CN108639093A - Self- steering virtual rail train car body articulated mounting and rotation angle control method - Google Patents
Self- steering virtual rail train car body articulated mounting and rotation angle control method Download PDFInfo
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- CN108639093A CN108639093A CN201810473938.3A CN201810473938A CN108639093A CN 108639093 A CN108639093 A CN 108639093A CN 201810473938 A CN201810473938 A CN 201810473938A CN 108639093 A CN108639093 A CN 108639093A
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- mounting base
- hinged
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
- B61G7/00—Details or accessories
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Abstract
The invention discloses a kind of self- steering virtual rail train car body articulated mounting and rotation angle control methods, including hinged mounting base, ball metal joint, angle sensor device assembly；Hinged mounting base is hinged by ball metal joint；Angle sensor device assembly is mounted in hinged mounting base.Angle sensor device assembly includes angular transducer, sensor limiting bracket, sensor locating support.When vehicle crosses curve virtual rail, the rotation angle of articulated mounting is measured by angular transducer, and angle information is fed back into control system, control system adjusts the rotation angle of articulated mounting by active damper according to angle information.Using the present invention, can limit car body longitudinally, laterally and vertical displacement, allow the three-dimensional between two car bodies to rotate, while playing the role of transmitting load.After following distance reduces, run-through channel length shortens, while improving vehicle space utilization rate, it can guarantee that vehicle has smaller turning radius.
Description
Technical field
The present invention relates to rail traffic vehicles technical fields.
Background technology
Virtual rail train articulated car body connection structure mostly use at present front end and after-frame respectively with turntable ball bearing
It is fixedly connected and at least articulated structure on the car body is fixed in one end by rubber bushing.Its main problem has perforation Taoist priest, hinge
The problems such as connection device appearance and size is big.Again because tyre cord fabric rests against position among car body, lead to tire projection position and run-through channel mistake
The available seating space in road is reduced, and vehicle space utilization rate is low.Virtual rail train articulated mounting is both required to meet connection and holds
Function is carried, and requires have level angle to detect feedback function, to adjust curved road parameter, and current this kind is hinged adopt more
With ball bearing joint and the mating reaction of metal-rubber joint, big load causes ball bearing oversized, and bearing capacity is insufficient,
And rubber arthrosis, due to pitch angle to be met, rigidity should not be too large, and when leading to car body relative horizontal movement, exists and centainly prolongs
Late, lead to problems such as detection angles inaccurate.Existing hinged mounting base structure size is big, and weight is big, does not meet successor virtual rail
Road train lightweight requirements.
In the prior art, application No. is the utility models of CN201520307471.7 to disclose a kind of articulated vehicle splice angle
Real-time measurement apparatus, articulated vehicle include aftercarriage, hinge joint, front vehicle body, and mounting seat is fixed on front vehicle body or aftercarriage,
It is fixed with transfer holder on another car body, hinged angle measurement unit is fixed in mounting seat, hinged angle measurement unit includes
The rotation axis of rotary angle transmitter, rotary angle transmitter is connect with transfer holder, the centre of gyration and hinge of the rotation axis of rotary angle transmitter
The centre of gyration of contact overlaps.Mounting seat and transfer holder are made of flexible steel plate.Rotary angle transmitter passes through flanged joint
Part is connect with power supply and information process unit.Application No. is two hairs of CN201610384861.3 and CN201610384861.3
It is bright, essentially disclose a kind of vehicle for the low-floor tramcar that upper and lower mounting base mode being bolted by ball metal joint
Body hinge solution is primarily adapted for use in rail low floor vehicle vehicle, but is allowed minimum level curve and vertical curve road radius
Relatively large, it is more to account for city public resource, while structure function is single, cannot meet the functions such as self- steering, angle measurement.
Invention content
It is an object of the present invention to provide a kind of self- steering virtual rail train car body articulated mountings and rotation angle to control
Method, following distance reduce, run-through channel length shorten after, improve vehicle space utilization rate while, can guarantee vehicle have compared with
Small turning radius.
The technical scheme is that：A kind of self- steering virtual rail train car body articulated mounting, including hinged installation
Seat, ball metal joint, angle sensor device assembly；Hinged mounting base includes hinged mounting base one and is hinged mounting base two, hinged to pacify
Dress seat one and hinged mounting base two are hinged by ball metal joint；Angle sensor device assembly is mounted on hinged mounting base one and hinge
It connects in mounting base two.
Angle sensor device assembly includes angular transducer, sensor limiting bracket, sensor locating support；Angular transducer
Including cylindrical body portion, center rotating shaft, swivel plate and detection bar, center rotating shaft is connected under cylindrical body portion
Face, one end connection center rotating shaft, the other end connecting detection bar of swivel plate；Sensor limiting bracket is mounted on hinged mounting base
Above one left end portion, sensor limiting bracket is the horizontal "u"-shaped of opening to the right；The left end portion of sensor locating support
In hinged mounting base two, right end portion be located above sensor limiting bracket, the cylindrical body portion of angular transducer
Divide and is mounted on above sensor locating support right end portion；The lower end of center rotating shaft passes through sensor locating support from top to bottom
Swivel plate is connected after right end portion；Detection bar lower part is inserted in the U-shaped mouth of sensor limiting bracket.
The shape of sensor locating support is " several " font, includes the left lower tranverse plate being integrally connected, a left side successively from left to right
Riser, upper cross plate, right riser, right lower tranverse plate；The left end portion bottom surface of sensor locating support is less than right end portion bottom surface, and a left side is perpendicular
Plate is longer than right riser；Left lower tranverse plate is mounted on by bolt or screw in hinged mounting base two, and right lower tranverse plate is located at hinged installation
One top of seat；Sensor limiting bracket is located at the lower section of sensor locating support right end portion, and sensor limiting bracket passes through spiral shell
Bolt or screw are mounted in hinged mounting base one；The cylindrical body portion of angular transducer is mounted on above right lower tranverse plate；It is right
Lower cross plate is equipped with through-hole, and the lower end of center rotating shaft connects swivel plate after the through-hole from top to bottom；It inserts detection bar lower part
Enter in the U-shaped mouth of sensor limiting bracket.
The self- steering virtual rail train car body articulated mounting further include revoke, damper；Hinged mounting base two
Both sides are equipped with the otic placode for connecting damper, damper one end by revoke connect with the otic placode in hinged mounting base two,
The other end connects on the car body；The damper is active damper.
The self- steering virtual rail train car body articulated mounting further includes rubber backstop；A left side for hinged mounting base one
End is located between two otic placodes, and the side bonds towards hinged mounting base one on otic placode are equipped with rubber backstop.
The self- steering virtual rail train car body articulated mounting further includes control system, the angular transducer,
Active damper is electrically connected with control system.
The right end of hinged mounting base one and the left end of hinged mounting base two respectively by car body installation bolt, elastic guide and
Car body connects；Ball metal joint is connect above with bolt with hinged mounting base one, and ball metal joint is below by bolt and hinge
Connect the connection of mounting base two.
Angle sensor device assembly includes angular transducer, and angular transducer includes center rotating shaft, center rotating shaft and ball
The central axis of metal joint is located along the same line.
A kind of self- steering virtual rail train car body articulated mounting rotation angle control method, pacifies in hinged mounting base
Angular transducer is filled, active damper is installed on hinged mounting base both sides, when vehicle crosses curve virtual rail, two hinged peaces
Seat relative rotation is filled, the rotation angle of articulated mounting is measured by angular transducer, and angle information is fed back into control system,
Control system adjusts the rotation angle of articulated mounting by active damper according to angle information, in the same of monitoring rotation angle
When, realize the control to articulated mounting rotation angle.
Rotation angle is controlled with car body articulated mounting using above-mentioned self- steering virtual rail train；Pass through ball gold
Belong to the rotation and pitching movement between joint realization car body, is realized by the way that angle sensor device assembly, damper, rubber backstop is arranged
Multiple position limitation protection；When hinged mounting base one is rotated horizontally relative to hinged mounting base two, sensor limiting bracket with it is hinged
Mounting base one is opposing stationary, and sensor locating support and hinged mounting base two are opposing stationary, are limited by sensor limiting bracket
End movement under angular transducer measures rotation angle, and exports electric signal, feeds back to control system.
Using the present invention, can limit car body longitudinally, laterally and vertical displacement, allow the three-dimensional between two car bodies to turn
It is dynamic, while playing the role of transmitting load.After following distance reduces, run-through channel length shortens, vehicle space utilization rate is improved
Meanwhile it can guarantee that vehicle has smaller turning radius.It is real while monitoring rotation angle when vehicle crosses curvilinear motion
Existing articulated mounting autonomous control, so as to adjust angle of turn.Beneficial effects of the present invention are specific as follows：
1. construction profile is dimensionally-optimised, solve virtual rail train run-through Taoist priest, the big problem of articulated mounting appearance and size, generally
Run-through channel is more than 1.5m, and the present invention adapts to small car body spacing and can reach raw footage half, while tire is arranged close to pass through
Below channel, space, room for promotion utilization rate are taken in release；
2. solving original virtual rail train, be hinged weight excessive, in the case where meeting intensity, progress lightweight optimization design,
It is compressed to original hinged 1/3 or so.
3. structure innovation, innovative design is hinged mounting base, not only as the component of connection body and articulation joint, together
When both sides increase buffer installing mechanism（Damper）And angular stop means（Angle sensor device assembly and rubber backstop）, meet
Under moving condition, safety and stationarity when crossing curve for increase vehicle provide guarantee.
Angle detection when 4. design is mounted with using the connection of ball metal joint and feedback mechanism（Angle sensor device assembly
Deng）.For the forward and backward end-rack of ball bearing joint structure in the prior art there is only relative level rotation, car body is hinged pitching fortune
The dynamic rubber arthrosis by end realizes that, so its front and back end-rack horizontal rotation angle measurement difficulty is little, simple limit is
It can.It is different from ball bearing joint structure, in structure of the invention, the pitching movement between car body, detection installation are realized in joint
Seat relative level rotational angle difficulty increases, by designing special bindiny mechanism（Including angle sensor device assembly）Ensure angle inspection
Accuracy is surveyed, realizes angle feed-back.
5. removing rubber arthrosis node, increase the non-maintaining period, reduces device operation expense.
6, when vehicle crosses curvilinear motion, by the relative rotation of hinged mounting base one and hinged mounting base two, vehicle is measured
Rotation angle between body, is output to control system, and control system can adjust the rotation of articulated mounting according to the angle information of feedback
Angle realizes articulated mounting autonomous control while monitoring rotation angle by active damper, pushes hinged mounting base tune
Turn over bending angle.
Description of the drawings
Fig. 1 is the schematic cross-sectional view of self- steering virtual rail train car body articulated mounting；
Fig. 2 is angular transducer component structure diagram；
Fig. 3 is the dimensional structure diagram of self- steering virtual rail train car body articulated mounting；
Fig. 4 is two schematic diagram of hinged mounting base；
Fig. 5 is one schematic diagram of hinged mounting base；
Fig. 6 is ball metal joint schematic diagram；
In figure：1, car body installation bolt；2, elastic guide；3, hinged mounting base one；4, ball metal joint；5, bolt is connected；6、
Angular transducer；7, sensor limiting bracket；8, sensor locating support；9, hinged mounting base two；10, left lower tranverse plate；11, left
Riser；12, upper cross plate；13, right riser；14, right lower tranverse plate；15, swivel plate；16, detection bar；17, otic placode；18 revoke；19, subtract
Shake device；20, rubber backstop.
Specific implementation mode
As shown in Figures 1 to 6, a kind of self- steering virtual rail train car body articulated mounting, including car body installation bolt
1, elastic guide 2, hinged mounting base 1, ball metal joint 4, connection bolt 5, angular transducer 6, sensor limiting bracket 7,
Sensor locating support 8, revokes 18, damper 19, rubber backstop 20 at hinged mounting base 29.Vehicle is realized using ball metal joint
Rotation between body and pitching movement, hinged mounting base（Including hinged mounting base one and hinged mounting base two）End is using M24's
Car body installation bolt is connect with car body, and hinged mounting base uses light-weight design, meets strength condition, carries out innovative design,
Increase has sensor mount position, and hinged 29 both sides of mounting base are equipped with the otic placode 17 for connecting damper, are easy to implement hinge
The angle monitor of connection device is fed back and self- steering.
As shown in Fig. 2, angle sensor device assembly includes angular transducer 6, sensor limiting bracket 7, sensor positioning branch
Frame 8.Angular transducer is divided into upper and lower part, and upper part includes cylindrical body portion and center rotating shaft, and lower part includes rotation
Flap 15 and detection bar 16, center rotating shaft be connected to cylindrical body portion in the following, swivel plate one end（Right end）In connection
Heart rotation axis, the other end（Left end）The upper end of connecting detection bar.Detection bar is stirred, detection bar can be rotated around center rotating shaft, from
And reflect rotational angle, and export.Angular transducer is fixed by sensor limiting bracket 7, sensor locating support 8, bolt
In hinged mounting base 1 and hinged mounting base 29.When hinged mounting base 1 is rotated horizontally relative to hinged mounting base 29
When, since sensor limiting bracket 7 and hinged mounting base one are opposing stationary, sensor locating support 8 and hinged mounting base two-phase
To static, angular transducer is electrically connected with control system, so passing through 7 limited angular sensor lower end of sensor limiting bracket position
When shifting, rotation angle can be measured, and export electric signal, feed back to control system.Center rotating shaft and the ball gold of angular transducer
The central axis for belonging to joint is located along the same line.
Sensor locating support 8 is generally shaped like " several " font, includes the lower-left cross being integrally connected successively from left to right
Plate 10, left riser 11, upper cross plate 12, right riser 13, right lower tranverse plate 14, sensor locating support are monolithic construction.Sensor
The bottom surface of locating support left end portion is less than the bottom surface of right end portion, and left riser is longer than right riser.Left lower tranverse plate by bolt or
Screw is mounted in hinged mounting base 29, and right lower tranverse plate is located at one 3 top of hinged mounting base.Sensor limiting bracket 7 is cross
" u "-shaped, U-shaped opening is to the right.Sensor limiting bracket is located at the close beneath of sensor locating support right end portion（It is preferred that：
The lower section on the left of right riser）, sensor limiting bracket is by bolt or screw in hinged mounting base 1.Angle passes
The cylindrical body portion of sensor is mounted on above right lower tranverse plate；Right lower tranverse plate is equipped with through-hole, the lower end of center rotating shaft from
Up to lower swivel plate is connected after the through-hole；Detection bar lower part is inserted in the U-shaped mouth of sensor limiting bracket, U-shaped mouth energy
Clamp detection bar.When occurring rotary motion between car body, sensor limiting bracket can drive detection bar to rotate together；When between car body
When there is pitching movement, detection bar can move up and down in U-shaped mouth.
It please refers to Fig.1, Fig. 3, Fig. 4, Fig. 5, hinged mounting base one uses light-weight design with hinged mounting base two, with ball gold
Belong to joint and passes through bolt（Such as：Connect bolt 5）Connection reduces articulated mounting longitudinal length, increases and is individually hinged mounting base thickness,
19 one end of damper is connect by revoking 18 with hinged mounting base two, the other end connects on the car body.Hinged mounting base two simultaneously
Two side bonds are equipped with the rubber backstop 13 for limiting hinged mounting base rotational angle, play position limitation protection.
A kind of self- steering virtual rail train car body articulated mounting rotation angle control method, pacifies in hinged mounting base
Angular transducer is filled, active damper is installed on hinged mounting base both sides, angular transducer and active damper are with control
System electrical connection, when vehicle crosses curve virtual rail, two hinged mounting base relative rotation are measured hinged by angular transducer
The rotation angle of device, and angle information is fed back into control system, control system passes through active damper according to angle information
The rotation angle for adjusting articulated mounting realizes the control to articulated mounting rotation angle while monitoring rotation angle.
When vehicle crosses curvilinear motion, by the relative rotation of hinged mounting base one and hinged mounting base two, measure between car body
Rotation angle is output to control system, and control system can adjust the rotation angle of articulated mounting according to the angle information of feedback,
While monitoring rotation angle, realize that articulated mounting autonomous control, active control mainly pass through the damper on both sides 19（Using
Active damper）It realizes, by the angle information of feedback, hinged mounting base is pushed to adjust angle of turn.
The characteristics of novel self- steering virtual rail train car body articulated mounting：
1. being a kind of small size articulated mounting, 600 ~ 700mm following distances are applicable to, mounting base is hinged using high intensity, full
Under the premise of sufficient intensity, light-weight design is realized, while hinged mounting base increases angle sensing equipment（Angle sensor device assembly）
Integrated, the degree of modularity higher with damper means mounting structure, while the relatively general virtual rail train body of size is hinged
Device reduces, but functional complete, is arranged in run-through channel lower end convenient for tire, without interfering, greatly promotes vehicle space
Utilization rate.
2. being different from track train, the road surface operating mode that virtual rail train faces is more complicated, pot hole, local crowning
And emergency stop starting etc., it selects special balls metal joint to substitute ball bearing, while meeting big angle rotary and pitching movement, increases
Extra bus carries and impact resistance, and larger pitch angle is suitable for worse road surface operating mode, reduces rubber arthrosis, may be used also
Non-maintaining degree is improved, maintenance cost is greatlyd save.
3. expanding and being integrated with articulated mounting function.Hinged mounting base is connect by bolt with rigidity of vehicle body, and the present invention is logical
The rotation angle between the hinged mounting base of directly detection is crossed, it is more acurrate direct, then control system is fed back to, while a kind of band being installed
Promote mainly function damper（Promote mainly type damper, i.e., active damper above）, only as with damping when generally running
The damper of function uses, can be by controlling feedback signal when vehicle crosses sharp radius curve road, and control system sends instruction
To type damper is promoted mainly, articulated mounting rotation angle can be adjusted by control system, be more suitable for virtual rail train operation
Safety and steady.
4. multiple sports limiting defencive function.In addition to the type damper of promoting mainly can realize rotation angle control protective effect, increase
Add rubber backstop, prevents product in defective shock absorber, and hinged mounting base rotation angle is excessive or in special circumstances, causes metal
It hits, influences product service life, damper automatic adjustment and rubber backstop multiple security protection so that vehicle crosses curved road
It is safer steady.
5. being fixedly connected with mode using the vehicle end with elastic guide or positioning pin.Different from rail vehicle, ordinary municipal road
Road road conditions are complicated and changeable, and vertical and lateral exciting is more, are individually bolted and are easy so that bolt crumbles or service life drop
Low, the present invention, using elastic guide or positioning pin, can substantially reduce articulated mounting and be cut in hinged mounting base and car body contact surface
Shear force acts on, and increases production reliability.
6. the damper means of the special articulation nodes with big windup-degree more preferably adapt to the big rotation of articulated mounting
Locomitivity when angle requirement and promotion vehicle cross curved road.
7. being more preferably hinged mounting base structure design, both sides ear platform outstanding and curve designed arc-shaped appearance, preferably contribute to
Reduce product overall dimensions, avoids interference with.
Compared with prior art, the present invention and similar car body articulated mounting in the prior art, although contributing to vehicle end
The device of connection, and it is mounted on car body lower end, using front and back installation holder structure, centre connects front and back car body by articulated manner
Together, play the role of transmitting power and movement；But the present invention and the in the prior art connection type of similar car body articulated mounting,
Architectural difference and Functional Requirement have big difference.The similar prior art does not have big load bearing capacity vertical；Greatly
It mostly uses rubber metal parts to connect with car body, carrying and movenent performance cannot be met the requirements.Car load operating mode is more complicated, this
Invention can bear the load of longitudinal and vertical bigger, and the connection of articulated mounting and car body of the present invention is changed to bolt and adds elastic guide
The directly hinged mounting base mode of locking connects, and increases product respectively to carrying and service life, centre uses monoblock type ball metal
Joint connects, and longitudinal and vertical load-carrying properties and movenent performance are improved, and are more suitable for urban road；According to the present invention
Specific vehicle specially designs, and has larger specificity on rotational angle and structure, and larger change has been done to general articulated mounting
Into being not only applicable to specific vehicle, be similarly applied to other low-floor vehicles.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., be all included in the scope of protection of the present invention.
Claims (10)
1. a kind of self- steering virtual rail train car body articulated mounting, including hinged mounting base, hinged mounting base includes hinged
Mounting base one and hinged mounting base two, characterized in that further include ball metal joint, angle sensor device assembly；Hinged mounting base one
It is hinged by ball metal joint with hinged mounting base two；Angle sensor device assembly is mounted on hinged mounting base one and hinged installation
On seat two.
2. self- steering virtual rail train car body articulated mounting according to claim 1, characterized in that angular transducer
Component includes angular transducer, sensor limiting bracket, sensor locating support；Angular transducer includes cylindrical body portion
Point, center rotating shaft, swivel plate and detection bar, center rotating shaft be connected to cylindrical body portion in the following, swivel plate one end
Connect center rotating shaft, other end connecting detection bar；Sensor limiting bracket is mounted on above one left end portion of hinged mounting base,
Sensor limiting bracket is the horizontal "u"-shaped of opening to the right；The left end portion of sensor locating support is mounted on hinged installation
On seat two, right end portion be located above sensor limiting bracket, the cylindrical body portion of angular transducer is mounted on sensor
Above locating support right end portion；The lower end of center rotating shaft connects after passing through sensor locating support right end portion from top to bottom
Swivel plate；Detection bar lower part is inserted in the U-shaped mouth of sensor limiting bracket.
3. self- steering virtual rail train car body articulated mounting according to claim 2, characterized in that sensor positions
The shape of holder be " several " font, from left to right successively include be integrally connected left lower tranverse plate, left riser, upper cross plate, right riser,
Right lower tranverse plate；The left end portion bottom surface of sensor locating support is less than right end portion bottom surface, and left riser is longer than right riser；Lower-left is horizontal
Plate is mounted on by bolt or screw in hinged mounting base two, and right lower tranverse plate is located at one top of hinged mounting base；Sensor limits
Holder is located at the lower section of sensor locating support right end portion, and sensor limiting bracket is mounted on hinged peace by bolt or screw
It fills on seat one；The cylindrical body portion of angular transducer is mounted on above right lower tranverse plate；Right lower tranverse plate is equipped with through-hole, center
The lower end of rotation axis connects swivel plate after passing through the through-hole from top to bottom；Detection bar lower part is inserted in the U of sensor limiting bracket
In shape mouth.
4. self- steering virtual rail train car body articulated mounting according to claim 2, characterized in that further include hanging
Pin, damper；Hinged two both sides of mounting base are equipped with the otic placode for connecting damper, and damper one end is by revoking and being hinged
Otic placode connection, other end connection in mounting base two are on the car body；The damper is active damper.
5. self- steering virtual rail train car body articulated mounting according to claim 4, characterized in that further include rubber
Backstop；The left end of hinged mounting base one is located between two otic placodes, the side bonds installation towards hinged mounting base one on otic placode
There is rubber backstop.
6. self- steering virtual rail train car body articulated mounting according to claim 4, characterized in that further include control
System, the angular transducer, active damper are electrically connected with control system.
7. self- steering virtual rail train car body articulated mounting according to claim 1, characterized in that hinged mounting base
One right end and the left end of hinged mounting base two are connect by car body installation bolt, elastic guide with car body respectively；Ball metal closes
Section is connect above with bolt with hinged mounting base one, and ball metal joint is connect below by bolt with hinged mounting base two.
8. self- steering virtual rail train car body articulated mounting according to claim 1, characterized in that angular transducer
Component includes angular transducer, and angular transducer includes center rotating shaft, the central axis of center rotating shaft and ball metal joint
It is located along the same line.
9. a kind of self- steering virtual rail train car body articulated mounting rotation angle control method, characterized in that in hinged peace
Setting angle sensor on seat is filled, active damper, when vehicle crosses curve virtual rail, two are installed on hinged mounting base both sides
A hinged mounting base relative rotation, the rotation angle of articulated mounting is measured by angular transducer, and angle information is fed back to
Control system, control system adjust the rotation angle of articulated mounting by active damper according to angle information, are rotated in monitoring
While angle, the control to articulated mounting rotation angle is realized.
10. self- steering virtual rail train according to claim 9 car body articulated mounting rotation angle control method,
It is characterized in, rotation angle is controlled with car body articulated mounting using self- steering virtual rail train described in claim 1；
The rotation and pitching movement between car body are realized by ball metal joint, are stopped by the way that angle sensor device assembly, damper, rubber is arranged
It keeps off to realize multiple position limitation protection；When hinged mounting base one is rotated horizontally relative to hinged mounting base two, sensor limit branch
Frame and hinged mounting base one are opposing stationary, and sensor locating support and hinged mounting base two are opposing stationary, are limited by sensor
End movement under holder limited angular sensor, measures rotation angle, and export electric signal, feeds back to control system.
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| CN201810473938.3A CN108639093B (en) | 2018-05-17 | 2018-05-17 | Self- steering virtual rail train car body articulated mounting and rotation angle control method |
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| CN109278786A (en) * | 2018-11-20 | 2019-01-29 | 湘潭牵引机车厂有限公司 | A kind of fixed grasp device and the electric locomotive with the device |
| CN109334702A (en) * | 2018-11-06 | 2019-02-15 | 中车青岛四方机车车辆股份有限公司 | Workshop vibration absorber and rail vehicle used for rail vehicle |
| CN110667629A (en) * | 2019-10-25 | 2020-01-10 | 中铁轨道交通装备有限公司 | End beam and lower part hinged mounting base structure of low-floor tramcar motor car |
| CN111141201A (en) * | 2019-11-25 | 2020-05-12 | 中车浦镇庞巴迪运输***有限公司 | Real-time synchronous detection method for transverse displacement and included angle of through passage of railway vehicle |
| CN113771970A (en) * | 2021-10-08 | 2021-12-10 | 徐州徐工环境技术有限公司 | Small-size electronic articulated chassis and vehicle |
| CN114407960A (en) * | 2022-01-19 | 2022-04-29 | 中车株洲电力机车有限公司 | Real-time adjusting system and adjusting method for articulation of rail vehicle workshop |
| CN114407956A (en) * | 2022-01-19 | 2022-04-29 | 中车株洲电力机车有限公司 | Real-time adjusting system and adjusting method for suspension spring of railway vehicle |
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| CN110667629A (en) * | 2019-10-25 | 2020-01-10 | 中铁轨道交通装备有限公司 | End beam and lower part hinged mounting base structure of low-floor tramcar motor car |
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| CN111141201A (en) * | 2019-11-25 | 2020-05-12 | 中车浦镇庞巴迪运输***有限公司 | Real-time synchronous detection method for transverse displacement and included angle of through passage of railway vehicle |
| CN111141201B (en) * | 2019-11-25 | 2022-03-25 | 中车浦镇阿尔斯通运输***有限公司 | Real-time synchronous detection method for transverse displacement and included angle of through passage of railway vehicle |
| CN113771970A (en) * | 2021-10-08 | 2021-12-10 | 徐州徐工环境技术有限公司 | Small-size electronic articulated chassis and vehicle |
| CN113771970B (en) * | 2021-10-08 | 2023-02-03 | 徐州徐工环境技术有限公司 | Small-size electronic articulated chassis and vehicle |
| CN114407960A (en) * | 2022-01-19 | 2022-04-29 | 中车株洲电力机车有限公司 | Real-time adjusting system and adjusting method for articulation of rail vehicle workshop |
| CN114407956A (en) * | 2022-01-19 | 2022-04-29 | 中车株洲电力机车有限公司 | Real-time adjusting system and adjusting method for suspension spring of railway vehicle |
| CN114407960B (en) * | 2022-01-19 | 2023-02-10 | 中车株洲电力机车有限公司 | Real-time adjusting system and adjusting method for articulation of rail vehicle workshop |
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