CN101605708A - Control is used to transport the method for the guideway transportation system of discrete material - Google Patents
Control is used to transport the method for the guideway transportation system of discrete material Download PDFInfo
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- CN101605708A CN101605708A CNA2007800503386A CN200780050338A CN101605708A CN 101605708 A CN101605708 A CN 101605708A CN A2007800503386 A CNA2007800503386 A CN A2007800503386A CN 200780050338 A CN200780050338 A CN 200780050338A CN 101605708 A CN101605708 A CN 101605708A
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Abstract
A kind of train is by being the drive station drive of the side plate on the wipe contact train along tracks positioned.The sensor Be Controlled that the actuating speed response is provided with at each driving station place, the position of these sensor wheels and side plate is used to confirm the existence of train.When the guiding compartment in the preselected distance of second driving station time, startup command is sent to second driving station in downstream from the driving station that drives train.Driving station at the second driving station place is accelerated to target velocity rapidly, is used to make first driving station and second driving station synchronous.After receiving train, second driving station will be ceased and desisted order then and will be sent to first driving station, be used for this driving station decelerated to fast stopping.
Description
Technical field
Present invention relates in general to be used to drive the system of the train that does not have internal drive, and specifically, relate to system and method by the loading and unloading control multiple row train of discrete material.
Background technology
The discrete material or the conduct that are used for transporting at conventional train, truck, belt conveyor, aerial rope way are known at the method and apparatus of ducted mud, and because place-specific needs or experience typically are used in the industry-by-industry.In digging and aggregate industrial, for example, discrete material is transported to processing plant from digging or extraction place, so that concentrate or screening.Truck is for transporting system that discrete material becomes selection for many years.Truck is strengthened for overland vehicle, and this is because the capacity of their bulk material transport and increases efficiently.Yet these vehicles are limited to site specific applications, and provide with high fund cost.Heavy off-road truck develops, they require the road surface of non-constant width to be used for passing through each other, and the per ton-mile of the material that is transported is not an energy efficient, has limited hill climbing ability, and because the possibility that operating personal is made mistakes is dangerous, and be on environment, to make neighbours' discomfort.
Train be used in the hopper car bulk material transport for many years.Because the use of the low friction on the rail road, free rolling iron tyre or steel wheel, they are that energy uses thing very efficiently, but are being restricted aspect the capacity relevant with desired actuator or locomotive.It is a plurality of actuators of heavy units that the long train of large-tonnage uses, the weight that these actuator indication guide rails and ballast aggregate require.All railways must be designed to comprise the weight of the actuator or the locomotive of fuel, rather than the compartment adds the weight of the combination of load, because the latter is significantly lighter.Actuator need have enough weight, makes the rotation drive tire contact with stationary guide rails, and must have enough frictions will comprise with generation heavy loading compartment object forward or counter motion.The tilt capability of the conventional railway system is limited to the friction between weighted drive wheels and track.Rail carriages be each must be in batch process, the independent unit that is loaded, next compartment.Discrete material can unload from hopper car by opening the bottom dump hatch, perhaps can be rotated individually to draw off from the top.Fixed point is used for the consuming time and effort in compartment of loading and unloading.
Although the motion from a position to another position may be the cost actv., the cost of the increase in loading and unloading stage reduces guide rail traffic cost efficient in batches in than short-distance transportation.About common single double track train system, once in system, can only use a row train.
Belt conveyor was used to transport discrete material many years.Have various conveyer systems, in fact these systems can transport the every kind of discrete material that can expect.The single belt operation of very long distance is unusual intensive capital, and stands catastrophic fault when belt splits or break, typically stops total system and topples over the load of carrying, needs to clear up.The belt conveyor relative energy is efficient, but because the intrinsic problem that a plurality of idle pulley bearings require continuous cross-check sum to change may require very high maintenance.Short distance conveyor belts is used in the dry type or damp transport of nearly all types of material usually.Because belt conveyor is very soft, and wish to work on quite flat ground, so be not efficiently during their contour in transit solid part of mud, wherein water and fines may be accumulated in the low position, and the side of overflowing, and produce the wet mud handling problems of overflowing.
Some discrete materials can transport in pipeline when mixing formation mud with water, and this mud is at no air or overflow promotion of electricity consumption motor driven pump impeller or pulling under the environment.The size indication of the independent particle that exists in discrete material keeps the essential travelling speed of motion.For example, if huge particle exists, speed must highly must be enough to move by jumping or the slippage maintenance is moved along the duct bottom of real the largest particles so.Because pipeline is worked under dynamic environment, so produce friction by moving fluid and solid matter about static tube wall.The speed of motion material is high more, requires the energy of increase of compensation big more at wall surface place loss due to friction.According to purposes, discrete material initially must transport with promotion by dilute with water, and dewaters at the discharge end place.
Light rail, narrow gage railway that transport of bulk materials such as is used for from the mine etc. is known, as authorize people's such as Hubert US Patent the 3rd by example reference, 332, as described in No. 535, wherein the light rail train of being made up of a plurality of compartments is advanced by drive wheel and electrical motor combination, dumps on outer loop.By other example, authorize Robinson, people's such as Jr. US Patent discloses a kind of similar narrow gage railway for the 3rd, 752, No. 334, and wherein the compartment is by electrical motor and drive wheel.Authorize the US Patent of Richardson and described a kind of method of using friction of rest drive tire motion railcar for the 3rd, 039, No. 402.
Although above-mentioned transport systems and method have the certain benefits that is better than conventional system, each highly depends on application-specific.Become clearly, the increase of work, energy and material cost, plus environmental worry to need to use selectable transportation resources, these methods be energy and work efficiently, quiet, do not pollute, and inconspicuous aspect aesthstic.Authorize people's such as Dibble U.S. Patent bulletin US 2003/0226470 for " RailTransport System for Bulk Materials (guideway transportation system that is used for discrete material) " and disclose a kind of light rail train for the U.S. Patent bulletin US 2006/0162608 that " LightRail Transport System for Bulk Materials (the light rail transport systems that is used for discrete material) " authorizes Dibble, this light rail train utilization has the unlimited semi-circular grooves train that improves driving station, and it openly all is included in here by reference.A kind of like this light rail systems provides for the innovation of above-mentioned material transport systems can select example, and a plurality of bonded assemblys of regulation use compartment transport of bulk materials, and these compartments open wide at each place, end except that first and final compartment with end panel.Train forms long open trough, and has and be connected on each compartment and the flexible baffle overlapping with compartment in front, during movement overflows preventing.The guiding compartment has four wheels and at the tapered side drive plate of front portion, compartment, so that enter into driving station.Compartment subsequently has two wheels, has the front portion is connected to U-shaped hook hookup on the rear portion of tight preceding carriage.The motion of train is provided by the driving station of a series of suitable layouts, these driving stations have driving motor on the either side of track, these driving motors are the alternating-current motor/AC motors with the actuating device such as rim, so that the wipe contact with side drive plates to be provided.At each driving station place, each driving motor is connected to controller and the AC inverter that is used for drive controlling, makes all changes on demand of voltage and frequency.Each electrical motor is rotatable in a horizontal plane rim, exterior two parallel side drive plates of the wheel that this rim physics contacts each compartment.For the pressure of side drive plates rotatablely moving of rim changed into horizontal thrust by these drive tire.Wheel on the compartment is spaced apart, thereby to be used for unloading by using two group guide rails to allow operation in the reversed position to allow the compartment to be inverted and hanging.By rotating this double track system, can make unit train turn back to its normal operating condition.A kind of like this system is known, and at the commercial Rail-Veyor that is called
TM
Flanged wheels is symmetrical with respect to the side drive plates that allows to work in reversed position, and when four guide rails were used to encapsulate the lateral wheel loop unloading of discrete material, this was possible.By using the rising guide rail, train can easily be worked with the same in usual manner in reversed position.
Further, developed the driving that is used for such light rail systems, as the US Patent the 5th of authorizing people such as Kiuchi, 067, as described in No. 413, this patent has been described a kind of device that is used to transport movable body, and these movable bodies do not provide drive source on fixed route.A plurality of movable bodies in the aligned in general, travel on fixed route in closed contact each other.Driving dynamics is sent to one of a plurality of movable bodies of locating at least one end of aiming at.Driving dynamics by means of the frictional force drives movable body, and is sent to movable body in the opposite side surface of assembling movable body when pushing a side surface of movable body.The device that transmits driving dynamics only is arranged on the part of fixed route.
Although all Rail-Veyor as described above
TMAnd so on light rail systems generally be accepted, but the needs of the system that provides such are arranged, this system is about the control train and particularly have the motion of the multiple row train of bulk material transport system, has very high efficient and reliability.The present invention is directed to light rail systems efficient and that reliable fashion control is such.
Summary of the invention
Embodiments of the invention use Rail-Veyor by example here
TMSystem provides improvement control by driving interior communication, and these drive interior communications provides a driving station train speed and position data to be sent to the ability of cooperation driving station.Can preferably adopt high-speed communicating network.Control system of the present invention can comprise the redundant position sensors that is used for determining reliably accurate train location.Knowing under the situation of accurate train location, surely regulating the train spacing with the hope of finishing expeditiously for the multiple row train.Control system of the present invention is controlled at the acceleration and the deceleration of train on a plurality of driving stations, and thereby allow the little driving of using than the typical case of horsepower, thereby cause greater efficiency and low system hardware cost.
By example, a corresponding to embodiment can comprise a series of interconnection compartment with instruction of the present invention, the free rolling train that forms long open trough is created in these interconnection compartments, this open trough can move to the place of unloading from loading point along the light rail track in the loop, and gets back to loading point with having no to stop.This loop allows the multiple row train to move on same track.This feature needn't need to add other driving station by adding more trains simply and significantly increase capacity, thereby increase capacity with quite low increment cost.
By the embodiment of case description, each compartment has two trailing wheels for here, and this trailing wheel has front and rear ball formula/U-shaped coupling type and connects, and this connects the connection that allows the compartment, thereby forms train.The outside of the wheel that each compartment rolls in both sides, in orbit also all has horizontal drive plates.Urethane flap is used for the gap between the sealing carriage, makes can have significant flexibility on rolling ground when train moves.Travelling forward is provided by a series of static relatively driving station that is provided with on the train either side, makes train always contact with driving station.Each driving station provides enough pressure for side plate in case sliding stop.Each is rotated drive tire by gear reducer and alternating-current motor/AC motor.Electromotor velocity is controlled by means of frequency conversion drive (VFD).Because the track between loading point and the break bulk point is continuous, so the multiple row train can be worked simultaneously.Material loads aboard, is transported to emptying point, by vertical outer loop unloading, and turns back to the loading point, with repetitive cycling.System is that continuous working designs.As long as feeder hopper remains full of and discharged material is removed, Rail-Veyor
TMJust need not be from the intervention of operating personal.
Method of the present invention aspect can comprise control train moving along track, wherein train is by a plurality of drive station drive along tracks positioned, and wherein train comprises guiding compartment and Rea car body, each compartment has the wheel that is used for along the track rolling, and each compartment has side plate thereon, in a plurality of driving stations each has for carrying out the drive tire that wipe contact is located with side plate at preselected interval, is used to make the train orbital motion.A kind of method comprises: each place in a plurality of driving stations provides first and second sensors; The location is used to detect at the driving station place along the first sensor of the position of the wheel in each compartment that track rolls; The location is used to detect second sensor of the existence of side plate; Operate first driving station at a plurality of actuators station, be used to make train to move by preselected speed along track; In the guiding wheel in detection guiding compartment and the afterbody wheel of Rea car body at least one; First driving station accelerates to target velocity with train, and under target velocity the second drive station drive train in a plurality of driving stations; Detect the wheel when each wheel of train passes through first sensor, be used for determining the position of train with respect to first driving station; Detection is by the front edge of first side plate of guiding compartment carrying, and wherein the detection of front edge provides the signal of confirming that train exists; When the guiding compartment in the preselected distance of second driving station time, fast acceleration command signal is sent to second driving station, wherein exist and the beginning actuation signal based on train length that generates by signal and train from first and second sensors; To be rapidly accelerated to target velocity in the drive tire at the second driving station place, and be used to make first driving station and second driving station synchronous; Receive train at the second driving station place, be used for continuing to drive train; When each wheel of train detects wheel during by the first sensor at the second driving station place, be used for determining the position of train with respect to second driving station; Front edge by second sensor, first side plate at the second driving station place is used to confirm the existence of train; And will cease and desist order and be sent to first driving station, be used for drive tire with first driving station and decelerate to fast and stop.
But a kind of system of selection can comprise: provide comprise be installed in such a way with plane that track roughly parallels in the upstream sensor and the sensor of downstream sensor right, make when wheel during, allow the quadrature detection of sensor wheel count that train is provided by driving station; Operate first driving station at a plurality of actuators station, be used to make train to move by preselected speed along track; Detect the train wheel when train passes through first driving station; First driving station accelerates to target velocity with train, and under target velocity the second drive station drive train in a plurality of driving stations; Detection is used for determining position and the sense of motion of train with respect to first driving station by each wheel of the right train of sensor; When the guiding compartment in the preselected distance of second driving station time, start up command signals is sent to second driving station, wherein begin start up command signals based on train length; The driver element of second driving station is accelerated to target velocity, be used to make the speed synchronization of the driver element of the speed of driver element of first driving station and second driving station; Receive train at the second driving station place, be used for continuing to drive train; Detect each wheel, be used for determining once more position and the travel direction of train with respect to second driving station by the train of second driving station; And second driving station of response driving train, will cease and desist order is sent to first driving station, is used to make the driver element of first driving station to stop.
Description of drawings
With reference to the accompanying drawings with photo by the case description embodiments of the invention, wherein:
Fig. 1 is and the explanation that illustrates and be used for a monitor scope of control cabin of instructing consistent a kind of guide track system of the present invention;
Fig. 2 and 3 is respectively side-looking and the plan view from above about an embodiment of the exercisable train of system of Fig. 1;
Fig. 4 is the diagram planar view that shows that a driving station and sensor are provided with;
Fig. 5 A-5C shows the embodiment of exercisable sensor in the system of wheel that is used to detect the train of describing with reference to figure 2 and side plate;
Fig. 6 is the diagram planar view that shows that optional driving station and sensor are provided with;
Fig. 7 and 7A are illustrating about the exercisable optional track setting of control system of the present invention;
Fig. 8 is used for the speed at adjacent driven station to time plot with graph shows;
Fig. 9 be by quicken and the speed of the train movement from the speed of loading to the discharge rate of slowing down to time plot;
Figure 10 is the diagram of curves for the wheel of the wheel of the train that detects Fig. 2 and side plate and position transduser response;
Figure 11 is for illustrating that the sensor by the right wheel of sensor responds;
Figure 12 is in order to unload discrete material by train borne by putting upside down the part lateral plan of driven train; And
Figure 13-the 17th shows the diagram of circuit by means of an embodiment of the logic flow control of the train of system drive, wherein Figure 13 and 14 is at General System and master control, Figure 15 is at acceleration and deceleration station driver element, and Figure 17 is at beginning and stop logic.
The specific embodiment
Now will describe the present invention with reference to the accompanying drawings more fully hereinafter, wherein show embodiments of the invention.Yet the present invention can be with multiple multi-form enforcement, and not should be understood to and be limited to the embodiment of narration here.But, the embodiment that presents here is provided, make that the disclosure will be thorough and complete, and scope of the present invention is conveyed to those skilled in the art fully.
By example, use Rail-Veyor here
TMSystem description and the corresponding to control system of instruction of the present invention.Other application can comprise: subsurface excavation work, and wherein loaded train is stacked on and puts upside down sky and return on the top of train, and this reduces horizontal profile; Wherein train is used with the continuous loop bonded assembly as conventional transveyer, the potential fire that does not have the belt tension problem and caused by the driving slippage.Such as the skilled person would expect, Rail-Veyor
TMCan be applied to the mass transportation of people, luggage or far products.Although physically different aspect outward appearance, all above application can have the drive system of same type.
Initial reference Fig. 1 and 2, a corresponding to train system 10 comprises the track 12 with closed slide 12a, 12b with instruction of the present invention.Train 14 comprise first or the guiding compartment 16, it has, and exercisable front and rear wheel is used for free rolling movement is offered the guiding compartment to 18,20 on track 12.By the embodiment of case description, train comprises be described as second or Rea car body 22 and the middle compartment 24 that carries or the other compartment of a plurality of middle compartments between guiding compartment and Rea car body for here.The rear portion comprises that with middle compartment 22,24 the front portion pivot that is used for centre and Rea car body are pivotally connected on the adjacent front compartment is connected 26.Rear portion and middle compartment 22,24 only have that exercisable rear wheel is used for providing free rolling movement to it to 20 on track 12.
Continuation is with reference to figure 2, and each in the compartment has the side plate 28 that is fixed to the upper.Refer again to Fig. 1 and with reference to figure 3, in a plurality of driving stations 30 each all has the frequency conversion drive (VFD) that comprises drive tire 32, and this drive tire 32 is used for frictionally contacting side plate 28 and actuation movement is passed to each compartment and thereby imposes on train 14.As continuing to show with reference to figure 3, here the embodiment of Miao Shuing comprises each compartment with relative side plate 28a, 28b and relative drive tire 32a, 32b.Further as shonw in Figure 4 as reference, the selected embodiment of driving station 30 comprises that relative drive tire is to 32P.
Continuation is with reference to figure 4 with reference to figure 5A-5C, in the driving station 30 each is included as the wheel 36 that detects train 14 and the first sensor 34 of locating, wherein the detection of wheel provides the position of train and the indication of speed, and this point will be explained in more detail in the back.For the embodiments described herein, each driving station 30 also is included as and detects side plate 28 and second sensor 38 of location, and the existence of train 14 is confirmed in the detection of its latus inframedium, and this point will be explained in more detail in this section after a while.Continue with reference to figure 5A-5C, one embodiment of the present of invention comprise first sensor 34, this first sensor 34 comprises sensor to 34P, and this sensor comprises upstream sensor 34U and downstream sensor 34D to 34P, and wherein sensor is to being positioned near the track and below second sensor.Sensor to 34P comprise be installed in such a way roughly with plane 40 that track 12 parallels in upstream sensor 34U and downstream sensor 34D: during by driving station 30, allow sensor that the quadrature that wheel 36 countings are provided is surveyed with convenient wheel.Sensor 34,38 can comprise proximity transducer or be satisfied those desired sensors of condition of being determined by the those skilled in the art that benefit from instruction of the present invention now.
With reference now to Fig. 6,, each driving station 30 comprises about sensor 34,38 exercisable controllers 42, make controller handle the signal that receives from sensor, and when when driving station 30B drives, sending about the speed of train 14 and the appropriate command signal of existence by driving station 30A, as refer again to Fig. 1 shows, and this point will illustrate in greater detail in this section after a while.As refer again to Fig. 6 shows, sensor 34,38 can be doubled and be used to provide redundancy, and is arranged to detect train and enters 44 driving stations 30 and leave 46 driving stations.
As refer again to Fig. 1 and show with reference to figure 7, the distance that adjacent driven station 30 equates with the effective length of train at interval along track 12, thereby at least one driving station contacts train.For instance, the driving station of Fig. 7 is spaced apart about 400 meters.Continuation is with reference to figure 7, and control center 48 can be provided with away from driving station 30, and in the driving station each is communicated by letter with control center so that status information is provided, such as the performance of train location, train speed, driving station itself etc.This point will become more apparent by the going through of control about driving station, and the present invention allows the use of multiple row train.From the driving station to the driving station with can adopt hard lead, optical fiber and/or radiowave to transmit to communicating by letter of control center, as for system will its down condition of work desired.For referring again to the example that Fig. 7 shows, the two row trains that its length equates substantially can be worked in system 10, this system 10 comprises at least three driving stations that communicate with one another 30 (DS1, DS2, DS3), is used to drive two row trains and keeps wishing the interval between train.As the those skilled in the art that benefit from instruction of the present invention now will expect, selectable track and the expection of driving station structure comprise that the system by case description with reference to figure 7A, this system comprise the reversed position again of the direction that is used to put upside down (row or a multiple row) train that travels in system.
Refer again to Fig. 2 and 3 and as described in reference publication US 2003/0226470 cited above, lagging dege by the side plate 28 of guiding compartment 16 carrying comprises Offset portion 50, and this Offset portion 50 cooperates with adjacent Offset portion 52 on the front edge of the side plate that is used for adjacent compartment.This allows to pass through during operation drive tire 32 between the compartment uninterrupted contact more allows the rotation and other transport variables of adjacent compartment during dumping.This also makes train vertically and on the horizontal plane moving.
As showing in the text, guiding compartment 16 has groove 54, relative side plate 28a, 28b, and these relative side plate 28a, 28b have the distance that reduces between them, be used for steadily entering relative drive tire 32a, the 32b of driving station.Rea car body 22 has groove and relative side plate 28a, 28b, and these relative side plate 28a, 28b reduce distance between them, to reduce the vibrations when train 14 leaves relative drive tire 32a, the 32b of driving station 30.The middle compartment 24 that is attached on guiding compartment 16 and the Rea car body 22 by the connection of U-shaped hook makes its trough aligned, has the whole open trough in gap 56 to produce between the compartment.Flexible baffle 58 extends on the gap 56 between the compartment 16,24,22.
Refer again to Fig. 4 and 7, consider a kind of method that control train 14 moves along track 12, this method comprises location first sensor 34, is used to detect in the position of driving station 30 places that drive train along the wheel 36 in each compartment 16,24,22 that track rolls.As described above, second sensor 38 detects the existence of side plates 28 and thereby detects the existence of train 14.As shonw in Figure 8 as reference, first driving station 30 (DS1 or driving N) makes train move by preselected speed along track 12.First driving station (DS1) quickens 60 to target velocity 62 with train, and drives train to second driving station (DS2 or driving N+1).The front vehicle wheel in guiding compartment and the rear wheel of Rea car body are detected.The detection of the wheel in train provides wheel count.Wheel count is used for definite train location along track.When passing through first sensor 34, each wheel of train allows to determine the position of train 14 with respect to first driving station (DS1) by detecting wheel.Detection provides the signal of confirming that train 14 exists by the front edge of the side plate 28 of guiding compartment 16 carryings.When definite train 14 in second driving station (DS2) time, fast acceleration command signal is sent to second driving station (DS2) from first driving station (DS1), wherein based on the affirmation of train length that is generated by the signal from first and second sensors and train existence, beginning is acceleration 64 or actuation signal fast.By quickening 64 fast to target velocity 62, finish the synchronous of the second driving station speed and the first driving station speed in the drive tire 32 that second driving station (DS2) locates.When the wheel of the sensor of locating at second driving station (DS2) 34,38 when detecting each wheel when train by the first sensor at the second driving station place is used for definite train with respect to the position of second driving station be used to confirm the existence of train by the front edge at second sensor, first side plate at the second driving station place, provide second driving station (DS2) to receive train really regularly, ceasing and desisting order is sent to first driving station and is used for the drive tire 32 of first driving station is slowed down 66 fast to stopping.In case driving station N+1 receives startup command from driving station N, the driving station rim just will speed up before train arrives driving station wishes speed.When train continues to driving station N+2, driving station N+1 will decelerate to zero rapidly.By this way, train will be sent to another driving station to control from a driving station.Make from a driving station synchronous to another transition.
As showing by example reference Fig. 9, the target velocity of mentioning in Fig. 8 62 can be load speed, moving velocity or discharge rate, and this point is suitable for the position of train.But the various speed of the drive tire of locating at the application drives station can comprise: first speed, and train is loaded under this speed; For with loaded train downstream motion and accelerate to second speed, be used for the unloading; Loaded train is decelerated to third speed, be used for its unloading; To unload train and accelerate to second speed; And train decelerated to first speed, be used for loaded train once more.
Refer again to Fig. 2, gap 68 exists between the front edge of the lagging dege of a side plate 28 on the compartment 16 and the side plate on the adjacent compartment 24.The interruption that the detection signal that is provided by second sensor 38 is provided in this gap 68, as shonw in Figure 10 as reference.For compensation, be used for determining that by use second side plate exists that (debounce) circuit that goes to beat is proofreaied and correct and interrupted from the signal of second sensor.In essence, hope is second sensor signal that " false signal " is provided in the signal of constant signal between the lagging dege of front edge and the Rea car body of the side plate in guiding compartment, prove that by the transmission that postpones the signal when high or low transition takes place with definite signal be useful signal, thereby false signal is rejected.Notice that also first wheel in guiding compartment is in the front of front edge of the side plate in guiding compartment, thereby by driving station the detection of first wheel is occurred in before the detection of front edge of side plate.
With reference to as described in figure 6 and 7, each first and second sensors 34,38 that are used for driving station 30 can be communicated by letter with control center 48 as above.The central controller at control center place by drive tire speed is provided, along the train location of track and at least one in the train speed, monitor each the operation in the driving station.If the condition permission, the manual override device can be included in the central drive station place, makes operating personal have final order.
By other example, at Rail-Veyor
TMOne embodiment of the present of invention of use in the bulk material transport system 10 and commercial plan are here described by means of working parameter, so that those skilled in the art will recognize that the problem that is solved by the present invention.Compartment 16,22,24 will be typically (but being not limited to) 1.25 to 2.50 meters long and 0.5 to 1.25 meter wide groove.Rail-Veyor
TMTrain 14 can comprise 100 to 200 compartments that are connected in series with the formation train, and 2.5 meters in each compartment is long.If use 1.25 meters long compartments, the quantity in compartment doubles so.Gap 56 usefulness urethanes between the compartment or equivalent flap 58 sealings, it is attached on the front edge of Rea car body, and the lagging dege in overlapping guiding compartment, but is free of attachment on it.The weight of loading material is created effectively sealing on the baffle plate.
Can make the same long of train 14 and needs by only adding more middle compartments 24 and Geng Duo driving station 30.This effect is to create the long motion groove 54 that is used for discrete material.System track will typically be divided into the driving station of equal amount, and the interval between each station is set up by the capacity requirement of facility, make train length than long one or two compartment, the interval between driving station.Train will always contact with retentive control with driving station.
The loading station 30 that is used for train 14 can have conventional design, as in US Patent the 3rd, 752, as described in No. the 3rd, 332,535, No. 334 and the US Patent.The same A/C inverter system at controlling and driving station 30 also can be used to control the loading in compartment.Sensor tells that loading transveyer starts when train arrives, and sensor tells that loading transveyer shuts down when train leaves.Train 14 can be risen to two rail loop 70 along plurality of ramps, as showing by example reference Figure 12.When train 14 put upside down 72, it outwards threw its concrete goods (for example discrete material), and piles up in heaps.Convey goods and to shift by the gauge material disposal facility then, be used for further operation or sale or storage.The volume that the width in each compartment and length and it can be carried multiply by the quantity in compartment in train, determines the volume capacity of train.The bulk density of this loading material determines that unit is the train carrying capacity of ton under this volume.Driving station 30 can comprise two to four motor/reducer and drive tire, and it is applied to relative pressure on the both sides of railway carriage so that thrust to be provided.Distance between the driving station only need be slightly smaller than the length of train, and this train always contacts under direct control and with driving station.
About the operation of driving control system, have only with the contacted driving of train and will preferably move on time at any set point place.Control system uses the location information of train to carry out the little adjusting of train speed, to guarantee the appropriate intervals of all trains on route.About accelerated speed, inclined degree and tilt length may be determined by the desired peak horsepower of driving motor.Because control system can send actuating speed information for synchronous purpose between driving station, so train needn't fully be quickened before entering next driving station.In addition, longer pick-up time allows to use the driving motor than fraction horsepower (lower cost).
Empty train is turned back to the driving station 30 that loads facility to be required than being those required significantly little drivings of motion loaded train.Distance between the driving station will preferably have and those identical distance that drive loaded train.Driving station depends on the combination of a plurality of variablees at interval.System described herein uses fiber optic cable (FOC) 74, as refers again to Fig. 6 and 7 shows, with transmission information between driving station 30 and control center 48.Use FOC also to create for electric noise and the impregnable network of interference.Carry out in the further discussion of the network SCADA/HMI joint below.Network provides the means of the speed of driving station so as to determining approaching train.Making the synchronous ability of driving station is the hope feature of control system of the present invention.
Be the discussion in the various stages of train control below, here present for the SCADA/HMI system: startup, operation, load/unload, stop/braking and regulate interval between the train by example.
Embodiment of system 10 uses the multimode fibre optical cable of operating (FOC) under the 100Mb network, be used for from the control cabin to the driving station communication to be in from this network that recovers the industrial ether agreement of having of loop type be the daisy chain pattern.The supervising the network switching is arranged in control cabin.For closed-loop, it is 1Gb single mode FOC that returning from the far-end to the control cabin connects.Each driving station 30 is by 42 controls of its oneself programmable logic controller (PLC) (PLC), and this programmable logic controller (PLC) 42 is connected to again on the network that comprises control center 48.Main PLC is arranged in control center 48, and has for the feasible redundant ability of additional reliability.
The hope feature of SCADA is the ability of its detection alarm condition.Response for alarm can be flashing indicator on control HMI screen or the audible/visible alarm that requires operating personal to note in control cabin.E-MAIL, text message, and cellular calls usually send with alarm.
Operating personal can be presented the diagrammatic representation of process of imitation diagram form, as refers again to Fig. 1 shows.Usually HMI has the systematic review screen, so this screen allows operating personal " to bore down " to interested concrete zone.Which animation will illustrate and drive and to move and the position of all trains.About starting, in order to reduce the electrical load on the power system, train is started successively.Carry out little adjusting, to regulate train at interval for train speed.This control process about target phase is described below.
Owing to comprise Rail-Veyor
TM System 10 have between driving station 30 ability of communication, so next driving station will always be known the speed of approaching train, and will be synchronous with it.Actual pick-up time is determined by place-specified conditions.With reference to as described in the figure 8, driving station N determines when that command drive station N+1 starts as early.When it started, it kept its present speed, and sent the order of present speed and startup driving station N+1.Driving station N+1 accelerates to that speed of the speed synchronization that makes its speed and approaching train then rapidly.The unloading pick-up time is determined by the size and the characteristic of driving motor.Big electrical motor requires smaller electronic captain's pick-up time.In addition, driving station N constantly monitors train speed, to determine how far will send startup command in driving station N+1 front.Driving station N will continue operation, lose the existence of train up to it.At this moment, driving will decelerate to zero rapidly, and wait for when the next column train near the time startup command.
In order to limit a kind of purpose of case study, suppose any train speed of loading of 2m/s and the running velocity of 10m/s.Under the condition of rolling ground, these conditions cause requirement than the gradient of choosing the high kW of drive station size, and the desired excess power of climbing is added driving station by on the slope appropriate position between driving in the normal space of whole loop and supplied with.Because driving is always synchronous, so the driving of these interpolations can be used for local higher-wattage is applied on the train.The same factor of controlling and driving also can be used when operation train material feed system.Just the driving station before loading depot will determine when that order feeder (feeder) starts.Just the driving station behind loading depot will determine when that the order feeder stops.
By the example about loading and unloading, before loading, train must decelerate to speed of loading.Consider to drive size and braking potential, determine the point that train reduces speed now with experience.The compartment moves under 10m/s, and must decelerate to 2m/s when the front car cabin of train arrives loading depot.After loading, train must quicken when the final compartment of train has loaded and switched to next driving station.The compartment moves with 2m/s under loading depot.Finish and next driving station when taking to control when loading, train will begin to accelerate to 10m/s from 2m/s.
About stopping and braking and security reason, if a driving station requires train to stop, then control system will stop all driving stations, be corrected up to the reason that stops.
Rate of deceleration is determined by electric motor driven braking potential.Because system 10 is included in the communication between the driving station, will receive the speed of approaching train so receive the next driving station of train, even and also will be synchronous between deceleration period with it.Outage keeps brake system can be included in each driving station place.Main braking function is provided by VFD.In case train stops, keeping drg will prevent train movement, recover up to power.
About regulating the interval between the train, when train decelerated in the slow loading and unloading section of loop, it is shorter that the distance between the train will become.After loading or unloading, train accelerates to work speed, and the distance between the train will be resumed.Acceleration and rate of deceleration depend on that it still is unloaded that train is loaded.These speed, normal operating speed, speed of loading, discharge rate are used for definite train and finish the time of a circulation of route with cost.Know that the quantity of train on this time and the route will determine the optimum train pitch time.
Each driving station 30 has the ability of measuring the time between the train, and can carry out minor adjustments for its speed, so that keep the even interval of train on the route.For instance, if the time that records less than Best Times, then train speed will reduce a little.If then train speed will increase a little greater than Best Times the time that records.Keep train at interval by this way.
Above disclosed embodiment be about such as can being exercisable in the system of describing for the novel application publication US of the U.S. utility of " Light Rail Transport Systemfor Bulk Materials (the light rail transport systems that is used for discrete material) " 2006/0162608, this application communique open by all being included in here with reference to it.And, the US Patent the 3rd of authorizing people such as Robinson for " Industrial BulkMaterial Transport (industrial bulk material transport) ", 752, No. 334 and authorize people's such as Dibble the novel patent application gazette US 2003/0226470 of U.S. utility open by with reference to all being included in here for " Rail Transport System for BulkMaterials (guideway transportation system that is used for discrete material) ".
By example, embodiments of the invention are used as the control system that comprises compartment and train location sensor, driving station acceleration and deceleration control and train interval controller described above, as the logical flow chart with reference to figure 13-17 further describes, following table 1 will be useful for this reason.
Table 1
| ?? Abbreviation | ?? Describe |
| ??DS | Driving station |
| ??FOC | Fiber optic cable |
| ??HMI | Man machine interface |
| ??PLC | Programmable logic controller (PLC) |
| ??SCADA | Supervision and control and data are obtained |
| ??TP | Train location |
| ??TPS | There is sensor in train |
| ??TPSF | There is sensor failure in train |
| ??TSF | Train sensor lost efficacy |
| ??VFD | Frequency conversion drive |
| ??WC | Wheel count |
| ??WEC | Wheel edge counting |
| ??WPS | There is sensor in wheel |
| ??WPSF | There is sensor failure in wheel |
Compartment/train location detects
As mentioned above, when train during near driving station, command driven stands in and starts before the rim actual acquisition of train by driving station and accelerate to suitable speed.As security features, losing efficacy near the detection of train to cause the control that makes system-down.Following will describe a kind of abundant redundancy, non-contact detection system, this system will make detecting element lose efficacy for the minimum that influences of work.
In an embodiment of control system, be provided with three near the type detecting device at each driving station place.As mentioned above, upper sensor (early be described as second sensor 38) is provided with in such a way, make its detect train drive plate existence or do not exist.Therefore, whether train exists sensor (TPS) to indicate train at the driving station place simply.The small sample perturbations of the TPS signal that is caused by the gap between the compartment will be removed by the control program of PLC as mentioned above.
As mentioned above, sensor to can be installed in above-mentioned sensor below, and on even keel setting in such a way, make its detect when train by the time train each wheel existence or do not exist.A kind of like this wheel exists sensors A and wheel to exist sensor B to being used in during quadrature surveys, in order to the wheel of train is counted during by driving station when wheel, as reference Figure 11 shows.PLC by the compartment wheel count being multiply by simply the length in a compartment, will calculate the accurate position of train with respect to driving station then.
WPS is to also providing the information about the drive tire slippage.Driving station PLC compares between actuating speed of ordering and actual speed, and by driving station, this actual speed is directly proportional with the speed of train wheel with this actual speed.The side plate of the difference indication train between two speed and the slippage between the drive tire, this eliminates for the pressure of side plate by using side plate jack on each side of driving station to increase rim usually.
As described earlier, before train arrives, be accelerated, make it to be accelerated fully in the driving at approaching driving station place, and with the speed synchronization of train.Just under no-load condition, start owing to drive, so unique restriction that may how soon take place about acceleration is the torque limit of VFD.
In order to discuss, suppose that it is 2m/sec that unloading drives accelerated speed
2If train with 10m/s near driving station, use formula: distance=1/2at so
2, a=2m/sec wherein
2Pick-up time (t) is by determining speed divided by accelerated speed.Therefore, t=(10m/s/2m/sec
2)=5sec (second).Therefore, the driving station fwd distance that must begin to quicken in driving is: distance=1/2at
2=1/2 (2) (5)
2=25 meters.
If approaching train is 2m/s, the driving station fwd distance that must begin to quicken in driving is wanted much shorter so, as following the expression: distance=1/2at
2, a=2m/sec wherein
2, and t=(2m/s/2m/sec
2)=1sec (second).Distance=1/2 (2) (1)
2=1 meter.The PLC that is arranged in each driving station place uses these formula to determine when the next driving station that starts circuit.
Therefore, if train with 10m/s motion, then when train in its front 25 meters the time driving station must start.If with the 2m/s motion, then driving station must start train when train has only 1 meter in its front.In all cases, driving station is not in case definite train exists, and it will decelerate to zero rapidly.All these technology help to make the time quantum minimum of driving station work, make operating power cost minimum thus.
As mentioned above, control system uses the train location data at a driving station place to tell when next driving station starts.Use the example of 10m/s, if driving station is oriented to 400 meters far away at interval about 402 meters long trains, control system is known 377 meters of train when by driving station so, and the driving that it need send to order the back is quickened beginning.Order between the driving station transmits on the 100Mb fiber optic Ethernet.
If TPS lost efficacy, control system is only used WPS for position data so, and will send to driving to startup command, as it normally carries out.In a single day control system detects first wheel of train, and it just supposes that train exists, and no longer detecting wheel up to it has 3 seconds period, and at this moment driving station will decelerate to zero.When WPS detects wheel and TPS does not detect train when existing, determine that TPS lost efficacy.
If any inefficacy that WPS is right, control system will send to startup command next driving station immediately to begin acceleration so.In a single day TPS loses, and driving station just will decelerate to zero.When TPS detect train and WPS when not detecting wheel, determine that WPS was to losing efficacy.Under the situation of TPS or WPS inefficacy, the HMI/SCADA of control system will lose efficacy to the operating personal announcement, and will carry out the controlled shutdown of all trains on route before repairing failure sensor.
Drive quickened controlling schemes more
When arranging driving station, consider as follows: the power that the speed and 3 that need quicken of fully loaded train 1) the train maximum grade and the length of grade, 2 that on route, will run into)) keeps the maximum speed needs according to size.Maximum grade and length of grade are measured during the exploration process.Grade information and satisfy volume/essential speed of unit time standard and be used to calculate the needed horsepower of the maximum grade that overcomes route (kW).
Early stage Rail-Veyor
TMThe system requirements train was quickened fully at a driving station place before it enters into next station, because not communication between driving station, so driving station is not known the speed of another driving station.Therefore, necessary is, has the requirement that train before train joins next driving station to " is elevated to speed ", synchronous to guarantee actuating speed.This requirement for restriction is used to make driving station to reach speed rapidly than high power motor.
An embodiment of control system of the present invention uses the 100Mb fiber optic Ethernet, so that the quick and reliable communication between the driving station to be provided.As previously described, when driving station determined that next driving station should start, it not only transmitted the order that begins to quicken, and it also transmits the target velocity that is used to quicken.This guarantees that two drivings are synchronous, and this is for being essential from a driving station to Next smooth transition, and does not mean that actuating device is elevated to running velocity fully.
The ability that accelerates to highest running speed on a plurality of driving stations means the gear reducer and the VFD of less electrical motor and later lower cost.The power requirement and the pick-up time of driving motor inversely proportional (double pick-up time requirement horsepower half).Say that practically the size of driving station and quantity depend on maximum grade and the length of grade that system will run into.For instance, will run into maximum 5% the gradient if determine train, and the compartment in three minutes from stopping to accelerate to the maximum speed of 10m/s fully, the driving station power requirement will be approximate 640 horsepowers so.If from stopping to accelerate to maximum speed fully, then drive station drive requires to drop to approximate 310 horsepowers to same under the same conditions train in eight minutes.By prolonging the length of pick-up time, the remarkable saving of fund and job costs is possible.If wish, add a plurality of driving stations simply and will increase acceleration times, reduce cycle time thus.
Train is control algorithm at interval
When the multiple row train is on single course, must guarantee that they are properly spaced out.The precision of the position to of every row train on a route car length is known by network communications scheme permission described above system.Canonical system can have the train of 1-5km at interval.The PLC of master control unit keeps the form of the position of all trains on the route.The process of spaced apart train begins in the exit of loading area, and this typically requires train to move than low velocity (for example 2m/s).When the unimpeded orbital distance in train identification front, train discharges to accelerate to maximum speed (we use 10m/s this example) from loading depot.This distance was determined by the time that calculating one row train forms a complete cycle of route.This time then divided by on route with the quantity of train of work.
By other example, consider about having the Rail-Veyor of following characteristic
TMExercisable control system: general line length=250km; The total quantity of train work=50 row trains; Quicken and deceleration required time=8 minute; Land speed=10m/s; Load/unload speed=2m/s; And load/unload distance=2km.
The on-cycle time that train is finished route is 7:36:08.Therefore, if 50 row trains are worked, then the time gap between the train is 9:07.The distance that full speed train will be travelled with 10m/s in this time is 5470 meters.The amount of front clear track is calculated by deducting the needed distance of acceleration from 5470 meters.Use is used for 8 minutes of pick-up time, and this distance is 2880 meters.Therefore, in this example, calculating the clear track distance is 5470-2880=2590 rice.When 2590 meters clear track, discharge train to quicken from loading depot.In case train is fully quickened, train just will be 5470 meters at interval.
Before train discharges from unloading area, can use identical method.Except that these controls, during the full speed sections of route, the position of following train constantly checked by the PLC of master control unit, and carries out the little adjusting for train speed, to be corrected to suitable distance.
Benefit from those skilled in the art of the instruction that presents in the above description, will expect multiple modification of the present invention and other embodiment.Therefore, it being understood that to the invention is not restricted to disclosed specific embodiment, and modification and embodiment to be in the scope of claims of being supported by the disclosure.
Claims (25)
1. method of controlling the train orbital motion, wherein train is by a plurality of drive station drive along tracks positioned, and wherein train comprises guiding compartment and Rea car body, each compartment has the wheel that is used for along the track rolling, and each compartment has side plate thereon, in a plurality of driving stations each has the drive tire of locating in order to carry out wipe contact by preselected interval and side plate, is used to make the train orbital motion, and described method comprises:
Each place in a plurality of driving stations provides first and second sensors;
The location is used to detect at the driving station place along the first sensor of the position of the wheel in each compartment that track rolls;
The location is used to detect second sensor of the existence of side plate;
Operate first driving station in a plurality of actuators station, be used to make train to move by preselected speed along track;
In the front vehicle wheel in detection guiding compartment and the rear wheel of Rea car body at least one;
First driving station accelerates to target velocity with train, and under target velocity the second drive station drive train in a plurality of driving stations;
When each wheel of train passes through first sensor, detect wheel, be used for determining the position of train with respect to first driving station;
Detection is by the front edge of first side plate of guiding compartment carrying, and wherein the detection of front edge provides the signal of confirming that train exists;
When the guiding compartment in the preselected distance of second driving station time, fast acceleration command signal is sent to second driving station, wherein exist and the beginning actuation signal based on train length that generates by signal and train from first and second sensors;
To be rapidly accelerated to target velocity in the drive tire at the second driving station place, and be used to make first driving station and second driving station synchronous;
Receive train at the second driving station place, be used for continuing to drive train;
When first sensor by the second driving station place of each wheel of train, detect wheel, be used for determining the position of train with respect to second driving station;
Front edge by second sensor, first side plate at the second driving station place is used to confirm the existence of train; And
To cease and desist order sends to first driving station, is used for drive tire with first driving station and decelerates to fast and stop.
2. method according to claim 1, wherein, target velocity comprises one of speed of loading, moving velocity and discharge rate.
3. method according to claim 1, wherein, the motion of train comprises by driving station train is driven into:
First speed, detraining in this first speed is loaded;
Accelerate to second speed, be used to make loaded train to move to the downstream, be used to unload;
Loaded train decelerated to be used for its discharged third speed;
To unload train and accelerate to second speed; And
Train is decelerated to first speed, be used for loaded train once more.
4. method according to claim 1, wherein, first sensor comprises that sensor is right, this sensor to comprise be installed in such a way roughly with plane that track parallels in upstream sensor and downstream sensor, make when wheel passes through driving station, allow sensor that the quadrature that the train wheel counting is provided is surveyed.
5. method according to claim 1, wherein, the wheel that detects in the train provides wheel count, and wherein wheel count is used to determine train location.
6. method according to claim 1, wherein, between the front edge of the lagging dege of first side plate on the compartment and second side plate on the adjacent compartment, there is the gap, and wherein the interruption of the detection signal that is provided by second sensor is provided in this gap, described method comprises that also second sensor uses debounce circuit to proofread and correct to exempt and interrupts, and is used for determining that second side plate exists.
7. method according to claim 1 wherein,, thereby is occurred in the detection of first wheel by driving station before the detection of front edge of side plate in the front by the front edge of the side plate of guiding compartment carrying by first wheel of guiding compartment carrying.
8. method according to claim 1, wherein, in a plurality of driving stations each comprises about the exercisable communicator of first and second sensors and is used for sensing data is sent to the adjacent driven station, and wherein, each driving station responding communication device is used for the speed of controlling and driving rim.
9. method according to claim 1, wherein, each first and second sensors that are used for a plurality of driving stations are communicated by letter with central controller, and wherein, central controller by provide drive tire speed, along the train location of track, and train speed at least one monitor each operation in driving station.
10. method of controlling the train orbital motion, wherein every row train comprises guiding compartment and Rea car body, each compartment has the wheel that is used for along the track rolling, and each compartment has side plate, and each in wherein a plurality of driving stations comprises the driver element of locating in order to carry out wipe contact along track by preselected interval and side plate, be used to make the train orbital motion, described method comprises:
Provide comprise be installed in such a way with plane that track roughly parallels in the upstream sensor and the sensor of downstream sensor right, make when wheel during by driving station, allow sensor to the quadrature detection of wheel count is provided;
Operate first driving station in a plurality of actuators station, be used to make train to move by preselected speed along track;
When passing through first driving station, train detects train wheel;
First driving station accelerates to target velocity with train, and under target velocity the second drive station drive train in a plurality of driving stations;
Detection is used for determining position and the sense of motion of train with respect to first driving station by each wheel of the right train of sensor;
When the guiding compartment in the preselected distance of second driving station time, start up command signals is sent to second driving station, wherein begin start up command signals based on train length;
The driver element of second driving station is accelerated to target velocity, be used to make the speed synchronization of the driver element of the speed of driver element of first driving station and second driving station;
Receive train at the second driving station place, be used for continuing to drive train;
Detect each wheel, be used for determining once more position and the travel direction of train with respect to second driving station by the train of second driving station; And
Response drives second driving station of train, and will cease and desist order is sent to first driving station, is used to make the drive wheel element of first driving station to stop.
11. method according to claim 10 also comprises:
The location is used to detect second sensor of side plate; And
By the existence that is used to confirm train at the second sensor side plate at the first driving station place, wherein start up command signals is sent to the affirmation that second driving station also exists based on the train that is generated by the signal from second sensor.
12. method according to claim 11, wherein, between the front edge of the lagging dege of first side plate on the compartment and second side plate on the adjacent compartment, there is the gap, and wherein the interruption of the detection signal that is provided by second sensor is provided in this gap, described method comprises that also second sensor uses debounce circuit to proofread and correct to exempt and interrupts, and is used for determining that second side plate exists.
13. method according to claim 10, wherein, target velocity comprises one of speed of loading, moving velocity and discharge rate.
14. method according to claim 10, wherein, when wheel passed through driving station, sensor was surveyed the quadrature that the train wheel counting is provided, and the sense of motion of definite train.
15. method according to claim 10, wherein, the wheel that detects in the train provides wheel count, and wherein wheel count is used to determine train length, is used to begin the startup command to second driving station.
16. method according to claim 10, wherein, in a plurality of driving stations each comprises about sensor exercisable communicator is used for sensor signal data is sent to the adjacent driven station, and wherein, each driving station responding communication device is used for the speed of controlling and driving rim.
17. method according to claim 10, wherein, sensor pair is communicated by letter with central controller, and wherein, and central controller is by providing drive tire speed, monitoring the operation of each driving station along the train location of track and in the train speed at least one.
18. a train system comprises:
Track has closed slide;
Train has first compartment, and described first compartment comprises that exercisable in orbit front and rear wheel is right, is used for free rolling movement is offered first compartment;
Train has at least the second compartment, described second compartment comprises with the front portion pivot in first compartment and being connected, second compartment only has exercisable in orbit rear wheel and to being used for free rolling movement is offered second compartment, and wherein each in first and second compartments has the side plate that is fixed to the upper;
A plurality of driving stations, each has the frequency conversion drive (VFD) that comprises drive tire, this drive tire be used for the wipe contact side plate and with actuation movement pass to each compartment and thereby pass to train;
In a plurality of driving stations each is included as the wheel that detects first and second compartments and the first sensor of locating, and wherein the detection of wheel provides the position of train and the indication of speed;
In a plurality of driving stations each is included as second sensor that detects side plate and locate, and the existence of train is confirmed in the detection of its latus inframedium; And
In a plurality of driving stations each comprises also that about the exercisable controller of sensor this controller is handled the signal that receives from sensor, and will send to second driving station from a driving station about the command signal of train speed and existence.
19. train according to claim 18 system, wherein, the adjacent driven station separates the distance that equates with the effective length of train along interorbital, thereby at least one driving station contacts with train.
20. train according to claim 18 system, wherein, first sensor comprises that sensor is right, and this sensor is to comprising the upstream and downstream sensor, and wherein sensor to being positioned near the track and below second sensor.
21. train according to claim 18 system, wherein, comprise the Offset portion that the Offset portion on the front edge with second compartment cooperates by the lagging dege of the side plate of first compartment carrying, thereby allow during operation between the compartment uninterrupted contact by drive tire, and then allow topple over other transport variables during the rotation of adjacent compartment.
22. train according to claim 18 system, also comprise control center away from least one setting in first and second driving stations, and wherein each in first and second driving stations is communicated by letter with control center, is used for status information is provided to described control center.
23. train according to claim 18 system, also comprise the multiple row train, wherein train comprises the first row train, and wherein, the secondary series train has and first row train cardinal principle equal lengths, the train system also comprises at least three driving stations that communicate with one another, and is used to drive the first and second row trains.
24. train according to claim 18 system, wherein, first compartment and at least the second compartment comprise:
The guiding compartment, described guiding compartment has groove, relative anterior end plate, and these relative anterior end plates have the distance that reduces for the relative drive tire that steadily enters into driving station between them;
Rea car body, described Rea car body has groove, and this groove has relative rear portion end plate, and these relative rear portion end plates place, rear portion in the compartment between them has the distance that reduces, to reduce the impact when train leaves the relative drive tire of driving station;
Middle compartment is connect and is attached on guiding compartment and the Rea car body by the U-shaped pothook type, and the trough aligned in each compartment has the whole open trough in gap to produce between the compartment whereby; And
Flexible baffle extends on the gap between the compartment.
25. train according to claim 18 system, wherein, driving station comprises one or more pairs of electric drive motors, these electric drive motors are adjacent to install by means of actuating device and train, this actuating device is used to provide with the controlled friction of side plate and contacts, train can move forward and backward whereby, and
Be connected to A/C inverter and controller on every pair of driving motor, make that electrical motor can be synchronous by voltage and in the frequency at least one of being changed on it.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US87123206P | 2006-12-21 | 2006-12-21 | |
| US60/871,232 | 2006-12-21 | ||
| US60/909,971 | 2007-04-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101605708A true CN101605708A (en) | 2009-12-16 |
Family
ID=41470942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007800503386A Pending CN101605708A (en) | 2006-12-21 | 2007-12-19 | Control is used to transport the method for the guideway transportation system of discrete material |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101605708A (en) |
| ZA (1) | ZA200904232B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106715235A (en) * | 2014-07-08 | 2017-05-24 | 轨道型技术全球有限公司 | Control system for an improved rail transport system for conveying bulk materials |
| CN110937344A (en) * | 2019-12-04 | 2020-03-31 | 郑州日产汽车有限公司 | Automatic selection system for trolley running path |
| CN114852621A (en) * | 2022-05-05 | 2022-08-05 | 衡阳镭目科技有限责任公司 | Diesel generator set conveying system and method and storage medium |
| CN115716491A (en) * | 2023-01-10 | 2023-02-28 | 湖南中矿金禾机器人研究院有限公司 | Distributed driving type rail train and road cooperative control system |
| CN115743187A (en) * | 2023-01-10 | 2023-03-07 | 湖南中矿金禾机器人研究院有限公司 | Distribution drive type mining rail transportation system and method thereof |
-
2007
- 2007-12-19 CN CNA2007800503386A patent/CN101605708A/en active Pending
-
2009
- 2009-06-17 ZA ZA200904232A patent/ZA200904232B/en unknown
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106715235A (en) * | 2014-07-08 | 2017-05-24 | 轨道型技术全球有限公司 | Control system for an improved rail transport system for conveying bulk materials |
| CN110920641A (en) * | 2014-07-08 | 2020-03-27 | 轨道型技术全球有限公司 | Drive station configuration |
| CN106715235B (en) * | 2014-07-08 | 2020-09-11 | 轨道型技术全球有限公司 | Control system for an improved rail transport system for transporting bulk material |
| CN110937344A (en) * | 2019-12-04 | 2020-03-31 | 郑州日产汽车有限公司 | Automatic selection system for trolley running path |
| CN114852621A (en) * | 2022-05-05 | 2022-08-05 | 衡阳镭目科技有限责任公司 | Diesel generator set conveying system and method and storage medium |
| CN115716491A (en) * | 2023-01-10 | 2023-02-28 | 湖南中矿金禾机器人研究院有限公司 | Distributed driving type rail train and road cooperative control system |
| CN115743187A (en) * | 2023-01-10 | 2023-03-07 | 湖南中矿金禾机器人研究院有限公司 | Distribution drive type mining rail transportation system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA200904232B (en) | 2010-05-26 |
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Open date: 20091216 |