JP2023075529A - Pitching vibration detection device for current collector and pitching vibration detection method for current collector - Google Patents

Abstract

A pitching vibration detection device for a current collector and the like capable of appropriately detecting pitching vibration of a current collector are provided. A pitching vibration detection device for a current collector for detecting pitching vibration of a contact strip body (140) in contact with a trolley wire (T) or a contact strip body support member (130) supporting the contact strip body in a current collector of a railway vehicle, Acceleration having a component in the longitudinal direction or the vertical direction is detected, and at least one of the contact strip body and the contact strip body support member is in a state in which the detection axis direction when the contact strip body is viewed from the sleeper direction does not match. A plurality of acceleration sensors S01 to S06 are attached, and an acceleration calculation unit 300 that calculates the pitching direction acceleration of the contact strip or the contact strip support member based on the outputs of the plurality of acceleration sensors. [Selection drawing] Fig. 4

Description

The present invention relates to a pitching vibration detection device and a pitching vibration detection method for a current collector of a railway vehicle.

Railroad vehicles such as electric trains and electric locomotives are provided with a current collector such as a pantograph having a contact strip body that collects current by contacting and sliding over an overhead wire (trolley wire) stretched above the track. .
It has been reported that when the pantograph runs, abnormal vibrations occur in the pantograph due to friction between the contact wire and the contact strip.
For example, in Non-Patent Document 1, it is described that pitching vibration (swinging behavior around an axis along the direction of sleepers) occurs in a boat body that supports a contact strip due to frictional force.

Masahiko Sakamoto, Hironari Kaku, Yuta Suzuki, Pitching countermeasure for ED76 type pantograph, R&m, Japan Railway Machinery Engineering Association, May 2012

If abnormal vibration occurs in the pantograph while it is running, the contact force between the overhead wire and the pantograph will change significantly, so it is thought that the wear of the contact wire file plate will progress and the replacement cycle will be shortened.
In addition, there have been reports of pantographs being unable to collect current due to abnormal vibration. Taking countermeasures such as speed control and pantograph descent to prevent an increase in pitching vibration is effective for stable railway transportation and cost reduction.
In view of the problems described above, an object of the present invention is to provide a pitching vibration detection device and a pitching vibration detection method for a current collector that can appropriately detect pitching vibration of a current collector.

In order to solve the above-described problems, a pitching vibration detection device for a current collector according to an aspect of the present invention provides a contact strip body contacting a trolley wire or a contact strip supporting the contact strip body in a current collector of a railway vehicle. A pitching vibration detection device for a current collector for detecting pitching vibration of a body support member, which detects acceleration having a component in the longitudinal direction or the vertical direction, and detects at least the contact strip body and the contact strip body support member. On the one hand, a plurality of acceleration sensors attached in a state in which the detection axis directions do not match when the contact strip body is viewed from the sleeper direction; and an acceleration calculator that calculates the acceleration of the plate support member in the pitching direction.
According to this, a plurality of acceleration sensors are provided on the contact strip or the contact strip support member (typically the boat body), and acceleration in the pitching direction (typically angular acceleration) is detected based on the output of each acceleration sensor. By calculating , the pitching vibration can be accurately detected with a simple device configuration.
In addition, the acceleration in the pitching direction calculated in this way is unlikely to be superimposed on the acceleration in the translational direction of the contact strip and the contact strip support member, which is useful for detecting abnormal vibrations that may impair the current collecting performance of the current collector. Suitable.

In the present invention, the plurality of acceleration sensors include a first acceleration sensor for detecting longitudinal acceleration of at least one of the contact strip and the contact strip support member; and a second acceleration sensor for detecting vertical acceleration of at least one of the members.
According to this, the pitching vibration can be appropriately detected by at least one pair of acceleration sensors based on the longitudinal acceleration and the vertical acceleration of the contact strip or the contact strip supporting member.
In this case, the first acceleration sensor and the second acceleration sensor can be configured by a single multi-axis acceleration sensor.
According to this, the work of attaching the acceleration sensor to the current collector can be simplified.

In the present invention, the plurality of acceleration sensors include a first acceleration sensor for detecting vertical acceleration of at least one of the contact strip and the contact strip support member; a second acceleration sensor that detects vertical acceleration of at least one of the member and a second acceleration sensor whose detection axis when viewed from the sleeper direction is shifted from the detection axis of the first acceleration sensor can be
Further, in the present invention, the plurality of acceleration sensors include a first acceleration sensor for detecting longitudinal acceleration of at least one of the contact strip body and the contact strip body supporting member; a second acceleration sensor that detects at least one of the longitudinal acceleration of the body supporting member and that has a detection axis shifted from the detection axis of the first acceleration sensor when viewed from the sleeper direction; It can be configured to include
In each of these inventions as well, the pitching vibration can be appropriately detected by at least one pair of acceleration sensors arranged with the detection axes along the vertical direction or the front-rear direction shifted from each other.

In the present invention, the acceleration calculation section calculates the acceleration when it is assumed that the object to be measured undergoes a rigid body motion based on the acceleration measured at a plurality of points of at least one of the contact strip and the contact strip support member. The acceleration in the pitching direction can be calculated from a relational expression between the motion at the acceleration detection point and the motion at the center of gravity.
According to this, the pitching vibration can be appropriately detected based on the output of the acceleration sensor.
In the present invention, the acceleration sensor may be a strain gauge type acceleration sensor.
According to this, it is possible to ensure resistance to electrical noise emitted from the current collector, the trolley wire, and the like, and to ensure the reliability and durability of the pitching vibration detection device.

In order to solve the above-described problems, a current collector pitching vibration detection method according to another aspect of the present invention supports a contact strip body that contacts a trolley wire or the contact strip body in a current collector of a railway vehicle. A pitching vibration detection method for a current collector for detecting pitching vibration of a contact strip body supporting member, wherein an acceleration sensor for detecting acceleration having a component in the front-rear direction or vertical direction is attached to the contact strip body and the contact strip body supporting member. A plurality of the contact strip bodies are attached to at least one of the member and the contact strip body in a state in which the detection axis directions do not match when viewed from the sleeper direction, and based on the outputs of the plurality of acceleration sensors, the contact strip body or the contact strip is detected. It is characterized by calculating the acceleration of the body support member in the pitching direction.
In the present invention, it is possible to obtain the same effects as those of the above-described pitching vibration detector for a current collector.

As described above, according to the present invention, it is possible to provide a pitching vibration detection device and a pitching vibration detection method for a current collector that can appropriately detect pitching vibration of a current collector.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing the configuration of an example of a pantograph to which an embodiment of a pitching vibration detection device and a pitching vibration detection method for a current collector to which the present invention is applied is applied; 2 is a diagram schematically showing the configuration of a contact strip and a boat of the pantograph of FIG. 1; FIG. It is a figure which shows typically the structure of the pantograph test apparatus used in embodiment. It is a figure which shows arrangement|positioning of the acceleration sensor to the contact strip body in embodiment. FIG. 4 is a diagram schematically showing the angle of the hull in a sliding test; FIG. 10 is a diagram showing the angular acceleration of pitching vibration estimated from six acceleration sensors, showing a state where the angle of attack of the contact strip body is 1°. FIG. 4 is a diagram showing the angular acceleration of pitching vibration estimated from six acceleration sensors, and showing a state where the angle of attack of the contact strip body is 1° downward. It is a figure which compares the estimation result of the pitching vibration by the number of acceleration sensors. FIG. 5 is a diagram showing the angular acceleration of the contact strip in the pitching direction and the vertical acceleration of the boat estimated by the method of the embodiment;

Hereinafter, embodiments of a pitching vibration detection device and a pitching vibration detection method for a current collector to which the present invention is applied will be described.
First, an example of a pantograph, which is a current collector for which pitching vibration is to be detected, will be described.
FIG. 1 is a diagram schematically showing the configuration of an example of a pantograph to which a pitching vibration detection device and a pitching vibration detection method for a current collector according to an embodiment are applied.

The pantograph 100 is a current collector that is provided on the roof of the vehicle body of a railway vehicle (not shown) and receives power from a trolley wire (overhead wire) installed above the vehicle.
The pantograph 100 is, for example, of a single arm type having an underframe 110, a framework 120, a boat body 130, and the like.

The underframe 110 is a portion that is attached to the roof of the vehicle body of the railway vehicle and serves as the base of the pantograph 100 .
The underframe 110 is provided with a main spring that biases the framework 120 in the direction in which the boat body 130 rises and generates a predetermined static upward force.

The framework 120 is a link mechanism that supports the boat body 130 so that it can move up and down (elevate) relative to the underframe 110 .
The framework 120 has an arm-shaped upper frame 121, a lower frame 122, a balance rod 123, and the like.
The upper frame 121 is an arm-shaped member that is swingably connected to the lower portion of the boat body 130 and the upper end portion of the lower frame 122 .
The upper frame 121 is provided with a boat support rod (not shown) that holds the boat 130 substantially horizontally when the boat 130 is raised and lowered (when the upper frame 121 swings).
The lower frame 122 is an arm-shaped member that is swingably connected to the lower end of the upper frame 121 and the underframe 110 .
The balancing rod 123 is a member that forms a balancing link in cooperation with the lower frame 122 in order to maintain the attitude of the upper frame 121 and boat body 130 .

The boat body 130 is a contact strip support member that is connected to the upper portion of the framework 120 (upper end of the upper frame 121) and has a longitudinal direction along the sleeper direction.
The boat body 130 has a function of holding a contact strip body 140 described below.
FIG. 2 is a diagram schematically showing the configuration of the contact strip and boat body of the pantograph of FIG.
FIG. 2 schematically shows a cross section of the boat body 130 and the contact strip body 140 taken along a plane along the sleeper direction and the vertical direction at an intermediate portion in the front-rear direction.

The boat 130 has a strut 131, a pin 132, an auxiliary slider 133, an auxiliary slider support 134, a horn 135 (see FIG. 1), and the like.
The struts 131 support both ends of the contact strip body 140 in the sleeper direction via pins 132 .
The struts 131 are formed so as to protrude upward from the main body of the boat body 130, and a pair of struts 131 are provided spaced apart in the sleeper direction.
The pin 132 is provided at the upper end of the strut 131 and supports both ends of the contact strip body 140 so as to be able to swing about an axis extending in the longitudinal direction of the vehicle.

The auxiliary slider 133 is a member provided in an upper portion of the boat body 130 and in a region outside the slider 140 in the sleeper direction.
The auxiliary contact strip 133 is a portion where the relative displacement of the trolley wire in the sleeper direction with respect to the boat 130 is significant and slides with the trolley wire when protruding from the contact strip 140 .
The height of the upper surface of the auxiliary contact strip 133 is substantially the same as the height of the upper surface of the contact strip body 140 .

The auxiliary slider support portion 134 is a portion that supports the auxiliary slider 133 .
The auxiliary contact strip support portions 134 are formed by projecting both end portions of the body portion of the boat body 130 in the sleeper direction upward.
The lower surface of the auxiliary slider 133 is fixed in contact with the upper surface of the auxiliary slider support 134 .

The horn 135 is provided so as to protrude outward from both end portions of the boat body 130 in the sleeper direction, and is curved in an upwardly convex arc shape so that the tip portion hangs down.
The horn 135 has the function of preventing the trolley wire from getting under the boat body 130 .

The contact strip 140 is a member that abuts on the trolley wire T in a slidable state and conducts with the trolley wire T to collect current.
The contact strip body 140 is configured by connecting and arranging a plurality of contact strip pieces formed of, for example, a ferrous sintered alloy along the sleeper direction.
A sliding surface 141 on which the trolley wire T slides is provided on the top of the contact strip member 140 .

In the pantograph 100 as described above, the mechanism of the abnormal vibration of the contact strip 140 and boat body 130 is considered as follows.
In the pantograph 100 having the structure described above, both ends of the contact strip body 140 are pin-coupled to the boat body 130 via pins 132 in order to allow the deflection of the contact strip body 140 about the axis along the rail direction. .
Since there is a gap in this pin joint portion, the contact strip body 140 has a degree of freedom of pitching behavior to rotate about an axis along the sleeper direction.

When the trolley wire T and the sliding surface 141 of the contact strip body 140 slide, a frictional force acts between them, which causes the contact strip body 140 to swing in the pitching direction (pitching vibration). .
When the frictional force is relatively small, only pitching vibration of the contact strip body 140 is substantially generated. It is transmitted to the hull 130 and the framework 120 .
As a result, the framework 120 vibrates, and the boat body 130 and the contact strip body 140 also vibrate up and down, increasing the vibration.

Therefore, early detection of pitching vibration is important from the viewpoint of preventing abnormal vibration.
Vibrations generated in these pitching directions are defined as abnormal vibrations to be detected.
In this embodiment, the pitching vibration (especially abnormal vibration) of the contact strip 140 is estimated based on the acceleration measured at a plurality of locations of the contact strip 140 .
Assuming that the contact strip 140 performs rigid body motion, the relationship between the motion at an arbitrary point i on the contact strip 140 and the motion at the center of gravity is expressed by the following equation.

However, x _i , y _i , _zi , θ _xi , θ _yi , and θ _zi represent the translational acceleration and angular acceleration in the x, y, and z directions at an arbitrary point i on the rigid body, respectively.
Also, _xG , _yG , _zG , ? _x , ? _y , and ? _z represent the translational acceleration and angular acceleration in the x, y, and z directions at the center of gravity, respectively.
Also, x _i , y _i , and z _i represent the x, y, and z coordinates of point i with the center of gravity of the rigid body as the origin, respectively.
By applying the least-squares method based on Equation 1 from the acceleration measured on the contact strip 140 and the coordinates of the measurement points, the acceleration at the center-of-gravity position CG of the contact strip 140 can be estimated.

In order to verify abnormal pantograph vibration detection using the pitching vibration detection device of the current collector of the embodiment and the pitching vibration detection method, a test was conducted using a stationary pantograph test device.
In this test, as a pantograph test device, a ring-shaped simulated trolley wire attached to a disk is slid on the upper part of the pantograph contact plate installed on the table.
FIG. 3 is a diagram schematically showing the configuration of a pantograph test device used in the embodiment.
When the pantograph 100 is tested on a bench (bench test), the pantograph test apparatus 200 brings a simulated trolley wire into contact with the contact strip body 140 and slides it, thereby testing the contact between the pantograph 100 and the contact strip body 140 . It generates a frictional force in the front-rear direction between them.
The pantograph test apparatus 200 is configured with a rotating disk 210, a main shaft 220, a driving device 230, and the like.

The rotating disk 210 is, for example, shaped like a disk having a center axis direction along the vertical direction.
A simulated trolley wire 211 is provided on the outer peripheral edge of the rotating disk 210 .
The simulated trolley wire 211 is an annular member extending in the circumferential direction of the rotating disk 210 .
The simulated trolley wire 211 is made of the same material as the actual trolley wire T. As shown in FIG.
The simulated trolley wire 211 abuts on the sliding surface 141 of the contact strip member 140 of the pantograph 100 at its lower end.
The cross-sectional shape of the vicinity of the contact area of the simulated trolley wire 211 with the contact strip 140 taken along a plane including the central axis of the rotating disc 210 is similar to the cross-sectional shape of the lower portion of the actual trolley wire T. is formed as
In the pantograph test apparatus of the embodiment, by rotating the rotating disk 210 around the central axis, it is possible to reproduce the state in which the contact strip body 140 and the trolley wire T slide and travel on an actual railway section. ing.

The main shaft 220 is a rotating shaft that rotatably supports the rotating disk 210 .
The main shaft 220 is provided so as to protrude downward from the rotating disk 210 .
A lower end portion of the main shaft 220 is supported by a driving device 230 .
The driving device 230 rotates the rotating disk 210 around its central axis via the main shaft 220 .
The driving device 230 also has a function of displacing the rotating disk 210 relative to the underframe 110 of the pantograph 100 in the vertical direction and the sleeper direction (the width direction of the vehicle and the longitudinal direction of the boat body 130).

The configuration of the pitching vibration detection device for the current collector of the embodiment will be described below.
The pitching vibration detection device of the embodiment calculates the pitching vibration of the contact strip 140 using the outputs of the plurality of acceleration sensors attached to the contact strip 140 .
FIG. 4 is a diagram showing the arrangement of acceleration sensors on the contact strip in the embodiment.
FIG. 4A is a plan view of the contact strip 140 viewed from above.
FIG. 4(b) is a view of the contact strip 140 viewed from the front-rear direction of the vehicle (view taken along line bb in FIG. 4(a)).
FIG. 4(c) is a view of the contact strip body 140 viewed from the longitudinal direction (sleep direction) (view along line cc in FIG. 4(a)).
The pitching vibration detection device of the embodiment includes a plurality of acceleration sensors S01, S02, S03, S04, S05, and S06 attached to the contact strip 140, and the pitching direction of the contact strip based on the outputs of the acceleration sensors. and a vibration estimation calculation unit 300 for estimating angular acceleration.

The acceleration sensors S01, S02, S03, S04, S05, and S06 are, for example, single-axis strain gauge type acceleration sensors.
In FIG. 4, the detection axis directions of the acceleration sensors S01 to S06 are indicated by dashed arrows.
The acceleration sensors S01 and S02 are attached to a sliding surface 141 which is the upper surface of the contact strip 140. As shown in FIG.
The acceleration sensors S01 and S02 are provided near the ends of the contact strip 140 on one side (for example, the main spring side) and the other side (for example, the lowering cylinder side) in the longitudinal direction.
The acceleration sensor S01 is arranged adjacent to one end surface in the vehicle front-rear direction.
The acceleration sensor S02 is arranged adjacent to the end surface on the other side (the side opposite to the acceleration sensor S01) in the vehicle front-rear direction.
The acceleration sensors S01 and S02 are arranged such that the detection axis direction is along the vehicle front-rear direction.

Acceleration sensors S03 and S04 are attached to one end surface of contact strip 140 in the vehicle front-rear direction (the side adjacent to acceleration sensor S01).
Acceleration sensors S05 and S06 are attached to the end surface of contact strip 140 on the other side (the side adjacent to acceleration sensor S02) in the vehicle longitudinal direction.
The acceleration sensors S03 and S05 are arranged so that the position in the sleeper direction (longitudinal direction of the contact strip 140) coincides with the acceleration sensor S01.
The acceleration sensors S04 and S06 are arranged so that their positions in the sleeper direction coincide with the acceleration sensor S02.
The acceleration sensors S03, S04, S05, and S06 are arranged such that the detection axis direction extends along the vertical direction.
The detection axes of the acceleration sensors S01 to S06 are offset from the center of gravity CG of the contact strip 140 when viewed from the sleeper direction as shown in FIG. 4(c).
The directions of the detection axes of the sensors S01 to S06 described above are based on the condition that the sliding surface 141 of the contact strip member 140 is horizontal.

In the pitching vibration detection device of the current collector of the embodiment, the angular acceleration of the contact strip 140 in the pitching direction is calculated (estimated) using Equation 1 above based on the outputs of the acceleration sensors S01 to S06. Acceleration calculation unit 300 is provided.
The acceleration calculation unit 300 includes, for example, an A/D converter that A/D converts the outputs of the acceleration sensors S01 to S06, an information processing unit such as a CPU that processes the digitized outputs of the acceleration sensors S01 to S06, It can be configured as a computer having a storage unit such as a ROM or RAM, an input/output interface, a bus connecting these, and the like.
Acceleration may be calculated in real time by, for example, mounting the acceleration calculation unit 300 on the vehicle.
Further, for example, only the output history of each acceleration sensor may be recorded on the vehicle, and the acceleration may be calculated separately by the acceleration calculation unit 300 provided on the ground.

In this test, the contact strip 140 and the simulated trolley wire were slid while rotating the disk at a peripheral speed of 4 km/h.
The pantograph 100 having the acceleration sensors S01 to S06 attached to the contact strip 140 was attached to the pantograph test apparatus 200, and the acceleration in the sliding state was measured.
At this time, the test was conducted under the following two conditions.
FIG. 5 is a diagram schematically showing the angle of the hull in the sliding test.
The sliding test was conducted by changing the angle (angle of attack) formed by the contact strip 140 with respect to the simulated trolley wire 211 at two levels.
FIG. 5A shows a state in which the boat body 130 is raised 1° with respect to the rotation direction of the disk 210 in order to increase the coefficient of friction between the contact strip 140 and the simulated trolley wire 211 . show.
FIG. 5(b) shows a state in which the boat body 130 is lowered by 1° in order to reduce the coefficient of friction between the contact strip 140 and the simulated trolley wire 211. FIG.

First, pitching vibration was estimated using all six acceleration sensors S01 to S06.
FIG. 6 is a diagram showing the angular acceleration of pitching vibration estimated from six acceleration sensors, showing a state in which the angle of attack of the contact strip body is 1°.
FIG. 7 is a diagram showing the angular acceleration of pitching vibration estimated from six acceleration sensors, showing a state in which the angle of attack of the contact strip body is 1° downward.
In FIGS. 6 and 7, the horizontal axis indicates time, and indicates the angular acceleration in the pitching direction of the contact strip (rotating direction around the axis along the sleeper direction).
It can be seen that the pitching vibration of the contact strip 140 can be detected under any condition.

Next, the result of estimating the pitching vibration using only the acceleration sensors S04 and S06 shown in FIG. 4 will be described.
FIG. 8 is a diagram comparing estimation results of pitching vibration depending on the number of acceleration sensors.
In FIG. 8, the horizontal axis indicates time, and the vertical axis indicates pitching acceleration when the boat is raised by 1°.
Further, the results of estimation using six acceleration sensors are indicated by solid lines, and the results of estimation using two acceleration sensors are indicated by dashed lines.

As shown in FIG. 8, it can be seen that the estimation using two acceleration sensors yields the same results as the estimation using six.
It should be noted that similar pitching vibration detection can be performed, for example, by two acceleration sensors, one of which is an acceleration sensor S01 or S02 that detects acceleration in the longitudinal direction and one of acceleration sensors S03 to S06 that detects acceleration in the vertical direction. It is possible.
Further, for example, it is possible to detect pitching vibration by providing acceleration sensors for detecting acceleration in the front-rear direction on the upper and lower surfaces of the contact strip 140, respectively, and using these two acceleration sensors.

FIG. 9 is a diagram showing the angular acceleration of the contact strip in the pitching direction and the vertical acceleration of the boat estimated by the method of the embodiment.
In FIG. 9 , the horizontal axis indicates time, and the vertical axis indicates the angular acceleration of the contact strip 140 in the pitching direction and the vertical acceleration of the boat 130 .
The angular acceleration of the contact strip 140 in the pitching direction is estimated by the method of the present embodiment described above.
The vertical acceleration of the boat 130 is measured by attaching an acceleration sensor (not shown) to the boat 130 .

In the example shown in FIG. 9, the pitching vibration of the contact strip 140 increases after 4 seconds have passed since the start of the test, and the simulated trolley wire 211 and the contact strip 140 repeat separation and collision from about the same time. It can be seen that a significant acceleration is generated in the vertical direction of the hull 130 due to this.
Therefore, if the vibration of the contact strip 140 in the pitching direction can be detected at an early stage by the method of the embodiment, it is possible to take measures to prevent the occurrence of significant vibration, thereby improving the operation of the railway vehicle. It can contribute to stabilization and cost reduction.

According to the embodiment described above, the following effects can be obtained.
(1) By providing a plurality of acceleration sensors S01 to S06 on the contact strip 140 and calculating the angular acceleration in the pitching direction based on the outputs of the acceleration sensors S01 to S06, the pitching vibration can be detected with high accuracy with a simple device configuration. Detection can be performed.
Also, the acceleration in the pitching direction calculated in this way is less likely to be superimposed on the acceleration in the translational direction of the contact strip 140 and the boat body 130, making it suitable for detecting abnormal vibrations that may impair the current collecting performance of the pantograph 100. .
(2) The plurality of acceleration sensors include acceleration sensors S01 and S02 for detecting longitudinal acceleration of the contact strip 140 and acceleration sensors S03 to S06 for detecting vertical acceleration. Based on the directional acceleration and the vertical acceleration, the pitching vibration can be appropriately detected by at least one pair of acceleration sensors.
(3) The plurality of acceleration sensors include acceleration sensors S03 and S04 for detecting the vertical acceleration of the contact strip 140, and the acceleration sensors S03 and S04 for detecting the vertical acceleration of the contact strip 140. By including the acceleration sensors S05 and S06 which are displaced from the detection axes of the acceleration sensors S03 and S04, based on the vertical acceleration at different positions of the contact strip 140, at least a pair of acceleration sensors Pitching vibration can be detected appropriately.
(4) Based on the accelerations measured at a plurality of locations on the contact strip 140, the acceleration calculator 300 calculates the difference between the motion at the acceleration detection locations and the motion at the center of gravity when the contact strip 140 assumes rigid body motion. By calculating the acceleration in the pitching direction from the relational expression, the pitching vibration can be appropriately detected based on the outputs of the acceleration sensors S01 to S06.
(5) Acceleration sensors S01 to S06 are strain gauge type acceleration sensors to ensure resistance to electrical noise emitted from the pantograph 100, trolley wire T, etc., thus ensuring reliability and durability of the pitching vibration detection device. can ensure the integrity of the

(Other embodiments)
It should be noted that the present invention is not limited to the above-described embodiments, and various applications and modifications are conceivable.
(1) The current collector to which the present invention is applied is not limited to the single-arm pantograph described as an example in the embodiment, but various pantographs having frames with different configurations such as rhombus and lower frame cross type. may be a current collector.
(2) In the embodiment, the acceleration sensor is attached to the contact strip to estimate the pitching vibration of the contact strip. If so, some or all of the acceleration sensors may be attached to the boat to estimate the pitching vibration of the boat.
(3) Arrangement of a plurality of acceleration sensors is not limited to the configuration of the embodiment, and can be changed as appropriate.
In this case, at least a pair of acceleration sensors may detect acceleration having longitudinal or vertical components, and the pair of acceleration sensors may be arranged so that their detection axes do not coincide when viewed from the sleeper direction.
For example, when viewed from the sleeper direction, the detection axes can be arranged in different directions (typically, the front-rear direction and the vertical direction), or the detection axes can be arranged in parallel and offset. can.
Also, the number of acceleration sensors is not particularly limited to two or six in the embodiment, and for example, six or more or three to five acceleration sensors may be used.
(4) In the embodiment, the acceleration sensor was a single-axis strain gauge type acceleration sensor as an example, but the type of acceleration sensor is not limited to this and can be changed as appropriate.
Moreover, it is also possible to use a unitized acceleration sensor with two or more axes.
For example, a single unit can detect acceleration in different directions, such as vertical and longitudinal.

100 pantograph 110 underframe 120 frame 121 upper frame 122 lower frame 123 balance rod 130 boat body 131 strut 132 pin 132 auxiliary slider 134 auxiliary slider support 135 horn 140 slider 141 sliding surface 200 pantograph test device 210 rotation Disk 211 Simulated contact wire 220 Main shaft 230 Driving device S01 to S06 Acceleration sensor 300 Acceleration calculator T Contact wire

Claims (8)

A pitching vibration detection device for a current collector for detecting pitching vibration of a contact strip body contacting a trolley wire or a contact strip body support member supporting the contact strip body in a current collector of a railway vehicle,
Acceleration having longitudinal or vertical components is detected, and at least one of the contact strip body and the contact strip body support member is aligned with the detection axis direction when the contact strip body is viewed from the sleeper direction. a plurality of acceleration sensors attached without
A pitching vibration detection device for a current collector, comprising: an acceleration calculation unit that calculates an acceleration in a pitching direction of the contact strip or the contact strip supporting member based on outputs of the plurality of acceleration sensors. The plurality of acceleration sensors include a first acceleration sensor for detecting longitudinal acceleration of at least one of the contact strip and the contact strip body supporting member, and at least one of the contact strip and the contact strip body supporting member. 2. The pitching vibration detection device for a current collector according to claim 1, further comprising a second acceleration sensor for detecting acceleration in one vertical direction. 3. The pitching vibration detection device for a current collector according to claim 2, wherein the first acceleration sensor and the second acceleration sensor are composed of a single multi-axis acceleration sensor. The plurality of acceleration sensors include: a first acceleration sensor for detecting vertical acceleration of at least one of the contact strip and the contact strip support member; and at least one of the contact strip and the contact strip support member. and a second acceleration sensor that detects one of the accelerations in the vertical direction and is arranged such that the detection axis when viewed from the sleeper direction is shifted with respect to the detection axis of the first acceleration sensor. The pitching vibration detector for a current collector according to claim 1 . The plurality of acceleration sensors include a first acceleration sensor for detecting longitudinal acceleration of at least one of the contact strip and the contact strip body supporting member, and at least one of the contact strip and the contact strip body supporting member. and a second acceleration sensor that detects acceleration in one longitudinal direction and is arranged such that its detection axis when viewed from the sleeper direction is shifted with respect to the detection axis of the first acceleration sensor. The pitching vibration detector for a current collector according to claim 1 . The acceleration calculation unit calculates the acceleration at the acceleration detection points when it is assumed that the object to be measured undergoes a rigid body motion based on the acceleration measured at a plurality of points of at least one of the contact strip and the contact strip support member. The pitching vibration detector for a current collector according to any one of claims 1 to 5, wherein the acceleration in the pitching direction is calculated from a relational expression between the motion and the motion at the center of gravity. The pitching vibration detector for a current collector according to any one of claims 1 to 6, wherein the acceleration sensor is a strain gauge type acceleration sensor. A pitching vibration detection method for a current collector for detecting pitching vibration of a contact strip body contacting a trolley wire or a contact strip body supporting member supporting the contact strip body in a current collector of a railway vehicle, comprising:
An acceleration sensor for detecting acceleration having a component in the longitudinal direction or the vertical direction is mounted on at least one of the contact strip body and the contact strip body supporting member in the detection axis direction when the contact strip body is viewed from the sleeper direction. are not matched,
A pitching vibration detection method for a current collector, comprising: calculating an acceleration in a pitching direction of the contact strip or the contact strip supporting member based on outputs of the plurality of acceleration sensors.

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