JP2014143785A5 - - Google Patents

Description

Trolley transport vehicle

  The present invention relates to a large trolley-type transport vehicle configured to receive a power supply from an overhead line via a pantograph and operate a wheel driving electric motor, in addition to a generator that generates electricity by an engine. The present invention relates to an apparatus for measuring the height of an overhead wire by using it.

  As a truck for transporting ore, coal, rocks, etc., a large truck such as a dump truck that has been conventionally driven by a generator driven by a diesel engine and driven by an electric motor for driving wheels with the generated power is used. A vehicle is used. Such a large transport vehicle driven by an engine may be driven only at a low speed of, for example, about 10 km / hr when traveling on an uphill due to the limit of engine output.

  Therefore, in order not to decrease the traveling speed even when climbing up, the power is supplied to the transporting vehicle from the overhead line via the pantograph, the power is converted in the transporting vehicle, and the traveling electric motor is driven by the converted power. Is adopted (see, for example, Patent Document 1). When traveling with power supplied from an overhead line, it is possible to travel at a speed that is approximately twice as fast on the uphill than when the engine is driven. In addition to receiving power supply from the overhead line in order to increase the traveling speed in this way, there are cases where the vehicle travels by receiving power supply from the overhead line in order to prevent exhaust gas emission during traveling in the tunnel.

  An off-road road surface having an overhead line on which a trolley-type transporting vehicle travels is scraped every time the vehicle travels, and the distance between the road surface and the overhead line gradually increases. Thus, even if the height difference between the road surface and the overhead line (height of the overhead line) changes, since the pantograph is movable up and down, a certain degree of fluctuation in the overhead line can be tolerated. However, unlike the railway, the contact between the pantograph and the overhead line on the off-road road surface is greatly affected by the sudden stop of the transportation vehicle or the pitching due to the suspension and the unevenness of the road surface.

  If the overhead line is too low, the overhead line causes a ground fault in contact with the pantograph frame and the vehicle body stops. On the other hand, if the overhead line is too high and the contact of the pantograph is separated from the overhead line, the controller of the transport vehicle determines that the vehicle has moved to a portion where there is no overhead line, and the vehicle body stops. Such stoppage of the vehicle body causes a reduction in efficiency of the transportation work. For this reason, conventionally, the operation manager measures the height of the overhead line using a dedicated measuring device, and if the result of the measurement shows that the road surface has been scraped to some extent, there is a difference in height between the road surface and the overhead line. The earth was leveled by embankment to an appropriate value.

Japanese Examined Patent Publication No. 7-97881

  As mentioned above, since the operation manager has conventionally used a dedicated measuring device to measure the difference in level between the road surface and the overhead line, a dedicated measuring device is required and labor and labor are required. There was a point.

  In view of the above problems, the present invention can grasp the height of the overhead line, that is, the height of the road surface with reference to the overhead line, by traveling on the road surface of the transportation vehicle, so that a dedicated measuring device is not necessary, and the operation manager It is an object of the present invention to provide a trolley-type transporting vehicle having a height measuring means that can save labor and labor for measuring the overhead wire height.

The trolley type transportation vehicle according to claim 1 is:
In a trolley-type transport vehicle equipped with a pantograph that contacts the overhead line and receives power supply on the vehicle body,
Position detecting means for detecting the position in the height direction of the contact in a state where the pantograph is urged by the urging means so that the contact of the pantograph is in contact with the overhead line, and the height of the overhead line;
An output means for displaying, printing, and storing information on the height of the overhead line obtained by the position detection means as road surface information, at least one of the means for storing information in a storage device or transmitting information to a remote location. It is characterized by that.

The trolley type transport vehicle according to claim 2 is the trolley type transport vehicle according to claim 1,
The position detection means includes an angle detection means for detecting an inclination angle of a frame on which the contact of the pantograph is attached, and a calculation means for obtaining the height of the contact from the inclination angle detected by the angle detection means. It is characterized by that.

The trolley type transport vehicle according to claim 3 is the trolley type transport vehicle according to claim 1 or 2,
The output means outputs the travel position information of the vehicle together with the height of the overhead wire.

The trolley type transport vehicle according to claim 4 is the trolley type transport vehicle according to any one of claims 1 to 3,
A warning means for issuing a warning when the height of the overhead line obtained by the position detection means deviates from a set range is provided.

  According to the first and second aspects of the present invention, the position detection means obtains the height direction position of the contact in the state where the pantograph is urged by the urging means so as to come into contact with the overhead line, and the position detection means determines the position of the contact. The height of the overhead line obtained by the means is displayed, printed, stored in a storage device, or output as road surface information by at least one output means for information transmission to a remote place. It is possible to know the height of the overhead line and the state of the road by a transport vehicle in a normal transport operation for traveling on the road surface.

  For this reason, the operation manager does not need to measure the height difference between the road surface and the overhead line using a dedicated measuring device, and no dedicated measuring device is required, and the operation manager can save labor and labor. . In addition, since the height of the overhead line can be known immediately by the traveling of the transporting vehicle, it is possible to quickly respond such as immediately repairing a necessary road such as embankment or leveling.

  In addition, since such a quick response is possible, it is possible to reduce the frequency of occurrence of a ground fault that is a contact between the overhead line and the main body of the pantograph and a situation in which the contact of the pantograph is separated from the overhead line. Since it is possible to prevent a vehicle stop caused by the separation of the overhead line, it is possible to prevent a reduction in the operation rate of the transport vehicle due to the ground fault or the separation of the overhead line.

  The invention of claim 3 outputs the information on the height of the overhead line together with the travel position information, so that it can be extended after the time of measurement by leaving it by printing or recording, and the repair work can be extended. Setup is easy.

  The invention of claim 4 is provided with warning means for issuing a warning when the height of the overhead line determined by the position detection means is out of the set range, so that there is a place where road repair is required during traveling. This makes it possible to know the situation, and it is possible to respond more quickly without leaving the place to be repaired.

It is a front view which shows one Embodiment of the trolley type transport vehicle by this invention in the non-use state of a pantograph device. It is a side view of the trolley type transport vehicle of FIG. It is a side view which shows the pantograph apparatus of the trolley type transport vehicle of this Embodiment in the non-use state of the apparatus. It is a top view which shows the pantograph apparatus of this Embodiment in the non-use state of the apparatus. It is a rear view which shows the pantograph apparatus of this Embodiment in the non-use state of the apparatus. It is a side view which shows a part of parallel link mechanism of the upper frame of the pantograph apparatus of this Embodiment. It is a side view which shows the pantograph apparatus of this Embodiment in the use condition of the apparatus. It is a functional block diagram which shows an example of the height calculation of the pantograph device of this Embodiment, and an output device. It is a side view explaining the setting range of the height of an overhead line in the pantograph apparatus of this Embodiment. It is a figure which shows an example of the output content of the height measurement result in the pantograph apparatus of this Embodiment. It is a side view which shows the other example of the displacement measuring means of the pantograph used in this invention.

  FIG. 1 is a front view showing a dump truck as an example of a trolley type transport vehicle to which the present invention is applied in a non-use state of a pantograph device, and FIG. 2 is a side view thereof. 1 and 2, 1 is a body of a dump truck, 2 is a front wheel, 3 is a rear wheel, 4 is a cab installed on the left side of the front part on the vehicle body 1, and 5 is a cab 5a at the front. It has a vessel. 6 is a deck installed at the front of the vehicle body 1, and 7 is a step attached to the front surface of the vehicle body 1 so as to get on and off the cab 4 through the deck 6. 8 is a pantograph support installed on the deck 6, and 9 is a pantograph installed on the pantograph support 8.

  Since the pantograph 9 is supplied with electric power from the two overhead lines 37, the pantograph 9 is constituted by a left pantograph 9 a and a right pantograph 9 b corresponding to each overhead line 37, and the contacts 10 with the overhead lines 37 of the pantographs 9 a and 9 b, 10 are connected to each other by an insulating connecting member 11.

  The left and right pantographs 9a and 9b have the same structure as each other, and in this example, a Bugel type pantograph is shown. FIG. 3 is a side view of the left and right pantographs 9a and 9b represented by the left pantograph 9a. FIGS. 4 and 5 are a plan view and a rear view, respectively. 3 to 5, reference numeral 13 denotes a pantograph frame, which is mounted on the pantograph support 8. Reference numeral 14 denotes a lower frame attached to the base frame 13 so as to be able to undulate around a pin 15, and 16 denotes an upper frame attached to a free end of the lower frame 14 via a pin 17 so as to be swingable up and down.

  In FIG. 3, reference numeral 18 denotes a cylinder for raising and lowering the lower frame 14, and this cylinder 18 constitutes an urging means for bringing the contact 10 into contact with the overhead wire 37 together with a later-described tension spring 36. The cylinder 18 is attached with both ends thereof connected to the base frame 13 and the lower frame 14 by pins 19 and 20, respectively. The cylinder 18 operates using a hydraulic pump (not shown) driven by an engine (not shown) mounted on the vehicle body 1 as a hydraulic pressure source. As the cylinder 18, a pneumatic cylinder or an electric cylinder can be used instead of the hydraulic cylinder.

  In FIGS. 3 and 4, reference numeral 21 denotes a rod fixed to the front end of the upper frame 16 by welding so as to be perpendicular to the upper frame 16. A contact support rod 22 is disposed in parallel with the rod 21. As shown in the side view of FIG. 6, the rod 21 fixed to the tip of the upper frame 16 and the contactor support rod 22 are relatively rotated by the pin 23 at a plurality of different points in the longitudinal direction of the rods 21 and 22. It is linked movably. As shown in FIGS. 4 and 5, a contact support frame 22a is fixed to both ends of the contact support rod 22, and the front and rear of each support frame 22a are supported by a support mechanism 22b having a cushioning material. A book contact 10 is attached.

FIG. 7 is a side view showing a state where the cylinder 18 is extended and the contact 10 is brought into contact with the overhead wire 37. 3 and 7, reference numerals 25 and 26 denote first and second links attached to the lower frame 14 and the upper frame 16, respectively. These links 25 and 26 are provided in order to keep the contact support frame 22a horizontal and keep the front and rear contacts 10 and 10 at the same height. Reference numeral 28 denotes a pair of arms for attaching the upper frame 16 about a pin 17 so as to be rotatable within a predetermined range . One end of the first link 25 is rotatably connected to the frame 13 by a pin 30, and the other end is rotatably connected to a connecting portion 28 a fixed to the arm 28 by a pin 31. Here, the lower frame 14 and the first link 25 are configured such that a parallelogram is formed by the pins 15, 17, 31, and 30 related to the attachment, so that regardless of the inclination angle of the lower frame 14. The inclination angle of the arm 28 with respect to the frame 13 is constant.

  One end of the second link 26 is rotatably connected to a connecting portion 28 b fixed to the arm 28 by a pin 33, and the other end is rotatable to a connecting portion 22 c fixed to the contactor support rod 22 by a pin 34. Connect to Here, since the parallelogram is formed by the pins 17, 23, 34, 33 related to the attachment of the upper frame 16 and the second link 26, regardless of the inclination angle of the upper frame 16. The inclination angle of the connecting portion 22c with respect to the base frame 13 is constant, the contact support frame 22a is always parallel to the base frame 13, and the front and rear contacts 10, 10 are at the same height. Reference numeral 24 denotes a mounting frame on which the second contacts 10, 10 are mounted when the pantograph 9 a is not used, and the mounting frame 24 is mounted on the base frame 13.

A tension spring 36 applies a force to the upper frame 16 to press the contacts 10 and 10 against the overhead wire 37 when the pantograph is used. As shown in FIG. 4, one tension spring 36 is provided on each of the left and right sides of the upper frame 16. These tension springs 36 are attached to one end of a bracket 38 provided on the frame 13 by a pin 39. 29 is a pair of brackets fixed to the upper frame 16 to connect the other ends of the tension spring 36, 29a is a rod fixed to these brackets 29 by welding, and 29b is fixed to both ends of the rod 29a. The other end of the tension spring 36 is connected to the connecting portion 29b by a pin 40.

As shown in FIG. 7, in the state of being in contact with the overhead wire 37, the tension spring 36 is located below the pin 17, so that the contact 10 is pressed against the overhead wire 37 . On the other hand, in the state where the upper frame 16 is lowered and the pantograph 9a is not used as shown in FIG. 3, the tension spring 36 is located above the pin 17, so that the upper frame 16 is pushed down so as not to float.

  3, 4, and 5, reference numeral 41 denotes a cable for connecting the contacts 10, 10 to the power supply device on the vehicle body 1, and this cable 41 is attached to the lower frame 14 and the upper frame 16. , 10.

  3 and 7, reference numeral 42 denotes an angle sensor that detects an inclination angle of the upper frame 16 with respect to the lower frame 14. FIG. 8 is a functional block diagram showing an example of the configuration of the height difference (overhead line height) measuring device between the road surface and the overhead line in the pantograph apparatus of the present embodiment, and FIG. 9 is the height of the overhead line in the pantograph apparatus of the present embodiment. It is a side view explaining the range setting and height measuring method. As shown in FIGS. 7 and 9, while the pantograph 9 a is in use, the cylinder 18 is in the maximum extended state (a constant length), so the inclination angle of the lower frame 14 with respect to the underframe 13 is constant, and the tension spring 36. 7 is changed in accordance with the height of the overhead wire 37 in a state where the contact 10 is pressed against the overhead wire 37 with the force of FIG.

  In the block diagram of FIG. 8, the angle sensor 42 detects the angle θ <b> 1 of the upper frame 16 with respect to the lower frame 14. Reference numeral 43 denotes an angle calculating means for calculating an inclination angle θ of the upper frame 16 with respect to the base frame 13. Reference numeral 44 denotes a height calculating means for calculating the height of the contact 10, that is, the height H of the overhead line 37 shown in FIG. The angle sensor 42, the angle calculation means 43, and the calculation means 44 constitute position detection means for the height of the overhead wire 37 detected as the height of the contact 10. Reference numeral 45 denotes an output means for outputting the result obtained by the height calculating means 44.

  The output means 45 displays at least one of the height of the contact 10 of the pantograph 9a from the road surface, that is, the height difference between the road surface and the overhead line, printing, storing in a storage device, or transmitting information to a remote location. Output by one means. That is, the output means 45 has, as one output form thereof, an aspect in which information on the height of the contact 10 of the pantograph from the road surface 48 is displayed or printed in real time by a vehicle-mounted display device such as a vehicle-mounted controller. . As another output form, information on the height difference between the road surface and the overhead line with respect to the travel point specified by the travel distance is stored in the storage device as data, and the data is displayed on the display device after printing or printed. There is a form of printing by an apparatus. Also, a transport vehicle transmits information on the height difference between the road surface and the overhead line as electronic data to a management system that manages remote transport vehicles, and the management system grasps this information and displays or prints it. May be.

  Reference numeral 46 denotes a height range determining means for determining whether the height calculated by the height calculating means 44 is within the standard range or deviates from the standard range. The angle calculation means 43, the height calculation means 44, the output means 45, and the height range determination means 46 are realized by a controller or a computer provided in the dump truck.

  47 is an alarm means, which is a voice, an alarm sound, or on the screen of the controller or computer when the determination result in the height range determination means 46 deviates from the set range ± ΔH shown in FIG. An alarm is issued by display.

The operation of the height measuring apparatus shown in FIG. 8 will be described in more detail. The angle calculation means 43 is configured to have the inclination angle θ1 of the upper frame 16 with respect to the lower frame 14 obtained by the angle sensor 42 as shown by the following equation (1). The inclination angle θ2 (known) of the lower frame 14 with respect to the base frame 13 is subtracted from (see FIG. 7) to determine the inclination angle θ of the upper frame 16 with respect to the horizontal frame 13.
θ = θ1-θ2 (1)

The height calculation means 44 calculates the height H from the road surface 48 to the overhead line 37 (synonymous with the height of the pantograph 9 from the road surface 48) by the following equation (2).
H = Ha + Hb = h1 + h2 + h3 + Hb (2)

Here, Ha is the height from the base frame 13 to the overhead line 37 as shown in FIGS. 7 and 9, and this height Ha is used when the pantograph with the cylinder 18 extended to the maximum is used. A height h1 (constant) of the pin 17 connecting the pin 16 to the base frame 13 and a height h2 (variable) from the pin 17 to the pin 23 connecting the contact support rod 22 and the upper frame 16; This is a value obtained by adding the height h3 (constant) from the pin 23 to the contact 10. Hb is the height (constant) from the road surface 48 to the underframe 13. The height h2 is obtained by the following equation (3).
h2 = L · sinθ …… (3)
In the formula (3), L is the distance between the pins 17 and 23.

  In FIG. 9, Hs is a reference height (for example, 250 cm) set as the most ideal height of the contact 10. The vertically movable range of the contact 10 is from the lowest level Hmin (for example, 200 cm) to the highest level Hmax (for example, 350 cm). ± ΔH is a setting range of the height of the contact 10, and this setting range ± ΔH is set to ± 30 cm, for example, where there is no fear of ground fault or overhead wire separation.

The range that deviates from the set range ± ΔH is a range in which there is a possibility that a ground fault or an overhead line may occur. On the higher side, a range obtained by adding Δh (for example, 20 cm) to Hs + ΔH. This range + Δh is a height at which the contact 10 may be separated from the overhead line 37. The lower range that deviates from the set range ± ΔH is a range obtained by further subtracting Δh (for example, 20 cm) from Hs−ΔH. A range −Δh exceeding Hs−ΔH is a range in which there is a risk of causing a ground fault in which the overhead wire 37 and the upper frame 16 are in contact with the bracket 29 or the like. The height exceeding Hs + ΔH + Δh and Hs−ΔH−Δh is a range in which the probability of causing an overhead wire separation or a ground fault is even higher.

  In this configuration, when measuring the height of the overhead wire 37, the cylinder 18 is extended to the maximum, and the dump truck is brought into contact with the overhead wire 37 by the tension spring 36 as shown in FIG. Let it run. Then, while detecting the angle θ1 of the upper frame 16 with respect to the lower frame 14 by the angle sensor 42 during traveling, the angle calculation means 43 calculates the equation (1) to obtain the angle θ of the upper frame 16 with respect to the base frame 13. This angle θ is equal to the inclination angle of the upper frame 16 with respect to the road surface 48. The height calculating means 44 calculates a height h2 that changes depending on the height of the overhead line 37 by the equation (3), and then calculates the overhead line height H by the equation (2).

  The overhead line height H obtained by the calculation is output by the output means 45 together with the travel distance data provided for the dump truck. If the height range determined by the height range determination unit 46 is within a range that deviates from the standard setting range Hs ± ΔH, the alarm unit 47 issues an alarm. This alarm is output by the output means 45 together with the travel distance.

  FIG. 10 is a diagram showing an example of the output contents of the height measurement result in the pantograph device of the present embodiment. FIG. 10 is an example displayed as a graph. In FIG. 10, the horizontal axis represents the travel distance, and the vertical axis represents the height of the road surface 48, that is, the height difference between the road surface and the overhead line. Here, the travel distance indicated by the horizontal axis can usually be obtained from a travel distance measuring device provided in the transport vehicle. This output content is displayed or printed as a graph as shown in the figure on an in-vehicle display screen, for example. Instead of this, information on the height difference between the road surface and the overhead line may be recorded in the storage device together with the travel distance as data. Furthermore, the information on the height difference between the road surface and the overhead line may be transmitted to the management center of the transport vehicle and then output by display, printing, or the like at the management center.

  In FIG. 10, since the position of the overhead line 37 is displayed as a reference, the height of the road surface 48 is displayed contrary to the case of FIG. 9, and the measured height H of the overhead line 37 is high (that is, the distance between the road surface and the overhead line). The higher the measurement result is, the higher the height difference H is, the lower the height of the road surface 48 is. As shown in FIG. 10, when the overhead line height H deviates from the set range ± ΔH to the reference height Hs, an alarm is generated by the alarm means 47 shown in FIG. 8 to urge repair of the road surface.

  As described above, in the present embodiment, the overhead line height H is obtained by the angle sensor 42 and is output as the height from the road surface 48. Therefore, the overhead line height H, that is, the overhead line, can be obtained only by running the transport vehicle. Information about the height of the road surface with reference to 37 can be obtained. For this reason, the labor for performing the operation | work which measures the height of a road surface using the dedicated overhead line height measuring apparatus which this operation manager uses, and this measuring apparatus become unnecessary. In addition, since the height of the overhead line can be known immediately by the traveling of the transporting vehicle, it is possible to quickly respond such as immediately repairing a necessary road such as embankment or leveling.

  In addition, since such a quick response is possible, the frequency of occurrence of a ground fault that is a contact between the overhead wire 37 and the pantograph main body such as the upper frame 16 or a situation in which the contact 10 of the pantograph 9 is separated from the overhead wire 37 can be reduced. As a result, it is possible to prevent a vehicle stop caused by a ground fault or an overhead wire separation, and thus it is possible to prevent a reduction in the operation rate of the transport vehicle due to the ground fault or the overhead wire separation.

  In this embodiment, since the information on the height of the overhead line is output together with the travel position information, it is possible to extend the repair work of the road after the measurement time by leaving it by printing or recording. The setup of the construction becomes easy.

  In this embodiment, since the height range determination means 46 determines whether or not there is an abnormality in the overhead line height, an alarm is issued or the output means 45 outputs the data, so that the operation manager Makes it easier to recognize where to repair. In addition, by displaying the overhead line height at the point specified by the travel distance in a graph, the manager can grasp the location to be repaired at a glance. In addition, about the location where warning generate | occur | produced, if a mark is attached | subjected to the road surface and its vicinity on the spot and it is made to use as a mark of subsequent road repair work, it will become easy to grasp | ascertain a repair location.

  FIG. 11 is a side view showing another example of the pantograph displacement amount measuring means for measuring the overhead line height. The measuring means of this example is provided with a circular potentiometer 50 on the lower frame 14, and a wire 51 drawn from the potentiometer 50 is connected to the upper frame 16. The potentiometer 50 is configured so that the wire 51 is always drawn into the potentiometer 50 by a built-in spring, and an electric signal corresponding to the amount of the wire 51 pulled out is obtained from the potentiometer 50. The output of the potentiometer 50 corresponds to the inclination angle of the upper frame 16. Even if such a measuring means is used, an electrical signal corresponding to the displacement amount of the upper frame 16, that is, the overhead wire height H can be obtained. Therefore, the overhead wire height H can be obtained by calculation using the electrical signal. it can. As the pantograph displacement amount measuring means, it is also possible to use, for example, a device in which the lower frame 14 and the upper frame 16 are connected by a cylinder-type potentiometer.

In the above embodiment, the case where the pantograph is a Bügel type has been described. However, the present invention is not only the upper frame 16 but also the single arm type in which the inclination angle of the lower frame 14 is variable, or the tilting equivalent to the upper frame 16 is possible. The present invention can also be applied to a frame in which the frame is directly attached to the underframe 13 or a rhombus pantograph in which the lower frame 14 and the upper frame 16 are assembled in a rhombus.

In the above embodiment, the height difference between the road surface 48 and the overhead line 37 is calculated and output. However, the height of the overhead line 37 from the road surface 48 is not output, but the height is known. A reference position of a certain vehicle body, for example, the height of the overhead line 37 from the pantograph support 8 may be obtained and output. In addition, in the pantograph 9, the overhead line 37 is detected from the position of the pin 17, for example, where the height is known and constant. May be obtained and output. The height of the overhead line required in these cases also reflects the height of the road surface. In any case, the height of the overhead line 37, that is, the height of the road surface based on the overhead line 37 deviates from the set range. It is possible to determine whether or not the alarm has occurred and to issue an alarm. Further, in the present invention, as means for obtaining the height of the overhead line, a position detector using a laser or an ultrasonic wave may be installed on the pantograph support 8, the underframe 13 and other vehicle bodies.

  In addition, when implementing this invention, not only the said embodiment but a various change and addition are possible in the range which does not deviate from the summary of this invention.

8: Pantograph support, 9: Pantograph, 9a: Left pantograph, 9b: Right pantograph, 10: Contact, 11: Insulating connecting member , 13: Underframe, 14: Lower frame, 16: Upper frame, 17: Pin, 18: Cylinder, 21: Rod fixed to upper frame 16, 22: Contact support rod, 23: Pin, 25: First link, 26: Second link, 28: Arm, 29: Bracket, 30 , 31 33, 34: Pin, 36: Tension spring, 38: Bracket, 41: Cable, 42: Angle sensor, 43: Angle calculation means, 44: Height calculation means, 45: Output means, 46: Height range determination means 47: Alarm means, 48: Road surface, 50: Potentiometer, 51: Wire rod