WO2022222273A1 - 尖轨爬行及密贴间隙测量设备标定装置及方法 - Google Patents

尖轨爬行及密贴间隙测量设备标定装置及方法 Download PDF

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Publication number
WO2022222273A1
WO2022222273A1 PCT/CN2021/104164 CN2021104164W WO2022222273A1 WO 2022222273 A1 WO2022222273 A1 WO 2022222273A1 CN 2021104164 W CN2021104164 W CN 2021104164W WO 2022222273 A1 WO2022222273 A1 WO 2022222273A1
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Prior art keywords
calibration
displacement
guide rod
displacement sensor
rod
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French (fr)
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黄晨涛
卢智
丁召荣
南长江
任同群
王大志
戴恒震
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Dalian University of Technology
Xian Railway Signal Co Ltd
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Dalian University of Technology
Xian Railway Signal Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes
    • E01B35/12—Applications of measuring apparatus or devices for track-building purposes for measuring movement of the track or of the components thereof under rolling loads, e.g. depression of sleepers, increase of gauge
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B7/00—Switches; Crossings
    • E01B7/02—Tongues; Associated constructions

Definitions

  • the invention belongs to the field of rail traffic safety, and relates to a device and a method for calibrating a tip rail crawling and close-fitting gap measuring equipment.
  • the turnout In the operation of high-speed railway, the turnout is the key equipment that constitutes the railway track. It has the characteristics of large quantity, complex structure, and large maintenance and maintenance investment. Among them, the point rail of the turnout directly affects the running speed and safety of the train. Point rail crawling and non-close contact are the main diseases of turnouts.
  • the point rail crawling amount refers to the longitudinal displacement of the switch point rail relative to the basic rail
  • the point rail close contact amount refers to the point between the point rail and the basic rail at the connection position between the switch machine and the point rail. Clearance. Accidents such as instability and derailment caused by the crawling and non-sticking of the pointed rail will cause heavy economic losses and personal safety disasters. Therefore, it is of great significance to study the real-time monitoring of the crawling displacement and the clearance gap of the tip rail.
  • Siemens adhesive checker and China Railway Communication Signal Group Corporation JM1 type adhesive inspector are commercialized adhesive inspection equipment, but they can only give "pass” or “no communication” to whether the tip rail is “in place”.
  • the "switch” signal cannot reflect the continuous change, amplitude and frequency of the gap during close sticking.
  • Wang Hongtao mentioned the use of a device equipped with a fiber grating sensor for continuous measurement of the close contact gap in "Feasibility Study on the Monitoring of Point-to-Rail Adhesion Based on Fiber Bragg Grating Technology", but due to the limitation of its sensor, the device is not suitable for dynamic measurement, and Affected by harsh environment.
  • the invention patent No. 201910630367.4 Ren Tongqun et al. designed an integrated real-time measuring device for tip rail longitudinal crawling and close-fitting clearance. Its structure has been greatly improved to meet the requirements of miniaturization and simplicity.
  • the premise that the device can accurately measure the crawling and close-fitting gaps is to know the theoretical rod length and declination angle of the device in the initial installation state. In the actual installation, the eccentricity between the theoretical rod and the actual rod also needs to be considered.
  • the calibration method of the above parameters can be obtained quickly and conveniently.
  • the basic idea of calibration is to solve other intermediate parameters through the standard input of the given measurement model.
  • Zhu Lianqing proposed a self-calibration method based on inverse kinematics analysis in "Research on the parameter self-calibration method of variable arm articulated coordinate measuring machine”. , and calculate the coordinate value of the calibration point according to the multiple groups of possible poses reaching the same calibration point combined with the measurement model.
  • the present invention proposes a calibration device and method. After the calibration device, the measuring device and the displacement output rod of the tip rail are connected, the The calibration step and the derived calibration model complete the calibration task. Specifically: after the installation of the measurement device is completed, the calibration device (the main body is an orthogonal displacement platform) is installed on the top of the measurement device by magnetic attraction, and its action guide end is fixedly connected with the displacement output rod of the tip rail part. When the tip rail moves, it drives the orthogonal motion platform on the calibration device to produce the same translation.
  • the calibration device the main body is an orthogonal displacement platform
  • the translation is read out by the grating ruler on the motion platform and used as the standard displacement input, and at the same time is converted by the action guide rod in the measuring device into Corresponding angle and linear displacement. Given different input quantities, a system of equations about the calibration parameters is constructed through the calibration model, and the required calibration parameters are obtained by solving.
  • a device for calibrating a tip rail crawling and close-contact gap measurement equipment including a sliding table 5 capable of producing orthogonal motion, an upper sliding table bottom plate 2, a lower sliding table bottom plate 3, two grating rulers, a displacement output rod fixing plate 10 and a U-shaped Fixed ring 14.
  • the measuring device refers to a new type of device improved by the invention patent "Integrated Real-time Measuring Device for Longitudinal Crawling and Adhesion Gap of Tip Rail" (Patent No. 201910630367.4). Its structure includes an action guide rod 7 and a sealing box 1.
  • the turntable 16 is fixed on the bottom plate of the sealed box 1, and the angular displacement sensor 21 Installed on the turntable 16 to measure the rotation angle of the turntable 16;
  • the data acquisition and processing unit 19 is used to collect the measurement data of the linear displacement sensor 18 and the angular displacement sensor 21;
  • the sensor fixing plate 17 is in the form of a right-angle plate, horizontal The plate is fixed on the platform of the turntable 16, and the vertical plate is used to fix the linear displacement sensor 18;
  • the magnetic block 20 matched with the sensor 18 is fixed on the action guide rod 7.
  • the action guide rod 7 produces linear motion, the groove on the magnetic block 20 will slide without contact on the slide rail of the linear displacement sensor 18;
  • One end passes through the sliding bearing hole on the arc-shaped plate of the turntable 16, and the structure plays the role of guiding and supporting at the same time;
  • one end of the displacement output rod 13 is fixedly connected with the tip rail 12 for outputting the displacement of the tip rail 12;
  • the other end of the output rod 13 is fixed with a rotating shaft 9, and the axis of the displacement output rod 13 passes through the axis of the rotating shaft 9;
  • the other end of the action guide rod 7 is fixed with the long side of the L-shaped adapter 8, and the short side of the adapter 8 is open There is a shaft hole for sleeve on the rotating shaft 9.
  • the adapter 8 can rotate around the rotating shaft 9.
  • the action guide rod 7 is connected with the displacement output rod 13 through the adapter 8 to measure the displacement of the tip rail 12.
  • the shape of the adapter 8 makes the end of the action guide rod 7 and the axis of the rotating shaft 9 have a certain offset; the action guide rod 7 and the adapter 8 are provided with a rubber pad 22 to eliminate the connection caused by the flatness error of the processing surface.
  • the described calibration device is adsorbed to the upper surface of the sealed box 1 through the magnet 15 on the lower surface of the bottom plate 3 of the sliding table;
  • the sliding table 5 includes two sliding plates and two sliding rails, and the sliding rails are The two sliding plates are arranged in a cross manner, so that the sliding table 5 can produce orthogonal motion;
  • the two guide rails of the sliding table 5 are respectively fixed on the lower surface of the upper sliding table bottom plate 2 and the upper surface of the lower sliding table bottom plate 3, which can make the upper sliding table bottom plate 2.
  • the grating scale includes a scale grating 6 and a grating reading head 4, and the two scale gratings 6 are respectively fixed on the upper sliding table base plate 2 and the lower sliding table base plate 3, and the two gratings are The reading heads 4 are respectively fixed on the two sliding plates of the sliding table 5.
  • the sliding table 5 moves, the two parts of each grating ruler, the scale grating 6 and the grating reading head 4, produce relative displacement.
  • the data line connected to the grating reading head 4 The data is transmitted to an external digital display for reading;
  • the displacement output rod fixing plate 10 is welded by two straight plates and a corner plate, and is fixed to one end of the lower surface of the upper slide base plate 2 by bolts;
  • the displacement sensor 21 performs data collection.
  • a method for calibrating a tip rail crawling and close-contact gap measuring equipment, using the above-mentioned calibration device, and the specific steps are as follows:
  • the tip rail 12 and the basic rail 11 are in a state of maximum distance.
  • the switch machine pushes the tip rail 12 to move towards the direction close to the basic rail 11, and stops at the middle calibration position; through the angle
  • the displacement sensor 21 obtains the angle change value ⁇ 1 of the action guide rod 7 of the measuring device, obtains the moving distance ⁇ l 1 of the action guide rod 7 along the axis direction through the linear displacement sensor 18 , and reads out the movement of the slide table 5 along the crawling direction through an external digital display. displacement s 1 and displacement t 1 along the close-fitting direction;
  • the switch machine pushes the tip rail 12 to continue moving towards the end point calibration position in the direction close to the base rail 11 , obtains the angular change value ⁇ 2 of the action guide rod 7 through the angular displacement sensor 21 , and obtains the action guide through the linear displacement sensor 18
  • the moving distance ⁇ l 2 of the rod 7 along the axis direction, the displacement s 2 along the crawling direction and the displacement t 2 along the close-fitting direction of the slide table 5 are read out through an external digital display;
  • the calibration model is constructed based on the cosine theorem and the search method. According to the displacement data obtained from the two calibration positions, the formulas (2) and (3) are substituted into the formula (1) to establish a model with only the axis of the action guide rod 7 and the axis of the rotating shaft 9.
  • the eccentricity a between the two is used as the equation of the unknown parameter, and the design value a 0 of the eccentricity is used as the initial value, and the theoretical value a of the eccentricity that meets the accuracy requirements can be obtained by continuous optimization through the search method:
  • the line between the axis of the rotating shaft 9 and the center of rotation of the turntable 6 (that is, the axis of the angular displacement sensor 21 ) is named as the theoretical pendulum.
  • formulas (4) and ( 5) Calculate the declination angles ⁇ 0 and ⁇ 2 between the action guide rod 7 and the theoretical pendulum rod at the initial installation position and the final position respectively; then obtain the initial theoretical rod length l 0 ′ and the final position rod length l by formula (6). 2 ′; finally, the initial installation angle ⁇ of the theoretical pendulum rod is obtained by formula (7):
  • the parameters of the rough measurement in the past such as the initial installation angle ⁇ , the initial rod length l 0 ', and the eccentric distance a between the action guide rod and the rotating shaft, are measured by means of calibration, and accurate theoretical data can be obtained. Overcome the errors accumulated during installation and measurement, and lay the foundation for subsequent crawling and clearance measurement tasks;
  • the present invention is installed on the sealing box by means of magnet adsorption, and at the same time, the U-shaped fixing ring is used to fix the connecting part of the tip rail, so that the original measurement structure of the measurement device is not damaged; there is no specific requirement for the intermediate calibration position, only the The corresponding data can be read out at the corresponding position; therefore, it is easy to install and use, and the technical requirements for the operator are low;
  • the present invention accurately calculates the deviation between the position of the action guide rod and the theoretical pendulum rod caused by the adapter through the optimal design method, ensuring that the error between the calculated value of the eccentricity and the true value is within the allowable range .
  • Fig. 1 is a calibration process diagram of the method of the present invention.
  • Fig. 2 is an overall arrangement diagram of the apparatus of the present invention.
  • Fig. 3 is a partial enlarged view of the calibration device.
  • Figure 4 is a schematic diagram of the internal structure of the measuring device.
  • Figure 5 is a diagram of the displacement output rod of the tip rail part and its connection structure.
  • Figure 6 is a schematic diagram of the calibration position model, wherein: E is the rotation center point of the turntable and the angular displacement sensor; A is the position of the axis of the rotating shaft in the initial installation state; C is the position of the axis of the rotating shaft at the calibration position; The vertical foot of the line; D is the intersection of the extension line of the theoretical pendulum rod at the calibration position and the crawling direction line; F is the vertical foot of the axis of the rotation shaft in the initial installation position to the axis of the action guide rod; F' is the axis of the rotation shaft in the calibration position to the action guide rod The vertical foot of the axis; a is the eccentric distance obtained by making the axis of the rotating shaft perpendicular to the action guide rod; ⁇ is the initial installation angle of the theoretical pendulum rod, that is, the angle between the theoretical pendulum rod and the close contact direction in the initial installation state; ⁇ 0 is the declination angle between the action guide rod and the theoretical pendulum rod at the initial installation
  • 1 sealing box 1 sealing box; 2 upper slide base plate; 3 lower slide base plate; 4 grating reading head; 5 slide stage; 6 scale grating; 7 action guide rod; 8 adapter; 11 basic rail; 12 tip rail; 13 displacement output rod; 14 U-shaped fixing ring; 15 magnet; 16 turntable; 17 sensor fixing plate; 18 linear displacement sensor; 19 data acquisition and processing unit; 20 magnetic block; 21 angle displacement sensor; 22 Rubber pads.
  • Figure 1 shows the calibration process of a tip rail longitudinal crawling and close-fitting gap measurement equipment.
  • the calibration device is adsorbed to the upper surface of the sealing box 1 through the magnet 15 under the bottom plate 3 of the sliding table.
  • the two sides of 1 are parallel; move the slide table 5 so that the U-shaped fixing ring 14 can fix the joint of the displacement output rod 13 to the displacement output rod fixing plate 10; the two scale gratings 6 on the calibration device are respectively fixed on the upper slide
  • the two grating reading heads 4 are respectively fixed on the two sliding tables 5, and are connected to the external digital display meter through the data line;
  • the tip rail 12 and the basic rail 11 are in a state of maximum distance, and the switch machine pushes the tip rail 12 to move toward the close contact direction of the basic rail 11, and at the same time brings a certain longitudinal Crawling amount, stop at the middle calibration position; at this time, the displacement output rod 13 of the tip rail part drives the action guide rod 7 of the measuring device to rotate clockwise around the turntable 16 by a certain angle, and at the same time move backward along its own axis for a certain distance, theoretically
  • the position of the pendulum rod changes from EA to EC, the angle value is obtained by the angle displacement sensor 21, the angle change value ⁇ 1 is calculated, and the movement distance ⁇ l 1 of the action guide rod 7 along the axis direction is obtained by the linear displacement sensor 18; at the same time, the displacement output rod 13.
  • the sliding table 5 of the calibration device to move on the sliding table bottom plates 2 and 3, so that the grating reading head 4 and the scale grating 6 move relative to each other.
  • the switch machine pushes the tip rail 12 to continue moving towards the direction close to the base rail 11 to the final calibration position, at this time the tip rail 12 is in close contact with the base rail 11; the same displacement output rod 13
  • the action guide rod 7 that drives the measuring device rotates around the turntable 16 and moves along the axis direction.
  • the angle value is read out by the angular displacement sensor 21 to calculate the angle change value ⁇ 2
  • the linear displacement sensor 18 reads out the action guide rod 7 along the axis.
  • the displacement output rod 13 drives the sliding table 5 of the calibration device to produce relative motion, and the displacement s 2 along the crawling direction and the displacement t 2 along the close-fitting direction of the sliding table 5 are read out through an external digital display meter ;
  • the device and method for calibrating the crawling and sticking gap measuring equipment of the tip rail utilizes an easy-to-install calibration device to measure the crawling and sticking gap at the calibrated position when the tip rail moves, and at the same time the measuring device converts the movement into a straight line Displacement and angular displacement are read out by sensors; the measured data can be substituted into the calibration model to obtain the precise theoretical values of various parameters in the initial installation state. There is no direct measurement by design dimensions or measuring equipment, which greatly reduces installation errors. and the influence of structural clearance on parameters.
  • the theoretical parameters obtained through calibration are the basis for subsequent real-time measurement, and the parameters can be input into the data acquisition and processing unit before subsequent measurement work can be performed.
  • the installation and calibration process of the calibration device are very convenient, and the technical requirements for the operator are very low.
  • the calibration work can be completed quickly after the installation of the measuring device, thus reducing the complexity and complexity of the calibration work of the tip rail crawling and close clearance measuring equipment. cost.

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Abstract

一种尖轨爬行及密贴间隙测量设备标定装置及方法。在测量装置安装完成后，将标定装置通过磁吸方式安装在测量装置顶端，其动作引导端与尖轨（12）部分的位移输出杆（13）固连。尖轨（12）移动时带动标定装置上的正交运动平台产生相同的平动，该平动通过运动平台上的光栅尺读出并作为标准位移输入量，且同时被测量装置中的动作引导杆（7）转化为相应的角度与直线位移量。给定不同的输入量，通过标定模型构建关于标定参数的方程组，求解得到需要的标定参数。该装置安装使用方便，所得理论参数作为后续测量过程必不可少的前提输入，为测量过程打好基础。

Description

尖轨爬行及密贴间隙测量设备标定装置及方法 技术领域
本发明属于轨道交通安全领域，涉及一种尖轨爬行及密贴间隙测量设备标定装置及方法。
背景技术
在高速铁路运行中，道岔是构成铁路轨道的关键设备，具有数量多、构造复杂、养护维修投入大等特点，其中的道岔尖轨更是直接影响列车运行速度和安全。尖轨爬行和不密贴是道岔主要病害，尖轨爬行量指道岔尖轨相对于基本轨的纵向位移，尖轨密贴量是指转辙机与尖轨连接位置尖轨与基本轨之间的间隙。尖轨爬行和不密贴导致出现的事故如失稳、脱轨等，将造成重大的经济损失和人身安全灾难。因此，对尖轨爬行位移和密贴间隙实时监控进行研究具有非常大的意义。
尖轨纵向爬行和密贴间隙的测量，现有的测量装置主要是对爬行和密贴单独进行测量，发明专利号201710719956.0王鹏翔发明了一种基于图像识别的道岔尖轨爬行量监测方法，该方法中用到相机、标尺以及附加光源，在恶劣环境下维护困难。北京交通大学的史红梅在《高速铁路无缝钢轨纵向位移在线监测方法研究》中提出一种基于磁致伸缩位移传感器的钢轨纵向位移测量方法，可以实时测量钢轨纵向位移，但其易受磁场干扰，密封防护条件要求高。西门子密贴检查器和中国铁路通信信号集团公司JM1型密贴检查器是已商品化的密贴检查设备，但只能对尖轨密贴是否“到位”给出“通”与“不通”的“开关”信号，不能反映密贴时间隙的连续变化、变动幅度和频率。王洪涛在《基于光纤光栅技术进行尖轨密贴监测可行性研究》中提到使用搭载光纤光栅传感器的装置进行密贴间隙的连续测量，但受其传感器限制，该装置不适合进行动态测量，且受恶劣环境影响较大。
为了实现尖轨爬行和密贴间隙的一体化测量，发明专利号201910630367.4 任同群等人设计了一种尖轨纵向爬行及密贴间隙的一体化实时测量装置，如今在其整体框架的基础上已经对其结构进行了较大的改进，以达到小型化和简易性的要求。该装置能够精确测量爬行和密贴间隙的前提是知道装置在初始安装状态下的理论杆长和偏角，在实际安装中，还需要考虑理论杆与实际杆的偏心量，因此亟需一种能够快速方便得到上述参数的标定方法。标定的基本思想是通过给定测量模型的标准输入来求解其他中间参数，如祝连庆在《变臂关节式坐标测量机的参数自标定方法研究》中提出一种基于逆运动学分析的自标定方法，根据到达同一标定点的多组可能位姿结合测量模型计算标定点的坐标值。
综上所述，为了实现尖轨纵向爬行及密贴间隙测量装置一体化实时测量，需要配合一套完整的标定方法与装置，该方法能够适用于测量现场，且同时得到多个初始安装状态参数。
发明内容
针对已有的尖轨纵向爬行及密贴间隙的一体化实时测量装置，本发明提出了一种标定装置及方法，将标定装置、测量装置和尖轨部分的位移输出杆连接完成后，根据制定的标定步骤和推导的标定模型完成标定任务。具体为：在测量装置安装完成后，将标定装置(主体为正交位移平台)通过磁吸方式安装在测量装置顶端，其动作引导端与尖轨部分的位移输出杆固连。尖轨移动时带动标定装置上的正交运动平台产生相同的平动，该平动通过运动平台上的光栅尺读出并作为标准位移输入量，且同时被测量装置中的动作引导杆转化为相应的角度与直线位移量。给定不同的输入量，通过标定模型构建关于标定参数的方程组，求解得到需要的标定参数。
本发明的技术方案如下：
一种尖轨爬行及密贴间隙测量设备标定装置，包括可产生正交运动的滑台5、上滑台底板2、下滑台底板3、两个光栅尺、位移输出杆固定板10和U形固定环14。
所述的测量装置是指将发明专利“尖轨纵向爬行及密贴间隙一体化实时测量装置”(专利号201910630367.4)改进后的新型装置，其结构包括动作引导杆7以及布置于密封箱1中的转台16、直线位移传感器18、磁性块20、传感器固定板17、角度位移传感器21和数据采集处理单元19；所述的转台16固定于密封箱1的底板上，所述的角度位移传感器21安装在转台16上，测量转台16的旋转角度；所述的数据采集处理单元19用于采集直线位移传感器18和角度位移传感器21的测量数据；所述的传感器固定板17为直角板形式，水平板固定在转台16的平台上，竖直板用来固定直线位移传感器18；直线位移传感器18使用磁致伸缩的原理制成，其滑轨中心高度与动作引导杆7轴线等高，与直线位移传感器18配套的磁性块20固定在动作引导杆7上，当动作引导杆7产生直线运动时磁性块20上的凹槽会在直线位移传感器18的滑轨上无接触滑动；动作引导杆7的一端穿过转台16的圆弧形板上的滑动轴承孔，该结构同时起到导向和支撑的作用；位移输出杆13的一端与尖轨12固定连接，用于输出尖轨12的位移；位移输出杆13的另一端上固定有转轴9，位移输出杆13轴线经过转轴9的轴心；动作引导杆7的另一端与L型转接头8的长边固定，转接头8短边一侧开有轴孔，用于套在转轴9上，尖轨12移动时转接头8可绕转轴9旋转，通过转接头8将动作引导杆7与位移输出杆13连接，以测量尖轨12的位移，且转接头8的形状使动作引导杆7端部与转轴9的轴心有一定偏移量；动作引导杆7与转接头8设有橡胶垫块22以消除加工面平面度误差而产生的连接间隙；当尖轨12出现爬行和密贴现象时，通过动作引导杆7将两个方向的直线位移转换成转台16的旋转运动和磁性块20的直线运动，引起角度位移传感器21和直线位移传感器18的示数变化，并将数据传输至数据采集处理单元19中。
所述的标定装置通过下滑台底板3下表面上的磁铁15吸附到密封箱1的上表面；所述的滑台5包括两个滑板和两条滑轨，滑轨固定在滑板的底部，两个滑板交叉布置，使滑台5可产生正交运动；所述的滑台5的两条导轨分别固定 于上滑台底板2的下表面和下滑台底板3上表面，可使上滑台底板2产生爬行方向和密贴方向的直线运动；所述的光栅尺包括标尺光栅6和光栅读数头4，两个标尺光栅6分别固定在上滑台底板2和下滑台底板3上，两个光栅读数头4分别固定在滑台5的两个滑板上，滑台5移动时使每个光栅尺的两部分结构标尺光栅6和光栅读数头4产生相对位移，光栅读数头4上连接的数据线将数据传输至外部数显表上用于读数；所述的位移输出杆固定板10由两块直板和一块角板焊接而成，通过螺栓固定在上滑台底板2下表面的一端；U形固定环14上附有螺纹，通过螺母将位移输出杆13端部的接头固定在位移输出杆固定板10上；标定过程中使用自身的两个光栅尺以及测量装置中的直线位移传感器18和角度位移传感器21进行数据采集。
一种尖轨爬行及密贴间隙测量设备标定方法，采用上述标定装置，具体步骤如下：
(1)初始时尖轨12和基本轨11处于最大间距状态，各部分装置连接完成后，转辙机推动尖轨12朝着靠近基本轨11的方向移动，在中间标定位置停下；通过角度位移传感器21得到测量装置动作引导杆7的角度变化值Δθ 1，通过直线位移传感器18得到动作引导杆7沿轴线方向的移动距离Δl 1，通过外接数显表读出滑台5沿爬行方向的位移s 1和沿密贴方向的位移t 1；
(2)转辙机推动尖轨12继续朝着靠近基本轨11的方向移动到终点标定位置，通过角度位移传感器21得到动作引导杆7的角度变化值Δθ 2，通过直线位移传感器18得到动作引导杆7沿轴线方向的移动距离Δl 2，通过外接数显表读出滑台5沿爬行方向的位移s 2和沿密贴方向的位移t 2；
(3)传感器数值和数显表读数分别通过数据线和上位机传入到数据采集处理单元19中，根据标定模型进行集中计算，得出初始安装状态下的理论杆长、安装角度和标定始末状态的偏角；最后通过数据采集处理单元19中的CAN通信模块将处理后得到的参数数据传输至远程上位机监控端，用于后续爬行和密 贴间隙的测量。
所述标定模型基于余弦定理和搜索法构建，根据两个标定位置得到的位移数据，将式(2)和(3)式代入式(1)，建立一个只有动作引导杆7轴线与转轴9轴线之间的偏心距a作为未知参数的等式，将偏心距的设计值a 0作为初始值，通过搜索法不断优化，即可得到符合精度要求的偏心距的理论值a：
Figure PCTCN2021104164-appb-000001
Figure PCTCN2021104164-appb-000002
Figure PCTCN2021104164-appb-000003
将转轴9的轴心与转台6的旋转中心(即角度位移传感器21的轴心)之间的连线命名为理论摆杆，在得到偏心距的理论值a后，通过公式(4)和(5)分别求出初始安装位置和最终位置动作引导杆7与理论摆杆之间的偏角γ 0和γ 2；再通过式(6)得到初始理论杆长l 0′和最终位置杆长l 2′；最后通过式(7)得到理论摆杆的初始安装角度β：
Figure PCTCN2021104164-appb-000004
Figure PCTCN2021104164-appb-000005
Figure PCTCN2021104164-appb-000006
Figure PCTCN2021104164-appb-000007
本发明具有以下有益效果：
(1)本发明将以往粗糙测量的参数如初始安装角β、初始杆长l 0’和动作引导杆与转轴之间的偏心距a等利用标定的方式测出，可以得到精确的理论数据，克服了安装、测量过程中累积的误差，为后续爬行和间隙测量任务奠定了基础；
(2)本发明采用磁铁吸附的方式安装在密封箱上，同时采用U形固定环与尖轨连接部分固定，没有破坏测量装置原本的测量结构；对中间标定位置没有具体的要求，只需在相应位置读出对应的各项数据即可；因此安装使用方便，对操作人员的技术要求较低；
(3)本发明对转接头带来的动作引导杆位置和理论摆杆位置之间的偏差通过优化设计方法进行了精确计算，保证偏心距计算值与真值之间的误差在允许的范围内。
附图说明
图1是本发明方法的标定过程图。
图2是本发明装置的整体布置图。
图3是标定装置局部放大图。
图4是测量装置内部结构简图。
图5是尖轨部分的位移输出杆及其连接结构图。
图6是标定位置模型示意图，其中：E为转台及角度位移传感器旋转中心点；A为初始安装状态下转轴轴线的位置；C为标定位置转轴轴线的位置；B为C向爬行方向所做垂线的垂足；D为标定位置理论摆杆的延长线与爬行方向线的交点；F为初始安装位置转轴轴线向动作引导杆轴线作的垂足；F’为标定位置转轴轴线向动作引导杆轴线作的垂足；a为转轴轴线向动作引导杆作垂线得到的偏心距；β为理论摆杆的初始安装角度，即初始安装状态下理论摆杆与密贴方向的夹角；γ 0为初始安装位置动作引导杆与理论摆杆之间的偏角；γ i为标定位置动作引导杆与理论摆杆之间的偏角；s i为纵向爬行位移(下角标i为1或2，分别代表中间和终点标定位置，下同)；t i为横向密贴间隙；d i为初始安装位置与标定位置之间转轴的连线；l 0为初始安装位置转台旋转中心E到垂足F之间的距离；l 0’为初始安装位置理论杆长；l i’为标定位置理论杆长；Δθ i为两个位置的角度位移；Δl i为两个位置的直线位移。
图中：1密封箱；2上滑台底板；3下滑台底板；4光栅读数头；5滑台；6 标尺光栅；7动作引导杆；8转接头；9转轴；10位移输出杆固定板；11基本轨；12尖轨；13位移输出杆；14U形固定环；15磁铁；16转台；17传感器固定板；18直线位移传感器；19数据采集处理单元；20磁性块；21角度位移传感器；22橡胶垫块。
具体实施方式
以下结合附图和技术方案，进一步说明本发明的具体实施方式。
一种尖轨纵向爬行及密贴间隙测量设备的标定过程如图1所示。
(1)如图2、5所示，将测量装置的动作引导杆7与尖轨12部分的位移输出杆13通过转接头8连接，转接头8可绕转轴9转动；位移输出杆13在下方绕过基本轨11和尖轨12，与尖轨12内侧连接；
(2)如图2、3所示，将标定装置通过下滑台底板3下的磁铁15吸附到密封箱1的上表面，安装时尽量保证上滑台底板2和下滑台底板3分别与密封箱1的两条边平行；移动滑台5，使U形固定环14可以将位移输出杆13的接头固定到位移输出杆固定板10上；标定装置上的两个标尺光栅6分别固定在上滑台底板2和下滑台底板3上，两个光栅读数头4分别固定在两个滑台5上，并通过数据线连接到外部数显表上；
(3)如图4、6所示，初始时尖轨12和基本轨11处于最大间距状态，转辙机推动尖轨12朝着靠近基本轨11的密贴方向移动，同时带来一定的纵向爬行量，在中间标定位置停下；此时尖轨部分的位移输出杆13带动测量装置的动作引导杆7绕着转台16顺时针旋转一定角度，同时沿自身轴线方向向后移动一定距离，理论摆杆的位置从EA变化到了EC，通过角度位移传感器21得到角度数值，计算出角度变化值Δθ 1，通过直线位移传感器18得到动作引导杆7沿轴线方向的移动距离Δl 1；同时位移输出杆13带动标定装置的滑台5在滑台底板2、3上运动，使光栅读数头4与标尺光栅6产生相对运动，通过外接数显表读出滑台沿爬行方向的位移s 1和沿密贴方向的位移t 1；
(4)如图4、6所示，转辙机推动尖轨12继续朝着靠近基本轨11的方向移动到终点标定位置，此时尖轨12和基本轨11紧密接触；同样位移输出杆13带动测量装置的动作引导杆7绕着转台16旋转和沿轴线方向移动，通过角度位移传感器21读出角度数值，计算出角度变化值Δθ 2，通过直线位移传感器18读出动作引导杆7沿轴线方向的移动距离Δl 2；同时位移输出杆13带动标定装置的滑台5产生相对运动，通过外接数显表读出滑台5沿爬行方向的位移s 2和沿密贴方向的位移t 2；
(5)得到上述参数后，联立(1)～(3)式，配合搜索法即可得到动作引导杆13与转轴9轴线之间偏心距a的精确理论值；再配合(4)～(7)式，得到偏角、初始安装角度和理论杆长等参数，通过上位机将上述参数传输到数据采集处理单元19中，用于后续纵向爬行和密贴间隙的实时测量。
本发明提供的尖轨爬行及密贴间隙测量设备标定装置及方法，在尖轨移动时，利用易安装的标定装置测出标定位置的爬行和密贴间隙，同时测量装置将该运动转换成直线位移和角度位移，利用传感器读出；将测出的数据代入标定模型即可得到初始安装状态下多种参数的精确理论数值，没有通过设计尺寸或测量设备直接测量，大幅减小了由于安装误差和结构间隙等对参数带来的影响。通过标定得到的理论参数是后续实时测量的基础，将参数输入到数据采集处理单元中，才可进行后续测量工作。标定装置的安装和标定过程都十分方便，对操作人员的技术要求很低，可以在测量装置安装结束后迅速完成标定工作，因此降低了尖轨爬行及密贴间隙测量设备标定工作的复杂性和成本。

Claims (2)

  1. 一种尖轨爬行及密贴间隙测量设备标定装置，其特征在于，所述的标定装置包括可产生正交运动的滑台(5)、上滑台底板(2)、下滑台底板(3)、两个光栅尺、位移输出杆固定板(10)和U形固定环(14)；
    所述的测量装置包括动作引导杆(7)以及布置于密封箱(1)中的转台(16)、直线位移传感器(18)、磁性块(20)、传感器固定板(17)、角度位移传感器(21)和数据采集处理单元(19)；所述的转台(16)固定于密封箱(1)的底板上，所述的角度位移传感器(21)安装在转台(16)上，测量转台(16)的旋转角度；所述的数据采集处理单元(19)用于采集直线位移传感器(18)和角度位移传感器(21)的测量数据；所述的传感器固定板(17)为直角板形式，水平板固定在转台(16)的平台上，竖直板用来固定直线位移传感器(18)；直线位移传感器(18)使用磁致伸缩的原理制成，其滑轨中心高度与动作引导杆(7)轴线等高，与直线位移传感器(18)配套的磁性块(20)固定在动作引导杆(7)上，当动作引导杆(7)产生直线运动时磁性块(20)上的凹槽会在直线位移传感器(18)的滑轨上无接触滑动；动作引导杆(7)的一端穿过转台(16)的圆弧形板上的滑动轴承孔，起到导向和支撑的作用；位移输出杆(13)的一端与尖轨(12)固定连接，用于输出尖轨(12)的位移；位移输出杆(13)的另一端上固定有转轴(9)，位移输出杆(13)轴线经过转轴(9)的轴心；动作引导杆(7)的另一端与L型转接头(8)的长边固定，转接头(8)短边一侧开有轴孔，用于套在转轴(9)上，尖轨(12)移动时转接头(8)可绕转轴(9)旋转，通过转接头(8)将动作引导杆(7)与位移输出杆(13)连接，以测量尖轨(12)的位移，且转接头(8)的形状使动作引导杆(7)端部与转轴(9)的轴心具有偏移量；动作引导杆(7)与转接头(8)设有橡胶垫块(22)以消除加工面平面度误差而产生的连接间隙；当尖轨(12)出现爬行和密贴现象时，通过动作引导杆(7)将两个方向的直线位移转换成转台(16)的旋转运动和磁性块(20)的直线运动，引起角度位移传感器(21)和直线位移传感器(18)的示数变化， 并将数据传输至数据采集处理单元(19)中；
    所述的标定装置通过下滑台底板(3)下表面上的磁铁(15)吸附到密封箱(1)的上表面；所述的滑台(5)包括两个滑板和两条滑轨，滑轨固定在滑板的底部，两个滑板交叉布置，使滑台(5)可产生正交运动；所述的滑台(5)的两条导轨分别固定于上滑台底板(2)的下表面和下滑台底板(3)上表面，可使上滑台底板(2)产生爬行方向和密贴方向的直线运动；所述的光栅尺包括标尺光栅(6)和光栅读数头(4)，两个标尺光栅(6)分别固定在上滑台底板(2)和下滑台底板(3)上，两个光栅读数头(4)分别固定在滑台(5)的两个滑板上，滑台(5)移动时使每个光栅尺的两部分结构标尺光栅(6)和光栅读数头(4)产生相对位移，光栅读数头(4)上连接的数据线将数据传输至外部数显表上用于读数；所述的位移输出杆固定板(10)由两块直板和一块角板焊接而成，通过螺栓固定在上滑台底板(2)下表面的一端；U形固定环(14)上附有螺纹，通过螺母将位移输出杆(13)端部的接头固定在位移输出杆固定板(10)上；标定过程中使用自身的两个光栅尺以及测量装置中的直线位移传感器(18)和角度位移传感器(21)进行数据采集。
  2. 一种尖轨爬行及密贴间隙测量设备标定方法，采用权利要求1所述的标定装置，其特征在于，具体步骤如下：
    (1)初始时尖轨(12)和基本轨(11)处于最大间距状态，各部分装置连接完成后，转辙机推动尖轨(12)朝着靠近基本轨(11)的方向移动，在中间标定位置停下；通过角度位移传感器(21)得到测量装置动作引导杆(7)的角度变化值Δθ 1，通过直线位移传感器(18)得到动作引导杆(7)沿轴线方向的移动距离Δl 1，通过外接数显表读出滑台(5)沿爬行方向的位移s 1和沿密贴方向的位移t 1；
    (2)转辙机推动尖轨(12)继续朝着靠近基本轨(11)的方向移动到终点标定位置，通过角度位移传感器(21)得到动作引导杆(7)的角度变化值Δθ 2， 通过直线位移传感器(18)得到动作引导杆(7)沿轴线方向的移动距离Δl 2，通过外接数显表读出滑台(5)沿爬行方向的位移s 2和沿密贴方向的位移t 2；
    (3)传感器数值和数显表读数分别通过数据线和上位机传入到数据采集处理单元(19)中，根据标定模型进行集中计算，得出初始安装状态下的理论杆长、安装角度和标定始末状态的偏角；最后通过数据采集处理单元(19)中的CAN通信模块将处理后得到的参数数据传输至远程上位机监控端，用于后续爬行和密贴间隙的测量；
    所述标定模型基于余弦定理和搜索法构建，根据两个标定位置得到的位移数据，将式(2)和(3)式代入式(1)，建立一个只有动作引导杆(7)轴线与转轴(9)轴线之间的偏心距a作为未知参数的等式，将偏心距的设计值a 0作为初始值，通过搜索法不断优化，即可得到符合精度要求的偏心距的理论值a：
    Figure PCTCN2021104164-appb-100001
    Figure PCTCN2021104164-appb-100002
    Figure PCTCN2021104164-appb-100003
    将转轴(9)的轴心与转台(6)的旋转中心之间的连线命名为理论摆杆，在得到偏心距的理论值a后，通过公式(4)和(5)分别求出初始安装位置和最终位置动作引导杆(7)与理论摆杆之间的偏角γ 0和γ 2；再通过式(6)得到初始理论杆长l 0′和最终位置杆长l 2′；最后通过式(7)得到理论摆杆的初始安装角度β：
    Figure PCTCN2021104164-appb-100004
    Figure PCTCN2021104164-appb-100005
    Figure PCTCN2021104164-appb-100006
    Figure PCTCN2021104164-appb-100007
PCT/CN2021/104164 2021-04-23 2021-07-02 尖轨爬行及密贴间隙测量设备标定装置及方法 Ceased WO2022222273A1 (zh)

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