JPH08256402A - Attitude control device for pantograph - Google Patents

Abstract

PURPOSE: To realize a safety mechanism which does not react to very small rolling by detecting the rolling angle of a vehicle body as linear displacement through the pressure of an air spring by a pneumatic conversion cylinder for detecting the tilting angle of a vehicle body and transmitting the detected value to a pressure control valve to operate a hydraulic actuator. CONSTITUTION: Rolling angle displacement detected by a pneumatic coversion cylinder 30 for detecting the tilting angle of a vehicle body, namely, linear displacement is transmitted to the input levers 36, 37 of two pressure control valves through a link mechanism A spool inside pressure control valves 20, 21 is opened and an operating oil is made to flow into one of the cylinder chambers of a hydraulic actuator 15. Thus, the hydraulic actuator 15 is operated, whereby the spring force of the link mechanism is balanced to stop the actuator 15. As a result, a safety mechanism is realized which does not react to a very small rolling angle change and in which high reliability can be secured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a so-called pendulum train which controls a rolling inclination angle of a vehicle when passing through a curve, so that a current collecting plate of a pantograph mounted on the vehicle has a predetermined posture with respect to an overhead line. It relates to the attitude control device of the pantograph device for holding the position, has a mechanical automatic return mechanism by a hydraulic actuator for returning the pantograph device to the center of the vehicle body, and uses a pneumatic conversion cylinder to adjust the rolling angle of the vehicle body to the air. A hydraulic / mechanical link that does not use electricity because it detects linear displacement via the pressure in the spring chamber, transmits this linear displacement to the input lever of the pressure control valve, and outputs adjusted pressure according to the mechanical displacement. Adopting the mechanism, the overall system is small and has high performance,
The present invention relates to a posture control device for a pantograph instrument that realizes high maintainability and high reliability.

[0002]

2. Description of the Related Art A pendulum train has been put into practical use for the purpose of increasing the traveling speed and riding comfort of a railroad vehicle on a curved road. It runs on a curved roadway of a track at a speed higher than that of a cant. At this time, by leaning the vehicle body inside the arc of the track by receiving centrifugal force, the center of gravity g of the vehicle body below the pendulum center of the vehicle body is reduced by the component of gravity g due to the tilt angle. Is.

As the pendulum type train, a natural pendulum type using an air spring of Spanish National Railways, a hydraulic forced pendulum type using a link of Canadian National Railways, a natural pendulum type using a roller in Japan, etc. have been developed and put into practical use. In addition, in order to improve the riding comfort of the natural pendulum type vehicle, an electronically controlled pendulum device configured to smoothly detect the track curve position and control the air and hydraulic cylinders to smoothly lean the vehicle body on a curved road is provided. Is being developed.

[0004]

All pendulum type vehicles have a pantograph mounted on the roof of the vehicle, and when traveling on a curved track, the pantograph mounted on the rolling-tilted vehicle also tilts. However, there is a problem in that the contact direction of the current collector plate with respect to the overhead wire changes significantly and the optimum contact cannot be maintained.

Therefore, a movable part via various actuators is provided in the holding mechanism of the pantograph device for moving the pantograph device on the roof portion of the vehicle in accordance with the rolling inclination, and conversely for inclining the pantograph device. It is conceivable to control the attitude of the pantograph device by controlling it.

However, when controlling the attitude of the pantograph device, it is possible to perform reliable control with few failures, and to prevent malfunction of the pantograph device in the unlikely event of a failure, the overall system is small and has high performance, high maintainability, and high maintainability. No attitude control device for a pantograph has been proposed as a reliable pure mechanical system.

An object of the present invention is to achieve system control and optimization of overall performance, reliability, and maintainability by a mechanical configuration using hydraulic control in a posture control device for a pantograph of a pendulum train. And again
The purpose is to prevent malfunction of the pantograph at the time of hardware failure and to ensure high reliability.

[0008]

SUMMARY OF THE INVENTION The present invention aims to realize system control and optimization of overall performance, reliability, and maintainability in a posture control system for a pantograph of a pendulum train. A hydraulic link mechanical mechanism that is basically independent of the pendulum control system is adopted, and an automatic return mechanism for returning the pantograph to the center of the vehicle body when the system hydraulic pressure fails is provided. A simple structure that detects from the chamber is adopted, a feedback mechanism is not formed, and a safety mechanism that does not react to minute rolling angle changes is realized by utilizing the mechanical hysteresis of the pneumatic cylinder and pressure control valve. Is.

That is, according to the present invention, the pantograph device mounted on the vehicle body holds the current collecting plate in a predetermined posture position with respect to the overhead wire as the vehicle body rolls and tilts.
Position control of the movable part in the holding mechanism of the pantograph device, which has a centering mechanism in which a movable base that mounts the pantograph device and is movable in the vehicle width direction can be centered on the vehicle body roof center with a bungee spring In the control device for performing the above-mentioned operation, a hydraulic actuator that is controlled by a pair of pressure control valves to control the position of the movable portion is provided, and the pressure in a pair of air spring chambers arranged between the carriage and the vehicle body is controlled by the piston By means of the pneumatic conversion cylinders for vehicle body tilt angle detection that act individually on both sides, when the rolling angle of the vehicle body is detected as a linear displacement through the pressure of the air spring chamber, the linear displacement is mechanically connected to the pressure. The hydraulic actuator is operated by adjusting pressure of the pressure control valve that is transmitted to the control valve and output according to the mechanical displacement. An attitude control system of the pantograph device characterized by Rukoto.

[0010]

The pantograph holding link mechanism in the attitude control device for a pantograph device according to the present invention can move the pantograph until it balances with the spring force by the balance pressure of the hydraulic actuator, and when the hydraulic pressure fails, the pressure of the hydraulic actuator disappears, and the link mechanism. The pantograph is returned to the center of the vehicle body by the spring force mechanically connected to it.It has a hydraulic actuator that is controlled by a pair of pressure control valves to control the position of the movable part of the holding mechanism of the pantograph equipped with a centering mechanism. ing.

More specifically, when a relative inclination angle is generated between the vehicle body and the bogie, the air pressure conversion cylinder for detecting the vehicle body inclination angle uses the pressure of a pair of air spring chambers arranged between the bogie and the vehicle body. Is detected as a linear displacement, and when a pair of air spring chamber pressures are the same, it is configured to return to neutral by a spring connected to the cylinder part, and is mechanically contacted with the roller bearing of the input lever part of the pressure control valve. The linked link mechanism transmits the linear displacement of the pneumatic pressure conversion cylinder to the input lever of the pressure control valve, and the pressure control valve outputs the adjusted pressure according to the mechanical displacement of the input lever, and the predetermined pressure is output to the hydraulic actuator. Is performed to control the posture of the pantograph device.

In the attitude control device for a pantograph according to the present invention, the pneumatic cylinder for detecting the vehicle body inclination angle detects the vehicle body rolling angle as a linear displacement amount related to the rolling angle by utilizing the pressure difference of the air spring chamber. It is characterized in that an angle substantially proportional to the rolling angle can be taken out without being affected by the vehicle body pitching motion, the yawing motion, or the change of the vehicle body weight.

In the present invention, the holding mechanism for the pantograph device is provided with a centering mechanism in which a movable base on which the pantograph device is mounted and movable in the vehicle width direction can be centered on the vehicle body ceiling center by a bungee spring. Is a mechanism that allows the pantograph device shown in the embodiment to move in the width direction of the vehicle body and holds the neutral position with a bungee spring. A known configuration having a general automatic return mechanism can be adopted, and if necessary, an actuator such as a hydraulic type, a pneumatic type, an electric motor, etc. can be employed as an assist in the configuration of the embodiment and the like. Also,
For mechanical connection between the air pressure conversion cylinder and the pressure control valve, in addition to the input lever shown in the embodiment, a direct connection or a known link mechanism can be appropriately adopted.

[0014]

1 is a schematic diagram of an attitude control device for a pantograph device according to the present invention. 2A and 2B are explanatory views showing a pantograph holding mechanism forming a centering mechanism, where A is a top view of the vehicle body and B is a front view of the vehicle body with the inclination thereof. The vehicle 1 has a structure in which a vehicle body 3 is placed on a bogie 2 having a wheel shaft 4 via a suspension, and air spring chambers 5 and 6 arranged on the left and right of the bogie 2 are used for vehicle body tilt control. ing. The attitude control device is a system that is basically independent of the vehicle body pendulum control system, and controls the movement of the pantograph device 10 in the width direction of the vehicle body 3 according to the rolling inclination of the vehicle body 3 by a hydraulic actuator 15 controlled by a control system described later. This is the configuration.

In the pantograph device 10, a pantograph having a current collector plate 13 at its apex is mounted on a slide plate 11 via an insulating support column 12. The slide plate 11 has small wheels provided at its four corners on the vehicle body 3 roof. It is configured to be slidable by engaging a pair of guide rails 14, 14 provided at predetermined intervals in the vehicle body width direction. A lever link 16 operated by a hydraulic actuator 15 is engaged with the lower surface of the slide plate 11 and moves in the vehicle body width direction according to the stroke of the hydraulic actuator 15. The lever link 16 is provided with bungee springs 17, 17. When the actuator does not operate, it is biased to hold it in a predetermined neutral position, forming a centering mechanism.

The hydraulic actuator 15 is driven by pressure control valves 20 and 21 mounted on a carriage, and the position of the cylinder is detected and monitored by a position detecting sensor, for example, a non-contact type potentiometer. The switching rods 22 and 23 of the pressure control valves 20 and 21 protrude, and the hydraulic pressure supply line 24, the return line 25, and the pressure lines 26 and 27 to the hydraulic actuator 15 are connected to the pressure control valves 20 and 21, respectively.

On the other hand, the pneumatic conversion cylinder 30 for detecting the vehicle body inclination angle, which is arranged on the carriage, is a double-sided rod return cylinder, and the pressure chambers 34 and 35 on both sides of the piston 31 are arranged on the left and right sides of a predetermined carriage 2. It is configured to communicate with the air spring chambers 5 and 6, and the right air spring chamber 5 pressure acts on the pressure chamber 34 and the left air spring chamber 6 pressure acts on the pressure chamber 35. That is, the pneumatic pressure conversion cylinder 30 for vehicle body tilt angle detection is
By utilizing the pressure difference between the left and right air spring chambers generated when the vehicle body tilt control is performed, the vehicle body rolling angle is detected as a linear displacement amount related to the rolling angle.

The above-mentioned pressure control valves 20 and 21 are respectively provided on the left and right sides of the air pressure conversion cylinder 30, and the rods 32 and 3 of the air pressure conversion cylinder 30 are provided.
Input levers 36 and 37 are connected to the switch 3, respectively, and a switching rod 2 of the pressure control valves 20 and 21.
2, 23 and the input levers 36, 37 are a mechanism for maintaining mechanical contact by roller bearings. Further, return springs 38, 39 for returning the rods 32, 33 of the pneumatic pressure conversion cylinder 30 to neutral are arranged.

Pneumatic pressure conversion cylinder 30 for vehicle body tilt angle detection
The rolling angular displacement, i.e., the linear displacement, detected by is transmitted to the input levers 36 and 37 of the two pressure control valves via a link mechanism. That is, when the pressure in the right air spring chamber 6 is increased, the rods 32 and 33 of the pneumatic conversion cylinder 30 are displaced leftward until they balance with the differential pressure. This displacement is caused by the input lever 3
While the switching rod 22 of the pressure control valve 20 which is the left side moving regulator is moved through the link mechanism of 6, the pressure control valve 2 which is the right side moving regulator is moved.
The input lever 37 connected to 1 is set in the free state.

When one of the input levers 36 and 37 of the left and right pressure control valves 20 and 21 is moved by the above-mentioned link mechanism, the spool inside the pressure control valves 20 and 21 is opened, and hydraulic oil is transferred to the hydraulic actuator 15. The oil flows to one cylinder chamber, and the other cylinder chamber returns the hydraulic oil to the return line 25 through the other pressure control valve. When the hydraulic actuator 15 operates, the pantograph moves in the required direction via the pantograph holding link mechanism, and the actuator stops due to the balance with the spring force attached to the arm portion of the link mechanism.

At this time, if the hydraulic pressure fails, the bungee springs 17 and 17 mechanically return to a neutral position where the forces are balanced, and similarly, even if the pressure in the air spring chambers 5 and 6 fails, the vehicle body inclination angle is decreased. The return springs 38, 39 of the detection air pressure conversion cylinder 30 return to the neutral position, so that the hydraulic actuator 15 can be returned to the neutral position by this mechanism.

[0022]

As shown in the embodiment, the attitude control device for a hydraulic pantograph device according to the present invention is a pressure difference between the left and right air spring chambers when the vehicle body tilt control is performed by controlling the pressure in the air spring chambers. The pneumatic cylinder for detecting the vehicle body inclination angle can detect the vehicle body rolling angle as a linear displacement amount related to the rolling angle, and is not affected by the vehicle body pitching motion, yawing motion, or changes in the vehicle body weight. An angle proportional to the rolling angle can be detected. The rolling angle displacement detected by this pneumatic cylinder is transmitted to two pressure control valves via a link mechanism to control the hydraulic actuator of the pantograph holding mechanism. , It is possible to execute the posture control of a predetermined pantograph, and when the air spring chamber pressure for vehicle body control fails. An automatic return mechanism for returning a pantograph unit to the vehicle body center at the time of stem hydraulic failure,
The system configuration is simple because it does not form a feedback loop, and the mechanical hysteresis of the pneumatic cylinder and pressure control valve is used to ensure high reliability with a safe mechanism that does not react to minute changes in the rolling angle. it can.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an attitude control device for a pantograph device according to the present invention.

FIG. 2 is an explanatory view showing a pantograph holding mechanism forming a centering mechanism, where A is an explanatory view of a top surface of a vehicle body;
B is a front explanatory view shown together with the inclination of the vehicle body.

[Explanation of symbols]

 1 vehicle 2 bogie 3 vehicle body 4 wheel shaft 5, 6 air spring chamber 10 pantograph device 11 slide plate 12 insulating support post 13 current collector plate 14 guide rail 15 hydraulic actuator 16 lever link 17 bungee spring 20, 21 pressure control valve 22, 23 switching Rod 24 Hydraulic supply line 25 Return line 26,27 Pressure line 30 Air pressure conversion cylinder 31 Piston 32,33 Rod 34,35 Pressure chamber 36,37 Input lever 38,39 Return spring

Claims (1)

[Claims] 1. A pantograph mounted on a vehicle body holds a current collecting plate in a predetermined posture position with respect to an overhead wire as the rolling inclination of the vehicle body changes. In the control device for controlling the position of the movable part in the holding mechanism of the pantograph device provided with the centering mechanism capable of centering the movable base movable to the vehicle body by the bungee spring with respect to the vehicle body, It has a hydraulic actuator that is controlled by a pair of pressure control valves to control the position, and the vehicle body tilt that individually applies the pressure of a pair of air spring chambers located between the bogie and the vehicle body to both sides of the piston in the cylinder. With the pneumatic conversion cylinder for angle detection, the linear displacement when the rolling angle of the vehicle body is detected as the linear displacement via the pressure of the air spring chamber An attitude control device for a pantograph device, wherein a hydraulic actuator is actuated by adjusting pressure of the pressure control valve that is output according to the mechanical displacement by transmitting the pressure control valve to a mechanically connected pressure control valve.