JPH08198108A - Truck for railroad car - Google Patents

Abstract

PURPOSE: To make forced steering operation along a curved track by yawing each of the front and rear axles while one end is used as the fulcrum. CONSTITUTION: A pair of axles 3a, 3b are furnished fore and aft of a railroad truck frame 1, and a bearing box supporting device is provided at each end of these axles. Parallel with those two of the bearing box supporting devices which lie in the diagonal positions left and right of the truck frame 1, a forced steering means 6 is furnished to give a yaw angle in compliance with the given yaw angle command value to the axles 3a, 3b when a railroad car is running on a curved track, and further a steering control means 9 is installed which gives a yaw angle command value corresponding to the curved track to the forced steering means 6. When the car runs on curved track, forced steering is made so that the axles 3a, 3b are fit to the curved track by yawing the axles 3a, 3b in the opposite phases to each other. This permits constructing the steering mechanism in a small size and weight, reducing the unsprung weight, improving the curve passing performance, and enhancing the stability against the meandering during a high speed running.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rail car bogie, and particularly when the bogie runs at a high speed on a track having a relatively small curve radius, a relative yaw between the wheel shaft and the bogie underframe. -A railcar bogie suitable for causing an ingling motion and forcibly steering so that a pair of wheel shafts arranged in front of and behind a bogie underframe are aligned with a curved track to travel.

[0002]

2. Description of the Related Art In most of the bogies for railway vehicles currently in practical use, the wheel shafts arranged in front of and behind the bogie frame are independent in the front-rear direction (vehicle traveling direction) and the left-right direction. It is relatively strongly elastically coupled and is called a non-steering carriage. In this type of bogie, since the supporting rigidity of the wheel shaft in the front-rear direction is large, 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. 3-1972
As described in Japanese Patent Publication No. 9, the link mechanism reduces the supporting rigidity of the wheel shafts in the front-rear direction, and the yawing motions of the pair of wheel shafts have opposite phases by a link mechanism. 2. Description of the Related Art A bogie for a railway vehicle having a steering device in which wheel shafts are connected has been proposed.

Further, in order to further increase the steering effect, for example, as described in Japanese Patent Laid-Open No. 19264/1992, the vehicle body and the steering device are connected by a link, and the relative displacement between the vehicle body and the bogie frame is adjusted. There has been proposed a bogie for a railway vehicle of a forced steering system, which transmits an ing movement to a steering device via a link and drives the steering device to steer the wheel shafts.

In a conventional railcar bogie of a forced steering system in which a steering device is driven by a link or the like, a load applied to the link and the steering device for forcibly steering on a curved road,
That is, the steering force is the wheel shaft supporting front-rear direction spring force due to steering (spring constant of the wheel shaft front-rear supporting spring x deflection amount).
Increases in proportion to. Therefore, the steering force increases as the steering amount, that is, the amount of deflection of the wheel shaft support spring in the front-rear direction increases, and as the front-rear spring constant increases. In addition, since the steering amount is inversely proportional to the curve radius, if the support rigidity of the wheel shaft in the front-rear direction is made small, almost perfect steering can be performed with a small steering force even when traveling on a track having a small curve radius. However, there is a limit to the reduction of the supporting rigidity because the running stability against the serpentine behavior at high speed running decreases.

The curve on the main line usually has a radius of about 300 m.
As mentioned above, there are also small curves with a radius of about 100 m on the premises of stations. Therefore, in order to forcibly steer the vehicle to a curve with a radius of around 100 m due to the support rigidity of the wheel shaft that is acceptable for running stability, it is necessary to design the link and the steering device so as to withstand a large steering force.

On the other hand, as described in Japanese Unexamined Patent Publication No. 1-132463, four actuators are attached to a bogie frame having a play around the axle box, and forced steering is performed in accordance with a curved track. Wheel steering systems for railway vehicles have been proposed. According to this device, since the support rigidity in the front-rear direction of the wheel shaft is extremely small, the steering is stable during low-speed traveling, but there is a problem in that the stability against snake action during high-speed traveling is reduced.

[0007]

In the conventional link type 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. Therefore, there is a problem that the size of the device increases and unsprung weight increases, and the load applied to the track during high-speed traveling increases. Further, since the vehicle body and the dolly are connected by a link or the like, vibrations generated in the dolly are easily transmitted to the vehicle body side, which causes a problem that the riding comfort is deteriorated.

On the other hand, in the conventional forced steering trolley using an actuator or the like, since an actuator is provided in each axle box, unsprung weight increases, and curved track passing performance and high speed running are achieved. There is a problem in that it is difficult to achieve both stability against snake behavior over time.

It is an object of the present invention to provide a bogie for a railway vehicle which can perform forced steering along a curved track by yawing each wheel shaft with one end of each wheel shaft as a fulcrum when traveling on a curved track. To provide.

[0010]

In order to achieve the above object, the present invention provides a bogie frame fixed to the bottom of a vehicle body of a railway vehicle and wheels arranged separately in the front-rear direction of the bogie frame. A pair of wheel shafts supporting each pair, a plurality of shaft boxes disposed at both ends of each wheel shaft to rotatably support each wheel shaft, and each shaft box and a bogie frame are elastically coupled to each other. In a bogie for a railway vehicle including a plurality of axle box supporting devices that support the axle box, a pair of axle boxes in diagonal positions with respect to each other with a center portion of a bogie underframe between the plurality of axle boxes. A forcible steering means for driving each wheel shaft to give a yaw angle according to the yaw angle command value and a steering control means for outputting a yaw angle command value corresponding to a curved track to the forcible steering means are provided. And a trolley for a railway vehicle.

Further, according to the present invention, a bogie frame fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, and each wheel. A plurality of axle boxes arranged at both ends of the axle and rotatably supporting each wheel axle, and a plurality of axle box supporting devices for elastically coupling each axle box and a bogie underframe to support each axle box In a bogie for a railway vehicle comprising: a pair of axle boxes that are diagonally positioned with respect to each other with a center portion of a bogie underframe among the plurality of axle boxes, and a pair of shafts that respectively support the pair of axle boxes. A plurality of forcible steering means provided in parallel with the box support device to give a yaw angle corresponding to the yaw angle command value to each wheel shaft, and a steering control means for outputting a yaw angle command value corresponding to a curved track to the forcible steering means. The present invention constitutes a bogie for a railway vehicle characterized by being provided with.

Furthermore, the present invention provides a bogie frame fixed to the bottom of a vehicle body of a railroad vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame and supporting a pair of wheels, and each wheel. A plurality of axle boxes arranged at both ends of the axle and rotatably supporting each wheel axle, and a plurality of axle box supporting devices for elastically coupling each axle box and a bogie underframe to support each axle box In a bogie for a railway vehicle comprising: a link device that connects a pair of diagonally-located axle boxes to each other with a center portion of the bogie underframe between the plurality of axle boxes fixed to the bogie underframe. It is equipped with an actuator that drives the link device according to the yaw angle command value, and steering control means that outputs the yaw angle command value corresponding to the curved trajectory to the actuator, and is rotatably arranged on the bogie frame. Both the U-shaped steering rotating body and the steering rotating body installed A link device is configured by a steering shaft-shaped member that connects the pair of shaft boxes to a pair of axle boxes, and one end of the steering turning body is further connected to an actuator. The present invention constitutes a bogie for a railway vehicle characterized by the following.

Further, as a bogie, a bogie frame fixed to the bottom of the vehicle body of the railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, and each wheel shaft. A plurality of axle boxes disposed at both ends of each wheel shaft to rotatably support each wheel axle, and a plurality of axle box support devices for elastically coupling each axle box and a bogie underframe to support each axle box, Also in a vehicle equipped with a pair of electric motors arranged on the bogie frame and a pair of gear devices connected to each wheel shaft and transmitting the driving force from each electric motor to each wheel shaft, It can have a function.

Further, in constructing each of the bogies, the axle box supporting device provided with each forcible steering means can be constructed to have a softer support rigidity than other axle box supporting devices.

The following functions can be added when constructing each of the carts.

(1) Each of the forcible steering means includes an axle box on the side farther from the connecting position of each gear unit and each wheel axle in the axle box that pivotally supports each wheel axle, and this axle box. It is installed side by side with the axle box support device that supports it.

(2) Each of the forcible steering means is connected to the axle box and the bogie frame to drive the axle box according to the yaw angle command value, and a driving energy according to the yaw angle command value. Each actuator is provided with a yaw angle that is in opposite phase to the front and rear wheel shafts.

(3) The steering control means is a curved trajectory detection means for detecting a curved trajectory from the swing motion in the horizontal plane between the vehicle body or the vehicle body / bogie underframe, and a curved trajectory based on the detection value of the curved trajectory detection means. And a yaw angle command value generating means for generating a yaw angle command value according to

(4) The steering control means is a vehicle speed obtained from a receiver for receiving a passage signal from a ground element arranged on the track, a passage signal received by the receiver, and a speedometer installed in the vehicle. A mileage calculating means for calculating the mileage of the vehicle with a designated point based on the signal as a starting point for calculating the mileage of the vehicle, and curve position data and a curved track indicating the distance from the starting point for calculating the mileage to the curved track Storage means for storing the curved line data, a comparison means for comparing the calculated value of the traveling distance calculation means with the storage data of the storage means, and a yaw angle command value for generating a yaw angle command value according to the comparison result of the comparison means. And generating means.

(5) The steering control means includes a forced steering restriction means for outputting the yaw angle command value only when passing through a curved track having a curvature in a preset range.

(6) The actuator has a cylinder chamber that has a pair of ports connected to the pipe line and stores a fluid;
It is reciprocally inserted into the cylinder chamber and the cylinder chamber
It is equipped with a piston that divides into chambers and a piston rod that is connected to the piston, and opens a pipeline to a pipeline connected to each port of the cylinder chamber when running on a curved track, and closes the pipeline otherwise. A control valve is arranged, and a throttle device that bypasses one cylinder chamber and the other cylinder chamber divided by a piston with a passage narrower than a pipe passage is provided.

[0022]

According to the above-mentioned means, when traveling on a curved track, one of the two pairs of diagonally positioned barrels is fixed and the other pair of movable barrels is movable. As the side
Since each wheel shaft yaws according to the yaw angle command value,
Forced steering along a curved track is possible. in this case,
Since each wheel shaft yaws with one end of the wheel shaft as a fulcrum, the number of forced steering means, for example, actuators can be reduced, and an increase in unsprung weight can be suppressed.

Since the steering control means includes the forced steering limiting means for outputting the yaw angle command value only when passing the curved track having the curvature in the preset range, the steering control means has an extremely small radius of curvature existing in the station yard or the like. When the vehicle travels on a curved track, the forced steering can be stopped, and the curved steering track can be passed without applying an excessive force to the forced steering means.

Further, since the pipe is closed by the control valve at times other than during forced steering, the actuator can be used as a hydraulic damper, and when traveling on a straight track,
The actuator operates so as to limit the yaw movement of the wheel shaft, and the stability at high speed is improved.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a railcar bogie according to the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention,
FIG. 2 is a side view showing an embodiment of the present invention. Figure 1,
In FIG. 2, a bogie for a railroad vehicle includes a bogie underframe 1 fixed to the bottom of a vehicle body B of the railroad car, two pairs of wheels 2a arranged in the front-rear direction of the bogie underframe 1 (the traveling direction of the vehicle),
A pair of wheel shafts 3a, 3b that respectively support a pair of 2a ', 2b, 2b', and a shaft box 4 that is disposed at both ends of each wheel shaft 3a, 3b and rotatably supports each wheel shaft 3a, 3b.
a, 4a ', 4b, 4b', each axle box 4a, 4a ', 4
b, 4b 'and the bogie frame 1 are elastically connected to each other to make each axle box 4
Axial box support device 5 for supporting a, 4a ', 4b, 4b'
a and 5b are provided, and as the forced steering means 6,
The actuators 7 and 7 ′ and the conduit 8 are provided, and further, as the steering control means 9, a curved trajectory detector 10 and a steering control device 11 are provided.

The vehicle body B is elastically supported by the bogie frame 1 via pillow springs (not shown), and the wheel shafts 3a and 3b are bogies by elastic members arranged inside the axle box supporting devices 5a and 5b. The frame 1 is elastically supported in the front-rear direction and the left-right direction with appropriate rigidity.

On the other hand, the actuators 7 and 7'include the axle box 4
Among the a, 4a ′, 4b, and 4b ′, the actuators 7 and 7 ′ are arranged in the vicinity of the pair of axle boxes 4a and 4b that are diagonally located with the center portion of the bogie frame 1 interposed therebetween. They are connected to each other via a pipe line 8. The actuator 7 is rotatably attached via a spherical bush or a rubber bush between the one axle box 4a of the wheel axle 3a and the bogie underframe 1 so as to be in parallel with the axle box support device 5a. There is.
Further, the actuator 7'is mounted between the axle box 4b 'of one of the wheel shafts 3b arranged diagonally to the left and right of the bogie frame 1 and the bogie frame 1 in the same manner as the actuator 7. ing. Each actuator 7, 7'is, as shown in FIG.
Cylinder 7 that stores the fluid from the steering control device 11
a, a piston 7 which is reciprocally inserted into the cylinder 7a and divides the cylinder 7a into cylinder chambers 7b and 7c.
d, a piston rod 7e connected to the piston 7d is provided, and a pipe line 8 is connected to the ports 7f and 7g of the cylinder 7a. Further, a seal 7h is mounted between the piston 7d and the cylinder 7a, and the piston 7d is formed with a throttle hole 7i as a throttle device having a narrower flow passage than the duct 8. Then, when the fluid corresponding to the yaw angle command value is supplied from the steering control device 11 to the two actuators 7 and 7 ′ during traveling on a curved track, the actuators 7 and 7 ′ are activated according to the pressure of the fluid. Driven. In this case, the axle boxes 4a 'and 4b are fixed sides, the axle boxes 4a and 4b' are movable sides, and the front and rear wheel shafts 3a and 3b are yaw-displaced in opposite phases. That is, when each of the actuators 7 and 7'is driven, the front and rear wheel shafts 3a and 3b are yawed in the opposite phase with the axle boxes 4a 'and 4b as fulcrums (the front and rear wheel shafts 3a and 3b).
a and 3b are swinging motions that draw a “C”.

The curved trajectory detector 10 is constituted by, for example, an accelerometer or a displacement gauge as a curved trajectory detecting means for detecting a curved trajectory from the swing motion in the horizontal plane between the vehicle body B or the vehicle body B and the bogie underframe 1. The detection output is input to the steering control device 11.

The steering control device 11 includes a steering control unit 1
2, a servo valve 13, a hydraulic pressure source 14, a shutoff valve 15, etc., and is installed in the vehicle body B. Steering control unit 1
When the curved track is detected by the curved track detector 10, 2 is a yaw angle command value based on a signal from the curved track detector 10 indicating a necessary steering amount of the wheel shafts 3a and 3b corresponding to the curved track. And the servo valve 1 according to the calculated value.
It is designed to operate 3. When the servo valve 13 is operated, the hydraulic pressure sent from the hydraulic pressure source 14 is controlled according to the required steering amount, and the controlled hydraulic pressure is controlled by the actuator through the shutoff valve (control valve) 15 and the conduit 8. -Sent to data 7, 7 '. When each actuator 7, 7'is driven according to the hydraulic pressure, the wheel shafts 3a, 3b are forcibly steered so as to match the curved track.

Further, the steering control section 12 includes a forced steering limiting means for judging whether or not the forced steering should be carried out in accordance with the magnitude of the output signal of the curved trajectory detector 10, and when the vehicle is traveling on a straight track, When forced steering is not required, such as when traveling at a low speed on a curved track with a very small radius of curvature such as in a station yard, a shut-off valve 15 provided between the actuators 7 and 7'and the servo valve 13 is steered. It is configured to operate by a command from the control unit 12 to close the pipe line 8. In addition, the shutoff valve 15 is used even when a problem occurs in the steering control means 9.
Can be switched to self-steering.

In the above structure, when the bogie for railway vehicle travels on a straight track, as shown in FIG. 4, forced steering is not executed and the front and rear wheel shafts 3a, 3b are substantially parallel to each other. Steered along. Further, during the straight track running, the straight steering track is detected by the forced steering limiting means included in the steering control device 11, and the cutoff valve 15 is operated by the detection output to move the hydraulic pressure source 14 to the actuators 7, 7 '. Since the supply of hydraulic pressure is cut off, the fluid moves between the cylinder chambers 7b and 7c of the actuators 7 and 7'through the throttle holes 7i, and the actuators 7 and 7 '
7'can be operated as a hydraulic damper. For this reason, since the actuators 7 and 7'function as hydraulic dampers when traveling on a straight track, the damping effect on the yawing vibrations of the wheel shafts 3a and 3b is also enhanced, and the high-speed running stability on the straight track is improved. be able to. In addition, when the supply of the hydraulic pressure to the cylinder 7a is cut off, the throttle hole 7i is formed so as to generate the same damping force as that of the normal hydraulic damper.
The diameter of is determined. Further, instead of the throttle hole 7i provided in the piston 7b, a throttle valve is installed in parallel with the pipeline 8 of the actuators 7 and 7 ', and the shutoff valve 15
It is also possible to operate so that the supply of hydraulic pressure from the hydraulic pressure source 14 is cut off, the throttle valve is opened, and the hydraulic pressure in the cylinder 7a is bypassed via the throttle valve.

On the other hand, when the bogie for railroad vehicle shifts from the straight track to the curved track, the necessary steering amount of the wheel shafts 3a, 3b corresponding to the curved track is determined based on the output of the curved track detector 10 by the steering control device 11. Is calculated by When the servo valve 13 is operated according to the calculated value and the hydraulic pressure corresponding to the operation amount is supplied to the actuators 7 and 7 ', the front and rear wheel shafts 3 are driven by the actuators 7 and 7'.
Forced steering is performed so that a and 3b are aligned with the curved track.

As described above, according to this embodiment, the axle boxes 4a 'and 4b are fixed side during traveling on a curved track, and the axle box 4 is
a, 4b 'are movable sides, and front and rear wheel shafts 3a, 3b
Is yawed in the opposite phase with the axle boxes 4a ', 4b as fulcrums, so that the front and rear wheel shafts 3a, 3b are forcibly steered to match the curved track by driving the actuators 7, 7', and excessive lateral pressure is applied. Can be prevented, and the traveling safety on a curved track is improved.

Further, in this embodiment, the front and rear wheel shafts 3a, 3b are yawed in opposite phases with the axle boxes 4a ', 4b as fulcrums, so that the equipment installed under the spring of the truck is an actuator. Part of the shaft 7, 7'and shaft box 4a, 4b '
Since it is only a mounting member to the, the increase in unsprung weight is small, it is possible to achieve downsizing, and since the forced steering means for connecting the car body and the bogie underframe is not used,
It is possible to prevent impairing high-speed driving performance and riding comfort.

Further, according to this embodiment, the actuator is
Since the axle box supporting device of the axle boxes 4a 'and 4b without installing the actuators 7 and 7'is configured to have a supporting rigidity that is equal to or higher than the conventional one, the steering performance is not significantly affected, and therefore the actuator 7 , 7'wherein the axle boxes 4a, 4b 'are configured to have a soft support rigidity to further reduce the size and weight of the actuators 7, 7', and to prevent curved track passing performance and snake action at high speeds. It is possible to achieve both stability.

Although the hydraulic actuators 7 and 7'are used in this embodiment, the same effect can be obtained by using an electric mechanism, for example. Further, as the hydraulic pressure source 14, air pressure, hydraulic pressure or the like can be used, but since the supply pressure is high, it is better to use hydraulic pressure with good responsiveness for the actuators 7, 7 ', the servo valve 13, etc. Can be miniaturized.

In the present embodiment, the actuator 7,
7'is connected by a pipe line 8 to drive the actuators 7, 7'by an output signal from one servo valve 13, but two systems corresponding to the actuators 7, 7'are provided. Servo valves, shut-off valves, etc. are provided, and the steering control unit 12 controls each wheel shaft 3
It is also possible to individually calculate and drive the optimum steering amounts of a and 3b.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 is a side view showing a second embodiment of the present invention, and FIG. 6 is a model perspective view showing a main part of the second embodiment of the present invention.

In this embodiment, the forced steering means 6 is composed of a single actuator 7 and a link device, the steering control means 9 is the same as that of the above embodiment, and the same members as those of the above embodiment are the same. The reference numerals are given and their explanations are omitted.

In FIGS. 5 and 6, the link device is a U-shaped steering rotary body 16 which projects rightward and leftward of the central portion of the bogie underframe 1 and is rotatably attached to the bogie underframe 1 via bearings 19.
And the distance x from the center position o, o'of the vertical protruding portions 17, 17 'of the U-shaped steering rotary body 16 which are projected at both ends.
Of the steering shaft-like members 18, 18 ', one end of which is rotatably connected, and the other end of which is rotatably connected to shaft boxes 4a, 4b' located at diagonally opposite positions of the bogie frame 1 respectively. It is equipped with. The piston rod 7e of the actuator 7 fixed to the bogie underframe 1 is rotatably attached to the extension portion p point of the one protruding portion 17 of the U-shaped steering rotating body 16.

In the above structure, when the truck travels on a curved track, the actuator 7 operates based on a command from the steering control means 9 installed on the vehicle body B. By the operation of the actuator 7, for example, the steering shaft member 18 is moved to the shaft box 4
When a is pressed in a direction away from the steering rotating body 16, the rotating body 16 rotates due to this reaction force, and the steering shaft-shaped member 1
8 ′ pulls the axle box 4 b ′ in a direction approaching the steering turning body 16, each wheel shaft 3 a, 3 b is yawed in the opposite phase according to the yaw angle command value, and the forced steering of each wheel shaft 3 a, 3 b is performed. Done.

According to the second embodiment of the present invention configured as described above, even if a single actuator is used, the combination of the actuator and the link device allows the axle boxes 4a 'and 4b to be moved during curved track traveling. Is the fixed side, and the axle box 4
a, 4b 'are movable sides, and front and rear wheel shafts 3a, 3b
Is yawed in the opposite phase with the axle boxes 4a ', 4b as fulcrums, so that the front and rear wheel shafts 3a, 3b are forcibly steered to match the curved track by driving the actuators 7, 7', and excessive lateral pressure is applied. Can be prevented, and the traveling safety on a curved track is improved. Further, since the front and rear wheel shafts 3a, 3b are yawed in opposite phases with the axle boxes 4a ', 4b as fulcrums, the unsprung weight increase can be reduced and the size can be reduced.

Further, the axle boxes 4a, 4b 'located at diagonal positions of the wheel axles 3a, 3b are accurately coupled by a link device, and the axle box 4 installed at the other end of each wheel axle 3a, 3b.
Since the parts a'and 4b are supported relatively hard with respect to the bogie underframe 1, even when a failure occurs in the steering control means 9, normal self-steering by the link device is performed. Furthermore, during traveling on a straight track, the link device operates so as to limit the yawing movement of the wheel shafts, so that high-speed traveling stability is improved and reliability can be enhanced.

FIG. 7 is a block diagram showing a third embodiment of the present invention. The present embodiment differs from the first embodiment shown in FIG. 1 in that the main motors 20a, 20 installed on the bogie underframe 1 are different.
b and the gear device 21a incorporated in the wheel shafts 3a, 3b,
The present invention is applied to a drive carriage constituted by 21b and the like. That is, in a normal drive cart, the installation positions of the gear devices 21a and 21b are the wheel shafts 3a and
It is installed not to the center position of 3b but to one wheel side, and the installation center of the gear device 21a and the axle boxes 4a, 4
The distances L1 and L2 from the installation center of a ′ have a relationship of L1> L2. Therefore, in the third embodiment of the present invention, the actuators 7 and 7'are installed in the axle boxes 4a and 4b 'arranged far from the installation positions of the gear devices 21a and 21b.

According to the third embodiment having the above-mentioned structure, the wheel shafts 3a and 3b which are forcibly steered in conformity with the curved track according to the command from the steering control means 9 use the axle boxes 4a 'and 4b as fulcrums. Although the yaw displacement is given so as to rotate (see FIG. 4), the yaw displacement amount is small at the installation portion of the gear devices 21a and 21b, so that it is equivalent to a gear device installed in a conventional bogie without a steering mechanism. Even if it is used, its function can be fully exerted. That is, the actuator 7,
The driving force of the actuators 7 and 7'can be made smaller than when the axle boxes 4a 'and 4b are driven by 7'.

Also in this embodiment, when traveling on a curved track, the axle boxes 4a 'and 4b are fixed, so that the axle boxes 4a, 4a,
4b 'becomes the movable side, and the front and rear wheel shafts 3a, 3b are yawed in opposite phases with the axle boxes 4a', 4b side as fulcrums, so that the front and rear wheel shafts 3a, 3b are driven by the actuators 7, 7 '. Is forcibly steered to match the curved track, excessive lateral pressure can be prevented from occurring, and traveling safety on the curved track is improved. Further, since the front and rear wheel shafts 3a, 3b are yawed in opposite phases with the axle boxes 4a ', 4b as fulcrums, the unsprung weight increase can be reduced and the size can be reduced.

FIG. 8 is a block diagram showing another embodiment of the steering control means 9 according to the present invention. In FIG. 8, the steering control means 9 includes a distance calculation device 24, a comparison circuit 25,
The storage device 26 and the amplifier 27 are provided, and the signals from the receiver 22 and the speedometer 23 are input to the distance calculation device 24.

The receiver 22 is an ATS installed on the line.
A signal from a ground element (not shown) of the (automatic train stop device) is received, it is detected that the vehicle has passed on the track, and this detection signal is output to the distance calculation device 24. When the signal from the receiver 22 is input, the distance calculation device 24 uses the installation point of the ground element as the starting point of the travel distance of the vehicle, and uses the vehicle speed signal obtained from the speedometer 23 installed on the vehicle side. The traveling distance is calculated based on the calculated distance and the calculated value is output to the comparison circuit 25. Comparison circuit 25
Is designed to search the storage data in the storage device 26 according to the calculated value obtained by the distance calculation device 24 and output the comparison result according to the search. The comparison device 26 stores curve position data representing the distance to the curve point and curve data of the curve trajectory. Therefore, when the comparison result is output from the comparison circuit 25, the comparison result is amplified by the amplifier 27, and the amplified signal is output to the servo valve 13 as a signal indicating the yaw angle command value. It should be noted that the steering control means 9 may be installed in one or two trains in one train or one train, and is usually installed near the driver's cabs at both ends.
It is configured to drive a servo valve 13 provided for each carriage.

According to the present embodiment, the curved track can be accurately detected by the distance calculation device 24 and the storage device 26 in which the curved position data and the like are stored, so that the forced steering of the wheel shafts 3a, 3b can be performed with high accuracy. It can be carried out and can contribute to the improvement of running safety of the railway vehicle and stability of high-speed running.
Further, by configuring the steering control means 9 with a micro computer, forced steering can be performed without being affected by disturbances such as track deviation and point passage with little control delay, and reliability and riding comfort are improved. Can also contribute.

[0051]

As described above, according to the present invention,
When traveling on a curved track, the front and rear wheel shafts are yawed in opposite phases with one end as a fulcrum, so the front and rear wheel shafts are forcibly steered to match the curved track, and excessive lateral pressure is prevented. It is possible to improve running safety on a curved track. Further, since the front and rear wheel shafts are yawed in opposite phases with one shaft box side as a fulcrum, an increase in unsprung weight can be suppressed and downsizing can be achieved. In addition, the safety of railway vehicles when traveling on curved tracks, the improvement of passing speed, the reduction of noise during running, the extension of maintenance return of vehicles and tracks, and the stability against snake action during high-speed running improves.

Further, since there is no connection between the vehicle body and the bogie by the forced steering mechanism, transmission of bogie vibration to the vehicle body can be reliably prevented, and yawing vibration between the vehicle body and the bogie during high-speed traveling can be prevented. Coupling can be prevented, which contributes to improved riding comfort.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is a side view showing an embodiment of the present invention.

FIG. 3 is a sectional view showing an embodiment of an actuator according to the present invention.

FIG. 4 is a diagram showing a behavior of a wheel shaft in a curved track of a bogie according to the present invention.

FIG. 5 is a side view showing a second embodiment of the present invention.

FIG. 6 is a schematic perspective view showing a main part of a second embodiment of the present invention.

FIG. 7 is a configuration diagram showing a third embodiment of the present invention.

FIG. 8 is a block diagram showing another embodiment of the steering control means according to the present invention.

[Explanation of symbols]

 B vehicle body, 1 bogie underframe, 2a, 2a ', 2b, 2b' wheels, 3a, 3b wheel axles, 4a, 4a ', 4b, 4b' axle box, 5a, 5b axle box support device, 6 forced steering means, 7, 7'actuator, 7a cylinder, 7b, 7c cylinder chamber, 7d piston, 7e piston rod, 7f, 7g port, 7h seal, 7i throttle hole, 8 conduit, 9 steering control means, 10 curve orbit detection means , 11 steering control device, 13 servo valve, 15 shutoff valve, 16 U-type steering rotating body, 17, 17 'protrusion, 18, 18' steering shaft member, 20a, 20b traction motor, 21a, 21b gear device , 22 receiver, 23 speedometer, 24 distance calculation device, 25 comparison circuit, 26 storage device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Higaki 502 Jinritsucho, Tsuchiura City, Ibaraki Prefecture

Claims (14)

[Claims] 1. A bogie underframe fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie underframe to support a pair of wheels, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support the respective wheel axles and a plurality of axle box support devices that elastically connect the axle boxes and the bogie underframe to support the axle boxes are provided. In the bogie for railway vehicles, among the plurality of axle boxes, a pair of axle boxes diagonally located with the center portion of the bogie frame interposed therebetween are respectively driven to drive the yaw angle corresponding to the yaw angle command value to each wheel axis. A bogie for a rail vehicle, comprising: a forced steering means for giving an angle and a steering control means for outputting a yaw angle command value corresponding to a curved track to the forced steering means. 2. A bogie frame fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, respectively, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support the respective wheel axles and a plurality of axle box support devices that elastically connect the axle boxes and the bogie underframe to support the axle boxes are provided. In a bogie for a railway vehicle, a pair of axle boxes that are diagonally positioned with respect to the center of the bogie frame of the plurality of axle boxes, and a pair of axle box support devices that respectively support the pair of axle boxes. And a plurality of forcible steering means for providing a yaw angle corresponding to the yaw angle command value to each wheel shaft and a steering control means for outputting a yaw angle command value corresponding to a curved trajectory to the forcible steering means. A bogie for rail cars. 3. A bogie frame fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, respectively, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support the respective wheel axles and a plurality of axle box support devices that elastically connect the axle boxes and the bogie underframe to support the axle boxes are provided. In a bogie for a railway vehicle, a pair of axle boxes that are diagonally positioned with respect to the center of the bogie frame of the plurality of axle boxes, and a pair of axle box support devices that respectively support the pair of axle boxes. A plurality of forcible steering means attached to each wheel shaft to give a yaw angle according to the yaw angle command value and a steering control means for outputting a yaw angle command value corresponding to a curved track to the forcible steering means are provided. The axle box support device with the forced steering means is softer than other axle box support devices. Bogie for railway vehicles, characterized in that configured in have support rigidity. 4. A bogie frame fixed to a vehicle body bottom of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, respectively, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support each wheel shaft, a plurality of axle box support devices that elastically couple each axle box and a bogie underframe to support each axle box, and a bogie underframe A pair of electric motors disposed on the wheel shaft, and a pair of gear devices connected to the wheel shafts and transmitting the driving force from the electric motors to the wheel shafts. Corresponding to a curved track and a forced steering means that drives a pair of axle boxes that are diagonally positioned with the center of the bogie underframe between them to give a yaw angle to each wheel axis according to the yaw angle command value Steering control means for outputting the commanded yaw angle value to the forced steering means is provided. A bogie for railway vehicles. 5. A bogie underframe fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie underframe to support a pair of wheels, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support each wheel shaft, a plurality of axle box support devices that elastically couple each axle box and a bogie underframe to support each axle box, and a bogie underframe A pair of electric motors disposed on the wheel shaft, and a pair of gear devices connected to the wheel shafts and transmitting the driving force from the electric motors to the wheel shafts. Among them, a yaw angle command is given to each wheel shaft by being installed side by side with a pair of axle boxes and a pair of axle box supporting devices that respectively support the pair of axle boxes with the center portion of the bogie underframe in between. A plurality of forcible steering means that give yaw angle according to the value and yaw angle command value corresponding to the curved trajectory A trolley for a railway vehicle, comprising steering control means for outputting to the forced steering means. 6. A bogie underframe fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie underframe to support a pair of wheels, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support each wheel shaft, a plurality of axle box support devices that elastically couple each axle box and a bogie underframe to support each axle box, and a bogie underframe A pair of electric motors disposed on the wheel shaft, and a pair of gear devices connected to the wheel shafts and transmitting the driving force from the electric motors to the wheel shafts. Among them, a yaw angle command is given to each wheel shaft by being installed side by side with a pair of axle boxes and a pair of axle box supporting devices that respectively support the pair of axle boxes with the center portion of the bogie underframe in between. A plurality of forcible steering means that give yaw angle according to the value and yaw angle command value corresponding to the curved trajectory And a steering control means for outputting to the forced steering means, wherein the axle box supporting device in which each of the forced steering means is arranged has a softer supporting rigidity than other axle box supporting devices. . 7. The forced steering means supports the axle box and the axle box on the side farther from the connecting position of each gear device and each wheel axle in the axle box that pivotally supports each wheel axle. 7. A shaft box supporting device for connecting with the shaft box supporting device.
The bogie for the railroad vehicle described. 8. Each of the forcible steering means includes a pair of actuators that are connected to the axle box and the bogie frame to drive the axle box according to the yaw angle command value, and drive energy according to the yaw angle command value. It has a conduit for transmitting to the actuator,
3. Each of the actuators applies yaw angles that are in opposite phases to the front and rear wheel shafts.
The bogie for railway vehicles according to 3, 4, 5, 6 or 7. 9. A bogie underframe fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie underframe to support a pair of wheels, respectively, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support the respective wheel axles and a plurality of axle box support devices that elastically connect the axle boxes and the bogie underframe to support the axle boxes are provided. In a bogie for a railroad vehicle, a link device for connecting a pair of axle boxes in diagonal positions to each other with the center portion of the bogie frame among the plurality of axle boxes interposed therebetween,
The bogie frame is provided with an actuator that is fixed to the bogie frame to drive the link device in accordance with the yaw angle command value, and steering control means that outputs the yaw angle command value corresponding to the curved trajectory to the actuator. And a steering shaft-shaped member that connects both ends of the steering rotary body to the pair of axle boxes, respectively, to form a link device, and one end of the steering rotary body is an actuator. A bogie for a railroad vehicle, characterized in that the front and rear wheel shafts are connected to each other to give yaw angles of opposite phases to each other. 10. A bogie frame fixed to the bottom of a vehicle body of a railway vehicle, a pair of wheel shafts arranged separately in the front-rear direction of the bogie frame to support a pair of wheels, respectively, and at both ends of each wheel shaft. A plurality of axle boxes that are arranged to rotatably support each wheel shaft, a plurality of axle box support devices that elastically couple each axle box and a bogie underframe to support each axle box, and a bogie underframe In a bogie for a railroad vehicle, comprising: a pair of electric motors arranged on the wheel shaft; and a pair of gear devices connected to the wheel shafts and transmitting the driving force from the electric motors to the wheel shafts. A link device for connecting a pair of axle boxes in diagonal positions to each other with the center portion of the bogie underframe in between,
The bogie frame is provided with an actuator that is fixed to the bogie frame to drive the link device in accordance with the yaw angle command value, and steering control means that outputs the yaw angle command value corresponding to the curved trajectory to the actuator. And a steering shaft-shaped member that connects both ends of the steering rotary body to the pair of axle boxes, respectively, to form a link device, and one end of the steering rotary body is an actuator. A bogie for a railroad vehicle, characterized in that the front and rear wheel shafts are connected to each other to give yaw angles of opposite phases to each other. 11. The steering control means is a vehicle body or a vehicle body.
A curved trajectory detection means for detecting a curved trajectory from the swing motion in the horizontal plane between the bogie frames, and a yaw angle command value generation for generating a yaw angle command value according to the curved trajectory based on the detection value of the curved trajectory detection means. A trolley for a railway vehicle according to any one of claims 1 to 10, wherein the trolley is a vehicle. 12. The steering control means includes a receiver for receiving a passage signal from a ground element arranged on the track, a passage signal received by the receiver, and a vehicle speed signal obtained from a speedometer installed in the vehicle. A mileage calculating means for calculating the mileage of the vehicle by using a designated point as a starting point for calculating the mileage of the vehicle, and a curve position data indicating a distance from the starting point for calculating the mileage Storage means for storing the curve data, comparison means for comparing the calculated value of the travel distance calculation means with the storage data of the storage means, and yaw angle command value generation for generating a yaw angle command value according to the comparison result of the comparison means. A trolley for a railway vehicle according to any one of claims 1 to 10, wherein the trolley is a vehicle. 13. The railway according to claim 11, wherein the steering control means includes a forced steering restriction means that outputs a yaw angle command value only when passing a curved track having a curvature in a preset range. Vehicle dolly. 14. The actuator includes a cylinder chamber having a pair of ports connected to a pipe line for containing a fluid, and a piston reciprocally inserted into the cylinder chamber to divide the cylinder chamber into two chambers. It has a piston rod connected to the piston, and a control valve that opens the pipeline when running on a curved track and closes the pipeline at other times is installed in the pipeline connected to each port of the cylinder chamber. 11. A bogie for a railway vehicle according to claim 8, further comprising: a throttle device that bypasses one of the cylinder chambers and the other of the cylinder chambers, which are divided by, with a flow passage narrower than a pipe line. .