WO2019091442A1 - Structure d'équilibrage de tête de pantographe d'un pantographe ayant un petit angle de rotation, tête de pantographe et son procédé de conception - Google Patents

Structure d'équilibrage de tête de pantographe d'un pantographe ayant un petit angle de rotation, tête de pantographe et son procédé de conception Download PDF

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Publication number
WO2019091442A1
WO2019091442A1 PCT/CN2018/114692 CN2018114692W WO2019091442A1 WO 2019091442 A1 WO2019091442 A1 WO 2019091442A1 CN 2018114692 W CN2018114692 W CN 2018114692W WO 2019091442 A1 WO2019091442 A1 WO 2019091442A1
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WIPO (PCT)
Prior art keywords
pantograph
rod
hinge
bow
angle
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PCT/CN2018/114692
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English (en)
Chinese (zh)
Inventor
王先锋
袁文辉
蒋忠城
张彦林
冯叶
陈敏坚
Original Assignee
中车株洲电力机车有限公司
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Publication date
Priority claimed from CN201711097505.4A external-priority patent/CN107901765B/zh
Priority claimed from CN201711097008.4A external-priority patent/CN108629065B/zh
Application filed by 中车株洲电力机车有限公司 filed Critical 中车株洲电力机车有限公司
Priority to DE112018005307.5T priority Critical patent/DE112018005307T9/de
Publication of WO2019091442A1 publication Critical patent/WO2019091442A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B60L5/22—Supporting means for the contact bow
    • B60L5/26—Half pantographs, e.g. using counter rocking beams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B60L5/20—Details of contact bow

Definitions

  • the invention relates to the technical field of rail vehicle pantograph, in particular to a small corner pantograph bow head design method.
  • the contact area is easily affected by the relative angle of the contact line between the carbon slide and the contact net of the pantograph head. Since the contact net is a stationary device and the vehicle is a mobile device, the contact height of the contact net contact line changes with respect to the vertical height of the vehicle during the movement of the vehicle, thereby causing a change in the working height of the pantograph, thereby causing the carbon slide to be opposite to the contact line. The angle changes.
  • the deflection angle of the carbon head slide is large, the contact between the single carbon slide and the contact net changes from point contact to point contact, and the contact stress at the contact point increases sharply, which easily causes the contact line to bend, greatly increasing the mechanical friction and increasing.
  • Contact resistance which causes the temperature at the contact point to rise sharply, causing the quality of the bow network to drop sharply, and it is easy to burn the carbon slide and the contact net.
  • Figure 1 and Figure 2 show a single carbon skateboard pantograph structure previously designed by the company, including an upper arm, a lower arm, a tie rod, a bow head, and a balance bar system for balancing the bow head, the balance bar system a first rod 3 hinged to the upper end of the lower arm 2, a second rod 4 hinged to the upper end of the upper arm 1, a fourth rod 6 hinged to the bow shaft 7, and one end hinged to the free end of the second rod 4 and a third rod 5 hinged at one end to the free end of the fourth rod 6; the other end of the first rod 3 is hinged to the middle of the second rod 4, and the upper end of the upper arm rod 1 is extended with a connecting portion 8, the connecting portion 8 and The bow head shaft 7 is hinged.
  • the hinge point of the lower arm 2 and the first rod 3 is E
  • the hinge point of the first rod 3 and the second rod 4 is J
  • the hinge point of the upper arm rod 1 and the second rod 4 is F
  • the second rod 4 and the The hinge point of the three rods 5 is G
  • the hinge point of the third rod 5 and the fourth rod 6 is I
  • the joint point of the joint portion 8 and the bow shaft 7 is K.
  • the pantograph structure has a maximum deflection angle of 10.7 degrees in the process of the bow movement, which is much larger than the standard value.
  • the deflection angle curve is shown in Fig. 3. This will seriously affect the quality of the pantograph.
  • the bow balance mechanism must be less than ⁇ 2° in the range of the minimum height of the pantograph slide from 300mm to the maximum height of 2400mm. Therefore, the modern pantograph has a bow balance mechanism that allows the bow carbon slide to maintain a small angular deflection over the working height range.
  • the bow balance mechanism of the pantograph includes the main structure of the pantograph (components 1, 2, 9, 10, 11 and hinges J1-J5 in the figure) and has at most one balance bar.
  • the initial plan of the pantograph is usually made in the 2D CAD software, and the size and angle of the main motion mechanism of the pantograph are parameterized, and the parameters are listed.
  • the geometric and kinematic equations of the relationship are shown in Figure 4.
  • the language tools such as FORTRAN and C are used to solve the equations, and then the optimization algorithm is used to optimize the calculation of the bow angle.
  • Fig. 4 It can be seen from Fig. 4 that there are many parameters, and it must contain the parameters of the main structure.
  • the equations contain nonlinear functions including sine, cosine, and tangent.
  • the equation solving algorithm and programming are complicated, especially when adding a rod.
  • the topology of the program has changed completely.
  • the whole calculation and analysis process has a long cycle, the equation solving algorithm and the optimization algorithm are inefficient, and the algorithm is unstable.
  • the initial condition distance limit of the pantograph is large, it is difficult to obtain the structural optimization solution quickly and efficiently, especially When the design variables or the related constraints on the size of the main structure are more stringent, it is unlikely to obtain an optimized solution of the structure.
  • the parameters such as the size and angle of the main motion mechanism of the pantograph are optimized.
  • the position of the hinge points of the pantograph is optimized to meet the requirements of the corner of the bow.
  • the technical problem to be solved by the present invention is that, in view of the deficiencies of the prior art, a small angle angle pantograph bow head balancing mechanism, a bow head and a design method thereof are provided, which have a small bow angle and a good flow quality, and a pantograph The position of each hinge point is optimized to meet the requirements of the corner of the bow.
  • a small-angle pantograph bow head balancing mechanism including a balance bar system, the balance bar system including a first rod and an upper arm hinged to an upper end of the lower arm a second rod hinged at an upper end of the rod, a fourth rod fixedly connected to an intermediate position of the bow shaft, a third rod hinged at one end to the free end of the second rod and the other end hinged to the free end of the fourth rod;
  • the first rod is disposed directly below the upper arm, the other end of the first rod is hinged with the middle of the second rod, and the upper end of the upper arm extends with a connecting portion, the connecting portion is hinged with the bow shaft, the second rod a curved rod whose bending direction is toward the first rod;
  • the upper arm, the lower arm, the first rod, the second rod, the third rod and the fourth rod are on the same vertical plane, and the hinge point F of the upper arm and the second rod on the vertical plane is a coordinate
  • the origin, the longitudinal direction is the X axis, and the vertical direction is the Z axis to establish a plane coordinate system;
  • the J coordinate of the hinge point of the first rod and the second rod is (X j , Z j ), and the coordinates of the hinge point G of the second rod and the third rod are (X g , Z g ), and the third rod and the fourth rod
  • the coordinate of the hinge point I is (X i , Z i )
  • the coordinate of the fixed point H of the fourth rod and the bow shaft is (X h , Z h );
  • the J coordinate of the hinge point of the first rod and the second rod is (56.3, -64.4), and the coordinates of the hinge point G of the second rod and the third rod are (38.6, -141.1), and the third rod and the fourth rod
  • the coordinate of the hinge point I of the rod is (206.4, -205.1)
  • the coordinate of the fixed point H of the fourth rod and the bow shaft is (176.5, -27.8), and the unit is mm.
  • the deflection angle of the bow head ranges from -0.71 ° to 0.71 °. This deflection angle is within ⁇ 2° of the standard design and is above the standard.
  • the bow shaft has a ⁇ -shaped structure, and comprises a hollow intermediate tube, a curved arc section fixedly connected with the tube wall at both ends of the intermediate tube, and two ends of the curved section are connected with the elastic buffer device;
  • the connecting portion is a pair of connecting rods fixed to the upper end of the upper arm and symmetrically disposed with respect to the vertical plane.
  • the connecting rod and the upper arm shaft form a Y-shaped structure, and the connecting rod ends are hinged to the two ends of the intermediate tube one by one. .
  • the small-angle pantograph bow head of the present invention includes the above-described balance mechanism.
  • the present invention also provides a small corner pantograph bow design method comprising the following steps:
  • the reference hinge is used to optimize the origin of the local coordinate system of the hinge, and the relative coordinate represents the optimized hinge
  • a parameterized representation of the optimized hinge position is performed
  • step 6) Using the multiple corner optimization schemes obtained in step 6) to perform interference analysis and maximum working height analysis of the components of the pantograph, verify the conflict of the pantograph motion state, and obtain the pantograph bow angle, component interference, and range of motion. According to the comparative analysis of the advantages and disadvantages, the scheme of the pantograph bow angle, component interference and motion range satisfying the technical requirements of the pantograph is obtained, and the scheme of selecting the minimum corner of the pantograph head is the best solution. .
  • the balance bar is added to increase the connection hinge, and the increased connection hinge position is the same parameterized representation as step 2), and steps 3) to 7) are repeated. Until the corner of the pantograph bow meets the technical requirements.
  • step 5 the maximum value of the bow angle response curve is obtained by the maximum and minimum processing functions of the kinetic software.
  • the present invention has the beneficial effects that the balance mechanism of the present invention changes the relative position of the rotating hinges of the rod members of the pantograph balancing system, so that the deflection angle of the bow head in the working range is 10.7 degrees. Reduced to 0.71°, controlled within the 2° standard range; by significantly reducing the deflection angle of the bow, the contact area of the pantograph and the rigid contact net is increased, which effectively improves the quality of the pantograph and reduces the flow quality.
  • the present invention is directed to the current single-carbon skateboard pantograph bow head deflection angle is large, the programming amount is large, the equation solving algorithm and the optimization algorithm are low in efficiency, slow in speed, difficult to converge, etc., which easily cause the pantograph to have a large rotation angle.
  • the actual background of the flow quality is significantly reduced.
  • An optimized design method of the small-angle pantograph bow head is proposed. The position of each hinge point of the pantograph is optimized to meet the requirements of the bow head angle.
  • the invention uses the method of relative position parameter coordinates of the pantograph hinge point, and uses the mature dynamic software and the integrated general optimization algorithm library to optimize the corner of the bow head, so that the deflection angle of the pantograph bow head is significantly reduced, so that The bow head reaches an almost translational state within the working range of the lifting bow, which increases the contact area between the pantograph and the contact net, effectively improving the flow quality of the pantograph and reducing the damage of the arch net.
  • the bow design method of the present invention has the following features and advantages:
  • the parametric dynamic model of the pantograph can more fully reflect the dynamic performance of driving, interference, corner, etc.
  • the structure geometry, dynamic state and other clear, visible, data-rich, direct verification components Core performance such as interference and working range;
  • FIG. 1 (a) and (b) of Fig. 1 are plan views of a prior art pantograph
  • FIG. 2 is a perspective view of a prior art pantograph.
  • Fig. 3 is a graph showing the variation of the deflection angle of the pantograph head of the prior art.
  • Figure 4 shows the current pantograph principle model and its optimization parameters and equations
  • Figure 5 is a structural view of a pantograph of the present invention.
  • Figure 6 is an enlarged view of the structure of the bow head of Figure 3.
  • Figure 7 is a perspective view of the bow head structure of the present invention.
  • Figure 8 is a parametric example of the rotation hinge of a single carbon skateboard pantograph bow head (minimum working height, the dotted hinge is the optimized position of the original rotating hinge);
  • Figure 9 is an optimized bow angle curve (example).
  • a small angle pantograph bow balance mechanism includes a balance bar system including a first rod 3 hinged to the upper end of the lower arm 2 and hinged to the upper end of the upper arm 1
  • the second rod 4, the fourth rod 6 fixedly connected to the intermediate position of the bow shaft 7, the third rod 5 whose one end is hinged to the free end of the second rod 4 and whose other end is hinged to the free end of the fourth rod 6.
  • the first rod 3 is disposed directly below the upper arm 1, and the other end of the first rod 3 is hinged to the middle of the second rod 4.
  • a connecting portion 8 is extended at the upper end of the upper arm 1, and the connecting portion 8 is hinged to the bow shaft 7.
  • the second rod 4 is a curved rod whose bending direction is toward the first rod 3.
  • the bow shaft 7 has a ⁇ -shaped structure, and includes a hollow intermediate tube 71, and a curved arc portion 72 fixedly connected to the tube wall at both ends of the intermediate tube 71. Both ends of the curved portion 72 are connected to the elastic buffer device.
  • the connecting portion 8 is a pair of connecting rods 81 fixed to the upper end of the upper arm 1 and symmetrically disposed with respect to the vertical plane.
  • the connecting rod 81 and the upper arm rod 1 together form a Y-shaped structure, and the ends of the connecting rod 81 are hinged in one-to-one correspondence with the two ends of the intermediate tube 71.
  • the upper arm 1, the lower arm 2, the first rod 3, the second rod 4, the third rod 5, and the fourth rod 6 are on the same vertical plane.
  • the hinge point F of the upper arm 1 and the second rod 4 is the coordinate origin, and the X-axis in the longitudinal direction and the Z-axis in the vertical direction establish a plane coordinate system.
  • the J coordinate of the hinge point of the first rod 3 and the second rod 4 is (X j , Z j ), and the coordinates of the hinge point G of the second rod 4 and the third rod 5 are (X g , Z g ), and the third rod
  • the coordinates of the hinge point I of the fifth rod 6 and the fourth rod 6 are (X i , Z i ), and the coordinates of the fixed point H of the fourth rod 6 and the bow shaft 7 are (X h , Z h ).
  • the J coordinate of the hinge point of the first rod 3 and the second rod 4 is (56.3, -64.4), and the coordinates of the hinge point G of the second rod 4 and the third rod 5 are (38.6, -141.1), and the third The coordinates of the hinge point I of the rod 5 and the fourth rod 6 are (206.4, -205.1), and the coordinates of the fixed point H of the fourth rod 6 and the bow shaft 7 are (176.5, -27.8), and the unit is mm.
  • the deflection angle of the bow head obtained by the preferred scheme has a deflection angle which is within ⁇ 2° of the standard design and is higher than the standard.
  • Part (software terminology).
  • the software will select the part's material as steel by default, and select the material in the software library or directly assign it to Part. Weight, the software automatically calculates the weight, center of gravity and moment of inertia of the part based on the part material.
  • the motion hinge of the non-parametric pantograph dynamics model is established.
  • the motion hinges illustrated in Fig. 1 are all rotating hinges.
  • the components connected by the hinge J1 in Fig. 1 are the chassis 10 and the lower arm 2, and the position is the rotation center of the bearing connected to the chassis 1 or the lower arm 2 and its axis, Fig. 1
  • the parts connected by the middle hinge J2 are the lower arm rod 2 and the upper arm rod 1, and the position is the rotation center and the axis of the lower arm rod 2 and the upper arm rod 1 connected to the bearing, and the other hinges J3-J10 are according to the respective connecting parts and their rotation centers.
  • the software automatically generates and solves the kinematic equations of the pantograph to avoid column, programming, and solving the equations.
  • the software automatically generates time-dependent results such as the position of each component, the angle of rotation, and so on.
  • One of the core indicators of the single carbon skateboard pantograph is the bow angle of the bow head 11 in the pantograph moving from the minimum working height to the maximum working height.
  • the corner curve of the bow head 11 can be obtained by the software self-contained function, as shown in the figure.
  • the curve of 3 is shown.
  • the position of each rotating hinge of the pantograph can be parameterized. If it is not necessary to change the motion performance of the main structure of the pantograph, such as the maximum working height of the pantograph and the raising moment, the rotation of the main structure is not required.
  • the position of the hinge is parameterized, and only the position of the hinge of the balance bar is parameterized. Taking the example of Fig. 1, the parameterization process of the position of the rotating hinge is illustrated, as shown in Fig. 8.
  • the rotational hinge parameterization example is shown in Fig. 1 (the main body is the components 1, 2, 9, 10, 11 and the hinges J1-J5, and the components 3, 4, 5 and the hinges J7-J10 are specific balancing mechanisms for maintaining the corner of the bow.
  • the parametric processing example of the position of the rotating hinge assumes that the technical requirements of the pantograph in addition to the corner of the bow are satisfied, and thus the rotating hinge of the main structure (J1-J5 in Fig. 1) is not selected.
  • x E and y E are functions of design variables L 1 , L 2 , L 3 , L 4 , L 5 , a, b, ⁇ .
  • ⁇ is a function of the design variables L 1 , L 2 , L 3 , L 4 , L 5 , L 6 , L 7 , a, b, ⁇ .
  • the rotating hinge of the balancing mechanism (J8-J10 in FIG. 1) is selected for parameterization processing, and the components connected to the rotating hinge J7 in FIG. 1 are the upper arm 1 and the component balance bar ( The first rod 3), the upper arm 1 is a main structure, and its size is not changed, so the position of the hinge J7 relative to the upper arm 1 does not change, and the hinges J8 and J9 connected to the first rod 3 need to change their relative sizes,
  • the positions of J8 and J9 are referenced to J7.
  • the initial scheme of the first rod 3 is a straight length member, and the hinges J8 and J9 are all located on the member. Therefore, the length of the first rod 3 in the longitudinal direction is the longitudinal direction, and the dimension in the vertical direction y direction is the position of the parameters J8 and J9.
  • the position of the hinges J8 and J9 is parameterized.
  • J8(O) in Fig. 8 is the position of the initial scheme of the hinge J8 in Fig. 1, J8(N) is the new position after the position of the hinge J8 is changed, and the distance between J8(N) and J7 in the x direction is L1, in the y direction. The distance is H1.
  • J9(O) is the position of the initial plan of hinge J9 in Fig. 1
  • J9(N) is the new position after the position of hinge J9 changes, and the distance between J9(N) and J7 in the x direction is L2, the distance in the y direction For H2.
  • J10 uses J3 as a reference to define the positional parameters L3, H3 of J10 with reference to J3.
  • a marker point P7 (Marker) is defined at the J7 reference hinge center position.
  • the marker point coordinate system is consistent with the reference direction in FIG. 3, and then the center marker point P8 of J8 is defined as a parameter point, and the reference point of P8 is selected as P7, P8 coordinates.
  • the reference direction is automatically coincident with P7, the distance of P8 in the x direction of the P7 marker point is L1, and the distance in the y direction is H1.
  • the J9 center identification point P9 is set as the parameter point and the central identification point P10 of J10 is the parameter point, where P7 is the reference point and coordinate reference direction of P9, and the J3 center identification point P3 is the reference point of P10 and the coordinate reference direction.
  • P8, P9, P10 and the position change verification that is, by changing the values of L1, L2, L3, H1, H2, H3, observe whether the positions of P8, P9, P10 and their hinges J8, J9, J10 change accordingly.
  • the pantograph dynamics model of parameterized changes in the hinge positions J8, J9, and J10 of the parameters L1, L2, L3, H1, H2, and H3 is completed.
  • the rotational joint relative position parameter in the parametric dynamic model of parameterization in step 3 is set as the design variable of the bow angle optimization.
  • the motion state and the interference state of the mechanism are analyzed, and the initial value and the range of variation of the design parameters of the rotational hinge position are set.
  • the parameters can be as shown in Table 2.
  • Steps (2)-(7) may be repeated to increase the optimized hinge-related position corresponding parameters, or to optimize the hinge position parameters of the main body mechanism and to increase the optimization design variables such as the balance bar component and its hinge position parameters to expand and derive the The new design of the electric bow until a satisfactory small corner bow mechanism is obtained.
  • the optimization parameters in Table 2 can significantly reduce the deflection angle range from -0.71 to 0.71 °, as shown in Fig. 9, which can well meet the engineering requirements such as the bow angle.

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  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

La présente invention concerne une structure d'équilibrage de tête de pantographe d'un pantographe ayant un petit angle de rotation, une tête de pantographe et son procédé de conception. Le procédé optimise l'angle de rotation d'une tête de pantographe au moyen de coordonnées de paramètres de position relative de points de charnière d'un pantographe, d'un logiciel dynamique bien développé, et d'une base de données intégrée d'algorithmes d'optimisation généraux, de façon à réduire de manière significative un angle de déclinaison de la tête de pantographe, de telle sorte que la tête de pantographe atteint un état de mouvement presque horizontal à l'intérieur d'une plage de travail d'élévation et d'abaissement du pantographe. La présente invention augmente la surface de contact entre le pantographe et une caténaire, ce qui permet d'améliorer la qualité d'un courant collecté par le pantographe, et de réduire les dommages causés au pantographe et à la caténaire.
PCT/CN2018/114692 2017-11-09 2018-11-09 Structure d'équilibrage de tête de pantographe d'un pantographe ayant un petit angle de rotation, tête de pantographe et son procédé de conception WO2019091442A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112018005307.5T DE112018005307T9 (de) 2017-11-09 2018-11-09 Ausgleichsmechanismus für eine Stromabnehmerwippe mit einem kleinen Drehwinkel, Stromabnehmerwippe und Entwurfsverfahren davon

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201711097505.4 2017-11-09
CN201711097008.4 2017-11-09
CN201711097505.4A CN107901765B (zh) 2017-11-09 2017-11-09 一种小转角受电弓弓头平衡机构
CN201711097008.4A CN108629065B (zh) 2017-11-09 2017-11-09 一种小转角受电弓弓头设计方法

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WO2019091442A1 true WO2019091442A1 (fr) 2019-05-16

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Publication number Priority date Publication date Assignee Title
CN112989571A (zh) * 2021-02-09 2021-06-18 中交第三航务工程局有限公司 一种超大型打桩船变幅油缸的受力优化方法
CN112989571B (zh) * 2021-02-09 2024-04-09 中交第三航务工程局有限公司 一种超大型打桩船变幅油缸的受力优化方法
CN116306383A (zh) * 2023-05-22 2023-06-23 华东交通大学 展向波纹杆件协同优化方法及系统
CN116306383B (zh) * 2023-05-22 2024-01-30 华东交通大学 展向波纹杆件协同优化方法及系统

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