JP2002356165A - Running simulation device for track vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support high speed driving on a track with a small radius of curvature and high speed driving on the track with a large radius of curvature. SOLUTION: There are provided a revolution table 14, a rotation table which rotates relative to the revolution table while supported by the revolution table, a first bearing 39 arranged on the rotation table 28 and rotating relative to the rotation table, and a second bearing 41 arranged on the rotation table 28 and rotating relative to the rotation table 28. First rail forming wheels 42-L and R forming a pair by two wheels supported by the first bearing 39 and second rail forming wheels 43-L and R forming a pair by two wheels supported by the second bearing 41 can strictly form a track of an arbitrary radius of curvature by revolution, first rotation and second rotation in the simulation manner so that a driving test of a wheel on a track with an arbitrary radius of curvature at an arbitrary speed can be conducted, and especially, a strict driving test of a vehicle driving on a track with a small radius of curvature at a high speed and a track with a large radius of curvature at a low speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for simulating traveling of a track vehicle.

[0002]

2. Description of the Related Art A track vehicle is required to be comfortable as well as to operate at a higher speed. The speedup and comfort are not limited to straight-line trajectories, but are required for small-radius curvature trajectories. The vehicle is usually 4
The vehicle includes four wheels, four rear wheels, a truck supported by these wheels, a vehicle body rotatably supported by the truck with a certain degree of restraint, and a control motor for controllingly driving the wheels. The two axles of a set of four wheels are mechanically and autonomously controlled by a displacement mechanism that is constrained to each other on a curved track and angularly displaced.

[0003] After such a track vehicle is completed, an actual vehicle test is performed on an actual track, and it is important that a simulated traveling test is performed in a prototype / design stage before the completion. Various simulated running test devices have a rotating wheel trajectory that simulates a trajectory. The test wheel group is disclosed in
It is mounted at the apex of its rotating wheel orbit, as is known from 1-337904. A displacement relationship between a plurality of wheels, which are elements of a test target wheel group, and a rotating wheel trajectory is controllably varied by an actuator, and a running test on a simulated curved trajectory is performed.

[0004] The curvature change curve trajectory is a force corresponding to an axle angular displacement in which two axles of four wheels are relatively angularly displaced with respect to a wheel supporting a heavy vehicle body. The revolving force acts as an external force when the wheels rotate around the center of the axle of the left and right wheels. The curvature change curve trajectory gives such three external forces to the wheel via a contact point where the flange surface and the tread contact the wheel. Such interaction forces occurring between the wheel and the track are entangled with each other in an irresolvable manner, and cause wear, complicated vibration, and rolling of the flange surface and the tread surface of the wheel due to dynamic friction sliding.

A known simulated traveling test apparatus which does not reproduce the physical relationship between the small radius track and the wheel and the loading truck does not reproduce the complex force generated by complicated entanglement, and has a small radius of curvature. It does not reproduce the physical relationship between the track, wheels and loading trolley. High speed and small curvature are physically similar. The interaction force between the wheel and the small radius track traveling at a relatively low speed is dynamically similar to the interaction force between the wheel and the large radius track traveling at a relatively high speed.

[0006] It is possible to cope with high speed on a small radius orbit and high speed on a large radius orbit. It is required to establish a test technique that can more completely reproduce the simulation.

[0007]

SUMMARY OF THE INVENTION An object of the present invention is to provide a running simulation apparatus for a track vehicle which establishes a technology capable of coping with high speed on a small radius orbit and high speed on a large radius orbit. To provide. Another object of the present invention is to provide a running simulation device for a track vehicle that can more completely and strictly reproduce physical and mechanical conditions in a more simulated manner, corresponding to any of a variety of vehicles. To provide. Still another object of the present invention is to provide a running simulation device for a track vehicle that can strictly and dynamically simulate running at an arbitrary speed on an arbitrary track.

[0008]

Means for solving the problem are described as follows. The technical items appearing in the expression are appended with numbers, symbols, and the like in parentheses (). The numbers, symbols, and the like are technical items that constitute at least one embodiment or a plurality of the embodiments of the present invention, in particular, the embodiments or the examples. Corresponds to the reference numerals, reference symbols, and the like assigned to the technical matters expressed in the drawings corresponding to the above. Such reference numbers and reference symbols clarify the correspondence and bridging between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence / bridge does not mean that the technical matters described in the claims are interpreted as being limited to the technical matters of the embodiments or the examples.

[0009] The running simulation device for a tracked vehicle according to the present invention comprises:
A revolution table (14), a rotation table (28) supported by the rotation table (14) and rotating with respect to the rotation table (14), and arranged on the rotation table (28) and rotating with respect to the rotation table (28). A first bearing (39), a second bearing (41) disposed on the rotation table (28) and rotating with respect to the rotation table (28), and a pair formed by two supported by the first bearing (39) A first rail generating wheel (43-L, R) and a second rail generating wheel (43-L, R) supported by a second bearing (41) and forming a pair of two.
And formed from. The first rail generating wheel (42-L,
R) and the second rail generating wheel (43-L, R) can simulate a trajectory having an arbitrary curvature by the revolution, the first rotation, and the second rotation, and a trajectory having an arbitrary curvature. It enables a running test of the upper wheel, and particularly enables a rigorous running test of a vehicle traveling on a high-speed small radius radius track and a low-speed large radius radius track.

The revolution angle α of the revolution table (14) and the rotation table (2)
The rotation angle β of 8), the rotation angle γ1 of the first bearing (39), and the rotation angle γ2 of the second bearing (41) are a set of functions described by common variables. A time sequence is represented by tj, and a set of functions is (α (tj), β (tj), γ1 (t
j), γ2 (tj)). Any trajectory can be dynamically generated in real time as strictly as possible.

A first motor (17) for controlling the revolution of the revolution table (14), a second motor (61) for controlling the revolution of the revolution table (28), and a revolution of the first bearing (39) are controlled. A third motor (64) and a fourth motor (64) for controlling rotation of the second bearing (41) are further added. With this addition, (α (tj), β (tj), γ1 (t
j), γ2 (tj)) are the first motor (17), the second motor (61), the third motor (64), and the fourth motor (64).
Is strictly controlled. As each motor, a stepping motor whose rotation speed is strictly controlled every moment can be most preferably adopted. The control of the plurality of stepping motors is executed by a program. The fourth motor (6
In 4), the third motor (64) can be shared. The dual rotation of the first bearing (39) and the second bearing (41) in the reverse direction is strictly controlled by this dual use.

A fifth motor (72) for controlling the rotation of the first rail generating wheel (42-L, R), and a second rail generating wheel (43).
A sixth motor (72) for controlling the rotation of (−L, R) is further added. The peripheral speed of the first rail generating wheel (42-L, R) or a speed substantially equal to the peripheral speed is represented by v. The set of functions described above is (α (tj, v), β (tj, v), γ1
(Tj, v), γ2 (tj, v)). (Α
(Tj, v), β (tj, v), γ1 (tj, v), γ
2 (tj, v)) by the first motor (17), the second motor (61), the third motor (64), the fourth motor (64), the fifth motor (72), and the sixth motor (72). Controlled. A stepping motor may be most suitably adopted as the additional motor. By using the stepping motors as all the motors, it is possible to simulate exactly the traveling at an arbitrary traveling speed on the track that is strictly generated. The dynamics of high-speed running bearings are dynamic from moment to moment, and the interlocking of all motors in perfect synchronization requires high-precision synchronization to faithfully reproduce the dynamics. The sixth motor (72) may be used as the fifth motor (72).

[0013] Two revolution tables are arranged, two rotation tables are arranged, two first bearings are arranged, two second bearings are arranged, two first rail generating wheels are arranged, and a second track generating wheel is arranged. Two rail generating wheels are arranged, and one set of one revolving head, one rotating base, one first bearing, one second bearing, one first rail generating wheel, and one second rail generating wheel is provided. Is formed, and the other one revolution table, the other one rotation table, the other one first bearing, the other one second bearing, the other one first rail generating wheel, and the other one second The rail-forming wheels form another set. Preferably, such sets are further formed as three sets.

A restraint (71) for restraining a specific point of the vehicle (84) mounted on the first rail generating wheel and the second rail generating wheel on a circle centered on the revolution center point of the orbiting table is added. You.
The restraint (71) is supported by the revolving table. Simulated traveling can be reproduced more faithfully in reality by the speed of the vehicle in the front-rear direction. In order to realize the differential phenomenon of the left and right wheels,
The addition of a motor (76) is preferred.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Corresponding to the drawings, an embodiment of a track vehicle running simulation apparatus according to the present invention is provided with an infinite rail together with a bogie. The infinite rail forms the infinite rail on one plane or on a plane that is substantially plane. As shown in FIG. 1, the infinite rail comprises a front rail forming unit 1, a center rail forming unit 2, and a rear rail forming unit 3. The center rail forming unit 2 is disposed at an intermediate position in the front-rear direction between the front rail forming unit 1 and the rear rail forming unit 3. The rear rail forming unit 3 is exactly the same as the front rail forming unit 1. Central rail forming unit 2
Is not completely the same as the front rail forming unit 1.

The infinite rail is supported by a base frame 4.
A support frame 5 using a front H-shaped steel, a support frame 6 using a H-shaped steel on the center side, and a support frame 7 using a H-shaped steel on the rear side are mounted on the base frame 4. The front-side H-section steel-using support frame 5, the center-side H-section steel-using support frame 6, and the rear-side H-section steel-using support frame 7, respectively, are two H-section steels and a revolving-table supporting steel sheet that is passed over the upper surfaces of the H-section steels. It is composed of The three revolution table supporting steel sheets are formed as a front revolution table supporting steel sheet 8, a center revolution table supporting steel sheet 9, and a rear revolution table supporting steel sheet 11, respectively. The base frame 4 is further provided with a front revolving wheel support strut 12 and a rear revolving wheel support strut 13.

The front rail forming unit 1 includes a front revolving table 14. The front revolving table 14 is supported on the upper surface of the front revolving table supporting steel plate 8 and the upper surface of the central revolving table supporting steel plate 9 so as to freely revolve. Rear rail forming unit 3
Includes a rear revolving base 15. Rear revolving table 15
Are supported on the upper surface of the rear-side revolving-table supporting steel plate 11 and the upper surface of the center-side revolving-table supporting steel plate 9 so as to freely revolve. The rotation-center-side base end portion of the front revolving base 14 and the rotation-center-side base end portion of the rear-side revolving base 15 are vertically overlapped and pinned by a rotation center shaft 16. The revolving center shaft 16 is supported by being vertically raised and fixed to the center-side revolving-table supporting steel plate 9 in the vertical direction.

At an appropriate position in the radial direction of the front revolving base 14,
A front revolving stepping motor 17 constituting the front rail forming unit 1 is fixedly supported. A rear-side revolution stepping motor 18 constituting the rear-side rail forming unit 3 is provided at an appropriate position in the radial direction of the rear-side revolution table 15.
Are fixedly supported. The output shaft of the front revolution stepping motor 17 protrudes from the lower surface of the front revolution table 14, and has a front gear 19 at the projecting portion. The front gear 19 meshes with an arc-shaped front rack tooth flank formation 21 which is supported by the front revolving wheel support column 12 and is non-rotatably fixed. The output shaft of the rear revolution stepping motor 18 projects from the lower surface of the rear revolution table 15, and a rear gear 22 is provided at the projecting portion. The rear gear 22 meshes with an arc-shaped rear rack tooth flank forming body 23 that is supported by the rear revolving wheel support column 13 and fixed non-rotatably.

A plurality of front revolving wheels 24 are interposed between the lower surface of the front end area of the front revolving table 14 and the upper surface of the front revolving table support steel plate 8. A plurality of center-side first revolution wheels 25 are interposed between the lower surface of the rear end region of the front revolution table 14 and the upper surface of the center revolution table support steel plate 9. A plurality of center-side second revolution wheels 26 are interposed between the lower surface of the front end region of the rear-side revolution table 15 and the upper surface of the center-side revolution table support steel plate 9. Between the lower surface of the rear end region of the rear revolution table 15 and the upper surface of the rear revolution table support steel plate 11,
A plurality of rear revolving wheels 27 are interposed.

The front revolving stepping motor 17 and the rear revolving stepping motor 18 are respectively
It rotates at the speed controlled on the sequence of time points, and in particular, rotates at the same speed in opposite directions, or rotates at an arbitrary speed and direction controlled independently of each other. 14 and the rear revolving base 15 are independent of each other or dependent on each other, with the revolving center axis 16 as the center of revolution, the front revolving base supporting steel plate 8, the center revolving base supporting steel plate 9, and the rear revolving base supporting steel plate 11 can rotate.

The front rail forming unit 1 includes a front rotating base 28. On the upper surface of the front end region of the front-side revolving base 14, a front-side rotating base 28 is rotatably supported. A front-side rotating wheel 29 is interposed between the lower surface of the front-side rotating table 28 and the upper surface of the front-side rotating table 14. The center rail forming unit 2 includes a center rotating base 31. A center-side rotation base 31 is rotatably supported on the upper surface of the rear end area of the front rotation table 14 and the upper surface of the front end area of the rear rotation table 15. A center-side rotating wheel 32 is interposed between the lower surface of the center-side rotating table 31 and the upper surface of the front-side rotating table 14 and the upper surface of the rear-side rotating table 15.

The rear rail forming unit 3 includes a rear rotating base 33. On the upper surface of the rear end region of the rear-side revolution table 15, a rear-side rotation table 33 is rotatably supported. A rear-side rotating wheel 34 is interposed between the lower surface of the rear-side rotating table 33 and the upper surface of the rear-side rotating table 15. Front-side rotating table 28, center-side rotating table 31, and rear-side rotating table 33
Means that the upper surface of the front-side revolving base 14 and the upper surface of the rear-side revolving base 15 can rotate about respective rotation axes (described later).

Center-side rotating base supporting steel plate 9 and center-side rotating base 3
1 is connected to each other by a plurality of fixing pins 35 before and after passing through the front revolving base 14 and the rear revolving base 15, and the central rotating base 31 cannot rotate and the front revolving base 14 and the rear revolving base are not rotatable. It is supported by the table 15. The central rotating base 31 is
In principle, it is not used as a rotating table, but at the time of a small curvature track corresponding test in which the curvature is different between the front side and the center side or between the center side and the front side, the stopper pin 35 is removed,
The center-side rotating base 31 can rotate.

The front rail forming unit 1 includes a front rail wheel unit 36. The center-side rail forming unit 2 includes a center-side rail wheel unit 37. The rear-side rail forming unit 3 includes a rear-side rail wheel unit 38. The front-side rail wheel unit 36 includes a front-side first angular displacement bearing 39, a front-side second angular-displacement shaft 41, a front-side first rail-wheel pair 42, and a front-side second rail-wheel pair 43. ing. The front-side first angular displacement bearing 39 and the front-side second angular displacement shaft 41 are displaceably disposed on the front-side rotating base 28.

The center-side rail wheel unit 37 includes a center-side first
An angular displacement bearing 44, a center-side second angular displacement bearing 45,
It is composed of a center-side first rail wheel pair 46 and a center-side second rail wheel pair 47. The center-side first angular displacement bearing 44 and the center-side second angular displacement bearing 45 are disposed to be displaceable on the center-side rotation base 31. Rear rail wheel unit 38
A rear first angular displacement bearing 48, a rear second angular displacement bearing 49, a rear first rail pair 51, and a rear second
And a pair of rail rings 52. The rear first angular displacement bearing 48 and the rear second angular displacement bearing 49 are arranged to be displaceable on the rear rotating base 33.

As shown in FIG. 2, the front first rail pair 42 includes a front first left rail 42-L and a front first rail 42-L.
It is composed of a right rail wheel 42-R and a front first axle 53 (see FIG. 1) for connecting these left and right wheels in a pair. The front-side second rail wheel pair 43 includes a front-side second left-side rail wheel 43-L, a front-side second right-side rail wheel 43-R, and a front-side second axle 54 that couples these left and right wheels into a pair. It is composed of

The center-side first rail wheel pair 46 includes a center-side first left rail wheel 46-L and a center-side first right rail wheel 46-R.
A central first axle 55 connects these left and right wheels in a pair. The center-side second rail wheel pair 47 includes a center-side second left rail wheel 47-L and a center-side second right rail wheel 47.
-R and a central second axle 56 connecting these left and right wheels in a pair. Rear 1st rail pair 51
Is composed of a rear first left rail wheel 51-L, a rear first right rail wheel 51-R, and a rear first axle 57 connecting these left and right wheels in a pair. The rear-side second rail wheel pair 52 includes a rear-side second left-side rail wheel 52-L, a rear-side second right-side rail wheel 52-R, and a rear-side second axle 58 that couples these left and right wheels into a pair. It is composed of

The front first left and right rail wheels 42-L, R, the front second left and right rail wheels 43-L, R, the center first left and right rail wheels 46-L, R, and the center second left and right wheels. Side rail wheel 47-
The cross-sectional shape on the radiation surface including the center axis of the region near the circumference of each of L, R, the rear first left and right rail wheels 51-L, R, and the rear second left and right rail wheels 52-L, R is as follows. The cross section of the rail to be tested is formed to have substantially the same shape.

FIG. 3 shows the above-described rotation mechanism for rotating the front rail wheel unit 36 or the rear rail wheel unit 38, and the bearing angular displacement mechanism. The rotation mechanism of the front rail wheel unit 36 and the rotation mechanism of the rear rail wheel unit 38 are structured mirror-symmetrically. Hereinafter, the rotation mechanism and the bearing angular displacement mechanism of the front rail wheel unit 36 will be described. As shown in FIG. 3, the rotation shaft 59 penetrates in the vertical direction at the approximate center point of the front rotation table 28 and is fixed to the front rotation table 14.

As shown in FIG. 3 and FIG. 4, a stepping motor 61 for driving the turntable is mounted at an appropriate position behind the front turntable 28. The output shaft of the rotating head drive stepping motor 61 penetrates through the front rotating base 28 and protrudes to the lower surface side of the front rotating base 28, and a rotating force transmitting gear 62 is fixed to the protruding portion. As shown in FIG. 4, the rotation rack tooth surface forming body 63 is formed and attached to the upper surface side of the front revolving table 14. The rack teeth of the rotation rack tooth surface forming body 63 mesh with the gear teeth of the rotation force transmission gear 62.

The control output of the rotating head driving stepping motor 61 is transmitted to the rotating rack tooth flank forming body 63, and the rotating head driving stepping motor 61 receives a meshing reaction force from the rotating rack tooth flank forming body 63. A rotation moment about the rotation shaft 59 is received. Front-side rotating base 28
Receives its rotational moment and rotates about the rotation axis 59.

A stepping motor 64 for driving angular displacement of the bearing is arranged and mounted on the upper surface side of the front rotating table 28. Stepping motor 6 for bearing angular displacement drive
The output shaft of No. 4 is threaded to form a screw shaft. The screw shaft is formed on the first screw shaft 65-F on the front side portion and the second screw shaft 65-R on the rear side portion.
The direction of threading rotation of the first screw shaft 65-F is opposite to the direction of threading rotation of the second screw shaft 65-R. As shown in FIG. 3, the first movable key 6 is attached to the first screw shaft 65-F.
6-F is screwed, and the second movable key 66-R is screwed to the second screw shaft 65-R. First movable key 66-F and second movable key 66-F
The movable keys 66-R are respectively formed in cam grooves (not shown) formed by hollowing the respective ends of the front first angular displacement bearing 39 and the front second angular displacement bearing 41. It is fitted.

Stepping motor 6 for driving bearing angular displacement
If the output shaft 4 rotates and the first screw shaft 65-F and the second screw shaft 65-R rotate, the first movable key 66-F and the second
The first movable key 66-F and the second movable key 66-R rotate in opposite directions to each other, and the cam groove of the front first angular displacement bearing 39 and the front second angular displacement shaft 41. The first first angular displacement bearing 39 and the front second angular displacement shaft 41 support the first and second angular displacement bearings 39, respectively, so as to be able to rotate. The bearings rotate in opposite directions about the bearing rotation shaft 67-F and the second bearing rotation shaft 67-R as central axes. As described above, the front first axle 53 and the front second axle 54 that are respectively supported by the front first angular displacement bearing 39 and the front second angular displacement shaft 41 that are rotatable in opposite directions to each other. Both rotation axes 5
The angle between 3 ', 54' is controllably variable.

As shown in FIG. 3, the front first angular displacement bearing 39 is fixed to the first bearing angular displacement table 68, and the front second angular displacement shaft 41 is fixed to the second bearing angular displacement table 69. ing. In this case, the above-described cam grooves or cam surfaces restrained by the first movable key 66-F and the second movable key 66-R respectively are provided on the first bearing angular displacement table 68 and the second bearing angular displacement table 69. Each is formed.

Between the front rail forming unit 1 and the center rail forming unit 2, as shown in FIG. 1, a gate-shaped front-rear direction restraint support base 70 is arranged. The front-side front-rearward restraint support base 70 is attached and arranged on the upper surface of the front-side revolving base 14. The front-side front-restriction pin 71 rises from the center of the top of the front-side front-restriction support base 70 and is fixed to the front-side front-restriction support base 70. Front side front-rear restraint pin 71
Are formed in a hemispherical surface.

The front-side front-rearward restraint pin 71 restrains a longitudinal displacement of a test cart described later. Between the rear side rail forming unit 3 and the center side rail forming unit 2, a gate-shaped rear side front-rear direction restraining support base 72 is arranged. The support block 72 for restraining the rear side in the front-rear direction is attached to and arranged on the upper surface of the rear-side revolution table 15. The rear-side front-restriction pin 73 rises from the center position of the top of the rear-side front-restriction support base 72, and is fixed to the front-side front-restriction pin 71. Rear side front-rear restraint pin 7
The vertex of No. 3 is formed in a hemisphere. The rear-side front-rear direction restraint pin 73 restrains a front-rear direction displacement of a test cart described later.

The front first left rail wheel 42-L and the front second left rail wheel 43-L of the front rail wheel unit 36 are
As shown in FIG. 2, it is driven in a controlled manner by a front-side first rail wheel driving stepping motor 72. The front-side first rail wheel driving stepping motor 72 is disposed and attached to the front-side revolving base 14. A front first co-operating gear 75 is fixedly attached to the output shaft of the front first rail wheel driving stepping motor 72.

The front first co-operating gear 75 is provided with a front first
The gear coaxially fixed to the left rail wheel 42-L and the gear coaxially fixed to the front second left rail wheel 43-L mesh with the front first left rail wheel 42-L. The front second left rail wheel 43-L can rotate in the same direction. Such a rail wheel drive mechanism is exactly the same for the center rail wheel unit 37 and the rear rail wheel unit 38.

The front first right rail 42-R and the front second right rail 43-R of the front rail unit 36 are
It is controllably driven by the front-side second rail wheel driving stepping motor 76. The front-side second rail wheel driving stepping motor 76 is arranged and attached to the front-side revolving base 14. A front second co-operating gear 77 is fixedly attached to the output shaft of the front second track wheel driving stepping motor 76. The front second cooperating gear 77 meshes with a gear coaxially fixed to the front first right rail 42-R and a gear coaxially fixed to the front second right rail 43-R. The front first right rail wheel 42-R and the front second right rail wheel 43-R can rotate in the same direction. Such a rail wheel drive mechanism is exactly the same for the center rail wheel unit 37 and the rear rail wheel unit 38.

Stepping motor 72 for driving the first first rail wheel and stepping motor 7 for driving the second front rail wheel
6 are controlled independently of each other. The rotation speed of the front-side first left rail wheel 42-L is the front-side first right rail wheel 42-L.
Independent of the rotation speed of -R. The speed difference between the two rotational speeds is defined as a function of the radius of curvature of the trajectory. Front first left rail wheel 42-L and front second right rail wheel 4
The differential structure between R and R is realized by an electronic control program of the front-side first rail wheel driving stepping motor 72 and the front-side second rail wheel driving stepping motor 76.

The test vehicle is not limited to the bogie being prototyped.
Completed vehicle bogie, simulated mass mounted bogie, prototype train, prototype locomotive, completed train, completed locomotive. As shown in FIGS. 1 and 2, the test vehicle has a front rail forming unit 1, a center rail forming unit 2, and a rear rail forming unit 3.
And is placed on. The test vehicle includes a front four-wheel unit 81, a center four-wheel unit 82, a rear four-wheel unit 83, a front body 84, and a rear body 85, as shown in FIGS. It is composed of The front-side vehicle body 84 and the rear-side vehicle body 85 are exemplified as a two-connected vehicle that runs at a high speed on a small curvature track, and are widely used as a tram. As the connecting portion, a sliding curved surface forming connecting member 86 (see FIG. 2) in which the distance between the front and rear vehicle bodies in the front-rear direction becomes zero is used.

The distance between the rail wheels of the front rail wheel unit 36, the distance between the rail wheels of the central rail wheel unit 37, and the distance between the rail wheels of the rear rail wheel unit 38 are respectively the front four wheel unit 81. , The distance between the running wheels of the central four-wheel unit 82, and the distance between the running wheels of the rear four-wheel unit 83. All running wheels are circumscribed on a local approximation plane near the vertex line of all rail wheels having an appropriate width.

FIG. 5 shows the triaxial rotation of the four wheels of the front rail wheel unit 36, the center rail wheel unit 37, and the rear rail wheel unit 38. The wheels of the vehicle
Guided by guide rails. When traveling on a straight track, there is in principle no mechanical relationship between the wheels and the guide rail other than gravity. The dynamic relationship between the wheels and the guide rail occurs when traveling on a curved track. The centrifugal force generated in the vehicle during actual running is designed and adjusted on the track side so that the centrifugal force and gravity are balanced by adjusting the height of the left and right rails, so that it is canceled between the wheels and the guide rail. Centrifugal force can be excluded from the test items.

The main problem of the dynamic relationship between the curved track and the wheels is
This is due to the difference in path length between the left and right rails. When transitioning from a straight track to a curved track, the front wheels are on a curved track and the rear wheels are on a straight track. In FIG. 5, the middle four wheels 46-L, R,
47-L, R are described as the rear four wheels. The four front wheels 42-L, R, 43-L, R that have entered the curved trajectory are divided into two front right wheels 42-L based on the difference between the inside and outside travel path lengths.
R, 43-R slides relative to the rail. The sliding is
Generates a strong frictional force between the wheel and the rail.

The momentary change in such a curved track is caused by the change of the front gear 1 of the output shaft of the front revolution stepping motor 17 constituting the front rail forming unit 1.
9 receives the meshing reaction force from the front rack tooth surface forming body 21, the front revolving table 14 which is pin-connected to the front gear 19 in the revolving direction in the same direction as the center point of the sliding curved surface forming connector 86. It is realized by revolving around. The instantaneous change is described by a function of a time t representing the rotation speed of the stepping motor 17 for front revolution.

The function is arbitrarily programmed.
The revolving speed of the front revolving base 14 corresponds to the output rotation speed of the front first rail wheel driving stepping motor 72 and the front second rail wheel driving stepping motor 76 simulated relatively to the speed of the vehicle. Front left first track wheel 4
2-L, the average rotation speed of the front-side first right rail wheel 42-R, the front-side second left rail wheel 43-L, and the front-side second right rail wheel 43-R (when there is a differential device). It is an average rotational speed, but if there is no differential device, it can be set simulated freely by describing it as a function of the same rotational speed of these four wheels) and the radius of curvature of the orbit that changes every moment.

By simulating such orbital motion, four front wheels and rails are simulated.
The oscillating force generated between the two rail wheels 42-L, R, 43-L, R is measured. The measurement is performed by a strain gauge provided on the vehicle side.

The rotating force transmitting gear 62 of the output shaft of the rotating head drive stepping motor 61 meshes with the rotating rack tooth surface forming body 63 of the front revolving head 14, and the output shaft of the rotating head driving stepping motor 61 is driven. Is rotated, the stepping motor 61 for driving the turntable, which is pin-coupled to the front turntable 28, receives the reaction of the rotational force from the rack tooth surface forming body 63 for rotation, and rotates about the rotation shaft 59, and The rotation table 28 rotates around a rotation axis 59, and the four rail wheels 42-L, R, 43 supported by the front rotation table 28.
-L and R rotate around the rotation axis 59 in the same manner as the front rotation table 28. Four rail wheels 42-L, R, 43-
The rotation angles of the same body of L and R are set every moment to an angle corresponding to the rotation angle of the front revolving base 14, and the simulated trajectory accurately simulated by the real curved trajectory defined by the program is composed of four rails. Generated by the wheels 42-L, R, 43-L, R.

Next, the rotation of the first screw shaft 65-F and the second screw shaft 65-R, which are the output shafts of the bearing angular displacement driving stepping motor 64, the first movable key 66-F, and the second movable key 66 -R displacement, the front-side first angular displacement bearing 3
9 and the front-side second angular displacement shaft 41 are rotationally displaced in opposite directions, and the rotational axes 53 ′ and 54 ′ are displaced so as to face the center of the local circular orbit. Both rotation axes 53 ', 54'
The four rail wheels 42-L, R, 43-L, and R have the actual trajectory by a three-axis rotation synthesis of the rotational displacement of the front rotation table 14 and the rotation of the front rotation table 28 described above. A trajectory that exactly simulates exactly is formed.

A set of three rotation angles of three axes (α, β, γ)
Can generate any simulated trajectory. α, β, and γ can be respectively represented by functions of the time sequence tj. A set of dynamic rotation angles (α (tj), β (tj), γ
(Tj)) are four rail wheels 42-L, R, 43-L,
It is functioned according to the peripheral velocity v of R. The vehicle speed for actual driving is determined roughly in accordance with the curvature of the actual track, but the speed is not always strictly defined on all tracks, and the speed is within a certain tolerance within the driver or train. Selected by the staff in the management room. (Α (tj),
β (tj), γ (tj)) are functions (α (tj, v), β (tj, v), γ (tj,
v)). By freely generating such a set of angles, it is possible to realize a traveling test of a rail car traveling on an arbitrary curved track at an arbitrary speed and an arbitrary acceleration. γ is represented by γ1 for the first bearing and γ2 for the second bearing. γ1 is equal to -γ2 with respect to the reference angular position. In general, for three of the six sets shown in FIG. 5, α is represented by α and α ′, β is represented by β and β ′, and γ
Can take six different values each.

The track vehicle running simulation apparatus shown in FIG. 1 enables a running test of one vehicle having two four-wheel running wheel units or one vehicle having three four-wheel running wheel units and being refractible. I have. The plurality of four-wheel traveling wheel units are not necessarily on the track having the same curvature. In a vehicle traveling on a low-speed large curvature radius track, the plurality of four-wheel traveling wheel units travel on different curvature radius tracks. In a test of a vehicle traveling on such a low-speed large curvature radius track, the set of angle functions is (α) for the front rail forming unit 1.
1 (tj, v), β1 (tj, v), γ1 (tj,
v)), and for the center rail forming unit 2, (α2 (tj, v), β2 (tj, v), γ2 (t
j, v)), and for the rear-side rail forming unit 3, (α3 (tj, v), β3 (tj, v), γ3
(Tj, v)).

In the high-speed small-curvature running test and the low-speed large-curvature running test, the axles of the front two axles and the rear two axles of the four rails rotated by the rotation mechanism were used. It is particularly important to be able to adjust the relative angle between. Such a test is more effective when a change in speed and a change in curvature are involved. In high-speed small-curvature running and low-speed large-curvature running, the occurrence of resonant vehicle vibration may be overlooked even if the simulation accuracy is slightly poor. In order to increase the speed of the vehicle according to the curvature, the simulation degree must be 100
It is important to approach%. In order to ensure such importance, the vehicle must be restrained in the front-rear direction by the front-side front-rear restraint pins 71, mechanical accuracy such as interlocking accuracy between the screw shaft and the key, and geometrical accuracy such as the radius of the rail ring. Improvement of mathematical accuracy such as mathematical accuracy and function setting is naturally desired,
The running simulation device for a tracked vehicle according to the present invention has such a configuration.
A simulation degree of 00% can be realized in principle.

[0053]

The running simulation device for a tracked vehicle according to the present invention can realize a running state of any pattern by means of a track wheel simulated accurately without being limited to an actual track.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of a running simulation device for a tracked vehicle according to the present invention.

FIG. 2 is a plan view of FIG. 1;

FIG. 3 is a plan view of a part of FIG. 2;

FIG. 4 is a front view of a part of FIG. 1;

FIG. 5 is a geometric diagram illustrating trajectory generation.

[Explanation of symbols]

 14 revolution table 17 first motor 28 rotation table 39 first bearing 41 second bearing 43-L, R second rail generating wheel 61 second motor 64 third motor 71 restrictor 72 Fifth motor 84… vehicle

Claims (10)

[Claims] 1. A rotating table, a rotating table supported by the rotating table and rotating with respect to the rotating table, a first rotating means arranged on the rotating table and rotating with respect to the rotating table
A second bearing disposed on the rotation table and rotating with respect to the rotation table;
A track vehicle including: a bearing; a first rail generating wheel supported by the first bearing to form a pair; and a second rail generating wheel supported by the second bearing to form a pair. Running simulator. 2. A function described by a common variable among a rotation angle α of the rotation table, a rotation angle β of the rotation table, a rotation angle γ1 of the first bearing, and a rotation angle γ2 of the second bearing. The running simulator for a tracked vehicle according to claim 1, which is a set of: 3. A time sequence is represented by tj, and the set of functions is
(Α (tj), β (tj), γ1 (tj), γ2 (t
3. The running simulation device for a tracked vehicle according to claim 2, which is described in j)). 4. A first motor for controlling rotation of the rotating table, a second motor for controlling rotation of the rotating table, a third motor for controlling rotation of the first bearing, and a second motor for controlling the rotation of the first bearing. A fourth motor for controlling rotation, wherein the (α (tj), β (tj), γ1 (tj), γ2
The running simulation apparatus for a track vehicle according to claim 3, wherein (tj)) is controlled by the first motor, the second motor, the third motor, and the fourth motor. 5. The running simulation device for a track vehicle according to claim 4, wherein said fourth motor is also used as said third motor. 6. A first motor for controlling rotation of the rotating table, a second motor for controlling rotation of the rotating table, a third motor for controlling rotation of the first bearing, and a second motor for controlling rotation of the first bearing. A fourth motor for controlling rotation, a fifth motor for controlling rotation of the first rail generating wheel, and a sixth motor for controlling rotation of the second rail generating wheel; The peripheral velocity or a velocity substantially equal to the peripheral velocity is represented by v, and the set of functions is (α (tj, v), β (tj, v),
γ1 (tj, v), γ2 (tj, v)), and the above (α (tj, v), β (tj, v), γ1 (tj,
v), γ2 (tj, v)) correspond to the first motor and the second motor.
4. The running simulation device for a tracked vehicle according to claim 3, wherein the running vehicle is controlled by a motor, the third motor, the fourth motor, the fifth motor, and the sixth motor. 7. The running simulation device for a track vehicle according to claim 6, wherein the sixth motor is also used as the fifth motor. 8. The rotating table is provided with two, the rotating table is provided with two, the first bearing is provided with two, the second bearing is provided with two, and the first rail generating wheel is provided with two. Two are arranged, and two of the second rail generating wheels are arranged, one of the revolving gantry, one of the rotating gantry and one of the first gantry are provided.
A bearing, one of the second bearings, one of the first rail generating wheels, and one of the second rail generating wheels form one set, and the other one of the revolving head and the other one of the rotating heads Another one
8. The one set of one of the first bearings, another of the second bearings, another of the first rail generating wheels, and another of the second rail generating wheels. 1 selected from
The running simulation device for a tracked vehicle according to claim. 9. The rotating table is provided with three, the rotating table is provided with three, the first bearing is provided with three, the second bearing is provided with three, and the first rail generating wheel is provided. Are arranged, three of the second rail generating wheels are arranged, one of the revolving head, one of the rotating head, and one of the first one
A bearing, one of the second bearings, one of the first rail generating wheels, and one of the second rail generating wheels form one set, and the other one of the revolving head and the other one of the rotating heads Another one
One of the first bearings, another of the second bearings, another of the first rail generating wheels, and another of the second rail generating wheels form another set; One of the revolution tables, one of the rotation tables, another of the first bearings, another of the second bearings, a further one of the first rail generating wheels, and a further one of the first bearings. 9. The running simulation apparatus for a rail vehicle according to claim 1, wherein the two second rail generating wheels form a further set. 10. The vehicle according to claim 1, further comprising a restraining device for restraining a specific point of the first rail generating wheel and a vehicle mounted on the first rail generating wheel on a circle centered on a revolution center point of the revolution table. The said restraining tool is supported by the said revolution table.
The running simulation device for a tracked vehicle according to claim 1, which is selected from the group consisting of: