WO2020093719A1 - Four module trolley bus and steering control articulation system thereof - Google Patents

Four module trolley bus and steering control articulation system thereof Download PDF

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Publication number
WO2020093719A1
WO2020093719A1 PCT/CN2019/094838 CN2019094838W WO2020093719A1 WO 2020093719 A1 WO2020093719 A1 WO 2020093719A1 CN 2019094838 W CN2019094838 W CN 2019094838W WO 2020093719 A1 WO2020093719 A1 WO 2020093719A1
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Prior art keywords
car
steering
compartment
damping
carriage
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PCT/CN2019/094838
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French (fr)
Chinese (zh)
Inventor
刘旭
帅纲要
匡希超
黄豪
苏永章
曾文娟
李涛
佘江平
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中车株洲电力机车有限公司
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Publication of WO2020093719A1 publication Critical patent/WO2020093719A1/en

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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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  • the invention relates to the technical field of rail transportation, in particular to a steering control hinge system of a four-module trolleybus.
  • the invention also relates to a four-module trolleybus including the above-mentioned steering control hinge system.
  • tram There are many types of rail transit vehicles, including locomotives, trains, subways, light rail, trams, high-speed rail, and electric trains.
  • tram As an example, according to the difference between tracks, it can be divided into tram and trolleybus.
  • the tram only needs to follow the paved track for movement and steering, while the trolleybus has no track laying and needs to control the steering by itself.
  • the general tram in order to increase the passenger capacity of the tram, can be divided into multiple modules, and the common ones are the double module or the triple module.
  • the dual-module trolleybus includes two interconnected cars, and a hinged system with active control is used between the two cars.
  • the steering control is simple and rough.
  • the steering motion of the rear car has a large lag, and the steering accuracy is not high, and there is a large steering deviation.
  • the three-module trolleybus uses an articulated system without control and hydraulic system, which has a low cost.
  • the articulated system only functions to naturally follow the rotation of the vehicle. During operation, if there is a deviation between the traction and braking forces between the vehicles, it is easy to Cause subsequent vehicles to deviate from the normal track.
  • the object of the present invention is to provide a steering control hinge system for a four-module trolleybus, which can improve the steering accuracy of each car in a multi-module trolleybus, and eliminate steering deviation caused by the steering lag of the rear car.
  • Another object of the present invention is to provide a four-module trolleybus including the above-mentioned steering control hinge system.
  • the present invention provides a steering control hinge system for a four-module trolleybus, including a controllable hinge mechanism connected between a first car and a second car and between a third car and a fourth car , And a follow-up hinge mechanism connected between the second carriage and the third carriage; the controllable hinge mechanism is used to control the angle between the first carriage and the second carriage according to the real-time movement direction
  • the second car performs corresponding steering, and is used to control the third car to perform corresponding steering according to the angle between the real-time movement direction of the third car and the fourth car;
  • the second car is rotatably connected to the third car.
  • the controllable hinge mechanism includes a mounting plate installed on the end surfaces of the second car and the third car, a steering controller provided on the mounting plate, and a connecting device connected to the first car A steering rod set between the end face and the mounting plate of the second car and between the end face of the fourth car and the mounting plate of the third car, and the mounting plate for detecting the first An angle sensor for a declination between a car and the second car and between the third car and the fourth car, the angle sensor is signally connected to the steering controller, and the steering controller is used to The movement state of the steering rod group is controlled to adjust the movement direction of the second car and the third car.
  • the steering rod group includes a plurality of dampers connected between the first compartment and the mounting disc corresponding thereto, and between the fourth compartment and the mounting disc corresponding thereto Vibrating tubes, and each of the damping and damping tubes are respectively distributed on the lateral sides of the first compartment and the fourth compartment; the steering controller is used to adjust the damping of each of the damping and damping tubes.
  • each of the damping and damping tubes is symmetrically distributed on both lateral sides of the first compartment and the fourth compartment, and the ends of each of the damping and damping tubes are respectively connected to the corresponding installations.
  • controllable hinge mechanism further includes an end surface disposed on the end surface of the second compartment and the end surface of the third compartment, for detecting the end surface of the first compartment and the fourth compartment respectively
  • a distance sensor with a distance between the end faces, and the distance sensor is signal-connected with the steering controller to make it correct the control command sent to the steering rod group.
  • controllable hinge mechanism further includes a vertical swing arm connected to the end surfaces of the second car and the third car, which can be flipped vertically, and the outer edge of the mounting plate and the vertical Connect to the swing arm.
  • the follower hinge mechanism includes a first extension plate connected to the end surface of the second compartment, a second extension plate connected to the end surface of the third compartment, and is vertically rotatably provided on the A vertical swing rod on the end surface of the second car and the end surface of the third car, the first extension plate is rotatably connected to the end of the second extension plate, and the first end of the first extension plate is connected On the vertical swing rod on the second carriage, the first end of the second extension plate is connected to the vertical swing rod on the third carriage.
  • the first extension plate or the second extension plate is also provided with the angle sensor signal-connected to the steering controller, the end face of the second car or the end face of the third car
  • the distance sensor that is signal-connected to the steering controller is also provided, and each angle sensor and each distance sensor are signal-connected to the electric vehicle ECU.
  • the invention also provides a four-module trolleybus, which includes a car body with four cars connected in sequence and a steering control articulation system provided on the car body, wherein the steering control articulation system is specifically any of the above Articulated steering control system.
  • the steering control hinge system of the four-module trolleybus mainly includes a controllable hinge mechanism and a follow-up hinge mechanism.
  • the four-module trolleybus includes four cars, namely a first car, a second car, a third car, and a fourth car.
  • the first car and the fourth car at the front and rear ends have a power steering system.
  • the controllable hinge mechanism is connected between the first car and the second car and between the third car and the fourth car
  • the follower hinge mechanism is connected between the second car and the third car.
  • the first car and the fourth car can autonomously steer according to the current path.
  • the controllable hinge mechanism detects the deflection angle in real time, and synchronously controls the second car and the third car to perform corresponding steering according to the deflection angle, thereby eliminating the lag of the rear car steering and ensuring the steering accuracy of each car.
  • the second car and the third car are rotationally connected by a follow-up hinge mechanism, which can smoothly connect the two cars and allow the third car to naturally follow the second car for movement.
  • the steering control articulation system of the four-module trolleybus realizes the smooth connection and natural following of the second car and the third car through the follow-up articulation mechanism, and at the same time realizes the second through the controllable articulation mechanism
  • the synchronous steering between the car and the first car and between the third car and the fourth car eliminates the steering lag of the rear car and ensures the steering accuracy of each car.
  • FIG. 1 is a main plan view of the overall structure of a specific embodiment provided by the present invention.
  • FIG. 2 is a specific structural schematic diagram of the controllable hinge mechanism shown in FIG. 1.
  • FIG. 3 is a specific structural schematic diagram of the follow hinge mechanism shown in FIG. 1.
  • FIG. 4 is a schematic diagram of the steering state of a four-module trolleybus in a specific embodiment provided by the present invention.
  • FIG. 1 is a main top view of the overall structure of a specific embodiment provided by the present invention.
  • the steering control articulation system of the four-module trolleybus mainly includes a controllable articulation mechanism and a follow-up articulation mechanism.
  • the four-module trolleybus includes four carriages, namely a first carriage 1, a second carriage 2, a third carriage 3, and a fourth carriage 4.
  • the first carriage 1 and the fourth carriage 4 located at both ends of the head and tail have power steering system.
  • the controllable hinge mechanism is connected between the first compartment 1 and the second compartment 2 and between the third compartment 3 and the fourth compartment 4
  • the follower hinge mechanism is connected between the second compartment 2 and the third compartment 3 .
  • FIG. 4 is a schematic diagram of a steering state of a four-module trolleybus in a specific embodiment provided by the present invention.
  • the first car 1 and the fourth car 4 can autonomously steer according to the current path, at this time between the first car 1 and the second car 2 and between the third car 3 and the fourth car 4 There is a real-time changing deflection angle.
  • the controllable hinge mechanism detects the deflection angle in real time, and synchronously controls the second car 2 and the third car 3 to perform corresponding steering according to the deflection angle, thereby eliminating the lag of the rear car steering. Ensure the steering accuracy of each car.
  • the second car 2 and the third car 3 are rotationally connected by a follow-up hinge mechanism, which can smoothly connect the two and allow the third car 3 to naturally follow the second car 2 for movement.
  • the steering control articulation system of the four-module trolleybus realizeds the smooth connection and natural following of the second car 2 and the third car 3 through the follow-up articulation mechanism, and at the same time through the controllable articulation mechanism
  • the synchronous steering between the second car 2 and the first car 1 and between the third car 3 and the fourth car 4 is realized, the steering lag of the rear car is eliminated, and the steering accuracy of each car is ensured.
  • FIG. 2 is a specific structural schematic diagram of the controllable hinge mechanism shown in FIG. 1.
  • the controllable hinge mechanism mainly includes a mounting plate 5, a steering controller 6, a steering rod group 7 and an angle sensor 8. Since the specific structural forms of the controllable hinge mechanism between the first compartment 1 and the second compartment 2 and the controllable hinge mechanism between the third compartment 3 and the fourth compartment 4 are completely the same and axisymmetric, for convenience of discussion, the following content The controllable hinge mechanism between the first compartment 1 and the second compartment 2 is used as an example for description.
  • the mounting plate 5 can generally be connected to the end surface of the second compartment 2, where the end surface specifically refers to the end surface directly opposite to the first compartment 1.
  • the mounting plate 5 is mainly used for mounting and carrying other components.
  • the steering controller 6, the steering rod group 7 and the angle sensor 8, including the subsequent distance sensor 9 are all provided on the mounting plate 5.
  • the mounting disc 5 may be specifically disc-shaped.
  • the steering rod group 7 is connected between the end surface of the first car 1 and the mounting disk 5 and is mainly used to realize the steering drive of the mounting disk 5 or the second car 2 through the change of motion state or deformation.
  • the angle sensor 8 is provided on the mounting plate 5 and is mainly used for real-time detection of the deflection angle of the movement direction between the first car 1 and the second car 2, hereinafter referred to as "motion deflection"-when the first car 1 is active During steering, since the angle sensor 8 is provided on the mounting plate 5, the deflection angle is the steering angle of the first car 1 relative to the second car 2.
  • the steering controller 6 is provided on the mounting plate 5 and is connected to the angle sensor 8 in signal, and can receive the movement declination data detected by the angle sensor 8 in real time.
  • the steering controller 6 is connected to the steering rod group 7 at the same time, and is mainly used to generate a control command according to the detection data of the angle sensor 8 through a built-in algorithm, so that the steering rod group 7 corresponds to a change in the motion state, thereby driving the mounting plate 5 and the second The car 2 performs the corresponding steering movement.
  • the steering rod group 7 mainly includes a plurality of damping damping tubes 701. Specifically, each damping damping tube 701 is connected between the first compartment 1 and the mounting plate 5 respectively, and the end of each damping damping tube 701 is connected to the outer edge of the mounting plate 5. It is important that the damping of each damping damping tube 701 is variable and controllable.
  • the steering controller 6 is signal-connected to each damping damping tube 701 to control the damping of each damping damping tube 701 through control commands size.
  • the damping and damping tubes 701 are distributed on the lateral sides of the first compartment 1 and the mounting disc 5 respectively.
  • each damping damping tube 701 can be symmetrically distributed on the lateral sides of the first compartment 1, and each damping damping tube 701 and the mounting plate 5
  • the outer edge connection position is also symmetrical.
  • a damping and damping tube 701 may be provided at the corresponding positions on the lateral left and lateral right sides of the first compartment 1, and the ends of the two damping and damping tubes 701 are connected in the radial direction of the mounting disk 5 Both ends.
  • a distance sensor 9 is also provided on the end surface of the second car 2.
  • the distance sensor 9 is provided on the end face of the second car 2 directly opposite to the first car 1, and is mainly used to detect the distance between itself (equivalent to the second car 2) and the end face of the first car 1. Straight line distance.
  • the distance sensor 9 is also signal-connected to the steering controller 6 and can transmit the detected distance data to the steering controller 6 in real time.
  • the steering controller 6 controls the damping of each damping tube 701 according to the detection data of the angle sensor 8, the second car 2 performs synchronous steering, and during the steering process, the first car 1 and the second car
  • the distance change between the cars 2 should be theoretically consistent with the detection value of the distance sensor 9, but due to system errors, external environment, mechanical vibration and other factors, there will always be certain errors. Therefore, by feeding back the detected value of the distance sensor 9 to the steering controller 6, the steering controller 6 can correct the control command sent to the steering rod group 7 to realize negative feedback adjustment.
  • each damping damping tube 701 can be additionally adjusted to prevent the steering angle from being further increased.
  • the first car 1 and the second car 2 not only have a relative deflection in the horizontal direction, but also a vertical deflection in the vertical direction.
  • this embodiment is in the second car
  • the vertical swing arm 10 is added to the end face of 2.
  • the vertical swing arm 10 may be a pin structure, which is disposed on the end surface of the second compartment 2 and can be turned in a vertical plane.
  • the outer edge of the mounting plate 5 is connected to the vertical swing arm 10, and when the trolleybus generates a vertical jump during operation, the first car 1 and the second car 2 can hang down by the action of the vertical swing arm 10 Flip over.
  • FIG. 3 is a specific structural schematic diagram of the follow hinge mechanism shown in FIG.
  • the follow-up hinge mechanism mainly includes a first extension plate 201, a second extension plate 301, and a vertical swing lever 11.
  • the first extension plate 201 is connected to the end surface of the second compartment 2
  • the second extension plate 301 is connected to the end surface of the third compartment 3.
  • the two are opposite to each other, and the ends of the two are connected by rotation, for example,
  • the ends of the first extension plate 201 and the second extension plate 301 may be connected to each other through a hinged disk.
  • first end of the first extension plate 201 is connected to the vertical swing rod 11 on the second compartment 2
  • first end of the second extension plate 301 is connected to the vertical swing rod 11 on the third compartment 3, so that it can pass The function of the vertical swing rod 11 realizes vertical turning.
  • the angle sensor 8 is also provided on the first extension plate 201 or the second extension plate 301 to control the control effect of the hinge mechanism.
  • this embodiment is also provided on the end surface of the second compartment 2 or the third compartment 3
  • the distance sensor 9 is provided.
  • the angle sensor 8 and the distance sensor 9 are the same as the aforementioned sensors, and are both signally connected to the steering controller 6, so that when the steering controller 6 sends a control command to each damping damper tube 701, it will also consider the second car 2 Or the relative movement state of the third car 3.
  • each of the above angle sensors 8 and each distance sensor 9 can also be connected to the tram ECU control system equipped on the trolley bus, which is convenient for the ECU and the driver's cab to control the movement and steering status of the entire vehicle.
  • the ECU can control the output torque of the trolleybus to reduce collision to avoid collision.
  • This embodiment also provides a four-module trolleybus, which mainly includes a car body with four cars connected in sequence and a steering control articulation system provided on the car body, wherein the specific content of the steering control articulation system is the same as the above-mentioned related content, I won't repeat them here.

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Abstract

A four module trolley bus and a steering control articulation system thereof, comprising a controllable articulation mechanism connected between a first carriage (1) and a second carriage (2) and between a third carriage (3) and a fourth carriage (4), and a follower articulation mechanism connected between the second carriage (2) and the third carriage (3); the controllable articulation mechanisms are used for controlling the second carriage (2) to implement corresponding steering on the basis of the real-time movement direction angle between the first carriage (1) and the second carriage (2) and controlling the third carriage (3) to implement corresponding steering on the basis of the real-time movement direction angle between the third carriage (3) and the fourth carriage (4); and the follower articulation mechanism is used for rotatably connecting the second carriage (2) and the third carriage (3). The present steering control articulation system of a four module trolley bus can improve the steering precision of each carriage of a multi-module trolley bus, eliminating steering deviation due to the steering lag of the rear carriages. Also relating to a four module trolley bus.

Description

一种四模块无轨电车及其转向控制铰接***Four-module trolleybus and its steering control hinge system
本申请要求于2018年11月6日提交中国专利局、申请号为201811312822.8、发明名称为“一种四模块无轨电车及其转向控制铰接***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application requires the priority of the Chinese patent application filed on November 6, 2018 in the Chinese Patent Office, with the application number 201811312822.8 and the invention titled "A four-module trolleybus and its steering control hinge system", the entire contents of which are cited by reference Incorporated in this application.
技术领域Technical field
本发明涉及轨道交通技术领域，特别涉及一种四模块无轨电车的转向控制铰接***。本发明还涉及一种包括上述转向控制铰接***的四模块无轨电车。The invention relates to the technical field of rail transportation, in particular to a steering control hinge system of a four-module trolleybus. The invention also relates to a four-module trolleybus including the above-mentioned steering control hinge system.
背景技术Background technique
随着轨道交通技术的发展，各种各样的轨道交通车辆已得到广泛使用。With the development of rail transit technology, various rail transit vehicles have been widely used.
轨道交通车辆的种类很多，包括机车、列车、地铁、轻轨、电车、高铁、动车等。以电车为例，根据轨道的区别，又可分为有轨电车和无轨电车。其中，有轨电车只需跟随铺设好的轨道进行运动和转向即可，而无轨电车没有轨道铺设，需要自行控制转向。同时，为提高电车的载客量，一般电车可分为多个模块，常见的一般是双模块或三模块等。There are many types of rail transit vehicles, including locomotives, trains, subways, light rail, trams, high-speed rail, and electric trains. Taking tram as an example, according to the difference between tracks, it can be divided into tram and trolleybus. Among them, the tram only needs to follow the paved track for movement and steering, while the trolleybus has no track laying and needs to control the steering by itself. At the same time, in order to increase the passenger capacity of the tram, the general tram can be divided into multiple modules, and the common ones are the double module or the triple module.
目前，双模块无轨电车包括两个互相连接的车厢，两个车厢中间采用带主动控制的铰接***。当前车转向时，后车跟随前车进行对应转向，转向控制简单且粗糙，后车的转向运动存在较大滞后性，并且转向精度不高，存在较大转向偏差。而三模块无轨电车采用不带控制和液压***的铰接***，其成本较低，铰接***仅起到自然跟随车辆转动的功能，在运行过程中，如果车辆间的牵引及制动力存在偏差，容易导致后续车辆偏离正常轨道。At present, the dual-module trolleybus includes two interconnected cars, and a hinged system with active control is used between the two cars. When the front car is turning, the rear car follows the front car for corresponding steering. The steering control is simple and rough. The steering motion of the rear car has a large lag, and the steering accuracy is not high, and there is a large steering deviation. The three-module trolleybus uses an articulated system without control and hydraulic system, which has a low cost. The articulated system only functions to naturally follow the rotation of the vehicle. During operation, if there is a deviation between the traction and braking forces between the vehicles, it is easy to Cause subsequent vehicles to deviate from the normal track.
因此，如何提高多模块无轨电车中各车厢的转向精确性，消除因后车转向滞后引发的转向偏差，是本领域技术人员亟待解决的技术问题。Therefore, how to improve the steering accuracy of each car in the multi-module trolleybus and eliminate the steering deviation caused by the rear car steering lag is a technical problem urgently needed to be solved by those skilled in the art.
发明内容Summary of the invention
本发明的目的是提供一种四模块无轨电车的转向控制铰接***，能够提高多模块无轨电车中各车厢的转向精确性，消除因后车转向滞后引发的转向偏差。本发明的另一目的是提供一种包括上述转向控制铰接***的四 模块无轨电车。The object of the present invention is to provide a steering control hinge system for a four-module trolleybus, which can improve the steering accuracy of each car in a multi-module trolleybus, and eliminate steering deviation caused by the steering lag of the rear car. Another object of the present invention is to provide a four-module trolleybus including the above-mentioned steering control hinge system.
为解决上述技术问题，本发明提供一种四模块无轨电车的转向控制铰接***，包括连接于第一车厢与第二车厢之间和连接于第三车厢与第四车厢之间的可控铰接机构，以及连接于所述第二车厢与所述第三车厢之间的随动铰接机构；所述可控铰接机构用于根据所述第一车厢与所述第二车厢的实时运动方向夹角控制所述第二车厢进行对应转向，以及用于根据所述第三车厢与所述第四车厢的实时运动方向夹角控制所述第三车厢进行对应转向；所述随动铰接机构用于使所述第二车厢与所述第三车厢转动连接。In order to solve the above technical problems, the present invention provides a steering control hinge system for a four-module trolleybus, including a controllable hinge mechanism connected between a first car and a second car and between a third car and a fourth car , And a follow-up hinge mechanism connected between the second carriage and the third carriage; the controllable hinge mechanism is used to control the angle between the first carriage and the second carriage according to the real-time movement direction The second car performs corresponding steering, and is used to control the third car to perform corresponding steering according to the angle between the real-time movement direction of the third car and the fourth car; The second car is rotatably connected to the third car.
优选地，所述可控铰接机构包括安装于所述第二车厢与所述第三车厢的端面上的安装盘、设置于所述安装盘上的转向控制器、连接于所述第一车厢的端面与所述第二车厢的安装盘之间和所述第四车厢的端面与所述第三车厢的安装盘之间的转向杆组，以及设置于所述安装盘、用于检测所述第一车厢与所述第二车厢之间及所述第三车厢与所述第四车厢之间的偏角的角度传感器，所述角度传感器与所述转向控制器信号连接，所述转向控制器用于控制所述转向杆组的运动状态以调节所述第二车厢及所述第三车厢的运动方向。Preferably, the controllable hinge mechanism includes a mounting plate installed on the end surfaces of the second car and the third car, a steering controller provided on the mounting plate, and a connecting device connected to the first car A steering rod set between the end face and the mounting plate of the second car and between the end face of the fourth car and the mounting plate of the third car, and the mounting plate for detecting the first An angle sensor for a declination between a car and the second car and between the third car and the fourth car, the angle sensor is signally connected to the steering controller, and the steering controller is used to The movement state of the steering rod group is controlled to adjust the movement direction of the second car and the third car.
优选地，所述转向杆组包括若干根连接于所述第一车厢和与其对应的所述安装盘之间，以及连接于所述第四车厢和与其对应的所述安装盘之间的阻尼减振管，且各所述阻尼减振管分别分布于所述第一车厢和所述第四车厢的横向两侧位置；所述转向控制器用于调节各所述阻尼减振管的阻尼。Preferably, the steering rod group includes a plurality of dampers connected between the first compartment and the mounting disc corresponding thereto, and between the fourth compartment and the mounting disc corresponding thereto Vibrating tubes, and each of the damping and damping tubes are respectively distributed on the lateral sides of the first compartment and the fourth compartment; the steering controller is used to adjust the damping of each of the damping and damping tubes.
优选地，各所述阻尼减振管对称分布在所述第一车厢和所述第四车厢的横向两侧位置，且各所述阻尼减振管的端部分别连接在各自对应的所述安装盘的外缘上。Preferably, each of the damping and damping tubes is symmetrically distributed on both lateral sides of the first compartment and the fourth compartment, and the ends of each of the damping and damping tubes are respectively connected to the corresponding installations. On the outer edge of the plate.
优选地，所述可控铰接机构还包括设置于所述第二车厢的端面和所述第三车厢的端面上、用于分别检测与所述第一车厢的端面及与所述第四车厢的端面间距的距离传感器，且所述距离传感器与所述转向控制器信号连接，以使其修正对所述转向杆组发送的控制指令。Preferably, the controllable hinge mechanism further includes an end surface disposed on the end surface of the second compartment and the end surface of the third compartment, for detecting the end surface of the first compartment and the fourth compartment respectively A distance sensor with a distance between the end faces, and the distance sensor is signal-connected with the steering controller to make it correct the control command sent to the steering rod group.
优选地，所述可控铰接机构还包括连接于所述第二车厢和所述第三车厢的端面上、可垂向翻转的垂向摆臂，且所述安装盘的外缘与所述垂向摆 臂相连。Preferably, the controllable hinge mechanism further includes a vertical swing arm connected to the end surfaces of the second car and the third car, which can be flipped vertically, and the outer edge of the mounting plate and the vertical Connect to the swing arm.
优选地，所述随动铰接机构包括连接于所述第二车厢的端面上的第一延伸板、连接于所述第三车厢的端面上的第二延伸板、可垂向翻转地设置于所述第二车厢的端面和所述第三车厢的端面上的垂向摆杆，所述第一延伸板与所述第二延伸板的末端转动连接，且所述第一延伸板的首端连接在所述第二车厢上的垂向摆杆上，所述第二延伸板的首端连接在所述第三车厢上的垂向摆杆上。Preferably, the follower hinge mechanism includes a first extension plate connected to the end surface of the second compartment, a second extension plate connected to the end surface of the third compartment, and is vertically rotatably provided on the A vertical swing rod on the end surface of the second car and the end surface of the third car, the first extension plate is rotatably connected to the end of the second extension plate, and the first end of the first extension plate is connected On the vertical swing rod on the second carriage, the first end of the second extension plate is connected to the vertical swing rod on the third carriage.
优选地，所述第一延伸板或所述第二延伸板上也设置有与所述转向控制器信号连接的所述角度传感器，所述第二车厢的端面或所述第三车厢的端面上也设置有与转向控制器信号连接的所述距离传感器，且各所述角度传感器和各所述距离传感器均与电车ECU信号连接。Preferably, the first extension plate or the second extension plate is also provided with the angle sensor signal-connected to the steering controller, the end face of the second car or the end face of the third car The distance sensor that is signal-connected to the steering controller is also provided, and each angle sensor and each distance sensor are signal-connected to the electric vehicle ECU.
本发明还提供一种四模块无轨电车，包括具有次序相连的四个车厢的车身和设置于所述车身上的转向控制铰接***，其中，所述转向控制铰接***具体为上述任一项所述的转向控制铰接***。The invention also provides a four-module trolleybus, which includes a car body with four cars connected in sequence and a steering control articulation system provided on the car body, wherein the steering control articulation system is specifically any of the above Articulated steering control system.
本发明所提供的四模块无轨电车的转向控制铰接***，主要包括可控铰接机构和随动铰接机构。首先，四模块无轨电车包括四个车厢，即第一车厢、第二车厢、第三车厢和第四车厢，一般的，位于首尾两端的第一车厢和第四车厢具有动力转向***。其中，可控铰接机构连接在第一车厢与第二车厢之间以及第三车厢与第四车厢之间，而随动铰接机构连接在第二车厢与第三车厢之间。具体的，在运行过程中，第一车厢和第四车厢可根据当前路径进行自主转向，此时第一车厢与第二车厢之间以及第三车厢与第四车厢之间存在实时变化的运动偏角，可控铰接机构实时检测到该运动偏角，并根据该运动偏角同步控制第二车厢和第三车厢进行对应转向，从而消除后车转向的滞后性，保证各车厢的转向精确性。同时，第二车厢与第三车厢之间通过随动铰接机构转动连接，可使两者顺利连接并使第三车厢自然跟随第二车厢进行运动。综上所述，本发明所提供的四模块无轨电车的转向控制铰接***，通过随动铰接机构实现第二车厢与第三车厢的顺利连接和自然随转，同时通过可控铰接机构实现第二车厢与第一车厢之间以及第三车厢与第四车厢之间的同步转向，消除了后车转向滞后性，保证 各车厢的转向精确性。The steering control hinge system of the four-module trolleybus provided by the present invention mainly includes a controllable hinge mechanism and a follow-up hinge mechanism. First, the four-module trolleybus includes four cars, namely a first car, a second car, a third car, and a fourth car. Generally, the first car and the fourth car at the front and rear ends have a power steering system. Among them, the controllable hinge mechanism is connected between the first car and the second car and between the third car and the fourth car, and the follower hinge mechanism is connected between the second car and the third car. Specifically, during operation, the first car and the fourth car can autonomously steer according to the current path. At this time, there is a real-time changing motion deviation between the first car and the second car and between the third car and the fourth car. Angle, the controllable hinge mechanism detects the deflection angle in real time, and synchronously controls the second car and the third car to perform corresponding steering according to the deflection angle, thereby eliminating the lag of the rear car steering and ensuring the steering accuracy of each car. At the same time, the second car and the third car are rotationally connected by a follow-up hinge mechanism, which can smoothly connect the two cars and allow the third car to naturally follow the second car for movement. In summary, the steering control articulation system of the four-module trolleybus provided by the present invention realizes the smooth connection and natural following of the second car and the third car through the follow-up articulation mechanism, and at the same time realizes the second through the controllable articulation mechanism The synchronous steering between the car and the first car and between the third car and the fourth car eliminates the steering lag of the rear car and ensures the steering accuracy of each car.
附图说明BRIEF DESCRIPTION
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only This is an embodiment of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings may be obtained according to the provided drawings.
图1为本发明所提供的一种具体实施方式的整体结构主俯视图。FIG. 1 is a main plan view of the overall structure of a specific embodiment provided by the present invention.
图2为图1中所示的可控铰接机构的具体结构示意图。FIG. 2 is a specific structural schematic diagram of the controllable hinge mechanism shown in FIG. 1.
图3为图1中所示的随动铰接机构的具体结构示意图。FIG. 3 is a specific structural schematic diagram of the follow hinge mechanism shown in FIG. 1.
图4为本发明所提供的一种具体实施方式中四模块无轨电车的转向状态示意图。4 is a schematic diagram of the steering state of a four-module trolleybus in a specific embodiment provided by the present invention.
其中，图1—图4中：Among them, in Figure 1-Figure 4:
可控铰接机构—I，随动铰接机构—II；Controllable articulation mechanism—I, follow-up articulation mechanism—II;
第一车厢—1，第二车厢—2，第一延伸板—201，第三车厢—3，第二延伸板—301，第四车厢—4，安装盘—5，转向控制器—6，转向杆组—7，阻尼减振管—701，角度传感器—8，距离传感器—9，垂向摆臂—10，垂向摆杆—11。First car—1, second car—2, first extension plate—201, third car—3, second extension plate—301, fourth car—4, mounting plate—5, steering controller—6, steering Rod set—7, damping damping tube—701, angle sensor—8, distance sensor—9, vertical swing arm—10, vertical swing lever—11.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.
请参考图1，图1为本发明所提供的一种具体实施方式的整体结构主俯视图。Please refer to FIG. 1, which is a main top view of the overall structure of a specific embodiment provided by the present invention.
在本发明所提供的一种具体实施方式中，四模块无轨电车的转向控制铰接***主要包括可控铰接机构和随动铰接机构。In a specific embodiment provided by the present invention, the steering control articulation system of the four-module trolleybus mainly includes a controllable articulation mechanism and a follow-up articulation mechanism.
首先，四模块无轨电车包括四个车厢，即第一车厢1、第二车厢2、第三车厢3和第四车厢4，一般的，位于首尾两端的第一车厢1和第四车厢4具有动力转向***。其中，可控铰接机构连接在第一车厢1与第二车厢2之间以及第三车厢3与第四车厢4之间，而随动铰接机构连接在第二车厢2与第三车厢3之间。First, the four-module trolleybus includes four carriages, namely a first carriage 1, a second carriage 2, a third carriage 3, and a fourth carriage 4. Generally, the first carriage 1 and the fourth carriage 4 located at both ends of the head and tail have power steering system. Among them, the controllable hinge mechanism is connected between the first compartment 1 and the second compartment 2 and between the third compartment 3 and the fourth compartment 4, and the follower hinge mechanism is connected between the second compartment 2 and the third compartment 3 .
如图4所示，图4为本发明所提供的一种具体实施方式中四模块无轨电车的转向状态示意图。As shown in FIG. 4, FIG. 4 is a schematic diagram of a steering state of a four-module trolleybus in a specific embodiment provided by the present invention.
具体的，在运行过程中，第一车厢1和第四车厢4可根据当前路径进行自主转向，此时第一车厢1与第二车厢2之间以及第三车厢3与第四车厢4之间存在实时变化的运动偏角，可控铰接机构实时检测到该运动偏角，并根据该运动偏角同步控制第二车厢2和第三车厢3进行对应转向，从而消除后车转向的滞后性，保证各车厢的转向精确性。同时，第二车厢2与第三车厢3之间通过随动铰接机构转动连接，可使两者顺利连接并使第三车厢3自然跟随第二车厢2进行运动。Specifically, during operation, the first car 1 and the fourth car 4 can autonomously steer according to the current path, at this time between the first car 1 and the second car 2 and between the third car 3 and the fourth car 4 There is a real-time changing deflection angle. The controllable hinge mechanism detects the deflection angle in real time, and synchronously controls the second car 2 and the third car 3 to perform corresponding steering according to the deflection angle, thereby eliminating the lag of the rear car steering. Ensure the steering accuracy of each car. At the same time, the second car 2 and the third car 3 are rotationally connected by a follow-up hinge mechanism, which can smoothly connect the two and allow the third car 3 to naturally follow the second car 2 for movement.
综上所述，本实施例所提供的四模块无轨电车的转向控制铰接***，通过随动铰接机构实现第二车厢2与第三车厢3的顺利连接和自然随转，同时通过可控铰接机构实现第二车厢2与第一车厢1之间以及第三车厢3与第四车厢4之间的同步转向，消除了后车转向滞后性，保证各车厢的转向精确性。In summary, the steering control articulation system of the four-module trolleybus provided in this embodiment realizes the smooth connection and natural following of the second car 2 and the third car 3 through the follow-up articulation mechanism, and at the same time through the controllable articulation mechanism The synchronous steering between the second car 2 and the first car 1 and between the third car 3 and the fourth car 4 is realized, the steering lag of the rear car is eliminated, and the steering accuracy of each car is ensured.
如图2所示，图2为图1中所示的可控铰接机构的具体结构示意图。As shown in FIG. 2, FIG. 2 is a specific structural schematic diagram of the controllable hinge mechanism shown in FIG. 1.
在关于可控铰接机构的一种优选实施方式中，该可控铰接机构主要包括安装盘5、转向控制器6、转向杆组7和角度传感器8。由于第一车厢1与第二车厢2之间的可控铰接机构和第三车厢3与第四车厢4之间的可控铰接机构的具体结构形式完全相同且轴对称，为方便论述，以下内容均以第一车厢1与第二车厢2之间的可控铰接机构为例进行说明。In a preferred embodiment of the controllable hinge mechanism, the controllable hinge mechanism mainly includes a mounting plate 5, a steering controller 6, a steering rod group 7 and an angle sensor 8. Since the specific structural forms of the controllable hinge mechanism between the first compartment 1 and the second compartment 2 and the controllable hinge mechanism between the third compartment 3 and the fourth compartment 4 are completely the same and axisymmetric, for convenience of discussion, the following content The controllable hinge mechanism between the first compartment 1 and the second compartment 2 is used as an example for description.
其中，安装盘5一般可连接在第二车厢2的端面上，此处的端面具体指与第一车厢1正对的端面。该安装盘5主要用于安装和承载其余零部件，转向控制器6、转向杆组7和角度传感器8，包括后续的距离传感器9均设置在该安装盘5上。此处优选地，为方便第一车厢1与第二车厢2之间的 转动连接，该安装盘5具体可呈圆盘形。Wherein, the mounting plate 5 can generally be connected to the end surface of the second compartment 2, where the end surface specifically refers to the end surface directly opposite to the first compartment 1. The mounting plate 5 is mainly used for mounting and carrying other components. The steering controller 6, the steering rod group 7 and the angle sensor 8, including the subsequent distance sensor 9 are all provided on the mounting plate 5. Here, preferably, in order to facilitate the rotational connection between the first compartment 1 and the second compartment 2, the mounting disc 5 may be specifically disc-shaped.
转向杆组7连接在第一车厢1的端面与安装盘5之间，主要用于通过运动状态变化或形变等实现对安装盘5或第二车厢2的转向驱动。同时，角度传感器8设置在安装盘5上，主要用于实时检测第一车厢1与第二车厢2之间的运动方向的偏角，以下简称“运动偏角”——当第一车厢1主动转向时，由于角度传感器8设置在安装盘5上，因此，该运动偏角即为第一车厢1相对于第二车厢2的转向夹角。The steering rod group 7 is connected between the end surface of the first car 1 and the mounting disk 5 and is mainly used to realize the steering drive of the mounting disk 5 or the second car 2 through the change of motion state or deformation. At the same time, the angle sensor 8 is provided on the mounting plate 5 and is mainly used for real-time detection of the deflection angle of the movement direction between the first car 1 and the second car 2, hereinafter referred to as "motion deflection"-when the first car 1 is active During steering, since the angle sensor 8 is provided on the mounting plate 5, the deflection angle is the steering angle of the first car 1 relative to the second car 2.
转向控制器6设置在安装盘5上，与角度传感器8信号连接，可实时接收角度传感器8所检测到的运动偏角数据。该转向控制器6同时与转向杆组7信号连接，主要用于根据角度传感器8的检测数据通过内置算法产生控制指令，使得转向杆组7差生对应运动状态变化，从而驱动安装盘5和第二车厢2进行对应转向运动。The steering controller 6 is provided on the mounting plate 5 and is connected to the angle sensor 8 in signal, and can receive the movement declination data detected by the angle sensor 8 in real time. The steering controller 6 is connected to the steering rod group 7 at the same time, and is mainly used to generate a control command according to the detection data of the angle sensor 8 through a built-in algorithm, so that the steering rod group 7 corresponds to a change in the motion state, thereby driving the mounting plate 5 and the second The car 2 performs the corresponding steering movement.
在关于转向杆组7的一种优选实施方式中，该转向杆组7主要包括若干根阻尼减振管701。具体的，各根阻尼减振管701分别连接在第一车厢1与安装盘5之间，并且各根阻尼减振管701的末端连接在安装盘5的外缘上。重要的是，各根阻尼减振管701的阻尼是变化、可控的，转向控制器6与各根阻尼减振管701信号连接，即可通过控制指令控制各根阻尼减振管701的阻尼大小。并且，各根阻尼减振管701分别分布在第一车厢1和安装盘5的横向两侧位置，如此，当两侧的各根阻尼减振管701的阻尼不相同时，安装盘5两侧受到的压力不同，必须会造成安装盘5朝向一侧偏转，而具体的偏转角度则需要根据两侧的各根阻尼减振管701的阻尼差决定。因此，通过转向控制器6对各根阻尼减振管701的阻尼控制，可使安装盘5和第二车厢2准确地进行转向。In a preferred embodiment regarding the steering rod group 7, the steering rod group 7 mainly includes a plurality of damping damping tubes 701. Specifically, each damping damping tube 701 is connected between the first compartment 1 and the mounting plate 5 respectively, and the end of each damping damping tube 701 is connected to the outer edge of the mounting plate 5. It is important that the damping of each damping damping tube 701 is variable and controllable. The steering controller 6 is signal-connected to each damping damping tube 701 to control the damping of each damping damping tube 701 through control commands size. In addition, the damping and damping tubes 701 are distributed on the lateral sides of the first compartment 1 and the mounting disc 5 respectively. In this way, when the damping of the damping and damping tubes 701 on the two sides is not the same, both sides of the mounting disc 5 The different pressures must cause the mounting disk 5 to deflect toward one side, and the specific deflection angle needs to be determined according to the damping difference of each damping damping tube 701 on both sides. Therefore, by the damping control of the individual damping and damping tubes 701 by the steering controller 6, the mounting plate 5 and the second compartment 2 can be accurately steered.
一般的，为提高对第二车厢2的转向控制精度，各根阻尼减振管701可对称地分布在第一车厢1上的横向两侧位置，并且各根阻尼减振管701与安装盘5的外缘连接位置也对称。比如，可在第一车厢1的横向左侧和横向右侧对应位置处分别设置一根阻尼减振管701，并且使该两根阻尼减振管701的末端均连接在安装盘5的径向两端。Generally, in order to improve the steering control accuracy of the second compartment 2, each damping damping tube 701 can be symmetrically distributed on the lateral sides of the first compartment 1, and each damping damping tube 701 and the mounting plate 5 The outer edge connection position is also symmetrical. For example, a damping and damping tube 701 may be provided at the corresponding positions on the lateral left and lateral right sides of the first compartment 1, and the ends of the two damping and damping tubes 701 are connected in the radial direction of the mounting disk 5 Both ends.
进一步的，为继续提高对第二车厢2的转向控制精度，本实施例还在 第二车厢2的端面上设置了距离传感器9。具体的，该距离传感器9设置在第二车厢2上与第一车厢1正对的端面上，主要用于检测自身(相当于第二车厢2)与第一车厢1的正对端面之间的直线距离。与角度传感器8相同，该距离传感器9也与转向控制器6信号连接，可将检测到的距离数据实时发送给转向控制器6。当转向控制器6根据角度传感器8的检测数据对各根阻尼减振管701的阻尼进行控制后，第二车厢2进行同步转向，而在转向过程中势必也同时导致第一车厢1与第二车厢2之间的间距变化，该间距变化与距离传感器9的检测值理论上应该是一致的，但由于***误差、外界环境、机械振动等因素的影响，总存在一定误差。因此，通过距离传感器9的检测值反馈到转向控制器6，可使转向控制器6修正发送给转向杆组7的控制指令，实现负反馈调节。不仅如此，当距离传感器9的检测数据超过常规范围时，比如间距过小时，说明此时转向角度较大，第一车厢1与第二车厢2之间存在碰撞风险，此时转向控制器6还可额外调节各根阻尼减振管701的阻尼，防止进一步增大转向角度。Further, in order to continue to improve the steering control accuracy of the second car 2, in this embodiment, a distance sensor 9 is also provided on the end surface of the second car 2. Specifically, the distance sensor 9 is provided on the end face of the second car 2 directly opposite to the first car 1, and is mainly used to detect the distance between itself (equivalent to the second car 2) and the end face of the first car 1. Straight line distance. Like the angle sensor 8, the distance sensor 9 is also signal-connected to the steering controller 6 and can transmit the detected distance data to the steering controller 6 in real time. When the steering controller 6 controls the damping of each damping tube 701 according to the detection data of the angle sensor 8, the second car 2 performs synchronous steering, and during the steering process, the first car 1 and the second car The distance change between the cars 2 should be theoretically consistent with the detection value of the distance sensor 9, but due to system errors, external environment, mechanical vibration and other factors, there will always be certain errors. Therefore, by feeding back the detected value of the distance sensor 9 to the steering controller 6, the steering controller 6 can correct the control command sent to the steering rod group 7 to realize negative feedback adjustment. Not only that, when the detection data of the distance sensor 9 exceeds the normal range, for example, if the distance is too small, it means that the steering angle is large at this time, and there is a risk of collision between the first car 1 and the second car 2. At this time, the steering controller 6 also The damping of each damping damping tube 701 can be additionally adjusted to prevent the steering angle from being further increased.
另外，考虑到无轨电车在运行过程中，第一车厢1与第二车厢2不仅存在水平方向上的相对偏转，还同时会存在垂直方向上的方向偏转，为此，本实施例在第二车厢2的端面上增设了垂向摆臂10。具体的，该垂向摆臂10具体可为销轴结构，设置在第二车厢2的端面上，可在垂直面内进行翻转。同时，安装盘5的外缘与该垂向摆臂10相连，当无轨电车在运行时产生垂向跳动时，第一车厢1与第二车厢2可通过该垂向摆臂10的作用进行垂向翻转。In addition, considering that during the operation of the trolleybus, the first car 1 and the second car 2 not only have a relative deflection in the horizontal direction, but also a vertical deflection in the vertical direction. For this reason, this embodiment is in the second car A vertical swing arm 10 is added to the end face of 2. Specifically, the vertical swing arm 10 may be a pin structure, which is disposed on the end surface of the second compartment 2 and can be turned in a vertical plane. At the same time, the outer edge of the mounting plate 5 is connected to the vertical swing arm 10, and when the trolleybus generates a vertical jump during operation, the first car 1 and the second car 2 can hang down by the action of the vertical swing arm 10 Flip over.
如图3所示，图3为图1中所示的随动铰接机构的具体结构示意图。As shown in FIG. 3, FIG. 3 is a specific structural schematic diagram of the follow hinge mechanism shown in FIG.
在关于随动铰接机构的一种优选实施方式中，该随动铰接机构主要包括第一延伸板201、第二延伸板301和垂向摆杆11。具体的，第一延伸板201连接在第二车厢2的端面上，同时第二延伸板301连接在第三车厢3的端面上，两者互相正对，并且两者的末端转动连接，比如，第一延伸板201与第二延伸板301的末端可通过铰接盘互相连接。如此，通过第一延伸板201与第二延伸板301的转动连接，即可实现第二车厢2与第三车厢3之间的自然随动连接，即在无轨电车的运行过程中，第二车厢2与第三 车厢3之间不存在互相控制关系，仅根据第一车厢1和第四车厢4的运动控制进行转向。同理，考虑到无轨电车在运行过程中存在的垂向跳动，本实施例在第二车厢2和第三车厢3的相对端面上均设置有垂向摆杆11，该垂向摆杆11的结构和作用参考前述垂向摆臂10，此处不再赘述。并且，第一延伸板201的首端与第二车厢2上的垂向摆杆11相连，第二延伸板301的首端与第三车厢3上的垂向摆杆11相连，如此即可通过垂向摆杆11的作用实现垂向翻转。In a preferred embodiment regarding the follow-up hinge mechanism, the follow-up hinge mechanism mainly includes a first extension plate 201, a second extension plate 301, and a vertical swing lever 11. Specifically, the first extension plate 201 is connected to the end surface of the second compartment 2, and the second extension plate 301 is connected to the end surface of the third compartment 3. The two are opposite to each other, and the ends of the two are connected by rotation, for example, The ends of the first extension plate 201 and the second extension plate 301 may be connected to each other through a hinged disk. In this way, through the rotational connection of the first extension plate 201 and the second extension plate 301, the natural following connection between the second car 2 and the third car 3 can be achieved, that is, during the operation of the trolleybus, the second car There is no mutual control relationship between 2 and the third car 3, and the steering is performed only according to the motion control of the first car 1 and the fourth car 4. Similarly, considering the vertical runout existing during the operation of the trolleybus, in this embodiment, vertical swing rods 11 are provided on the opposite end surfaces of the second carriage 2 and the third carriage 3, and the vertical swing rod 11 The structure and function refer to the aforementioned vertical swing arm 10, which will not be repeated here. Moreover, the first end of the first extension plate 201 is connected to the vertical swing rod 11 on the second compartment 2, and the first end of the second extension plate 301 is connected to the vertical swing rod 11 on the third compartment 3, so that it can pass The function of the vertical swing rod 11 realizes vertical turning.
此外，虽然第二车厢2与第三车厢3之间不存在互相控制关系，但第二车厢2与第三车厢3的相对运动状态变化也同样会影响无轨电车的整体转向状态，为避免影响可控铰接机构的控制效果，本实施例在第一延伸板201或第二延伸板301上也设置了角度传感器8，同理，本实施例在第二车厢2或第三车厢3的端面上也设置了距离传感器9。该角度传感器8和距离传感器9与前述传感器相同，均与转向控制器6信号连接，如此，转向控制器6在对各根阻尼减振管701发送控制指令时，还会同时考虑第二车厢2或第三车厢3的相对运动状态。In addition, although there is no mutual control relationship between the second car 2 and the third car 3, the change of the relative motion state of the second car 2 and the third car 3 will also affect the overall steering state of the trolleybus. In this embodiment, the angle sensor 8 is also provided on the first extension plate 201 or the second extension plate 301 to control the control effect of the hinge mechanism. Similarly, this embodiment is also provided on the end surface of the second compartment 2 or the third compartment 3 The distance sensor 9 is provided. The angle sensor 8 and the distance sensor 9 are the same as the aforementioned sensors, and are both signally connected to the steering controller 6, so that when the steering controller 6 sends a control command to each damping damper tube 701, it will also consider the second car 2 Or the relative movement state of the third car 3.
同时，上述各个角度传感器8和各个距离传感器9还可均与无轨电车上配备的电车ECU控制***信号连接，方便ECU和司机室全程掌控整车运动、转向状态，当相邻两个车厢的间距过小或转向角度过大等情况时，ECU可控制无轨电车的输出扭矩降低，避免碰撞。At the same time, each of the above angle sensors 8 and each distance sensor 9 can also be connected to the tram ECU control system equipped on the trolley bus, which is convenient for the ECU and the driver's cab to control the movement and steering status of the entire vehicle. When the distance between two adjacent cars When the steering angle is too small or the steering angle is too large, the ECU can control the output torque of the trolleybus to reduce collision to avoid collision.
本实施例还提供一种四模块无轨电车，主要包括具有次序相连的四个车厢的车身和设置于车身上的转向控制铰接***，其中，该转向控制铰接***的具体内容与上述相关内容相同，此处不再赘述。This embodiment also provides a four-module trolleybus, which mainly includes a car body with four cars connected in sequence and a steering control articulation system provided on the car body, wherein the specific content of the steering control articulation system is the same as the above-mentioned related content, I won't repeat them here.
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims (9)

  1. 一种四模块无轨电车的转向控制铰接***，其特征在于，包括连接于第一车厢(1)与第二车厢(2)之间和连接于第三车厢(3)与第四车厢(4)之间的可控铰接机构，以及连接于所述第二车厢(2)与所述第三车厢(3)之间的随动铰接机构；所述可控铰接机构用于根据所述第一车厢(1)与所述第二车厢(2)的实时运动方向夹角控制所述第二车厢(2)进行对应转向，以及用于根据所述第三车厢(3)与所述第四车厢(4)的实时运动方向夹角控制所述第三车厢(3)进行对应转向；所述随动铰接机构用于使所述第二车厢(2)与所述第三车厢(3)转动连接。A steering control hinge system for a four-module trolleybus is characterized in that it includes a connection between a first car (1) and a second car (2) and a connection between a third car (3) and a fourth car (4) A controllable articulation mechanism between, and a follower articulation mechanism connected between the second car (2) and the third car (3); the controllable articulation mechanism is used according to the first car (1) The angle between the real-time movement direction of the second car (2) controls the second car (2) to perform corresponding steering, and is used for the third car (3) and the fourth car (3) 4) The included angle of the real-time movement direction controls the third car (3) to perform corresponding steering; the follow-up hinge mechanism is used to rotatably connect the second car (2) with the third car (3).
  2. 根据权利要求1所述的转向控制铰接***，其特征在于，所述可控铰接机构包括安装于所述第二车厢(2)与所述第三车厢(3)的端面上的安装盘(5)、设置于所述安装盘(5)上的转向控制器(6)、连接于所述第一车厢(1)的端面与所述第二车厢(2)的安装盘(5)之间和所述第四车厢(4)的端面与所述第三车厢(3)的安装盘(5)之间的转向杆组(7)，以及设置于所述安装盘(4)、用于检测所述第一车厢(1)与所述第二车厢(2)之间及所述第三车厢(3)与所述第四车厢(4)之间的偏角的角度传感器(8)，所述角度传感器(8)与所述转向控制器(6)信号连接，所述转向控制器(6)用于控制所述转向杆组(7)的运动状态以调节所述第二车厢(2)及所述第三车厢(3)的运动方向。The steering control articulation system according to claim 1, characterized in that the controllable articulation mechanism includes a mounting plate (5) mounted on the end faces of the second car (2) and the third car (3) ), A steering controller (6) provided on the mounting disk (5), an end face connected to the first car (1) and the mounting disk (5) of the second car (2), and The steering rod group (7) between the end surface of the fourth car (4) and the mounting disk (5) of the third car (3), and the mounting disk (4) are provided for detecting An angle sensor (8) for the declination between the first compartment (1) and the second compartment (2) and between the third compartment (3) and the fourth compartment (4), the The angle sensor (8) is in signal connection with the steering controller (6), and the steering controller (6) is used to control the movement state of the steering rod group (7) to adjust the second compartment (2) and The direction of movement of the third compartment (3).
  3. 根据权利要求2所述的转向控制铰接***，其特征在于，所述转向杆组(7)包括若干根连接于所述第一车厢(1)和与其对应的所述安装盘(5)之间，以及连接于所述第四车厢(4)和与其对应的所述安装盘(5)之间的阻尼减振管(701)，且各所述阻尼减振管(701)分别分布于所述第一车厢(1)和所述第四车厢(4)的横向两侧位置；所述转向控制器(6)用于调节各所述阻尼减振管(701)的阻尼。The steering control articulation system according to claim 2, characterized in that the steering rod group (7) includes a plurality of wires connected between the first compartment (1) and the corresponding mounting plate (5) , And a damping and damping tube (701) connected between the fourth compartment (4) and the corresponding mounting plate (5), and each of the damping and damping tubes (701) is distributed in the The lateral positions of the first compartment (1) and the fourth compartment (4); the steering controller (6) is used to adjust the damping of each of the damping damping tubes (701).
  4. 根据权利要求3所述的转向控制铰接***，其特征在于，各所述阻尼减振管(701)对称分布在所述第一车厢(1)和所述第四车厢(4)的横向两侧位置，且各所述阻尼减振管(701)的端部分别连接在各自对应的所 述安装盘(5)的外缘上。The steering control hinge system according to claim 3, characterized in that each of the damping damping tubes (701) is symmetrically distributed on both lateral sides of the first compartment (1) and the fourth compartment (4) Position, and the ends of each damping and damping tube (701) are respectively connected to the outer edges of the corresponding mounting discs (5).
  5. 根据权利要求4所述的转向控制铰接***，其特征在于，所述可控铰接机构还包括设置于所述第二车厢(2)的端面和所述第三车厢(3)的端面上、用于分别检测与所述第一车厢(1)的端面及与所述第四车厢(4)的端面间距的距离传感器(9)，且所述距离传感器(9)与所述转向控制器(6)信号连接，以使其修正对所述转向杆组(7)发送的控制指令。The steering control articulation system according to claim 4, characterized in that the controllable articulation mechanism further includes an end surface provided on the end surface of the second compartment (2) and the end surface of the third compartment (3). For detecting a distance sensor (9) separately from the end face of the first car (1) and the end face of the fourth car (4), and the distance sensor (9) and the steering controller (6) ) Signal connection to make it correct the control command sent to the steering rod group (7).
  6. 根据权利要求5所述的转向控制铰接***，其特征在于，所述可控铰接机构还包括连接于所述第二车厢(2)和所述第三车厢(3)的端面上、可垂向翻转的垂向摆臂(10)，且所述安装盘(5)的外缘与所述垂向摆臂(10)相连。The steering control articulation system according to claim 5, characterized in that the controllable articulation mechanism further comprises an end surface connected to the second car (2) and the third car (3), which can be vertically The inverted vertical swing arm (10), and the outer edge of the mounting plate (5) is connected to the vertical swing arm (10).
  7. 根据权利要求6所述的转向控制铰接***，其特征在于，所述随动铰接机构包括连接于所述第二车厢(2)的端面上的第一延伸板(201)、连接于所述第三车厢(3)的端面上的第二延伸板(301)、可垂向翻转地设置于所述第二车厢(2)的端面和所述第三车厢(3)的端面上的垂向摆杆(11)，所述第一延伸板(201)与所述第二延伸板(301)的末端转动连接，且所述第一延伸板(201)的首端连接在所述第二车厢(2)上的垂向摆杆(11)上，所述第二延伸板(301)的首端连接在所述第三车厢(3)上的垂向摆杆(11)上。The steering control articulation system according to claim 6, characterized in that the following articulation mechanism includes a first extension plate (201) connected to the end surface of the second car (2), connected to the first A second extension plate (301) on the end surface of the third compartment (3), a vertical pendulum vertically disposed on the end surface of the second compartment (2) and the end surface of the third compartment (3) A rod (11), the first extension plate (201) and the end of the second extension plate (301) are rotatably connected, and the first end of the first extension plate (201) is connected to the second compartment ( 2) On the vertical swing rod (11) on the top, the first end of the second extension plate (301) is connected to the vertical swing rod (11) on the third carriage (3).
  8. 根据权利要求7所述的转向控制铰接***，其特征在于，所述第一延伸板(201)或所述第二延伸板(301)上也设置有与所述转向控制器(6)信号连接的所述角度传感器(8)，所述第二车厢(2)的端面或所述第三车厢(3)的端面上也设置有与转向控制器(6)信号连接的所述距离传感器(9)，且各所述角度传感器(8)和各所述距离传感器(9)均与电车ECU信号连接。The steering control hinge system according to claim 7, wherein the first extension plate (201) or the second extension plate (301) is also provided with a signal connection with the steering controller (6) The angle sensor (8), the end face of the second car (2) or the end face of the third car (3) is also provided with the distance sensor (9) that is signally connected to the steering controller (6) ), And each of the angle sensors (8) and each of the distance sensors (9) is signally connected to the electric vehicle ECU.
  9. 一种四模块无轨电车，包括具有次序相连的四个车厢的车身和设置于所述车身上的转向控制铰接***，其特征在于，所述转向控制铰接***具体为权利要求1-8任一项所述的转向控制铰接***。A four-module trolleybus includes a car body with four cars connected in sequence and a steering control articulation system provided on the car body, characterized in that the steering control articulation system is specifically any one of claims 1-8 The steering control articulation system.
PCT/CN2019/094838 2018-11-06 2019-07-05 Four module trolley bus and steering control articulation system thereof WO2020093719A1 (en)

Applications Claiming Priority (2)

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CN201811312822.8 2018-11-06
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