JPH08142862A - Bogie for rolling stock - Google Patents

Abstract

PURPOSE: To suppress load applied to a track during high speed travel so as not to hinder riding comfort by actuating an actuator for rotating a steering rotor forcibly to adjust front and rear wheel axles to the curvature of a curved track in a set range on the basis of the output signal of a curved track detecting means. CONSTITUTION: In a steering control device 10, whether to execute forced steering is judged to command by a forced steering limiting means according to the grade of the output signal of a curved track detecting means 11, an output signal corresponding to the necessary steering quantity of axles 3a, 3b in the curved track is computed, and a hydraulic servo valve 12 is operated to control hydraulic pressure so as to put an actuator 9 in action, thus applying force to a steering rotor 6 to rotate it. This rotating quantity is transmitted also to a steering rotor 6' through a torsion shaft 8, and steering rotors 7a, 7a' are rotated by the rotation of the steering rotors 6, 6'. The axles 3a, 3b are rotated in the radial direction of a curve so as to be adjusted to the curved track.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bogie for a railroad vehicle, and particularly to a relative yawing motion between a wheel shaft and a bogie underframe when the bogie runs at high speed on a track having a relatively small curve radius. The present invention relates to a bogie for a railway vehicle that causes the wheel shaft to be forcedly steered so that the wheel shaft moves in alignment with a curved track.

[0002]

2. Description of the Related Art In most of the bogies for railway vehicles which have been put into practical use, the wheel shafts arranged at the front and rear sides of the bogie frame are independently compared in the longitudinal direction (vehicle traveling direction) and the lateral direction. It is firmly and elastically coupled and is called a non-steering truck.

In this type of bogie, since the wheel shaft has a large supporting rigidity in the front-rear direction, an excessive lateral pressure acts on the wheel flange and the rail when passing through a curve to accelerate wear of both and to prevent squeaking due to an increase in lateral pressure. There is a possibility that noise may be generated and that the driver may derail the train, which impairs driving safety and speed improvement on a curved road.

Therefore, in order to improve the curve passing performance, for example, Japanese Patent Laid-Open No. 3-19729 discloses that the front and rear supporting rigidity of the wheel shaft is made small, and the yawing of two pairs of wheel shafts is performed.
There is disclosed a bogie for a railway vehicle having a steering device in which two pairs of wheel shafts are connected by a link mechanism so that the motions thereof have opposite phases.

In order to further increase the steering effect, a vehicle body and a steering device are connected by a link, for example, in Japanese Patent Laid-Open No. 4-19264, and a relative yawing motion between the vehicle body and the bogie underframe is connected via the link. Is disclosed, and a bogie for a railway vehicle of a forced steering system in which a wheel shaft is steered by driving the steering device is disclosed.

[0006] In the conventional railcar bogie of the forced steering system in which the steering device is driven by the link or the like, the load, that is, the steering force applied to the link and the steering device for forcibly steering on a curved road is the front and rear wheel shaft support by steering. It increases in proportion to the direction spring force (spring constant of the front-back direction support spring of the wheel shaft x amount of deflection).

Therefore, the steering force increases as the steering amount, that is, the deflection amount of the wheel shaft support spring in the front-rear direction increases, and the spring constant in the front-rear direction increases. Since the steering amount is inversely proportional to the curve radius, the curve radius is sufficiently large, and if the front-rear direction supporting rigidity of the wheel shaft is made small, almost perfect steering can be performed with a small steering force.

However, if the support rigidity of the wheel shaft in the front-rear direction is reduced, the running stability with respect to the snake action during high-speed running is lowered, so that there is a limit to the reduction of the support rigidity. Also, the curve on the main line usually has a radius of about 300 m or more, but there are also small curves with a radius of about 100 m on the premises of the station. Therefore,
A radius of 1 due to the support rigidity of the wheel shaft that is acceptable for stable running
In order to forcibly steer to a curve around 00 m, it is necessary to design the link and the steering device so as to withstand a large steering force.

[0009]

In the conventional steering cart, it is necessary to design the link and the steering device so as to withstand a large steering force when forcibly steering on a curved road with a small radius. However, there is a problem in that the unsprung weight increases as the size increases, and the load applied to the track during high-speed traveling increases.

Further, since the vehicle body and the bogie are connected by a link or the like, there is a problem that vibration generated in the bogie is easily transmitted to the vehicle body side and the riding comfort is deteriorated. It is an object of the present invention to provide a steering apparatus for a bogie of a railway vehicle, which enables almost complete forced steering on a curved road on the main line, is small and lightweight, and does not impair high-speed traveling performance and riding comfort.

[0011]

In order to achieve the above-mentioned object, a bogie for a railway vehicle according to the present invention is arranged in the front-rear direction of a bogie underframe, and supported by a bearing so as to be movable in the front-rear direction. Two pairs of wheel shafts, at least a steering rotating body rotatably attached to the bogie frame, and one end connected to both ends of the steering rotating body in the vertical direction and the other ends respectively. A railcar bogie having a steering rod-like body connected to front and rear axle boxes and having a Z-link type steering mechanism that steers the two pairs of wheel axles in alignment with a curved track, and is attached to a bogie underframe. An actuator for forcibly rotating the steering rotating body, a means for detecting a curved track, and the front and rear wheel shafts are matched with the curvature of the curved track based on the output signal of the curved track detecting means. Actuating actuator Those constructed in accordance with the occupied steering control device.

As the means for detecting the curved trajectory, a known vibration accelerometer or displacement gauge for detecting the swing motion in the horizontal plane between the vehicle body or the bogie / frame of the bogie is used. In the steering control device, The actuator is operated so that the front and rear wheel shafts match the curvature of the curved track on the basis of the output signal of the curved track detection means, but the actuator is operated only when passing through the curved track having a curvature in a preset range. It is provided with a forcible steering limiting means.

Further, the above steering control device includes a receiver for receiving a passage signal from a grounding element such as a well-known ATS (Automatic Train Stopping Device) having a means for detecting a curved track installed on a track, and this grounding element installation. A point is a starting point of the travel distance of the vehicle, and means for calculating the travel distance of the vehicle based on the vehicle speed signal obtained from a known speedometer installed on the vehicle side,
A storage means in which curve position data or curve information representing the distance from the starting point to the curve point is stored in advance, and the output of the storage means and the output of the means for calculating the traveling distance of the vehicle are compared, and a curve trajectory is obtained. It may be configured with a comparator circuit that outputs a detection signal, and may be configured to determine and output an operation command to the actuator and an actuator operation amount based on the curve information and the vehicle speed information stored in advance.

Further, as the actuator, a hydraulic actuator composed of a cylinder, a piston, etc. is used, and a throttle hole is provided in the piston, and a steering control device is provided between the actuator and a hydraulic servo valve for controlling the actuator. It is also possible to dispose a shut-off valve that shuts off the hydraulic circuit in response to the above signal so that the actuator operates as a hydraulic damper in a state other than during the forced steering operation.

[0015]

According to the present invention, when the vehicle travels on a curved track, it is detected by the curved track detecting means, and the steering control device issues an operation command to the actuator based on the output signal of the curved track detecting means. ， Determine the actuator operation amount, and drive the actuator installed on the bogie frame by the output signal, forcibly rotate the steering rotating body and move the steering rod connected to it, It is steered to match the curvature of the curved trajectory.

The steering control device is provided with a forced steering limiting means for operating the actuator only when passing through a curved track having a curvature in a preset range, and a curved track having an extremely small radius of curvature existing in a station yard or the like. When passing, forced steering by the actuator is stopped and normal self-steering is performed by the link mechanism, so that it is possible to pass a curved line without generating an excessive driving force in the steering device.

Further, by configuring the above-mentioned actuator to operate as a hydraulic damper in a state other than during the forced steering operation, the actuator operates so as to limit the yawing motion of the wheel shaft when traveling on a straight track. High-speed running stability is improved.

[0018]

[Embodiment] An embodiment of a bogie for a railway vehicle according to the present invention is shown in FIG.
2 will be described.

In the figure, 1 is a vehicle body, 2 is a bogie underframe, and 3
a and 3b are wheel shafts, 4a and 4b are axle boxes, and 5 is a pillow spring. The wheel shafts 3a and 3b are attached to the bogie underframe 2 by elastic members (not shown) arranged inside the axle boxes 4a and 4b. It is elastically supported with appropriate rigidity in the up-down, front-rear, and left-right directions.

The vehicle body 1 is elastically supported by the bogie frame 2 via the pillow spring 5. The steering mechanism includes a pair of steering rotating bodies 6 and 6'rotatably attached to both ends in the width direction at an intermediate portion in the traveling direction of the bogie frame 2, and one end of the steering rotating bodies 6 and 6.
A Z-shaped link mechanism is constituted by the steering rod-shaped bodies 7a, 7a ', 7b, 7b' connected to the front and rear axle boxes 4a, 4b, respectively, and connected to the 6 ', as shown in FIG. It is located in.

One end of each of the steering rod-shaped bodies 7a and 7a 'is attached to the axle box 4a via a rubber bush or the like (not shown), and the other end is a distance x from the rotation centers o and o'of the steering rotating bodies 6 and 6'.
Is rotatably attached to the position of (3) through a spherical bearing (not shown).

The steering rod-shaped bodies 7b and 7b 'are mounted between the shaft box 4b and the steering rotary bodies 6 and 6'in the same manner as described above, but to the steering rotary bodies 6 and 6'of the steering rod-shaped bodies 7b and 7b'. The mounting position of is the rotation center o of the steering rotating body 6, 6 ',
It is mounted at a position of a distance x from the center of rotation o, o'in the direction opposite to the steering rod-shaped bodies 7a, 7a 'with respect to o'. Further, steering rod-shaped bodies 7a, 7a ', 7b, 7b' and steering turning bodies 6, 6'which are installed on the left and right of the bogie frame 2 in the vehicle traveling direction.
The mounting positions of and are the rotation centers o of the steering rotating bodies 6, 6 ',
It is mounted in the upside-down position at a distance x from o ', and the rotation centers o, o'of the left and right steering rotary bodies 6, 6'are coupled by the torsion shaft 8 so that the rotation angles of the left and right Z link mechanisms are mutually changed. The torsion shaft 8 is attached to the bogie frame 2 via a bearing so as to be rotatable.

Reference numeral 9 denotes an actuator attached to the bogie underframe 2, and its piston rod 9c is rotatably attached to an extension point p of the steering turning body 6 on one side, and is installed on the vehicle body 1. Based on a command from the steering control device 10, the actuator 9 is operated to rotate the steering rotating body 6 to perform forced steering.

FIG. 3 shows an embodiment of the actuator 9 and the steering control device 10 shown in FIGS. 1 and 2. The actuator 9 includes a cylinder 9a, a piston 9b that slides inside the cylinder 9a, a piston rod 9c, and a piston 9b.
A hydraulic actuator composed of a seal 9d and a cylinder 9a attached to the bogie frame 2 and the tip of the piston rod 9c connected to the extension point p of the steering turning body 6 via a spherical bush or the like. I am trying.

Further, the piston 9b is provided with a throttle hole 9e to connect the two liquid chambers, and when the supply of the hydraulic pressure to the cylinder 9a is cut off, the damping is the same as that of a normal hydraulic damper. The diameter of the throttle hole 9e is set so as to generate a force.

The steering control device 10 inputs the output of a curved track detecting means 11 constituted by a known accelerometer or displacement gauge for detecting the swing motion in the horizontal plane between the car body 1 or the car body 1 and the bogie underframe 2. As signals, the wheel shafts 3a, 3b
Output signal corresponding to the steering amount of the hydraulic servo valve 1
By operating 2, the hydraulic pressure sent from the hydraulic pressure source 13 is controlled to operate the actuator 9, and a force is applied to the steering rotating body 6 to forcibly steer the wheel shafts 3a and 3b so as to match the curved track. It is a thing.

The steering control device 10 also includes forced steering limiting means for determining whether or not to perform forced steering according to the magnitude of the output signal of the curved trajectory detecting means 11.

A shutoff valve 14 is provided between the actuator 9 and the servo valve 12 so that the liquid path is shut off by a command from the steering control device 10 when forced steering is not required.

Reference numeral 15 is a hydraulic pipe, and 16 is a command line. Air pressure, hydraulic pressure, etc. are used as the hydraulic pressure source 13, but since the supply pressure is high, the actuator 9, the servo valve 12, etc. can be downsized and the responsiveness is improved. It is desirable to use good hydraulic pressure.

Next, the operation of the present invention having the above configuration will be described with reference to FIG.

Wheel shaft support springs 17 in the front-rear direction and wheel shaft support springs 18 in the left-right direction are incorporated in the axle boxes 4a, 4b. When the vehicle passes the curved track R, the vehicle body 1 and the bogie frame 2 are separated from each other. In the meantime, relative yawing motion is generated around the rotation center Q of the carriage, and the relative displacement amount a is generated. The relative displacement amount a is detected by the curved trajectory detecting means 11 (displacement meter), and the output signal is input to the steering control device 10.

Since a constant lateral vibration acceleration is generated in the vehicle body 1 with the occurrence of the relative yawing motion,
The curved track detection means 11 may be configured by a known accelerometer that detects this.

In the steering control device 10, the forced steering limiting means determines whether or not to execute the forced steering according to the magnitude of the output signal of the curved trajectory detecting means 11 and issues an instruction. Steering amount of the wheel shafts 3a, 3b (the shaft boxes 4a, 4 corresponding to the wheel shaft steering angle b in FIG. 4)
An output signal corresponding to the movement amount of point b) is calculated, and the hydraulic servo valve 12 is operated by the output signal to control the hydraulic pressure sent from the hydraulic pressure source 13 to operate the actuator 9 to operate the steering rotary member. A force is applied to 6 to rotate the steering rotating body 6.

This amount of rotation is also transmitted to the steering rotating body 6'via the torsion shaft 8. The steering rods 7a, 7a ', 7b, 7b' are rotated by the rotation of the steering rotating bodies 6, 6 ', and the wheel shafts 3a, 3b are displaced in the radial direction of the curve by a displacement angle b.
The wheel shafts 3a and 3b are rotated by only the above to be aligned with a curved track so that the wheel shafts can smoothly travel on a curved road.

On the other hand, when the vehicle travels on a curved road with a very small radius of curvature, such as in a station yard, the output signal of the curved track detecting means 11 also increases correspondingly, so that the forced steering included in the steering control device 10 is performed. This is detected by the limiting means, and the shutoff valve 14 operates according to the command to shut off the supply of hydraulic pressure from the hydraulic pressure source 13, so that the forced steering by the actuator 9 is stopped.

Therefore, the steering mechanism such as the steering rotating bodies 6 and 6'and the steering rods 7a, 7a ', 7b and 7b' can be forcedly steered on a curved road having a minimum radius of curvature (usually about 300 m) on the main line. It is possible to minimize the increase in the weight of the truck due to the installation of the steering mechanism.

On a curved road with a small radius of curvature, since the above-mentioned steering mechanism has a slight self-steering function, the curved steering performance is slightly lowered, but a substantially smooth curve passage is performed.

Further, when traveling on a straight track, the forced steering limiting means included in the steering control device 10 detects this, and the shutoff valve 14 operates according to the command to operate the hydraulic pressure source 13.
Since it is possible to cut off the supply of hydraulic pressure from the actuator 9 and operate the actuator 9 as a hydraulic damper, the wheel shaft 3a,
The damping effect on yawing vibration of 3b is also enhanced, and high-speed running stability on a straight track can be improved.

As described above, according to one embodiment of the present invention, it is possible to realize almost complete forced steering on a curved track on the main line, and to reduce the size and weight of a railway vehicle which can improve high-speed running performance and riding comfort. A dolly can be provided.

FIG. 5 shows a steering control device 10 according to the present invention.
FIG. 9 is a block diagram showing another example of the steering control device 10 including a distance calculation device 23, a comparison circuit 24, and a storage device 2.
5, the amplifier 26 and the like.

The curved track detecting means in the present embodiment detects that a vehicle has passed over a not shown ground track of a well-known ATS (automatic train stop device) installed on the track by the receiver 21, and installs this. A point is set as the starting point of the travel distance of the vehicle, and the distance calculation device 23 that calculates the travel distance based on the vehicle speed signal obtained from the well-known speed sensor 22 installed on the vehicle side and the distance to the curve point in advance are calculated. A storage device 25 storing the curve position data to be represented, and the storage device 2
5 and the output of the distance calculation device 23 are compared with each other, and a comparison circuit 24 for outputting a curve trajectory detection signal is constituted.

Further, the storage device 25 stores curve information, operation commands to the actuator 9 and operation amounts in advance, and generates a control signal for operating the actuator 9 based on the curve trajectory detection signal, and the amplifier 26. It is configured to output via.

It should be noted that the steering control device 10 may be installed in one or two trains in one train or one train. Normally, the steering control device 10 is installed near both ends of a driver's cab (not shown), and the servo valve 12 is provided for each car. Is configured to drive.

According to the present invention, the curve trajectory can be accurately detected by the distance calculation device 23 and the storage device 25 that stores the curve position data, and the curve information stored in advance, the operation command and the operation to the actuator 9 are stored. Since the forced steering of the wheel shafts 3a and 3b is performed with high accuracy based on the amount and the like, there is an effect that the traveling safety and the high-speed traveling stability of the railway vehicle are improved.

In particular, by configuring the steering control device 10 with a microcomputer, forced steering can be performed without being affected by disturbances such as track deviation and point passage, and reliability and riding comfort are significantly reduced. It also has the effect of improving. In the above description, the Z-link type steering mechanism in which the steering rotating bodies 6 and 6'and the steering rod-shaped bodies 7a, 7a ', 7b and 7b' are combined is provided on both left and right sides of the wheel shafts 3a and 3b, and the left and right Z-links are provided. Although the embodiment in which the torsion shafts 8 are connected to each other has been described, the torsion shafts are not indispensable, and the torsion shafts may be omitted and actuators may be provided on the left and right Z links to obtain the same effect.

Further, even if the Z-link has only one side and the performance is slightly deteriorated, the Z-link has a considerable steering performance, and the present invention can be applied to such a system.

[0047]

As described above, according to the present invention,
It is possible to perform forced steering only when passing through a curved track having a radius of curvature in a preset range, and as a result, it is possible to reduce the size and weight of the steering mechanism and reduce the unsprung weight.
The curve running performance and the high speed running performance can be improved.

Furthermore, since there is no connection between the vehicle body and the bogie by the steering mechanism, the transmission of bogie vibration to the vehicle body can be reliably prevented, and the yawing vibrations of the vehicle body and bogie are coupled when the vehicle travels at high speed. Since it can be prevented, it is possible to provide a steering device for a bogie for a railway vehicle that does not impair the riding comfort.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a schematic perspective view illustrating the link mechanism of FIG.

FIG. 3 is a diagram showing an embodiment of an actuator and a steering control device according to the present invention.

FIG. 4 is a diagram showing a steering state on a curved road according to the present invention.

FIG. 5 is a block diagram showing another embodiment of the steering control device according to the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Car body, 2 ... Bogie frame 3a, 3b ... Wheel shaft, 4a,
4b ... Axle box, 6, 6 '... Steering turning body, 7a, 7a', 7
b, 7b '... Steering rod-like body, 9 ... Actuator, 10 ...
Steering control device, 9a ... Cylinder, 9b ... Piston, 9
e ... throttle hole, 11 ... curved orbit detecting means, 12 ... servo valve, 13 ... hydraulic pressure source, 14 ... shutoff valve, 21 ... receiver, 2
2 ... Speedometer, 23 ... Distance calculation device, 24 ... Comparison circuit, 2
5 ... Storage device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Motomi Hiraishi 794 Azuma Higashitoyo, Kudamatsu City, Yamaguchi Prefecture Stock company Hitachi Kasado factory

Claims (5)

[Claims] 1. A pair of wheel shafts, which are arranged in the front-rear direction of a bogie frame and are movably supported in the front-rear direction via bearings,
At least a steering rotating body rotatably attached to the bogie underframe, and a steering in which one end is connected to both ends of the steering rotating body in the vertical direction and the other ends are connected to front and rear axle boxes, respectively. In a bogie for a railway vehicle having a rod-shaped body and having a Z-link type steering mechanism for steering the pair of wheel shafts in alignment with a curved track, the bogie frame is attached to a bogie frame to force the steering turning body. An actuator for rotating, a means for detecting a curved track, and a steering control device for operating the actuator based on an output signal of the curved track detecting means so that the front and rear wheel shafts match the curved track are provided. A bogie for railway vehicles characterized by the above. 2. The bogie for a railway vehicle according to claim 1, wherein the means for detecting the curved track is a means for detecting a swinging motion in a horizontal plane between the vehicle body and the vehicle body / bogie frame. 3. The railway according to claim 1, wherein the steering control device includes a forced steering limiting means for operating the actuator only when passing through a curved track having a curvature in at least a preset range. Vehicle dolly. 4. The steering control device includes a receiver for receiving a passage signal from a ground element such as a well-known ATS (Automatic Train Stopper) having a means for detecting a curved track installed on a track, and the ground element installation. A point is the starting point of the travel distance of the vehicle, a means for calculating the traveling distance of the vehicle based on the vehicle speed signal obtained from a known speedometer installed on the vehicle side, and the distance from the starting point to the curved point Comparing the output of the storage means and the output of the storage means for storing the curve position data and curve information representing the
It is configured by a comparison circuit that outputs a curve trajectory detection signal, and is configured to determine and output an operation command to the actuator and an actuator operation amount based on the curve information and vehicle speed information stored in advance. The bogie for railway vehicles according to claim 1. 5. The actuator is a hydraulic actuator composed of a cylinder, a piston, etc., and the piston has a throttle hole, and a steering control device is provided between the actuator and a hydraulic servo valve for controlling the actuator. 5. A shut-off valve that shuts off the hydraulic circuit in response to the signal of FIG. 4 is arranged, and the actuator operates as a hydraulic damper in a state other than during the forced steering operation. The bogie for the railroad vehicle described.