CN116803817A - An automatic control system and method for a telescopic hook and buffer device - Google Patents
An automatic control system and method for a telescopic hook and buffer device Download PDFInfo
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- CN116803817A CN116803817A CN202310766163.XA CN202310766163A CN116803817A CN 116803817 A CN116803817 A CN 116803817A CN 202310766163 A CN202310766163 A CN 202310766163A CN 116803817 A CN116803817 A CN 116803817A
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- coupler
- electric cylinder
- telescopic
- locking
- mechanical coupler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G5/00—Couplings for special purposes not otherwise provided for
- B61G5/02—Couplings for special purposes not otherwise provided for for coupling articulated trains, locomotives and tenders or the bogies of a vehicle; Coupling by means of a single coupling bar; Couplings preventing or limiting relative lateral movement of vehicles
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Abstract
The application relates to an automatic control system and method for a telescopic coupler buffering device, which are used for controlling a coupler. The control system comprises a locking electric cylinder, a telescopic electric cylinder, a mechanical coupler uncoupling electric cylinder, an electric coupler telescopic electric cylinder and a controller, wherein the telescopic electric cylinder and the locking electric cylinder are both arranged on a telescopic rod of the mechanical coupler, the uncoupling electric cylinder is arranged at a coupler head of the mechanical coupler, the electric coupler telescopic electric cylinder is arranged on the electric coupler, each electric cylinder is provided with a sensor for detecting the state of the electric cylinder, and the controller is used for collecting the state of each sensor and communicating with each electric cylinder to output a control signal for the electric cylinder; the application realizes the full-automatic control of the whole processes of mechanical coupler extension, locking, coupling, uncoupling, electric coupler extension, coupling and the like, has simple and clear action, omits the vehicle-end fixing device, the coupler swing stop and other vehicle-under structures, solves the problem that part of the tram does not have a gas circuit power source, and meets the requirements of a narrow space under the vehicle.
Description
Technical Field
The application belongs to the technical field of rail transit, and particularly relates to an automatic control system and method for a telescopic hook buffer device.
Background
The coupler buffer devices are positioned at two ends of the train, and the coupler is required to meet certain length requirements in order to achieve the aim of rescue or reconnection. But the train body front end space is limited under partial conditions, in order to save the installation space of the coupler and give consideration to the aesthetic property of the train, the rail electric coupler buffering device generally adopts a telescopic or folding design, so that the coupler buffering device can be in a folding state or a retraction state and is hidden in an opening and closing mechanism when the coupler is required to be used under rescue working conditions and the like, and the coupler buffering device is straightened for use. At present, the conventional folding type coupler or telescopic type coupler is manually operated, and mainly has the following problems:
(1) The car coupler state is not visual and the operability is poor. Because tramcar coupler installation height is generally lower, the distance between the center line of the part 100% low floor car coupler and the rail surface is lower than 500mm, and the general coupler is positioned below the opening and closing mechanism, when the opening and closing mechanism is turned up and opened, the coupler is in a folded or retracted state, is far away from an operator, is not easy to touch by hands, can not see the specific position of the coupler visually, has poor perceptibility to the coupler state, and has limited operation space and poor operability.
(2) The folding type coupler buffer device is required to be matched with accessory structures such as a car end fixing device, a car coupler swing stop and the like, so that space under a car is checked, and installation and debugging are complex, and full-automatic control is difficult to realize. In addition, the folding coupler buffer has high freedom degree due to the existence of two rotating shafts (namely, a coupler yoke pin rotating shaft and a folding joint rotating shaft), and a structure such as a stop is generally required to be arranged under the car so as to prevent the car from randomly swinging to strike the equipment under the car when the car coupler is in a folded state. Under the condition that two rotating shafts are arranged on the coupler, the left-right swing angle of the coupler and the front-rear rod clamping angle of the coupler can influence the position of the coupler body, when the position of the fixing device and the fixed point of the coupler body are designed, the interference condition needs to be checked repeatedly, time and labor are consumed, and the coupler is difficult to realize full-automatic straightening under the folding state through pneumatic or electric driving.
(3) The tramcar of some motorcycle types does not have gas circuit power supply, can't refer to conventional EMUs or subway train and use the hook buffering device to realize actions such as car coupler flexible and electric hook release through pneumatic mode.
Disclosure of Invention
In order to solve the problems, the application provides an automatic control system and method for a telescopic hook buffer device, which realize the automatic control of the whole actions of state monitoring, telescoping, locking, connecting and unhooking of the hook buffer device through the cooperation of an electric drive design and a state sensor layout design.
In order to achieve the above purpose, the application adopts the following technical scheme:
the utility model provides a flexible coupler and buffer device automatic control system for the coupling control, the coupling includes mechanical coupling, and mechanical coupling includes the telescopic link and installs the gib head on the telescopic link, and control system includes:
telescoping electric cylinder: the cylinder body is arranged at the fixed end of the telescopic rod, the cylinder rod is arranged at the telescopic end of the telescopic rod, and the telescopic electric cylinder is provided with a telescopic electric cylinder straightening position sensor for sensing a mechanical coupler stretching out signal and a telescopic electric cylinder retracting position sensor for sensing a mechanical coupler retracting signal;
locking the electric cylinder: the locking electric cylinder locking position sensor is fixedly connected to the telescopic rod and used for locking the position of the mechanical coupler, and the locking electric cylinder is provided with the locking electric cylinder locking position sensor used for sensing a locking electric cylinder locking signal and the locking electric cylinder unlocking position sensor used for sensing a locking electric cylinder unlocking signal;
and (3) a controller: the sensor is in sensing communication with a telescopic electric cylinder straightening position sensor, a telescopic electric cylinder retracting position sensor, a locking electric cylinder locking position sensor and a locking electric cylinder unlocking position sensor, and signals of the sensors are collected; the control system is communicated with the telescopic electric cylinder and the locking electric cylinder, and outputs a control signal for the telescopic electric cylinder and a control signal for the locking electric cylinder; the controller is further configured to generate a lock control signal for the locked electric cylinder based on feedback signals from the telescopic electric cylinder extension position sensor and the telescopic electric cylinder retraction position sensor, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder based on feedback signals from the locked electric cylinder unlocking position sensor.
In some embodiments of the application, a mechanical coupler uncoupling cylinder is further arranged on the coupler head and used for driving the mechanical coupler to uncork; the mechanical coupler uncoupling cylinder is provided with a mechanical coupler uncoupling in-place sensor for sensing a mechanical coupler uncoupling in-place signal and a mechanical coupler uncoupling return sensor for sensing a mechanical coupler uncoupling cylinder reset signal;
the controller is further in sensing communication with a mechanical coupler uncoupling in-place sensor and a mechanical coupler uncoupling return sensor, and acquires signals of the sensors; the control signal is output to the mechanical coupler uncoupling electric cylinder; the controller is further configured to generate a retraction control signal to the mechanical coupler uncoupling cylinder based on the feedback signal from the mechanical coupler uncoupling in-place sensor.
In some embodiments of the application, the mechanical coupler head position is provided with a mechanical coupler spindle, and the mechanical coupler spindle is provided with a mechanical coupler spindle position sensor for sensing a mechanical coupler spindle position signal;
the controller is further in sensing communication with a mechanical coupler spindle position sensor, collects sensor signals, and judges the coupler coupling state based on the state of the spindle sensor.
In some embodiments of the application, the mechanical coupler has a mechanical coupler link on which is mounted a mechanical coupler link sensor for sensing a signal that the mechanical coupler link is in place;
the controller is further in sensing communication with the mechanical coupler and the fine dried noodle sensor, and collects sensor signals; the controller is further configured to generate an unlock control signal to the lock cylinder based on the feedback signal of the mechanical coupler link sensor and based on the state signal of the link sensor.
In some embodiments of the present application, the electric coupler further comprises an electric coupler, and the electric coupler is provided with an electric coupler telescopic cylinder for driving the electric coupler to extend or retract; an electric coupler extension position sensor for sensing an electric coupler extension position signal and an electric coupler retraction position sensor for sensing an electric coupler retraction position signal are arranged on the electric coupler extension electric cylinder;
the controller is further in sensing communication with the electric coupler extension sensor and the electric coupler retraction sensor, and collects signals of the sensors; the control signal is output to the electric coupler telescopic electric cylinder;
the controller is further configured to generate an extension control signal for the electrical coupler retraction cylinder based on the feedback signal of the mechanical coupler hitch sensor and to generate an extension control signal for the mechanical coupler uncoupling cylinder based on the feedback signal of the electrical coupler retraction sensor.
Some embodiments of the present application further provide an automatic control method for a telescopic hook buffer device, including the following steps:
issuing a connection instruction;
controlling the locking electric cylinder to unlock;
detecting an unlocking state of the locking electric cylinder, controlling the extension of the telescopic electric cylinder after detecting that the locking electric cylinder is unlocked, and detecting the extension position of the telescopic electric cylinder;
when the extension of the telescopic electric cylinder is detected to be in place, controlling the locking electric cylinder to lock;
detecting the locking state of the locking electric cylinder, and controlling the two mechanical couplers to be connected after the locking of the locking electric cylinder is detected;
a unhooking instruction is issued;
controlling the locking electric cylinder to unlock;
detecting the unlocking state of the locking electric cylinder, controlling the telescopic electric cylinder to retract after detecting that the locking electric cylinder is unlocked, and detecting the retracting position of the telescopic electric cylinder;
and controlling the locking electric cylinder to lock after detecting that the telescopic electric cylinder is retracted into position.
In some embodiments of the present application, after the unhooking instruction is issued, the method further includes the following steps before controlling the locking cylinder to unlock:
controlling the mechanical coupler uncoupling cylinder to extend out, and detecting the position of the mechanical coupler uncoupling cylinder;
when the mechanical coupler uncoupling is detected to be in place, controlling the mechanical coupler uncoupling electric cylinder to execute reset action, and detecting the position of the mechanical coupler uncoupling electric cylinder;
in some embodiments of the present application, the method further comprises the steps of: and detecting the position of the main shaft of the mechanical coupler, and judging the coupling state of the mechanical coupler according to the position of the main shaft of the mechanical coupler.
In some embodiments of the present application, the method further comprises the steps of:
after the two mechanical coupler are hung, detecting the hanging state of the mechanical coupler hanging surface and judging whether the mechanical coupler hanging surface is hung in place;
after a unhooking instruction is given, controlling the separation of the two mechanical coupler connecting fine dried noodles, detecting the connection state of the two mechanical coupler connecting fine dried noodles, and judging whether the mechanical coupler connecting fine dried noodles are separated in place or not;
and controlling the locking electric cylinder to unlock after detecting that the mechanical coupler is separated from the fine dried noodles in place.
In some embodiments of the present application, the method further comprises the steps of:
when the mechanical coupler connecting fine dried noodles are detected to be connected in place, controlling the telescopic electric cylinder of the electric coupler to extend out, and detecting the extending position of the electric coupler;
after a uncoupling instruction is given, controlling the telescopic electric cylinder of the electric coupler to retract, and detecting the retracted position of the electric coupler;
and after the electric coupler is detected to be retracted, controlling the mechanical coupler uncoupling electric cylinder to execute the extending action.
The application has the beneficial effects that:
1. according to the application, the electric cylinder is used for controlling the car coupler to perform actions such as stretching, locking, connecting and unhooking, and the like, so that gas circuit power is not needed, and the problem that a full-automatic coupler buffering device of a tramcar does not have a gas circuit power source is effectively solved;
2. according to the application, the states of all parts of the coupler and buffer device are monitored in real time through the plurality of electric signal sensors, the coupler state is more visual, and the state signals of all parts can be used as the signal input of the next action of the coupler and buffer device, so that the full-automatic control of the coupler and buffer device is facilitated;
3. the application realizes the control and state monitoring of the action function of the hook buffer device by adopting the design of combining the electric drive element and the sensor, not only can realize the full-automatic control of the actions of telescoping, locking, connecting and hanging, unhooking and the like of the hook buffer device, but also can realize the unconventional drive control through a train control room, so that the operation of the hook buffer device is more concise and automatic;
4. the telescopic coupler buffer device adopted by the application omits the lower structures such as a car end fixing device, a coupler swing stop and the like, and saves the installation space of the coupler.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings, from which other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a schematic view of a telescopic hook buffer;
FIG. 2 is a schematic diagram of a portion of a telescopic coupler and draft gear electrical coupler;
FIG. 3 is a control flow diagram of an automatic control system;
wherein, the reference numerals are as follows:
1. locking the electric cylinder; 11. a locking position sensor for locking the electric cylinder; 12. a lock cylinder unlock position sensor;
2. a telescopic electric cylinder; 21. a telescopic electric cylinder straightening sensor; 22. a telescopic cylinder retraction position sensor;
3. a mechanical coupler spindle; 31. a mechanical coupler spindle position sensor;
4. the mechanical coupler is connected with the fine dried noodles; 41. the mechanical coupler is connected with the fine dried noodle sensor;
5. an electric coupler telescopic electric cylinder; 51. an electrical coupler extension sensor; 52. an electric coupler retraction sensor;
6. uncoupling electric cylinder of mechanical coupler; 61. the mechanical coupler uncoupling in-place sensor; 62. a mechanical coupler uncoupling return sensor;
7. a telescopic rod;
8. a hook head;
9. an electrical coupler.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present application without making any inventive effort, are intended to fall within the scope of the present application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the application and features of the embodiments may be combined with each other without conflict.
The technical scheme of the application is described in detail below with reference to specific embodiments and attached drawings.
Example 1:
the embodiment of the application provides an automatic control system of a telescopic coupler and buffer device, which is used for controlling a coupler, wherein the coupler comprises a mechanical coupler, the mechanical coupler comprises a telescopic rod 7 and a coupler head 8 arranged on the telescopic rod 7, as shown in figures 1-2, the control system comprises a telescopic electric cylinder 2, a locking electric cylinder 1 and a controller, and the controller is arranged in a vehicle system, so the controller is not shown in the figure.
The cylinder body of the telescopic electric cylinder 2 is arranged at the fixed end of a telescopic rod 7 of the mechanical coupler, the cylinder rod of the telescopic electric cylinder 2 is arranged at the telescopic end of the telescopic rod 7, and the telescopic electric cylinder 2 is provided with a telescopic electric cylinder straightening position sensor 21 for sensing a mechanical coupler stretching out signal and a telescopic electric cylinder retracting position sensor 22 for sensing a mechanical coupler retracting signal;
the locking electric cylinder 1 is fixedly connected to the telescopic rod 7 and used for locking the position of a mechanical coupler, the locking electric cylinder 1 rotates a locking block in the telescopic rod 7 through a connecting rod mechanism to ensure that the telescopic rod 7 does not retract when the mechanical coupler is pressed, and the locking electric cylinder 1 is provided with a locking electric cylinder locking position sensor 11 for sensing a locking electric cylinder locking signal and a locking electric cylinder lock unlocking sensor 12 for sensing a locking electric cylinder unlocking signal; the telescopic cylinder straightening position sensor 21, the telescopic cylinder retracting position sensor 22, the locking cylinder locking position sensor 11 and the locking cylinder unlocking position sensor 12 are all position sensors.
The controller is in sensing communication with a telescopic electric cylinder straightening position sensor 21, a telescopic electric cylinder retracting position sensor 22, a locking electric cylinder locking position sensor 11 and a locking electric cylinder lock unlocking sensor 12, and acquires sensor signals; the control signal is communicated with the telescopic electric cylinder 2 and the locking electric cylinder 1, and the control signal for the telescopic electric cylinder 2 and the control signal for the locking electric cylinder 1 are output; the controller is further configured to generate a lock control signal for locking the electric cylinder 1 based on feedback signals of the telescopic electric cylinder straightening position sensor 21 and the telescopic electric cylinder retracting position sensor 22, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder 2 based on feedback signals of the locking electric cylinder unlocking position sensor 12.
Specifically, after receiving a continuous hanging instruction, the controller controls the locking electric cylinder 1 to unlock, acquires a signal of a locking electric cylinder unlocking position sensor 12, generates an extension control signal for the telescopic electric cylinder 2 according to a feedback signal of the locking electric cylinder unlocking position sensor 12, drives the telescopic electric cylinder 2 to extend, acquires a signal of a telescopic electric cylinder straightening position sensor 21, and generates a locking control signal for the locking electric cylinder 1 according to a feedback signal of the telescopic electric cylinder straightening position sensor 21; after the controller receives the unhooking instruction, the telescopic electric cylinder 2 is controlled to retract, a telescopic electric cylinder retraction position sensor 22 signal is collected, and a locking control signal for locking the electric cylinder 1 is generated according to a feedback signal of the telescopic electric cylinder retraction position sensor 22.
In the above-described exemplary embodiment, the telescopic coupler and buffer device automatic control system can monitor the states of the locking electric cylinder 1 and the telescopic electric cylinder 2 through the sensors, and judge whether to perform the extending of the telescopic electric cylinder 2 and the locking and unlocking operations of the locking electric cylinder 1 according to the state information, thereby realizing the full-automatic control of the extending and retracting of the mechanical coupler in the telescopic coupler and buffer device.
In order to drive the mechanical coupler to be unhooked, in some embodiments of the application, a mechanical coupler unhooking cylinder 6 for driving the mechanical coupler to be unhooked is further arranged on a coupler head 8 of the mechanical coupler; the mechanical coupler uncoupling electric cylinder 6 is arranged on the coupler head 8 of the mechanical coupler, can solve the problem that a tramcar does not have an air path power source, and can also participate in the automatic control of the coupler. The mechanical coupler uncoupling cylinder 6 is also provided with a mechanical coupler uncoupling in-place sensor 61 for a mechanical coupler uncoupling in-place signal and a mechanical coupler uncoupling return sensor 62 for sensing a mechanical coupler uncoupling cylinder reset signal; the mechanical coupler uncoupling in-place sensor 61 and the mechanical coupler uncoupling return sensor 62 are both position sensors.
The controller is further in sensing communication with a mechanical coupler uncoupling in-place sensor 61 and a mechanical coupler uncoupling return sensor 62, and acquires signals of the sensors; the control signal is communicated with the mechanical coupler uncoupling electric cylinder 6, and the control signal for the mechanical coupler uncoupling electric cylinder 6 is output; the controller is further configured to generate a retraction control signal to the mechanical coupler uncoupling cylinder 6 based on a feedback signal from the mechanical coupler uncoupling in-place sensor 61.
Specifically, after the controller receives the uncoupling command, the mechanical coupler uncoupling cylinder 6 is controlled to execute an extending action to drive the mechanical coupler to uncork, signals of the mechanical coupler uncoupling in-place sensor 61 are collected, and a retraction control signal for the mechanical coupler uncoupling cylinder 6 is generated according to feedback signals of the mechanical coupler uncoupling in-place sensor 61.
In order to realize the coupling of two mechanical couplers, in some embodiments of the application, a mechanical coupler spindle 3 is arranged at the position of a coupler head 8 of the mechanical coupler, and a mechanical coupler spindle position sensor 31 for sensing a mechanical coupler spindle position signal is arranged on the mechanical coupler spindle 3; the controller is further in sensory communication with the mechanical draft gear spindle position sensor 31, collects sensor signals, and determines the mechanical draft gear hitch status based on the status of the mechanical draft gear spindle position sensor 31.
Specifically, the mechanical coupler spindle 3 has two position states of an initial position and a uncoupling position, when the mechanical coupler spindle 3 is located at the initial position, the mechanical coupler is in a coupling state or a to-be-coupled state, and when the mechanical coupler spindle 3 is located at the uncoupling position, the mechanical coupler is in the uncoupling state.
In some embodiments of the application, the mechanical coupler has a mechanical coupler link 4, and a mechanical coupler link sensor 41 for sensing a signal that the mechanical coupler link is in place is mounted on the mechanical coupler link 4; the mechanical coupler and noodle sensor 41 is a position sensor;
the controller is further in sensing communication with the mechanical coupler and noodle sensor 41 for collecting sensor signals; the controller is further configured to generate an unlock control signal for the lock cylinder 1 based on the feedback signal of the mechanical coupler knuckle and noodle sensor 41 and based on the status signal of the mechanical coupler knuckle and noodle sensor 41.
In order to realize the electrical connection of two car couplers, in some embodiments of the application, the control system further comprises an electrical coupler 9, and an electrical coupler telescopic cylinder 5 is arranged on the electrical coupler 9 and is used for driving the electrical coupler 9 to extend or retract; an electric coupler extension position sensor 51 for sensing an electric coupler extension position signal and an electric coupler retraction position sensor 52 for sensing an electric coupler retraction position signal are arranged on the electric coupler extension and retraction electric cylinder 5; the electric coupler extension sensor 51 and the electric coupler retraction sensor 52 are both position sensors.
The controller is further in sensing communication with an electric coupler extension sensor 51 and an electric coupler retraction sensor 52, and acquires signals of the sensors; the control signal is communicated with the electric coupler telescopic electric cylinder 5 and is output to the electric coupler telescopic electric cylinder 5; the controller is further configured to generate an extension control signal for the electrical coupler extension cylinder 5 based on the feedback signal of the mechanical coupler knuckle line sensor 41 and to generate an extension control signal for the mechanical coupler uncoupling cylinder 6 based on the feedback signal of the electrical coupler extension return sensor 52.
Specifically, after receiving a mechanical coupler connecting and hanging in-place signal, the controller generates an extension control signal for the telescopic electric cylinder 5 of the electric coupler, drives the electric coupler 9 to extend and hang, acquires a signal of an electric coupler extension position sensor 51, and judges whether the electric coupler 9 extends in place; when the controller receives a unhooking instruction, a retraction control signal for the electric coupler telescopic electric cylinder 5 is generated, the electric coupler 9 is driven to unhook and retract, an electric coupler retraction position sensor 52 signal is collected, the electric coupler retraction state is judged, and when the electric coupler 9 is detected to retract in place, an extension control signal for the mechanical coupler unhooking electric cylinder 6 is generated, and the mechanical coupler is controlled to unhook.
In order to smoothly realize full-automatic control on various functions of the coupler, relevant states and actions are defined, and the states and actions of various parts of the coupler buffer device are defined as shown in table 1.
Table 1: state and action definition of each part of the hook buffer device
As shown in table 1 and fig. 3, the control implementation process of the automatic control system of the present application is as follows:
when in an initial state, the locking electric cylinder 1 is in an extending state, locks the retracting state of the mechanical coupler, and feeds back a locking signal of the locking electric cylinder to the controller; the telescopic electric cylinder 2 is in a retracted state, and a telescopic electric cylinder retraction signal is fed back to the controller; the mechanical coupler uncoupling electric cylinder 6 is in a retracted state, and a mechanical coupler uncoupling electric cylinder reset signal is fed back to the controller; the mechanical coupler spindle 3 is positioned at an initial position and feeds back a spindle initial position signal to the controller; the mechanical coupler and dried noodles 4 are in a separated state, and a controller is fed back with a signal for separating the mechanical coupler and dried noodles 4; the electric coupler telescopic electric cylinder 5 is in a retracted state, the electric coupler 9 is retracted and closed, and an electric coupler retraction signal is fed back to the controller.
When the coupler is required to extend out of the coupling, the coupling button is pressed, the locking electric cylinder 1 executes retraction, the locking of the telescopic rod 7 is released, and the unlocking signal of the locking electric cylinder is fed back; after receiving the locking and unlocking signal of the locking electric cylinder, the controller controls the telescopic electric cylinder 2 to execute the stretching action, and feeds back the stretching signal of the telescopic electric cylinder to the controller after stretching in place; after receiving the signal that the telescopic electric cylinder stretches out and reaches the position, the controller controls the locking electric cylinder 1 to execute stretching action, locks the stretching state of the telescopic rod 7, and feeds back a locking signal of the locking electric cylinder to the controller; when the controller receives the locking signal of the locking electric cylinder, the two-car mechanical coupler is controlled to be coupled, and after the coupling of the two-car mechanical coupler is completed, the mechanical coupler coupling fine dried noodle sensor 41 feeds back a mechanical coupler coupling fine dried noodle in-place signal to the controller; after the controller receives the mechanical coupler connecting and hanging in-place signals, the controller checks the sensor signals to ensure that the sensor signals are correct, controls the telescopic electric cylinders 5 of the two side electric couplers to execute the extending action, extends the electric coupler 9 to be connected and hanging in-place signals, and feeds back the electric coupler connecting and hanging in-place signals to the controller, and the coupler extending and hanging process is finished at the moment.
When the car coupler is required to be unhooked and retracted, the master control vehicle presses a unhooking button, the two-car electric car coupler 9 is unhooked, an electric car coupler telescopic electric cylinder executes retraction action, and an electric car coupler retraction positioning signal is fed back to the controller after the electric car coupler 9 is retracted; after the controller receives the electrical coupler retraction signal, the mechanical coupler is subjected to uncoupling operation, the mechanical coupler uncoupling cylinder 6 is controlled to execute the extending action, the mechanical coupler spindle 3 is pushed to the uncoupling position, the mechanical coupler uncoupling signal is fed back to the controller, after the controller receives the mechanical coupler uncoupling signal in place, the master control vehicle mechanical coupler uncoupling cylinder 6 executes the retracting action, and the mechanical coupler uncoupling cylinder reset signal is fed back to the controller after the mechanical coupler uncoupling cylinder is retracted in place; after receiving the reset signal of the mechanical coupler uncoupling electric cylinder, the controller controls the separation of the train, at the moment, the mechanical coupler is separated with the fine dried noodles 4, and feeds back a mechanical coupler and fine dried noodles separation signal to the controller; after receiving the mechanical coupler and fine dried noodle separating signal, the controller controls the locking electric cylinder 1 to execute retracting action, and feeds back a locking electric cylinder unlocking signal to the controller after the locking electric cylinder 1 is unlocked; after receiving the locking and unlocking signal of the locking electric cylinder, the controller controls the telescopic electric cylinder 2 to execute retraction, and the telescopic electric cylinder 2 feeds back a retraction signal of the telescopic electric cylinder to the controller after retraction; after the controller receives the retraction signal of the telescopic electric cylinder, the locking electric cylinder 1 is controlled to execute the extension action, the locking electric cylinder 1 is locked, the locking signal of the locking electric cylinder is fed back to the controller, at the moment, the uncoupling retraction process of the coupler is finished, and the uncoupling device is restored to the initial state.
Example 2:
the application also provides an automatic control method of the telescopic hook buffer device, which comprises the following steps:
issuing a connection instruction;
controlling the locking electric cylinder 1 to unlock;
detecting the unlocking state of the locking electric cylinder 1, controlling the extension of the telescopic electric cylinder 2 after detecting that the locking electric cylinder 1 is unlocked, and detecting the extension position of the telescopic electric cylinder 2;
when the extension and retraction electric cylinder 2 is detected to extend to the proper position, the locking electric cylinder 1 is controlled to be locked;
detecting the locking state of the locking electric cylinder 1, and controlling the two mechanical couplers to be connected after detecting that the locking of the locking electric cylinder 1 is finished;
a unhooking instruction is issued;
controlling the locking electric cylinder 1 to unlock;
detecting the unlocking state of the locking electric cylinder 1, controlling the telescopic electric cylinder 2 to retract after detecting that the locking electric cylinder 1 is unlocked, and detecting the retracted position of the telescopic electric cylinder 2;
when the retraction of the telescopic cylinder 2 into position is detected, the locking cylinder 1 is controlled to lock.
In some embodiments of the present application, after the unhooking instruction is issued, the following steps are further included before the locking cylinder 1 is controlled to unlock:
controlling the mechanical coupler uncoupling electric cylinder 6 to extend out, and detecting the position of the mechanical coupler uncoupling electric cylinder 6; when the mechanical coupler uncoupling is detected to be in place, the mechanical coupler uncoupling cylinder 6 is controlled to execute reset action, and the position of the mechanical coupler uncoupling cylinder 6 is detected.
In some embodiments of the present application, the method further comprises the steps of:
detecting the position of a mechanical coupler spindle 3, and judging the coupling state of the mechanical coupler according to the position of the mechanical coupler spindle 3; when the mechanical coupler spindle 3 is located at the initial position, the mechanical coupler is in a coupling state or a to-be-coupled state, and when the mechanical coupler spindle 3 is located at the uncoupling position, the mechanical coupler is in a uncoupling state.
In some embodiments of the present application, the method further comprises the steps of:
after the two mechanical coupler are hung, detecting the hanging state of the mechanical coupler hanging surface 4, and judging whether the mechanical coupler hanging surface 4 is hung in place;
after a unhooking instruction is given, controlling the separation of the two mechanical coupler connecting dried noodles 4, detecting the connecting state of the two mechanical coupler connecting dried noodles 4, and judging whether the mechanical coupler connecting dried noodles 4 are separated in place or not;
and after detecting that the mechanical coupler connecting fine dried noodles 4 are separated in place, controlling the locking electric cylinder 1 to unlock.
In some embodiments of the present application, the method further comprises the steps of:
after a coupling instruction is issued, controlling the mechanical coupler to extend and couple, and when the mechanical coupler coupling fine dried noodles 4 are detected to be coupled in place, controlling the electric coupler telescopic electric cylinder 5 to extend and detecting the extending position of the electric coupler 9;
after a unhooking instruction is given, controlling the telescopic electric cylinder 5 of the electric coupler to retract, and detecting the retracted position of the electric coupler 9; when the electric coupler 9 is detected to retract to the proper position, the mechanical coupler uncoupling cylinder 6 is controlled to execute the extending action to uncork the mechanical coupler.
The following describes the execution flow of the control method in combination with the complete coupling and uncoupling flows of the mechanical coupler and the electrical coupler.
Issuing a connection instruction through the controller;
after the locking electric cylinder 1 receives the connecting and hanging instruction, the locking electric cylinder 1 is controlled to unlock;
detecting the unlocking state of the locking electric cylinder 1 according to the state fed back by the locking electric cylinder unlocking position sensor 12, and when the unlocking of the locking electric cylinder 1 is detected to be completed, the controller gives a control instruction to the telescopic electric cylinder 2 to control the telescopic electric cylinder 2 to extend, so as to control the telescopic rod 7 to extend, and detecting the extending position of the telescopic electric cylinder 2;
detecting the extension state of the telescopic electric cylinder 2 according to the state of the telescopic electric cylinder extension position sensor 21, judging that the telescopic rod 7 is extended to the proper position at the moment after detecting that the telescopic electric cylinder 2 is extended to the proper position, meeting the connection and hanging requirements of a mechanical coupler, and sending a control instruction of the locking electric cylinder 1 by the controller to control the locking electric cylinder 1 to be locked;
detecting the locking state of the locking electric cylinder 1 according to the state fed back by the locking position sensor 11 of the locking electric cylinder, and controlling the two mechanical couplers to be connected after detecting that the locking of the locking electric cylinder 1 is finished;
a unhooking instruction is issued through the controller;
controlling the locking electric cylinder 1 to unlock;
detecting the unlocking state of the locking electric cylinder 1 according to the state fed back by the locking electric cylinder unlocking position sensor 12, and when the completion of unlocking of the locking electric cylinder 1 is detected, issuing a control instruction to the telescopic electric cylinder 2 by the controller, controlling the telescopic electric cylinder 2 to retract, and detecting the retracting position of the telescopic electric cylinder 2 according to the state of the telescopic electric cylinder retracting position sensor 22;
when the retraction of the telescopic cylinder 2 into position is detected, the locking cylinder 1 is controlled to lock.
In some embodiments of the present application, after the unhooking instruction is issued, the following steps are further included before the locking cylinder 1 is controlled to unlock:
controlling the mechanical coupler uncoupling cylinder 6 to extend, and detecting the position of the mechanical coupler uncoupling cylinder 6 according to the state of the mechanical coupler uncoupling in-place sensor 61; when the mechanical coupler uncoupling is detected to be in place, the controller issues a reset instruction to the mechanical coupler uncoupling electric cylinder 6, controls the mechanical coupler uncoupling electric cylinder 6 to execute a reset action, and detects the position of the mechanical coupler uncoupling electric cylinder 6.
In some embodiments of the present application, the method further comprises the steps of:
detecting the position of a mechanical coupler spindle 3, and judging the coupling state of the mechanical coupler according to the position of the mechanical coupler spindle 3; when the mechanical coupler spindle 3 is located at the initial position, the mechanical coupler is in a coupling state or a to-be-coupled state, and when the mechanical coupler spindle 3 is located at the uncoupling position, the mechanical coupler is in a uncoupling state.
In some embodiments of the present application, the method further comprises the steps of:
after the two mechanical coupler are hung, detecting the hanging state of the mechanical coupler hanging surface 4 according to the state of the mechanical coupler hanging surface sensor 41, and judging whether the mechanical coupler hanging surface 4 is hung in place; when the mechanical coupler is connected with the fine dried noodle sensor 41, the detection signal meeting the condition is fed back, which indicates that the two mechanical couplers are close and connected;
after a unhooking instruction is given, controlling the separation of the two mechanical coupler and dried noodles 4, detecting the connection state of the two mechanical coupler and dried noodles 4 according to the state of the mechanical coupler and dried noodles sensor 41, and judging whether the mechanical coupler and dried noodles 4 are separated in place or not; when the mechanical coupler is separated, the signal loss is detected by the mechanical coupler and fine dried noodle sensor 41, which indicates that the two mechanical couplers are separated;
when the mechanical coupler connecting fine dried noodles 4 are detected to be separated in place, the controller issues an unlocking instruction to the locking electric cylinder 1, and the locking electric cylinder 1 is controlled to be unlocked.
In some embodiments of the present application, the method further comprises the steps of:
after a coupling instruction is given, controlling the mechanical coupler to extend out of the coupling, and when the mechanical coupler coupling fine dried noodles 4 are detected to be coupled in place, the controller gives a control instruction to the electric coupler telescopic electric cylinder 5, controls the electric coupler telescopic electric cylinder 5 to extend out, and detects the extending position of the electric coupler 9;
after a unhooking instruction is given, controlling the telescopic electric cylinder 5 of the electric coupler to retract, and detecting the retracted position of the electric coupler 9; when the electric coupler 9 is detected to retract to the proper position, the mechanical coupler uncoupling cylinder 6 is controlled to execute the extending action to uncork the mechanical coupler.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present application or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the application, it is intended to cover the scope of the application as claimed.
Claims (10)
1. An automatic control system of a telescopic coupler buffering device is used for controlling a coupler, and is characterized in that the coupler comprises a mechanical coupler, the mechanical coupler comprises a telescopic rod and a coupler head arranged on the telescopic rod, and the control system comprises:
telescoping electric cylinder: the cylinder body is arranged at the fixed end of the telescopic rod, the cylinder rod is arranged at the telescopic end of the telescopic rod, and the telescopic electric cylinder is provided with a telescopic electric cylinder straightening position sensor for sensing a mechanical coupler stretching out signal and a telescopic electric cylinder retracting position sensor for sensing a mechanical coupler retracting signal;
locking the electric cylinder: the locking electric cylinder locking position sensor is fixedly connected to the telescopic rod and used for locking the position of the mechanical coupler, and the locking electric cylinder is provided with a locking electric cylinder locking position sensor used for sensing a locking electric cylinder locking signal and a locking electric cylinder unlocking position sensor used for sensing a locking electric cylinder unlocking signal;
and (3) a controller: the sensor is in sensing communication with a telescopic electric cylinder straightening position sensor, a telescopic electric cylinder retracting position sensor, a locking electric cylinder locking position sensor and a locking electric cylinder unlocking position sensor, and signals of the sensors are collected; the control system is communicated with the telescopic electric cylinder and the locking electric cylinder, and outputs a control signal for the telescopic electric cylinder and a control signal for the locking electric cylinder; the controller is further configured to generate a locking control signal for the locking electric cylinder based on feedback signals of the telescopic electric cylinder straightening position sensor and the telescopic electric cylinder retracting position sensor, and to generate an extension control signal and a retraction control signal for the telescopic electric cylinder based on feedback signals of the locking electric cylinder unlocking position sensor.
2. The automatic control system of a telescopic coupler buffer device according to claim 1, wherein a mechanical coupler uncoupling cylinder is further arranged on the coupler head and used for driving the mechanical coupler to uncork; the mechanical coupler uncoupling in-place sensor is used for sensing a mechanical coupler uncoupling in-place signal, and the mechanical coupler uncoupling return sensor is used for sensing a mechanical coupler uncoupling electric cylinder reset signal;
the controller is further in sensing communication with a mechanical coupler uncoupling in-place sensor and a mechanical coupler uncoupling return sensor, and acquires signals of the sensors; the control signal is output to the mechanical coupler uncoupling electric cylinder; the controller is further configured to generate a retraction control signal to the mechanical coupler uncoupling cylinder based on a feedback signal from the mechanical coupler uncoupling in-place sensor.
3. The automatic control system of a telescopic coupler and buffer device according to claim 2, wherein a coupler head position of the mechanical coupler is provided with a mechanical coupler spindle, and the mechanical coupler spindle is provided with a mechanical coupler spindle position sensor for sensing a mechanical coupler spindle position signal;
the controller is further in sensing communication with a mechanical coupler spindle position sensor, collects sensor signals, and judges the coupler coupling state based on the state of the mechanical coupler spindle sensor.
4. The automatic control system of a telescopic coupler and buffer device according to claim 1 or 2, wherein the mechanical coupler is provided with a mechanical coupler and fine dried noodles, and a mechanical coupler and fine dried noodles sensor for sensing a signal that the mechanical coupler and fine dried noodles are hung in place is arranged on the mechanical coupler and fine dried noodles;
the controller is further in sensing communication with a mechanical coupler and fine dried noodle sensor, and collects sensor signals; the controller is further configured to generate an unlock control signal for the lock cylinder based on the feedback signal of the mechanical coupler knuckle and the status signal of the mechanical coupler knuckle sensor.
5. The automatic control system of a telescopic coupler and buffer device according to claim 4, further comprising an electric coupler, wherein an electric coupler telescopic electric cylinder is arranged on the electric coupler and used for driving the electric coupler to extend or retract; the electric coupler telescopic electric cylinder is provided with an electric coupler extension position sensor for sensing an electric coupler extension position signal and an electric coupler retraction position sensor for sensing an electric coupler retraction position signal;
the controller is further in sensing communication with an electric coupler extension sensor and an electric coupler retraction sensor, and acquires signals of the sensors; the control signal is output to the electric coupler telescopic electric cylinder;
the controller is further configured to generate an extension control signal for the electrical coupler retraction cylinder based on the feedback signal of the mechanical coupler hitch sensor and to generate an extension control signal for the mechanical coupler uncoupling cylinder based on the feedback signal of the electrical coupler retraction sensor.
6. An automatic control method for a telescopic hook buffer device, adopting the automatic control system of any one of claims 1-5, and characterized by comprising the following steps:
issuing a connection instruction;
controlling the locking electric cylinder to unlock;
detecting an unlocking state of the locking electric cylinder, controlling the extension of the telescopic electric cylinder after detecting that the locking electric cylinder is unlocked, and detecting the extension position of the telescopic electric cylinder;
when the extension of the telescopic electric cylinder is detected to be in place, controlling the locking electric cylinder to lock;
detecting the locking state of the locking electric cylinder, and controlling the two mechanical couplers to be connected after the locking of the locking electric cylinder is detected;
a unhooking instruction is issued;
controlling the locking electric cylinder to unlock;
detecting the unlocking state of the locking electric cylinder, controlling the telescopic electric cylinder to retract after detecting that the locking electric cylinder is unlocked, and detecting the retracting position of the telescopic electric cylinder;
and controlling the locking electric cylinder to lock after detecting that the telescopic electric cylinder is retracted into position.
7. The automatic control method of a telescopic coupler and buffer device according to claim 6, wherein after issuing a unhooking command, the method further comprises the following steps before controlling the locking cylinder to unlock:
controlling the mechanical coupler uncoupling cylinder to extend out, and detecting the position of the mechanical coupler uncoupling cylinder;
when the mechanical coupler uncoupling is detected to be in place, the mechanical coupler uncoupling electric cylinder is controlled to execute reset action, and the position of the mechanical coupler uncoupling electric cylinder is detected.
8. The automatic control method for a telescopic coupler and buffer device as claimed in claim 6, further comprising the steps of:
and detecting the position of the main shaft of the mechanical coupler, and judging the coupling state of the mechanical coupler according to the position of the main shaft of the mechanical coupler.
9. The automatic control method for a telescopic coupler and buffer device as claimed in claim 7, further comprising the steps of:
after the two mechanical coupler are hung, detecting the hanging state of the mechanical coupler hanging surface and judging whether the mechanical coupler hanging surface is hung in place;
after a unhooking instruction is given, controlling the separation of the two mechanical coupler connecting fine dried noodles, detecting the connection state of the two mechanical coupler connecting fine dried noodles, and judging whether the mechanical coupler connecting fine dried noodles are separated in place or not;
and controlling the locking electric cylinder to unlock after detecting that the mechanical coupler is separated from the fine dried noodles in place.
10. The automatic control method for a telescopic coupler and buffer device as claimed in claim 9, further comprising the steps of:
when the mechanical coupler connecting fine dried noodles are detected to be connected in place, controlling the telescopic electric cylinder of the electric coupler to extend out, and detecting the extending position of the electric coupler;
after a uncoupling instruction is given, controlling the telescopic electric cylinder of the electric coupler to retract, and detecting the retracted position of the electric coupler;
and after the electric coupler is detected to be retracted, controlling the mechanical coupler uncoupling electric cylinder to execute the extending action.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310766163.XA CN116803817B (en) | 2023-06-27 | 2023-06-27 | Automatic control system and method for telescopic hook buffer device |
| PCT/CN2023/135453 WO2025000884A1 (en) | 2023-06-27 | 2023-11-30 | Automatic control system and method for telescopic coupler cushioning apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310766163.XA CN116803817B (en) | 2023-06-27 | 2023-06-27 | Automatic control system and method for telescopic hook buffer device |
Publications (2)
| Publication Number | Publication Date |
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| CN116803817A true CN116803817A (en) | 2023-09-26 |
| CN116803817B CN116803817B (en) | 2025-11-07 |
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| CN202310766163.XA Active CN116803817B (en) | 2023-06-27 | 2023-06-27 | Automatic control system and method for telescopic hook buffer device |
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| Country | Link |
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| CN (1) | CN116803817B (en) |
| WO (1) | WO2025000884A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025000884A1 (en) * | 2023-06-27 | 2025-01-02 | 中车制动系统有限公司 | Automatic control system and method for telescopic coupler cushioning apparatus |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120715938B (en) * | 2025-08-25 | 2025-11-07 | 沈阳奇辉机器人应用技术有限公司 | A hook lifting robot |
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| Publication number | Publication date |
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| CN116803817B (en) | 2025-11-07 |
| WO2025000884A1 (en) | 2025-01-02 |
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Effective date of registration: 20251230 Address after: 266111 South Side of Xinye Road and West Side of Herong Road, Qingdao Hi-tech Industrial Development Zone, Shandong Province Patentee after: CRRC Brake System Co.,Ltd. Country or region after: China Patentee after: CRRC CHANGCHUN RAILWAY VEHICLES Co.,Ltd. Address before: 266111 South Side of Xinye Road and West Side of Herong Road, Qingdao Hi-tech Industrial Development Zone, Shandong Province Patentee before: CRRC Brake System Co.,Ltd. Country or region before: China |
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