RU211623U1 - Self balancing monorail car - Google Patents

Abstract

The utility model relates to the field of transport engineering, mainly to motor cars and their use on a special monorail railway. A self-balancing monorail car, on the frame of which a pair of counter-rotating gyroscopes is installed, the axes of which are located in a vertical plane. The precession of gyroscopes is controlled using stepper motors, and control is carried out using rotation angle sensors that transmit a signal to the control unit. A gyroscopic sensor is installed in the control unit, which controls the position of the car relative to the horizontal plane of the rail. Counterweights are installed on opposite ends of the frame of a self-balancing monorail car, which correct its center of mass relative to the longitudinal plane of the monorail, due to the possibility of their movement in the transverse plane. The control of the car, the precession of gyroscopes and the processing of incoming information from sensors is carried out by a programmed controller that transmits readings to the control center, from where it is monitored and controlled if necessary.

An increase in the energy efficiency of a motor car and the possibility of its operation in offline mode are achieved.

Description

The utility model relates to the field of transport engineering, mainly to motor cars and their use on a special monorail railway.

Known monorail railway Louis Brennan, which was presented at an exhibition in London in 1910 /https/en.wikipedia.org/wiki/Gyro_monorail), where the stability of the motor car was carried out using a previously patented mechanism (see Ed. St. No. US1183530A, class B63B 39/04), which includes a pair of rotating in opposite sides of gyroscopes, the axes of which are located in the horizontal plane. The gyroscopes are set in such a way that when the balance of the body is disturbed, they precess, and precessional motion control is used to force the gyroscopes to restore balance. The initial balance of the motor car is carried out with the help of retractable supports, which are removed after balancing by gyroscopes.

The disadvantage of the analog is the need for the presence of an operator to control the position of the gyroscopes in order to control their precession, as well as the excessive expenditure of energy to maintain the balance of the car, which causes a negative economic result in the operation of such a motor car.

The closest in essential features and achieved effect to the claimed device, selected as a prototype, is the car of August Scherl (see the article Gyro monorail on the Internet https://translated.turbopages.org/proxy_u/en-ru.ru.0a17e00a-62024866 -d3f850f9-74722d776562/https/en.wikipedia.org/wiki/Gyro_monorail), where the stability of the monorail machine is carried out using a previously patented mechanism (see ed. St. No. AT62240B), which includes a pair of counter-rotating gyroscopes, axes which are located in a vertical plane. The gyroscopes are set in such a way that when the balance of the body is disturbed, they precess, and precessional motion control is used to force the gyroscopes to restore balance. The driving wheels of the monorail vehicle are driven by a motor. Control is exercised by the operator who is in the car.

The disadvantage of the prototype is also the need for the presence of an operator to control the position of the gyroscopes, in order to control their precession, and also in the excessive expenditure of energy to maintain the balance of the car, which causes a negative economic result in the operation of such a motor car.

The disadvantages listed above are eliminated in the proposed design of a self-balancing monorail car.

A self-balancing monorail car (hereinafter also referred to as a car, motor car) on the frame of which a pair of counter-rotating gyroscopes is installed, the axes of which are located in a vertical plane. The gyroscope rotors are driven by electric motors. The precession of the gyroscopes is controlled by stepper motors, and the control is by means of rotation angle sensors, which transmit a signal to the control unit. A gyroscopic sensor is installed in the control unit, which controls the position of the car relative to the horizontal plane of the rail. Based on the readings of this sensor, the precession of gyroscopes is controlled by applying a signal to stepper motors. The parking and loading position of the car is provided by retractable parking supports with a hydraulic drive. The wheels of the wagon are driven by electric motors. Batteries serve as a source of energy.

Besides:

- At the opposite ends of the frame of a self-balancing monorail car, counterweights are installed that correct the center of mass of the car relative to the longitudinal plane of the monorail, due to the possibility of their movement in the transverse plane with the help of a hydraulic drive, their position is corrected based on the readings of the gyroscopic sensor, and the position is controlled based on linear resistors .

- The implementation of the adjustment of the center of mass of the car relative to the longitudinal plane of the monorail is carried out without fail after loading operations, before turning on the gyroscopes, by raising and lowering the parking supports for a minimum period of time and determining the imbalance with a gyroscopic sensor.

- Management of the car and processing of incoming information from sensors is carried out by a programmed controller located in the control unit and transmitting readings to a control center remote from the car, from where it is monitored and controlled if necessary.

- By changing the position of the counterweights during the movement of the car, it is possible to control the precession of gyroscopes.

- Passages follow each other at a short distance, simulating the composition of the train, but do not have a rigid coupling with each other. The head car follows the route specified by the program, while the following cars are oriented in space relative to it.

As can be seen from the comparative analysis, the identified set of essential features is new, so it is reasonable to conclude that the effect of this set of features on the effect achieved by the utility model is unknown.

The tasks solved by the proposed utility model are to increase the energy efficiency of a motor car, increase the reliability of maintaining its equilibrium state and the ability of the car to work in an autonomous mode.

The solution of these problems is provided by:

The design of a self-balancing monorail car, which, in addition to gyroscopes, also has two counterweights for balancing, which, when they work together, makes it possible to reduce the amount of energy expended on the rotation of the gyroscope rotors, tk. The initially set position of the counterweights ensures the static balance of the car relative to the longitudinal plane of the rail, and the joint operation of gyroscopes and counterweights increases the reliability of maintaining the equilibrium state.

Software for the control unit capable of evaluating and influencing all parameters of the car operation with the help of control bodies, which makes it possible to work offline.

Together, this leads to a positive economic effect when operating a self-balancing monorail car on a monorail.

The essence of the invention is illustrated by drawings.

Fig. 1 - A general view of a self-balancing monorail car on a monorail is presented.

Fig. 2 - A top view "A" is shown, with a hidden platform of the car, showing the location of its main elements.

Fig. 3 - Partial sectional view "B" is shown, showing the location of the gyroscopes.

Fig. 4 - Section "C-C" is shown, showing the controls and controls for the precession of the gyroscope.

Fig. 5 - Section "D-D" is shown, showing the controls and controls for the precession of the gyroscope.

Fig. 6 - Section "E-E" is shown, showing the principle of operation of the counterweight.

Fig. 7 - Section "F-F" is shown, showing the support mechanism of the car.

Fig. 8 - The principle of operation of self-balancing monorail cars on a monorail simulating a train is presented.

A self-balancing monorail car (1) is designed with an initial static balance relative to the longitudinal plane "z" of the monorail (18) and intended for transportation of goods outside settlements is installed on a special monorail track (2) so that its wheels (19) rest on the monorail (18 ), and the parking supports (21) are in the extended position, supporting the wagon structure in a stable position. This position of the car is a non-working position, in which loading and unloading operations are also carried out. After the completion of loading operations, the parking supports (21) are raised by a slightly small distance and time, sufficient to determine the imbalance by a gyroscopic sensor installed in the control unit (8). Based on the readings of this sensor, the controller, also installed in the control unit (8), corrects the position of the counterweights (6). Further, the cycle is repeated until the moment when the center of mass of the wagon with the load will be in the longitudinal plane "z" of the monorail (18). After that, the rotors of the gyroscopes (4) and (5), each of which is installed in the inner frame of the gyroscope (16) and (17) so that their axes "x" and "y" are in a vertical position, with the help of electric motors (9 ) and (10) are brought into rotation, while their rotation occurs in opposite directions. Gyro frames (16) and (17) in their design have two output shafts, which are installed in bearing supports (15) on the car frame (3). Stepper motors (11) and (12) are installed on the shaft ends on one side, and rotation angle sensors (13) and (14) on the other. Under the action of the gyroscopic force, the precessional displacement of the “x” axis of the gyroscope frame (16) by the angle “a °” occurs, while the stepper motor (11) installed on the shaft of the gyroscope frame (16) is in the non-working position, and the rotation angle sensor (13) fixes these changes, at the same time, the stepper motor (12) mounted on the shaft of the gyroscope frame (17) will change the inclination of the “y” axis by the angle “-а°”, thereby compensating the gyroscopic force caused by the rotating movement of the gyroscope rotor (4) which keeps the car in equilibrium.

The controller installed in the control unit (8), based on the readings of the gyro sensor, which is also located in the control unit (8), and the rotation angle sensors (13) and (14), using software, evaluates the position of the gyroscope frames (16) and (17) and, if necessary, corrects them by controlling the precessional movement of the “x” and “y” axes using stepper motors (11) and (12), or by moving counterweights (6), or by combining these actions.

Each wheel (19) is driven by an electric motor (20), which makes it possible to move the self-balancing motor car (1) along the monorail track (2). The source of electricity is the battery packs (7) installed on the car frame (3).

The control of the car in space relative to the monorail track (2) and other motor cars is provided by a programmed controller located in the control unit (8), which makes it possible to monitor and control the car parameters through this controller from a remote control center. The orientation of the cars relative to each other is carried out using distance sensors (22) located on the frame of the car (3), the distance between the motor cars "L" is set, regulated and controlled by the controller located in the control unit (8), these actions allow you to achieve the properties, imitating the composition of the train, in which the head self-balancing monorail car overcomes the forces of resistance of the air mass, and the cars following it use less energy to overcome aerodynamic resistance. The absence of a rigid coupling solves the problem of resonant wagon rocking and vibration propagation.

On the basis of the proposed utility model, the author has made a mock-up sample of a self-balancing monorail car on a reduced scale, and the mock-up sample is currently being tested. In the future, according to the test results, the design documentation will be finalized and an experimental sample of a self-balancing monorail car will be manufactured.

Claims (4)

1. Self-balancing monorail car, including a frame on which a pair of counter-rotating gyroscopes is installed, the axes of which are located in a vertical plane, electric motors that set the gyroscope rotors in motion, stepper motors to control the precessional movement, rotation angle sensors that control the precessional movement of the gyroscopes, control unit, including a gyroscopic sensor and a programmed controller, batteries, retractable parking supports with a hydraulic drive, characterized in that counterweights are installed on the opposite ends of the frame, correcting the center of mass of the car relative to the longitudinal plane of the monorail due to the possibility of their movement in the transverse plane using hydraulic drive. 2. Self-balancing monorail car according to claim 1, characterized in that its parameters are controlled and controlled from a remote control center. 3. Self-balancing monorail car according to claim 2, characterized in that by changing the position of the counterweights during the movement of the car, it is possible to control the precession of the gyroscopes both separately and in conjunction with the operation of the mechanical control. 4. A self-balancing monorail car according to claim 3, characterized in that during operation in the composition mode with other similar cars it does not have a rigid coupling with them.

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