CN111055642A - Method and device for controlling traveling wheels of rail fire truck - Google Patents
Method and device for controlling traveling wheels of rail fire truck Download PDFInfo
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- CN111055642A CN111055642A CN201911344797.6A CN201911344797A CN111055642A CN 111055642 A CN111055642 A CN 111055642A CN 201911344797 A CN201911344797 A CN 201911344797A CN 111055642 A CN111055642 A CN 111055642A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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Abstract
The invention discloses a method for controlling traveling wheels of a rail fire truck, which comprises traveling wheel descending control, wherein the traveling wheel descending control comprises the following steps: s1, detecting locking stress of a locking part of the travelling wheel, and controlling the travelling wheel to ascend until the locking stress cannot be detected if the locking stress is detected; s2, releasing the locking of the travelling wheels; and S3, driving the travelling wheels to descend. The method can avoid the influence of locking stress to unlock quickly, and is simple, convenient and safe to operate. The invention also discloses a control device for the road rail fire truck travelling wheels, which can realize the lifting, locking and automatic control of the travelling wheels so as to realize the conversion between the road surface travelling mode and the track travelling mode of the road rail fire truck. The walking wheel control device is fast and convenient to convert and high in stability.
Description
Technical Field
The invention relates to a highway and railway dual-purpose vehicle, in particular to a method for controlling traveling wheels of a rail fire truck. In addition, the invention also relates to a control device of the traveling wheels of the rail fire engine.
Background
A rail fire truck is a fire truck which can run on a road surface and a railway track. The vehicle has the advantages of flexible driving of vehicles on the road surface and good accessibility, and also has the advantages of rapidness and smoothness of rail vehicles. The vehicle runs on a road surface through a road surface tire arranged on a vehicle chassis, and runs on a railway track through a track traveling wheel.
The rail walking wheels of the rail fire truck are usually installed on a vehicle chassis through a lifting rotating shaft, and the lifting of the rail walking wheels is controlled through a lifting oil cylinder mechanism. In the highway mode, the lifting oil cylinder is contracted to drive the track traveling wheels to ascend to leave the ground, and the vehicle runs through the road tires. At the moment, the track traveling wheel is maintained by hydraulic pressure through a locking valve of the lifting oil cylinder mechanism and is fixed at a lifting position through mechanical locking of a locking bolt. When the vehicle is converted from a highway mode to a railway mode, the locking bolt needs to be opened, the locking valve is opened, the lifting oil cylinder extends out to drive the track traveling wheels to descend, the whole vehicle is supported, the track traveling wheels are maintained at descending positions through the locking valve, and the vehicle is switched to the railway track traveling mode.
The track traveling wheels are switched in the mode, and when the traveling wheels are just fixed to the ascending positions, the locking pin shafts are not stressed due to the locking effect of the locking valves, so that unlocking can be easily achieved. However, due to the fact that a small amount of leakage of the locking valve occurs to certain sinking under the action of gravity of the travelling wheels when the travelling wheels are placed for a period of time or the travelling wheels are vibrated when the travelling wheels travel through a vehicle, the whole travelling wheel mechanism is locked only under the mechanical locking action of the locking pin shaft, and lateral stress borne by the locking pin shaft almost cannot be normally unlocked when the rail lifting oil cylinder is not retracted. Therefore, when the vehicle is switched from the road mode to the railway mode, the operator needs to go through the following operation steps: 1. pressing a lifting button of a rail wheel lifting oil cylinder; 2. loosening a lifting button of the rail wheel lifting oil cylinder and pressing a bolt unlocking button of the rail wheel; 3. and releasing the rail wheel bolt unlocking button and pressing down the rail wheel lifting oil cylinder descending button. The above steps must be operated in sequence step by step, otherwise the rail wheel cannot be put down and even the lifting mechanism may be damaged.
The operation process is required to be executed strictly according to the corresponding sequence, certain requirements are required on the proficiency of operators, the automation degree is low, and the safety is poor. Moreover, the multi-step operation takes a long time, which may cause a delay in the rescue time.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for controlling the traveling wheels of a rail fire truck, and the lifting conversion of the traveling wheels is convenient and quick.
The invention further aims to solve the technical problem of providing a control device for the traveling wheels of the rail fire truck, which can finish the lifting operation of the traveling wheels by one key.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling road wheels of a rail fire fighting truck, including a road wheel descent control, the road wheel descent control including the steps of: s1, detecting locking stress of a locking part of the travelling wheel, and if the locking stress is detected, controlling the travelling wheel to ascend until the locking stress cannot be detected; s2, releasing the locking of the travelling wheels; and S3, driving the travelling wheels to descend.
Preferably, in step S1, the detection threshold of the locking stress is adjustable. In this preferred technical scheme, through adjusting the detection threshold value of locking stress, can ignore the less locking stress that walking wheel locking portion received, accelerate the unblock speed under the condition that does not influence the unblock function.
Preferably, in the step S1, the ascending of the traveling wheels is performed gradually. In the preferred technical scheme, the ascending process of the walking wheel is gradually and slowly carried out, the change of the locking stress of the locking part of the walking wheel is convenient to detect, the walking wheel is timely stopped to ascend when the locking stress is not detected, and the walking wheel is convenient to unlock.
Preferably, in step S2, the method further includes: s2.1, detecting that the locking of the travelling wheels is released; after the release is completed, step S3 is executed. Through this preferred technical scheme, can in time detect walking wheel locking and relieve and to have accomplished, in time carry out the operation on next step, avoided needing to spend longer time waiting for walking wheel unblock to accomplish, improved the efficiency that the walking wheel descends.
Preferably, in step S3, the method further includes: s3.1, detecting the completion of the descending of the travelling wheels; and after the descending is finished, the descending state of the travelling wheels is maintained. Through this preferred technical scheme, can go on that the walking wheel descends and accomplishes, that is the walking wheel descends to the decline state and can the during operation, maintains the decline state of walking wheel for the vehicle can go through the walking wheel on railway rails. The long time is avoided to wait for the traveling wheels to finish descending, and the speed of vehicle track switching is improved.
Preferably, the method for controlling the road wheel of the rail fire truck further comprises the step of controlling the ascending of the road wheel, wherein the method comprises the following steps: 1) controlling the travelling wheels to ascend; 2) and locking the travelling wheels when the travelling wheels rise in place. In this preferred embodiment, the travel wheels can be directly controlled to ascend because the travel wheels are not mechanically locked in a descending state. And when the walking wheels rise to the right place, the walking wheels are locked, so that the walking wheels are prevented from descending due to various reasons and influencing the road running of the vehicle.
Further preferably, in the step 2), a walking wheel lifting completion detecting step is further included, and after the walking wheel lifting completion is detected, the lifting state of the walking wheel is maintained. Through this preferred technical scheme, can in time convert the maintenance state into after detecting the walking wheel and rise to the target in place to carry out next locking operation, saved the time of waiting for the walking wheel to rise to the target in place.
The invention provides a rail fire truck travelling wheel control device, which comprises travelling wheels, a travelling wheel bracket, a lifting oil cylinder mechanism, a travelling wheel locking plate, a locking pin device, a pin shaft stress sensor and a controller, wherein the travelling wheels are arranged on the travelling wheel bracket; the travelling wheels are mounted on the travelling wheel bracket; the walking wheel support is connected to a vehicle chassis through a rotating shaft and can rotate around the rotating shaft, so that the walking wheel support is located at a first position and a second position, when the walking wheel support is located at the first position, the walking wheel is in a lifting state, and when the walking wheel support is located at the second position, the walking wheel is in a putting-down state; the cylinder body and the piston rod of the lifting oil cylinder mechanism are respectively connected with the vehicle chassis and the travelling wheel bracket; the walking wheel locking plate is mounted on the walking wheel bracket, the locking pin device is mounted on a vehicle chassis, and when the walking wheel bracket is located at the first position, the locking pin device can lock the walking wheel locking plate; the pin shaft of the locking pin device can reciprocate to lock or unlock the travelling wheel locking plate; the pin shaft stress sensor is arranged on the locking pin device so as to detect the lateral stress applied to the pin shaft of the locking pin device; the controller is respectively electrically connected with the lifting oil cylinder mechanism, the locking pin device and the pin shaft stress sensor.
Preferably, the pin shaft of the locking pin device can reciprocate in an extending and retracting manner under the driving of the driving mechanism; or the pin shaft of the locking pin device can retract under the driving of the driving mechanism and extend out under the action of self-reset force. In the preferred technical scheme, the pin shaft of the locking pin device extends and retracts under the driving of the driving mechanism, the extending and retracting actions of the pin shaft are reliable, the stability is high, but the locking and unlocking actions of the locking pin device are required to be executed under the control of instructions, the control is slightly complex, and the locking pin device has a slight time delay. The locking pin device is driven by a pin shaft driving mechanism to retract and stretch out under the action of self-reset force, the locking of the pin shaft to the walking wheel locking plate can be automatically carried out under the triggering of a mechanical contact without the control of a controller, and the locking is rapid but the stability is slightly poor.
Preferably, the rail fire truck walking wheel control device further comprises a pin shaft position sensor for detecting the position of a pin shaft of the locking pin device and a support position sensor for detecting the position of the walking wheel support; the pin shaft position sensor and the support position sensor are electrically connected with the controller respectively. In this preferred technical scheme, round pin axle position inductor can detect the round pin axle position of lock pin device, and the perception round pin axle unblock is accomplished the state. The support position sensor can detect the position state of the walking wheel support, timely senses whether the walking wheel is in a lifting state or a putting down state, provides a trigger mark for the next operation, and is favorable for quick proceeding of the lifting or falling process of the walking wheel.
Through the technical scheme, the control method for the road rail fire truck travelling wheels can timely find and eliminate the locking stress through detecting the locking stress of the travelling wheel locking part, and is convenient for releasing the locking of the travelling wheels and descending the travelling wheels. According to the method, the steps of the walking wheel descending control can be automatically performed step by step, the requirement of the operation skill of an operator due to the fact that the operation is strictly performed step by step is overcome, and the speed of rail conversion is increased. The rail fire truck walking wheel control device can complete the ascending and descending of a walking wheel through the lifting oil cylinder mechanism under the control of the controller, complete the locking and unlocking of the walking wheel through the locking pin device, detect the lateral stress borne by the pin shaft of the locking pin device through the pin shaft stress sensor, and ensure the elimination of the lateral stress of the pin shaft and the smooth opening of the pin shaft. The control device for the road rail fire truck travelling wheels can be controlled by using the method, the travelling wheels can be lifted by one-key operation, the intelligent degree is high, and the operation is convenient and quick.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is a flow chart of a walking wheel descending control method of the rail fire truck walking wheel lifting method of the invention;
FIG. 2 is a flow chart of a walking wheel lifting control method of the rail fire truck walking wheel lifting method of the invention;
fig. 3 is a schematic structural diagram of one embodiment of the lifting device of the walking wheels of the rail fire fighting truck.
Description of the reference numerals
1 walking wheel 2 walking wheel support
Locking plate for 4 traveling wheels of 3-lift oil cylinder mechanism
5 locking pin device 6 vehicle chassis
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any combination thereof. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 3, in the basic embodiment of the method for controlling the road wheels of the rail fire truck according to the present invention, the locking pin device 5 is used to lock the road wheels 1 in a raised state, the lift cylinder mechanism 3 is used to drive the road wheels 1 to lift, and the pin shaft stress sensor (not shown) is used to detect the locking stress of the pin shafts (locking parts) of the locking pin device 5. Wherein, the descending control of the walking wheel 1 comprises the following steps: s1, the pin stress sensor detects the locking stress applied to the pin of the locking pin device 5. The existence of the locking stress increases the extension resistance of the pin shaft of the locking pin device 5, so that the pin shaft is difficult to retract and even cannot retract, and the locking of the travelling wheel 1 is released. Therefore, when the locking stress applied to the pin shaft of the locking pin device 5 is detected, the travelling wheel 1 is controlled to ascend. As the traveling wheels 1 rise, the locking stress applied to the pin shafts of the locking pin devices 5 gradually decreases until the locking stress disappears. And when the pin shaft stress sensor cannot detect the locking stress, stopping the lifting of the walking wheel 1. The pin of the detent bolt arrangement 5 is subjected to very little or even no detent stress. And S2, controlling the pin shaft of the locking pin device 5 to retract so as to release the locking of the road wheels. Under the condition that the locking stress on the pin shaft of the locking pin device 5 is very small, the pin shaft retracting action of the locking pin device 5 is very easy to complete, so that the walking wheel 1 can freely lift. S3, controlling the oil cylinder action of the lifting oil cylinder mechanism 3, and driving the travelling wheels 1 to descend to a put-down state, so that the rail fire truck can run on the railway track by the travelling wheels 1.
It should be noted that, the steps in the above basic solution of the present invention can be automatically performed in sequence under the control of the controller, after the trigger signal is given, step S1 is executed, step S1 is executed, after the completion, the execution of step S2 is automatically triggered, and step S2 is executed, after the completion, the execution of step S3 is automatically triggered, until the road wheels 1 are lowered from the lifted state to the lowered state, and the quick transition from the running of the rail fire fighting truck on the road surface by means of the road tires to the running of the rail fire fighting truck on the railway tracks by means of the rail running wheels is completed.
For ease of understanding, the above-described basic aspects of the present invention are further described below in conjunction with the rail fire truck road wheel control apparatus of fig. 3.
As shown in fig. 3, in the road rail fire fighting truck walking wheel control device, walking wheels 1 are mounted on a walking wheel bracket 2; the walking wheel support 2 is arranged on the vehicle chassis 6 through a rotating shaft and can rotate around the rotating shaft, and when the walking wheel support 2 rotates around the rotating shaft, the walking wheel support can drive the walking wheel 1 to ascend or descend, so that the walking wheel 1 is in a lifting state or a putting down state. The cylinder body of the lifting oil cylinder mechanism 3 is arranged on a vehicle chassis 6, the piston rod is rotatably arranged on the walking wheel support 2, and the piston rod makes telescopic motion in the oil cylinder body under the pushing of hydraulic oil to drive the walking wheel support 2 to rotate around a rotating shaft. When the piston rod retracts, the travelling wheel 1 is driven to ascend; when the piston rod extends, the ground engaging wheels 1 are driven down. When the travelling wheel 1 is driven by the lifting oil cylinder mechanism 3 to rise to a lifting state or fall to a falling state, hydraulic oil in the oil cylinder can be locked through a locking valve in the lifting oil cylinder mechanism 3 to prevent the piston rod from moving, so that the travelling wheel 1 is maintained in the lifting state or the falling state. When the walking wheel 1 is in a lifting state, the piston rod is subjected to an outward extending pulling force due to the gravity action of the walking wheel 1 and the walking wheel bracket 2. After a period of time or under the action of vehicle running vibration, a small amount of leakage can occur in the locking valve of the lifting oil cylinder mechanism 3, so that the walking wheels 1 can descend. Therefore, when the travelling wheel 1 is in a lifted state, the travelling wheel 1 is mechanically locked in the lifted state by the locking pin device 5 provided on the vehicle chassis 6 cooperating with the travelling wheel locking plate 4 provided on the travelling wheel support 2. The locking pin device 5 is provided with a pin shaft which can stretch out and draw back, and when the pin shaft extends out, the walking wheel locking plate 4 can be clamped, so that the walking wheel 1 is prevented from descending; when this round pin axle retracts, can not hinder the activity of walking wheel locking plate 4, walking wheel 1 can descend freely. But when lifting up the state with walking 1 locking of wheel through locking round pin device 5, the leakage of 3 locking valves of lift cylinder mechanism can cause under walking wheel support 2 and 1 action of gravity of walking wheel, forms great stress between the round pin axle of locking round pin device 5 and the walking wheel lock board 4 for the round pin axle card of locking round pin device 5 is died in walking wheel lock board 4, and walking wheel 1 can't be followed the state of lifting up and is converted into and put down the state. The pin shaft stress sensor may use a resistance strain type pressure sensor, and may detect stress formed between the pin shaft of the lock pin device 5 and the traveling wheel lock plate 4 so as to control the stress.
Therefore, in the above-described basic configuration of the present invention, the step S1 of the travel wheel 1 lowering control does not directly control the retraction of the pin shaft of the lock pin device 5 to release the lock of the travel wheel 1, but first detects the locking stress of the locking portion (the lock pin device 5 and the travel wheel lock plate 4). When the pin shaft stress sensor detects that the locking stress exists, the piston rod of the lifting oil cylinder mechanism 3 is controlled to retract, and the walking wheel support 2 is driven to slowly rise. At the moment, the gravity of the travelling wheels 1 and the travelling wheel support 2 is borne by the lifting oil cylinder mechanism 3 step by step, and the locking stress is gradually reduced or even disappears. When the pin stress sensor does not detect the locking stress, the operation of step S2 is performed. In the case where the operation of step S2 is performed, the locking stress between the pin shaft of the lock pin device 5 and the road wheel lock plate 4 has disappeared or is small through the process of step S1, and the pin shaft of the lock pin device 5 is easily retracted from the road wheel lock plate 4 to release the locking of the road wheels 1. After the lock release of the road wheels 1 is completed, the process proceeds to step S3, where the piston rod of the lift cylinder mechanism 3 is controlled to extend to drive the lowering of the road wheels 1. When the travelling wheels 1 descend to the put-down state, the locking valves in the lifting oil cylinder mechanisms 3 are controlled to lock hydraulic oil in the oil cylinders, so that the travelling wheels 1 are maintained in the put-down state, and at the moment, the rail fire truck can run on the railway tracks by means of the travelling wheels.
The basic scheme of the invention can be automatically carried out under the control of the controller, and at the moment, the step of controlling the descending of all the travelling wheels 1 can be automatically completed only by one-key triggering, so that the travelling wheels 1 can descend conveniently and quickly, the problems that the ascending of the travelling wheels 1 needs to be manually controlled by an operator in the existing descending method of the travelling wheels 1, the locking stress of a locking part is manually judged, the requirements of unlocking of the manually controlled travelling wheels 1 and descending of the manually controlled travelling wheels 1 on the operation skills and responsibility of the operator are met, the consumption of precious descending operation time of the travelling wheels 1 is reduced, and more time is strived for rescue work.
In some preferred embodiments of the present invention, in step S1, the threshold value of the locking stress that can be detected by the pin stress sensor may be adjusted. The detection threshold can be adjusted. The detection threshold of the pin stress sensor can be adjusted by the detection circuit. Through the detection threshold value of adjusting round pin axle stress sensor, can adjust the scope of the stress value that actually exists when round pin axle stress sensor can not detect locking stress for round pin axle stress sensor easily discovers the transient unstressed window of walking wheel support 2 slow rising in-process, guarantees the round pin axle of locking round pin device 5 simultaneously and stretches out and draws back the resistance enough fewly.
As a preferred embodiment of the present invention, in step S1, the process of controlling the travel wheels 1 to ascend is performed gradually in such a manner that the ascent is stopped a little by a small distance. In the road rail fire fighting truck traveling wheel control device shown in fig. 3, control can be performed by a method of controlling the oil feeding speed and the oil feeding mode of the cylinder of the lift cylinder mechanism 3. By using the method, the lifting of the walking wheel 1 can be stopped in time when the locking stress can not be detected by the pin shaft stress sensor, so that the phenomenon that the walking wheel 1 excessively rises due to control lag and new reverse stress is generated on the pin shaft of the locking pin device 5 is avoided.
As shown in fig. 1 and 3, as a preferred method of the present invention, in the process of releasing the road wheel locking at step S2, there is also step S2.1: and detecting that the locking of the travelling wheel is released and completed. The detection of the completion of the unlocking of the travelling wheel can be performed in a mode that a pin shaft position sensor is arranged on the locking pin device 5 or on the travelling wheel locking plate 4, and the completion of the unlocking of the travelling wheel is considered when the pin shaft of the locking pin device 5 is separated from the travelling wheel locking plate 4. And after the pin shaft position sensor detects that the road wheel is unlocked completely, directly performing the next operation of the step S3. By detecting the state of the completion of the locking and unlocking of the travelling wheels, the completion of the unlocking and unlocking of the travelling wheels can be found in time, the time spent for waiting the completion of the locking and unlocking of the travelling wheels is saved, and the operation of the next step is started after the completion of the locking and unlocking of the travelling wheels is completed as soon as possible.
As shown in fig. 1 and 3, as a preferred method of the present invention, in the process of descending the road wheel driven by the step S3, the method further includes the step S3.1: detecting completion of the descent of the traveling wheels. The position of the walking wheel support 2 can be detected through a support position sensor after the walking wheel is detected to descend, so that whether the walking wheel 1 is in a put-down state or not is judged, and after the walking wheel 1 is in the put-down state, a locking valve in the lifting oil cylinder mechanism 3 is controlled to lock hydraulic oil in an oil cylinder, and the descending state of the walking wheel is maintained. In the process of switching the rail fire truck from the road running state to the rail running state, the road wheels 1 can be found to be in the put-down state in time, and the put-down state is maintained in time for rail running, so that the time required for waiting for the road wheels 1 to fall in place, which is fully reserved in the prior art, is reduced, and the speed of rail switching is accelerated.
Preferably, as shown in fig. 2 and 3, the method for controlling the traveling wheels of the rail fire fighting truck further comprises traveling wheel ascending control, and the method for controlling the traveling wheel ascending comprises the following steps: 1) the oil cylinder action of the lifting oil cylinder mechanism 3 is controlled to drive the travelling wheels 1 to rise to a lifting state. When controlling the cylinder action of the lift cylinder mechanism 3, the locking valve in the lift cylinder mechanism 3 is opened, so that the cylinder action of the lift cylinder mechanism 3 is ensured. 2) When the walking wheel 1 rises to the right position, namely the walking wheel 1 rises to reach the lifting state, the lifting state of the walking wheel 1 is maintained through a locking valve in the lifting oil cylinder mechanism 3, and a walking wheel locking plate 4 is clamped through a pin shaft of a locking pin device 5 so as to lock the walking wheel 1 in the lifting state in a mechanical mode.
As shown in fig. 2 and 3, as a preferred method of the present invention, in step 2), a step of detecting the completion of the ascending of the road wheel is further included. The position of the walking wheel support 2 can be detected through the support position sensor, whether the walking wheel 1 is in a lifting state or not is judged, after the walking wheel 1 is in the lifting state, the locking valve in the lifting oil cylinder mechanism 3 is controlled to lock hydraulic oil in an oil cylinder, the lifting state of the walking wheel is maintained, meanwhile, the locking pin device 5 is triggered, and the walking wheel 1 is locked in the lifting state in a mechanical mode. The lowering of the traveling wheels 1 due to the leakage of the lock valve in the lift cylinder mechanism 3 is prevented.
As shown in fig. 3, an embodiment of the rail fire truck traveling wheel lifting control device of the present invention includes a traveling wheel 1, a traveling wheel bracket 2, a lift cylinder mechanism 3, a traveling wheel lock plate 4, a lock pin device 5, a pin stress sensor, and a controller. The walking wheel 1 is rotatably arranged on the walking wheel bracket 2, and a vibration damper can be arranged between the walking wheel 1 and the walking wheel bracket 2. The road wheel carriage 2 is connected to the vehicle chassis 6 by and rotatable about an axis of rotation, rotation of the road wheel carriage 2 causing the road wheel carriage 2 to assume a first position and a second position relative to the vehicle chassis 6. When the walking wheel bracket 2 is at the first position, the walking wheel 1 arranged on the walking wheel bracket 2 is in a lifting state; when the road wheel bracket 2 is at the second position, the road wheel 1 arranged on the road wheel bracket 2 is in a laid-down state. The lifting oil cylinder mechanism 3 comprises a lifting oil cylinder, hydraulic oil for driving the lifting oil cylinder to act and a hydraulic valve, wherein a cylinder body and a piston rod of the lifting oil cylinder are respectively connected with the vehicle chassis 6 and the walking wheel support 2, generally, the cylinder body is rotatably connected with the vehicle chassis 6, and the piston rod is rotatably connected with the walking wheel support 2. The lifting oil cylinder mechanism 3 is also provided with a locking valve, when the locking valve is closed, hydraulic oil in the lifting oil cylinder is locked, and an oil cylinder piston cannot move; when the locking valve is opened, hydraulic oil in the lifting oil cylinder can freely enter and exit, and the oil cylinder piston can move under the action of the hydraulic oil. Walking wheel lock plate 4 is installed on walking wheel support 2, and locking round pin device 5 is installed on vehicle chassis 6, and when walking wheel support 2 was in the primary importance, locking round pin device 5 can block walking wheel lock plate 4, will walk wheel support 2 locking at the primary importance. The round pin axle of locking pin device 5 can do the reciprocating motion of stretching out and retracting, and when the round pin axle of locking pin device 5 stretches out, locking pin device 5 can locking walking wheel support 2, and when the round pin axle of locking pin device 5 retracted, locking pin device 5 can unblock walking wheel support 2. The locking pin device 5 and the walking wheel locking plate 4 can be clamped in other clamping modes, such as clamping in a rotating mode; it is also possible to mount the road wheel locking plate 4 on the vehicle chassis 6 and the locking pin arrangement 5 on the road wheel carrier 2. The pin stress sensor can be a strain gauge type pressure sensor or a resistance strain type pressure sensor, can be arranged on a pin shaft of the locking pin device 5, and detects the stress borne by the pin shaft of the locking pin device 5 by detecting the strain generated when the pin shaft bears the lateral stress. Of course, the locking stress on the pin of the detent pin device 5 can also be detected in other ways, such as by detecting the pressure between the detent pin device 5 and the mounting of the vehicle chassis 6. The controller is respectively electrically connected with the lift cylinder mechanism 3, the locking pin device 5 and the pin shaft stress sensor so as to receive a stress signal detected by the pin shaft stress sensor, control the stretching action of the lift cylinder mechanism 3, open and close of the locking valve and control the pin shaft action of the locking pin device 5.
As a preferred embodiment of the rail fire engine traveling wheel elevation control device of the present invention, the locking pin device 5 is provided with a driving mechanism for driving the pin shaft to move, and the pin shaft of the locking pin device 5 can reciprocate in an extending and retracting manner under the driving of the driving mechanism. In this way, the locking and unlocking of the travelling wheel bracket 2 by the locking pin device 5 are both performed under the control of the controller under the driving of the driving mechanism. In another preferred embodiment, the pin of the locking pin device 5 can be retracted by the driving mechanism and extended by the self-restoring force. For example, a return spring is mounted on the locking pin device 5, and the pin shaft is in an extended state under the action of the return spring. When the pin shaft needs to retract, the pin shaft retracts under the driving of the driving mechanism. Thus, when the travelling wheel 1 reaches a lifting state, the pin shaft of the locking pin device 5 automatically locks the travelling wheel bracket 2 under the action of the return spring; when the travelling wheel bracket 2 needs to be unlocked, the controller controls the driving mechanism to drive the pin shaft of the locking pin device 5 to retract.
In some embodiments of the present invention, the rail fire fighting vehicle traveling wheel lifting control device further comprises a pin position sensor and a bracket position sensor. The pin shaft position sensor can be arranged on the locking pin device 5 and can also be arranged on the walking wheel locking plate 4. The pin shaft position sensor can detect the pin shaft position of the locking pin device 5 so as to judge whether the pin shaft completes locking or unlocking the walking wheel locking plate 4. The support position sensor can be arranged in a rotating shaft area connected with the walking wheel support 2 and the vehicle chassis 6, and can detect the relative position between the walking wheel support 2 and the vehicle chassis so as to judge the position state of the walking wheel 1. The controller is respectively and electrically connected with the pin shaft position sensor and the bracket position sensor so as to receive the position information of the pin shaft of the locking pin device 5 and the travelling wheel 1 and control the execution of relevant steps according to the position information.
In summary, according to the control method for the road rail fire truck travelling wheels, whether the travelling wheels need to be controlled to ascend or not is judged by detecting the locking stress of the travelling wheel locking part, the ascending amplitude of the travelling wheels is controlled, the travelling wheel locking part can be guaranteed to be unlocked under the condition that the locking stress is small, and the unlocking action is guaranteed to be smoothly carried out. Stress detection, walking wheel rising, unblock, walking wheel decline are carried out according to setting for requiring, can carry out automatically under the control of controller, have improved the speed that the walking wheel descends, have reduced the technical ability requirement to operating personnel. The requirement on the lifting precision of the travelling wheel is lowered by adjusting the locking stress detection threshold, and the applicability of the method is improved. The detection of the states of the locking release completion and the descending completion of the travelling wheels can timely enter the next step, and the time for waiting for the completion of execution is reduced. The method for controlling the lifting of the travelling wheels can automatically carry out the lifting action of the travelling wheels and lock the travelling wheels at the lifting position in time when the travelling wheels are lifted in place.
The road rail fire truck traveling wheel control device can unlock and descend the traveling wheels 1 in one key under the control of the controller, has high speed of switching from a road traveling state to a rail traveling state, has low requirement on the skill of an operator, and can avoid device damage caused by operation errors of the operator. The arrangement of the pin shaft position sensor can detect whether the locking or unlocking of the walking wheel support 2 by the locking pin device 5 is completed, the arrangement of the support position sensor can detect whether the walking wheel 1 descends to a put-down state or ascends to a lift-up state, the descending, ascending, maintaining, locking or unlocking speeds of the walking wheel can be increased, the road-rail conversion and rail-rail conversion speeds of the rail fire truck are increased, and more precious time is won for rescue work.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the individual specific technical features in any suitable way. The invention is not described in detail in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.
Claims (10)
1. The method for controlling the traveling wheels of the rail fire truck comprises traveling wheel descending control and is characterized in that the traveling wheel descending control comprises the following steps:
s1, detecting locking stress of a locking part of the travelling wheel, and if the locking stress is detected, controlling the travelling wheel to ascend until the locking stress cannot be detected;
s2, releasing the locking of the travelling wheels;
and S3, driving the travelling wheels to descend.
2. The method according to claim 1, characterized in that in the step S1, the detection threshold of the locking stress is adjustable.
3. The method of claim 1, wherein in the step S1, the raising of the road wheels is performed gradually.
4. The method according to claim 1, wherein in the step S2, the method further comprises: s2.1, detecting that the locking of the travelling wheels is released; after the release is completed, step S3 is executed.
5. The method according to claim 1, wherein in the step S3, the method further comprises: s3.1, detecting the completion of the descending of the travelling wheels; and after the descending is finished, the descending state of the travelling wheels is maintained.
6. The method of any one of claims 1 to 5, further comprising road wheel elevation control, the road wheel elevation control comprising the steps of:
1) controlling the travelling wheels to ascend;
2) and locking the travelling wheels when the travelling wheels rise in place.
7. The method according to claim 6, wherein in the step 2), a step of detecting the completion of the lifting of the traveling wheels is further included, and the lifting state of the traveling wheels is maintained after the completion of the lifting of the traveling wheels is detected.
8. A rail fire truck traveling wheel control device is characterized by comprising a traveling wheel (1), a traveling wheel bracket (2), a lifting oil cylinder mechanism (3), a traveling wheel locking plate (4), a locking pin device (5), a pin shaft stress sensor and a controller; the walking wheel (1) is arranged on the walking wheel bracket (2); the walking wheel support (2) is connected to a vehicle chassis through a rotating shaft and can rotate around the rotating shaft, so that the walking wheel support (2) is located at a first position and a second position, when the walking wheel support (2) is located at the first position, the walking wheel (1) is in a lifting state, and when the walking wheel support (2) is located at the second position, the walking wheel (1) is in a putting down state; a cylinder body and a piston rod of the lifting oil cylinder mechanism (3) are respectively connected with a vehicle chassis and the travelling wheel bracket (2); the walking wheel locking plate (4) is mounted on the walking wheel bracket (2), the locking pin device (5) is mounted on a vehicle chassis, and when the walking wheel bracket (2) is located at the first position, the locking pin device (5) can lock the walking wheel locking plate (4); a pin shaft of the locking pin device (5) can reciprocate to lock or unlock the travelling wheel locking plate (4); the pin shaft stress sensor is arranged on the locking pin device (5) so as to detect the lateral stress applied to the pin shaft of the locking pin device (5); the controller is respectively electrically connected with the lifting oil cylinder mechanism (3), the locking pin device (5) and the pin shaft stress sensor.
9. The rail fire truck traveling wheel control device according to claim 8, wherein the pin shaft of the locking pin device (5) is capable of reciprocating in extension and retraction under the drive of a drive mechanism; or the pin shaft of the locking pin device (5) can retract under the driving of the driving mechanism and extend out under the self-resetting force.
10. The rail fire engine road wheel control device of claim 8 or 9, further comprising a pin position sensor for detecting the pin position of the locking pin device (5) and a bracket position sensor for detecting the position of the road wheel bracket (2); the pin shaft position sensor and the support position sensor are electrically connected with the controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911344797.6A CN111055642B (en) | 2019-12-24 | 2019-12-24 | Method and device for controlling traveling wheels of rail fire truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911344797.6A CN111055642B (en) | 2019-12-24 | 2019-12-24 | Method and device for controlling traveling wheels of rail fire truck |
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| Publication Number | Publication Date |
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| CN111055642A true CN111055642A (en) | 2020-04-24 |
| CN111055642B CN111055642B (en) | 2021-08-17 |
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| CN201911344797.6A Active CN111055642B (en) | 2019-12-24 | 2019-12-24 | Method and device for controlling traveling wheels of rail fire truck |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3738285A (en) * | 1971-02-25 | 1973-06-12 | Olson & Sons Inc Chas | Convertible rail-highway vehicle |
| DE2521547A1 (en) * | 1975-05-15 | 1976-12-02 | Standard Oil Co Ohio | Rail road trailer for quarry work - with pneumatic wheels on pivoted axles to swing clear of rails |
| GB0513715D0 (en) * | 2005-07-05 | 2005-08-10 | Difuria Contractors Ltd | Rail conversion apparatus for road vehicle |
| CN206579422U (en) * | 2017-03-28 | 2017-10-24 | 李鹏飞 | A kind of rail-road car |
| CN208993434U (en) * | 2018-09-30 | 2019-06-18 | 山东交通学院 | Rail-road car with idler mechanism |
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2019
- 2019-12-24 CN CN201911344797.6A patent/CN111055642B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3738285A (en) * | 1971-02-25 | 1973-06-12 | Olson & Sons Inc Chas | Convertible rail-highway vehicle |
| DE2521547A1 (en) * | 1975-05-15 | 1976-12-02 | Standard Oil Co Ohio | Rail road trailer for quarry work - with pneumatic wheels on pivoted axles to swing clear of rails |
| GB0513715D0 (en) * | 2005-07-05 | 2005-08-10 | Difuria Contractors Ltd | Rail conversion apparatus for road vehicle |
| CN206579422U (en) * | 2017-03-28 | 2017-10-24 | 李鹏飞 | A kind of rail-road car |
| CN208993434U (en) * | 2018-09-30 | 2019-06-18 | 山东交通学院 | Rail-road car with idler mechanism |
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|---|---|
| CN111055642B (en) | 2021-08-17 |
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Address before: 410200 No. 997, Jinxing Road, Wangcheng District, Changsha City, Hunan Province Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd |
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