathrm{n\&Sigma;}{X}_i^3+\mathrm{n\&Sigma;}{X}_i{Y_i}^2-\mathrm{\&Sigma;}(X_i^2+{Y_i}^2)\mathrm{\&Sigma;}{X}_i\\ G=\mathrm{n\&Sigma;}{Y_i}^2-\mathrm{\&Sigma;}{Y}_i\mathrm{\&Sigma;}{Y}_i\\ H=\mathrm{n\&Sigma;}{X}_i^2{Y}_i+\mathrm{n\&Sigma;}{Y_i}^3-\mathrm{\&Sigma;}({X_i}^2+{Y_i}^2)\mathrm{\&Sigma;}{Y}_i\end{array}\right\}i=\mathrm{1,2}...n$

The 7th step, repeats 5th～6 steps, the valid data group { S that sensor multi collect is obtained _itcarry out measurement point coordinate and calculate with matching and obtain the wheel diameter of a series of different measurings position, take time gap Δ t=M/v as unit, successively the wheel diameter recording in Δ t time range is averaged; M gets 30～60mm; V is the speed of wheel through detecting area;

The 8th step, the maxim in the wheel diameter aviation value that step 6 is obtained deducts minimum value, obtains the quantized value E of wheel out of round degree.

Below in conjunction with specific embodiment, introduce respectively sensor and adopt that straight line is vertical, city rail vehicle wheel out of round degree detecting device and the method for straight line inclination mounting means, the utility model is described in further detail.

Embodiment 1

The present embodiment is the vertically arranged city rail vehicle wheel out of round of sensor straight line degree detecting device and method.

As shown in Figure 5, the probe of n laser sensor is arranged and is distributed on horizon along rail direction, and the vertical rail of detecting light beam of each laser sensor upwards.

The installation parameter of laser sensor meets the following conditions: the number n of laser sensor is 28, adjacent laser sensor interval 100mm, and the attachment point of laser sensor to the vertical distance of rail is | y ₁| be 100mm.6 of this mount schemes and the distance simultaneously measuring with upper sensor exceed 2800mm, have covered the situation 840 × 3.14=2637.6mm of wheel diameter maximum, the whole circumference range of wheel tread can be detected, thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm) and mounted angle θ _i(unit: °):

Wherein i represents i sensor;

If the sampling period of laser sensor is 1kHz, to measure random error 0.1mm, and suppose that train running speed is 1m/s, the tested vechicle wheel measurement data that are 800 by computer modeling generation diameter as shown in Figure 6, are exported out of roundness by take off data according to following steps:

(1.1) gather the output valve of all laser sensors, and select the valid data group { S that simultaneously has 6 and above sensor output value _it, S _itbe i sensor P _iin the output valve in t moment, i=1,2 ... n;

(1.2) according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i), Fig. 7 has drawn certain moment S in (1.1) _idefinite sequence of points (X _i, Y _i) and this moment matching after circle:

$\left\{\begin{array}{c}{X}_i=\left[\begin{array}{cccccc}700& 800& 900& 1000& 1100& 1200\end{array}\right]\\ Y_i=\left[\begin{array}{cccccc}134.2090& 53.2563& 12.1802& -0.1636& 12.7334& 54.0496\end{array}\right]\end{array}\right.$

(1.3) according to n on wheel measurement point coordinate (X _i, Y _i) carrying out fitting circle, the wheel diameter D that obtains this measuring position is 799.583mm.Fig. 8 is the corresponding wheel diameter value in all effective measurement moment, and it is that D is 798mm～802mm that the data in interior all moment of useful range calculate diameter.

(1.4) by all valid data group { S that collect _itcarry out the calculating of measurement point coordinate and matching, obtain a series of wheel diameters within the scope of whole wheel circumference, by the data in Fig. 8 take time gap Δ t=M/v as unit, successively the wheel diameter recording in Δ t time range is averaged, obtain the output diameter of one-shot measurement as Fig. 9, error after can averaging is between-0.3mm～0.2mm, and wherein M is 40mm, and v is speed and the v=1m/s of wheel through detecting area;

(1.5) maxim in wheel diameter aviation value step 6 being obtained deducts minimum value, obtains the quantized value E of wheel out of round degree.Analogue measurement 20 times, obtains the result of a measurement shown in Figure 10, and from this result of a measurement, this embodiment can be realized the high-acruracy survey of wheel out of round degree, and measured error is <0.6mm in the situation that not considering installation error.

Embodiment 2

The present embodiment is city rail vehicle wheel out of round degree detecting device and the method for sensor designated mounting.

As shown in figure 11, for fear of in embodiment 1 cathetus at right angle setting situation when wheel entry and exit, the unnecessary waste that the invalid detection of laser sensor causes, by 4 sensors at two ends certain angle that tilts inwards.

The installation parameter of laser sensor meets the following conditions: the number n of laser sensor is 28, adjacent laser sensor interval 100mm, and the attachment point of laser sensor to the vertical distance of rail is | y ₁| be 100mm.6 of this mount schemes and the distance simultaneously measuring with upper sensor exceed 2800mm, have covered the situation 840 × 3.14=2637.6mm of wheel diameter maximum, the whole circumference range of wheel tread can be detected, thereby obtain the coordinate (x of each sensor _i, y _i) (unit: mm) and mounted angle θ _i(unit: °):

$\left\{\begin{array}{c}{x}_i=100(i-1)\\ y_i=-100\end{array}\right.i=\mathrm{1,2}\&CenterDot;\&CenterDot;\&CenterDot;28$

θ _i=[54?63?72?81?90?90?90?90?90?90?90?90?90?90?90?90?90?90?90?90?9090?90?90?90?99?108?117?126]

Wherein i represents i sensor;

If the sampling period of laser sensor is 1kHz, and suppose that train running speed is 1m/s, the tested vechicle wheel measurement data that are 800 by computer modeling generation diameter as shown in figure 12, are exported out of roundness by take off data according to following steps:

(1.1) gather the output valve of all laser sensors, and select the valid data group { S that simultaneously has 6 and above sensor output value _it, S _itbe i sensor P _iin the output valve in t moment, i=1,2 ... n;

(1.2) according to sensor P _ioutput valve S _i, coordinate figure (x _i, y _i), mounted angle θ _idetermine respective sensor P on wheel _imeasurement point coordinate (X _i, Y _i), Figure 13 has drawn certain moment S in (2.1) _idefinite sequence of points (X _i, Y _i) and this moment matching after circle:

$\left\{\begin{array}{c}{X}_i=\left[\begin{array}{cccccc}1100& 1200& 1300& 1400& 1500& 1600\end{array}\right]\\ Y_i=\left[\begin{array}{cccccc}134.0987& 52.9163& 12.3753& 0.1562& 13.3715& 53.9346\end{array}\right]\end{array}\right.$

(2.3) according to n on wheel measurement point coordinate (X _i, Y _i) carrying out fitting circle, the wheel diameter D that obtains this measuring position is 801.861mm.Figure 14 is the corresponding wheel diameter value in all effective measurement moment, and it is that D is 798mm～802mm that the data in interior all moment of useful range calculate diameter.

(2.4) by all valid data group { S that collect _itcarry out the calculating of measurement point coordinate and matching, obtain a series of wheel diameters within the scope of whole wheel circumference, by the data in Fig. 8 take time gap Δ t=M/v as unit, successively the wheel diameter recording in Δ t time range is averaged, obtain the output diameter of one-shot measurement as Figure 15, error after can averaging is between-0.3mm～0.3mm, and wherein M is 40mm, and v is speed and the v=1m/s of wheel through detecting area;

(2.5) maxim in wheel diameter aviation value step 6 being obtained deducts minimum value, obtains the quantized value E of wheel out of round degree.Analogue measurement 20 times, obtain the result of a measurement shown in Figure 16, from this result of a measurement, in 20 simulation processes, only once exceed 0.5mm, illustrate that this embodiment can realize the high-acruracy survey of wheel out of round degree, measured error is <0.6mm in the situation that not considering installation error.

In sum, the utility model, based on laser detection system, by the algorithm of least square fitting, is realized the online noncontact measurement to train wheel out of roundness, survey precision is high, simple, convenient quick, and has advantages of that detection speed is fast, measurement range is large.

Claims (5)

1. the city rail vehicle wheel out of round degree detecting device based on laser sensor, is characterized in that, comprise central processing unit and multiple laser sensor, described laser sensor is all connected with central processing unit; The rail of detector segments is outwards offset, and the rail of this detector segments inner side arranges guard rail, tangent inside guard rail and wheel rim; Laser sensor is arranged at rail and is offset between the region and guard rail of vacating, and the probe of laser sensor is arranged and is all positioned at wheel below along rail direction, and all laser sensors are coplanar with the wheel circumference that carries out non-roundness measurement.

2. the city rail vehicle wheel out of round degree detecting device based on laser sensor according to claim 1, it is characterized in that, described detector segments is 2500～3000mm, and detector segments rail is skew 50～65mm outwards, and switching place that this rail is outwards offset is arc.

3. the city rail vehicle wheel out of round degree detecting device based on laser sensor according to claim 1, is characterized in that, described in carry out non-roundness measurement wheel circumference be 70mm apart from the distance of wheel rim side.

4. the city rail vehicle wheel out of round degree detecting device based on laser sensor according to claim 1, is characterized in that, the quantity of described laser sensor is n and 6≤n≤30.

5. the city rail vehicle wheel out of round degree detecting device based on laser sensor according to claim 1, it is characterized in that, the probe of described laser sensor is the holographic probe of cone light polarization or oblique fire formula triangle probe, and the probe of all laser sensors is fixed on wheel below by clamp of sensor.

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