CN116803817B - Automatic control system and method for telescopic hook buffer device - Google Patents
Automatic control system and method for telescopic hook buffer deviceInfo
- Publication number
- CN116803817B CN116803817B CN202310766163.XA CN202310766163A CN116803817B CN 116803817 B CN116803817 B CN 116803817B CN 202310766163 A CN202310766163 A CN 202310766163A CN 116803817 B CN116803817 B CN 116803817B
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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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- Mechanical Engineering (AREA)
- Lock And Its Accessories (AREA)
Abstract
本发明涉及一种伸缩式钩缓装置自动控制系统及方法，用于车钩控制。控制系统包括锁定电缸、伸缩电缸、机械车钩解钩电缸、电气车钩伸缩电缸和控制器，其中伸缩电缸与锁定电缸均安装在机械车钩的伸缩杆上，解钩电缸设置在机械车钩的钩头处，电气车钩伸缩电缸设置在电气车钩上，各电缸上均安装有传感器用于检测电缸的状态，控制器采集各传感器状态，并且与各电缸通信，输出对电缸的控制信号；本发明实现了机械车钩伸缩、锁定、连挂、解钩以及电气车钩伸缩、连挂等全过程的全自动操控，动作简洁明了，省略了车端固定装置、车钩摆动止档等车下结构，解决了部分有轨电车无气路动力源的问题，满足了车下狭小空间要求。
This invention relates to an automatic control system and method for a telescopic coupler device, used for coupler control. The control system includes a locking cylinder, a telescopic cylinder, a mechanical coupler uncoupling cylinder, an electric coupler telescopic cylinder, and a controller. The telescopic and locking cylinders are mounted on the telescopic rod of the mechanical coupler, the uncoupling cylinder is located at the hook head of the mechanical coupler, and the electric coupler telescopic cylinder is located on the electric coupler. Each cylinder is equipped with a sensor to detect its status. The controller collects the status of each sensor and communicates with each cylinder, outputting control signals to the cylinders. This invention achieves fully automatic control of the entire process of mechanical coupler extension, locking, coupling, and uncoupling, as well as electric coupler extension and coupling. The actions are simple and clear, eliminating the need for undercarriage structures such as end-fixing devices and coupler swing stops. It solves the problem of some trams lacking a pneumatic power source and meets the requirements of limited space under the vehicle.
Description
Technical Field
The invention 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 invention 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 invention 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:
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;
The locking electric cylinder is fixedly connected to the telescopic rod and used for locking the position of the mechanical coupler, and is provided with a locking electric cylinder locking position sensor for sensing a locking signal of the locking electric cylinder and a locking electric cylinder unlocking position sensor for sensing an unlocking signal of the locking electric cylinder;
the controller is in sensing communication with the telescopic electric cylinder straightening position sensor, the telescopic electric cylinder retracting position sensor, the locking electric cylinder locking position sensor and the locking electric cylinder unlocking position sensor, and acquires signals of the sensors; the controller is further configured to generate a locking control signal for the locking electric cylinder according to feedback signals of the telescopic electric cylinder straightening position sensor and the telescopic electric cylinder retracting position sensor, and generate an extension control signal and a retraction control signal for the telescopic electric cylinder according to feedback signals of the locking electric cylinder unlocking position sensor.
In some embodiments of the invention, a mechanical coupler uncoupling electric cylinder is arranged on the coupler head and used for driving the mechanical coupler to uncork, and a mechanical coupler uncoupling in-place sensor used for sensing a mechanical coupler uncoupling in-place signal and a mechanical coupler uncoupling return sensor used for sensing a mechanical coupler uncoupling electric cylinder reset signal are arranged on the mechanical coupler uncoupling electric cylinder;
The controller is further in sensing communication with the mechanical coupler uncoupling in-place sensor and the mechanical coupler uncoupling return sensor, acquires signals of the sensors, is in communication with the mechanical coupler uncoupling electric cylinder, outputs control signals for the mechanical coupler uncoupling electric cylinder, and is further configured to generate retraction control signals for the mechanical coupler uncoupling electric cylinder according to feedback signals of the mechanical coupler uncoupling in-place sensor.
In some embodiments of the invention, 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 invention, 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 configured to generate an unlock control signal for the lock cylinder based on the feedback signal of the mechanical coupler and the noodle sensor and based on the status signal of the noodle sensor.
In some embodiments of the present invention, 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 to acquire signals of the sensors;
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 invention 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 invention, 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 invention, the method further comprises the steps of detecting the position of the main shaft of the mechanical coupler and judging the connection state of the mechanical coupler according to the position of the main shaft of the mechanical coupler.
In some embodiments of the present invention, 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 invention, 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 invention has the beneficial effects that:
1. according to the invention, 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 invention, 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 invention 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 invention 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. the device comprises a locking electric cylinder, a locking position sensor of the locking electric cylinder and a locking position sensor of the locking electric cylinder;
2. The telescopic electric cylinder comprises a telescopic electric cylinder, a telescopic electric cylinder straightening position sensor, a telescopic electric cylinder retracting position sensor and a telescopic electric cylinder retracting position sensor, wherein the telescopic electric cylinder is arranged at the bottom of the telescopic electric cylinder;
3. a mechanical coupler spindle position sensor;
4. the mechanical coupler is connected with the fine dried noodles sensor 41;
5. an electric coupler telescopic electric cylinder; an electric coupler extension position sensor 51, an electric coupler retraction position sensor 52;
6. Uncoupling electric cylinder of mechanical coupler; the mechanical coupler uncoupling in-place sensor 61, the mechanical coupler uncoupling return sensor 62;
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 invention and features of the embodiments may be combined with each other without conflict.
The technical scheme of the invention is described in detail below with reference to specific embodiments and attached drawings.
Example 1:
the embodiment of the invention 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 inside 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, a locking electric cylinder locking position sensor 11 used for sensing a locking electric cylinder locking signal and a locking electric cylinder lock unlocking sensor 12 used for sensing a locking electric cylinder unlocking signal are arranged on the locking electric cylinder 1, and a telescopic electric cylinder straightening position sensor 21, a telescopic electric cylinder retracting position sensor 22, the locking electric cylinder locking position sensor 11 and the locking electric cylinder unlocking position sensor 12 are all position sensors.
The controller is in sensing communication with 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 locking unlocking sensor 12, collects sensor signals, is in communication with the telescopic cylinder 2 and the locking cylinder 1, outputs control signals for the telescopic cylinder 2 and control signals for the locking cylinder 1, and is further configured to generate a locking control signal for the locking cylinder 1 according to feedback signals of the telescopic cylinder straightening position sensor 21 and the telescopic cylinder retracting position sensor 22 and generate an extension control signal and a retraction control signal for the telescopic cylinder 2 according to feedback signals of the locking cylinder unlocking position sensor 12.
Specifically, after the controller receives a continuous hanging instruction, the locking electric cylinder 1 is controlled to unlock, signals of the locking electric cylinder unlocking position sensor 12 are collected, an extension control signal for the telescopic electric cylinder 2 is generated according to the feedback signals of the locking electric cylinder unlocking position sensor 12, the telescopic electric cylinder 2 is driven to extend, signals of the telescopic electric cylinder extension position sensor 21 are collected, locking control signals for the locking electric cylinder 1 are generated according to the feedback signals of the telescopic electric cylinder extension position sensor 21, after the controller receives the unhooking instruction, the telescopic electric cylinder 2 is controlled to retract, signals of the telescopic electric cylinder retraction position sensor 22 are collected, and locking control signals for the locking electric cylinder 1 are generated according to the feedback signals 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 present invention, 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, and the mechanical coupler unhooking cylinder 6 is arranged on the coupler head 8 of the mechanical coupler, so that the problem that a tramcar does not have a gas circuit power source can be solved, and the automatic control of the coupler can also be participated. 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, wherein 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 the mechanical coupler uncoupling in-place sensor 61 and the mechanical coupler uncoupling return sensor 62, acquires sensor signals, is in communication with the mechanical coupler uncoupling electric cylinder 6, outputs a control signal for the mechanical coupler uncoupling electric cylinder 6, and is further configured to generate a retraction control signal for the mechanical coupler uncoupling electric cylinder 6 according to a feedback signal of 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 invention, a mechanical coupler spindle 3 is arranged at the position of a coupler head 8 of the mechanical coupler, a mechanical coupler spindle position sensor 31 for sensing a mechanical coupler spindle position signal is arranged on the mechanical coupler spindle 3, and the controller is further in sensing communication with the mechanical coupler spindle position sensor 31, acquires sensor signals and judges the coupling state of the mechanical coupler based on the state of the mechanical coupler 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 invention, the mechanical coupler is provided with a mechanical coupler connecting line 4, and a mechanical coupler connecting line sensor 41 for sensing a signal of connecting the mechanical coupler connecting line in place is arranged on the mechanical coupler connecting line 4;
The controller is further in sensing communication with the mechanical coupler lineman sensor 41 for collecting sensor signals, and is further configured to generate an unlock control signal for the lock cylinder 1 based on the feedback signal of the mechanical coupler lineman sensor 41 and based on the status signal of the mechanical coupler lineman sensor 41.
In order to realize the electric coupling of two car couplers, in some embodiments of the invention, the control system further comprises an electric coupler 9, an electric coupler telescopic electric cylinder 5 is arranged on the electric coupler 9 and used for driving the electric coupler 9 to extend or retract, an electric coupler extending position sensor 51 used for sensing an electric coupler extending position signal and an electric coupler retracting position sensor 52 used for sensing an electric coupler retracting position signal are arranged on the electric coupler telescopic electric cylinder 5, and the electric coupler extending position sensor 51 and the electric coupler retracting position sensor 52 are both position sensors.
The controller is further in sensing communication with the electric coupler extension sensor 51 and the electric coupler retraction sensor 52 for collecting sensor signals, is in communication with the electric coupler extension cylinder 5 for outputting control signals to the electric coupler extension cylinder 5, and is further configured to generate extension control signals to the electric coupler extension cylinder 5 according to feedback signals of the mechanical coupler coupling face sensor 41 and to generate extension control signals to the mechanical coupler uncoupling cylinder 6 according to feedback signals of the electric coupler retraction sensor 52.
Specifically, after the controller receives a signal that the mechanical coupler is linked and hung in place, an extension control signal for the telescopic electric cylinder 5 of the mechanical coupler is generated, the electric coupler 9 is driven to extend and hang, an electric coupler extension position sensor 51 signal is collected, whether the electric coupler 9 extends and places in place is judged, when the controller receives a uncoupling command, a retraction control signal for the telescopic electric cylinder 5 of the electric coupler is generated, the electric coupler 9 is driven to be uncoupled and retracted, an electric coupler retraction position sensor 52 signal is collected, an electric coupler retraction state is judged, and when the electric coupler 9 is detected to be retracted in place, the extension control signal for the electric cylinder 6 of the mechanical coupler is generated, and the mechanical coupler is controlled to be uncoupled.
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 status 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 invention is as follows:
When in an initial state, the locking electric cylinder 1 is in an extending state and is used for locking the retraction state of the mechanical coupler, a locking electric cylinder locking signal is fed back to the controller, the telescopic electric cylinder 2 is in a retraction state and is used for feeding back a telescopic electric cylinder retraction in-place signal to the controller, the mechanical coupler uncoupling electric cylinder 6 is in a retraction state and is used for feeding back a mechanical coupler uncoupling electric cylinder reset signal to the controller, the mechanical coupler spindle 3 is positioned at an initial position and is used for feeding back a spindle initial position signal to the controller, the mechanical coupler fine dried noodles 4 is in a separation state and is used for feeding back a mechanical coupler fine dried noodles 4 separation signal to the controller, the electric coupler telescopic electric cylinder 5 is in a retraction state, and the electric coupler 9 is retracted and closed and is used for feeding back an electric coupler retraction in-place signal to the controller.
When the car coupler is required to be hung, a hanging button is pressed, a locking electric cylinder 1 performs retraction, the locking of the telescopic rod 7 is released, a locking electric cylinder unlocking signal is fed back, after the controller receives the locking electric cylinder unlocking signal, the telescopic electric cylinder 2 is controlled to perform stretching action, after stretching out, the stretching signal of the telescopic electric cylinder is fed back to the controller, after the controller receives the stretching signal of the telescopic electric cylinder, the locking electric cylinder 1 is controlled to perform stretching action, the stretching state of the telescopic rod 7 is locked, the locking electric cylinder locking signal is fed back to the controller, after the controller receives the locking electric cylinder locking signal, the two car mechanical car couplers are controlled to be hung, after the two car mechanical car couplers are hung, the mechanical car coupler hanging position signal is fed back to the controller, after the mechanical car coupler hanging position signal is received, the controller checks each sensor signal, the telescopic electric cylinders 5 are controlled to perform stretching action at the moment, the electric car coupler 9 stretches out, and the electric car coupler hanging position signal is fed back to the controller, and the stretching process of the car coupler is finished.
When the car coupler is required to be unhooked and retracted, the master control vehicle presses a unhooking button, two car electric car couplers 9 unhook, an electric car coupler telescopic electric cylinder executes retraction motion, after the electric car coupler 9 is retracted, an electric car coupler retraction positioning signal is fed back to the controller, after the electric car coupler 9 is retracted, the controller executes unhooking operation on the mechanical car coupler, controls the mechanical car coupler electric cylinder 6 to execute extension motion, pushes the mechanical car coupler spindle 3 to a unhooking position, feeds back the mechanical car coupler positioning signal to the controller, after the controller receives the mechanical car coupler positioning signal, the master control vehicle mechanical car coupler electric cylinder 6 executes retraction motion, after the mechanical car coupler positioning signal is retracted, the controller feeds back a mechanical car coupler electric cylinder reset signal, controls train separation, at the moment, the mechanical car coupler 4 is separated, and feeds back the mechanical coupler separation signal to the controller, after the controller receives the mechanical coupler fine dried noodle separation signal, controls the locking electric cylinder 1 to execute retraction motion, the mechanical coupler electric cylinder 1 feeds back the locking electric cylinder signal to the controller, after the controller receives the locking electric car coupler electric cylinder is locked, the control cylinder 2 receives the mechanical coupler positioning signal, the mechanical coupler electric cylinder is retracted, the control cylinder is retracted, and the telescopic cylinder is controlled, after the telescopic cylinder 1 is retracted, and the control cylinder is controlled to execute the telescopic motion, and the control cylinder is retracted, and the control cylinder is controlled.
Example 2:
the invention 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 invention, after the unhooking instruction is issued, the following steps are further included before the locking cylinder 1 is controlled to unlock:
And after the mechanical coupler uncoupling in place is detected, the mechanical coupler uncoupling electric cylinder 6 is controlled to execute a reset action, and the position of the mechanical coupler uncoupling electric cylinder 6 is detected.
In some embodiments of the present invention, the method further comprises the steps of:
detecting the position of a mechanical coupler spindle 3, judging the coupling state of the mechanical coupler according to the position of the mechanical coupler spindle 3, wherein when the mechanical coupler spindle 3 is positioned at an initial position, the mechanical coupler is in the coupling state or the to-be-coupled state, and when the mechanical coupler spindle 3 is positioned at a uncoupling position, the mechanical coupler is in the uncoupling state.
In some embodiments of the present invention, 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 invention, 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;
And after detecting that the electric coupler 9 is retracted in place, controlling the mechanical coupler uncoupling cylinder 6 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 invention, after the unhooking instruction is issued, the following steps are further included before the locking cylinder 1 is controlled to unlock:
The mechanical coupler uncoupling cylinder 6 is controlled to extend, the position of the mechanical coupler uncoupling cylinder 6 is detected according to the state of a mechanical coupler uncoupling in-place sensor 61, and after the mechanical coupler uncoupling in-place is detected, the controller issues a reset instruction to the mechanical coupler uncoupling cylinder 6, controls the mechanical coupler uncoupling cylinder 6 to execute a reset action and detects the position of the mechanical coupler uncoupling cylinder 6.
In some embodiments of the present invention, the method further comprises the steps of:
detecting the position of a mechanical coupler spindle 3, judging the coupling state of the mechanical coupler according to the position of the mechanical coupler spindle 3, wherein when the mechanical coupler spindle 3 is positioned at an initial position, the mechanical coupler is in the coupling state or the to-be-coupled state, and when the mechanical coupler spindle 3 is positioned at a uncoupling position, the mechanical coupler is in the uncoupling state.
In some embodiments of the present invention, the method further comprises the steps of:
After the two mechanical couplers 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 or not;
After a uncoupling instruction is given, controlling the separation of the two mechanical coupler and dried noodles 4, and judging whether the mechanical coupler and dried noodles 4 are separated or not according to the state of the mechanical coupler and dried noodles sensor 41, wherein when the mechanical coupler and dried noodles sensor 41 detects that the signal is lost, 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 invention, 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;
And after detecting that the electric coupler 9 is retracted in place, controlling the mechanical coupler uncoupling cylinder 6 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 by differences from other embodiments, and identical and similar parts between the embodiments are only required to be mutually referred.
The foregoing embodiments are only for illustrating the technical scheme of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention may be modified or parts of technical features may be equivalently replaced without departing from the spirit of the technical scheme of the present invention, and the scope of the technical scheme of the present invention is covered by the claims.
Claims (9)
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:
The telescopic electric cylinder is characterized in that a cylinder body of the telescopic electric cylinder is arranged at a fixed end of a telescopic rod, a cylinder rod is arranged at a telescopic end of the telescopic rod, and 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 are arranged on the telescopic electric cylinder;
The locking electric cylinder is fixedly connected to the telescopic rod and used for locking the position of the mechanical coupler, and is provided with a locking electric cylinder locking position sensor for sensing a locking signal of the locking electric cylinder and a locking electric cylinder unlocking position sensor for sensing an unlocking signal of the locking electric cylinder;
the mechanical coupler uncoupling cylinder is arranged on the coupler head and used for driving the mechanical coupler to uncork, and is provided with a mechanical coupler uncoupling in-place sensor used for sensing a mechanical coupler uncoupling in-place signal and a mechanical coupler uncoupling return sensor used for sensing a mechanical coupler uncoupling cylinder reset signal;
The controller is in sensing communication with the telescopic electric cylinder straightening position sensor, the telescopic electric cylinder retracting position sensor, the locking electric cylinder locking position sensor, the locking electric cylinder unlocking position sensor, the mechanical coupler uncoupling in-place sensor and the mechanical coupler uncoupling return sensor, and acquires signals of the sensors; the controller is further configured to generate a locking control signal for the locking electric cylinder according to a feedback signal of the telescopic electric cylinder straightening position sensor and the telescopic electric cylinder retraction position sensor, generate an extension control signal and a retraction control signal for the telescopic electric cylinder according to a feedback signal of the locking electric cylinder unlocking position sensor, and generate a retraction control signal for the mechanical coupler uncoupling electric cylinder according to a feedback signal of the mechanical coupler uncoupling in-place sensor.
2. The automatic control system of a telescopic coupler and buffer device according to claim 1, 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.
3. The retractable coupler automatic control system of claim 1, wherein the mechanical coupler has a mechanical coupler tow surface on which a mechanical coupler tow surface sensor for sensing a signal that the mechanical coupler tow surface is in place is mounted;
The controller is further configured to generate an unlock control signal for the lock cylinder based on a feedback signal from the mechanical coupler to noodle sensor and based on a status signal from the mechanical coupler to noodle sensor.
4. The automatic control system of a telescopic coupler and buffer device according to claim 3, 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 controller is further in sensing communication with the electric coupler extension sensor and the electric coupler retraction sensor to acquire signals of the sensors;
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.
5. An automatic control method for a telescopic hook buffer device, adopting the automatic control system of any one of claims 1-4, 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.
6. The automatic control method of a telescopic coupler and buffer device according to claim 5, 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.
7. The automatic control method for a telescopic coupler and buffer device as claimed in claim 5, 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.
8. The automatic control method for a telescopic coupler and buffer device as claimed in claim 6, 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.
9. The automatic control method for a telescopic coupler and buffer device as claimed in claim 8, 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 |
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| CN202310766163.XA CN116803817B (en) | 2023-06-27 | 2023-06-27 | Automatic control system and method for telescopic hook buffer device |
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| CN116803817A CN116803817A (en) | 2023-09-26 |
| CN116803817B true 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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| WO (1) | WO2025000884A1 (en) |
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| CN116803817B (en) * | 2023-06-27 | 2025-11-07 | 中车制动系统有限公司 | Automatic control system and method for telescopic hook buffer device |
| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494419A (en) * | 2016-11-10 | 2017-03-15 | 中车青岛四方机车车辆股份有限公司 | The switching mechanism of rail vehicle and the control method of hitch, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| BRPI0700913A (en) * | 2007-03-13 | 2008-10-28 | Caue Nabao Russomano | automatic coupling system for coupling and disengaging of railway wagons |
| CN201304993Y (en) * | 2008-11-27 | 2009-09-09 | 青岛四方车辆研究所有限公司 | Car body coupler automatic lock device |
| CN106274958B (en) * | 2016-08-31 | 2018-02-02 | 中车青岛四方车辆研究所有限公司 | Hitch solves hook mechanism automatically |
| CN112172424B (en) * | 2019-07-05 | 2024-03-29 | 中车长春轨道客车股份有限公司 | Automatic unhooking device and automatic unhooking method |
| CN111055876B (en) * | 2020-01-07 | 2025-03-11 | 陕西海舵铁路科技发展有限公司 | An intelligent coupler |
| GB2600408B (en) * | 2020-10-27 | 2024-04-03 | Ritchie Kinghorn John | Extendable coupler |
| CN216467831U (en) * | 2021-12-06 | 2022-05-10 | 中铁工程机械研究设计院有限公司 | Car coupler structure and suspension type monorail train |
| CN114802336B (en) * | 2022-05-31 | 2024-01-30 | 中车制动系统有限公司 | Locking device of telescopic coupler |
| CN116176646B (en) * | 2023-03-09 | 2024-12-27 | 中车制动系统有限公司 | Automatic detection device and detection method for coupler coupling state |
| CN116803817B (en) * | 2023-06-27 | 2025-11-07 | 中车制动系统有限公司 | Automatic control system and method for telescopic hook buffer device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494419A (en) * | 2016-11-10 | 2017-03-15 | 中车青岛四方机车车辆股份有限公司 | The switching mechanism of rail vehicle and the control method of hitch, device and system |
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| CN116803817A (en) | 2023-09-26 |
| 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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